StructuralMechanicsModuleUsersGuide PDF
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Francisco RibeiroStructuralMechanicsModuleUsersGuide PDF
Uploaded by
Francisco RibeiroStructural Mechanics Module
Users Guide
VERSION 4.3b
Structural Mechanics Module Users Guide
19982013 COMSOL
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Part No. CM021101
C o n t e n t s
Chapter 1: Introduction
About the Structural Mechanics Module
Why Structural Mechanics is Important for Modeling . . . . . . . . .
What Problems Can It Solve? . . . . . . . . . . . . . . . . . .
The Structural Mechanics Module Physics Guide . . . . . . . . . . .
Available Study Types . . . . . . . . . . . . . . . . . . . . . 10
Geometry Levels for Study Capabilities . . . . . . . . . . . . . . 13
Where Do I Access the Documentation and Model Library? . . . . . . 15
Overview of the Users Guide
18
Chapter 2: Structural Mechanics Modeling
Applying Loads
22
Units, Orientation, and Visualization . . . . . . . . . . . . . . . 22
Load Cases . . . . . . . . . . . . . . . . . . . . . . . . . 23
Singular Loads . . . . . . . . . . . . . . . . . . . . . . . . 23
Moments in the Solid Mechanics User Interface . . . . . . . . . . . 25
Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Acceleration Loads . . . . . . . . . . . . . . . . . . . . . . 26
Temperature LoadsThermal Expansion. . . . . . . . . . . . . . 26
Total Loads . . . . . . . . . . . . . . . . . . . . . . . . . 27
Defining Constraints
28
Orientation . . . . . . . . . . . . . . . . . . . . . . . . . 28
Symmetry Constraints . . . . . . . . . . . . . . . . . . . . . 28
Kinematic Constraints . . . . . . . . . . . . . . . . . . . . . 30
Rotational Joints . . . . . . . . . . . . . . . . . . . . . . . 30
Calculating Reaction Forces
31
Using Predefined Variables to Evaluate Reaction Forces . . . . . . . . 31
CONTENTS
|i
Using Weak Constraints to Evaluate Reaction Forces . . . . . . . . . 32
Using Surface Traction to Evaluate Reaction Forces . . . . . . . . . . 33
Evaluating Surface Traction Forces on Internal Boundaries . . . . . . . 34
Introduction to Material Models
35
Introduction to Linear Elastic Materials . . . . . . . . . . . . . . 35
Introduction to Linear Viscoelastic Materials . . . . . . . . . . . . 36
Mixed Formulation . . . . . . . . . . . . . . . . . . . . . . 36
About the Material Databases for the Structural Mechanics Module
Defining Multiphysics Models
. . . 36
38
Thermal-Structural Interaction. . . . . . . . . . . . . . . . . . 38
Acoustic-Structure Interaction. . . . . . . . . . . . . . . . . . 38
Thermal-Electric-Structural Interaction . . . . . . . . . . . . . . 39
Modeling Geometric Nonlinearity
40
Geometric Nonlinearity for the Solid Mechanics User Interface . . . . . 41
Geometric Nonlinearity for the Shell, Plate, Membrane, and Truss
User Interfaces . . . . . . . . . . . . . . . . . . . . . . . 42
Prestressed Structures. . . . . . . . . . . . . . . . . . . . . 42
Geometric Nonlinearity, Frames, and the ALE Method . . . . . . . . 43
Reference for Geometric Nonlinearity. . . . . . . . . . . . . . . 46
Linearized Buckling Analysis
47
Introduction to Contact Modeling
49
Constraints . . . . . . . . . . . . . . . . . . . . . . . . . 49
Contact Pairs . . . . . . . . . . . . . . . . . . . . . . . . 50
Boundary Settings for Contact Pairs
. . . . . . . . . . . . . . . 51
Time-Dependent Analysis . . . . . . . . . . . . . . . . . . . 52
Multiphysics Contact . . . . . . . . . . . . . . . . . . . . . 52
Solver and Mesh Settings for Contact Modeling . . . . . . . . . . . 52
Monitoring the Solution . . . . . . . . . . . . . . . . . . . . 53
ii | C O N T E N T S
Eigenfrequency Analysis
54
Using Modal Superposition
57
Modeling Damping and Losses
59
Overview of Damping and Loss . . . . . . . . . . . . . . . . . 59
Linear Viscoelastic Materials . . . . . . . . . . . . . . . . . . 63
Rayleigh Damping. . . . . . . . . . . . . . . . . . . . . . . 63
Equivalent Viscous Damping. . . . . . . . . . . . . . . . . . . 64
Loss Factor Damping . . . . . . . . . . . . . . . . . . . . . 65
Explicit Damping . . . . . . . . . . . . . . . . . . . . . . . 65
Piezoelectric Losses
66
About Piezoelectric Materials . . . . . . . . . . . . . . . . . . 66
Piezoelectric Material Orientation . . . . . . . . . . . . . . . . 67
Piezoelectric Losses. . . . . . . . . . . . . . . . . . . . . . 73
No Damping . . . . . . . . . . . . . . . . . . . . . . . . 76
References for Piezoelectric Damping . . . . . . . . . . . . . . . 76
Springs and Dampers
78
Tips for Selecting the Correct Solver
80
Symmetric Matrices . . . . . . . . . . . . . . . . . . . . . . 80
Selecting Iterative Solvers
. . . . . . . . . . . . . . . . . . . 81
Specifying Tolerances and Scaling for the Solution Components . . . . . 82
Chapter 3: Solid Mechanics
Solid Mechanics Geometry and Structural Mechanics Physics
Symbols
84
3D Solid Geometry . . . . . . . . . . . . . . . . . . . . . . 84
2D Geometry . . . . . . . . . . . . . . . . . . . . . . . . 85
Axisymmetric Geometry . . . . . . . . . . . . . . . . . . . . 86
Physics Symbols for Boundary Conditions . . . . . . . . . . . . . 86
About Coordinate Systems and Physics Symbols . . . . . . . . . . . 88
Displaying Physics Symbols in the Graphics WindowAn Example . . . . 89
CONTENTS
| iii
The Solid Mechanics User Interface
91
Domain, Boundary, Edge, Point, and Pair Nodes for Solid Mechanics . . . 94
Linear Elastic Material . . . . . . . . . . . . . . . . . . . . . 95
Change Thickness . . . . . . . . . . . . . . . . . . . . . . 99
Damping . . . . . . . . . . . . . . . . . . . . . . . . . . 99
iv | C O N T E N T S
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
102
About the Body, Boundary, Edge, and Point Loads . . . . . . . . .
103
Body Load . . . . . . . . . . . . . . . . . . . . . . . .
103
Boundary Load
. . . . . . . . . . . . . . . . . . . . . .
104
Edge Load . . . . . . . . . . . . . . . . . . . . . . . .
105
Point Load . . . . . . . . . . . . . . . . . . . . . . . .
105
Fixed Constraint . . . . . . . . . . . . . . . . . . . . . .
106
Prescribed Displacement . . . . . . . . . . . . . . . . . . .
107
Free. . . . . . . . . . . . . . . . . . . . . . . . . . .
108
Symmetry . . . . . . . . . . . . . . . . . . . . . . . .
109
Antisymmetry . . . . . . . . . . . . . . . . . . . . . . .
109
Roller . . . . . . . . . . . . . . . . . . . . . . . . . .
110
Periodic Condition . . . . . . . . . . . . . . . . . . . . .
110
Linear Viscoelastic Material . . . . . . . . . . . . . . . . . .
111
Thermal Expansion . . . . . . . . . . . . . . . . . . . . .
112
Thermal Effects . . . . . . . . . . . . . . . . . . . . . .
114
Rigid Connector . . . . . . . . . . . . . . . . . . . . . .
115
Rigid Domain . . . . . . . . . . . . . . . . . . . . . . .
118
Applied Force . . . . . . . . . . . . . . . . . . . . . . .
118
Applied Moment . . . . . . . . . . . . . . . . . . . . . .
119
Mass and Moment of Inertia. . . . . . . . . . . . . . . . . .
119
Contact . . . . . . . . . . . . . . . . . . . . . . . . .
120
Friction . . . . . . . . . . . . . . . . . . . . . . . . .
123
Bolt Pre-Tension . . . . . . . . . . . . . . . . . . . . . .
125
Bolt Selection . . . . . . . . . . . . . . . . . . . . . . .
125
Initial Stress and Strain. . . . . . . . . . . . . . . . . . . .
126
Phase . . . . . . . . . . . . . . . . . . . . . . . . . .
127
Prescribed Velocity . . . . . . . . . . . . . . . . . . . . .
128
Prescribed Acceleration . . . . . . . . . . . . . . . . . . .
129
Spring Foundation . . . . . . . . . . . . . . . . . . . . .
129
Pre-Deformation . . . . . . . . . . . . . . . . . . . . . .
131
Thin Elastic Layer. . . . . . . . . . . . . . . . . . . . . .
132
Added Mass . . . . . . . . . . . . . . . . . . . . . . . .
133
Low-Reflecting Boundary . . . . . . . . . . . . . . . . . . .
134
Attachment . . . . . . . . . . . . . . . . . . . . . . . .
135
Theory for the Solid Mechanics User Interface
136
Material and Spatial Coordinates . . . . . . . . . . . . . . . .
136
Coordinate Systems. . . . . . . . . . . . . . . . . . . . .
137
Lagrangian Formulation . . . . . . . . . . . . . . . . . . .
138
About Linear Elastic Materials . . . . . . . . . . . . . . . . .
139
Strain-Displacement Relationship . . . . . . . . . . . . . . . .
146
Stress-Strain Relationship. . . . . . . . . . . . . . . . . . .
149
Plane Strain and Plane Stress Cases . . . . . . . . . . . . . . .
149
Axial Symmetry . . . . . . . . . . . . . . . . . . . . . .
150
Loads . . . . . . . . . . . . . . . . . . . . . . . . . .
155
Pressure Loads
156
. . . . . . . . . . . . . . . . . . . . . .
Equation Implementation . . . . . . . . . . . . . . . . . . .
157
Setting up Equations for Different Studies . . . . . . . . . . . .
158
Damping Models . . . . . . . . . . . . . . . . . . . . . .
161
Modeling Large Deformations . . . . . . . . . . . . . . . . .
164
About Linear Viscoelastic Materials . . . . . . . . . . . . . . .
165
About Contact Modeling . . . . . . . . . . . . . . . . . . .
170
Theory for the Rigid Connector . . . . . . . . . . . . . . . .
173
Initial Stresses and Strains . . . . . . . . . . . . . . . . . .
175
About Spring Foundations and Thin Elastic Layers . . . . . . . . .
176
About Added Mass . . . . . . . . . . . . . . . . . . . . .
178
Using Pre-tensioned Bolts . . . . . . . . . . . . . . . . . .
179
Geometric Nonlinearity Theory for the Solid Mechanics User
Interface . . . . . . . . . . . . . . . . . . . . . . . .
182
About the Low-Reflecting Boundary Condition . . . . . . . . . .
186
Cyclic Symmetry and Floquet Periodic Conditions . . . . . . . . .
187
Chapter 4: Shells and Plates
The Shell and Plate User Interfaces
192
Domain, Boundary, Edge, Point, and Pair Nodes for the Shell and
. . . . . . . . . . . . . . . . . . .
195
Linear Elastic Material . . . . . . . . . . . . . . . . . . . .
Plate User Interfaces
196
CONTENTS
|v
Thermal Expansion . . . . . . . . . . . . . . . . . . . . .
198
Initial Stress and Strain. . . . . . . . . . . . . . . . . . . .
199
Damping . . . . . . . . . . . . . . . . . . . . . . . . .
200
Change Thickness . . . . . . . . . . . . . . . . . . . . .
202
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
203
About the Body Load, Face Load, Edge Load, and Point Load
Nodes . . . . . . . . . . . . . . . . . . . . . . . . .
203
Body Load . . . . . . . . . . . . . . . . . . . . . . . .
204
Face Load . . . . . . . . . . . . . . . . . . . . . . . .
204
Edge Load . . . . . . . . . . . . . . . . . . . . . . . .
205
Point Load . . . . . . . . . . . . . . . . . . . . . . . .
207
Phase . . . . . . . . . . . . . . . . . . . . . . . . . .
207
Pinned . . . . . . . . . . . . . . . . . . . . . . . . . .
208
No Rotation . . . . . . . . . . . . . . . . . . . . . . .
208
Prescribed Displacement/Rotation . . . . . . . . . . . . . . .
209
Prescribed Velocity . . . . . . . . . . . . . . . . . . . . .
211
Prescribed Acceleration . . . . . . . . . . . . . . . . . . .
213
Symmetry . . . . . . . . . . . . . . . . . . . . . . . .
215
Antisymmetry . . . . . . . . . . . . . . . . . . . . . . .
216
Rigid Connector . . . . . . . . . . . . . . . . . . . . . .
217
Results Evaluation . . . . . . . . . . . . . . . . . . . . .
219
Theory for the Shell and Plate User Interfaces
220
About Shells and Plates . . . . . . . . . . . . . . . . . . .
220
Theory Background for the Shell and Plate User Interfaces . . . . . .
221
Reference for the Shell User Interface . . . . . . . . . . . . . .
231
Chapter 5: Beams
vi | C O N T E N T S
The Beam User Interface
234
Boundary, Edge, Point, and Pair Nodes for the Beam User Interface . .
236
Linear Elastic Material . . . . . . . . . . . . . . . . . . . .
237
Thermal Expansion . . . . . . . . . . . . . . . . . . . . .
238
Initial Stress and Strain. . . . . . . . . . . . . . . . . . . .
239
Damping . . . . . . . . . . . . . . . . . . . . . . . . .
240
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
241
Cross Section Data . . . . . . . . . . . . . . . . . . . . .
241
Section Orientation . . . . . . . . . . . . . . . . . . . . .
245
About the Edge Load and Point Load Nodes . . . . . . . . . . .
247
Edge Load . . . . . . . . . . . . . . . . . . . . . . . .
247
Point Load . . . . . . . . . . . . . . . . . . . . . . . .
248
Phase . . . . . . . . . . . . . . . . . . . . . . . . . .
249
Prescribed Displacement/Rotation . . . . . . . . . . . . . . .
249
Prescribed Velocity . . . . . . . . . . . . . . . . . . . . .
251
Prescribed Acceleration . . . . . . . . . . . . . . . . . . .
252
Pinned . . . . . . . . . . . . . . . . . . . . . . . . . .
253
No Rotation . . . . . . . . . . . . . . . . . . . . . . .
253
Symmetry . . . . . . . . . . . . . . . . . . . . . . . .
254
Antisymmetry . . . . . . . . . . . . . . . . . . . . . . .
254
Point Mass . . . . . . . . . . . . . . . . . . . . . . . .
255
Point Mass Damping
256
. . . . . . . . . . . . . . . . . . . .
Theory for the Beam User Interface
257
About Beams . . . . . . . . . . . . . . . . . . . . . . .
257
In-Plane Euler Beams . . . . . . . . . . . . . . . . . . . .
258
3D Euler Beam
. . . . . . . . . . . . . . . . . . . . . .
259
Strain-Displacement/Rotation Relation. . . . . . . . . . . . . .
259
Stress-Strain Relation . . . . . . . . . . . . . . . . . . . .
260
Thermal Strain . . . . . . . . . . . . . . . . . . . . . . .
260
Initial Load and Strain . . . . . . . . . . . . . . . . . . . .
260
Implementation . . . . . . . . . . . . . . . . . . . . . .
261
Stress Evaluation . . . . . . . . . . . . . . . . . . . . . .
264
Thermal Coupling . . . . . . . . . . . . . . . . . . . . .
265
Coefficient of Thermal Expansion . . . . . . . . . . . . . . .
266
Common Cross Sections . . . . . . . . . . . . . . . . . . .
266
Chapter 6: Beam Cross Sections
Using the Beam Cross Section User Interface
278
About Beams and Cross Section Data . . . . . . . . . . . . . .
278
Using the Beam Cross Section User Interface . . . . . . . . . . .
279
CONTENTS
| vii
The Beam Cross Section User Interface
284
Hole . . . . . . . . . . . . . . . . . . . . . . . . . .
285
Theory for the Beam Cross Section User Interface
286
Cross Section Properties . . . . . . . . . . . . . . . . . . .
286
Computation of Stresses . . . . . . . . . . . . . . . . . . .
300
C h a p t e r 7 : Tr u s s e s
The Truss User Interface
viii | C O N T E N T S
304
Boundary, Edge, Point, and Pair Nodes for the Truss User Interface. . .
305
Linear Elastic Material . . . . . . . . . . . . . . . . . . . .
306
Thermal Expansion . . . . . . . . . . . . . . . . . . . . .
308
Initial Stress and Strain. . . . . . . . . . . . . . . . . . . .
308
Cross Section Data . . . . . . . . . . . . . . . . . . . . .
308
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
309
About the Edge Load and Point Load . . . . . . . . . . . . . .
309
Edge Load . . . . . . . . . . . . . . . . . . . . . . . .
310
Phase . . . . . . . . . . . . . . . . . . . . . . . . . .
310
Straight Edge Constraint . . . . . . . . . . . . . . . . . . .
311
Pinned . . . . . . . . . . . . . . . . . . . . . . . . . .
311
Prescribed Displacement . . . . . . . . . . . . . . . . . . .
312
Prescribed Velocity . . . . . . . . . . . . . . . . . . . . .
312
Prescribed Acceleration . . . . . . . . . . . . . . . . . . .
313
Symmetry . . . . . . . . . . . . . . . . . . . . . . . .
314
Antisymmetry . . . . . . . . . . . . . . . . . . . . . . .
314
Point Mass . . . . . . . . . . . . . . . . . . . . . . . .
315
Theory for the Truss User Interface
316
About Trusses . . . . . . . . . . . . . . . . . . . . . . .
316
Theory Background for the Truss User Interface . . . . . . . . . .
317
Chapter 8: Membranes
The Membrane User Interface
324
Boundary, Edge, Point, and Pair Nodes for the Membrane User
Interface . . . . . . . . . . . . . . . . . . . . . . . .
326
Linear Elastic Material . . . . . . . . . . . . . . . . . . . .
327
Initial Stress and Strain. . . . . . . . . . . . . . . . . . . .
328
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
329
Face Load . . . . . . . . . . . . . . . . . . . . . . . .
329
Edge Load . . . . . . . . . . . . . . . . . . . . . . . .
330
Prescribed Displacement . . . . . . . . . . . . . . . . . . .
330
Theory for the Membrane User Interface
333
About Membranes . . . . . . . . . . . . . . . . . . . . .
333
Theory Background for the Membrane User Interface . . . . . . . .
334
Chapter 9: Multiphysics User Interfaces
The Thermal Stress User Interface
338
Domain, Boundary, Edge, Point, and Pair Nodes for the Thermal
Stress User Interface . . . . . . . . . . . . . . . . . . .
342
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
343
Thermal Linear Elastic Material . . . . . . . . . . . . . . . .
344
Thermal Hyperelastic Material . . . . . . . . . . . . . . . . .
345
Thermal Linear Viscoelastic Material . . . . . . . . . . . . . .
347
The Fluid-Structure Interaction User Interface
348
Domain, Boundary, Edge, Point, and Pair Nodes for the
Fluid-Structure Interaction User Interface. . . . . . . . . . . .
351
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
353
Fluid-Solid Interface Boundary . . . . . . . . . . . . . . . . .
354
Basic Modeling Steps for Fluid-Structure Interaction . . . . . . . .
354
CONTENTS
| ix
Theory for the Fluid-Structure Interaction User Interface
357
The Joule Heating and Thermal Expansion User Interface
359
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
363
Domain, Boundary, Edge, Point, and Pair Nodes for the Joule
Heating and Thermal Expansion User Interface. . . . . . . . . .
The Piezoelectric Devices User Interface
363
366
Domain, Boundary, Edge, Point, and Pair Nodes for the Piezoelectric
Devices User Interface . . . . . . . . . . . . . . . . . . .
369
Piezoelectric Material . . . . . . . . . . . . . . . . . . . .
370
Electrical Material Model . . . . . . . . . . . . . . . . . . .
371
Electrical Conductivity (Time-Harmonic) . . . . . . . . . . . . .
373
Damping and Loss . . . . . . . . . . . . . . . . . . . . .
374
Remanent Electric Displacement . . . . . . . . . . . . . . . .
375
Dielectric Loss. . . . . . . . . . . . . . . . . . . . . . .
375
Initial Values. . . . . . . . . . . . . . . . . . . . . . . .
376
Periodic Condition . . . . . . . . . . . . . . . . . . . . .
376
Theory for the Piezoelectric Devices User Interface
378
The Piezoelectric Effect . . . . . . . . . . . . . . . . . . .
378
Piezoelectric Constitutive Relations . . . . . . . . . . . . . . .
379
Piezoelectric Material . . . . . . . . . . . . . . . . . . . .
381
Piezoelectric Dissipation . . . . . . . . . . . . . . . . . . .
381
Initial Stress, Strain, and Electric Displacement. . . . . . . . . . .
381
Geometric Nonlinearity for the Piezoelectric Devices User Interface . .
382
Damping and Losses Theory . . . . . . . . . . . . . . . . .
384
References for the Piezoelectric Devices User Interface . . . . . . .
387
Chapter 10: Glossary
Glossary of Terms
x | CONTENTS
390
Introduction
This guide describes the Structural Mechanics Module, an optional add-on
package that extends the COMSOL Multiphysics modeling environment with
customized physics interfaces that solve problems in the fields of structural and
solid mechanics, including special physics interface for modeling of shells,
membranes, beams, plates, and trusses.
This chapter introduces you to the capabilities of this module and includes a
summary of the physics interfaces as well as information about where you can find
additional documentation and model examples. The last section is a brief overview
with links to each chapter in this guide.
About the Structural Mechanics Module
Overview of the Users Guide
About the Structural Mechanics
Module
In this section:
Why Structural Mechanics is Important for Modeling
What Problems Can It Solve?
The Structural Mechanics Module Physics Guide
Available Study Types
Geometry Levels for Study Capabilities
Where Do I Access the Documentation and Model Library?
Overview of the Physics and Building a COMSOL Model in the
COMSOL Multiphysics Reference Manual
Why Structural Mechanics is Important for Modeling
The Structural Mechanics Module solves problems in the fields of structural and solid
mechanics, adding special physics interfaces for modeling shells and beams, for
example.
The physics interfaces in this module are fully multiphysics enabled, making it possible
to couple them to any other physics interfaces in COMSOL Multiphysics or the other
modules. Available physics interfaces include:
Solid mechanics for 2D plane stress and plane strain, axial symmetry, and 3D solids
Piezoelectric modeling
Beams in 2D and 3D, Euler theory
Truss and cable elements
Shells and plates
Membranes
The modules study capabilities include static, eigenfrequency, time dependent
(transient), frequency response, buckling, and parametric studies. There are also
2 |
CHAPTER 1: INTRODUCTION
predefined interfaces for linear elastic and viscoelastic materials. Materials can be
isotropic, orthotropic, or fully anisotropic, and you can use local coordinate systems to
specify material properties. Large deformations as well as contact and friction, can also
be included in a study.
Coupling structural analysis with thermal analysis is one example of multiphysics easily
implemented with the module, which provides predefined multiphysics interfaces for
thermal stress and other types of multiphysics. Piezoelectric materials, coupling the
electric field and strain in both directions are fully supported inside the module
through special multiphysics interfaces solving for both the electric potential and
displacements. Piezoelectric materials can also be analyzed with the constitutive
relations on either stress-charge or strain-charge form. Structural mechanics couplings
are common in simulations done with COMSOL Multiphysics and occur in interaction
with, for example, fluid flow (fluid-structure interaction, FSI), chemical reactions,
acoustics, electric fields, magnetic fields, and optical wave propagation.
What Problems Can It Solve?
The Structural Mechanics Module contains a set of physics interfaces adapted to a
broad category of structural-mechanics analysis. The module serves as an excellent tool
for the professional engineer, researcher, and teacher. In education, the benefit of the
short learning curve is especially useful because educators need not spend excessive
time learning the software and can instead focus on the physics and the modeling
process.
The module is a collection of physics interfaces for COMSOL Multiphysics that
handles static, eigenfrequency, transient, frequency response, parametric, transient
thermal stress, and other analyses for applications in structural mechanics, solid
mechanics, and piezoelectricity.
STATIC ANALYSIS
In a static analysis the load and constraints are fixed in time.
EIGENFREQUENCY ANALYSIS
An eigenfrequency analysis finds the damped or undamped eigenfrequencies and mode
shapes of a model. Sometimes referred to as the free vibration of a structure. Pre-stress
effects can be taken into account.
ABOUT THE STRUCTURAL MECHANICS MODULE
TR A N S I E N T A N A L Y S I S
A transient analysis finds the transient response for a time-dependent model, taking
into account mass, mass moment of inertia. The transient analysis can be either direct,
or using a modal solution.
FREQUENCY RESPONSE ANALYSIS
A frequency response analysis finds the steady-state response from harmonic loads. The
frequency-response analysis can be either direct, or using a modal solution. Effects of
pre-stress can be included.
LINEAR BUCKLING STUDY
A linear buckling analysis uses the stiffness coming from stresses and material to
define an eigenvalue problem where the eigenvalue is a load factor that, when
multiplied with the actual load, gives the critical load in a linear context.
PARAMETRIC ANALYSIS
A parametric analysis finds the solution dependence due to the variation of a specific
parameter, which could be, for instance, a material property or the position of a load.
THERMAL STRESS
In a transient thermal stress study, the program neglects mass effects, assuming that the
time scale in the structural mechanics problem is much smaller than the time scale in
the thermal problem.
LARGE DEFORMATIONS
You can also enable the geometric nonlinearity for the Linear Elastic Material under all
structural mechanics interfaces except the Beam interface. The engineering strain is
then replaced with the Green-Lagrange strain and the stress with the second
Piola-Kirchhoff stress. Such material is suitable to study deformations accompanied by
possible large rotations but small to moderate strains in the material, and it is
sometimes referred to as Saint Venant-Kirchhoff hyperelastic material. To solve the
problem, the program uses a total Lagrangian formulation.
Hyperelastic material and elastoplastic materials for small and large strains
are available with the Nonlinear Structural Materials Module.
4 |
CHAPTER 1: INTRODUCTION
Additional functionality and material models for geomechanics and soil
mechanicssoil plasticity, concrete, and rock material modelsis
available with the Geomechanics Module.
ELASTOPLASTIC MATERIALS
An elastoplastic analysis involves a nonlinear material with or without hardening. Three
different hardening models are available:
Isotropic hardening
Kinematic hardening
Perfectly plastic hardening
The elastoplastic materials are available in the Solid Mechanics interface.
CREEP AND VISCOPLASTIC MATERIALS
A number of different material models for creep and viscoplascticity are available. In
these materials the rate of elastic strain depends on the stress.
HYPERELASTIC MATERIALS
In hyperelastic materials the stresses are computed from a strain energy density
function. They are often used to model rubber, but also used in acoustic elasticity.
Many different models are available.
The hyperelastic materials are available in the Solid Mechanics interface.
The hyperelastic, elastoplastic and creep materials are available with the
addition of the Nonlinear Structural Materials Module.
LINEAR VISCOELASTIC MATERIALS
Viscoelastic materials have a time-dependent response, even if the loading is constant.
The Linear Viscoelastic Material is available in the Solid Mechanics interface.
CONTACT MODELING
You can model contact between parts of a structure. The Solid Mechanics interface
supports contact with or without friction. The contact algorithm is implemented based
on the augmented Lagrangian method.
ABOUT THE STRUCTURAL MECHANICS MODULE
PHYSICS USER INTERFACES AND APPLICATIONS
Examples of applications include thin plates loaded in a plane (plane stress), thick
structures with no strain in the out-of-plane direction (plane strain), axisymmetric
structures, thin-walled 3D structures (shells), and general 3D structures modeled
using solid elements.
The Structural Mechanics Module Physics Guide
The Acoustic-Structure Interaction and Poroelasticity interfaces require,
and couple with, the Structural Mechanics Module and are discussed in
the applicable user guides. For details about the Acoustic-Structure
Interaction interface, see the Acoustic Module Users Guide. For details
about the Poroelasticity interface, see the Subsurface Flow Module
Users Guide.
At any time, a new model can be created or physics added. Right-click the Root (top)
node and select Add Model to open the Model Wizard, or right-click a Model node and
select Add Physics.
Depending on the physics interface, specify parameters defining a problem on points,
edges (3D), boundaries, and domains. It is possible to specify loads and constraints on
all available geometry levels, but material properties can only be specified for the
domains, except for shells, membranes, beams, and trusses, where they are defined on
the boundary or edge level.
Structural Mechanics Modeling
In the COMSOL Multiphysics Reference Manual:
Studies and the Study Nodes
The Physics User Interfaces
For a list of all the interfaces included with the COMSOL Multiphysics
basic license, see Physics Guide.
6 |
CHAPTER 1: INTRODUCTION
PHYSICS USER
INTERFACE
ICON
TAG
SPACE
DIMENSION
AVAILABLE PRESET STUDY TYPE
fsi
3D, 2D, 2D
axisymmetric
stationary; stationary, one-way coupled;
time dependent; time dependent,
one-way coupled
Fluid Flow
Fluid-Structure
Interaction
Structural Mechanics
Solid
Mechanics*
solid
3D, 2D, 2D
axisymmetric
stationary; eigenfrequency; prestressed
analysis, eigenfrequency; time dependent;
time dependent modal; frequency
domain; frequency-domain modal;
prestressed analysis, frequency domain;
modal reduced order model; linear
buckling
Thermal Stress
ts
3D, 2D, 2D
axisymmetric
stationary; eigenfrequency; frequency
domain; time dependent
Shell
shell
3D
stationary; eigenfrequency; prestressed
analysis, eigenfrequency; time dependent;
time dependent modal; frequency
domain; frequency-domain modal;
prestressed analysis, frequency domain;
modal reduced order model; linear
buckling
Plate
plate
2D
stationary; eigenfrequency; prestressed
analysis, eigenfrequency; time dependent;
time dependent modal; frequency
domain; frequency-domain modal;
prestressed analysis, frequency domain;
modal reduced order model; linear
buckling
Beam
beam
3D, 2D
stationary; eigenfrequency; frequency
domain; frequency-domain modal; time
dependent; time dependent modal;
modal reduced order model
Beam Cross
Section
bcs
2D
stationary
ABOUT THE STRUCTURAL MECHANICS MODULE
PHYSICS USER
INTERFACE
ICON
TAG
SPACE
DIMENSION
AVAILABLE PRESET STUDY TYPE
Truss
truss
3D, 2D
stationary; eigenfrequency; prestressed
analysis, eigenfrequency; time dependent;
time dependent modal; frequency
domain; frequency-domain modal;
prestressed analysis, frequency domain;
modal reduced order model; linear
buckling
Membrane
mem
3D, 2D, 2D
axisymmetric
stationary; eigenfrequency; prestressed
analysis, eigenfrequency; time dependent;
time dependent modal; frequency
domain; frequency-domain modal;
prestressed analysis, frequency domain
Joule Heating
and Thermal
Expansion
tem
3D, 2D, 2D
axisymmetric
stationary; eigenfrequency; time
dependent
Piezoelectric
Devices
pzd
3D, 2D, 2D
axisymmetric
stationary; eigenfrequency; time
dependent; time-dependent modal;
frequency domain; frequency domain
modal; modal reduced order model
* This is an enhanced interface, which is included with the base COMSOL package but has
added functionality for this module.
SHOW MORE PHYSICS OPTIONS
There are several general options available for the physics user interfaces and for
individual nodes. This section is a short overview of these options, and includes links
to additional information when available.
The links to the features described in the COMSOL Multiphysics
Reference Manual (or any external guide) do not work in the PDF, only
from within the online help.
To locate and search all the documentation for this information, in
COMSOL Multiphysics, select Help>Documentation from the main menu
and either enter a search term or look under a specific module in the
documentation tree.
8 |
CHAPTER 1: INTRODUCTION
To display additional options for the physics interfaces and other parts of the model
tree, click the Show button (
) on the Model Builder and then select the applicable
option.
After clicking the Show button (
), additional sections get displayed on the settings
window when a node is clicked and additional nodes are available from the context
menu when a node is right-clicked. For each, the additional sections that can be
displayed include Equation, Advanced Settings, Discretization, Consistent Stabilization,
and Inconsistent Stabilization.
You can also click the Expand Sections button (
) in the Model Builder to always show
) and select Reset to Default to reset to
some sections or click the Show button (
display only the Equation and Override and Contribution sections.
For most nodes, both the Equation and Override and Contribution sections are always
) and then select Equation View to display the
available. Click the Show button (
Equation View node under all nodes in the Model Builder.
Availability of each node, and whether it is described for a particular node, is based on
the individual selected. For example, the Discretization, Advanced Settings, Consistent
Stabilization, and Inconsistent Stabilization sections are often described individually
throughout the documentation as there are unique settings.
SECTION
CROSS REFERENCE
Show More Options and
Expand Sections
Advanced Physics Sections
Discretization
Show Discretization
The Model Wizard and Model Builder
Discretization (Node)
DiscretizationSplitting of
complex variables
Compile Equations
Consistent and
Inconsistent Stabilization
Show Stabilization
Constraint Settings
Weak Constraints and Constraint Settings
Override and Contribution
Physics Exclusive and Contributing Node Types
Numerical Stabilization
OTHER COMMON SETTINGS
At the main level, some of the common settings found (in addition to the Show
options) are the Interface Identifier, Domain, Boundary, or Edge Selection, and
Dependent Variables.
