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ISBN: 625
Hội nghị Khoa học toàn quốc Cơ học Vật rắn biến dạng lần thứ XI
Thành phố Hồ Chí Minh, 7-9/11/2013
Isogeometric Analysis of Bimaterial 3D Pipelines
Nguyễn Duy Khương1, Châu Nguyên Khánh1, Châu Nguyên Khải1,
Trương Tích Thiện1, Nguyễn Xuân Hùng2
1
University of Technology – Vietnam National University, Ho Chi Minh City
2
University of Natural Sciences – Vietnam National University, Ho Chi Minh City
ndkhuong@hcmut.edu.vn
Abstract
In this paper, bimaterial 3D pipeline problem subjected to internal and external pressure is studied numerically
by using Isogeometric Analysis (IGA). The pipe is made of two different materials and is found in many
practical applications. The problem is solved in case of three–dimensional model with two types of analysis:
elasticity and vibration by ANSYS Software (FEM) and our IGA package. A good agreement of obtained results
is shown in all cases.
Keywords: isogeometric analysis, NURBS, CAD, finite elements, vibration.
1. Introduction
Isogeometric Analysis (IGA) based on NURBS was introduced in 2005 by Hughes et al [1], with the
goal of closing the existing gap between the worlds of finite element analysis (FEA) and computer–
aided design (CAD). There are two primary gaps, one is related to geometric representation, geometry
from CAD system needs to be simplified (e.g often, some features such as holes, rivets, and bolts need
to be removed) before meshing to use in a FEA code, this step needs a lot of experience as well as
time–consuming, it also causes loss of geometric accuracy leading to significant errors in the analysis
of some problems like shell buckling, sliding contact, or problems with boundary layers [2]. The
second is related to mesh refinement, to refine a mesh of FEA geometry, a CAD description of that
geometry must exist for the mesh generator and solver, which means that there will be many different
FEA geometries in different levels of refinement derived from the original CAD geometry, this causes
memory consumption and long analysis time. IGA uses the smooth and higher–order basis functions
of CAD, which usually is Non–Uniform Rational B–Splines (NURBS) as this geometrical
representation is the most widely used in engineering design systems. It uses one and only one
geometric description for all orders of approximation, the initial coarse mesh is created to represent the
exact geometry and the subsequent refinements are simplified because there is no need to
communicate with the CAD description of geometry.
IGA has been studied and applied in a wide range of engineering problems such as linear and non–
linear static and dynamic analysis of thin–walled structures, fluid mechanics, fluid structure
interaction, shape and topology optimization, vibration analysis, buckling and others [-2]. In this
paper, IGA is utilized for analysis of pipelines as an alternative to the standard finite element
approach. The pipeline is made of two kinds of materials; one is steel, and the other is concrete in the
inner and outer layer, respectively. Solid NURBS is used to define pipeline geometries as well to
perform analysis that is able to compactly and accurately represent smooth exact geometries; it also
gives more accurate results in comparison to low–order finite elements based on Lagrange or Hermite
polynomials.
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The paper will be organized as follows: In section 0, the basic ideas of isogeometric analysis will be
presented followed by a short introduction into NURBS. Section 0 presents the basis vibration theory.
In section 0, some benchmark examples of elasticity and structural vibration are investigated by
isogeometric approaches as well as analytical approaches to evaluate numerical codes. Preliminary
results of the pipeline problem will be discussed in section 0. Section 0 closes with some conclusions
and an outlook.
Figure 1. Quadratic basis functions for the open knot vector 0, 0, 0, 0.25, 0.5, 0.75, 0.75,1,1,1
For a B–spline basis function of degree p, an interior knot can be repeated at most p times, and the
boundary knots can be repeated at most p + 1 times. A knot vector for which the two boundary knots
are repeated p + 1 times is said to be open. Important properties of the B–spline basis functions
Isogeometric analysis of bimaterial 3D pipelines 627
where, B i is the ith control point.
