Code_Aster, Salome-Meca course material

GNU FDL licence (http://www.gnu.org/copyleft/fdl.html)

Advanced non-linear analysis
2 - Code_Aster and Salome-Meca course material GNU FDL Licence
Outline
Description of non-linear problems
Theoretical elements for solving non-linear problems
Solving non-linear problems with Newton
Using Code_Aster
3 - Code_Aster and Salome-Meca course material GNU FDL Licence
What is a non-linear problem in mechanics ?
4 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear problems
Non-linearities come from :
Kinematic (movement and strains) : large displacement, large rotation, large strains
Material : non-linear response, history-dependent response
Contact/friction
The three non-linearities should been coupled
Numerical simulation require expert analysis
5 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear material
Material non-linearity
Experimental identification : identify macroscopical response force/displacement
Most materials are non-linear and/or history dependent
6 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear material
Displacement/force function is not linear but not history dependent
F
u
A
B
C
Response
u
t
A
B
C
Prescribed
displacement
F
t
A
B
C
Prescribed
force
b a.u (u) with (u) F + =
F(A) F(C)
u(A) u(C)
=
=
7 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear material
Displacement/force function is not linear and history dependent
Residual displacement
Next loading : initial
displacement 0 0 0 0
u
t
A
B
C
Prescribed
displacement
F
t
A
B
C
Prescribed
force
F
u
A
B
C
Response
b a.u (u) with (u) F + =
u(A) u(C)
8 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear kinematic
Truss/beams/shells elements with large rotation and/or large
displacements
E: Young modulus
A: section
L: length
F: load
u: displacement
k: rigidity of the spring
EA
F
l
x
z
k
F
u
Response
9 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear contact/friction
Contact and friction: a very difficult non-linear problem

2
Response
(Signorini contact)
Response
(Coulomb friction)
p
n
g
p
t
v p
n
: normal pressure
p
t
: tangent pressure
g: distance between solids (gap)
v: tangential speed between solids
10 - Code_Aster and Salome-Meca course material GNU FDL Licence
Some theoretical elements
11 - Code_Aster and Salome-Meca course material GNU FDL Licence
Equations Continuous form
Measure of stress : Cauchy (true) stress
Measure of strain :
for finite strain, it's an arbirtray choice, depending on behavior law
For small strain
Cauchy stress : measure on deformed configuration
S
F
S

=
0
lim
0
0
0
0
0
lim
S
F
S

t
t
S
t
S
F
t

=
0
lim
t
F
0
F
( ) u u u
t
+ =
2
1
) (
12 - Code_Aster and Salome-Meca course material GNU FDL Licence
Equations Continuous form
Defining solid which is in equilibrium with external forces
is external boundary

u
to apply prescribed displacement u
d

g
to apply prescribed force g

c
to define contact/friction
f is volumic force

u
d
g
f

=
=
= +
c cf
u d
g
on u L
on u u
on g n
in f div
) (
.
0

13 - Code_Aster and Salome-Meca course material GNU FDL Licence

Equations Finite element approximation
Main shapes for elements :
segment, triangle, quadrangle, hexaedron, tetraedron, pyramid, prism
linear or quadratic (curved or straight edges)
Geometry discretization :
Coordinates in element
Discretized coordinates at nodes
Shape functions
x
y
x
2
y
2
x
1
y
1
x
3
y
3
{ } x
{ }
i
x
[ ]
g
N
{ } [ ]{ }
i g
x N x . =
14 - Code_Aster and Salome-Meca course material GNU FDL Licence
Equations Finite element approximation
Discretization of the unknowns:
Unknowns depending on physic : displacement for mechanics temperature for
thermic, ...
Displacements in element
Discretized displacement at nodes
Shape functions
We suppose isoparametric elements
u
2
v
2
u
1
v
1
u
3
v
3
{ } u
{ }
i
u
[ ]
u
N
{ } [ ]{ }
i u
u N u . =
[ ] [ ] [ ]
u g
N N N = =
15 - Code_Aster and Salome-Meca course material GNU FDL Licence
Equations Finite element approximation
Weak form of equilibrium (weighted residuals) :
Find with :
Virtual displacements and virtual strains
With space of kinematically admissible displacements :
With space of virtual displacements :
The weak form is the mechanical concept of virtual power
Galerkin form : and
u
E u
{ } [ ]{ }
i
u N u
~
.
~
= { } [ ]{ }
i
u N u . =
u
E u ~
~