ABOUT THE STRUCTURAL MECHANICS MODULE
At the nodes level, some of the common settings found (in addition to the Show
options) are Domain, Boundary, Edge, or Point Selection, Material Type, Coordinate
System Selection, and Model Inputs. Other sections are common based on application
area and are not included here.
SECTION
CROSS REFERENCE
Coordinate System
Selection
Coordinate Systems
Domain, Boundary, Edge,
and Point Selection
About Geometric Entities
Interface Identifier
Predefined Physics Variables
About Selecting Geometric Entities
Variable Naming Convention and Scope
Viewing Node Names, Identifiers, Types, and Tags
Material Type
Materials
Model Inputs
About Materials and Material Properties
Selecting Physics
Adding Multiphysics Couplings
Pair Selection
Identity and Contact Pairs
Continuity on Interior Boundaries
Available Study Types
The Structural Mechanics Module performs stationary, eigenfrequency,
time-dependent, frequency domain (frequency response), linear buckling, parametric,
quasi-static, and viscoelastic transient initialization studies. The different study
types require different solvers and equations.
STATIONARY STUDY
A static analysis solves for stationary displacements, rotations, and temperature
(depending on the type of physics interface). All loads and constraints are constant in
time. The equations include neither mass nor mass moment of inertia.
EIGENFREQUENCY STUDY
An eigenfrequency study solves for the eigenfrequencies and the shape of the
eigenmodes. When performing an eigenfrequency analysis, specify whether to look at
the mathematically more fundamental eigenvalue, , or the eigenfrequency, f, which is
more commonly used in a structural mechanics context.
10 |
CHAPTER 1: INTRODUCTION
f = --------2i
If damping is included in the model, an eigenfrequency solution returns the damped
eigenvalues. In this case, the eigenfrequencies and mode shapes are complex.
TIME-DEPENDENT STUDY
A time-dependent (transient) study solves a time-dependent problem where loads and
constraints can vary in time. Time dependent studies can be performed using either a
direct or a modal method.
FREQUENCY DOMAIN STUDY
A frequency domain study (frequency response analysis) solves for the linear response
from harmonic loads. Frequency domain studies can be performed using either a direct
or a modal method.
For a frequency domain study, the harmonic loads is divided into two parts:
The amplitude, F
The phase (FPh)
Together they define a harmonic load whose amplitude and phase shift can depend on
the excitation angular frequency or excitation frequency f.
F freq = F cos t + F Ph ----------
180
= 2f
The result of a frequency response analysis is a complex time-dependent displacement
field, which can be interpreted as an amplitude uamp and a phase angle uphase. The
actual displacement at any point in time is the real part of the solution:
u = u amp cos 2f t + u phase
COMSOL Multiphysics allows the visualization of the amplitudes and phases as well
as the solution at a specific angle (time). The solution at angle parameter makes this
i
task easy. When plotting the solution, the program multiplies it by e , where is the
angle in radians that corresponds to the angle (specified in degrees) in the Solution at
angle field. COMSOL Multiphysics plots the real part of the evaluated expression:
u = u amp cos + u phase
ABOUT THE STRUCTURAL MECHANICS MODULE
11
The angle is available as the variable phase (in radians) and is allowed in plotting
expressions. Both freq and omega are available variables.
In a frequency response analysis, everything is treated as harmonic:
prescribed displacements, velocities, accelerations, thermal strains, and
initial stress and strains; not only the forces.
LINEAR BUCKLING STUDY
A linear buckling study includes the stiffening effects from stresses coming from
nonlinear strain terms. The two stiffnesses from stresses and material define an
eigenvalue problem where the eigenvalue is a load factor that, when multiplied with
the actual load, gives the critical loadthe value of a given load that causes the
structure to become unstable in a linear context. The linear buckling study step uses
the eigenvalue solver.
Another way to calculate the critical load is to include large deformation effects and
increase the load until the load has reached its critical value. Linear buckling is available
in the Solid Mechanics, Shell, Plate, and Truss interfaces.
PRESTRESSED ANALYSIS, EIGENFREQUENCY AND FREQUENCY DOMAIN
The Prestressed Analysis, Eigenfrequency, and Prestress Analysis, Frequency Domain
study types make it possible to compute the eigenfrequencies and the response to
harmonic loads that are affected by a static preload.
These studies involve two study steps for the solver (a Stationary study
step plus an Eigenfrequency or Frequency Domain study step). You need
to add a new study to the model to get access to such combined study
types, and they cannot be added directly as new study steps to the existing
study (solver sequence). You also have them available when starting a new
model.
V I S C O E L A S T I C TR A N S I E N T I N I T I A L I Z A T I O N
A viscoelastic transient initialization precomputes initial states for transient and
quasi-static transient analyses when the Linear Viscoelastic Material is used. It is a
regime of instantaneous deformation and/or loading.
Viscoelastic transient initialization is available only in the Solid Mechanics interfaces.
12 |
CHAPTER 1: INTRODUCTION
THERMAL COUPLINGS
Solids expand with temperature, which causes thermal strains to develop in the
material if the deformation is constrained. These thermal strains combine with the
elastic strains from structural loads to form the total strain:
= el + th
Thermal strain depends on the temperature, T, the stress-free reference temperature,
Tref, and the coefficient of thermal expansion, :
th = T Tref
Thermal expansion affects displacements, stresses, and strains. This effect is added
automatically in The Thermal Stress User Interface and The Joule Heating and
Thermal Expansion User Interface. Also add thermal expansion to the other interfaces.
Only the coefficient of thermal expansion needs to be specified and the two
temperature fields, T and Tref. The temperature field is a model input that typically is
computed by a Heat Transfer user interface. Temperature coupling can be used in any
type of study.
Linearized Buckling Analysis
Eigenfrequency Analysis
Modeling Geometric Nonlinearity
Tips for Selecting the Correct Solver
Studies and Solvers in the COMSOL Multiphysics Reference Manual
For an example of a Prestressed Analysis, Eigenfrequency study, see
Eigenfrequency Analysis of a Rotating Blade: Model Library path
Structural_Mechanics_Module/Dynamics_and_Vibration/rotating_blade.
Geometry Levels for Study Capabilities
The column for the dependent variables shows the field variables that formulate the
underlying equations. Depending on the engineering assumptions and the geometry
dimension, these variables include a subset of the displacement field u, v, and w in the
global coordinate system, pressure, and temperature. The Piezoelectric Devices
interface also includes the electric potential V. The Shell and Plate interfaces use as
ABOUT THE STRUCTURAL MECHANICS MODULE
13
dependent variables the variables ax, ay, and az, which are the displacements of the
shell normals in the global x, y, and z directions, respectively. Such variables can be
expressed in terms of customary rotations x,y, and z about the global axes.
For each physics interface, the table indicates dependent variables and the geometry
levels (where data such as material properties, loads, and constraints are specified).
Edges exist only in 3D geometries. Studies are listed in a separate table in The
Structural Mechanics Module Physics Guide section.
Studies and Solvers in the COMSOL Multiphysics Reference Manual
PHYSICS
GEOMETRY LEVEL
DEFAULT
NAME
DEPENDENT
VARIABLES
POINTS
EDGES
BOUNDARIES
DOMAINS
STRUCTURAL MECHANICS
Solid Mechanics
solid
u, (p)
Shell
shell
u, a
Plate (3 DOF)
plate
w, ax, ay
u, a
Plate (6 DOF)
Beam
beam
u,
Truss
truss
Membrane
mem
Thermal Stress
ts
u, (p), T
Joule Heating and
Thermal
Expansion
tem
u, (p), T,
V
Piezoelectric
Devices
pzd
u,V
fsi
usolid,
ufluid, p
Fluid Flow
Fluid-Structure
Interaction
14 |
CHAPTER 1: INTRODUCTION
Where Do I Access the Documentation and Model Library?
A number of Internet resources provide more information about COMSOL, including
licensing and technical information. The electronic documentation, context help, and
the Model Library are all accessed through the COMSOL Desktop.
If you are reading the documentation as a PDF file on your computer, the
blue links do not work to open a model or content referenced in a
different guide. However, if you are using the online help in COMSOL
Multiphysics, these links work to other modules, model examples, and
documentation sets.
THE DOCUMENTATION
The COMSOL Multiphysics Reference Manual describes all user interfaces and
functionality included with the basic COMSOL Multiphysics license. This book also
has instructions about how to use COMSOL and how to access the documentation
electronically through the COMSOL Help Desk.
To locate and search all the documentation, in COMSOL Multiphysics:
Press F1 or select Help>Help (
) from the main menu for context help.
Press Ctrl+F1 or select Help>Documentation (
) from the main menu for opening
the main documentation window with access to all COMSOL documentation.
Click the corresponding buttons (
or
) on the main toolbar.
and then either enter a search term or look under a specific module in the
documentation tree.
If you have added a node to a model you are working on, click the Help
button (
) in the nodes settings window or press F1 to learn more
about it. Under More results in the Help window there is a link with a
search string for the nodes name. Click the link to find all occurrences of
the nodes name in the documentation, including model documentation
and the external COMSOL website. This can help you find more
information about the use of the nodes functionality as well as model
examples where the node is used.
ABOUT THE STRUCTURAL MECHANICS MODULE
15
THE MODEL LIBRARY
Each model comes with documentation that includes a theoretical background and
step-by-step instructions to create the model. The models are available in COMSOL
as MPH-files that you can open for further investigation. You can use the step-by-step
instructions and the actual models as a template for your own modeling and
applications.
In most models, SI units are used to describe the relevant properties, parameters, and
dimensions in most examples, but other unit systems are available.
) from the main menu, and
To open the Model Library, select View>Model Library (
then search by model name or browse under a module folder name. Click to highlight
any model of interest, and select Open Model and PDF to open both the model and the
documentation explaining how to build the model. Alternatively, click the Help
button (
) or select Help>Documentation in COMSOL to search by name or browse
by module.
The model libraries are updated on a regular basis by COMSOL in order to add new
models and to improve existing models. Choose View>Model Library Update (
) to
update your model library to include the latest versions of the model examples.
If you have any feedback or suggestions for additional models for the library (including
those developed by you), feel free to contact us at [email protected].
CONT ACT ING COMSOL BY EMAIL
For general product information, contact COMSOL at [email protected].
To receive technical support from COMSOL for the COMSOL products, please
contact your local COMSOL representative or send your questions to
[email protected]. An automatic notification and case number is sent to you by
email.
16 |
CHAPTER 1: INTRODUCTION
COMSOL WEBSITES
COMSOL website
www.comsol.com
Contact COMSOL
www.comsol.com/contact
Support Center
www.comsol.com/support
Download COMSOL
www.comsol.com/support/download
Support Knowledge Base
www.comsol.com/support/knowledgebase
Product Updates
www.comsol.com/support/updates
COMSOL Community
www.comsol.com/community
ABOUT THE STRUCTURAL MECHANICS MODULE
17
Overview of the Users Guide
The Structural Mechanics Module Users Guide gets you started with modeling using
COMSOL Multiphysics. The information in this guide is specific to this module.
Instructions how to use COMSOL in general are included with the COMSOL
Multiphysics Reference Manual.
As detailed in the section Where Do I Access the Documentation and
Model Library? this information can also be searched from the Help menu
in COMSOL Multiphysics.
TA B L E O F C O N T E N T S , G L O S S A R Y, A N D I N D E X
To help you navigate through this guide, see the Contents, Glossary, and Index.
MODELING WITH THE STRUCTURAL MECHANICS MODULE
The Structural Mechanics Modeling chapter gives you an insight on how to approach
the modeling of various structural mechanics problems. The contents cover subjects
including topics such as Applying Loads, Defining Constraints, Calculating Reaction
Forces, and Eigenfrequency Analysis. It also provides you with an Introduction to
Material Models helps you start Defining Multiphysics Models and Modeling
Geometric Nonlinearity.
THE SOLID MECHANICS USER INTERFACE
The Solid Mechanics chapter describes The Solid Mechanics User Interface, which is
used to model 3D solids, plane strain and plane stress 2D models, and axisymmetric
models. An overview of Solid Mechanics Geometry and Structural Mechanics Physics
Symbols and the Theory for the Solid Mechanics User Interface is also included.
THE SHELL AND PLATE USER INTERFACES
The Shells and Plates chapter describes The Shell and Plate User Interfaces, which are
used to model thin 3D structures (shell) and out-of-plane loaded plates (plate). The
underlying theory for each interface is also included at the end of the chapter.
THE BEAM USER INTERFACE
The Beams chapter describes The Beam User Interface, which models Euler
(Euler-Bernoulli) beams for modeling slender 3D and 2D structures. Typical examples
18 |
CHAPTER 1: INTRODUCTION
are frameworks and latticeworks. The underlying theory for the interface is also
included at the end of the chapter.
THE BEAM CROSS SECTION USER INTERFACE
The Beam Cross Sections chapter describes The Beam Cross Section User Interface,
which is used for computing cross section properties for beams. It can also be used for
a detailed evaluation of stresses in a beam when the section forces to which it is
subjected are known. The first section discusses Using the Beam Cross Section User
Interface, and the last section is the underlying theory for the interface.
T H E TR U S S U S E R I N T E R F A C E
The Trusses chapter describes The Truss User Interface, which models slender 3D and
2D structures with components capable to withstand axial forces only. Typical
applications are latticeworks, but it can also be used for modeling cables. The
underlying theory for the interface is also included at the end of the chapter.
THE MEMBRANE USER INTERFACE
The Membranes describes The Membrane User Interface, which can be used for
prestressed membranes, cladding on solids, and balloons, for example. The underlying
theory for the interface is also included at the end of the chapter.
THE MULTIPHYSICS USER INTERFACES
The Multiphysics User Interfaces chapter describes these interfaces found under the
Structural Mechanics branch of the Model Wizard:
The Thermal Stress User Interface combines a Solid Mechanics interface with a
Heat Transfer interface. The coupling appears on the domain level, where the
temperature from the Heat Transfer interface acts as a thermal load for the Solid
Mechanics interface, causing thermal expansion.
The Joule Heating and Thermal Expansion User Interface combines solid
mechanics using a thermal linear elastic material with an electromagnetic Joule
heating model. This is a multiphysics combination of solid mechanics, electric
currents, and heat transfer for modeling of, for example, thermoelectromechanical
(TEM) applications.
The Piezoelectric Devices User Interface include a piezoelectric material but also
full functionality for Solid Mechanics and Electrostatics. Piezoelectric materials in
3D, 2D plane strain and plane stress, and axial symmetry, optionally combined with
other solids and air, for example.
O V E R V I E W O F T H E U S E R S G U I D E
19
The Fluid-Structure Interaction User Interface, which is found under the Fluid Flow
branch of the Model Wizard, is also described in this chapter. The interface combines
fluid flow with solid mechanics to capture the interaction between the fluid and the
solid structure. A Solid Mechanics interface and a single-phase flow interface model
the solid and the fluid, respectively. The fluid-structure interactions appear on the
boundaries between the fluid and the solid.
20 |
CHAPTER 1: INTRODUCTION
Structural Mechanics Modeling
The goal of this chapter is to give you an insight on how to approach the modeling
of various structural mechanics problems.
In this chapter:
Applying Loads
Eigenfrequency Analysis
Defining Constraints
Using Modal Superposition
Calculating Reaction Forces
Modeling Damping and Losses
Introduction to Material Models
Piezoelectric Losses
Defining Multiphysics Models
Springs and Dampers
Modeling Geometric Nonlinearity
Tips for Selecting the Correct
Solver
Linearized Buckling Analysis
Introduction to Contact Modeling
21
Applying Loads
An important aspect of structural analysis is the formulation of the forces applied to
the modeled structure. The freedom is available to use custom expressions, predefined
or user-defined coordinate systems, and even variables from other modeling interfaces.
Loads can be applied in the structural mechanics interfaces on the body, face, edge, or
point levels. Add The Solid Mechanics User Interface (
) to the Model Builder, then
right-click the node to select Body Load, Face Load, Edge Load, or Point Load from the
context menu. This guide includes a detailed description of the functionality for each
physics interface.
In this section:
Units, Orientation, and Visualization
Load Cases
Singular Loads
Moments in the Solid Mechanics User Interface
Pressure
Acceleration Loads
Temperature LoadsThermal Expansion
Total Loads
Units, Orientation, and Visualization
USING UNITS
Enter loads in any unit, independently of the base SI unit system in the model, because
COMSOL Multiphysics automatically converts any unit to the base SI unit system. To
use the feature for automatic unit conversion, enter the unit in square brackets, for
example, 100[lbf/in^2].
PREDEFINED AND CUSTOM COORDINATE SYSTEMS
In this module, different predefined coordinate systems are available when loads are
specified. There is always the global coordinate system. Depending on the
dimensionality of the part being worked with, there can also be predefined coordinate
systems such as and the local tangent and normal coordinate system for boundaries.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Custom coordinate systems are also available and are useful, for example, to specify a
load in any direction without splitting it into components. Right-click the Definitions
node (
) in the Model Tree, to select a Coordinate System from the context menu.
Some coordinate systems can have solution dependent axis directions. If
you use such a system for defining a load, the directions of the load follow
the moving coordinate axis directions if the Include geometric nonlinearity
check box is selected under the Study settings section of the current study
step.
In the COMSOL Multiphysics Reference Manual:
Using Units
Coordinate Systems
Load Cases
For a Stationary study, you can define load cases and constraint cases. A load or
constraint can be assigned to a load or constraint case, and then used conditionally.
Using Load Cases in the COMSOL Multiphysics Reference Manual
For an example about how to set up expressions for controlling position
and distribution of loads using load cases, see Pratt Truss Bridge: Model
Library path Structural_Mechanics_Module/Civil_Engineering/
pratt_truss_bridge.
Singular Loads
In reality, loads always act on a finite area. However, in a model a load is sometimes
defined on a point or an edge, which leads to a singularity. The reason for this is that
points and lines have no area, so the stress becomes infinite. Because of the stress
singularity, there are high stress values in the area surrounding the applied load. The
size of this area and the magnitude of the stresses depend on both the mesh and the
APPLYING LOADS
23
material properties. The stress distribution at locations far from these singularities is
unaffected according a to a well-known principle in solid mechanics, the St. Venants
principle. It states that for an elastic body, statically equivalent systems of forces
produce the same stresses in the body, except in the immediate region where the loads
are applied.
Figure 2-1 shows a plate with a hole in plane stress loaded with a distributed load and
a point load of the same magnitude. The mesh consists of triangular elements with
quadratic shape functions. The high stress around the point load is dissipated within
the length of a few elements for both mesh cases. The stresses in the middle of the plate
and around the hole are in agreement for the distributed load and the point load. The
problem is that due to the high stress around the singular load it is easy to overlook
the high stress region around the hole. When the point load is applied, the range must
be manually set for the stress plot to get the same visual feedback of the high stress
region around the hole in the two cases. This is because the default plot settings
automatically set the range based on the extreme values of the expression that is
plotted.
Despite these findings it is good modeling practice to avoid singular loads because it is
difficult to estimate the size of the singular region. In the Structural Mechanics
Module it is possible to define loads on all boundary types. However, avoid singular
loads altogether with elastoplastic or creep materials.
The Plasticity and Creep nodes are available as a subnode to Linear Elastic
Material nodes with the Nonlinear Structural Materials Module.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
normal mesh size
finer mesh size
Figure 2-1: A plate with a hole subject to a distributed load (left) and a point load (right).
Moments in the Solid Mechanics User Interface
The Solid Mechanics interface, as opposed to the Beam, Plate, and Shell interfaces,
does not have rotational degrees of freedom. This makes the direct specification of
moment loads somewhat more complicated. To specify moments, attach a rigid
connector to the loaded area. The rigid connector has rotational degrees of freedom,
and it is possible to apply moments directly.
Pressure
A pressure is a load acting toward the normal of a face of the structure. If there are
large deformations in the model and the Include geometric nonlinearity check box is
selected under the Study settings section of the current study step, the pressure acts as
a follower load. The pressure is then defined with respect to the geometry and, as the
APPLYING LOADS
25
geometry deforms locally, the orientation of the load changes. The size of the loaded
area may also change as an effect of straining.
Acceleration Loads
Acceleration loads can be found, for example, in the structural mechanics analysis of
an airplane seat. Acceleration or deceleration of the aircraft produces a force that an
accurate simulation must include. Because expressions can be used when specifying
loads, it is easy to model acceleration loads.
For modeling rotating parts under static conditions, use centrifugal acceleration loads.
The body load in the radial direction is
K r = 2 r
(2-1)
where is the density of the material, is the angular frequency, and r is the radial
distance from the axis of rotation. A cylindrical coordinate system is often useful here.
Temperature LoadsThermal Expansion
When performing thermal expansion analysis, temperature loads are specified by
entering a temperature and a reference temperature in a thermal expansion feature,
which are added by right-clicking a material node (a Linear Elastic Material node, for
example). Enter a constant temperature or an analytic expression that can depend on
the coordinates or dependent variables. For beams, plates, and shells it is also possible
to specify bending temperature loads. More details are available in the descriptions for
each physics interface.
When a separate physics interface is used to model heat transfer in the material, the
entry for the temperature is the dependent variable for the temperature from that
physics interface, typically T. In most cases, possible temperature variables from other
interfaces can be directly selected from a list.
For more information about how to couple heat transfer analysis with
structural mechanics analysis, see Thermal-Structural Interaction. This
module also includes The Thermal Stress User Interface.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Total Loads
You can specify a load either as a distributed load per unit length, area, or volume, or
as a total force to be distributed on a boundary. In the case of a total load, the applied
distributed load is the given load divided by the area (or length, or volume) on which
its acts.
APPLYING LOADS
27
Defining Constraints
Defining the proper constraints for structural mechanics models is just as important as
defining the loads as together they make up the model boundary conditions. This
module has many useful predefined physics features to define the constraints or to
create user defined expressions that define constraints.
In this section:
Orientation
Symmetry Constraints
Kinematic Constraints
Rotational Joints
Orientation
You can specify constraints in global as well as in any previously defined local
coordinate system.
Coordinate Systems in the COMSOL Multiphysics Reference Manual
Symmetry Constraints
In many cases symmetry of the geometry and loads can be used to your advantage in
modeling. Symmetries can often greatly reduce the size of a model and hence reduce
the memory requirements and solution time. When a structure exhibits axial
symmetry, use the axisymmetric physics interfaces. A solid that is generated by rotating
a planar shape about an axis is said to have axial symmetry. In order to make use of
the axisymmetric physics interfaces, all loads and constraints must also be the same
around the circumference.
For other types of symmetry, use the predefined symmetry and antisymmetry
constraints. This means that no expressions need to be enteredinstead just add the
type of constraint to apply to the model.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
If the geometry exhibits two symmetry planes (Figure 2-2), model a quarter of the
geometry by using the Symmetry node for the two selected surfaces.
Physics Axial Symmetry Node in the COMSOL Multiphysics Reference
Manual
Symmetry planes
Apply symmetry constraints
Figure 2-2: If the geometry exhibits two symmetry planes, model a quarter of the geometry
by using the Symmetry feature for the two selected surfaces.
Both geometric symmetry and loads are important when selecting the
correct constraints for a model.
Note that in an eigenfrequency or buckling analysis, the eigenmodes may
be non-symmetric even if the structure is symmetric.
Figure 2-3 shows symmetric and antisymmetric loading of a symmetric geometry.
When modeling half of the geometry, the correct constraint for the face at the middle
of the object would be Antisymmetry in the case of antisymmetric loading and
DEFINING CONSTRAINTS
29
Symmetry in the case of symmetric loading of the object.
Symmetry plane
Antisymmetry plane
Figure 2-3: Symmetry plane (left) and antisymmetry plane (right).
Kinematic Constraints
Kinematic constraints are equations that control the motion of solids, faces, edges, or
points. Add a Prescribed Displacement constraint to enter expressions for constraints.
You can define the equations using predefined coordinate systems as well as custom
coordinate systems. Special constraints, for instance to keep an edge of body straight
or to make a boundary rotate, require such constraint equations.
In the 3D and 2D Solid Mechanics interfaces and in the Shell interface
there is a special constraint called a Rigid Connector. A rigid connector is
applied to one or more boundaries or edges and force them to behave as
connected to a common rigid body. The rigid connector can be given
prescribed displacements and rotations and thus simplifies the realization
of some constraints.
Rotational Joints
Joints between elements in The Truss User Interface are automatically rotational joints
because the truss elements have no rotational degrees of freedom. For beams, however,
the rotational degrees of freedom are by default coupled between elements. To create
a rotational joint between two beam elements, add one additional Beam interface to a
geometry. Make sure that it is only active for the edge that includes the point where
the joint is positioned and that no other physics interface is active here. Couple the
translational degrees of freedom and leave the rotational degrees of freedom
uncoupled at the joint.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Calculating Reaction Forces
There are different ways to evaluate reaction forces and these are discussed in this
section.
Using Predefined Variables to Evaluate Reaction Forces
Using Weak Constraints to Evaluate Reaction Forces
Using Surface Traction to Evaluate Reaction Forces
Using Surface Traction to Evaluate Reaction Forces
The following sections describe the merits and costs of these methods.
Using Predefined Variables to Evaluate Reaction Forces
The results analysis capabilities include easy access to the reaction forces and moments.
They are available as predefined variables. The reaction force variables are available
only at the nodes, and not as a continuous field, so they are not suitable for graphic
presentation.
To compute the sum of the reaction forces over a region, use Volume
Integration, Surface Integration, or Line Integration under Derived Values.
The integration method will discover that the reaction forces are discrete
values, and apply a summation instead of an integration.
Reaction forces are computed as the sum of the nodal values over the selected volume,
face, or edge. Reaction moments are calculated as the sum of the moment from the
reaction forces with respect to a reference point, and any explicit reaction moments (if
there are rotational degrees of freedom).
Specify the default coordinates of the Reference Point for Moment Computation at the
top level of the physics interface main nodes settings window. After editing the
reference point coordinates, you need to right-click the study node and select Update
Solution for the change to take effect on the reaction moment calculation. During
CALCULATING REACTION FORCES
31
postprocessing, you can modify the coordinates of the reference point in the
Parameters section of a result feature..
Reaction forces are not available for eigenfrequency analysis or when weak
constraints are used.
If reaction forces are summed independently for two adjacent boundaries,
the total sum will not be the same as if the reaction forces were summed
for both boundaries in one operation. The values of the nodes at the
common edge always contain contributions from the elements at both
sides of the edge.
Derived Values and Tables in the COMSOL Multiphysics Reference
Manual
Using Weak Constraints to Evaluate Reaction Forces
Select the Use weak constraints check box to get accurate distributed reactions. Extra
variables that correspond to the reaction traction distribution are automatically added
to the solution components.
With weak constraints activated, COMSOL Multiphysics adds the reaction forces to
the solution components. The variables are denoted X_lm, where X is the name of the
constrained degree of freedom (as, for example, u_lm and v_lm). The extension lm
stands for Lagrange multipliers. It is only possible to evaluate reaction forces on
constrained boundaries in the directions of the constraints.
To compute the total reaction force on a boundary, integrate one of the
variables X_lm using Volume Integration, Surface Integration, or Line
Integration under Derived Values.
If the constraint is defined in a local coordinate system, the degrees of
freedom for the weak constraint variables are defined along the directions
of that system.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Since the reaction force variables are added to the solution components, the number
of DOFs for the model increases slightly, depending on the mesh size for the
boundaries in question. Boundaries that are adjacent to each other must have the same
constraint settings. The reason for this is that adjacent boundaries share a common
node.
Using weak constraints will affect the structure of the equation system to be solved,
and is not suitable for all types of equation solvers.
In the COMSOL Multiphysics Reference Manual:
Derived Values and Tables
Symmetric and Nonsymmetric Constraints
Using Surface Traction to Evaluate Reaction Forces
As an alternative method, you can obtain values of the reaction forces on constrained
boundaries by using boundary integration of the relevant components of the surface
traction vector.
For 2D models, multiply the surface traction by the cross section thickness
before integrating to calculate the total reaction force.
Two different types of surface traction results can be computed in COMSOL
Multiphysics:
The first type, contained in the variables interface.Tax, is computed from the
stresses. It is always available. Since the surface traction vector is based on computed
stress results, this method is less accurate for computing reactions than the other
methods.
The second type, contained in the variables interface.Tracx, is computed using a
method similar to the weak constraints, but without introducing the Lagrange
multipliers as extra degrees of freedom. The accuracy is high, but there is an extra
CALCULATING REACTION FORCES
33
computational cost. These traction variables are computed only if the check box
Compute boundary fluxes in the Discretization section of the physics interface is selected.
In case of geometric nonlinearity, the two types of traction variables are
interpreted differently. The interface.Tax variables are based on
Cauchy stress, and contains a force per current area. If you integrate them
you must use the spatial frame. The interface.Tracx variables are based
on First Piola-Kirchhoff stresses and contains a force per undeformed
area. An integration must then be done on the material frame.
Evaluating Surface Traction Forces on Internal Boundaries
As opposed to the other methods for reaction force computation, the boundary flux
based tractions are computed not only on external boundaries, but also on internal
boundaries. On internal boundaries, there are then two traction fields: One acting
from each of the domains sharing the boundary. These internal traction fields are
contained in the variables interface.iTracux and interface.iTracdx. The letters
u and d in the variable names indicate the up and down side of the boundary
respectively. If you need the value of the total force acting on an internal section
through your model, these variable can be integrated. The interface.iTracux
andinterface.iTracdx variables will only be available if the check box Compute
boundary fluxes in the Discretization section of the physics interface is selected and there
are internal boundaries in your model.
Computing Accurate Fluxes in the COMSOL Multiphysics Reference
Manual
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Introduction to Material Models
The Structural Mechanics Module without any add-on modules provides two material
models: Linear Elastic Material and Linear Viscoelastic Material. If you have the
optional modules Nonlinear Structural Material Module or Geomechanics Module,
many other classes of nonlinear materials are also available. These models can be
modified and extended, and custom material models can be defined. Each interface is
described including background theory and information about entering material
settings, as well as interface-specific information. While all material models are available
in the Solid Mechanics interface, the other interfaces use only linear elastic stress-strain
relationship. This section lists some tips and tricks related to the use of materials.
In this section:
Introduction to Linear Elastic Materials
Introduction to Linear Viscoelastic Materials
Mixed Formulation
About the Material Databases for the Structural Mechanics Module
Introduction to Linear Elastic Materials
While for the isotropic case two parameters are enough to describe the material
behavior, while the number of parameters increases to (at most) 21 for the anisotropic
case in 3D. When setting up a model, make sure that the parameters used are defined
in agreement with the definitions used. The stress-strain relationship for linear elastic
materials is discussed in the Solid Mechanics interface theory section About Linear
Elastic Materials. If necessary, transform the material data before entering it in the user
interface. For example, for orthotropic materials calculate the Poissons ratio xy by
Ex
xy = yx -----Ey
About Linear Elastic Materials
Linear Elastic Material
INTRODUCTION TO MATERIAL MODELS
35
Introduction to Linear Viscoelastic Materials
For viscoelastic materials the generalized Maxwell model is used. The material can be
described as consisting of branches with a spring and a dashpot parallel to a linear
elastic material. For each branch the shear modulus and the relaxation time are entered
into a table.
About Linear Viscoelastic Materials
Linear Viscoelastic Material
Mixed Formulation
As described in the Theory for the Solid Mechanics User Interface, the negative mean
stress becomes an additional dependent variable when the Nearly incompressible
material check box is selected in the settings window for the material. Select this setting
when the material approaches incompressibility. For an isotropic material, this happens
when Poissons ratio is close to 0.5.
Not all iterative solvers work together with mixed formulation because the stiffness
matrix becomes indefinite
The mixed formulation is useful not only for linear elastic materials but
also for elastoplastic materials, hyperelastic materials, and linear
viscoelastic materials. The Hyperelastic Material and Plasticity nodes are
available with the Nonlinear Structural Materials Module.
Because the order of the shape function for the pressure should be one
order less than the order of the shape functions for the displacements, it
is not recommended to use linear elements for the displacement variables
on the domains where mixed formulation is turned on.
About the Material Databases for the Structural Mechanics Module
The Structural Mechanics Module includes these material databasesLiquids and
Gases, with temperature-dependent fluid dynamic and thermal properties, MEMS, an
extended solid materials library with metals, semiconductors, insulators, and polymers
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
common in MEMS devices, and a Piezoelectric database with over 20 common
piezoelectric materials. The materials include temperature-dependent fluid dynamic
and thermal properties.
In the COMSOL Multiphysics Reference Manual:
MEMS Material Database
Piezoelectric Materials Database
Liquids and Gases Material Database
Materials
For an example of the MEMS materials database and Piezoelectric
materials database, see Piezoelectric Shear-Actuated Beam: Model Library
path Structural_Mechanics_Module/Piezoelectric_Effects/shear_bender.
INTRODUCTION TO MATERIAL MODELS
37
Defining Multiphysics Models
The following modeling tips are about how to define multiphysics models. A good
place to start reading is in Overview of the Physics in the COMSOL Multiphysics
Reference Manual. This includes information about how to add or remove different
physics in a model and introduce multiphysics couplings.
In this section:
Thermal-Structural Interaction
Acoustic-Structure Interaction
Thermal-Electric-Structural Interaction
Thermal-Structural Interaction
The Thermal Stress User Interface included with this module has a predefined one-way
coupling for thermal-structure interaction (thermal stress), which combines a Solid
Mechanics interface with a Heat Transfer interface from the Heat Transfer Module or
COMSOL Multiphysics.
By default, COMSOL Multiphysics takes advantage of the one-way coupling and
solves the problem sequentially using the segregated solver. The solution for the
temperature is separated from the stress-strain analysis which then uses the computed
temperature field from the heat transfer equation.
