The Finite Element Method for the Analysis of Non-Linear and Dynamic Systems

Prof. Dr. Eleni Chatzi Lecture 2 - 2 October, 2012

Institute of Structural Engineering

Method of Finite Elements II

Non Linear FE - Background and Motivation

Linear Analysis Assumptions Innitesimally small displacements Linearly elastic material No gaps or overlaps occurring during deformations - The displacement eld is smooth Nature of Boundary Conditions remains unchanged Steady State Assumption No dependence on time

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Method of Finite Elements II

Non Linear FE - Background and Motivation

What kind of problems are not steady state and linear? Material behaves Nonlinearly Geometric Nonlinearity (ex. p- eects, follower force) Contact Problems (Hertzian stress) Loads vary fast compared to the eigenfrequencies of the structure Varying Boundary conditions (ex. freezing of water, welding) General feature: Response becomes load path dependent

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Method of Finite Elements II

Non Linear FE - Background and Motivation

What is the added value of being able to assess the Nonlinear non-steady state response of structures? Assessing the: Structural response of structures to extreme events (rock-fall, earthquake, hurricanes) Performance (failures and deformations) of soils Verifying simple models

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Method of Finite Elements II

Non Linear FE - Background and Motivation

Collapse Analysis of the World Trade Center

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Method of Finite Elements II

Non Linear FE - Background and Motivation Ultimate collapse capacity of jacket structure

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Method of Finite Elements II

Non Linear FE - Background and Motivation Analysis of soil performance

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Method of Finite Elements II

Non Linear FE - Background and Motivation Analysis of bridge response

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Method of Finite Elements II

Non Linear FE - Background and Motivation

Steady state problems (Linear/Nonlinear): The response of the system does not change over time KU = R Propagation problems (Linear/Nonlinear): The response of the system changes over time (t ) + CU (t ) + KU(t ) = R(t ) MU Eigenvalue problems: No unique solution to the response of the system
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Introduction to Nonlinear analysis analysis Introduction to non-linear Classication of of Nonlinear Classification non-linear analyses analyses
Type of analysis Description Materially-nonlinear Infinitesimal only displacements and strains; stress train relation is nonlinear Large Displacements and displacements, large rotations of fibers rotations but small are large; but fiber strains extensions and angle changes between fibers are small; stress strain relationship may be linear or non-linear Large Displacements and displacements, large rotations of fibers rotations and large are large; fiber strains extensions and angle changes between fibers may also be large; stress strain relationship may be linear or non-linear Method of Finite Elements II Typical formulation used Materiallynonlinear-only (MNO) Stress and strain measures used Engineering strain and stress

Total Lagrange (TL) Second PiolaKirchoff stress, Green-Lagrange strain Updated Lagrange (UL) Cauchy stress, Almansi strain

Total Lagrange (TL) Second PiolaKirchoff stress, Green-Lagrange strain Updated Lagrange Cauchy stress, (UL) Logarithmic strain

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Method of Finite Elements II

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Introduction to Nonlinear analysis

Swiss Federal Institute of Technology Page 21

Linear Elastic to non-linear analysis Introduction

Classification of non-linear analyses

P 2

= P/ A = / E =L

E
1

P 2

< 0.04

Linear elastic (infinitesimal displacements) Innitesimal Displacements

Method of Finite Elements II

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Method of Finite Elements II

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Introduction to Nonlinear analysis

Swiss Federal Institute of Technology Page 22

Material Nonlinearity only Introduction to non-linear analysis

Classification of non-linear analyses

P 2 L

P/ A

Y = P/ A Y Y = +
E ET
1

ET

P 2

< 0.04

displacements, but stress-strain relation) Innitesimal Displacements, butnonlinear Nonlinear Stress Strain relation
Method of Finite Elements II

Materially nonlinear only (infinitesimal

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Method of Finite Elements II

12

Introduction to Nonlinear analysis

Swiss Federal Institute of Technology

Large displacements, small strains

< 0.04 = L

Linear or Nonlinear material behavior

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Introduction to Nonlinear analysisanalysis Introduction to non-linear

Classification of non-linear analyses

Large displacements, large strains

Linear or Nonlinear material behavior

Large displacements, large rotations and Institute of Structural Engineering Method of Finite Elements II

14

Introduction Nonlinear analysis Swissto Federal Institute of Technology Change in BC for displacement Classification of non-linear analyses
P 2

Introduction to non-linear analysis

P 2

Chang in boundary conditions

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Example: Simple Bar Structure

Material Nonlinearity only Swiss Federal Institute of Technology Assumptions: Small displacements, strains, load is applied slowly.