By means of tensor products, B–spline surfaces can be constructed starting from knot vectors
Ξ 1 , 2 ,, n p 1 and Η 1 , 2 ,,m q 1 , and an n m net of control points B i , j . One–
dimensional basis functions N i , p and M j , q i 1 n, j 1 m of order p and q, respectively, are
defined from the knot vectors, and the B–spline surface is constructed as:
n m
S , N i , p M j , q B i , j (4)
i 1 j 1
2.2 NURBS
The main issue to go from B–splines to NURBS is the fact that B–splines are incapable of
representing curves exactly such as circles, ellipses, etc. Such limitations are overcome by NURBS
functions. A NURBS is constructed by a projective transformation of a B–spline. Technically this is
achieved by introducing weights at the control points that allows more control over the actual shape of
the NURBS.
The NURBS basis function is given by
N wi
Rip n i , p (6)
i, p
N w i
i 1
where, Rip, j,q , and Rip, j,q,k, r , , stands for bivariate and trivariate NURBS basis functions,
respectively:
N i , p M j ,q wi , j
Rip, j,q , n m
(10)
Ni, p M j ,q wi , j
i 1 j 1
N i , p N j , q N k , r wi , j , k
Rip, ,jq, k,r , , n m l
(11)
N N N w
i 1 j 1 k 1
i, p j ,q k ,r i , j ,k
u , v
h h
uh v h d (19)
If uh is approximated by NURBS basis functions and d is the nodal displacement vector of the
multi–degree–of–freedom system, then for a linear system without damping, the system equations of
motion are:
Md Kd 0 (20)
Isogeometric analysis of bimaterial 3D pipelines 629
d 2d
where M and K are mass and stiffness matrices, respectively,
d 2 is the acceleration vector.
dt
Characteristic equations (also called frequency equations) are determined as
K n2 M 0 (21)
Solving this equation, natural frequencies are obtained.
4. Benchmark Examples
4.1 Static analysis
Consider the behavior of a clamped circular plate carrying a uniformly distributed load which modeled
as a 3D solid [3].The exact solution of the governing equations are given in [4], is
q R4
umax 0 (22)
64 D
where q0 is distribution load on plane face, R and t are radius and thickness of the plate, resp.,
Et 3
D is the flexural stiffness ( E and are Young’s modulus and Poisson’s ratio, resp.).
12 1 2
Geometric and material parameters are given in following Table 1. Because the radius to thickness
ratio is 100, the plate is looked alike thin, and analytic results may be valid. Due the model of problem
has two symmetry face, we compute a quarter of model. The orders of the basis functions in the
circumferential, radial and vertical directions are p, q and r, respectively. The initial open non–uniform
knot vectors of coarse mesh (Figure 2) in three dimensions are Ξ1 0, 0, 0, 1, 1, 1 , Ξ2 0, 0, 1, 1 ,
Ξ3 0, 0, 1, 1 , corresponding p 2 , q 1 and r 1 . The convergence of the numerical to exact
solution is shown in Table 2 by elevating order in the radial direction before insert two knots in
circumferential and radial directions as in Figure 3. Especially, when p 2 , q 7 and r 2 , the
numerical equal exact result as shown in Figure 4.
Figure 2. The initial coarse mesh.
Table 1. Geometric and material parameters for clamped circular plate problem
q0 5000 N/m2
R 2 m
t 0.02 m
E 3 1010 N/m2
2320 kg/m3
0.2
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Figure 3. Meshes with respect to q 2...7 .
Table 2. The convergence of the numerical solution compared to analytical one.
p q r umax [m]
2 2 2 0.0252
2 3 2 0.0607
2 4 2 0.0597
2 5 2 0.0598
2 6 2 0.0599
2 7 2 0.06
Exact 0.06
Figure 4. Total deformation of the plate.
Isogeometric analysis of bimaterial 3D pipelines 631
With the first mesh model in Figure 3, we insert knots in radial direction to obtain the convergent
value (h–refinement). Then, from this original model, we only elevate order of basis function in radial
direction and also consider the convergence of displacement (p–refinement). Finally, we combine
between p–refinement and h–refinement as is called k–refinement. Figure 5 shows the convergent rate
of displacement at center of the plate when DOFs of the system is increased. It can be seen that k–
refinement method is the fastest convergence rate. In this results, ANSYS used SOLID186 element, is
a higher order 3D twenty nodes solid element that exhibits quadratic displacement behavior. When
DOFs is greater than 255, the IGA solution (k–refinement) is better than ANSYS solution.