Using a single iteration in the segregated solver does not produce a
correct result if there are thermal properties that depend on the
displacements. Examples are when a heat source caused mechanical losses
(damping) in the material or when thermal contact is present.
Acoustic-Structure Interaction
Model acoustic-structure interaction when the Structural Mechanics Module is used
with an acoustics interface from the Acoustics Module. Additional tools are made
available, including a transient solver and the means to simulate absorbing or radiation
boundary conditions.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Use the Acoustic-Structure Interaction, Frequency Domain interfaces to simplify
modeling of acoustic-structure interaction. It defines group settings for the solid
domain and the fluid domain as well as for the fluid load from the acoustics pressure
and the structural acceleration from the displacements at the fluid-solid boundaries.
There are several interfaces available that are documented and described in the
Acoustic Module Users Guide.
Thermal-Electric-Structural Interaction
The Joule Heating and Thermal Expansion User Interface enables
thermal-electric-structural interaction to combine with thermal expansion, which is a
one-way coupling that includes a solid mechanics interface and a heat transfer interface
from the Heat Transfer Module or COMSOL Multiphysics, with Joule heating and
temperature-dependent electrical conductivity, which is a two-way coupling that
includes a solid mechanics interface from the Structural Mechanics Module and a heat
transfer interface from the Heat Transfer Module or COMSOL Multiphysics.
By default, COMSOL Multiphysics takes advantage of the one-way coupling and solve
the problem sequentially using the segregated solver. Temperature and electric
potential are solved using a coupled approach and then the stress-strain analysis uses
the computed temperature field from the heat transfer equation.
Using a single iteration does not produce a correct result if there are
thermal properties or electrical that depend on the displacements, making
the thermal-structure part into a two-way coupling.
DEFINING MULTIPHYSICS MODELS
39
Modeling Geometric Nonlinearity
This section discusses how to model problems where displacements or strains are of a
size where the deformation of the structure has to be taken into account when
formulating the equations. Examples of the type of problems where this feature is
useful include:
Thin structures, where the deflection is of the same order of magnitude as the
thickness.
Where the structure exhibits large rotations. A rigid body rotation of only a few
degrees causes significant strains and stresses in a material where a linear strain
representation is used.
Where the strains are larger than a few percent.
Contact problems.
Where a prestress must be taken into account for computing the dynamic response
of a structure.
Buckling problems.
Where a deformed mesh is used.
Fluid-structure interaction problems.
In this section:
Geometric Nonlinearity for the Solid Mechanics User Interface
Geometric Nonlinearity for the Shell, Plate, Membrane, and Truss User Interfaces
Prestressed Structures
Geometric Nonlinearity, Frames, and the ALE Method
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
Geometric Nonlinearity for the Piezoelectric Devices User Interface
Introduction to Contact Modeling
The Fluid-Structure Interaction User Interface
Moving Mesh User Interface in the COMSOL Multiphysics Reference
Manual
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Geometric Nonlinearity for the Solid Mechanics User Interface
For the Solid Mechanics interface, or any multiphysics interface derived from it, you
enable a geometrically nonlinear analysis for a certain study step by selecting the Include
geometric nonlinearity check box in the Study Settings section of a study step.
If any active feature in the model requires the analysis to be geometrically nonlinear,
the Include geometric nonlinearity check box is selected automatically, and it cannot be
cleared. The physics features which force this behavior are:
Contact, because the deformation between the contacting boundaries must be part
of the solution
The Fluid-Structure Interaction interface.
Hyperelastic materials, which are always formulated for large strains,
The Hyperelastic Material node is available with the Nonlinear Structural
Materials Module.
Usually you would also want to use geometric nonlinearity when a Moving Mesh
interface is present, but this is not forced by the program.
When you select a geometrically nonlinear study step, the behavior of several features
differ from that in a geometrically linear case:
There is an important difference between using uppercase (X, Y, Z, R) and
lowercase (x, y, z, r) coordinates in expressions. The lowercase coordinates
represent the deformed position, and this introduces a dependency on the solution.
Many features, such as coupling operators, can be specified as operating either in the
material (X, Y, Z) or the spatial (x, y, z) frame. This setting does not make a
difference unless a geometrically nonlinear analysis is performed. In most cases you
would want to do the operation in the material frame.
The strain representation is changed from using engineering strains to
Green-Lagrange strains, unless the Force linear strains check box is selected in the
Geometric Nonlinearity section of a certain material.
Where Green-Lagrange strains are used, Second Piola-Kirchhoff stresses are also
used. This means that material data must be given in terms of these quantities. This
distinction is important only when the strains actually are large.
MODELING GEOMETRIC NONLINEARITY
41
Pressure loads are interpreted as follower loads, so that the direction of the load as
well as the loaded area are deformation dependent.
Rigid connectors take finite rotations into account.
Studies and Solvers in the COMSOL Multiphysics Reference Manual
Geometric Nonlinearity for the Shell, Plate, Membrane, and Truss
User Interfaces
For the Shell, Plate, and Truss interfaces, a geometrically nonlinear analysis is enabled
in the same way described above. The formulation in the Membrane interface is always
geometrically nonlinear, and does not interact with the settings in the study step.
The effect of using geometric nonlinearity in these interfaces is limited to the stress and
strain representation as the other effects described in Geometric Nonlinearity for the
Solid Mechanics User Interface are not relevant.
Prestressed Structures
You can analyze eigenfrequency or frequency domain problems where the dynamic
properties of the structure are affected by a preload, such as a tensioned string.
Usually, a study of a prestressed problem uses includes study steps. The first step is a
Stationary step in which the static preload is applied. The effects of the preload can be
computed with or without taking geometric nonlinearity into account. In the second
study step, where the you compute the Eigenfrequency or the Frequency Response, it is
necessary to take geometric nonlinearity into account. Even if the displacements and
strains are small, this is what gives the prestress contribution to the equations.
The same principles apply also to a linear buckling analysis, except that both study steps
should be geometrically linear. The nonlinear contribution is included in the
formulation of the buckling eigenvalue itself.
There are three Preset study types which can be used to set up these two
study steps: Prestressed Analysis, Eigenfrequency; Prestressed Analysis,
Frequency Domain; and Linear Buckling.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Prestressed Analysis, Eigenfrequency, Prestressed Analysis, Frequency
Domain, and Linear Buckling in the COMSOL Multiphysics Reference
Manual
For an example of prestressed analysis, see the Bracket Eigenfrequency
tutorial model, which is described in the Introduction to the Structural
Mechanics Module: Model Library path Structural_Mechanics_Module/
Tutorial_Models/bracket_eigenfrequency.
Geometric Nonlinearity, Frames, and the ALE Method
Consider the bending of a beam in the general case of a large deformation (see
Figure 2-4). In this case the deformation of the beam introduces an effect known as
geometric nonlinearity into the equations of solid mechanics.
Figure 2-4 shows that as the beam deforms, the shape, orientation, and position of the
element at its tip changes significantly. Each edge of the infinitesimal cube undergoes
both a change in length and a rotation that depends on position. Additionally the three
edges of the cube are no longer orthogonal in the deformed configuration (although
typically for practical strains the effect of the non-orthogonality can be neglected in
comparison to the rotation).
From a simulation perspective it is desirable to solve the equations of solid mechanics
on a fixed domain, rather than on a domain that changes continuously with the
deformation. In COMSOL Multiphysics this is achieved by defining a displacement
field for every point in the solid, usually with components u, v, and w. At a given
coordinate (X, Y, Z) in the reference configuration (on the left of Figure 2-4) the
value of u describes the displacement of the point relative to its original position.
Taking derivatives of the displacement with respect to X, Y, and Z enables the
definition of a strain tensor, known as the Green-Lagrange strain (or material strain).
This strain is defined in the reference or Lagrangian frame, with X, Y, and Z
representing the coordinates in this frame. The displacement is considered as a
function of the material coordinates (X, Y, Z), but it is not explicitly a function of the
spatial coordinates (x, y, z). It is thus only possible to compute derivatives with respect
to the material coordinates.
In the Solid Mechanics interface, the Lagrangian frame is equivalent to the material
frame. An element at point (X, Y, Z) specified in this frame moves with a single piece
of material throughout a solid mechanics simulation. It is often convenient to define
MODELING GEOMETRIC NONLINEARITY
43
material properties in the material frame as these properties move and rotate naturally
together with the volume element at the point at which they are defined as the
simulation progresses. In Figure 2-4 this point is illustrated by the small cube
highlighted at the end of the beam, which is stretched, translated, and rotated as the
beam deforms. The three mutually perpendicular faces of the cube in the Lagrange
frame are no longer perpendicular in the deformed frame. The deformed frame is
called the Eulerian or (in COMSOL Multiphysics) the spatial frame. Coordinates in
this frame are denoted (x, y, z) in COMSOL.
Figure 2-4: An example of the deformation of a beam showing the undeformed state (left)
and the deformed state (right) of the beam itself with an element near its tip highlighted
(top), of the element (center) and of lines parallel to the x-axis in the undeformed state
(bottom).
It is important to note that, as the solid deforms, the Lagrangian frame
becomes a non-orthogonal curvilinear coordinate system (see the lower
part of Figure 2-4 to see the deformation of the X-axis). Particular care is
therefore required when defining physics in this coordinate system.
For example, in the Eulerian system it is easy to define forces per unit area (known as
tractions) that act within the solid, and to define a stress tensor that represents all of
these forces that act on a volume element. Such forces could be physically measured,
for example using an implanted piezoresistor. The stress tensor in the Eulerian frame
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
is called the Cauchy or true stress tensor (in COMSOL this is referred to as the spatial
stress tensor). To construct the stress tensor in the Lagrangian frame a tensor
transformation must be performed on the Cauchy stress. This produces the second
Piola-Kirchhoff (or material) stress, which can be used with the Lagrange or material
strain to solve the solid mechanics problem in the (fixed) Lagrangian frame. This is
how the Solid Mechanics interface works when geometric nonlinearities are enabled.
If the strains are small (significantly less than 10 percent), and there are no
significant rotations involved with the deformation (significantly less than
10 degrees), geometric nonlinearity can be disabled, resulting in a linear
equation system which solves more quickly (Ref. 1). This is often the case
for many practical MEMS structures.
Geometric nonlinearity can be enabled or disabled within a given model
by changing the Include geometric nonlinearity setting in the relevant
solver step.
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
In the case of solid mechanics, the material and spatial frames are associated directly
with the Lagrangian and Eulerian frames, respectively. In a more general case (for
example, when tracking the deformation of a fluid, such as a volume of air surrounding
a moving structure) tying the Lagrangian frame to the material frame becomes less
desirable. Fluid must be able to flow both into and out of the computational domain,
without taking the mesh with it. The Arbitrary Lagrangian-Eulerian (ALE)
method allows the material frame to be defined with a more general mapping to the
spatial or Eulerian frame. In COMSOL, a separate equation is solved to produce this
mappingdefined by the mesh smoothing method (Laplacian, Winslow, or
hyperelastic) with boundary conditions that determine the limits of deformation (these
are usually determined by the physics of the system, whilst the domain level equations
are typically being defined for numerical convenience). The ALE method offers
significant advantages since the physical equations describing the system can be solved
in a moving domain.
MODELING GEOMETRIC NONLINEARITY
45
Reference for Geometric Nonlinearity
1. A. F. Bower, Applied Mechanics of Solids, CRC Press, Boca Raton, FL (http://
www.solidmechanics.org), 2010.
46 |
CHAPTER 2: STRUCTURAL MECHANICS MODELING
Linearized Buckling Analysis
A linearized buckling analysis can be used for estimating the critical load at which a
structure becomes unstable. This is a predefined study type which consists of two study
steps: One step in which a load is applied to the structure, and a second step in which
an eigenvalue problem is solved for the critical buckling load.
The idea behind this type of analysis can be described in the following way:
Consider the equation system to be solved for a stationary load f,
Ku = K L + K NL u = f
Here the total stiffness matrix, K, has been split into a linear part, KL, and a nonlinear
contribution, KNL.
In a first approximation, KNL is proportional to the stress in the structure and thus to
the external load. So if the linear problem is solved first,
KL u0 = f0
for an arbitrary initial load level f0, then the nonlinear problem can be approximated as
K L + K NL u 0 u = f 0
where is called the load multiplier.
An instability is reached when this system of equations becomes singular so that the
displacements tend to infinity. The value of the load at which this instability occurs can
be determined by, in a second study step, solving an eigenvalue problem for the load
multiplier .
K L + K NL u 0 u = 0
COMSOL Multiphysics reports a critical load factor, which is the value of at which
the structure becomes unstable. The corresponding deformation is the shape of the
structure in its buckled state.
The level of the initial load used is immaterial. If the initial load actually was larger than
the buckling load, then the critical value of is smaller than 1.
LINEARIZED BUCKLING ANALYSIS
47
You should not select geometric nonlinearity in a linearized buckling
analysis. Since the nonlinear effect of the stress is already taken into
account in the formulation, an explicit use of geometric nonlinearity
would make the computed buckling load dependent on the load level
used in the pre-load study step.
Be aware that for some structures, the true buckling load may be
significantly smaller that what is computed using a linearized analysis.
This phenomenon is sometimes called imperfection sensitivity. Small
deviations from the theoretical geometrical shape can then have a large
impact on the actual buckling load. This is especially important for curved
shells.
For a structure which exhibits axial symmetry in geometry, constraints
and loads, the critical buckling mode shape can still be non-axisymmetric.
A full 3D model should always be used when computing buckling loads.
Studies and Solvers and Linear Buckling in the COMSOL Multiphysics
Reference Manual
BracketLinear Buckling: Model Library path
Structural_Mechanics_Module/Tutorial_Models/bracket_linear_buckling
Linear Buckling Analysis of a Truss Tower: Model Library path
Structural_Mechanics_Module/Buckling/truss_tower_buckling
48 |
CHAPTER 2: STRUCTURAL MECHANICS MODELING
Introduction to Contact Modeling
This section has some suggestions regarding important aspects of creating models
involving contact, with or without friction. The contact implementation is based on
the augmented Lagrangian method, which is described in About Contact Modeling
for The Solid Mechanics User Interface. When modeling contact between structural
parts, set up contact pairs, which define where the parts may come into contact. A
contact pair consists of two sets of boundaries, which are the source and destination
boundaries. The 2D and 3D structural interfaces use the pairs to set up equations that
prevent the destination boundaries to penetrate the source boundaries.
When creating contact models it can often be to advantage to set up a prototype in 2D
before attempting a 3D model. Similarly it is often good to start using linear elements
to make the model smaller and faster to solve. When this is working, switch to
quadratic elements if required. You can also change to a linear material model instead
of for example an elastoplastic model during the first tests.
In this section:
Constraints
Multiphysics Contact
Contact Pairs
Boundary Settings for Contact Pairs
Solver and Mesh Settings for
Contact Modeling
Time-Dependent Analysis
Monitoring the Solution
In the COMSOL Multiphysics Reference Manual:
Selecting and Visualizing in Models
Identity and Contact Pairs
Constraints
Make sure that the bodies are sufficiently constrained, also in the initial position. If the
bodies are not in contact in the initial configuration, and there are no constraints on
the bodies, an under-constrained state (the parts are free in space) results. This causes
the solver to fail and must be avoided. One way to fix this problem is to set initial values
for the displacement variables so that a small penetration in the initial configuration
INTRODUCTION TO CONTACT MODELING
49
results. Another way is to use a displacement-controlled model rather than a
force-controlled one. When possible, this is usually the best solution. When it is not
possible, temporarily add a weak spring during the beginning of the simulation.
Assuming that a parameter p ranging from 0 to 1 is used for applying the external load,
introduce a stabilizing spring with stiffness kx in the x direction as
k x = k 1 p 2
p 10
and similarly in any other direction that needs to be restrained. It is not important
whether the spring is applied to domains, boundaries, or edges, but a value for the
parameter k must be chosen so that the generated extra force balances the external load
at a displacement that is of the same order of magnitude as a characteristic element size
in the contact region.
Contact Pairs
For efficiency, only include those boundaries that may actually come in contact in the
destination. For the source, it is often a bit more efficient to make it so large that every
destination point has a corresponding source point. The corresponding source point
is obtained by following the normal to the destination until it reaches the source.
To decide which boundaries to assign as source and destination in a contact pair
consider the following guidelines:
Make sure that the source boundary stiffness in the normal direction is higher than
the destination boundary stiffness. This is especially important if the difference in
stiffness is quite large (for example, over ten times larger).
Also keep in mind that for elastoplastic or hyperelastic materials there can
be a significant change in stiffness during the solution process, and choose
the source and destination boundaries accordingly. For such materials the
penalty factor might have to be adjusted as the solution progresses. The
Hyperelastic Material and Plasticity nodes are available with the Nonlinear
Structural Materials Module.
When the contacting parts have approximately the same stiffness, consider the
geometry of the boundaries instead. Make a concave boundary the source and a
convex boundary the destination rather than the opposite.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Once the source and destination boundaries are chosen, mesh the destination finer
than the source. Do not make the destination mesh just barely finer than the source
because this often causes nonphysical oscillations in the contact pressure. Make the
destination at least two times finer than the source.
Boundary Settings for Contact Pairs
Penalty Factors
In the augmented Lagrangian method, the value of the penalty factor
does not affect the accuracy of the final solution, like it does in the penalty
method. It does however strongly influence the convergence rate.
When running into convergence problems, check the penalty parameters. If the
iteration process fails in some of the first augmented iterations, lower the penalty
parameters. If the model seems to converge but very slowly, consider increasing the
maximum value of the penalty parameters.
Increasing the penalty factor can lead to an ill-conditioned Jacobian matrix and
convergence problems in the Newton iterations. This is often seen by noting that the
damping factor becomes less than 1 for many Newton iterations or that the structure
jumps into an unphysical state. If this occurs, decrease the penalty factors.
The default values for the penalty factors is based on an equivalent Youngs modulus
Eequiv of the material on the destination side. For linear elastic isotropic materials
Eequiv is equal to the actual Youngs modulus. For other types of materials Eequiv is
defined by an estimate of a similar stiffness at zero strain. For materials which are user
defined or in other senses nonstandard, for example anisotropic with large differences
in stiffness in different directions, Eequiv may need to be replaced with another
estimate.
Initial Value
In force-controlled contact problems where no other stiffness prohibits the
deformation except the contact, the initial contact pressure is crucial for convergence.
If it is too low the parts might pass through each other in the first iteration. If it is too
high they never come into contact.
INTRODUCTION TO CONTACT MODELING
51
Time-Dependent Analysis
The contact formulation is strictly valid only for stationary problems. It is still possible
to use contact modeling also in a time-dependent analysis, as long as inertial effects are
not important in the contact region or you use a sufficiently short time step. In
practice, this means that you can solve both quasi-static problems and truly dynamic
problems, as long as situations with impact are avoided. When in doubt, try to do an
a posteriori check of conservation of momentum and energy to ensure that the
solution is acceptable.
Multiphysics Contact
Multiphysics contact problems are often very ill conditioned, which leads to
convergence problems for the nonlinear solver. For example, take heat transfer
through the contact area, where initially only one point is in contact. The solution for
the temperature is extremely sensitive to the size of the contact area (that is, the
problem to determine the temperature is ill conditioned).
It is important to resolve the size of the contact area accurately, that is, to
use a very fine mesh in the contact area.
If the contact area is larger, a fine mesh is not required because then the temperature
solution is not that sensitive to the size of the contact area. If possible, start with an
initial configuration where the contact area is not very small.
You can use the contact variables (gap and contact pressure) in expressions for
quantities in other physics interfaces. As an example, a thermal resistance in the contact
region can depend on the contact pressure.
Solver and Mesh Settings for Contact Modeling
The following solver and mesh settings can help to successfully solve contact models:
Use a direct solver instead of an iterative solver if the problem size allows it. Direct
solvers are less sensitive and can provide better convergence.
As a default, the double dogleg nonlinear solver is selected when a stationary study
is generated and Contact physics features are present in the model. For the majority
of contact problems this solver has more stable convergence properties than the
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Newton solver, which is the general default solver. Using the same settings, the
Double dogleg solver tends to be somewhat slower than the Newton solver on
problems where both solvers converge. It is however often possible to user larger
load steps when using the double dogleg solver. For some problems, the Newton
solver may still be the better choice, so if you experience problems using the default
settings, try to switch solver.
For some contact problems, it may be necessary to let the parametric solver use a
more defensive strategy when going to the next parameter step. This can be
controlled by setting the value of Predictor in the Parametric feature to Constant.
A coarse mesh on a curved contact surface might lead to convergence problems, so
make sure that the mesh is sufficiently fine on the contact surface.
If the model includes friction, solve the problem without friction first. When the
model seems to work without friction, friction can be added.
Always solve contact problems with friction incrementally using a parametric or
time-dependent solver because the development of friction forces is history
dependent. For contact problems without friction an incremental strategy is not
necessary but often a good choice.
Monitoring the Solution
It is often useful to monitor the solution during a contact analysis. This can be done
in different ways.
Using the Results while solving functionality in the study step is a good practice. You
can either use a stress plot, or a plot of the contact pressure. If there is more than one
contact pair, superimpose several plots. In most cases, the scale of a deformed plot
should be set to 1 when monitoring contact problems. Note that if you select Results
while solving also in the Segregated feature, the plot will be updated after each iteration,
thus allowing you to monitor the convergence in detail.
For each contact pair, two global variables which can be used in probe plots are
available. These are the maximum contact pressure (solid.Tnmax_pair) and the
minimum gap distance (solid.gapmin_pair).
INTRODUCTION TO CONTACT MODELING
53
Eigenfrequency Analysis
An eigenfrequency study solves for the eigenfrequencies and the shape of the
eigenmodes. When performing an eigenfrequency analysis, specify whether to look at
the mathematically more fundamental eigenvalue, , or the eigenfrequency, f, which is
more commonly used in a structural mechanics context.
f = --------2i
If damping is included in the model, an eigenfrequency solution returns the damped
eigenvalues. In this case, the eigenfrequencies and mode shapes are complex. A
complex eigenfrequency can be interpreted so that the real part represents the actual
frequency, and the imaginary part represents the damping. In a complex mode shape
there are phase shifts between different parts of the structure, so that not all points
reach the maximum at the same time under free vibration.
It is possible to compute eigenfrequencies for structures which are not fully
constrained; this is sometimes referred to as free-free modes. For each possible rigid
body mode, there is one eigenvalue which in theory is zero. The number of possible
rigid body modes for different geometrical dimensions is shown in the table below.
TABLE 2-1: NUMBER OF POSSIBLE RIGID BODY MODES
DIMENSION
NUMBER OF RIGID BODY MODES
3D
6 (3 translations + 3 rotations)
2D axisymmetric
1 (Z-direction translation)
2D (solid, beam, truss)
3 (2 translations + 1 rotation)
2D (plate)
3 (1 translation + 2 rotations)
In a piezoelectric model, one more zero eigenfrequency could appear if you have not
set a reference value for the electric potential.
In practice, the natural frequencies are not computed as exactly zero, but may appear
as small numbers which can even be negative or complex. If rigid body modes are
present in the model, then it is important to use a non-zero value in the Search for
eigenfrequencies around text field in the settings for the Eigenfrequency study step. The
value should reflect the order of magnitude of the first important non-zero
eigenfrequency.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Because only the shape and not the size of the modes (eigenvectors) have physical
significance, the computed modes can be scaled arbitrarily. Select the method for
scaling in the Eigenvalue Solver node of the solver sequence. If output of mass
participation factors is required, then Scaling of eigenvectors must be set to Mass matrix.
This means that the eigenmodes U are orthogonalized with respect to the mass matrix
M so that
T
U i MU i = 1
(2-2)
This is a common choice for the scaling of eigenvectors within the structural mechanics
field.
The mass (or modal) participation factor for mode i in direction j, rij, is defined as
T
r ij = U i Md j
Here, dj is a vector containing unity displacement in all degrees of freedom
representing translation in direction j. The mass participation factor gives an indication
of to which extent a certain mode might respond to an excitation in this direction.
The mass participation factors have the important property that when their squares for
a certain direction are summed over all modes, this sum approaches the total mass of
the model:
n
rij = mtot
2
In practice you seldom solve for all possible modes but just a limited number. Then
this property can be used for investigating how well a certain number of selected
modes represent the total mass of the system.
The mass participation factors are available as a global variables, and these can be
shown in a table using a Global Evaluation node under Derived Values in the Results
branch, for example. The participation factor variables are available as predefined
variables in the Solver submenu.
EIGENFREQUENCY ANALYSIS
55
For an example showing how to compute modal mass, see In-Plane
Framework with Discrete Mass and Mass Moment of Inertia: Model
Library path Structural_Mechanics_Module/Verification_Models/
inplane_framework_freq.
For an example showing an eigenfrequency computation in a model
having a rigid body mode, see Eigenfrequency Analysis of a Free Cylinder:
Model Library path Structural_Mechanics_Module/Verification_Models/
free_cylinder.
In the COMSOL Multiphysics Reference Manual:
Eigenvalue Solver
Studies and Solvers
Derived Values and Tables
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Using Modal Superposition
Analyzing forced dynamic response for large models can be very time-consuming. You
can often improve the performance dramatically by using the modal superposition
technique. The following requirements must be met for a modal solution to be
possible:
The analysis is linear. It is however possible that the structure has been subjected to
a preceding non-linear history. The modal response can then be a linear
perturbation around that state.
There are no non-zero prescribed displacements.
The important frequency content of the load is limited to a range which is small
when compared to all the eigenfrequencies of the model, so that its response can be
approximated with a small number of eigenmodes. In practice, this excludes wave
and shock type problems.
If the modal solution is performed in the time domain, all loads must have the same
dependency on the time.
When using the Structural Mechanics Module, there are two predefined study types
for modal superposition: Time-Dependent Modal and Frequency-Domain Modal. Both
these study types consist of two study steps: One step for computing the
eigenfrequencies and one step for the modal response.
In practice, you have often computed the eigenfrequencies already, and then want to
use them in a modal superposition. In this case, start by adding an empty study, and
then add a Time-Dependent Modal or Frequency-Domain Modal study step to it. After
having added the study step this way, you must point the modal solver to the solution
containing the eigenfrequencies and eigenmodes. You do this by first selecting Show
default solver at the study level, and then selecting the eigenfrequency solution to be
used in the Eigenpairs section of the generated modal solver.
In a modal superposition, the deformation of the structure is represented by a linear
combination of its eigenmodes. The amplitudes of these modes are the degrees of
freedom of the reduced problem. You must select which eigenmodes to include in the
analysis. This choice is usually based on a comparison between the eigenfrequencies of
the structure and the frequency content of the load. As a rule of thumb, select
eigenmodes up to approximately twice the highest frequency of the excitation.
USING MODAL SUPERPOSITION
57
In a modal superposition analysis, the full model is projected onto the subspace
spanned by the eigenmodes. A problem having the number of degrees equal to the
number of included modes is then solved. This means that there are no restrictions on
the type of damping that can be used in a modal superposition analysis, as it would have
been the case if the modal equations were assumed to be totally decoupled.
FREQUENCY DOMAIN ANALYSIS
All loads are assumed to have a harmonic variation. This is a perturbation type analysis,
so only loads having the Harmonic perturbation property selected are then included in
the analysis.
TIME-DEPENDENT ANALYSIS
Only the factor of the load which is independent of time should be specified in the load
features. The dependency on time is specified as Load factor under the Advanced section
of the modal solver. This factor is then applied to all loads.
Modal Solver and Studies and Solvers in the COMSOL Multiphysics
Reference Manual
For an example showing how to perform modal superposition in time and
frequency domain, see Various Analyses of an Elbow Bracket: Model
Library path Structural_Mechanics_Module/Tutorial_Models/elbow_bracket.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Modeling Damping and Losses
Damping and losses are important in time-dependent and frequency-domain studies.
This section describes how to model damping and loss using different damping
models. In this section:
Overview of Damping and Loss
Linear Viscoelastic Materials
Rayleigh Damping
Equivalent Viscous Damping
Loss Factor Damping
Explicit Damping
Overview of Damping and Loss
In some cases damping is included implicitly in the material model. This is the case for
Linear Viscoelastic Materials, for which damping operates on the shear components of
stress and strain. Damping must be added explicitly as a subnode of the material node
for material models that do not include damping, such as linear elastic materials.
Phenomenological damping models are typically invoked to model the intrinsic
frictional damping present in most materials (material damping). These models are
easiest to understand in the context of a system with a single degree of freedom. The
following equation of motion describes the dynamics of such a system with viscous
damping:
2
du
d u
m ---------- + c ------- + ku = f t
dt
dt
(2-3)
In this equation u is the displacement of the degree of freedom, m is its mass, c is the
damping parameter, and k is the stiffness of the system. The time (t) dependent forcing
term is f(t). This equation is often written in the form:
2
ft
d
udu
2
--------+ 2 0 ------- + 0 u = --------dt
m
dt
(2-4)
where c2m0 and 02km. In this case is the damping ratio (1 for critical
damping) and 0 is the resonant frequency of the system. In the literature it is more
MODELING DAMPING AND LOSSES
59
common to give values of than c. can also be readily related to many of the various
measures of damping employed in different disciplines. These are summarized in
Table 2-2.
TABLE 2-2: RELATIONSHIPS BETWEEN MEASURES OF DAMPING
DAMPING
PARAMETER
DEFINITION
RELATION TO
DAMPING RATIO
Damping ratio
= c c critical
Logarithmic
decrement
u t0
d = ln ----------------------
u t 0 +
d 2
1
where t0 is a reference time and is the
period of vibration for a decaying, unforced
degree of freedom.
Quality factor
Loss factor
Q =
Q 1 2
where is the bandwidth of the amplitude
resonance measured at 1 2 of its peak.
1 Qh
= ------ --------
2 W h
At the resonant
frequency:
2
where Qh is the energy lost per cycle and Wh
is the maximum potential energy stored in the
cycle. The variables Qh and Wh are available
as solid.Qh and solid.Wh.
In the frequency domain, the time dependence of the force and the displacement can
be represented by introducing a complex force term and assuming a similar time
dependence for the displacement. The equations
f t = Re Fe
jt
and u t = Re Ue
jt
are written where is the angular frequency and the amplitude terms U and F can in
general be complex (the arguments provide information on the relative phase of
signals). Usually the real part is taken as implicit and is subsequently dropped.
Equation 2-3 takes the following form in the frequency domain:
2
mU + jcU + kU = F
(2-5)
where the time dependence has canceled out on both sides. Alternatively this equation
can be written as:
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
2
2
F
U + 2j 0 U + 0 U = ----m
(2-6)
There are two basic damping models availableRayleigh damping and models based
on introducing complex quantities into the equation system.
Rayleigh Damping introduces damping in a form based on Equation 2-3. This means
that the method can be applied generally in either the time or frequency domain. The
parameter c in Equation 2-3 is defined as a fraction of the mass and the stiffness using
two parameters, dM and dK, such that
c = dM m + dK k
(2-7)
Although this approach seems cumbersome with a one degree of freedom system,
when there are many degrees of freedom m, k, and c become matrices and the
technique can be generalized. Substituting this relationship into Equation 2-3 and
rearranging into the form of Equation 2-4 gives:
2
ft
d
u2 du
2
--------+ dM + dK 0 ------- + 0 u = --------dt
m
dt
Rayleigh damping can therefore be identified as equivalent to a damping factor at
resonance of:
1 dM
= --- ----------- + dK 0
2 0
(2-8)
Note that Equation 2-8 holds separately for each vibrational mode in the system at its
resonant frequency. In the frequency domain it is possible to use frequency dependent
values of dM and dK. For example setting dM0 and dK2/0 produces a
Equivalent Viscous Damping model at the resonant frequency.
While Rayleigh damping is numerically convenient, the model does not agree with
experimental results for the frequency dependence of material damping over an
extended range of frequencies. This is because the material damping forces behave
more like frictional forces (which are frequency independent) than viscous damping
forces (which increase linearly with frequency as implied by Equation 2-5). In the
frequency domain it is possible to introduce loss factor damping, which has the desired
property of frequency independence.
Loss Factor Dampingintroduces complex material properties to add damping to the
model. As a result of this it can only be used in the frequency domain (for
MODELING DAMPING AND LOSSES
61
eigenfrequency, frequency domain, or time harmonic studies). In the single degree of
freedom case this corresponds to a complex value for the spring constant k. Setting
c=0, but modifying the spring constant of the material to take a value k1j where
is the loss factor, modifies the form of Equation 2-5 to:
2
mU + jkU + kU = F
(2-9)
Alternatively writing this in the form of Equation 2-6 gives:
F
2
2
2
U + j 0 U + 0 U = ----m
Comparing these equations with Equation 2-5 and Equation 2-6 shows that the loss
factor is related to and c by:
= 2 ------ = ---- c
k
0
Equation 2-9 shows that the loss factor has the desired property of frequency
independence. However it is clear that this type of damping cannot be applied in the
time domain. In addition to using loss factor damping the material properties can be
entered directly as complex values in COMSOL Multiphysics, which results in Explicit
Damping
Piezoelectric Losses are more complex and include coupling and electrical
losses in addition to the material terms.
For piezoelectric materials, dK is only used as a multiplier of the
structural contribution to the stiffness matrix when building-up the
damping matrix as given by Equation 2-7. In the frequency domain
studies, you can use the coupling and dielectric loss factors equal to dK
to effectively achieve the Rayleigh damping involving the whole stiffness
matrix.
Linear Viscoelastic Materials
Rayleigh Damping
Equivalent Viscous Damping
Loss Factor Damping
Explicit Damping
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Linear Viscoelastic Materials
If Linear Viscoelastic Material is selected for the Solid Mechanics interface, the
viscoelastic branches include damping automatically and no more damping is required.