Area = 1cm
2

u
t

Y
E
1

ET

Section a

Section b

La = 10cm

Lb = 5cm

R
4 3 2 1

Y = 0.002
E = 107 N / cm 2 ET = 105 N / cm 2
t

Y : yield stress Y : yield strain

Calculate the displacement at the point of load application.

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Example: Simple Bar Structure

Area = 1cm 2
t

E = 107 N / cm 2 ET = 105 N / cm 2

Section a

Section b

Y
E
1

ET

Y : yield stress Y : yield strain

La = 10cm

Lb = 5cm
t

= 0.002
t

a =
t

t u t u , b = La Lb t

R
4 3 2 1

R + b A = a A

(elastic region)
t

= Y +

Y
ET

(plastic region)

(unloading) E
17

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Method of Finite Elements II

Example: Simple Bar Structure

In the beginning both Sections are elastic

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Method of Finite Elements II

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Example: Simple Bar Structure

Section A is elastic while Section B is plastic
Since the stress on Section B is higher, it will yield rst at time t :

Unloading occurs before Section A yields.

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Introduction to Nonlinear Analysis

Conclusion from the previous example: The basic problem in general Nonlinear analysis is to nd a state of equilibrium between externally applied loads and element nodal forces
t t t

R t F = 0 R =t RB +t RS +t RC F=
m
tV m

B(m)T t (m) t d V(m)

where RB : body forces, RS : surface forces, RC : nodal forces We must achieve equilibrium for all time steps when incrementing the loading Very general approach Includes implicitly also dynamic analysis!
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Types of Response Diagrams Basic Types

F

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Method of Finite Elements II

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Types of Response Diagrams Complex Types

R U

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Method of Finite Elements II

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Solution Algorithms for NL equations

Root nding for single variable NL problems f (x ) = 0
Bisection Method Fixed Point Iteration

Assumption: f [a, b ] continuous

and

Write f (x ) = 0 in the form f (x ) = x q (x ), the solution x satises x = q ( x) Recurrence relation: xk +1 = g (xk ) Convergence: If g (x ) is dened over [a, b ] and a positive constant K exists with |g (x )| K , x [a, b ] then g (x ) has a unique xed point x [a, b ].
Method of Finite Elements II 23

If f (a) > 0, f (b ) < 0 a x b f ( x) = 0

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Solution Algorithms for NL equations

Root nding for single variable NL problems f (x ) = 0
Newton (Raphson) Method Secant Method

Dened by the recurrence relation xk+1 = xk

f (x k ) f (x k )

Dened by the recurrence relation

k1 xk+1 = xk f (xk ) f (xkk )f (xk1 )

x x

terminate when |xk +1 xk | , Convergence: quadratic |x xk +1 | C |x xk +1 |2

<<

Convergence: superlinear order = 1+2 5 (golden ratio)

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Method of Finite Elements II

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Incremental Analysis
The basic approach in incremental analysis is: Find a state of equilibrium between externally applied loads and element nodal forces
t +t t +t R

R t +t F = 0

Assuming that

is independent of the deformations we have

t +t

R =t F + F

We know the solution t F at time t and F is the increment in the nodal point forces corresponding to an increment in the displacements and stresses from time t to time t + t . This we can approximate by F =t KU

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Method of Finite Elements II

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Incremental Analysis
Newton-Raphson Method Assume the tangent stiness matrix: t F t U We may now substitute the tangent stiness matrix into the equilibrium relation
t