Figure 5. Convergence of vertical displacement at center of the plate.
4.2 Vibration
In this subsection, we consider the vibrations of a clamped circular plate. Calculation results of natural
frequencies by the IGA will be compared with the exact Poisson – Kirchhoff solution given in [5].
That is:
2
2 D
mn Cmn 2
rad / s , (23)
R t
where is the density of the plate. For the first three frequencies, the values of the coefficients Cmn
are C01 1 .015 , C11 1 .468 and C02 2.007 . The numerical results are compared with the analytic
results in Table 3, where q increases from 2 to 5
Table 3. Numerical results compared with the analytic solution
p q r [rad/s] [rad/s] 02 [rad/s]
01 11
Figure 6. Clamped circular plate. Eigenmode corresponding 01 , 11 , 02
5 Pipeline Problem
Pipelines are one of the most economical ways to transport gas and liquid products – from oil and gas
to CO2 and water. Most of the pipelines that are built or already in use today around the world are steel
pipelines. Pipelines should not fail during their entire service life because such failures could lead to
human and economic costs. In order to avoid steel pipeline failure, a series of specialized pipeline
coatings – including concrete – have been created during the last decades. Concrete coatings are used
to protect pipelines transporting oil, gas and other products against damage from mechanical impacts
and to stop them from floating when the pipelines are laid offshore or on lake and river beds. Figure 7
shows a section of pipe being transported for installation (Toronto, Canada) [6].
Figure 7. A pipeline section being transported.
Now, we consider bimaterial pipeline which is modeled as multi–patch problem. Cross–section of
model is shown in Figure 8. When building multi–patch model, there is an interface between steel and
concrete material patches. Two surfaces on interface of two patches must be coincided. The
corresponding control points that coincide on the interface are constrained their displacements,
meaning C0–continuous at interface. The material properties of layers are: ECo 3 10 4 MPa ,
Co 0.18 , ESt 2 10 5 MPa , St 0.3 . This problem is a prelude to a series of problems that we
intend to do following, such as interaction between ocean waves and pipes, osmosis and erosion.
Isogeometric analysis of bimaterial 3D pipelines 633
Figure 8. The model cross – section.
5.1 Elasticity
Because the model of problem has two symmetry axes, we also compute a quarter of model. Length of
pipeline is 500mm in the computation. The modeling of geometry with coarse mesh is shown in
Figure 9 corresponding knot vector are Ξ1 Ξ1' 0, 0, 1, 1 , Ξ2 Ξ2 ' 0, 0, 1, 1 ,
Ξ3 Ξ3' 0, 0, 0, 1, 1, 1 . In Table 4, the convergence of IGA and ANSYS von Mises solutions is
given, where p is the order of basis function in the radial directions. In the circumferential and length
of the pipeline direction, the order of basis function is fixed, because stress almost is constant in this
directions. The convergent value of equivalent stress is given in Figure 10.
To represent the change of control point density for each element level, we describe them in Figure 11
with 16 elements.
Table 4. Comparison of IGA and ANSYS results.
Mesh ANSYS IGA ( p 2 ) IGA ( p 3 ) IGA ( p 4 )
2 elements 48.54 35.802 36.460 36.706
16 elements 42.01 36.427 36.715 36.749
54 elements 39.51 36.597 36.742 36.752
128 elements 38.47 36.662 36.748 36.753
250 elements 37.95 36.693 36.751 36.753
432 elements 37.66 36.710 36.752 36.753
686 elements 37.49 36.722 36.752 36.753
1024 elements 37.37 36.729 36.752 –
1458 elements 37.29 – – –
2000 elements 37.23 – – –
… … – – –
182250 elements 36.99 – – –
It can be seen that the expectable results are achieved with p 2 and p 3 using 1458 elements as
shown in Table 4. As p 4, the problem has converged when the lower number of elements, i.e, about
250 elements corresponding DOFs is 2268, while ANSYS requires a larger number of elements
634 Nguyễn Duy Khương - Châu Nguyên Khánh - Châu Nguyên Khải –
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(182250) corresponding a larger DOFs (2297976). In the radial direction, the equivalent stress
decreased suddenly at the contact between two material layers (
Figure 12. Convergence of IGA and ANSYS – Figure 13. Variation of equivalent stress in radial
equivalent stress at inside of the pipeline. direction (IGA).