In the frequency domain the damping using a viscoelastic material corresponds to loss
factor damping applied to the shear components of the material properties.
Rayleigh Damping
As discussed for a model with a single degree of freedom, the Rayleigh damping model
defines the damping parameter c in terms of the mass m and the stiffness k as
c = dM m + dK k
where dM and dK are the mass and stiffness damping parameters, respectively. At
any resonant frequency, f, this corresponds to a damping factor, given by:
1 dM
= --- ----------- + dK 2f
2 2f
(2-10)
Using this relationship at two resonant frequencies f1 and f2 with different damping
factors 1 and 2 results in an equation system
1 ----------f
4f 1 1 dM
1 dK
----------f
4f 2 2
1
2
As a result of its non-physical nature, the Rayleigh damping model can only be tuned
to give the correct damping at two independent resonant frequencies or to give an
approximately frequency independent damping response (which is physically what is
usually observed) over a limited range of frequencies.
Using the same damping factors 1 and 2 at frequencies f1 and f2 does
not result in the same damping factor in the interval. It can be shown that
the damping parameters have the same damping at the two frequencies
and less damping in between (see Figure 2-5).
Care must therefore be taken when specifying the model to ensure the
desired behavior is obtained.
MODELING DAMPING AND LOSSES
63
Damping factor
Rayleigh damping
Specified damping
f1
f2
Figure 2-5: An example of Rayleigh damping.
For many applications it is sufficient to leave dM as zero (the default value) and to
define damping only using the dK coefficient. Then according to Equation 2-10
linearly increasing damping is obtained. If the damping ratio f0 or loss factor f0
is known at a given frequency f0, the appropriate value for dK is:
dK = f 0 = 2f 0
This model results in a well-defined, linearly increasing, damping term that has the
defined value at the given frequency.
All physics interfaces under the Structural Mechanics branch use zero
default values (that is, no damping) for dM and dK. These default values
must be changed to meet the specific modeling situation.
Equivalent Viscous Damping
Although equivalent viscous damping is independent of frequency, it is only possible
to use it in a frequency response analysis. Equivalent viscous damping also uses a loss
factor as the damping parameter, and can be implemented using the Rayleigh damping
feature, by setting the stiffness damping parameter dK, to the loss factor, , divided
by the excitation frequency:
dK = --------- = ---2f
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
The mass damping factor, dM, should be set to zero.
Loss Factor Damping
Loss factor damping (sometimes referred to as material or structural damping) takes
place when viscoelasticity is modeled in the frequency domain. The complex modulus
G*() is the frequency-domain representation of the stress relaxation function of
viscoelastic material. It is defined as
G = G + jG = 1 + j s G
where G' is the storage modulus, G'' is the loss modulus, and their ratio sG''G' is
the loss factor. The term G' defines the amount of stored energy for the applied strain,
whereas G'' defines the amount of energy dissipated as heat; G', G'', and s can all be
frequency dependent.
In COMSOL Multiphysics the loss information appears as a multiplier of the total
strain in the stress-strain relationship:
= D 1 + j s th 0 + 0 .
For hyperelastic materials the loss information appears as a multiplier in strain energy
density, and thus in the second Piola-Kirchhoff stress, S:
W s
S = 1 + j s ---------E
Loss factor damping is available for frequency response analysis and damped
eigenfrequency analysis in all interfaces,
The Hyperelastic Material node are available with the Nonlinear
Structural Materials Module.
Explicit Damping
It is possible to define damping by modeling the dissipative behavior of the material
using complex-valued material properties. In COMSOL Multiphysics, you can enter
the complex-valued data directly, using i or sqrt(-1) for the imaginary unit.
MODELING DAMPING AND LOSSES
65
Piezoelectric Losses
In this section:
About Piezoelectric Materials
Piezoelectric Material Orientation
Piezoelectric Losses
No Damping
References for Piezoelectric Damping
About Piezoelectric Materials
Piezoelectric materials become electrically polarized when strained. From a
microscopic perspective, the displacement of atoms within the unit cell (when the solid
is deformed) results in electric dipoles within the medium. In certain crystal structures
this combines to give an average macroscopic dipole moment or electric polarization.
This effect, known as the direct piezoelectric effect, is always accompanied by the
converse piezoelectric effect, in which the solid becomes strained when placed in an
electric field.
Within a piezoelectric there is a coupling between the strain and the electric field,
which is determined by the constitutive relation:
T
S = sE T + d E
D = dT + T E
(2-11)
Here, S is the strain, T is the stress, E is the electric field, and D is the electric
displacement field. The material parameters sE, d, and T, correspond to the material
compliance, the coupling properties and the permittivity. These quantities are tensors
of rank 4, 3, and 2 respectively, but, since the tensors are highly symmetric for physical
reasons, they can be represented as matrices within an abbreviated subscript notation,
which is usually more convenient. In the Piezoelectric Devices interface, the Voigt
notation is used, which is standard in the literature for piezoelectricity but which differs
from the defaults in the Solid Mechanics interface. Equation 2-11 is known as the
strain-charge form of the constitutive relations. The equation can be re-arranged into
the stress-charge form, which relates the material stresses to the electric field:
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
T = cE S e E
D = eS + S E
(2-12)
The material properties, cE, e, and S are related to sE, d, and T. Note that it is
possible to use either form of the constitutive relations. In addition to Equation 2-11
or Equation 2-12, the equations of solid mechanics and electrostatics must also be
solved within the material.
The Piezoelectric Devices User Interface
Theory for the Piezoelectric Devices User Interface
Piezoelectric Material Orientation
The orientation of a piezoelectric crystal cut is frequently defined by the system
introduced by the I.R.E. standard of 1949 (Ref. 8). This standard has undergone a
number of subsequent revisions, with the final revision being the IEEE standard of
1989 (Ref. 9). Unfortunately the more recent versions of the standard have not been
universally adopted, and significant differences exist between the 1949 and the 1987
standards. The 1987 standard was ultimately withdrawn by the IEEE. COMSOL
Multiphysics follows the conventions used in the book by Auld (Ref. 10) and defined
by the 1987 standard. While these conventions are often used for many piezoelectric
materials, unfortunately practitioners in the quartz industry usually adhere to the older
1947 standard, which results in different definitions of crystal cuts and of material
properties.
The stiffness, compliance, coupling, and dielectric material property matrices are
defined with the crystal axes aligned with the local coordinate axes. In the absence of
a user defined coordinate system, the local system corresponds to the global X, Y, and
Z coordinate axes.
The material properties are defined in the material frame, so that if the
solid rotates during deformation the material properties rotate with the
solid. See Modeling Geometric Nonlinearity.
The crystal axes used to define material properties correspond to the 1987 IEEE
standard. All piezoelectric material properties are defined using the Voigt form of the
abbreviated subscript notation, which is almost universally employed in the literature
PIEZOELECTRIC LOSSES
67
(this differs from the standard notation used for the Solid Mechanics interface material
properties). To define a particular crystal cut, a local set of rotated coordinates must
be defined; this local system then corresponds to the orientation of the crystal axes
within the model.
For some materials, the crystal X, Y, and Z axes are defined differently
between the 1987 IEEE standard and the 1949 I.R.E. standard.
Figure 2-6 shows the case of right-handed quartz (which is included in
the COMSOL material library as quartz; see Piezoelectric Materials
Database in the COMSOL Multiphysics Reference Manual), which has
different axes defined within the two standards.
The different axes sets result in different material properties so, for
example, the elasticity or stiffness matrix component cE14 of quartz takes
the value 18 GPa in the 1987 standard and 18 GPa in the 1949
standard.
The crystal cuts are also defined differently within the 1949 and 1987 standards. Both
standards use a notation that defines the orientation of a virtual slice (the plate)
through the crystal. The crystal axes are denoted X, Y, and Z and the plate, which is
usually rectangular, is defined as having sides l, w, and t (length, width, and thickness).
Initially the plate is aligned with respect to the crystal axes and then up to three
rotations are defined, using a right-handed convention about axes embedded along the
l, w, and t sides of the plate. Taking AT cut quartz as an example, the 1987 standard
defines the cut as: (YXl) 35.25. The first two letters in the bracketed expression
always refer to the initial orientation of the thickness and the length of the plate.
Subsequent bracketed letters then define up to three rotational axes, which move with
the plate as it is rotated. Angles of rotation about these axes are specified after the
bracketed expression in the order of the letters, using a right-handed convention. For
AT cut quartz only one rotation, about the l axis, is required. This is illustrated in
Figure 2-7. Note that within the 1949 convention AT cut quartz is denoted as: (YXl)
35.25, since the X-axis rotated by 180 in this convention and positive angles
therefore correspond to the opposite direction of rotation (see Figure 2-6).
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Figure 2-6: Crystallographic axes defined for right-handed quartz in COMSOL and the
1987 IEEE standard (color). The 1949 standard axes are shown for comparison (gray).
Figure 2-6 is reproduced with permission from: IEEE Std 176-1987 IEEE Standard on Piezoelectricity, reprinted with permission from
IEEE, 3 Park Avenue, New York, NY 10016-5997 USA, copyright 1987,
by IEEE. This figure may not be reprinted or further distributed without
prior written permission from the IEEE.
PIEZOELECTRIC LOSSES
69
Because COMSOL Multiphysics allows user-defined material parameters,
it is possible to add a user-defined material defined within the 1949
standard if the use of the 1987 standard is inconvenient. In any case,
significant care must be taken when entering material properties and
when defining the rotated coordinate system for a given cut. In the
literature, the particular standard being employed to define material
properties and cuts is rarely cited.
Figure 2-7: Definition of the AT cut of quartz within the IEEE 1987 standard. The AT
cut is defined as: (YXl) 35.25. The first two bracketed letters specify the initial
orientation of the plate, with the thickness direction, t, along the crystal Y axis and the
length direction, l, along the X axis. Then up to three rotations about axes that move with
the plate are specified by the corresponding bracketed letters and the subsequent angles. In
this case only one rotation is required about the l axis, of 35.25 (in a right-handed
sense).
When defining material properties it is necessary to consider the orientation of the
plate with respect to the global coordinate system in addition to the orientation of the
plate with respect to the crystallographic axes. Consider once again the example of AT
cut quartz in Figure 2-7. The definition of the appropriate local coordinate system
depends on the desired final orientation of the plate in the global coordinate system.
One way to set up the plate is to orientate its normal parallel to the Y axis in the global
coordinate system. Figure 2-8 shows how to define the local coordinate system in this
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
case. Figure 2-9 shows how to define the local system such that the plate has its normal
parallel to the global Z axis.
In both cases it is critical to keep track of the orientation of the local
system with respect to the global system, which is defined depending on
the desired orientation of the plate in the model.
There are also a number of methods to define the local coordinate system
with respect to the global system.
Usually it is most convenient to define the local coordinates with a Rotated System
node, which defines three Euler angles according to the ZXZ convention (rotation
about Z, then X, then Z again). Note that these Euler angles define the local (crystal)
axes with respect to the global axesthis is distinct from the approach of defining the
cut (global) axes with respect to the crystal (local) axes.
Figure 2-8: Defining an AT cut crystal plate within COMSOL, with normal in the global
Y-direction. Within the 1987 IEEE standard the AT cut is defined as (YXl) -35.25. Start
with the plate normal or thickness in the Ycr direction (a) and rotate the plate 35.25
PIEZOELECTRIC LOSSES
71
about the l axis (b). The global coordinate system rotates with the plate. Finally rotate the
entire system so that the global coordinate system is orientated as it appears in COMSOL
(c). The local coordinate system should be defined with the Euler angles (ZXZ - 0, 35.25,
0).(d) shows a coordinate system for this system in COMSOL.
Figure 2-9: Defining an AT cut crystal plate within COMSOL, with normal in the global
Z-direction. Within the 1987 IEEE standard the AT cut is defined as (YXl) 35.25.
Begin with the plate normal in the Zcr-direction, so the crystal and global systems are
coincident. Rotate the plate so that its thickness points in the Ycr-direction (the starting
point for the IEEE definition), the global system rotates with the plate (b). Rotate the plate
35.25 about the l axis (d). Finally rotate the entire system so that the global coordinate
system is orientated as it appears in COMSOL (d). The local coordinate system should be
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
defined with the Euler angles (ZXZ: 0, -54.75, 0). (e) shows a coordinate system for this
system in COMSOL.
Piezoelectric Losses
Losses in piezoelectric materials can be generated both mechanically and electrically.
In the frequency domain these can be represented by introducing complex material
properties in the elasticity and permittivity matrices, respectively. Taking the
mechanical case as an example, this introduces a phase lag between the stress and the
strain, which corresponds to a Explicit Damping. These losses can be added to the
Piezoelectric Materialby a Damping and Losssubnode, and are typically defined as a
loss factor (see below). For the case of electrical losses, hysteretic electrical losses are
usually used to represent high frequency electrical losses that occur as a result of
friction impeding the rotation of the microscopic dipoles that produce the material
permittivity. Low frequency losses, corresponding to a finite material conductivity, can
be added to the model through an Electrical Conductivity (Time Harmonic) node.
This feature also operates in the frequency domain. Note that the option to add
Rayleigh damping, or explicit damping (which is a particular case of Rayleigh damping
in the frequency domain), is also available in the Damping and Loss node for the
frequency domain.
In the time domain, material damping can be added using the Rayleigh Damping
option in the Damping and Loss node. Electrical damping is currently not available in
the time domain.
Rayleigh Damping
Explicit Damping
HYSTERETIC LOSS
In the frequency domain, the dissipative behavior of the material can be modeled using
complex-valued material properties, irrespective of the loss mechanism. Such hysteretic
losses can be applied to model both electrical and mechanical losses. For the case of
piezoelectric materials, this means that the constitutive equations are written as
follows:
For the stress-charge formulation
PIEZOELECTRIC LOSSES
73
T
= c E e E
D = e + E
S
and for the strain-charge formulation
T
= s E + d E
D = d + E
T
where c E , d , and are complex-valued matrices, where the imaginary part defines the
dissipative function of the material.
Both the real and complex parts of the material data must be defined so as to respect
the symmetry properties of the material being modeled and with restrictions imposed
by the laws of physics.
A key requirement is that the dissipation density is positive; that is, there
is no power gain from the passive material. This requirement sets rules for
the relative magnitudes for all material parameters. This is important
when defining the coupling losses.
In COMSOL Multiphysics the complex-valued data can be entered directly, or by
means of loss factors. When loss factors are used, the complex data X is represented as
pairs of a real-valued parameter
X = real X
and a loss factor
X = imag X real X
the ratio of the imaginary and real part, and the complex data is then:
X = X 1 j X
where the sign depends on the material property used. The loss factors are specific to
the material property, and thus they are named according to the property they refer to,
for example, cE. For a structural material without coupling, simply use s, the
structural loss factor.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
The Piezoelectric Devices interface defines the loss factors such that a positive loss
factor corresponds to a positive loss. The complex-valued data is then based on sign
rules. For piezoelectric materials, the following equations apply (m and n refer to
elements of each matrix):
m n
m n
m n
c E = c E 1 + j cE
m n
m n
m n
e
=e
1 j e
m n
m n
m n
S = S 1 j S
m n
m n
m n
s E = s E 1 j sE
(2-13)
m n
m n
m n
d
=d
1 j d
m n
m n
m n
T = T 1 j T
The losses for non-piezoelectric materials are easier to define. Again, using the
complex stiffness and permittivity, the following equations describe the material:
m n
m n
m n
D
= 1 + j
D
m n
m n
m n
= 1 j e
e
e
(2-14)
Often there is no access to fully defined complex-valued data. The Piezoelectric
Devices interface defines the loss factors as full matrices or as scalar isotropic loss factors
independently of the material and the other coefficients. For more information about
hysteretic losses, see Ref. 1 to Ref. 4.
ELECTRICAL CONDUCTIVITY (TIME HARMONIC)
For frequency domain analyses the electrical conductivity of the piezoelectric and
decoupled material (see Ref. 2, Ref. 5, and Ref. 6) can be defined. Depending on the
formulation of the electrical equation, the electrical conductivity appears in the
variational formulation (the weak equation) either as an effective electric displacement
Jp
D = r 0 E j -----
(the actual displacement variables do not contain any conductivity effects) or in the
total current expression J = Jd Jp where Jp = eE is the conductivity current and
Jd is the electric displacement current.
PIEZOELECTRIC LOSSES
75
Both a dielectric loss factor (Equation 2-13 and Equation 2-14) and the electrical
conductivity can be defined at the same time. In this case, ensure that the loss factor
refers to the alternating current loss tangent, which dominates at high frequencies,
where the effect of ohmic conductivity vanishes (Ref. 7).
The use of electrical conductivity in a damped eigenfrequency analysis leads to a
nonlinear eigenvalue problem, which must be solved iteratively. To compute the
correct eigenfrequency, run the eigenvalue solver once for a single mode. Then set the
computed solution to be the linearization point for the eigenvalue solver, defined in
the settings window for the Eigenvalue Solver node. Re-run the eigenvalue solver
repeatedly until the solution no longer changes. This process must be repeated for each
mode separately.
In the COMSOL Multiphysics Reference Manual:
Selecting a Stationary, Time-Dependent, or Eigenvalue Solver
Eigenvalue Solver
No Damping
By default, there is no damping until a Damping or Damping and Loss node is added. In
The Piezoelectric Devices User Interface an undamped model can be created by
selecting No damping from the Damping type list in the Damping and Loss settings
window.
References for Piezoelectric Damping
1. R. Holland and E.P. EerNisse, Design of Resonant Piezoelectric Devices, Research
Monograph No. 56, The M.I.T. Press, 1969.
2. T. Ikeda, Fundamentals of Piezoelectricity, Oxford University Press, 1990.
3. A.V. Mezheritsky, Elastic, Dielectric, and Piezoelectric Losses in Piezoceramics:
How it Works all Together, IEEE Transactions on Ultrasonics, Ferroelectrics, and
Frequency Control, vol. 51, no. 6, 2004.
4. K. Uchino and S. Hirose, Loss Mechanisms in Piezoelectrics: How to Measure
Different Losses Separately, IEEE Transactions on Ultrasonics, Ferroelectrics, and
Frequency Control, vol. 48, no. 1, pp. 307321, 2001.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
5. P.C.Y. Lee, N.H. Liu, and A. Ballato, Thickness Vibrations of a Piezoelectric Plate
With Dissipation, IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency
Control, vol. 51, no. 1, 2004.
6. P.C.Y. Lee and N.H. Liu, Plane Harmonic Waves in an Infinite Piezoelectric Plate
With Dissipation, Frequency Control Symposium and PDA Exhibition, pp. 162
169, IEEE International, 2002.
7. C.A. Balanis, Electrical Properties of Matter, Advanced Engineering
Electromagnetics, John Wiley & Sons, chapter 2, 1989.
8. Standards on Piezoelectric Crystals, 1949, Proceedings of the I. R. E.,vol. 37,
no.12, pp. 1378 - 1395, 1949.
9. IEEE Standard on Piezoelectricity, ANSI/IEEE Standard 176-1987, 1987.
10. B. A. Auld, Acoustic Fields and Waves in Solids, Krieger Publishing Company,
1990.
PIEZOELECTRIC LOSSES
77
Springs and Dampers
The Spring Foundation and Thin Elastic Layer physics nodes are available with the Solid
Mechanics interface and supply elastic and damping boundary conditions for domains,
boundaries, edges, and points. The Spring Foundation node is available also in the other
structural mechanics interfaces.
The features are completely analogous, with the difference that a Spring Foundation
node connects the structural part on which it is acting to a fixed ground, while the
Thin Elastic Layer acts between two parts, either on an internal boundary or on a pair.
The following types of data are defined by these nodes:
Spring Data
Loss Factor Damping
Viscous Damping
SPRING DATA
The elastic properties can be defined either by a spring constant or by a force as
function of displacement. The force as a function of displacement may be more
convenient for nonlinear springs. Each spring feature has three displacement variables
defined, which can be used to describe the dependency on deformation. These
variables are named uspring1_tag, uspring2_tag, and uspring3_tag for the three
directions given by the local coordinate system. In the variable names, tag represents
the tag of the feature defining the variable The tag could for example be spf1 or tel1
for a Spring Foundation or a Thin Elastic Layer respectively. These variables measure the
relative extension of the spring after subtraction of any pre-deformation.
LOSS FACTOR DAMPING
The loss factor damping adds a loss factor to the spring data above, so that the total
force exerted by the spring with loss is
f sl = 1 + i f s
where fs is the elastic spring force, and is the loss factor.
Loss factor damping is only applicable in for eigenfrequency and frequency domain
analysis. In time dependent analysis the loss factor is ignored.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
VISCOUS DAMPING
It is also possible to add viscous damping to the Spring Foundation and Thin Elastic
Layer features. The viscous damping adds a force proportional to the velocity (or in
the case of Thin Elastic Layer: the relative velocity between the two boundaries). The
viscosity constant of the feature can be made dependent on the velocity by using the
variables named vdamper1__tag, vdamper2__tag, and vdamper3__tag, which
contain the velocities in the three local directions.
The Spring Foundation feature is most commonly used for simulating boundary
conditions with a certain flexibility, such as the soil surrounding a construction. An
other important use is for stabilizing parts that would otherwise have a rigid body
singularity. This is a common problem in contact modeling before an assembly has
actually settled. In this case a Spring Foundation acting on the entire domain is useful
because it avoids the introduction of local forces.
A Thin Elastic Layer between used as a pair condition can be used to simulate thin
layers with material properties which differ significantly from the surrounding
domains. Common applications are gaskets and adhesives.
When a Thin Elastic Layer is applied on an internal boundary, it usually simulates a
local flexibility, such as a fracture zone in a geological model.
BracketSpring Foundation Analysis: Model Library path
Structural_Mechanics_Module/Tutorial_Models/bracket_spring
SPRINGS AND DAMPERS
79
Tips for Selecting the Correct Solver
COMSOL Multiphysics includes many solvers and solver settings. To make it easier
to use a suitable solver and its associated solver parameters, the physics user interfaces
have different default settings based on the study type. In some situations the default
settings must be changed. This section helps you select a solver and its settings to solve
structural mechanics and related multiphysics problems.
In this section:
Symmetric Matrices
Selecting Iterative Solvers
Specifying Tolerances and Scaling for the Solution Components
Studies and Solvers in the COMSOL Multiphysics Reference Manual
Symmetric Matrices
The Matrix symmetry list is available in the General section of the settings window for
the Advanced subnode under a solver node such as Stationary Solver. There you can
explicitly state whether the assembled matrices (stiffness matrix, mass matrix) resulting
from the compiled equations are symmetric or not.
Normally the matrices from a single-physics structural mechanics problem are
symmetric, but there are exceptions, including the following cases:
Multiphysics models solving for several physics simultaneously, for example, heat
transfer and structural mechanics. Solving for several structural mechanics physics
interfaces, such as shells combined with beams, does not create unsymmetric
matrices.
Linear viscoelastic materials
Elastoplastic analysis
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
The Plasticity node is available with the Nonlinear Structural Materials
Module.
One of the benefits of using the symmetric solvers is that they use less memory and are
faster. The default option is Automatic, which means the solver automatically detects if
the system is symmetric or not. Some solvers do not support symmetric matrices and
always solve the full system regardless of symmetry.
Selecting the Symmetric option for a model with unsymmetric matrices
produces incorrect results.
Complex matrices can be unsymmetric, symmetric, or Hermitian. Hermitian matrices
do not appear in structural mechanics problems.
Selecting the Hermitian option for a model with complex-valued
symmetric matrices produces incorrect results.
Selecting Iterative Solvers
The default solver for structural mechanics is the MUMPS direct solver in both 2D and
3D. For large 3D problems (several hundred thousands or millions of degrees of
freedom) it is beneficial to use iterative solvers when possible to save time and memory.
The drawback is that they are more sensitive and might not converge if the mesh
quality is low. The iterative solvers also have more options than the direct solvers.
These solver settings are recommended for 3D structural mechanics models:
For stationary and time-dependent studies, use the GMRES iterative solver with
geometric multigrid (GMG) as the preconditioner.
Check the mesh quality when using the GMG preconditioner. It does not work well
when using the option to scale the geometry before meshing. When using extruded
meshes, the mesh cases might need to be created manually.
TIPS FOR SELECTING THE CORRECT SOLVER
81
For slender geometries, an SOR Line as presmoother and postsmoother can give better
results compared to SOR, which is the default for GMG preconditioner.
For eigenfrequency/eigenvalue and frequency-domain studies, use the default
direct solver (MUMPS).
Specifying a shift frequency greater than the lowest eigenfrequency results
in indefinite matrices.
Studies and Solvers in the COMSOL Multiphysics Reference Manual
Specifying Tolerances and Scaling for the Solution Components
The absolute-tolerance parameters used for time-dependent studies are problem
specific. By default, the absolute tolerance is applied to scaled variables, with the
default value being 0.001 for all solution components.
The default scaling for the displacement components is based on the size of the
geometry in the model, and certain reasonable scales are used for the pressure and
contact force variables, if any. You are encouraged to change these scales as soon as
better values are known or can be guessed or estimated from the applied forces, yield
stress, reaction forces, maximum von Mises stress. The same suggestion applies to the
displacement scale, which can be estimated easily if the problem is displacement
controlled. This approach can significantly improve the robustness of the solution. The
scales need to be entered using the main unit system within the model.
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CHAPTER 2: STRUCTURAL MECHANICS MODELING
Solid Mechanics
This chapter describes the Solid Mechanics interface, which is found under the
Structural Mechanics branch (
) in the Model Wizard. Solid mechanics in this
context means that no simplifications are available and that you solve for the
displacements without involving rotations.
In this chapter:
Solid Mechanics Geometry and Structural Mechanics Physics Symbols
The Solid Mechanics User Interface
Theory for the Solid Mechanics User Interface
83
Solid Mechanics Geometry and
Structural Mechanics Physics Symbols
The Solid Mechanics interface in the Structural Mechanics Module is available for
these space dimensions, which are described in this section:
3D Solid Geometry
2D Geometry (plane stress and plane strain)
Axisymmetric Geometry
There are also physics symbols available with structural mechanics features as described
in these sections:
Physics Symbols for Boundary Conditions
About Coordinate Systems and Physics Symbols
Displaying Physics Symbols in the Graphics WindowAn Example
3D Solid Geometry
The degrees of freedom (dependent variables) in 3D are the global displacements u, v,
and w in the global x, y, and z directions, respectively, and the pressure help variable
(used only if a nearly incompressible material is selected), and the viscoelastic strains
(used only for viscoelastic materials).
Figure 3-1: Loads and constraints applied to a 3D solid using the Solid Mechanics
interface.
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CHAPTER 3: SOLID MECHANICS
2D Geometry
PLANE STRESS
The plane stress variant of the 2D interface is useful for analyzing thin in-plane loaded
plates. For a state of plane stress, the out-of-plane components of the stress tensor are
zero.
Figure 3-2: Plane stress models plates where the loads are only in the plane; it does not
include any out-of-plane stress components.
The 2D interface for plane stress allows loads in the x and y directions, and it assumes
that these are constant throughout the materials thickness, which can vary with x and
y. The plane stress condition prevails in a thin flat plate in the xy-plane loaded only in
its own plane and without any z direction restraint.
PLANE STRAIN
The plane strain variant of the 2D interface that assumes that all out-of-plane strain
components of the total strain z, yz, and xz are zero.
Figure 3-3: A geometry suitable for plane strain analysis.
Loads in the x and y directions are allowed. The loads are assumed to be constant
throughout the thickness of the material, but the thickness can vary with x and y. The
SOLID MECHANICS GEOMETR Y AND STRUCTURAL MECHANICS PHYSICS SYMBOLS
85
plane strain condition prevails in geometries, whose extent is large in the z direction
compared to in the x and y directions, or when the z displacement is in some way
restricted. One example is a long tunnel along the z-axis where it is sufficient to study
a unit-depth slice in the xy-plane.
Axisymmetric Geometry
The axisymmetric variant of the Solid Mechanics interface uses cylindrical coordinates
r, (phi), and z. Loads are independent of , and the axisymmetric variant of the
interface allows loads only in the r and z directions.
The 2D axisymmetric geometry is viewed as the intersection between the original
axially symmetric 3D solid and the half plane , r 0. Therefore the geometry is
drawn only in the half plane r 0 and recover the original 3D solid by rotating the 2D
geometry about the z-axis.
Figure 3-4: Rotating a 2D geometry to recover a 3D solid.
Physics Symbols for Boundary Conditions
To display the physics symbols, select Options>Preferences>Graphics from the Main
menu and select the Show physics symbols check box to display the boundary condition
symbols listed in Table 3-1. These symbols are available with the applicable structural
mechanics feature nodes.
TABLE 3-1: STRUCTURAL MECHANICS BOUNDARY CONDITION PHYSICS SYMBOLS
SYMBOL
86 |
SYMBOL NAME
DISPLAYED BY NODE
Added Mass1
Added Mass
Antisymmetry1
Antisymmetry
Body Load1
Body Load
CHAPTER 3: SOLID MECHANICS
NOTES
TABLE 3-1: STRUCTURAL MECHANICS BOUNDARY CONDITION PHYSICS SYMBOLS
SYMBOL
SYMBOL NAME
DISPLAYED BY NODE
NOTES
3D Coordinate
System
Green indicates the Y direction, blue
indicates the Z direction, and red
indicates the X direction.
2D Coordinate
System
Green indicates the Y direction and
red indicates the X direction.
Distributed Force
Boundary Load
Face Load
Edge Load
Can be displayed together with the
Distributed Moment symbol,
depending on the values given in the
node.
Damping1
Spring Foundation
Can be displayed together with the
Spring symbol, depending on the
values given in the node.
Distributed
Moment1
Boundary Load
Can be displayed together with the
Distributed Force symbol, depending
on the values given in the node.
Face Load
Edge Load
Fixed Constraint
Fixed Constraint
No Rotation1
No Rotation
Pinned1
Pinned
Point Force
Point Load
Point Mass1
Point Mass
Point Moment1
Point Load
Prescribed
Acceleration
Prescribed
Acceleration
Prescribed
Displacement
Prescribed
Displacement
Prescribed
Velocity1
Prescribed Velocity
Prescribed
Acceleration1
Prescribed
Acceleration
Can be displayed together with the
Point Moment symbol, depending on
the values given in the node.
Can be displayed together with the
Point Force symbol, depending on the
values given in the node.
SOLID MECHANICS GEOMETR Y AND STRUCTURAL MECHANICS PHYSICS SYMBOLS
87
TABLE 3-1: STRUCTURAL MECHANICS BOUNDARY CONDITION PHYSICS SYMBOLS
SYMBOL
SYMBOL NAME
DISPLAYED BY NODE
Rigid Connector1
Rigid Connector
Roller
Roller
Spring1
Spring Foundation
Thin Elastic Layer
Symmetry
Symmetry
Thin-Film
Damping2
Thin-Film Damping
NOTES
Can be displayed together with the
Damping symbol, depending on the
values given in the node.
1 Requires the Structural Mechanics Module
2
Requires the MEMS Module
About Coordinate Systems and Physics Symbols
Physics symbols connected to a node for which input can be given in different
coordinate systems are shown together with a coordinate system symbol. This symbol
is either a triad or a single arrow. The triad is shown if data are to be entered using
vector components, as for a force. The single arrow is displayed when a scalar value,
having an implied direction, is given. An example of the latter case is a pressure.
In both cases, the coordinate directions describe the direction in which a positive value
acts. The coordinate direction symbols do not change with the values actually entered
for the data.
Physics symbols are displayed even if no data values have been entered in the node.
In some cases a single feature can display more than one symbol. An example is the
Point Load node in the Beam interface, which can display either the Point Force
symbol (
), the Point Moment symbol (
), or both, depending on the data
actually entered.
For cases when physics symbol display is dependent on values actually
given in the node, it may be necessary to move to another node before the
display is actually updated on the screen.
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Displaying Physics Symbols in the Graphics WindowAn Example
1 Select Options>Preferences>Graphics from the Main menu and select the Show
physics symbols check box. Click OK.
2 Add a physics interface, for example, Solid Mechanics, from the Structural Mechanics
branch of the Model Wizard.
The physics symbols also display for any multiphysics interface that
includes Structural Mechanics feature nodes.
3 Add any of the feature nodes listed in Table 3-1 to the interface. Availability is based
on license and interface.
4 When adding the boundary, edge, or point (a geometric entity) to the Selection list
in the feature settings window, the symbol displays in the Graphics window. See
Figure 3-5.
Figure 3-5: Example of the Boundary Load physics symbols as displayed in the COMSOL
Multiphysics Model Library model Deformation of a Feeder Clamp.
5 After assigning the boundary condition to a geometric entity, to display the symbol,
click the top level physics interface node and view it in the Graphics window. See
SOLID MECHANICS GEOMETR Y AND STRUCTURAL MECHANICS PHYSICS SYMBOLS
89
Figure 3-6.
Figure 3-6: Example of Roller and Boundary Load physics symbols as displayed in the
COMSOL Multiphysics Model Library model Tapered Membrane End Load.
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The Solid Mechanics User Interface
The Solid Mechanics (solid) user interface (
), found under the Structural Mechanics
branch (
) in the Model Wizard, has the equations and functionality for stress analysis
and general linear and nonlinear solid mechanics, solving for the displacements. The
Linear Elastic Material is the default material, which adds a linear elastic equation for the
displacements and has a settings window to define the elastic material properties.