g
d u u g d u u f d u u .
~
: ) ( .
~
: ) ( ).
~
( : ) (
u
E
( ) u u u
t
~ ~
2
1
)
~
( + =
u
~
{ }
u d u
X u X u with u E = = ) (
{ }
u u
X X u with u E = = 0 ) (
~ ~
~
u
E~
16 - Code_Aster and Salome-Meca course material GNU FDL Licence
Equations Finite element approximation
Non-linear problem : stress depending on displacement
From displacement u to strain : kinematic non-linearity
From strain to stress : material non-linearity
Non-linear material
Non-linear material depending on material's history (plasticity,...) :
Internal variables
)) ( ( ) ( u u =
)) ( , ( ) ( u u =
) (u

17 - Code_Aster and Salome-Meca course material GNU FDL Licence

Equations Finite element approximation
Numerical quadrature : to compute continuous som, using a
Gauss approximation
Stress, strain and internal variables : discretized at numerical points
(quantities post_fixed by _ELGA in Code_Aster)
Displacement : discretized at nodes (quantities post_fixed by
_NOEU in Code_Aster)

points nb
1
k
. .
k
k
d
X
1
1
v
u
2
2
v
u
3
3
v
u
k
k
k
X

k
k
k
X

k
k
k
X

18 - Code_Aster and Salome-Meca course material GNU FDL Licence

Equations Finite element approximation
Computation of internal forces
Non-linear internal forces : depending on
Non-linear kinematic
Non-linear material
{ } [ ]{ } ) ( . ) ( ) ( ).
~
( : ) (
int
u u Q u L d u u =

u
[ ] ) (u Q
{ } ) (u
19 - Code_Aster and Salome-Meca course material GNU FDL Licence
Equations Finite element approximation
Computation of external forces
Non-linear external forces : depending on
Non-linear when following forces : pressure always normal to
boundary pressure depends on displacement
p(u)
p(u)
{ } ) ( .
~
: ) ( .
~
: ) ( u L d u u g d u u f
ext
g

u
20 - Code_Aster and Salome-Meca course material GNU FDL Licence
Equations Finite element approximation
Final equilibrium equation : discretized form
Non-linear equation, depending on
u
{ } { } { } 0 ) ( ) (
int
= u L u L
ext
21 - Code_Aster and Salome-Meca course material GNU FDL Licence
General algorithm for non-linear problem
22 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
To solve non-linear problem : an incremental algorithm
Problem is parametrized by the parameter t
t is not real time (quasi-static problem)
Why parametrization ?
Real boundary conditions should been applied by non-constant values
Non-linear material produced non-linear equation, precision should depends on
incremental step size
An non-linear problem is easier to solve when cut by small step size
23 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Parametrization because boundary conditions should been
applied by non-constant values
Some examples of prescribed boundary conditions
f
t
Prescribed
volumic force
Prescribed
surfacic force
g
t
A
B
C
u
d
t
A
B
C
Prescribed
displacement
24 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Parametrization to cut a non-linear problem to decrease degree of
non-linearity
Cutting
<=
High degree of non-
linearity on complete
problem
Low degree of non-
linearity at each step
F
u
F
u
25 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
The parameter t in the equations :
Internal forces : dependence with respect to t is implicit, it results from the
integration of the constitutive relation in time
External forces : dependence with respect to t is explicit (applied BC) or implicit
(following forces)
Time discretization, all quantities are parametrized by step k :
t
0
t
1
t
2
t
3
t
4
1
Time
t
Step
2 3 4
Incremental quantities :
{ } { } { } 0 )) ( , ( )) ( (
int
= t u t L t u L
ext
u u u
k k
+ =
1
int
k
L
ext
k
L
k
u
k
t
k