).
Figure 9. The initial coarse mesh.
Figure 10. The convergent result of ANSYS and IGA solutions.
Figure 11. The mesh consists 16 elements with p 2...4
Isogeometric analysis of bimaterial 3D pipelines 635
Figure 12. Convergence of IGA and ANSYS – Figure 13. Variation of equivalent stress in radial
equivalent stress at inside of the pipeline. direction (IGA).
5.2 Vibration
In this subsection, we consider vibration of pipeline which has 5000mm of length. The pipeline is
fixed at both ends and has cross–section as shown in Figure 8. In Figure 14, the initial control net
consists of 13 6 12 control points in the circumferential, radial, and length directions, respectively.
Although element numbers are few, IGA still gives good solution as FEM (Table 5). We obtained this
result when elevated order of basis functions to eight in length direction. The first three eigenmodes
are shown in Figure 15 – 17.
Figure 14. Mesh model for vibration problem. Figure 15. The first eigenmode corresponding 1
Figure 16. The second eigenmode corresponding 2 Figure 17. The third eigenmode corresponding 3
Table 5. The convergent results of IGA and ANSYS results.
Natural frequency ANSYS solution IGA solution
1 [rad/s] 336.97 336.85
2 [rad/s] 895.61 896.15
636 Nguyễn Duy Khương - Châu Nguyên Khánh - Châu Nguyên Khải –
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6 Conclusions
We have applied the isogeometric approach to the bimaterial pipeline problem. The major advantage
of this method is to obtain the exact geometry of problems containing curved boundaries and high–
order approximations. In result of the pipeline problem with fine mesh model, we have difficulty about
computer resources. However, we obtained the convergence with elevating order of basis functions.
Therefore, when DOFs in the refined case are equal, the k–refinement is better than h and p–
refinement. The coarser of mesh model when geometry is constructed, the more effective we can use
k–refinement. This convergence can hardly be achieved by adaptive meshing as in FEM, and so it
closes the gap between CAD and CAE. The accurate prediction of the behavior of the model will help
us to offer a reasonable elevating order plan so that we save computer resources on a variety of
problems. Furthermore, we have illustrated this approach only for examples using linear elasticity
problems. We plan to apply our technique to other physical problems, e.g. dynamic non–linear
elasticity problems, hyperelasticity problems and problems from fluid dynamics.
Acknowledgment
This research is funded by Vietnam National University Ho Chi Minh City (VNU–HCM) under grant
number B2013–18–04.
References
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geometry and mesh refinement, Comput. Methods Appl. Mech. Engrg. 194 (2005) 4135–4195.
2. J. Austin Cottrell, Thomas J. R. Hughes, Yuri Bazilevs – Isogeometric Analysis: Toward Integration of
CAD and FEA, Wiley, 2009.
3. J.A. Cottrell, A. Reali, Y. Bazilevs, and T .J.R. Hughes – Isogeometric Analysis of Structural Vibrations:
k–refinement, In variant Frequency Spectra, Nonlinear Parameterization, Rotationless Bending Elements,
and Application to an Exact Geometrical Model of the NASA Aluminum Testbed Cylinder, Comput.
Methods Appl. Mech. Engrg. 195 (2006) 5257–5296.
4. E. Ventsel, T. Krauthammer – Thin plates and shells: Theory, Analysis, and Applications, Marcel Dekker,
Inc, 2001.
5. L. Meirovitch – Analytical Methods in Vibrations, The MacMillan Company, New York, 1967.
6. Vlad Popovici, Bredero Shaw – Industrial by products used in pipeline concrete coatings, Toronto,
Canada.