When this physics user interface is added, these default nodes are also added to the
Model Builder Linear Elastic Material, Free (a boundary condition where boundaries
are free, with no loads or constraints), and Initial Values. Right-click the Solid Mechanics
node to add nodes that implement other solid mechanics material models, boundary
conditions, and loads. When you also have the Nonlinear Structural Materials Module,
Hyperelastic Material is also available and described in the Nonlinear Structural
Materials Module Users Guide.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first user interface in the model) is solid.
DOMAIN SELECTION
The default setting is to include All domains in the model to define the displacements
and the equations that describe the solid mechanics. To choose specific domains, select
Manual from the Selection list.
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91
2D APPROXIMATION
From the 2D approximation list select Plane stress or Plane strain (the
default). For more information see the theory section.
When modeling using plane stress, the Solid Mechanics interface solves
w
for the out-of-plane strain displacement derivative, ------- , in addition to the
Z
displacement field u.
THICKNESS
For 2D models, enter a value or expression for the Thickness d (SI unit:
m). The default value of 1 m is suitable for plane strain models, where it
represents a a unit-depth slice, for example. For plane stress models, enter
the actual thickness, which should be small compared to the size of the
plate for the plane stress assumption to be valid.
Use a Change Thickness node to change thickness in parts of the
geometry if necessary.
S T R U C T U R A L TR A N S I E N T B E H AV I O R
From the Structural transient behavior list, select Include inertial terms (the default) or
Quasi-static. Use Quasi-static to treat the elastic behavior as quasi-static (with no mass
effects; that is, no second-order time derivatives). Selecting this option will give a more
efficient solution for problems where the variation in time is slow when compared to
the natural frequencies of the system. The default solver for the time stepping is
changed from Generalized alpha to BDF when Quasi-static is selected.
REFERENCE POINT F OR MOMENT COMPUTATION
Enter the coordinates for the Reference point for moment computation xref (SI unit: m;
variable refpnt). The resulting moments (applied or as reactions) are then computed
relative to this reference point. During the results and analysis stage, the coordinates
can be changed in the Parameters section in the result nodes.
TY P I C A L WA V E S P E E D
The typical wave speed cref is a parameter for the perfectly matched layers (PMLs) if
used in a solid wave propagation model. The default value is solid.cp, the
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pressure-wave speed. To use another wave speed, enter a value or expression in the
Typical wave speed for perfectly matched layers field.
DEPENDENT VA RIA BLES
The interface uses the global spatial components of the Displacement field u as
dependent variables. You can change both the field name and the individual
component names. If a new field name coincides with the name of another
displacement field, the two fields (and the interfaces which define them) will share
degrees of freedom and dependent variable component names. You can use this
behavior to connect a Solid Mechanics user interface to a Shell directly attached to the
boundaries of the solid domain, or to another Solid Mechanics user interface sharing
a common boundary.
A new field name must not coincide with the name of a field of another type, or with
a component name belonging to some other field. Component names must be unique
within a model except when two interfaces share a common field name.
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization. Select a
Displacement fieldLinear, Quadratic (the default), Cubic, Quartic, or Quintic. Specify the
Value type when using splitting of complex variablesReal or Complex (the default). The
Frame type in the Solid Mechanics interface is always Material.
Show More Physics Options
Domain, Boundary, Edge, Point, and Pair Nodes for Solid Mechanics
About the Body, Boundary, Edge, and Point Loads
Theory for the Solid Mechanics User Interface
Stresses in a Pulley: Model Library path COMSOL_Multiphysics/
Structural_Mechanics/stresses_in_pulley
Eigenvalue Analysis of a Crankshaft: Model Library path
COMSOL_Multiphysics/Structural_Mechanics/crankshaft
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93
Domain, Boundary, Edge, Point, and Pair Nodes for Solid Mechanics
The Solid Mechanics User Interface has these domain, boundary, edge, point, and pair
nodes listed in alphabetical order. The list also includes subnodes.
Added Mass
Linear Elastic Material
Applied Force
Linear Viscoelastic Material
Applied Moment
Low-Reflecting Boundary
Antisymmetry
Mass and Moment of Inertia
Attachment
Periodic Condition
Body Load
Phase
Bolt Selection
Point Load
Bolt Pre-Tension
Pre-Deformation
Boundary Load
Prescribed Acceleration
Change Thickness
Prescribed Displacement
Contact
Prescribed Velocity
Damping
Rigid Connector
Edge Load
Rigid Domain
Fixed Constraint
Roller
Free
Spring Foundation
Friction
Symmetry
Initial Stress and Strain
Thermal Expansion
Initial Values
Thin Elastic Layer
If there are subsequent constraints specified on the same geometrical
entity, the last one takes precedence.
For information about the Perfectly Matched Layers feature, see Infinite
Element Domains and Perfectly Matched Layers in the COMSOL
Multiphysics Reference Manual.
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For 2D axisymmetric models, COMSOL Multiphysics takes the axial
symmetry boundaries (at r = 0) into account and automatically adds an
Axial Symmetry node to the model that is valid on the axial symmetry
boundaries only.
In the COMSOL Multiphysics Reference Manual:
Harmonic PerturbationExclusive and Contributing Nodes
Continuity on Interior Boundaries
Identity and Contact Pairs
To locate and search all the documentation, in COMSOL, select
Help>Documentation from the main menu and either enter a search term
or look under a specific module in the documentation tree.
Linear Elastic Material
The Linear Elastic Material node adds the equations for a linear elastic solid and an
interface for defining the elastic material properties. Right-click to add a Damping
subnode.
Also right-click to add Thermal Expansion and Initial Stress and Strain
subnodes.
When you also have the Geomechanics Module, right-click to add
Plasticity, Soil Plasticity, Concrete, Creep, and Rocks nodes. These are
described in the Geomechanics Module Users Guide.
When you also have the Nonlinear Structural Materials Module, Plasticity,
Creep, and Viscoplasticity are also available and are described in the
Nonlinear Structural Materials Module Users Guide.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
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95
the Selection list to choose specific domains to define a linear elastic solid and compute
the displacements, stresses, and strains, or select All domains as required.
MODEL INPUTS
Define model inputs, for example, the temperature field of the material uses a
temperature-dependent material property. If no model inputs are required, this section
is empty.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes (except boundary
coordinate systems). The coordinate system is used for interpreting directions of
orthotropic and anisotropic material data and when stresses or strains are presented in
a local system.
LINEAR ELASTIC MATERIAL
Define the Solid model and the linear elastic material properties.
Solid Model
To use a mixed formulation by adding the pressure as an extra dependent variable to
solve for, select the Nearly incompressible material check box.
Select a linear elastic Solid modelIsotropic (the default), Orthotropic, or Anisotropic.
Select:
Isotropic for a linear elastic material that has the same properties in all directions.
Orthotropic for a linear elastic material that has different material properties in
orthogonal directions, so that its stiffness depends on the properties Ei, ij, and Gij.
Anisotropic for a linear elastic material that has different material properties in
different directions, and the stiffness comes from the symmetric elasticity matrix, D.
Theory for the Solid Mechanics User Interface
Orthotropic Material
Anisotropic Material
Density
The default Density (SI unit: kg/m3) uses values From material. If User defined is
selected, enter another value or expression.
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Specification of Elastic Properties for Isotropic Materials
For an Isotropic Solid model, from the Specify list select a pair of elastic properties for
an isotropic materialYoungs modulus and Poissons ratio, Youngs modulus and shear
modulus, Bulk modulus and shear modulus, Lam parameters, or Pressure-wave and
shear-wave speeds. For each pair of properties, select from the applicable list to use the
value From material or enter a User defined value or expression.
Each of these pairs define the elastic properties and it is possible to convert
from one set of properties to another (see Table 3-7).
The individual property parameters are:
Youngs modulus (elastic modulus) E (SI unit: Pa). The default is 0 Pa.
Poissons ratio (dimensionless). The default is 0.
Shear modulus G (SI unit: N/m2. The default is 0 N/m2.
Bulk modulus K (SI unit: N/m2). The default is 0 N/m2.
Lam parameter (SI unit: N/m2) and Lam parameter (SI unit: N/m2). The
defaults are 0 N/m2.
Pressure-wave speed (longitudinal wave speed) cp (SI unit: m/s). The default
is 0 m/s.
Shear-wave speed (transverse wave speed) cs (SI unit: m/s). The default is 0 m/s.
This is the wave speed for a solid continuum. In plane stress, for example,
the actual speed with which a longitudinal wave travels is lower than the
value given.
Specification of Elastic Properties for Orthotropic Materials
When Orthotropic is selected from the Solid model list, the material properties vary in
orthogonal directions only. The Material data ordering can be specified in either
Standard or Voigt notation. When User defined is selected in 3D, enter three values in
the fields for Youngs modulus E, Poissons ratio , and the Shear modulus G. This
defines the relationship between engineering shear strain and shear stress. It is
applicable only to an orthotropic material and follows the equation
THE SOLID MECHANICS USER INTERFACE
97
ij
ij = -------G ij
ij is defined differently depending on the application field. It is easy to
transform among definitions, but check which one the material uses.
Specification of Elastic Properties for Anisotropic Materials
When Anisotropic is selected from the Solid model list, the material properties vary in
all directions, and the stiffness comes from the symmetric Elasticity matrix, D
(SI unit: Pa). The Material data ordering can be specified in either Standard or Voigt
notation. When User defined is selected, a 6-by-6 symmetric matrix is displayed.
GEOMETRIC NONLINEARITY
In this section there is always one check box, either Force linear strains or Include
geometric nonlinearity.
Force Linear Strains
If a study step is geometrically nonlinear, the default behavior is to use a large strain
formulation in all domains. There are, however, some cases when the use of a small
strain formulation for a certain domain is needed. In those cases, select the Force linear
strains check box. When selected, a small strain formulation is always used,
independently of the setting in the study step. The default value is that the check box
is cleared (except when opening a model created in a COMSOL Multiphysics version
prior to 4.2a). In this case the state is chosen so that the properties of the model are
conserved.
Include Geometric Nonlinearity
The Include geometric nonlinearity check box is displayed only if the model was created
in a version prior to 4.2a, and geometric nonlinearity was originally used for the
selected domains. It is then selected and forces the Include geometric nonlinearity check
box in the study step to be selected. If the check box is cleared, the check box is
permanently removed and the study step assumes control over the selection of
geometric nonlinearity.
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
and Modeling Geometric Nonlinearity
Studies and Solvers in the COMSOL Multiphysics Reference Manual
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ENERGY DISSIPATION
The section is available when you also have the Geomechanics Module or
the Nonlinear Structural Materials Module. Then, to display this section,
) and select Advanced Physics Options.
click the Show button (
Select the Calculate dissipated creep energy check box as required. The
Creep node, and links to the theory, is described in the Geomechanics
Module Users Guide and the Nonlinear Structural Materials Module
Users Guide, respectively.
Change Thickness
The Change Thickness node is available in 2D for the Solid Mechanics and
Plate interfaces. It is available in 3D for the Membrane interface on
boundaries instead of domains.
Use the Change Thickness node to model domains with a thickness other than the
overall thickness defined in the physics interfaces Thickness section.
DOMAIN SELECTION
From the Selection list, choose the domains to use a different thickness.
CHANGE THICKNESS
Enter a value for the Thickness d (SI unit: m). This value replaces the overall thickness
for the domains selected above.
Damping
Right-click the Linear Elastic Material node to add a Damping subnode, which is used
in time-dependent, eigenfrequency, and frequency domain studies to model damped
problems. The node adds Rayleigh damping by default. When you have the Nonlinear
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99
Structural Materials Module, you can also add Damping to the Hyperelastic Material
node, which adds loss-factor damping.
The time-stepping algorithms also add numerical damping, which is
independent of any explicit damping added.
For the generalized alpha time-stepping algorithm it is possible to control
the amount of numerical damping added.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node. Or select
Manual from the Selection list to choose specific domains or select All domains as
required.
DAMPING SETTINGS
Select a Damping typeRayleigh damping (the default), Isotropic loss factor, or
Anisotropic loss factor. If Orthotropic is selected as the Linear Elastic Material Solid
model, Orthotropic loss factor is also available.
Rayleigh Damping
Enter the Mass damping parameter dM (SI unit: 1/s) and the Stiffness damping
parameter dK (SI unit: s). The default values are 0 (no damping).
In this damping model, the damping parameter is expressed in terms of the mass m
and the stiffness k as
= dM m + dK k
That is, Rayleigh damping is proportional to a linear combination of the stiffness and
mass; there is no direct physical interpretation of the mass damping parameter dM
and the stiffness damping parameter dM.
Loss Factor Damping
The loss factor is a measure of the inherent damping in a material when it is
dynamically loaded. It is typically defined as the ratio of energy dissipated in unit
volume per radian of oscillation to the maximum strain energy per unit volume. Loss
factor damping is sometimes referred to as material or structural damping.
The use of loss factor damping traditionally refers to a scalar-valued loss factor s. But
there is no reasonthat s must be scalar. Because the loss factor is a value deduced from
true complex-valued material data, it can be represented by a matrix of the same
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dimensions as the anisotropic stiffness matrix. Especially for orthotropic material, there
should be a set of loss factors of all normal and shear elasticity modulus components.
The following loss-elasticity combinations are available:
Isotropic Loss Factor Damping
Anisotropic Loss Factor Damping
Orthotropic Loss Factor Damping
Isotropic Loss Factor Damping
An isotropic material is described by the different isotropic material constants. Is likely
to only have isotropic loss, described by the isotropic loss factor s. When Isotropic loss
factor is selected as the Damping type, from the Isotropic structural loss factor list, the
default s (dimensionless) uses values From material. If User defined is selected, enter
another value or expression. The default value is 0.
Anisotropic Loss Factor Damping
A symmetric anisotropic material is described by a symmetric 6-by-6 elasticity matrix
D, and the loss can be isotropic or symmetric anisotropic. The loss is described by the
isotropic loss factor s or by a symmetric anisotropic 6-by-6 loss factor matrix D.
Loss factor damping applies to frequency domain studies (that is,
frequency response and damped eigenfrequency studies).
When Anisotropic loss factor is selected as Damping type from the Loss factor for
elasticity matrix D list, the default D or DVo (dimensionless) uses values From
material. If User defined is selected, choose:
Isotropic (the default) to enter a single scalar loss factor.
Symmetric to enter the components of D in the upper-triangular part of a
symmetric 6-by-6 matrix.
The values for the loss factors are ordered in two ways, consistent with the
selection of either Standard (XX, YY, ZZ, XY, YZ, XZ) or Voigt (XX, YY,
ZZ, YZ, XZ, XY) notation in the corresponding Linear Elastic Model. The
default values are 0. If the values are taken from the material, these loss
factors are found in the Anisotropic or Anisotropic, Voigt notation property
group for the material.
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101
Orthotropic Loss Factor Damping
This option is available when Orthotropic is selected as the Linear Elastic
Material Solid model.
An orthotropic material is described by three normal Youngs modulus components
(Ex, Ey, and Ez) and three shear modulus components (Gxy, Gyz, and Gxz. The loss
can be isotropic (described by the isotropic loss factor s) or orthotropic (described by
three plus three orthotropic loss factors corresponding to the elastic moduli
components for an orthotropic material).
When Orthotropic loss factor is selected as the Damping type from the Loss factor for
orthotropic Youngs modulus list E (dimensionless), the default uses values From
material. If User defined is selected, enter another value or expression (defaults are 0).
From the Loss factor for orthotropic shear modulus list, the default G or GVo
(dimensionless) use values From material. If User defined is selected, enter other values
or expressions. The defaults are 0.
The values for the shear modulus loss factors are ordered in two ways, consistent with
the selection of either Standard (XX, YY, ZZ, XY, YZ, XZ) or Voigt (XX, YY, ZZ, YZ, XZ,
XY) notation in the corresponding Linear Elastic Model. The default values are 0. If
the values are taken from the material, these loss factors are found in the Orthotropic
or Orthotropic, Voigt notation property group for the material.
For an example of the Damping feature, see Heat Generation in a
Vibrating Structure: Model Library path Structural_Mechanics_Module/
Thermal-Structure_Interaction/vibrating_beam.
Initial Values
The Initial Values node adds initial values for the displacement field and structural
velocity field that can serve as an initial condition for a transient simulation or as an
initial guess for a nonlinear analysis. Right-click to add additional Initial Values nodes.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
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interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
INIT IA L VA LUES
Enter values or expressions for the initial values of the Displacement field u (SI unit: m)
(the displacement components u, v, and w in 3D) (the default is 0 m), and the
Structural velocity field ut (SI unit: m/s) (the default is 0 m/s)).
About the Body, Boundary, Edge, and Point Loads
Add force loads acting on all levels of the geometry to The Solid Mechanics User
Interface. Add a:
Body Load to domains (to model gravity effects, for example).
Boundary Load to boundaries (a pressure acting on a boundary, for example).
Edge Load to edges in 3D (a force distributed along an edge, for example).
Point Load to points (concentrated forces at points).
For all of these loads, right-click and choose Phase to add a phase for
harmonic loads in frequency-domain computations.
Body Load
Add a Body Load to domains for modeling gravity or centrifugal loads, for example.
Right-click to add a Phase for harmonic loads in frequency-domain computations or to
add Harmonic Perturbation.
DOMAIN SELECTION
From the Selection list, choose the domains to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
FORCE
Select a Load typeLoad defined as force per unit volume (the default) or Total force.
For 2D models, Load defined as force per unit area is also an option.
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103
Then enter values or expressions for the components in the matrix based on the
selection and the space dimension:
Body load FV (SI unit: N/m3)
Total force Ftot (SI unit: N). For total force, COMSOL Multiphysics divides the
total force by the volume of the domains where the load is active.
For 2D models: Load FA (SI unit: N/m2). The body load as force per unit volume
is then the value of F divided by the thickness.
Boundary Load
Add a Boundary Load to boundaries for a pressure acting on a boundary, for example.
Right-click to add a Phase for harmonic loads in frequency-domain computations or to
add Harmonic Perturbation.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
FORCE
Select a Load typeLoad defined as force per unit area (the default), Pressure, or Total
force. For 2D models, Load defined as force per unit length is also an option.
After selecting a Load type, the Load list normally only contains User
defined. When combining the Solid Mechanics interface with another
physics interface, it is also possible to choose a predefined load from this
list.
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Then enter values or expressions for the components in the matrix based on the
selection and the space dimension:
Load FA (SI unit: N/m2). The body load as force per unit volume is then the value
of F divided by the thickness.
For 2D models: Load FL (SI unit: N/m).
Total force Ftot (SI unit: N). For total force, COMSOL Multiphysics then divides
the total force by the area of the surfaces where the load is active.
Pressure p (SI unit: Pa), which can represent a pressure or another external pressure.
The pressure is positive when directed toward the solid.
Edge Load
Add an Edge Load to 3D models for a force distributed along an edge, for example.
Right-click to add a Phase for harmonic loads in frequency-domain computations or to
add Harmonic Perturbation.
EDGE SELECTION
From the Selection list, choose the edges to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
FORCE
Select a Load typeLoad defined as force per unit area (the default) or Total force. Then
enter values or expressions for the components in the matrix based on the selection:
Load FL (SI unit: N/m). When combining the Solid Mechanics interface with, for
example, film damping, it is also possible to choose a predefined load from this list.
Total force Ftot (SI unit: N). COMSOL Multiphysics then divides the total force by
the volume where the load is active.
Point Load
Add a Point Load to points for concentrated forces at points. Right-click to add a Phase
for harmonic loads in frequency-domain computations or to add Harmonic
Perturbation.
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105
POINT SELECTION
From the Selection list, choose the points to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
FORCE
Enter values or expressions for the components of the Point load Fp (SI unit: N).
Fixed Constraint
The Fixed Constraint node adds a condition that makes the geometric entity fixed (fully
constrained); that is, the displacements are zero in all directions. For domains, this
condition is selected from the More submenu.
D O M A I N , B O U N D A R Y, E D G E , O R PO I N T S E L E C T I O N
From the Selection list, choose, the geometric entity (domains, boundaries, edges, or
points) to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair use. An identity pair has
to be created first.
CONSTRAINT SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
To Apply reaction terms on all dependent variables, select All physics (symmetric).
Otherwise, select Current physics (internally symmetric) or Individual dependent
variables to restrict the reaction terms as required. Select the Use weak constraints check
box to replace the standard constraints with a weak implementation.
Using Weak Constraints to Evaluate Reaction Forces
Boundary Conditions in the COMSOL Multiphysics Reference
Manual
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BracketFrequency Domain Analysis: Model Library path
Structural_Mechanics_Module/Tutorial_Models/bracket_frequency
Prescribed Displacement
The Prescribed Displacement node adds a condition where the displacements are
prescribed in one or more directions to the geometric entity (domain, boundary, edge,
or point). For domains, this condition is selected from the More submenu.
If a displacement is prescribed in one direction, this leaves the solid free to deform in
the other directions.
You can also define more general displacements as a linear combination of the
displacements in each direction.
If a prescribed displacement is not activated in any direction, this is the
same as a Free constraint.
If a zero displacement is applied in all directions, this is the same as a
Fixed Constraint.
D O M A I N , B O U N D A R Y, E D G E , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (domains, boundaries, edges, or
points) to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. If you choose another, local
coordinate system, the displacement components change accordingly.
PRESCRIBED DISPLACEMENT
Define the prescribed displacements using a Standard notation (the default) or a General
notation.
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107
Standard Notation
To define the displacements individually, click the Standard notation button.
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for u0,
v0, and for 3D models, w0 (SI unit: m). For 2D axisymmetric models, select one or
both of the Prescribed in r direction and Prescribed in z direction check boxes. Then
enter a value or expression for u0 and w0 (SI unit: m).
General Notation
Click the General notation to specify the displacements using a general notation that
includes any linear combination of displacement components. For example, for 2D
models, use the relationship
H u = R
v
For H matrix H (dimensionless) select Isotropic, Diagonal, Symmetric, or Anisotropic and
then enter values as required in the field or matrix. Enter values or expressions for the
R vector R (SI unit: m)
For example, to achieve the condition u = v, use the settings
H = 1 1
0 0
R = 0
0
which force the domain to move only diagonally in the xy-plane.
CONSTRAINT SETTINGS
See Fixed Constraint for these settings.
Free
The Free node is the default boundary condition. It means that there are no constraints
and no loads acting on the boundary.
B O U N D A R Y, E D G E , O R PO I N T S E L E C T I O N
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or select All boundaries as required.
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However, for the Shell and Membrane interfaces, the Free node is applied to edges and
for the Beam and Truss interfaces, it is applied to points.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
Symmetry
The Symmetry node adds a boundary condition that represents symmetry in the
geometry and in the loads. A symmetry condition is free in the plane and fixed in the
out-of-plane direction.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
CONSTRAINT SETTINGS
See Fixed Constraint for these settings.
Antisymmetry
The Antisymmetry node adds a boundary condition for an antisymmetry boundary,
which must exist in both the geometry and in the loads. An antisymmetry condition is
fixed in the plane and free in the out-of-plane direction.
In a geometrically nonlinear analysis, large rotations must not occur at the
antisymmetry plane because this causes artificial straining.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
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PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
CONSTRAINT SETTINGS
See Fixed Constraint for these settings.
Roller
The Roller node adds a roller constraint as the boundary condition; that is, the
displacement is zero in the direction perpendicular (normal) to the boundary, but the
boundary is free to move in the tangential direction. See Fixed Constraint for all the
settings.
CONSTRAINT SETTINGS
See Fixed Constraint for these settings.
Periodic Condition
The Periodic Condition node adds a periodic boundary condition. This periodicity
makes uix0uix1 for a displacement ui. You can control the direction that the
periodic condition applies to. If the source and destination boundaries are rotated with
respect to each other, this transformation is automatically performed, so that
corresponding displacement components are connected.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define. The software automatically
identifies the boundaries as either source boundaries or destination boundaries.
This works fine for cases like opposing parallel boundaries. In other cases
right-click the Periodic Condition node to add a Destination Selection
subnode to control the destination. By default it contains the selection
that COMSOL Multiphysics has identified.
In cases where the periodic boundary is split into several boundaries
within the geometry, it may be necessary to apply separate periodic
conditions to each pair of geometry boundaries.
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PERIODICITY SETTINGS
Select a Type of periodicityContinuity (the default), Antiperiodicity, Floquet periodicity,
Cyclic symmetry, or User defined. If User defined is selected, select the Periodic in u,
Periodic in v (for 3D and 2D models), and Periodic in w (for 3D and 2D axisymmetric
models) check boxes as required. Then for each selection, choose the Type of
periodicityContinuity (the default) or Antiperiodicity.
If Floquet periodicity is selected, enter a k-vector for Floquet periodicity kF (SI unit:
rad/m) for the X, Y, and Z coordinates (3D models), or the R and Z coordinates
(2D axisymmetric models), or X and Y coordinates (2D models).
If Cyclic symmetry is selected, select a Sector angleAutomatic (the default), or User
defined. If User defined is selected, enter a value for S (SI unit: rad; default value: 0).
For any selection, also enter a Azimuthal node number m (dimensionless; default
value: 0).
Vibrations of an Impeller: Model Library path
Structural_Mechanics_Module/Dynamics_and_Vibration/impeller
CONSTRAINT SETTINGS
See Fixed Constraint for these settings.
Cyclic Symmetry and Floquet Periodic Conditions
In the COMSOL Multiphysics Reference Manual:
Periodic Condition and Destination Selection
Periodic Boundary Conditions
Linear Viscoelastic Material
The Linear Viscoelastic Material node adds the equations for a viscoelastic solid.
Viscoelastic materials exhibit both elastic and viscous behavior when it deforms. This
material contains a generalized Maxwell model for the viscoelasticity. Right-click to
add Initial Stress and Strain and Thermal Effects subnodes.
DOMAIN SELECTION
From the Selection list, choose the domains to define a viscoelastic solid and compute
the displacements, stresses, and strains.
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111
MODEL INPUTS
Define model inputs, for example, the temperature field if the material model uses a
temperature-dependent material property. If no model inputs are required, this section
is empty.
L O N G - TE R M E L A S T I C P R O P E R T I E S
These settings are the same as for the Linear Elastic Material node, Linear Elastic
Material section.
GENERALIZED MAXWELL MODEL
In the table enter the values for the parameters in the generalized Maxwell model that
describes the viscoelastic behavior as a series of spring-dashpot pairs.
For each Branch row enter Gi (the stiffness of the spring) in the Shear modulus (Pa)
column and i (the relaxation time constant) in the Relaxation time (s) column for the
spring-dashpot pair in branch i.
Use the Add button (
) to add a row to the table and the Delete
button ( ) to delete a row in the table.
) and the Save to File button (
) load
Using the Load to File button (
and store data for the branches in a text file with three space-separated
columns (from left to right): the branch number, the shear modulus for
that branch, and the relaxation time for that branch.
Viscoelastic Structural Damper: Model Library path
Structural_Mechanics_Module/Dynamics_and_Vibration/
viscoelastic_damper_frequency
Thermal Expansion
Thermal Expansion is an internal thermal strain caused by changes in temperature
according to the following equation for the thermal strain:
th = T T ref
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where is the coefficient of thermal expansion (CTE), T is the temperature, and Tref
is the strain-free reference temperature. Right-click the Linear Elastic Material node to
add a Thermal Expansion node to a model.
If The Thermal Stress User Interface is used, the thermal expansion is
included in the Thermal Linear Elastic Material and Thermal Hyperelastic
Material nodes.
The Shell interfaces Elastic Material Model has slightly different thermal
expansion settings and this feature is discussed in that section.
When you have the Nonlinear Structural Materials Module, you can also
right-click Hyperelastic Material to add the Thermal Expansion node.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains to define the coefficient of thermal
expansion and the different temperatures that cause thermal stress, or select All domains
as required.
MODEL INPUTS
From the Temperature T (SI unit: K) list, select an existing temperature variable from
a heat transfer interface (for example, Temperature (ht/sol1)), if any temperature
variables exist, or select User defined to enter a value or expression for the temperature
(the default is 293.15 K).
THERMAL EXPANSION
The default Coefficient of thermal expansion (SI unit: 1/K) uses values From material.
To enter a different value or expression, select User defined and choose Isotropic (the
default), Diagonal or Symmetric to enter one or more components for a general
coefficient of thermal expansion vector vec.
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113
Enter a value or expression for the Strain reference temperature Tref (SI unit: K), which
is the reference temperature that defines the change in temperature together with the
actual temperature. The default is 293.15 K.
Thermal Stresses in a Layered Plate: Model Library path
Structural_Mechanics_Module/Thermal-Structure_Interaction/layered_plate
Thermal Effects
Right-click the Linear Viscoelastic Material node to add the Thermal Effects physics
node. This node defines these thermal effects:
Temperature.
Thermal expansion. An internal thermal strain caused by changes in temperature.
WLF shift functions. Viscoelastic properties have a strong dependence on the
temperature. To model this for thermorheologically simple materials, a WLF shift
function transforms the relaxation time into a reduced time.
DOMAIN SELECTION
From the Selection list, choose the domains to define.
MODEL INPUTS
From the Temperature T (SI unit: K) list, select an existing temperature variable from
a heat transfer interface (for example, Temperature (ht/sol1)), if any temperature
variables exist, or select User defined to enter a value or expression for the temperature
(the default is 293.15 K).
THERMAL EFFECTS
Specify the thermal properties that define the thermal effectsThermal expansion and
WLF shift function.
Thermal Expansion
Select the Thermal expansion check box to include thermal expansion for the selected
domains. Then define these properties:
The default Coefficient of thermal expansion (SI unit: 1/K) takes values From
material. To enter different values or expressions, select User defined then choose
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Isotropic (the default), Diagonal, Symmetric, or Anisotropic and enter one or more
components for a general thermal expansion coefficient vector vec.
The default Strain reference temperature Tref (SI unit: K) is 293.15 K, which is the
reference temperature that defines the change in temperature together with the
actual temperature. Enter a different value or expression for as required.
WLF Shift Function
Select the WLF shift function check box to include the thermal effects described with
help of a WLF shift function.
Enter values or expressions for these properties:
WLF reference temperature (or glass transition temperature) TWLF (SI unit: K). The
default is 293.15 K.
WLF constant 1 (material-dependent constant) C1WLF (dimensionless). The default
is 17.44.
WLF constant 2 (material-dependent constant) C2WLF (SI unit: K). the default is
51.6 K.
If The Thermal Stress User Interface is used, the thermal effects are
included in the Thermal Linear Viscoelastic Material node.
Temperature Effects
The Solid Mechanics User Interface
Rigid Connector
The Rigid Connector is a boundary condition for modeling rigid regions and kinematic
constraints such as prescribed rigid rotations. If the study step is geometrically
nonlinear, the rigid connector takes finite rotations into account. By coupling selective
degrees of freedom of two rigid connectors it is also possible to create various types of
mechanisms such as hinges, joints, and other mechanical systems.
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Right-click to add Harmonic Perturbation, Applied Force, Applied Moment, Mass and
Moment of Inertia, or Rigid Domain nodes to the rigid connector.
Harmonic PerturbationExclusive and Contributing Nodes in the
COMSOL Multiphysics Reference Manual
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to use. An identity pair has
to be created first.
CENTER OF ROTATION
Select a Center of rotationAutomatic (the default), User defined. or Centroid of selected
entities.
If Automatic is selected, the center of rotation is at the geometrical center of the
selected boundaries. The constraints are applied at the center of rotation. Any mass
is also considered to be located there.
If User defined is selected, in the Global coordinates of center of rotation XC (SI
unit: m) table enter coordinates based on space dimension.
If Centroid of selected entities is selected, select Entity levelBoundary (the default),
Edge. or Point. A subnode for selection of the entities will appear. The center of
rotation will be located at the centroid of the selected entities, which do not need
to be related to the boundaries to which the rigid connector is attached. As a special
case, you can select a single point, and thus locate the center of rotation at a point.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. Prescribed displacements
and rotations are specified along the axes of this coordinate system. It is also used for
defining the axis directions of the moment of inertia tensor of the Mass and Moment of
Inertia subnode.
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PRESCRIBED DISPLACEMENT AT CENTER OF ROTATION
To define a prescribed displacement at the center of rotation for each space direction,
select one or several of the available check boxes then enter values or expressions for
the prescribed displacements. The defaults are 0 m; that is, no displacement. The
direction coordinate names can vary depending on the selected coordinate system.
Prescribed in X direction u0 (SI unit: m)
Prescribed in Y direction v0 (SI unit: m)
For 3D models: Prescribed in Z direction w0 (SI unit: m)
PRESCRIBED ROTATION AT CENTER OF ROTATION
Specify the rotation at the center of rotation. Select from the By listFree (the default),
Constrained rotation, or Prescribed rotation at center of rotation.
For 2D models, the Constrained rotation and Prescribed rotation at center
of rotation is always about the z-axis.
Constrained Rotation
If Constrained rotation is selected, select one or more of the available check boxes to
enforce zero rotation about the corresponding axis in the selected coordinate system
(which determines the names of the coordinates):
Constrain rotation about X-axis
Constrain rotation about Y-axis
For 3D models: Constrain rotation about Z axis
Prescribed Rotation
If Prescribed rotation at center of rotation is selected, enter an Angle of rotation
(SI unit: rad). The default is 0 rad. For 3D models also enter an Axis of rotation for
the X, Y, and Z coordinates.
Theory for the Rigid Connector
The Solid Mechanics User Interface
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117
Assembly with a Hinge: Model Library path
Structural_Mechanics_Module/Connectors_and_Mechanisms/
hinge_assembly
Modeling Rigid Bodies: Model Library path
Structural_Mechanics_Module/Connectors_and_Mechanisms/rigid_domain
Rigid Domain
Right-click the Rigid Connector node to add the Rigid Domain physics subnode, which
calculates the mass and moment of inertia properties of one or more domains. The
purpose is to be able to use such domains as rigid bodies.