26 - Code_Aster and Salome-Meca course material GNU FDL Licence

Solving non-linear problem
Solving a non-linear equation : the Newton's method
Construction of the series
Taylor series expansion of the first order
Next value of the term of the series
Properties :
Quadratic convergence near the solution
Computation of should be very expensive
0 ) ( = x F
( )
N n
n
x

) ).( ( ) ( ) ( 0
1 1 1

+ =
n n n n n
x x x F x F x F
) (
) (
1
1
1
1

=
n
n
n n
x F
x F
x x
0 ) (
1

n
x F
) (
1

n
x F
27 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Newton's method for equilibrium equation, at step k :
Internal forces :
External forces :
Simplify : we are at step k
with
with
{ } { } { }
{ } { } { } 0 )) ( , ( )) ( (
0 )) ( , ( )) ( (
int
int
=
=
t u t L t u L
t u t L t u L
ext
k k k ext k k
) (
1
=
n n n
u u u
) (
1
=
n n n
u u u
n
u
n n
u
u
L
L L
n
.
1
int
1 int, int,

|
|

\
|

+

n
u
ext
n ext n ext
u
u
L
L L
n
.
1
1 , ,

|
|

\
|

+

28 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Newton's method for equilibrium equation, at step k :
is tangent matrix
is equilibrium residual
1 1
int
1 , 1 int,
.
0 .
1


=
=
|
|

\
|

n n n
n
u
ext
n ext n
R u K
u
u
L
u
L
L L
n

1 n
K
1 n
R
( )
1 int, 1 , 1
=
n n ext n
L L R
1 1
_
int
1

|
|

\
|

|
|

\
|

n n
u
ext
u
n
u
L
u
L
K
29 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Global algorithm :
1) Compute internal and external forces
2) Compute tangent matrix
3) Solve linear system
4) Update displacements
5) Evaluate convergence
30 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Compute internal and external forces :
Exact computation is necessary (software requirement)
Non-linear behavior is evaluated at each Gauss point
Complex behavior laws computation should be expensive
Precision of computation of some behavior laws should depend on
increment of displacement :
Visco-plasticity
Non-radial loading
PETIT_REAC strain measure
31 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Compute tangent matrix :
Exact computation is NOT necessary
Tangent matrix is evaluated at each Gauss point
Tangent matrix computation should be expensive
32 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem Newton by graphic
Find the solution where is known and is unknown
u
*
L
ext
u
L
int
u
0
F
*
F
0
*
u
*
F ( )
* *
, F u
33 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem Newton by graphic
Dividing in two increments (reducing degree of non-linearity) :
find and
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
*
F
( )
1 1
, F u
( )
2 2
, F u
34 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem Newton by graphic
Compute tangent matrix for iteration Newton n and step 1
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
u
1
n
K
1
n
n
K
1
35 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem Newton by graphic
Solving
n n n
u F F u K
1 0 1 1 1
. =
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
K
1
n
n
u
1

36 - Code_Aster and Salome-Meca course material GNU FDL Licence

Solving non-linear problem Newton by graphic
Update displacements
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
u
1
n
K
1
n
n
u
1

n n n
u u u
1
1
1 1
+ =

37 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem Newton by graphic
Compute and
( )
n
u L
1
int
( )
n
u L F R
1
int
1
=
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
u
1
n
K
1
n
n
u
1

( )
n
u L
1
int
( )
n
u R
1
38 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem Newton by graphic
Matrix computation
Solve system
Evaluate convergence Update displacements
Solving non-linear problem Newton by graphic
1 2
3 4
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
u
1
n
K
1
n
n
u
1

( )
n
u L
1
int
( )
n
u R
1
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
u
1
n
K
1
n
n
u
1

u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
u
1
n
K
1
n
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
u
1
n
K
1
n
n
u
1