K=

KU =t +t R t F

which gives us a scheme for the calculation of the displacements:

t +t

U =t U + U

The exact displacements at time t + t correspond to the applied loads at t + t , however we only determined these approximately as we used a tangent stiness matrix thus we may have to iterate to nd the solution.
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Incremental Analysis
We may use the Newton-Raphson iteration scheme to nd the equilibrium within each load increment
t +t

K(i 1) U(i ) =t +t R t t F(i 1)

(out of balance load vector)

t +t

U(i ) =t +t U(i 1) + U(i )

with Initial Conditions

t +t

U(0) =t U;

t +t

K(0) =t K;

t +t (0)

=t F

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Method of Finite Elements II

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The first two analysis types, although significantly simplified, can lead to valuable conclusions concerning the behavior of the structure and the possible collapse mechanism. The applied procedure Modied (Raphson)Method can be described Newton in brief as follows. In the case of 2-D analysis the structure is assumed to consist of a finite number of nodes interconnected by a finite number of elements. The types of elements have been described in section 3.to In calculate the case of the 3-D tangent analysis the structure matrix. is assumed consist of the It may be expensive stiness Into the aforementioned 2-D frames, assuming a rigid diaphragm assemblage their horizontal dofs per floor Modied Newton-Raphson iteration scheme it is of only calculated in the slab. Loads may be applied at the nodes or along the elements. In both cases though, they are beginning of each new load step transformed to nodal loads.

Figure 5. Modified Newton Raphson Method

In the iteration schemes the secant stiness matrix After the quasi-Newton formation of the stiffness matrix the equilibrium equations are solved by is anused efficient algorithm based on the Gaussian elimination method. The structure stiffness is stored in a banded form instead of the tangent matrix
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Simple Bar Example - Revisited

( t K a + t K b ) u ( i ) =
t +t

t +t

R ( t +t Fa ( i 1) t +t Fb ( i 1) )

u ( i ) = t +t u ( i 1) + u ( i ) with initial conditions u (0) = t u;

t t +t

t +t

Fa (0) = t Fa
t

t +t

Fb (0) = t Fb

Ka =

CA ; La

Kb =

CA Lb

= E if section is elastic C = ET if section is plastic

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Method of Finite Elements II

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Simple Bar Example - Revisited

Load step 1: t = 1: ( 0 K a + 0 K b )u (1) = 1R 1Fa(0) 1Fb(0) u (1) = 2 104 = 6.6667 103 1 1 107 ( + ) 10 5 Iteration 1: (i = 1) u = 1u (0) + u (1) = 6.6667 103 = =
1 (1)

1 (1)

1 (1) a

u = 6.6667 104 < Y (elastic section!) La u = 1.3333 103 < Y (elastic section!) Lb
1 1 1

1 (1) b 1

1 (1)

Fa(1) = 6.6667 103 ;

0 0 (2)

Fb(1) = 1.3333 10 4

Convergence in one iteration!

1

( K a + K b ) u

= R Fa(1) 1Fb(1) = 0

u = 6.6667 ` 103

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Method of Finite Elements II

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Simple Bar Example - Revisited

Load step 2: t = 2 : ( 1K a + 1K b ) u (1) = 2 R 2 Fa(0) 2 Fb(0) (4 104 ) (6.6667 103 ) (1.333 104 ) = 6.6667 10 3 1 7 1 10 ( + ) 10 5 Iteration 1: (i = 1) u (1) =
2 2 2 1

u (1) = 2u (0) + u (1) = 1.3333 10 2

(1) a = 1.3333 10 3 < Y (elastic section!)

b(1) = 2.6667 103 > Y (plastic section!)

1 (1) Fb(1) = ( E T ( 2 b Y ) + Y ) A = 2.0067 10 4

Fa(1) = 1.3333 10 4 ;

( 1K a + 1K b ) u (2) = 2 R 2 Fa(1) 2 Fb(1) u (2) = 2.2 103

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Method of Finite Elements II

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Simple Bar Example - Revisited

The procedure is repeated and the results of successive iterations are tabulated in the accompanying table.

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Method of Finite Elements II

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