To display the displacements of these domains, the boundaries have to be
included in the selection of the rigid connector.
DOMAIN SELECTION
From the Selection list, choose the domains to define.
RIGID DOMAIN
The default Density (SI unit: kg/m3) is taken From material. In this case the material
assignment for the domain supplies the mass density. The default is 0 kg/m3. Select
User defined to enter another value or expression.
Select the Ignore rotational inertia check box to make the rigid domain behave as a
point mass. The default is that the mass moments of inertia are included.
Applied Force
Right-click the Rigid Connector node to add the Applied Force node, which adds a
force to the rigid connector. The force can act at an arbitrary position in space.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. Select a Coordinate system
for specifying the directions of the force.
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LOCATION
The Center of rotation is selected by default. Select User defined to explicitly specify the
point Xp (SI unit: m) where the force is applied. The coordinates are always given in
the global coordinate system and the defaults are 0 m.
APPLIED FORCE
Enter values or expressions for the components of the Applied force F (SI unit: N).The
defaults are 0 N for each vector.
Applied Moment
Right-click the Rigid Connector node to add the Applied Moment subnode, which adds
a moment at the center of rotation.
COORDINATE SYSTEM SELECTION
This section is only available for 3D models. The Global coordinate system
is selected by default. The Coordinate system list contains any additional
coordinate systems that the model includes. Select a Coordinate system for
specifying the directions of the moment.
APPLIED MOMENT
Enter values or expressions for the components of the Applied moment (SI unit: Nm).
For 3D models, this is the X, Y, and Z components for M. The defaults are 0 Nm.
For 2D models, this is for the applied moment in the z direction Mz. The default is
0 Nm.
Mass and Moment of Inertia
Right-click the Rigid Connector node to add the Mass and Moment of Inertia subnode,
which adds inertia properties to the rigid connector for dynamic analysis.
CENTER OF MASS
The Center of rotation is selected by default. Select User defined to explicitly specify the
point Xm (SI unit: m) where the mass is located. The coordinates are always given in
the global coordinate system and the defaults are 0 m.
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119
MASS AND MOMENT OF INERTIA
Enter values or expressions for the Mass m (SI unit: kg). The default is 0 kg. Then for
the Moment of inertia (SI unit: m2kg) the axis directions of the moment of inertia
tensor are given by the coordinate system selection in the parent Rigid Connector node:
For 3D models, choose Isotropic (the default), Diagonal, Symmetric, or Anisotropic
and enter one or more components for the tensor I. The defaults are 0 m2kg.
For 2D models, enter a value or expression for Iz. The default is 0 m2kg.
Contact
The Contact physics node defines boundaries where the parts can come into contact
but cannot penetrate each other under deformation. Use it for modeling structural
contact and multiphysics contact. Right-click the node to add a Friction subnode.
In order to specify contact conditions, one or more Contact Pair nodes
must be available in the Definitions branch.
If you have several interfaces with displacement degrees of freedom in
your model, only the last interface in the model tree may contain contact
physics features.
When a contact feature is present in your model, all studies are
geometrically nonlinear. The Include geometric nonlinearity check box in
the study step is selected and cannot be cleared.
The Solid Mechanics User Interface
In the COMSOL Multiphysics Reference Manual:
Identity and Contact Pairs
BOUNDARY SELECTION
This section is not editable, but you can use it to highlight the surfaces that are part of
the pairs selected at Pair Selection.
PAIR SELECTION
When this node is selected from the Pairs menu, choose the pair to use. An contact pair
has to be created first.
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PENA LT Y FACT OR
Select the type of Penalty factor control: Preset (default), Manual tuning, or User defined.
The settings will give access to an increasing level of detailed control of the penalty
factor.
The penalty factor controls how hard the interface surface is during the
iterations. You can consider it as a spring giving a resisting force if the
boundaries in the contact pair have an interference. A larger value gives
faster, but less stable, convergence to the state where there is no
interference. A too large value may create convergence difficulties,
particularly if the interference is large.
If you select Preset, you have the choices to select Tuned for as Stability (default) and
Speed. If the contact boundaries will move towards each other, so that large
interferences can be expected in the initial iterations, then is Stability is the better
choice. In many models, where the contact state does not change much, using Speed
will give significant performance improvements.
The Penalty factor control selection Manual tuning will give you access to a number of
detailed settings for the penalty factor.
Enter a Penalty factor multiplier. The default value is 1. Increasing this factor will give
a higher penalty factor. From Use relaxation, select Always (default), Never, or
Conditional. When using relaxation, the penalty factor is decreased during the first
iterations in each parameter or time step.
If relaxation is used, enter the Initial Relaxation Factor. The default is 0.005. This factor
multiplies the penalty factor in the first iteration. Enter Number of iterations with
relaxation. The default value is 4. The penalty factor is gradually increased up to its full
value, which is used in the iteration after the one where the specified number of
iterations with relaxation have been reached.
If Use relaxation is set to Conditional, enter a Suppression criterion. The default is 0,
which means that the relaxation is used for all parameter or time steps.This is a boolean
expression which, when fulfilled, will suppress the relaxation. If you, for example,
know that your problem will need relaxation only during the initial phase of the
solution, you could enter en expression like load_parameter>0.1. It is also possible
to use expressions based on the solution, for example
abs(solid.cnt1.gap)<0.05*h. This expression is true when the gap or interference
is small compared to the mesh size. It could be taken as an indication that the contact
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121
problem is almost converged, and thus not in need of any relaxation of the penalty
factor.
Using the Penalty factor control selection User defined will give you the possibility to
enter an explicit expression for penalty factor. Edit or use the default Contact normal
penalty factor pn (SI unit: N/m3). The default value is min(1e-3*5^niterCMP,
1)*solid.Eequiv/solid.hmin_dst. The default value causes the penalty factor to
be increased during the iterations and takes material stiffness and element size at the
contact surface into account. Eequiv is an equivalent Youngs modulus for the material
on the destination, and hmin_dst is the minimum element size on the destination.
OFFSET
Enter a value or expression for Contact surface offset from geometric destination surface
doffset,d (SI unit: m). The default is 0 m. The offset is subtracted from the gap in the
normal direction of the destination surface.
Enter a value or expression for Contact surface offset from geometric source surface
doffset,s (SI unit: m). The default is 0 m. The offset is subtracted from the gap in the
normal direction of the source surface.
Use the offset properties to adjust initial clearances (negative values) or
interference fits (positive values) without having to change the geometry.
These properties are also useful for studying the effects of geometrical
tolerance when the structure is still modeled using its nominal size.
INITIAL VALUES
Enter an initial value for the Contact pressure Tn (SI unit: N/m2). The default is 0 N/
m2 .
If not all the contacting parts are fully constrained, it is important to
supply a value here in order to avoid singular problems.
Speed up the convergence by supplying a guess of the correct order of
magnitude of the contact pressure.
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DISCRETIZATION
To display this section, click the Show button (
) and select Discretization. Select a
Contact pressureLinear (the default), Quadratic, Cubic, Quartic, or (in 2D) Quintic.
This setting should usually not be changed. Selecting anything else than Linear may
require that the solver sequence is modified manually, since the lumped solver is no
longer optimal for the contact pressure update.
Friction
Right-click the Contact node to add the Friction physics subnode and to model contact
with friction. For example, use it to model the friction as static Coulomb friction or
exponential dynamic Coulomb friction.
BOUNDARY SELECTION
This section cannot be edited, but can be used to highlight the surfaces that are part
of the pairs selected.
FRICTION
Select a Friction modelStatic Coulomb friction (the default) or Exponential dynamic
Coulomb friction. Then enter or edit values or expressions for each of the fields as
required.
Static frictional coefficient stat (dimensionless) to give the coefficient of friction.
The default is 0.
Cohesion sliding resistance Tcohe (SI unit: N/m2). Supply a traction which must be
overcome before sliding can occur. The default is 0 N/m2.
Maximum tangential traction Tt,max (SI unit: N/m2). The default expression is Inf,
indicating that no limit on the tangential traction is active.
When Exponential dynamic Coulomb friction is selected, also enter the Dynamic
frictional coefficient dyn (dimensionless) (the default is 0) and the Friction decay
coefficient dcf (SI unit: s/m) (the default is 0 s/m).
PENA LT Y FACT OR
Select the type of Penalty factor control: From parent (default), Preset, Manual tuning,
or User defined. The settings will give access to an increasing level of detailed control
of the penalty factor for the sliding.
In the default case the settings are taken from the Contact node to which the current
Friction node is a child. For a description of the settings, see the documentation of
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123
Penalty factor under Contact. The only difference is that the default value of the User
defined penalty factor is min(1e-3*5^niterCMP, 1)*solid.Eequiv/3/
solid.hmin_dst.
INITIAL VALUES
To display this section, select click the Show button (
) and select Advanced Physics
Options. Initial data is not often required for the friction variables.
Enter values or expressions for the components of the initial force acting on the
destination surface as Friction force Tt (SI unit: N/m2). The defaults are 0 N/m2.
To determine whether friction effects are active when starting the solution or not,
select the Previous contact stateNot in contact (the default) or In contact.
If In contact is selected, enter values or expressions for the Previous mapped source
coordinates xm, old (SI unit: m). These serve as initial values to compute the tangential
slip. The default value is (X, Y, Z) and indicates that the contacting boundaries are
perfectly coincident in the initial state. The mapped source coordinates are defined as
the location on the source boundary where it is hit by a certain point on the destination
boundary.
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization. Select a
Friction forceLinear (the default), Quadratic, Cubic, Quartic, or (in 2D) Quintic. This
setting should usually not be changed. Selecting anything else than Linear may require
that the solver sequence is modified manually, since the lumped solver is no longer
optimal for the contact pressure update.
ADVANCED
To display this section, click the Show button (
) and select Advanced. Select a
Contact toleranceAutomatic (the default) or Manual. If Manual is selected, enter an
absolute value for the Contact tolerance contact (SI unit: m). The default is 0 m.
The contact tolerance is the gap distance between the surfaces at which
friction starts to act. The default value is 106 times smaller than the
overall size of the model.
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Bolt Pre-Tension
Use the Bolt Pre-Tension physics node to define the pre-stress force in pre-tensioned
bolts. It is available for 3D models only.
A default Bolt Selection node is automatically added and you can right-click to add
additional Bolt Selection nodes. Use this node to select the individual bolts.
B O L T P RE - TE N S I O N
Select a Pre-tension typePre-tension force (the default), Pre-tension stress, or
Utilization.
If Pre-tension force is selected, enter a value or expression for Fp (SI unit: N), the
pre-tension force in the bolt. The default is 0 N.
If Pre-tension stress is selected, enter a value or expression for p (SI unit: N/m2),
the pre-tension stress in the bolt. The default is 0 N/m2. The pre-tension force is
computed through multiplication by the actual area of each selected bolt.
If Utilization is selected, enter a value or expression for the Utilization factor
(dimensionless). The default is 0.73. Then define the Initial yield stress ys0
(SI unit: Pa) as taking the value From material or User defined. The default is 0 Pa.
The pre-tension force is computed by a multiplying the utilization factor, the yield
stress, and the actual area of each selected bolt.
Using Pre-tensioned Bolts
The Solid Mechanics User Interface
Bolt Selection
The Bolt Selection physics node is automatically added as a default node to the Bolt
Pre-Tension feature. It is used for selecting the bolts. One Bolt Selection physics node
is required for each bolt.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define a cross section of the bolt.
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125
BOLT SELECTION
Enter a Bolt label. The default is Bolt_1. The label is used for identification during
postprocessing.
Using Pre-tensioned Bolts
The Solid Mechanics User Interface
Initial Stress and Strain
A solid mechanics model can include the Initial Stress and Strain node, which is the
stress-strain state in the structure before applying any constraint or load. Initial strain
can, for example, describe moisture-induced swelling, and initial stress can describe
stresses from heating. Think of initial stress and strain as different ways to express the
same thing. Right-click to add this node to a Linear Elastic Material and Linear
Viscoelastic Material. The Shell interface Elastic Material Model has slightly different
Initial Stress and Strain settings and this feature is discussed in that section.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains to define, or select All domains as required.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The given initial stresses
and strains are interpreted in this system.
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CHAPTER 3: SOLID MECHANICS
INITIAL STRESS AND STRAIN
Enter values or expressions for the Initial stress S0 (SI unit: N/m2) and Initial strain 0
(dimensionless). The default values are 0, which is no initial stress or strain. For both,
enter the diagonal and off-diagonal components (based on space dimension):
For a 3D Initial stress model, diagonal components S0x, S0y, and S0z and
off-diagonal components S0xy, S0yz, and S0xz, for example.
For a 3D Initial strain model, diagonal components 0x, 0y, and 0z and off-diagonal
components 0xy, 0yz, and 0xz, for example.
When you have the Nonlinear Structural Materials Module, this model is
a good exampleThermally Induced Creep: Model Library path
Nonlinear_Structural_Materials_Module/Creep/thermally_induced_creep.
Phase
Add a Phase node to a Body Load, Boundary Load, Edge Load, or Point Load. For
modeling the frequency response the physics interface splits the harmonic load into
two parameters:
The amplitude, F, which is specified in the feature node for the load.
The phase (FPh).
Together these define a harmonic load, for which the amplitude and phase shift can
vary with the excitation frequency, f:
F freq = F f cos 2f + F Ph f
D O M A I N , B O U N D A R Y, E D G E , O R P O I N T S E L E C T I O N
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains, boundaries, edges, or points to define, or
select All domains, All boundaries, All edges, or All points, as required.
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127
PHASE
Enter the components of Load phase in radians (for a pressure the load phase is a
scalar value). Add [deg] to a phase value to specify it using degrees.
Typically the load magnitude is a real scalar value. If the load specified in
the parent feature contains a phase (using a complex-valued expression),
the software adds the phase from the Phase node to the phase already
included in the load.
Prescribed Velocity
The Prescribed Velocity node adds a boundary or domain condition where the velocity
is prescribed in one or more directions. The prescribed velocity condition is applicable
for time-dependent and frequency-domain studies. With this boundary or domain
condition it is possible to prescribe a velocity in one direction, leaving the solid free in
the other directions. For domains, this condition is selected from the More submenu.
The Prescribed Acceleration node is a constraint, and will override any other constraint
on the same selection.
DOMAIN OR BOUNDARY SELECTION
From the Selection list, choose the geometric entity (domains or boundaries) to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. Coordinate systems with
directions that change with time should not be used. If you choose another, local
coordinate system, the velocity components change accordingly.
P R E S C R I B E D VE L O C I T Y
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for vx,
vy, and for 3D models, vz (SI unit: m/s). For 2D axisymmetric models, select one or
both of the Prescribed in r direction and Prescribed in z direction check boxes. Then
enter a value or expression for vr and vz (SI unit: m/s).
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CHAPTER 3: SOLID MECHANICS
Prescribed Acceleration
The Prescribed Acceleration node adds a boundary or domain condition, where the
acceleration is prescribed in one or more directions. The prescribed acceleration
condition is applicable for time-dependent and frequency-domain studies. With this
boundary condition, it is possible to prescribe a acceleration in one direction, leaving
the solid free in the other directions. For domains, this condition is selected from the
More submenu.
The Prescribed Acceleration node is a constraint, and will override any other constraint
on the same selection.
DOMAIN OR BOUNDARY SELECTION
From the Selection list, choose the geometric entity (domains or boundaries) to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. Coordinate systems with
directions that change with time should not be used. If you choose another, local
coordinate system, the acceleration components change accordingly.
PRESCRIBED ACCELERATION
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for ax,
ay, and for 3D models, az (SI unit: m/s2). For 2D axisymmetric models, select one or
both of the Prescribed in r direction and Prescribed in z direction check boxes. Then
enter a value or expression for ar and az (SI unit: m/s2).
Spring Foundation
The Spring Foundation node has elastic and damping boundary conditions for domains,
boundaries, edges, and points. To select this node for the domains, it is selected from
the More submenu. Also right-click to add a Pre-Deformation subnode.
The Spring Foundation and Thin Elastic Layer nodes are similar, with the difference
that a Spring Foundation connects the structural part on which it is acting to a fixed
ground, while a Thin Elastic Layer acts between two parts, either on an interior
boundary or on a pair boundary.
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129
D O M A I N , B O U N D A R Y, E D G E , O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (domains, boundaries, edges, or
points) to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The spring and damping
constants are given with respect to the selected coordinate system.
SPRING
Select the Spring type and its associated spring constant of force using Table 3-2 as a
guide. The default option is the spring type for the type of geometric entity and space
dimension, and there are different combinations available based on this.
TABLE 3-2: SPRING TYPES FOR THE SPRING FOUNDATION FEATURE
130 |
SPRING TYPE
VARIABLE
SI UNITS
GEOMETRIC ENTITY
LEVEL
SPACE DIMENSION
Spring constant per
unit volume
kV
N/(mm3)
domains
3D, 2D, and 2D
axisymmetric
Total spring constant
ktot
N/m
domains, edges
3D, 2D, and 2D
axisymmetric
Spring constant per
unit area
kA
N/(mm)2
domains,
boundaries
3D, 2D
Spring constant per
unit length
kL
N/(mm)
edges, boundaries
(2D)
3D, 2D
Spring constant
kP
N/m
points
3D, 2D, and 2D
axisymmetric
Force per volume as
function of extension
FV
N/m3
domains
3D, 2D, and 2D
axisymmetric
Total force as function
of extension
Ftot
domains,
boundaries, edges
3D, 2D, and 2D
axisymmetric
Force per area as
function of extension
FA
N/m2
domains,
boundaries
3D, 2D
Force per length as
function of extension
FL
N/m
edges
3D
Force as function of
extension
FP
points
3D, 2D, and 2D
axisymmetric
CHAPTER 3: SOLID MECHANICS
LOSS FACTOR DAMPING
Enter values or expressions in the table for each coordinate based on space dimension
for the Loss factor for spring k. The loss factors act on the corresponding components
of the spring stiffness. All defaults are 0.
VISCOUS DAMPING
Select the Damping type using Table 3-3 as a guide. The default option is the default
damping type for the type of geometric entity and space dimension, and there are
different combinations available based on this.
TABLE 3-3: DAMPING TYPES FOR THE SPRING FOUNDATION FEATURE
DAMPING TYPE
VARIABLE
SI UNITS
GEOMETRIC ENTITY
LEVEL
SPACE DIMENSION
Viscous force per unit
volume
dV
Ns/(mm3)
domains,
boundaries (2D)
3D, 2D
Viscous force per unit
area
dA
Ns/(mm2)
domains,
boundaries
3D, 2D, and 2D
axisymmetric
Total viscous force
dtot
Ns/m
domains,
boundaries,
edges, points
3D, 2D, and 2D
axisymmetric
Viscous force per unit
length
dL
Ns/(mm)
edges
3D
Springs and Dampers
About Spring Foundations and Thin Elastic Layers
Pre-Deformation
Right-click the Spring Foundation or Thin Elastic Layer nodes to add a
Pre-Deformation feature as a subnode and define the coordinates. By including a
pre-deformation, you can model cases where the unstressed state of the spring is in
another configuration than the one modeled.
D O M A I N , B O U N D A R Y, E D G E , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (domains, boundaries, edges, or
points) to define.
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131
SPRING PRE-DEFORMATION
Based on space dimension, enter the coordinates for the Spring Pre-Deformation u0
(SI unit: m). The defaults are 0 m.
Thin Elastic Layer
The Thin Elastic Layer node has elastic and damping boundary conditions for
boundaries and acts between two parts, either on an interior boundary or on a pair
boundary. Also right-click to add a Pre-Deformation subnode.
The Thin Elastic Layer and Spring Foundation nodes are similar, with the difference that
a Spring Foundation connects the structural part on which it is acting to a fixed
ground.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect. A default Free node is added when a Thin
Elastic Layer pair node is added.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The spring and damping
constants are given with respect to the selected coordinate system.
SPRING
Select the Spring type and its associated spring constant of force using Table 3-4 as a
guide. The default option is the spring type for the space dimension.
TABLE 3-4: SPRING TYPES FOR THE THIN ELASTIC LAYER FEATURE
132 |
SPRING TYPE
VARIABLE
SI UNITS
SPACE DIMENSION
Total spring constant
ktot
N/m
3D, 2D, and 2D
axisymmetric
Spring constant per unit area
kA
N/(mm)2
3D, 2D, and 2D
axisymmetric
Spring constant per unit length
kL
N/(mm)
2D
Total force as function of extension
Ftot
3D, 2D, and 2D
axisymmetric
CHAPTER 3: SOLID MECHANICS
TABLE 3-4: SPRING TYPES FOR THE THIN ELASTIC LAYER FEATURE
SPRING TYPE
VARIABLE
SI UNITS
Force per area as function of
extension
FA
N/m2
SPACE DIMENSION
3D, 2D, and 2D
axisymmetric
Force per length as function of
extension
FL
N/m
2D
LOSS FACTOR DAMPING
Enter values or expressions in the table for each coordinate based on space dimension
for the Loss factor for spring k. The loss factors act on the corresponding components
of the spring stiffness. All defaults are 0.
VISCOUS DAMPING
Select the Damping type using Table 3-5 as a guide. The default option is the default
damping type for the space dimension.
TABLE 3-5: DAMPING TYPES FOR THE THIN ELASTIC LAYER FEATURE
DAMPING TYPE
VARIABLE
SI UNITS
SPACE DIMENSION
Viscous force per unit area
dA
Ns/(mm )
3D, 2D, and 2D
axisymmetric
Total viscous force
dtot
Ns/m
3D, 2D, and 2D
axisymmetric
Viscous force per unit length
dL
Ns/(mm)
2D
Springs and Dampers
About Spring Foundations and Thin Elastic Layers
Added Mass
The Added Mass node is available on domains, boundaries, and edges and can be used
to supply inertia, which is not part of the material itself. Such inertia does not need to
be isotropic, in the sense that the inertial effects are not the same in all directions. To
THE SOLID MECHANICS USER INTERFACE
133
select this node for the domains, it is selected from the More submenu for the Solid
Mechanics interface.
To include the added mass as a static self weight, separate load physics
need to be added for the domains, boundaries, or edges. The Added Mass
node only contributes to the inertia in the dynamic sense.
D O M A I N , B O U N D A R Y, O R E D G E S E L E C T I O N
From the Selection list, choose the geometric entity (domains, boundaries, or edges)
to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The added mass values are
given with respect to the selected coordinate directions.
M A S S TY P E
Select a Mass type using Table 3-6 as a guide. The default option is the type for the
geometric entity. Then enter values or expressions into the table for each coordinate
based on space dimension. All defaults are 0.
TABLE 3-6: AVAILABLE MASS TYPES BASED ON GEOMETRIC ENTITY
MASS TYPE
VARIABLE
SI UNITS
GEOMETRIC ENTITY LEVEL
Mass per unit volume
pV
kg/m3
domains
Mass per unit area
pA
kg/m2
domains, boundaries
Mass per unit length
pL
kg/m
edges
Total mass
kg
domains, boundaries, edges
About Added Mass
Low-Reflecting Boundary
Use the Low-Reflecting Boundary node to let waves pass out from the model without
reflection in time-dependent analysis. As a default, it takes material data from the
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CHAPTER 3: SOLID MECHANICS
domain in an attempt to create a perfect impedance match for both pressure waves and
shear waves. It may be sensitive to the direction of the incoming wave.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
COORDINATE SYSTEM SELECTION
The Boundary System is selected by default. The Coordinate system list contains any
additional coordinate systems that the model includes.
DAMPING
Select a Damping typeP and S waves (the default) or User defined. If User defined is
selected, enter values or expressions for the Mechanical impedance di (SI unit: Pas/m).
The defaults for all values are 0.5*solid.rho*(solid.cp+solid.cs).
About the Low-Reflecting Boundary Condition
Attachment
The Attachment node is used to define a set of boundaries on a flexible component
which can be used to connect it with other components through a joint in the
Multibody Dynamics physics interface. All the selected boundaries behave as if they
were connected by a common rigid body.
Attachments can be added both to a Multibody Dynamics and a Solid Mechanics
physics interface. This makes it possible to use a joint for connecting to a part modeled
using Multibody Dynamics.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
The Attachment node is available with the Multibody Dynamics Module.
The theory for the Attachment node is in the documentation of the
Multibody Dynamics Module.
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135
Theory for the Solid Mechanics User
Interface
The Solid Mechanics User Interface theory is described in this section:
Material and Spatial Coordinates
Modeling Large Deformations
Coordinate Systems
About Linear Viscoelastic Materials
Lagrangian Formulation
About Contact Modeling
About Linear Elastic Materials
Theory for the Rigid Connector
Strain-Displacement Relationship
Initial Stresses and Strains
Stress-Strain Relationship
Plane Strain and Plane Stress Cases
About Spring Foundations and
Thin Elastic Layers
Axial Symmetry
About Added Mass
Loads
Using Pre-tensioned Bolts
Pressure Loads
Geometric Nonlinearity Theory for
the Solid Mechanics User Interface
Equation Implementation
Setting up Equations for Different
Studies
Damping Models
About the Low-Reflecting
Boundary Condition
Cyclic Symmetry and Floquet
Periodic Conditions
The Solid Mechanics User Interface
Material and Spatial Coordinates
The Solid Mechanics interface, through its equations, describes the motion and
deformation of solid objects in a 2- or 3-dimensional space. In COMSOL Multiphysics
terminology, this physical space is known as the spatial frame and positions in the
physical space are identified by lowercase spatial coordinate variables x, y, and z (or r,
, and z in axisymmetric models).
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CHAPTER 3: SOLID MECHANICS
Continuum mechanics theory also makes use of a second set of coordinates, known as
material (or reference) coordinates. These are normally denoted by uppercase
variables X, Y, and Z (or R, , and Z) and are used to label material particles. Any
material particle is uniquely identified by its position in some given initial or reference
configuration. As long as the solid stays in this configuration, material and spatial
coordinates of every particle coincide and displacements are zero by definition.
When the solid objects deform due to external or internal forces and constraints, each
material particle keeps its material coordinates X (bold font is used to denote
coordinate vectors), while its spatial coordinates change with time and applied forces
such that it follows a path
x = x X t = X + u X t
(3-1)
in space. Because the material coordinates are constant, the current spatial position is
uniquely determined by the displacement vector u, pointing from the reference
position to the current position. The global Cartesian components of this displacement
vector in the spatial frame, by default called u, v, and w, are the primary dependent
variables in the Solid Mechanics interface.
By default, the Solid Mechanics interface uses the calculated displacement and
Equation 3-1 to define the difference between spatial coordinates x and material
coordinates X. This means the material coordinates relate to the original geometry,
while the spatial coordinates are solution dependent.
Material coordinate variables X, Y, and Z must be used in coordinate-dependent
expressions that refer to positions in the original geometry, for example, for material
properties that are supposed to follow the material during deformation. On the other
hand, quantities that have a coordinate dependence in physical space, for example, a
spatially varying electromagnetic field acting as a force on the solid, must be described
using spatial coordinate variables x, y, and z. Any use of the spatial variables will be a
source of nonlinearity if a geometrically nonlinear study is performed.
Coordinate Systems
Force vectors, stress and strain tensors, as well as various material tensors are
represented by their components in a specified coordinate system. By default, material
properties use the canonical system in the material frame. This is the system whose
basis vectors coincide with the X, Y, and Z axes. When the solid deforms, these vectors
rotate with the material.
THEORY FOR THE SOLID MECHANICS USER INTERFACE
137
Loads and constraints, on the other hand, are applied in spatial directions, by default
in the canonical spatial coordinate system. This system has basis vectors in the x, y, and
z directions, which are forever fixed in space. Both the material and spatial default
coordinate system are referred to as the global coordinate system in the user interface.
Vector and tensor quantities defined in the global coordinate system on either frame
use the frames coordinate variable names as indices in the tensor component variable
names. For example, SXY is the material frame XY-plane shear stress, also known as a
second Piola-Kirchhoff stress, while sxy is the corresponding spatial frame stress, or
Cauchy stress. There are also a few mixed tensors, most notably the deformation
gradient FdxY, which has one spatial and one material index because it is used in
converting quantities between the material and spatial frames.
It is possible to define any number of user coordinate systems on the material and
spatial frames. Most types of coordinate systems are specified only as a rotation of the
basis with respect to the canonical basis in an underlying frame. This means that they
can be used both in contexts requiring a material system and in contexts requiring a
spatial one.
The coordinate system can be selected separately for each added material model, load,
and constraint. This is convenient if, for example, an anisotropic material with different
orientation in different domains is required. The currently selected coordinate system
is known as the local coordinate system.
Lagrangian Formulation
The formulation used for structural analysis in COMSOL Multiphysics for both small
and finite deformations is total Lagrangian. This means that the computed stress and
deformation state is always referred to the material configuration, rather than to
current position in space.
Likewise, material properties are always given for material particles and with tensor
components referring to a coordinate system based on the material frame. This has the
obvious advantage that spatially varying material properties can be evaluated just once
for the initial material configuration and do not change as the solid deforms and
rotates.
The gradient of the displacement, which occurs frequently in the following theory, is
always computed with respect to material coordinates. In 3D:
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CHAPTER 3: SOLID MECHANICS
u u u
X Y Z
u = v v v
X Y Z
w w w
X Y Z
The displacement is considered as a function of the material coordinates (X, Y, Z), but
it is not explicitly a function of the spatial coordinates (x, y, z). It is thus only possible
to compute derivatives with respect to the material coordinates.
About Linear Elastic Materials
The total strain tensor is written in terms of the displacement gradient
1
T
= --- u + u
2
or in components as
1 u m u n
mn = ---
+
2 x n x m
(3-2)
The Duhamel-Hookes law relates the stress tensor to the strain tensor and
temperature:
s = s 0 + C 0
where C is the 4th order elasticity tensor, : stands for the double-dot tensor product
(or double contraction), s0 and 0 are initial stresses and strains, TTref, and is
the thermal expansion tensor.
The elastic energy is
1
W s = --- 0 C 0
2
(3-3)
or using the tensor components:
Ws =
i j m n
ijmn
1
0
0
--- C
ij ij ij mn mn mn
2
THEORY FOR THE SOLID MECHANICS USER INTERFACE
139
TE N S O R V S . M A T R I X F O R M U L A T I O N S
Because of the symmetry, the strain tensor can be written as the following matrix:
x xy xz
xy y yz
xz yz z
Similar representation applies to the stress and the thermal expansion tensors:
s x s xy s xz
x xy xz
s xy s y s yz
xy y yz
s xz s yz s z
xz yz z
Due to the symmetry, the elasticity tensor can be completely represented by a
symmetric 6-by-6 matrix as:
D =
D 11 D 12 D 13 D 14 D 15 D 16
D 12 D 22 D 23 D 24 D 25 D 26
D 13 D 23 D 33 D 34 D 35 D 36
= C
D 14 D 24 D 34 D 44 D 45 D 46
D 15 D 25 D 35 D 45 D 55 D 56
D 16 D 26 D 36 D 46 D 56 D 66
1111
1122
1133
1112
1123
1113
C
C
C
C
C
C
1122
2222
2233
2212
2223
2213
C
C
C
C
C
C
1133
2233
3333
3312
3323
3313
C
C
C
C
C
C
1112
2212
3312
1212
1223
1213
C
C
C
C
C
C
1123
2223
3323
1223
2323
2313
which is the elasticity matrix.
ISOTROPIC MATERIAL AND ELASTIC MODULI
In this case, the elasticity matrix becomes
1
1
E
D = -------------------------------------- 1 + 1 2
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CHAPTER 3: SOLID MECHANICS
0
0
0
1 2
---------------2
0
0
0
0
0
0
1
2--------------2
1
2--------------2
C
C
C
C
C
C
1113
2213
3313
1213
2313
1313
and the thermal expansion matrix is:
0 0
0 0
0 0
Different pairs of elastic moduli can be used, and as long as two moduli are defined,
the others can be computed according to Table 3-7.
TABLE 3-7: EXPRESSIONS FOR THE ELASTIC MODULI.
DE
DKG
9KG -----------------3K + G
3 + 2
-------------------+
1
3G -
--- 1 -----------------3K + G
2
-------------------2 +
DESCRIPTION
VARIABLE
Youngs modulus
Poissons ratio
Bulk modulus
E ----------------------3 1 2
2
+ ------3
Shear modulus
E -------------------21 +
Lam parameter
E
------------------------------------- 1 + 1 2
2G
K -------3
Lam parameter
E
--------------------21 +
Pressure-wave
speed
cp
K
+ 4G 3------------------------
Shear-wave speed
cs
According to Table 3-7, the elasticity matrix D for isotropic materials is written in
terms of Lam parameters and ,
+ 2
+ 2
+ 2
D =
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
or in terms of the bulk modulus K and shear modulus G:
THEORY FOR THE SOLID MECHANICS USER INTERFACE
141
4G
2G
2G
K + -------- K -------- K -------- 0 0 0
3
3
3
2G
4G
2G
K -------- K + -------- K -------- 0 0 0
3
3
3
D =
2G
2G
4G
K -------- K -------- K + -------- 0 0 0
3
3
3
0
0
0
G 0 0
0
0
0
0 G 0
0
0
0
0 0 G
ORTHOTROPIC AND ANISOTROPIC MATERIALS
There are two different ways to represent orthotropic or anisotropic data. The
Standard (XX, YY, ZZ, XY, YZ, XZ) material data ordering converts the indices as:
11
1
x
2
y
22
33 3 z
12 21
4
xy
23 32
5
yz
13 31
6
xz
thus, the Hookes law is presented in the form involving the elasticity matrix D and the
following vectors:
sx
sx
sy
sy
sz
s xy
sz
s xy
s yz
s yz
s xz
s xz
x
x
x
y
y
y
z
z
z
+ D
2 xy
2 xy
2 xy
2 yz
2 yz
2 yz
2
2
2 xz
xz
xz 0
0
COMSOL Multiphysics uses the complete tensor representation internally to perform
the coordinate system transformations correctly.