39 - Code_Aster and Salome-Meca course material GNU FDL Licence

Solving non-linear problem
Matrix computation :
True Newton method : is evaluate every step and every Newton
iteration
Quasi-Newton method : is evaluate every i Newton's iteration and
every n time's step
1
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
True Newton method
Slope changes
every Newton's
iteration
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
Quasi Newton method
Slope doesn't
change every
Newton's
iteration
n
i
K
n
i
K
40 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Matrix computation :
Quasi-Newton method : compute approximate matrix (elastic matrix)
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
True Newton method
Slope is
coherent matrix
u
*
= u
2
L
ext
u
L
int
u
0
F
*
= F
2
F
0
F
1
u
1
Quasi Newton method
Slope is elastic
matrix
1
41 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Matrix computation : Why quasi-Newton methods ?
Compute exact matrix every iteration : matrix must been factorized
very expensive
Make more iterations but each iteration is quicker
Elastic matrix achieve convergence for all standard generalized materials
with a lot of iterations (thousands). Elastic matrix is computed and
factorized ONE time : very cheap
Elastic matrix is the better choice for unloading loading's cases
1
42 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Solve system : using direct solver or iterative solver 2
43 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Update displacement - Improving by line-search - Method
Solving is equivalent to minimizing functional
Solving give the direction of the solution
Solving functionnal minimisation give the line-search coefficient
Update displacements
3
1 1
.

=
n n n
R u K
1 1
.

=
n n n
R u K
n
u

n n n
u u u .
1
+ =

44 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Update displacement - Improving by line-search - Functional
Functional (scalar) J is :
With is the density of free energy, for hyperelastic material :
This functional is convex, minimizing convex function its gradient
vanishes :
Gradient vanishes <=> Virtual power
Find equilibrium : minimize J scalar functional
3
( ) ( )

=

d u t d u f d u u J u . . . . . ) (
( ) ( ) u

=
u
E u u u J ~
~
0
~
). ( =
( ) ( )
u
E u d u u g d u u f d u u
g
~
~
.
~
: ) ( .
~
: ) ( .
~
:

45 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Update displacement - Improving by line-search - Minimize
functional
Derivative of the functional
Scalar functional
Using classical method for minimizing scalar convex function (dichotomy
for instance)
3
{ } { } { } 0 ) ( ) (
1 1
int
= + +
n n
ext
n n
u u L u u L
{ } { } { } 0 ) ( ) ( . ) (
1 1
int
= + + =
n n
ext
n n n
u u L u u L u g
46 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Update displacement - Improving by line-search - Notes
Only few iterations : it's not necessary to find exact zero of g
Only compute internal and external forces (no matrix)
Algorithms for minimizing scalar function are very efficient and very simple
3
47 - Code_Aster and Salome-Meca course material GNU FDL Licence
Solving non-linear problem
Evaluate convergence
Absolute (RESI_GLOB_MAXI)
Relative (RESI_GLOB_RELA)
By reference : giving stress reference (RESI_REFE_RELA)
4