Beside the Standard (XX, YY, ZZ, XY, YZ, XZ) Material data ordering, the elasticity
coefficients are entered following the Voigt notation. In the Voigt (XX, YY, ZZ, YZ, XZ,
XY) Material data ordering, the sorting of indices is:
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CHAPTER 3: SOLID MECHANICS
11
1
x
22
2
y
33 3 z
23 32
4
yz
13 31
5
xz
12 21
6
xy
thus the last three rows and columns in the elasticity matrix D are swapped.
ORTHOTROPIC MATERIAL
The elasticity matrix for orthotropic material in the Standard (XX, YY, ZZ, XY, YZ, XZ)
Material data ordering has the following structure:
D =
D 11 D 12 D 13 0
D 12 D 22 D 23 0
D 13 D 23 D 33 0
0 D 44 0
0 D 55 0
0 D 66
where the components are as follows:
2
E x E z yz E y
D 11 = ---------------------------------------- ,
D denom
E x E y E z yz xz + E y xy
D 12 = ----------------------------------------------------------------D denom
E x E y E y xy yz + xz
D 13 = ---------------------------------------------------------- ,
D denom
E y E z E y xy xz + E x yz
D 23 = ----------------------------------------------------------------- ,
D denom
D 44 = G xy ,
E y E z xz E x
D 22 = ---------------------------------------D denom
2
E y E z E y xy E x
D 33 = ----------------------------------------------D denom
D 55 = G yz , and D 66 = G xz
where
2
2 2
D denom = E y E z xz E x E y + 2 xy yz xz E y E z + E x E z yz + E y xy
THEORY FOR THE SOLID MECHANICS USER INTERFACE
143
The values of Ex, Ey, Ez, xy, yz, xz, Gxy, Gyz, and Gxz are supplied in designated
fields in the user interface. COMSOL deduces the remaining componentsyx, zx,
and zyusing the fact that the matrices D and D1 are symmetric. The compliance
matrix has the following form:
yx zx
1
----- -------- -------- 0
Ex Ey Ez
zy
xy 1
-------- ------ -------- 0
Ex Ey Ez
1
--------0
G xy
xz yz 1
-------- -------- -----Ex Ey Ez
=
1
0 --------- 0
G yz
1
0 --------G xz
The thermal expansion matrix is diagonal:
x 0 0
0 y 0
0 0 z
The elasticity matrix in the Voigt (XX, YY, ZZ, YZ, XZ, XY) Material data ordering changes
the sorting of the last three elements in the elasticity matrix:
D 44 = G yz ,
D 55 = G xz , and D 66 = G xy
ANISOTROPIC MATERIAL
In the general case of fully anisotropic material, provide explicitly 21 components of
the symmetric elasticity matrix D, in either Standard (XX, YY, ZZ, XY, YZ, XZ) or Voigt
(XX, YY, ZZ, YZ, XZ, XY) Material data ordering, and 6 components of the symmetric
thermal expansion matrix.
ENTROPY AND THERMOELASTICITY
The free energy for the linear thermoelastic material can be written as
144 |
CHAPTER 3: SOLID MECHANICS
F = f 0 T + W s T
where WsT is given by Equation 3-3. Hence, the stress can be found as
W
F
s = = = C 0
T
T
and the entropy per unit volume can be calculated as
F
= C p log T T 0 + S elast
T
where T0 is a reference temperature, the volumetric heat capacity CP can be assumed
independent of the temperature (Dulong-Petit law), and
S elast = s
For an isotropic material, it simplifies into
S elast = s x + s y + s z
The heat balance equation can be written as
C p
T
+ T S elast = k T + Q h
t
t
where k are the thermal conductivity matrix, and
Q h =
where is the strain-rate tensor and the tensor represents all possible inelastic stresses
(for example, a viscous stress).
Using the tensor components, the heat balance can be rewritten as:
C p
T
+
t
Tmn t smn =
k T + Q h
(3-4)
m n
In many cases, the second term can be neglected in the left-hand side of Equation 3-4
because all Tmn are small. The resulting approximation is often called uncoupled
thermoelasticity.
THEORY FOR THE SOLID MECHANICS USER INTERFACE
145
Strain-Displacement Relationship
The strain conditions at a point are completely defined by the deformation
componentsu, v, and w in 3Dand their derivatives. The precise relation between
strain and deformation depends on the relative magnitude of the displacement.
SMALL DISPLACEMENTS
Under the assumption of small displacements, the normal strain components and the
shear strain components are related to the deformation as follows:
x =
u
x
y =
v
y
z =
w
z
xy 1 u v
xy = ------- = --- +
2
2 y x
yz 1 v w
yz = ------- = --- +
2 z y
2
xz 1 u w
xz = ------- = --- + .
2 z x
2
(3-5)
To express the shear strain, use either the tensor form, xy, yz, xz, or the engineering
form, xy, yz, xz.
The symmetric strain tensor consists of both normal and shear strain components:
x xy xz
= xy y yz
xz yz z
The strain-displacement relationships for the axial symmetry case for small
displacements are
r =
u
,
r
u
= --- ,
r
z =
w
, and
z
rz =
u w
+
z r
LARGE DEFORMATIONS
As a start, consider a certain physical particle, initially located at the coordinate X.
During deformation, this particle follows a path
x = x X t
For simplicity, assume that undeformed and deformed positions are measured in the
same coordinate system. Using the displacement u, it is then possible to write
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CHAPTER 3: SOLID MECHANICS
x = X+u
When studying how an infinitesimal line element dX is mapped to the corresponding
deformed line element dx, the deformation gradient, F, defined by
x
dx = ------- dX = F dX
X
is used.
The deformation gradient contains the complete information about the local
straining and rotation of the material. It is a positive definite matrix, as long as material
cannot be annihilated. The ratio between current and original volume (or mass
density) is
0
dV---------= ------ = det F = J
dV 0
A deformation state where J = 1 is often called incompressible. From the deformation
gradient, it is possible to define the right Cauchy-Green tensor as
T
C = F F
As can be shown by simple insertion, a finite rigid body rotation causes nonzero values
of the engineering strain defined by Equation 3-5. This is not in correspondence with
the intuitive concept of strain, and it is certainly not useful in a constitutive law. There
are several alternative strain definitions in use that do have the desired properties. The
Green-Lagrange strains, , is defined as
1
1 T
= --- C I = --- F F I
2
2
Using the displacements, they be also written as
1 u i u j u k u k
ij = --- -------- + -------- + --------- ---------
2 X j X i X i X j
(3-6)
The Green-Lagrange strains are defined with reference to an undeformed geometry.
Hence, they represent a Lagrangian description.
The deformation state characterized by finite (or large displacements) but small to
moderate strains is sometimes referred to as geometric nonlinearity or nonlinear
THEORY FOR THE SOLID MECHANICS USER INTERFACE
147
geometry. This typically occurs when the main part of the deformations presents a finite
rigid body rotation
STRAIN RATE AND SPIN
The spatial velocity gradient is defined in components as
L kl =
v
r t
xl k
where v k r t is the spatial velocity field. It can be shown that L can be computed in
terms of the deformation gradient as
L =
dF 1
F
dt
where the material time derivative is used.
The velocity gradient can be decomposed into symmetric and skew-symmetric parts
L = Ld + Lw
where
1
T
L d = --- L + L
2
is called the rate of strain tensor, and
1
T
L w = --- L L
2
is called the spin tensor. Both tensors are defined on the spatial frame.
It can be shown that the material time derivative of the Green-Lagrange strain tensor
can be related to the rate of strain tensor as
T
d
= F Ld F
dt
The spin tensor Lw(x,t) accounts for an instantaneous local rigid-body rotation about
an axis passing through the point x.
Components of both Ld and Lw are available as results and analysis variables under the
Solid Mechanics interface.
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CHAPTER 3: SOLID MECHANICS
Stress-Strain Relationship
The symmetric stress tensor describes stress in a material:
x xy xz
= yx y yz
xy = yx
xz = zx
yz = zy
zx zy z
This tensor consists of three normal stresses (x, y, z) and six (or, if symmetry is used,
three) shear stresses (xy, yz, xz).
For large deformations and hyperelastic material models there are more than one stress
measure:
Cauchy stress (the components are denoted sx, in COMSOL Multiphysics)
defined as force/deformed area in fixed directions not following the body.
Symmetric tensor.
First Piola-Kirchhoff stress P (the components are denoted Px, in COMSOL
Multiphysics). This is an unsymmetric two-point tensor.
Second Piola-Kirchhoff stress S (the components are denoted Sx, in COMSOL
Multiphysics). This is a symmetric tensor, for small strains same as Cauchy stress
tensor but in directions following the body.
The stresses relate to each other as
1
S = F P
1
= J PF
= J FSF
Plane Strain and Plane Stress Cases
For a general anisotropic linear elastic material in case of plane stress, COMSOL
Multiphysics solves three equations si30 for i3 with i = 1, 2, 3, and uses the solution
instead of Equation 3-2 for these three strain components. Thus, three components
i3 are treated as extra degrees of freedom. For isotropy and orthotropy, only with an
extra degree of freedom, 33,is used since all out of plane shear components of both
THEORY FOR THE SOLID MECHANICS USER INTERFACE
149
stress and strain are zero. The remaining three strain components are computed as in
3D case according to Equation 3-2.
For an isotropic material, only the normal out-of-plane component 33
needs to be solved for.
In case of plane strain, set i3 for i1, 2, 3. The out-of-plane stress components
si3 are results and analysis variables.
In the case of geometrical nonlinearity, the second Piola-Kirchhoff and the
Green-Lagrange strain is used instead of the Cauchy stress and engineering strain.
Axial Symmetry
The axially symmetric geometry uses a cylindrical coordinate system. Such a coordinate
system is orthogonal but curvilinear, and one can choose between a covariant basis
e1, e2, e3 and a contravariant basis e1, e2, e3.
The metric tensor is
1 0 0
g ij = 0 r 2 0
0 0 1
in the coordinate system given by e1, e2, e3, and
ij
1 0 0
= 0 r 2 0
0 0 1
in e1, e2, e3.
The metric tensor plays the role of a unit tensor for a curvilinear coordinate system.
For any vector or tensor A, the metric tensor can be used for conversion between
covariant, contravariant, and mixed components:
j
Ai =
Aim g
m
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CHAPTER 3: SOLID MECHANICS
mj
ij
Anm g
ni mj
m n
In both covariant and contravariant basis, the base vector in the azimuthal direction
has a nonunit length. To cope with this issue, the so called physical basis vectors of unit
length are introduced. These are
1
1
3
e r = e 1 = e e = --- e = re 2 e z = e 3 = e
r 2
The corresponding components for any vector or tensor are called physical.
For any tensor, the physical components are defined as
phys
A ij
g ii g jj A
ij
where no summation is done over repeated indices.
MIXED COMPONENTS AND PRINCIPAL INVARIANTS
The mixed strain components are given by
i
Aj =
im
A mj
The principal invariants are
i
I 1 A = trace A i =
Ai
i
1
= A 11 + A 22 ----2- + A 33
r
1
2
I 2 A = --- I 1 A
2
Aj Ai
i
i j
I 3 A = det A i
DISPLACEMENTS AND AXIAL SYMMETRY ASSUMPTIONS
The axial symmetry implementation in COMSOL Multiphysics assumes independence
of the angle, and also that the torsional component of the displacement is identically
zero. The physical components of the radial and axial displacement, u and w, are used
as dependent variables for the axially symmetric geometry.
THEORY FOR THE SOLID MECHANICS USER INTERFACE
151
STRAINS
The right Cauchy-Green deformation tensor is defined as
T
C = u + u + u u + g
and the Green-Lagrange strain tensor is
1
= --- C g
2
Under the axial symmetry assumptions, the covariant components of C are
C 11 = 2
u
u 2
w 2
+ + +1
r
r
r
C 12 = C 23 = 0
C 13 =
u w
u ----u- -----w w
+
+
+ - ------z r
r z r z
2
C 22 = 2ru + u + r
v
u
v
C 23 = r ------ + v ------ + u -----z
z
z
w 2
w
u 2
C 33 = 2 ------- + ------ + ------- + 1
z
z
z
For the Linear Elastic Material, drop the nonlinear terms inside square brackets in the
above expressions.
The physical components of are
1
r = 11 = --- C 11 1
2
r = z = 0
1
rz = 13 = --- C 13
2
22
12
- = ------- = ------ C 22 r
2
2
2r
r
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CHAPTER 3: SOLID MECHANICS
1
z = 33 = --- C 33 1
2
The volumetric strain is
vol = I 1 = r + + z
STRESSES
The second Piola-Kirchhoff stress tensor is computed as
S = 2
W s
C
which is computed as the contravariant components of the stress in the local
coordinate system:
S
ij
= 2
W s
C ij
The corresponding physical components are defined on the global coordinate system:
Sr = S
11
S r = rS
S rz = S
12
13
2 22
S = r S
S z = rS
Sz = S
23
33
Note that
I1 S =
ij
g ij = S r + S + S z
i j
The energy variation is computed as
THEORY FOR THE SOLID MECHANICS USER INTERFACE
153
Stest =
ij
test ij
i j
which can be also written as
S r test r + S test + S z test z + 2S rz test rz
For the linear elastic material, the stress components in coordinate system are
s
ij
ij
= s0 + C
ijkl
kl kl 0kl
where TTref.
For anisotropic and orthotropic materials, the 4th-order elasticity tensor is defined
from D matrix according to:
sr
sr
s z
s r
s z
s r
s z
s z
s rz
s rz
+ D
z
2 r
z
2 r
2 z
2 z
2 rz
2 rz
z
2 r
2 z
2 rz
0
The user input D matrix always contains the physical components of the elasticity
tensor
phys
C ijkl
and the corresponding tensor components are computed internally according to:
ijkl
phys
ijkl
= ----------------------------------------------g ii g jj g kk g ll
For an isotropic material:
C
ijkl
ij kl
= g g
ik jl
il jk
+ g g + g g
where and are the first and second Lam elastic parameters.
154 |
CHAPTER 3: SOLID MECHANICS
Loads
Specify loads as
Distributed loads. The load is a distributed force in a volume, on a face, or along an
edge.
Total force. The specification of the load is as the total force. The software then
divides this value with the area or the volume where the force acts.
Pressure (boundaries only).
For 2D models choose how to specify the distributed boundary load as a
load defined as force per unit area or a load defined as force per unit length
acting on boundaries.
In the same way, choose between defining the load as force per unit
volume or force per unit area for body loads acting in a domain. Also
define a total force (SI unit: N) as required.
For 2D and axisymmetric models, the boundary loads apply on edges
(boundaries).
For 2D axisymmetric models, the boundary loads apply on edges
(boundaries).
For 3D solids, the boundary loads apply on faces (boundaries).
THEORY FOR THE SOLID MECHANICS USER INTERFACE
155
Table 3-8 shows how to define distributed loads on different geometric entity levels;
the entries show the SI unit in parentheses.
TABLE 3-8: DISTRIBUTED LOADS
GEOMETRIC
ENTITY
POINT
EDGE
FACE
DOMAIN
2D
force (N)
force/area (N/m2) or
force/length (N/m)
Not
available
force/volume (N/m3)
or force/area (N/m2)
Axial
symmetry
total force
along the
circumferential
(N)
force/area (N/m2)
Not
available
force/volume (N/m3)
3D
force (N)
force/length (N/m)
force/area
(N/m2)
force/volume (N/m3)
Pressure Loads
A pressure load is directed inward along the normal of boundary on which it is acting.
This load type acts as a source of nonlinearity, since its direction depends on the current
direction of the boundary normal. In a linearized context, for example in the frequency
domain, the pressure is equivalent to a specified normal stress.
For general cases, if the problem is linear in all other respects, the solution
can be made more efficient by forcing the solver to treat the problem as
linear. See Stationary Solver in the COMSOL Multiphysics Reference
Manual.
If the Include geometric nonlinearity check box is selected, or a Hyperelastic Material
feature is specified, the solution uses a geometrically nonlinear formulation. A pressure
load is then a true follower load. It always acts in the current normal direction and is
applied to the current deformed area. This is a nonlinear boundary condition because
both the direction and area of application of the force are functions of the deformation.
The Hyperelastic Material node is available with the Nonlinear Structural
Materials Module.
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CHAPTER 3: SOLID MECHANICS
THEORY
The direction of an explicitly applied distributed load must be given with reference to
a local or global coordinate system in the spatial frame, but its magnitude must be with
reference to the undeformed reference or material area. That is, the relation between
the true force f acting on the current area da and the specified distributed load F
acting on the material area dA is f = FdA. When the solid is subjected to an external
pressure, p, the true force on a surface element acts with magnitude p in the current
area da in the normal direction n:
f = pnda
Therefore, the pressure load type specifies the distributed load as
da
F = pn -------dA
where both the normal n and area element da are functions of the current
displacement field.
Plane Stress
In a plane stress condition the out-of-plane deformation causes the thickness to
change, and this area effect is included explicitly. The equation transforms to
da
w
F = pn -------- 1 +
z
dA
Axial Symmetry
To account for the radial deformation changing the circumference and therefore the
area element, the distributed load is applied as
da R + u
F = pn -------- ------------------dA R
Equation Implementation
The COMSOL Multiphysics implementation of the equations in the Solid Mechanics
interface is based on the principle of virtual work.
The principle of virtual work states that the sum of virtual work from internal strains
is equal to work from external loads.
The total stored energy, W, for a linear material from external and internal strains and
loads equals:
THEORY FOR THE SOLID MECHANICS USER INTERFACE
157
W =
s + u FV dv
V
+ u F S ds + u F L dl +
Fp
The principle of virtual work states that W0 which leads to
test s + utest FV utest utt dv
V
+ u test F S ds + u test F L dl +
Utest Fp
t
Setting up Equations for Different Studies
The Solid Mechanics interface supports stationary (static), eigenfrequency,
time-dependent (transient), frequency domain, and modal solver study types as well as
viscoelastic transient initialization and linear buckling.
STATIONARY STUDIES
COMSOL Multiphysics uses an implementation based on the stress and strain
variables. The normal and shear strain variables depend on the displacement
derivatives.
Using the tensor strain, stress, and displacement variables, the principle of virtual work
is expressed as:
W =
test s + utest FV dv
V
+ u test F S ds + u test F L dl +
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CHAPTER 3: SOLID MECHANICS
Utest Fp
t
V I S C O E L A S T I C TR A N S I E N T I N I T I A L I Z A T I O N
The equations using the linear viscoelastic material model corresponds to a stationary
study, with added viscoelasticity.
The stationary solution obtained corresponds to a fast, adiabatic
deformation. This is different from the stationary state after a long-time
evolution.
TIME-DEPENDENT STUDIES
test s + dM st + utest FV utest utt dM utest ut dv
V
(3-7)
+ u test F S ds + u test F L dl +
Utest Fp
t
where the terms proportional to dM and dK appear if the Rayleigh damping is used
For more information about the equation form in case of geometric
nonlinearity see Geometric Nonlinearity Theory for the Solid Mechanics
User Interface
FREQUENCY-DOMAIN STUDIES
In the frequency domain the frequency response is studied when applying harmonic
loads. Harmonic loads are specified using two components:
The amplitude value, Fx
The phase, FxPh
To derive the equations for the linear response from harmonic excitation loads
F xfreq = F x f cos t + F xPh f ----------
180
F xfreq
F freq = F yfreq
F zfreq
THEORY FOR THE SOLID MECHANICS USER INTERFACE
159
assume a harmonic response with the same angular frequency as the excitation load
u = u amp cos t + u
u
u= v
w
Also describe this relationship using complex notation
u = Re u amp e
j u jt
jt
j
= Re u e where u = u amp e u
e jt
u = Re u
jF xPh f ---------
jt
180 jt
F xfreq = Re F x e
e = Re Fx e
where
Fx = F x f e
jF xPh f ---------180
Fx
F = F
y
Fz
EIGENFREQUENCY STUDIES
The eigenfrequency equations are derived by assuming a harmonic displacement field,
similar as for the frequency response formulation. The difference is that this study type
uses a new variable j explicitly expressed in the eigenvalue jThe
eigenfrequency f is then derived from j as
j f = Im
-----------------2
Damped eigenfrequencies can be studied by adding viscous damping terms to the
equation. In addition to the eigenfrequency the quality factor, Q, and decay factor,
for the model can be examined:
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CHAPTER 3: SOLID MECHANICS
Im
Q = ------------------2Re
= Re
Damping Models
The Solid Mechanics interface offers two predefined damping models: Rayleigh
damping and loss factor damping.
RAYLEIGH DAMPING
To model damping effects within the material, COMSOL Multiphysics uses Rayleigh
damping, where two damping coefficients are specified.
The weak contribution due to the alpha-damping is always accounted for as shown in
Equation 3-2. The contribution from the beta-damping that shown in Equation 3-7
corresponds to the case of small strains. In case of geometric nonlinearity, it becomes
dM utest Pt dv
V
where P is the first Piola-Kirchhoff stress tensor.
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
To further clarify the use of the Rayleigh damping, consider a system with a single
degree of freedom. The equation of motion for such a system with viscous damping is
2
d u
du
m ---------2- + c ------- + ku = f t
dt
dt
In the Rayleigh damping model the damping coefficient c can be expressed in terms
of the mass m and the stiffness k as
c = dM m + dK k
The Rayleigh damping proportional to mass and stiffness is added to the static weak
term.
THEORY FOR THE SOLID MECHANICS USER INTERFACE
161
A complication with the Rayleigh damping model is to obtain good values for the
damping parameters. A more physical damping measure is the relative damping, the
ratio between actual and critical damping, often expressed as a percentage of the critical
damping. Commonly used values of relative damping can be found in the literature.
It is possible to transform relative damping to Rayleigh damping parameters. The
relative damping, , for a specified pair of Rayleigh parameters, dM and dK, at a
frequency, f, is
1 dM
= --- ----------- + dK 2f
2 2f
Using this relationship at two frequencies, f1 and f2, with different relative damping,
1 and 2, results in an equation system that can be solved for dM and dK:
1 ----------f
4f 1 1 dM
1 dK
----------f
4f 2 2
1
2
Relative damping
Using the same relative damping, 1 = 2, does not result in a constant damping factor
inside the interval f1 f f2. It can be shown that the damping factor is lower inside
the interval, as Figure 3-7 shows.
Rayleigh damping
Specified damping
f1
f2
Figure 3-7: An example of Rayleigh damping.
LOSS FACTOR DAMPING
Loss factor damping (sometimes referred to as material or structural damping) can be
applied in the frequency domain.
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CHAPTER 3: SOLID MECHANICS
In COMSOL Multiphysics, the loss information appears as a multiplier of the elastic
stress in the stress-strain relationship:
s = s 0 + 1 + j s C 0
where s is the loss factor, and j is the imaginary unit. For Hyperelastic Materials, the
corresponding definition is
W s
S = 1 + j s ---------E
Choose between these loss damping types:
Isotropic loss damping s
Orthotropic loss damping with components of E, the loss factor for an orthotropic
Youngs modulus, and G, the loss factor for an orthotropic shear modulus.
Anisotropic loss damping with an isotropic or symmetric loss damping D for the
elasticity matrix.
If modeling the damping in the structural analysis via the loss factor, use the following
definition for the elastic part of the entropy:
S elast = s j s C
This is because the entropy is a function of state and thus independent of the strain
rate, while the damping represents the rate-dependent effects in the material (for
example, viscous or viscoelastic effects). The internal work of such inelastic forces
averaged over the time period 2 can be computed as:
1
Q h = --- s Real Conj C
2
(3-8)
Equation 3-8 can be used as a heat source for modeling of the heat generation in
vibrating structures, when coupled with the frequency-domain analysis for the stresses
and strains.
The Linear Viscoelastic Material node typically does not require any
additional damping, as all the damping effects are contained in the
material data (such as the relaxation times).
THEORY FOR THE SOLID MECHANICS USER INTERFACE
163
Modeling Large Deformations
Consider a certain physical particle, initially located at the coordinate X. During
deformation, this particle follows a path
x = x X t
For simplicity, assume that undeformed and deformed positions are measured in the
same coordinate system.Using the displacement u, it is then possible to write
x = X + u X t
When studying how an infinitesimal line element dX is mapped to the corresponding
deformed line element dx, use the deformation gradient tensor F, defined by
x
dx = ------- dX = F dX
X
The deformation gradient F contains the complete information about the local
straining and rotation of the material. It is a two-point tensor (or a double vector),
which transforms as a vector with respect to each of its indexes. It involves both the
reference and present configurations. In terms of displacement gradient, it can be
written as F u I. The ratio between current and initial volume (or mass density) is
0
dV---------= ------ = det F = J
dV 0
As a consequence, a deformation state where J1 is said to be incompressible.
Define the right Cauchy-Green deformation tensor:
T
C = F F = u + u + u u + I
(3-9)
In components, in coordinate system (G):
u i u j
C ij = -------- + -------- +
X j X i
u k u k
- --------- + ij
-------X i X j
(3-10)
and the Green-Lagrange strain tensor:
1
= --- C I
2
164 |
CHAPTER 3: SOLID MECHANICS
(3-11)
About Linear Viscoelastic Materials
Linear viscoelastic materials have a time-dependent response, even if the loading is
constant. Many polymers and biological tissues exhibit such a behavior. Linear
viscoelasticity is a commonly used approximation, for which the stress depends linearly
on the strain and its time derivatives (strain rate). It is usually assumed that the viscous
part of the deformation is incompressible, so that the volume change is purely elastic.
LINEAR VISCOELASTIC SOLID
The total stress tensor is presented as:
s = pI + s d
where the pressure (volumetric stress) is computed as
p = K vol 3 T T ref
where K is the bulk modulus, is the coefficient of thermal expansion, and the strain
is decomposed as
1
= --- vol I + d
3
with the volumetric stress given by
vol = trace ij
The general linear dependence of the stress deviator on the strain history can be
expressed by the hereditary integral:
t
d
s d = 2 t t' -------- dt'
t'
where the function (t) is called the relaxation shear modulus function that can be
found by measuring the stress evolution in time when the material is held at a constant
strain.
The relaxation function is often approximated in a Prony series:
N
t = G +
m=1
t
G m exp -------
m
THEORY FOR THE SOLID MECHANICS USER INTERFACE
165
Physical interpretation of this approach, which is often called the generalized Maxwell
model, is shown in Figure 3-8
s
G1
G
Gi
G2
.....
2
1
.....
i
Figure 3-8: Generalized Maxwell model.
Hence, m are the relaxation time constants of the spring-dashpot pairs in the same
branch, and Gm represent the stiffness of the spring in branch m.
Following the analogy, the abstract variables qm are introduced to represent the
extension of the corresponding springs. Thus,
N
s d = 2G d +
2G m q m
(3-12)
m=1
q m + ------- q m = d
m
(3-13)
Each of the variables qm is a symmetric tensor (which has as many components as the
number of strain components of the problem class).
Equation 3-13 gives
trace q m = trace q 0m exp t t 0 m
for each branch. This assumes that traceq0m0. This is equivalent to the
assumption that any possible elastic prestrain of the material (also called viscoelastic
transient initialization) is always fast enough to equally affect all the branches.
Hence,
trace q m 0
which implies that both viscoelastic strain and stress tensors are deviatoric, and it allows
to express:
166 |
CHAPTER 3: SOLID MECHANICS
q zm = q xm q ym
The instantaneous shear modulus is defined as
N
G0 = G +
Gm
m=1
A commonly used parameter, the elastoviscosity, can be expressed for each branch in
terms of the relaxation time and shear modus as
m = Gm m
TE M P E R A T U R E E F F E C T S
For many materials, the viscoelastic properties have a strong dependence on the
temperature. A common assumption is that the material is thermorheologically simple
(TRS). In a material of this class, a change in the temperature can be transformed
directly into a change in the time scale. The reduced time is defined as
t
tr =
dt'
----------------------a T T t'
0
where aT(T) is a shift function. The implication is that the problem can be solved using
the original material data, provided that the time is transformed into the reduced time.
One commonly used shift function is defined by the WLF (Williams-Landel-Ferry)
equation:
C1 T T0
log a T = ----------------------------------C 2 + T T0
where a base-10 logarithm is assumed.
Note that aT(T0) = 1, so that T0 is the temperature at which the original material data
is given. Usually T0 is taken as the glass transition temperature of the material. If the
temperature drops below T0C2, the WLF equation is no longer valid. The constants
C1 and C2 are material dependent, but with T0 as the glass temperature the values
C1 = 17.4 and C2 = 51.6 K are reasonable approximations for many polymers.
Think of the shift function as a multiplier to the viscosity in the dashpot in the Maxwell
model. Equation 3-13 for a TRS material is modified to
THEORY FOR THE SOLID MECHANICS USER INTERFACE
167
q m + ----------------------- q m = d
a T T m
The viscoelastic strain variables qm are treated as additional degrees of freedom. The
shape functions must be of one order less than those used for the displacements
because these variables add to the strains and stresses computed from displacement
derivatives. The viscoelastic strain variables do not require continuity, so it is possible
to use discontinuous shape functions.
FREQUENCY DOMAIN ANALYSIS AND DAMPING
Frequency decomposition is performed as
s d = real s d exp jt
d = real d exp jt
Equation 3-12 and Equation 3-13 give then:
s d = 2 G' + jG'' d
where
N
G' = G +
m=1
N
G'' =
m=1
a T m
G m ----------------------------2
1 + m
a T m
G m -----------------------------------21 + a T m
are often referred to as the storage modulus and the loss modulus, respectively.
The internal work of viscous forces averaged over the time period 2 can be
computed as:
Q h = G''d conj d
AXIAL SYMMETRY
The volumetric strain is
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(3-14)
(3-15)
vol = I 1 =
ij
ij
i j
and the deviatoric part of the strain tensor is
1
d = --- vol g
3
where g is the metric tensor, or in components on coordinate system (G)
1
dij = ij --- vol g ij
3
Because the viscoelastic strain tensor qm is deviatoric,
ij
q mij = 0
i j
from which this expression is computed
q 22 m
-
q 33 m = q 11 m + -------------2
r
and all the other components of qm are treated as extra degrees of freedom.
The viscoelastic stress tensor variable is defined via the contravariant components on
(L):
ij
sq
ni kj
=
2G m q ij m g g
k n m = 1
The physical components of the viscoelastic stress are
11
s qr = s q
12
s q r = rsq
13
s q rz = s q
2 22
sq = r sq
THEORY FOR THE SOLID MECHANICS USER INTERFACE
169
23
s q z = rs q
33
sqz = sq
The total stress is computed via components on (L) as
s
ij
ij
= s0 + C
ijkl
ij
kl kl T T ref 0kl + s q
where the elasticity tensor components are
C
ijkl
ij kl
= g g
ik jl
il jk
+ g g + g g
About Contact Modeling
COMSOL Multiphysics is able to model contact between a group of boundaries in 2D
or 3D. The contact pair is asymmetric (source/destination pair). The destination
contact domain is constrained not to penetrate the source domain, but not vice versa.
To get the best results, the destination should have finer mesh than the source, and the
source should be stiffer than the destination. Also, the source should be concave and
the destination be convex rather than the opposite.
COMSOL Multiphysics solves contact problems using an augmented Lagrangian
method. This means that the software solves the system in a segregated way.
Augmentation components are introduced for the contact pressure Tn and the
components Tti of the friction traction vector Tt. An additional iteration level is added
where the usual displacement variables are solved separately from the contact pressure
and traction variables. The algorithm repeats this procedure until it fulfills a
convergence criterion.
In the following equations F is the deformation gradient matrix. When looking at
expressions evaluated on the destination boundaries, the expression map (E) denotes
the value of the expression E evaluated at a corresponding source point, and g is the
gap distance between the destination and source boundary.
Both the contact map operator map (E) and the gap distance variable are defined by
the contact element elcontact. For each destination point where the operator or gap
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is evaluated, a corresponding source point is sought by searching in the direction
normal to the destination boundary.
Source
m(x)
g
x
Destination
Before the boundaries come in contact, the source point found is not necessarily the
point on the source boundary closest to the destination point. However, as the
boundaries approach one another, the source point converges to the closest point as
the gap distance goes to zero.
It is possible to add an offset value to either the source, the destination or both. If an
offset is used, the geometry is treated as larger (or smaller) than what is actually
modeled when the gap is computed.
Using the special gap distance variable (solid.gap), the penalized contact pressure
Tnp is defined on the destination boundary as
Tn pn dg
T np =
pn dg
----------
Tn
T
e
n
if d g 0
(3-16)
otherwise
where dg is the gap distance between the destination and source boundary, and pn is
the user-defined normal penalty factor.
The penalized friction traction Ttp is defined on the destination boundary as:
T tcrit
T tp = min -------------------- 1 T ttrial
T ttrial
(3-17)
where Tttrial is defined as
T ttrial = T t p t map F x m x m old
(3-18)
and
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171
x m = map x
where x are the space coordinates.
In Equation 3-18, pt is the user-defined friction traction penalty factor, and xm,old is
the value of xm in the last time step, and
map F x m x m old
is the vector of slip since the last time step (approximated using a backward Euler step).