1 int,n ext
L L

ext
n ext
L
L L
1 int,
ref
k
k
n ext
L L L .
1 int,


48 - Code_Aster and Salome-Meca course material GNU FDL Licence
Using non-linear in Code_Aster
49 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster
Material is steel with Von Mises plasticity with isotropic hardening,
traction curve from file
Steel on all mesh
FSIGM = LIRE_FONCTION(UNITE=21,PARA='EPSI')
STEEL = DEFI_MATERIAU( ELAS=_F(YOUNG=210.E9,NU=0.3),
TRACTION=_F(SIGM=FSIGM))
CHMA = AFFE_MATERIAU( MAILLAGE=MESH,
AFFE=_F( TOUT='OUI',
MATER='STEEL'))
50 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster
Plasticity with isotropic hardening, small strains
RESUN = STAT_NON_LINE(...
CHAM_MATER = CHMA,
COMP_INCR = _F(
TOUT ='OUI',
RELATION ='VMIS_ISOT_TRAC',
DEFORMATION ='PETIT'),
...)
51 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster
Loading : parametrized by time Using function in FONC_MULT
RESUN = STAT_NON_LINE(...
EXCIT=_F(CHARGE =LOAD,
FONC_MULT=RAMPE)
...)
RAMPE = DEFI_FONCTION(PARA='INST',VALE=(0,0,2,2))
LOAD = AFFE_CHAR_MECA(MODELE=MOD,
PRES_REP=_F(PRES=100.,
GROUP_MA='TOTO'))
L
ext
t
0
200
2
{ } { } ) ( . ) ( )) ( , ( u L t g t u t L
ext ext
=
52 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster
Loading : parametrized by time Using function directly in BC
RESUN = STAT_NON_LINE(...
EXCIT=_F(CHARGE =LOAD)
...)
RAMPE = DEFI_FONCTION(PARA='INST',VALE=(0,0,2,200))
LOAD = AFFE_CHAR_MECA_F(MODELE=MOD,
PRES_REP=_F(PRES=RAMPE,
GROUP_MA='TOTO'))
L
ext
t
0
200
2
{ } { } ) ( . ) ( )) ( , ( u L t g t u t L
ext ext
=
53 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster
Computing is parametrized by time
L_INST=DEFI_LIST_REEL( DEBUT=0.0,
INTERVALLE=(
_F(JUSQU_A=1.0,NOMBRE=3,),
_F(JUSQU_A=2.0,NOMBRE=2,),
),)
Time
t
0.0 2.0 1.0
RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=L_INST)
...)
54 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster
Loading and time definition must been consistent
Computation on part of step
RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=L_INST,
INST_FIN =1.0)
...)
Time
t
0.0 2.0 1.0
L
ext
t
0
200
2
!
55 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster Advanced controls
Automatic step cut : no convergence automatic cutting
RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=DEFLIST)
...)
DEFLIST = DEFI_LIST_INST(
DEFI_LIST = _F(
LIST_INST = L_INST,),
ECHEC = _F(
EVENEMENT = 'ERREUR',
ACTION = 'DECOUPE',),)
V11
L_INST=DEFI_LIST_REEL( DEBUT=0.0,
INTERVALLE=(
_F(JUSQU_A=1.0,NOMBRE=3,)
_F(JUSQU_A=2.0,NOMBRE=2,),
),)
56 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster Advanced controls
Automatic step adaptation :
L_INST=DEFI_LIST_REEL( DEBUT=0.0,
INTERVALLE=(_F(JUSQU_A=2.0,NOMBRE=1,),
),)
RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=DEFLIST)
...)
DEFLIST = DEFI_LIST_INST( DEFI_LIST = _F(
METHODE = 'AUTO
LIST_INST = L_INST,
PAS_MINI = 1.E-6),)
V11
57 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster Advanced controls
Quasi-Newton method : recompute matrix every 2 Newton's iteration
Quasi-Newton method : recompute matrix every 3 time's step
Quasi-Newton method : using elastic matrix
Default values in Code_Aster
RESUN = STAT_NON_LINE(...
NEWTON=_F(REAC_ITER=2,),)
RESUN = STAT_NON_LINE(...
NEWTON=_F(REAC_INCR=3,),)
RESUN = STAT_NON_LINE(...
NEWTON=_F(MATRICE='ELASTIQUE',),)
RESUN = STAT_NON_LINE(...
NEWTON=_F( REAC_INCR=1,
REAC_ITER=0,
MATRICE='ELASTIQUE',),)
!
58 - Code_Aster and Salome-Meca course material GNU FDL Licence
Non-linear in Code_Aster Advanced controls
Convergence criterion : careful when change values !
Changing criterion convergence may produces WRONG results
Maximum number of Newton's iteration
Elastic matrix uses thousands of Newton's iterations
Default values in Code_Aster
RESUN = STAT_NON_LINE(...
CONVERGENCE=_F(
RESI_GLOB_MAXI=1.E-6,
RESI_GLOB_RELA=1.E-6,),)
RESUN = STAT_NON_LINE(
CONVERGENCE=_F(ITER_GLOB_MAXI=20,),)
RESUN = STAT_NON_LINE(...
CONVERGENCE=_F(
ITER_GLOB_MAXI=10,
RESI_GLOB_RELA=1.E-6,),)
!
!
59 - Code_Aster and Salome-Meca course material GNU FDL Licence
End of presentation
Is something missing or unclear in this document?
Or feeling happy to have read such a clear tutorial?
Please, we welcome any feedbacks about Code_Aster training materials.
Do not hesitate to share with us your comments on the Code_Aster forum
dedicated thread.