Ttcrit is defined as
T tcrit = min T np + T cohe T tmax
(3-19)
In Equation 3-19, is the friction coefficient, Tcohe is the user-defined cohesion
sliding resistance, and Ttmax is the user-defined maximum friction traction.
In the following equation is the variation (represented by the test operator in
COMSOL Multiphysics). The contact interaction gives the following contribution to
the weak equation on the destination boundary:
T np g + T tp m F x m dA +
destination
w cn T n + w ct T t dA
destination
where wcn and wct are contact help variables defined as:
w cn = T np i T n i + 1
w ct = fric T tp n T tp n i T t i + 1
where i is the augmented solver iteration number and fric is a Boolean variable stating
if the parts are in contact.
Since the contact model always makes use of the geometric nonlinearity assumption,
the contact pressure and the friction force represent, respectively, the normal and
tangential components of the nominal traction that is the force with components in
the actual configuration (that is, on the spatial frame) but related to the undeformed
area of the corresponding surface element.
FRICTION
The friction model is either no friction or Coulomb friction.
The frictional coefficient is defined as
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if dynamic friction
+ s d exp dcf v s
= d
otherwise
s
where s is the static frictional coefficient, d is the dynamic frictional coefficient, vs is
the slip velocity, and dcf is a decay coefficient.
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
Introduction to Contact Modeling
Modeling Geometric Nonlinearity
Identity and Contact Pairs in the COMSOL Multiphysics Reference
Manual
Theory for the Rigid Connector
The rigid connector is a special kinematic constraint, which can be attached to one or
several boundaries. The effect is that all connected boundaries behave as if they were
connected by a common rigid body.
The only degrees of freedom needed to represent this assembly are the ones needed to
represent the movement of a rigid body. In 2D this is simply two in-plane translations,
and the rotation around the z-axis.
In 3D the situation is more complex. Six degrees of freedom, usually selected as three
translations and three parameters for the rotation, are necessary. For finite rotations,
however, any choice of three rotation parameters is singular at some specific set of
angles. For this reason, a four-parameter quaternion representation is used for the
rotations in COMSOL Multiphysics. Thus, each rigid connector in 3D actually has
seven degrees of freedom, three for the translation and four for the rotation. The
quaternion parameters are called a, b, c, and d, respectively. These four parameters are
not independent, so an extra equation stating that
2
a +b +c +d = 1
is added.
The connection between the quaternion parameters and a rotation matrix R is
THEORY FOR THE SOLID MECHANICS USER INTERFACE
173
a +b c d
R =
2ad + 2bc
2bd 2 ac
2bc 2 ad
2
a b +c d
2ac + 2bd
2
2ab + 2cd
2cd 2ab
2
a b c +d
Under pure rotation, a vector from the center of rotation (Xc) of the rigid connector
to a point X on the undeformed solid will be rotated into
x Xc = R X Xc
where x is the new position of the point originally at X. The displacement is by
definition
u = x X = R I X Xc
where I is the unit matrix.
When the center of rotation of the rigid connector also has a translation uc, then the
complete expression for the displacements on the solid is
u = R I X Xc + uc
The total rotation of the rigid connector can be also presented as a rotation vector. Its
definition is
b
2 acos a
= ----------------------------------- c
2
2
2
b +c +d d
The parameter a can be considered as measuring the rotation, while b, c, and d can be
interpreted as the orientation of the rotation vector. For small rotations, this relation
simplifies to
b
= 2 c
d
The rotation vector is available as the variables thx_tag, thy_tag, and thz_tag.
It is possible to apply forces and moments directly to a rigid connector. A force
implicitly contributes also to the moment if it is not applied at the center of rotation
of the rigid connector.
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Initial Stresses and Strains
Initial stress refers to the stress before the system applies any loads, displacements, or
initial strains. The initial strain is the one before the system has applied any loads,
displacements, or initial stresses.
Both the initial stress and strains are tensor variables defined via components on the
local coordinate system for each domain. Input these as the following matrices:
0x 0xy 0xz
s 0x s 0xy s 0xz
0xy 0y 0yz
s 0xy s 0y s 0yz
0xz 0yz 0z
s 0xz s 0yz s 0z
In case of nearly incompressible material (mixed formulation), the components of the
total initial stress (that is, without volumetric-deviatoric split) are still input. The initial
pressure in the equation for the pressure help variable pw is computed as
1
p 0 = --- I 1 s 0
3
The initial stresses and strains can be used with the following material models:
Linear Elastic Material with or without plasticity. In the case of geometric
nonlinearity, the initial stress represents the second Piola-Kirchhoff stress, rather
than Cauchy stress.
Linear Viscoelastic Material
With the Geomechanics Module, these are also available:
Soil Plasticity
Concrete
Rocks
Cam-Clay Material
AXIAL SYMMETRY
User inputs the physical components of 0 and s0:
THEORY FOR THE SOLID MECHANICS USER INTERFACE
175
0r 0r 0rz
s 0r s 0r s 0rz
0r 0 0z s 0r s 0 s 0z
0rz 0z 0z
s 0rz s 0z s 0z
OTHER POSSIBLE USES OF INITIAL STRAINS AND STRESSES
Many inelastic effects in solids and structure (creep, plasticity, damping, viscoelasticity,
poroelasticity, and so on) are additive contributions to either the total strain or total
stress. Then the initial value input fields can be used for coupling the elastic equations
(solid physics) to the constitutive equations (usually General Form PDEs) modeling
such extra effects.
About Spring Foundations and Thin Elastic Layers
In this section, the equations for the spring type physics nodes are developed using
boundaries, but the generalizations to geometrical objects of other dimensions are
obvious.
SPRING FOUNDATION
A spring gives a force that depends on the displacement and acts in the opposite
direction (in the case of a force that is proportional to the displacement, this is called
Hookes law). In a suitable coordinate system, a spring condition can be represented as
fs = K u u0
where fs is a force/unit area, u is the displacement, and K is a diagonal stiffness matrix.
u0 is an optional pre-deformation. If the spring properties are not constant, it is, in
general, easier to directly describe the force as a function of the displacement, so that
fs = f u u0
In the same way, a viscous damping can be described as a force proportional to the
velocity
f v = Du
Structural (loss factor) damping is only relevant for frequency domain analysis and
is defined as
f l = iK u u 0
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CHAPTER 3: SOLID MECHANICS
where is the loss factor and i is the imaginary unit (in this case, a constant or a
diagonal matrix). If the elastic part of the spring definition is given as a force versus
displacement relation, the stiffness K is taken as the stiffness at the linearization point
at which the frequency response analysis is performed. Since the loss factor force is
proportional to the elastic force, the equation can be written as
f sl = f s + f l = 1 + i f s
The contribution to the virtual work is
W = u f sl + f v dA
A
T H I N E L A S T I C L A Y E R B E T W E E N TW O P A R T S
A spring or damper can also act between two boundaries of an identity pair. The spring
force then depends on the difference in displacement between the surfaces.
f sD = f sS = K u D u S u 0
The uppercase indices refer to source and destination. When a force versus
displacement description is used,
f sD = f sS = f u u 0
u = uD uS
The viscous and structural damping forces have analogous properties,
f vD = f vS = D u D u S
f lD = f lS = iK u D u S u 0
so that
f slD = f sD + f lD = 1 + i f sD
The virtual work expression is formulated on the destination side of the pair as
W =
uD uS
f slD + f vD dA D
AD
Here the displacements from the source side are obtained using the src2dst operator
of the identity pair.
THEORY FOR THE SOLID MECHANICS USER INTERFACE
177
THIN ELASTIC LAYER ON INTERIOR BOUNDARIES
On an interior boundary, the Thin Elastic Layer decouples the displacements between
two sides if the boundary. The two boundaries are then connected by elastic and
viscous forces with equal size but opposite directions, proportional to the relative
displacements and velocities. The spring force can be written as
f sd = f su = K u d u u u 0
or
f sd = f su = f u u 0
u = ud uu
The viscous force is
f vd = f vu = D u d u u
and the structural damping force is
f ld = f lu = iK u d u u u 0
f sld = f sd + f ld = 1 + i f sd
The subscripts u and d denote the up and down sides of the interior boundary.
The virtual work expression is formulated as
W =
ud us
f sld + f vd dA D
AD
About Added Mass
The Added Mass node can be used for supplying inertia that is not part of the material
itself. Such inertia does not need to be isotropic, in the sense that the inertial effects
are not the same in all directions. This is, for example, the case when a structure
immersed in a fluid vibrates. The fluid is added to the inertia for acceleration in the
direction normal to the boundary, but not tangential to it.
Other uses for added mass are when sheets or strips of a material that is heavy, but
having a comparatively low stiffness, are added to a structure. The data for the base
material can then be kept unaltered, while the added material is represented purely as
added mass.
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CHAPTER 3: SOLID MECHANICS
The value of an added mass can also be negative. You can use such a negative value for
adjusting the mass when a part imported from a CAD system does not get exactly the
correct total mass due so simplifications of the geometry.
Added mass is an extra mass distribution that can be anisotropic. It can exist on
domains, boundaries, and edges. The inertial forces from added mass can be written as
2
fm = M
u
t
where M is a diagonal mass distribution matrix. The contribution to the virtual work is
W = u f m dA
A
for added mass on a boundary, and similarly for objects of other dimensions.
Using Pre-tensioned Bolts
Bolted joints are common in mechanical and civil engineering structures. If you are
interested in analyzing the details of a bolted joint, the pre-stress in the bolt must be
taken into account in order to correctly capture the behavior under service loads. The
Bolt Pre-Tension functionality in COMSOL Multiphysics is designed to simplify such
analyses.
During mounting, a bolt is tightened to a certain pre-stress. The mounting of the bolt
is, in general, accompanied by deformations of the surrounding structure. In the
subsequent service, the force in the bolt may change due to external loads.
In an analysis, you have to use two or more separate studies in order to model this
behavior. The first study, in which the bolt pre-stress is prescribed, simulates the
mounting process. If a force is added to the bolt, for example as an initial stress, the
resulting stress in the bolt would then be less than the intended, due to the
compression of the material around the bolt.
In the subsequent studies the bolt force is allowed to change, while keeping the offset
fixed, as caused by the first study. The procedure to do this is as follows:
1 Model each bolt using solid elements in 3D. Often you can model one bolt, and
then make copies of it.
2 Make sure that there is at least one internal boundary perpendicular to the bolt axis
somewhere in the shank. In the following, this boundary is referred to as the slit
THEORY FOR THE SOLID MECHANICS USER INTERFACE
179
boundary (Figure 3-9).
3 If needed, add contact conditions between the bolt head and the component and
between different components bolted together.
4 Add a Bolt Pre-Tension node, in which the pre-tension force or stress is prescribed.
5 For each bolt having the same pre-tension, add a Bolt Selection subnode where the
slit boundary is selected.
6 Run the study for the mounting simulation.
7 Add one more study for the analysis of the service loads. In the Values of Dependent
Variables section, select Values of variables not solved for, set Method to Solution, and
select the study used for the mounting process.
It is important to make sure that you do not solve for the bolt
pre-deformation degrees of freedom when analyzing the service loads.
The next step explains how to control this. For more information also see
Dependent Variables and Solver Configurations in the COMSOL
Multiphysics Reference Manual.
8 Under the Dependent Variables node, click to clear the Solve for this state check box
for these variables in the second study. You may need to click Show Default Solver in
the Solver Configurations node of the study first.
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CHAPTER 3: SOLID MECHANICS
Figure 3-9: Example of a bolted joint.
Each bolt selected in the Bolt Selection node, has one degree of freedom called
pre-deformation, d. At the slit boundary, the two sides of the bolt are disconnected so
that the displacements over it may be discontinuous. The discontinuity is represented
by:
u u = u d dn
Here the subscript u denotes the up side of the slit boundary, d denotes the down
side, and n is the normal pointing out from the down side. The sign has been selected
so that d gets a positive value.
The axial force in the bolt is computed as the reaction force belonging to the degree
of freedom d.
The results in a bolt do not belong to any part of the geometry, but are global
variables. To access the result of a certain bolt, a full scope of the type
<interface>.<Bolt Pre-Tension tag>.<Bolt Selection tag>.<variable>
THEORY FOR THE SOLID MECHANICS USER INTERFACE
181
must be used. An example could be solid.pblt1.sblt1.F_bolt. The bolt results
are summarized in the table below.
TABLE 3-9: BOLT VARIABLES
VARIABLE
DESCRIPTION
d_pre
Pre-deformation
F_bolt
Axial force in the bolt
F_shear
Shear force in the bolt
Bolt Pre-Tension and Bolt Selection
The Solid Mechanics User Interface
Studies and Solvers in the COMSOL Multiphysics Reference Manual
Prestressed Bolts in a Tube Connection: Model Library path
Structural_Mechanics_Module/Contact_and_Friction/tube_connection
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
Geometric nonlinearity formulation is suitable for any material, and it is always used
for hyperelastic materials and for large strain plasticity.
The Hyperelastic Material node is available with the Nonlinear Structural
Materials Module.
For other materials, it can be activated via the solver setting. Note however that even
together with the geometric nonlinearity, the validity of any linear material model is
usually limited to the situation of possibly large displacements but small to moderate
strains. A typical example of use is to model large rigid body rotations. The
implementation is similar to that for the geometrically linear elastic material, but with
the strain tensor replaced with the Green-Lagrange strain tensor, and the stress tensor
replaced with the second Piola-Kirchhoff stress tensor, defined as:
0
S = S + C I
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CHAPTER 3: SOLID MECHANICS
where TTref, and i represents all possible inelastic strains (such as plastic or
creep strains). In components, it is written as:
0
S ij = S ij + C ijkl kl kl kl kl
where the elasticity tensor C ijkl is defined from the D matrix (user input). The 2nd
Piola-Kirchhoff stress is a symmetric tensor.
The strain energy function is computed as
1
0 i
W s = --- S I
2
which is a variable defined in the physics interface. Other stress variables are defined as
follows.
The first Piola-Kirchhoff stress P is calculated from the second Piola-Kirchhoff stress
as P FS. The first Piola-Kirchhoff stress relates forces in the present configuration
with areas in the reference configuration, and it is sometimes called the nominal stress.
Using the 1st Piola-Kirchhoff stress tensor, the equation of motion can be written in
the following form:
2
u
t
= FV X P
(3-20)
where the density corresponds to the material density in the initial undeformed state,
the volume force vector FV has components in the actual configuration but given with
respect to the undeformed volume, and the tensor divergence operator is computed
with respect to the coordinates on the material frame. Equation 3-20 is the strong
form that corresponds to the weak form equations solved in case of geometric
nonlinearity within the Solid Mechanics interface (and many related multiphysics
interfaces) in COMSOL Multiphysics. Using vector and tensor components, the
equation can be written as
THEORY FOR THE SOLID MECHANICS USER INTERFACE
183
ux
t
uy
t
uz
t
P xX P xY P xZ
= F Vx
+
+
X
Y
Z
P yX P yY P yZ
= F Vy
+
+
X
Y
Z
P zX P zY P zZ
= F Vz
+
+
X
Y
Z
The components of 1st Piola-Kirchhoff stress tensor are non symmetric in the general
case, thus
P iJ P Ij
because the component indexes correspond to different frames. Such tensors are called
two-point tensors.
The boundary load vector FA in case of geometric nonlinearity can be related to the
1st Piola-Kirchhoff stress tensor via the following formula:
FA = P n0
where the normal n0 corresponds to the undeformed surface element. Such a force
vector is often referred to as the nominal traction. In components, it can be written as
F Ax = P xX n X + P xY n Y + P xZ n Z
F Ay = P yX n X + P yY n Y + P yZ n Z
F Az = P zX n X + P zY n Y + P zZ n Z
The Cauchy stress, s,can be calculated as
1
s = J PF
= J FSF
The Cauchy stress is a true stress that relates forces in the present configuration (spatial
frame) to areas in the present configuration, and it is a symmetric tensor.
Equation 3-20 can be rewritten in terms of the Cauchy stress as
2
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CHAPTER 3: SOLID MECHANICS
u
t
= fV x s
where the density corresponds to the density in the actual deformed state, the volume
force vector fV has components in the actual configuration (spatial frame) given with
respect to the deformed volume, and the divergence operator is computed with respect
to the spatial coordinates.
The pressure is computed as
1
p = --- trace s
3
which corresponds to the volumetric part of the Cauchy stress. The deviatoric part is
defined as
s d = s + pI
The second invariant of the deviatoric stress
1
J 2 s = --- s d :s d
2
is used for the computation of von Mises (effective) stress
s mises =
3J 2 s
NEARLY INCOMPRESSIBLE MATERIALS
Nearly incompressible materials can cause numerical problems if only displacements
are used in the interpolating functions. Small errors in the evaluation of volumetric
strain, due to the finite resolution of the discrete model, are exaggerated by the high
bulk modulus. This leads to an unstable representation of stresses, and in general to
underestimation of the deformation because spurious volumetric stresses might
balance also applied shear and bending loads.
In such cases a mixed formulation can be used that represents the pressure as a
dependent variable in addition to the displacement components. This formulation
removes the effect of volumetric strain from the original stress tensor and replaces it
with an interpolated pressure, pw. A separate equation constrains the interpolated
pressure to make it equal (in a finite-element sense) to the original pressure calculated
from the strains.
For an isotropic linear elastic material, the second Piola-Kirchhoff stress tensor S,
computed directly from the strains, is replaced by a modified version:
s = s + p p w I
THEORY FOR THE SOLID MECHANICS USER INTERFACE
185
where I is the unit tensor and the pressure p is calculated from the stress tensor
1
p = --- trace s
3
The auxiliary dependent variable pw is set equal to p using the equation
pw p
------- --- = 0
(3-21)
where is the bulk modulus.
The modified stress tensor s is used then in calculations of the energy variation.
For orthotropic and anisotropic materials, the auxiliary pressure equation is scaled to
make the stiffness matrix symmetric. Note, however, that the stiffness matrix in this
formulation is not positive definite and even contains a zero block on the diagonal in
the incompressible limit. This limits the possible choices of direct and iterative linear
solver.
In case of linear elastic materials without geometric nonlinearity (and also
for hyperelastic materials), the stress tensor s in the above equations is
replaced by the 2nd Piola-Kirchhoff stress tensor S, and the pressure p
with:
1
p p = --- trace S
3
About the Low-Reflecting Boundary Condition
The low-reflecting boundary condition is mainly intended for letting waves pass out
from the model domain without reflection in time-dependent analysis. It is also
available in the frequency domain, but then adding a perfectly matched layer (PML) is
usually a better option.
Infinite Element Domains and Perfectly Matched Layers in the COMSOL
Multiphysics Reference Manual
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CHAPTER 3: SOLID MECHANICS
As a default, the low-reflecting boundary condition takes the material data from the
adjacent domain in an attempt to create a perfect impedance match for both pressure
waves and shear waves, so that
u
u
n = c p n n c s t t
t
t
where n and t are the unit normal and tangential vectors at the boundary, respectively,
and cp and cs are the speeds of the pressure and shear waves in the material. This
approach works best when the wave direction in close to the normal at the wall.
In the general case, you can use
n = d i c p c s
u
t
where the mechanical impedance di is a diagonal matrix available as the user input, and
by default it is set to
cp + cs
d i = ---------------- I
2
More information about modeling using low-reflecting boundary
conditions can be found in M. Cohen and P.C. Jennings, Silent
Boundary Methods for Transient Analysis, Computational Methods for
Transient Analysis, vol 1 (editors T. Belytschko and T.J.R. Hughes),
Nort-Holland, 1983.
Cyclic Symmetry and Floquet Periodic Conditions
These boundary conditions are based on the Floquet theory which can be applied to
the problem of small-amplitude vibrations of spatially periodic structures.
If the problem is to determine the frequency response to a small-amplitude
time-periodic excitation that also possesses spatial periodicity, the theory states that the
solution can be sought in the form of a product of two functions. One follows the
periodicity of the structure, while the other one follows the periodicity of the
excitation. The problem can be solved on a unit cell of periodicity by applying the
corresponding periodicity conditions to each of the two components in the product.
THEORY FOR THE SOLID MECHANICS USER INTERFACE
187
The problem can be modeled using the full solution without applying the above
described multiplicative decomposition. For such a solution, the Floquet periodicity
conditions at the corresponding boundaries of the periodicity cell are expressed as
u destination = exp ik F r destination r source u source
where u is a vector of dependent variables, and vector kF represents the spatial
periodicity of the excitation.
The cyclic symmetry boundary condition presents a special but important case of
Floquet periodicity, for which the unit periodicity cell is a sector of a structure that
possesses rotational symmetry. The frequency response problem can be solved then in
one sector of periodicity by applying the periodicity condition. The situation is often
referred to as dynamic cyclic symmetry.
For an eigenfrequency study, all the eigenmodes of the full problem can be found by
performing the analysis on one sector of symmetry only and imposing the cyclic
symmetry of the eigenmodes with an angle of periodicity = m , where the cyclic
symmetry mode number m can vary from 0 to N, with N being the total number of
sectors so that 2N.
The Floquet periodicity conditions at the sides of the sector of symmetry can be
expressed as
u destination = e
R u source
where the u represents the displacement vectors with the components given in the
default Cartesian coordinates. Multiplication by the rotation matrix given by
R =
cos sin 0
sin cos 0
0
0
1
makes the corresponding displacement components in the cylindrical coordinate
system differ by the factor exp i only. For scalar dependent variables, a similar
condition applies, for which the rotation matrix is replaced by a unit matrix.
The angle represents either the periodicity of the eigenmode for an eigenfrequency
analysis or the periodicity of the excitation signal in case of a frequency-response
analysis. In the latter case, the excitation is typically given as a load vector
F = F 0 exp im atan Y X
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when modeled using the cartesian coordinates; parameter m is often referred to as the
azimuthal wave-number.
More information about cyclic symmetry conditions can be found in B.
Lalanne and M. Touratier, Aeroelastic Vibrations and Stability in Cyclic
Symmetric Domains, The International Journal of Rotating
Machinery, vol. 6, no. 6, pp 445452, 2000.
THEORY FOR THE SOLID MECHANICS USER INTERFACE
189
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Shells and Plates
This chapter describes the Shell and Plate interfaces, which are found under the
Structural Mechanics branch (
) in the Model Wizard.
In this chapter:
The Shell and Plate User Interfaces
Theory for the Shell and Plate User Interfaces
191
T he S he ll a nd Pl at e User In t erfac es
The Shell user interface is for 3D models.
The Plate user interface is for 2D modelsdomains are selected instead of
boundaries, and boundaries instead of edges. Otherwise the settings
windows are similar to those for the Shell interface.
The Shell (
) and Plate (
) user interfaces, found under the Structural Mechanics
branch (
) in the Model Wizard, have the equations, elements, and functionality (in
the form of material properties, constraints, loads, thermal expansion, and initial
stresses and strains) for stress analysis and general mechanical analysis in shells and
plates. Both interfaces use shell elements of the MITC type.
The Linear Elastic Material is the only available material model. It adds a linear elastic
equation for the displacements and has a settings window to define the elastic material
properties.
When this interface is added, these default nodes are also added to the Model Builder
Linear Elastic Material, Free (a boundary condition where edges are free, with no loads
or constraints), and Initial Values. Right-click the Shell or Plate node to add other
nodes.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is shell or plate.
BOUNDARY OR DOMAIN SELECTION
The default setting is to include All boundaries (Shell interface) or All domains (Plate
interface) in the model to define the degrees of freedom and the equations that
describe the shell or plate. To choose specific boundaries or domains, select Manual
from the Selection list.
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THICKNESS
Define the Thickness d by entering a value or expression (SI unit: m) in the field. The
default is 0.01 m. Use the Change Thickness node to define a different thickness in
parts of the shell or plate. The thickness can be variable if an expression is used.
Offset Definition
This section is available for the Shell interface only. For theory, see Offset.
If the actual shell midsurface is not the boundary on which the mesh exists, it is
possible to prescribe an offset in the direction of the surface normal by using an offset
definition. The offset is defined as positive if the shell midsurface is displaced from the
meshed boundary in the direction of the positive shell normal.
Select an option from the Offset definition listNo offset (the default), Physical offset,
or Relative offset. The default No offset means that the modeled boundary coincides
with the shell midsurface.
If Physical offset is selected, enter a value or expression in the zoffset field (SI unit:
m) for the actual distance from the meshed boundary to the shell midsurface. The
default is 0.
If Relative offset is selected, enter a value or expression in the zrel_offset field
(dimensionless) for the offset as the ratio between the offset distance and half the
shell thickness. The default is 0. A value of +1 means that the actual shell bottom
surface is located on the meshed boundary, and a value of 1 means that the shell
top surface is located on the meshed boundary.
Use the Change Thickness node to define a different offset in parts of the
shell.
FOLD-LINE LIMIT ANGLE
This section is available for the Shell interface only. Also see The MITC
Shell Formulation.
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193
The fold-line limit angle (SI unit: radians) is the smallest angle between the normals
of two boundaries that will make their intersection to be treated as a fold line. The
normal to the shell is discontinuous along a fold-line. Enter a value or expression in
the field. The default value is 0.05 radians (approximately 3 degrees).
REFERENCE POINT F OR MOMENT COMPUTATION
Enter the default coordinates for the Reference point for moment computation xref
(SI unit: m). The resulting moments (applied or as reactions) are then computed
relative to this reference point. During the results and analysis stage, the coordinates
can be changed in the Parameters section in the result nodes.
HEIGHT OF EVALUATION IN SHELL
Enter a number between -1 and 1 for the Height of evaluation in shell Z. The value can
be changed from 1 (downside) to 1 (upside). The default is +1. A value of 0 means
the midsurface of the shell. This is the default position for stress and strain evaluation
during the results analysis. During the results and analysis stage, the coordinates can
be changed in the Parameters section in the result features.
DEPENDENT VARIABLES
Both interfaces define two dependent variables (fields)the displacement field u and
the field of normal displacements ar. The names can be changed but the names of
fields and dependent variables must in general be unique within a model. If you
intentionally use the same name for fields from different physics interfaces, these
degrees of freedom are treated as being the same. This can be used when mixing
different type of structural mechanics physics interfaces, where you often want the
displacements to be the equal.
ADVANCED SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
Normally these settings do not need to be changed.
The Use MITC interpolation check box is selected by default, and this interpolation,
which is part of the MITC shell formulation, should normally always be active.
For the Plate interface, the Use 3D formulation check box is used to select whether six
or three variables are used in the formulation. For geometrically nonlinear analyses, or
when in-plane (membrane) forces are active, six variables must be used. This check box
is selected by default.
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DISCRETIZATION
Show button (
) and select Discretization. Select Quadratic (the default) or Linear for
the Displacement field. Specify the Value type when using splitting of complex variables
Real or Complex (the default).
Show More Physics Options
Domain, Boundary, Edge, Point, and Pair Nodes for the Shell and
Plate User Interfaces
About the Body Load, Face Load, Edge Load, and Point Load Nodes
Theory for the Shell and Plate User Interfaces
Results Evaluation
Vibrations of a Disk Backed by an Air-Filled Cylinder: Model Library
path Structural_Mechanics_Module/Acoustic-Structure_Interaction/
coupled_vibrations
Pinched Hemispherical Shell: Model Library path
Structural_Mechanics_Module/Verification_Models/
pinched_hemispherical_shell
Domain, Boundary, Edge, Point, and Pair Nodes for the Shell and
Plate User Interfaces
The Shell and Plate User Interfaces have the following domain, boundary, edge, point,
and pair nodes available as indicated.
To locate and search all the documentation, in COMSOL Multiphysics,
select Help>Documentation from the main menu and either enter a search
term or look under a specific module in the documentation tree.
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195
These nodes are described in this section (listed in alphabetical order):
Antisymmetry
Pinned
Body Load
Point Load
Change Thickness
Prescribed Acceleration (for
time-dependent and frequency-domain
studies)
Damping
Edge Load
Face Load
Initial Values
Initial Stress and Strain
Linear Elastic Material
No Rotation
Prescribed Displacement/Rotation
Prescribed Velocity (for time-dependent
and frequency-domain studies)
Rigid Connector
Symmetry
Thermal Expansion
Phase
If there are subsequent constraints specified on the same geometrical
entity, the last one takes precedence. The exception is that Pinned and
No Rotation boundary conditions do not override each other.
These nodes are described in the documentation for the Solid Mechanics interface:
Added Mass
Mass and Moment of Inertia
Applied Force
Fixed Constraint
Applied Moment
Pre-Deformation
Free
Spring Foundation
For the Harmonic Perturbation features, see Harmonic Perturbation
Exclusive and Contributing Nodes in the COMSOL Multiphysics
Reference Manual.
Linear Elastic Material
The Linear Elastic Material node adds the equations for a linear elastic shell and an
interface for defining the elastic material properties. Right-click to add Thermal
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Expansion, Initial Stress and Strain, and Damping nodes. Choose boundaries for the
Shell interface or domains for the Plate interface.
BOUNDARY OR DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or domains or select All boundaries or All
domains as required.
MODEL INPUTS
Define model inputs, for example, the temperature field of the material uses a
temperature-dependent material property. If no model inputs are required, this section
is empty.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate system that the model includes. The coordinate system is
used for interpreting directions of orthotropic and anisotropic material data and when
stresses or strains are presented in a local system. The coordinate system given is
projected onto the shell surface as described in Local Coordinate Systems.
LINEAR ELASTIC MATERIAL
Select a linear elastic Solid modelIsotropic, Orthotropic, or Anisotropic and enter the
settings as described for the Linear Elastic Material for The Solid Mechanics User
Interface. Also note the following.
If Orthotropic is selected, no values for Ez, yz, or xz need to be entered due to the
shell assumptions.
If a User defined Anisotropic model is selected, a 6-by-6 symmetric matrix is
displayed. Due to the shell assumptions, only enter values for D11, D12, D22, D14,
D24, D55, D66, and D56.
GEOMETRIC NONLINEARITY
In this section there is always one check box. Either Force linear strains or Include
geometric nonlinearity is shown.
If a study step is geometrically nonlinear, the default behavior is to use a large strain
formulation in all domains. There are however some cases when you would still want
to use a small strain formulation for a certain domain. In those cases, select the Force
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197
linear strains check box. When selected, a small strain formulation is always used,
independently of the setting in the study step. The default value is that the check box
is cleared, except when opening a model created in a version prior to 4.3. In this case
the state is chosen so that the properties of the model are conserved.
The Include geometric nonlinearity check box is displayed only if the model was created
in a version prior to 4.3, and geometric nonlinearity was originally used for the selected
domains. It is then selected and forces the Include geometric nonlinearity check box in
the study step to be selected. If the check box is cleared, it is permanently removed and
the study step assumes control over the selection of geometric nonlinearity.
Thermal Expansion
Right-click the Linear Elastic Material node to add a Thermal Expansion node, which is
an internal thermal strain caused by changes in temperature. The temperature is
assumed to vary linearly through the thickness of the shell.
BOUNDARY OR DOMAIN SELECTION
From the Selection list, choose the boundaries (Shell interface) or domains (Plate
interface) to define the coefficient of thermal expansion and the different temperatures
that cause thermal stress.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
THERMAL EXPANSION
Specify the thermal properties that define the thermal stress.
From the Coefficient of thermal expansion (SI unit: 1/K) list, select From material to
use the coefficient of thermal expansion from the material, or User defined to enter a
value or expression for . Select Isotropic, Diagonal or Symmetric to enter one or more
components for a general coefficient of thermal expansion vector vec.
Enter a value or expression of the Strain reference temperature Tref (SI unit: K), which
is the reference temperature where the thermal strain is zero.
From the Temperature T (SI unit: K) list, select an existing temperature variable from
a heat transfer interface (for example, Temperature (htsh/sol1)), if any temperature
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variables exist, or select User defined to enter a value or expression for the temperature
(the default is 293.15 K). This is the mid-surface temperature of the shell.
THERMAL BENDING
Enter the Temperature difference in thickness direction T, (SI unit: K), which affects
the thermal bending. This is the difference between the temperatures at the top and
bottoms surfaces.
Initial Stress and Strain
Right-click the Linear Elastic Material node to add an Initial Stress and Strain node,
which is the stress-strain state in the structure before applying any constraint or load.
Initial strain can, for instance, describe moisture-induced swelling, and initial stress can
describe stresses from heating.
For more information see Stress and Strain Calculations and Initial Values
and Prescribed Values in the theory section.
BOUNDARY OR DOMAIN SELECTION
From the Selection list, choose the boundaries (Shell interface) or domains (Plate
interface) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate system that the model includes. The given initial stresses and
strains are interpreted in this system. The coordinate system given is projected onto the
shell surface as described in Local Coordinate Systems.
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199
INITIAL STRESS
Specify the initial stress as the Initial in-plane force, the Initial moment, and the Initial
out-of-plane force. The default values are zero, which mean no initial stress. Enter
values or expressions in the applicable fields for the:
Initial in-plane force Ni (SI unit: N/m)
Initial moment Mi (SI unit: Nm/m)
Initial out-of-plane shear force Qi (SI unit: N/m)
INITIAL STRAIN
Specify the initial strain as the Initial membrane strain, the Initial bending strain, and the
Initial transverse shear strain. The default values are 0, which mean no initial strain.
Enter values or expressions in the applicable fields for the:
Initial membrane strain i (dimensionless)
Initial bending strain i (SI unit: 1/m)
Initial transverse shear strain i (dimensionless)
For definitions of the generalized strains, see Theory for the Shell and
Plate User Interfaces.
Damping
Right-click the Linear Elastic Material node to add the Damping node, which adds
Rayleigh damping or an isotropic loss-factor damping. In time-dependent,
eigenfrequency, and frequency domain response studies, model undamped or damped
problems.
Loss factor damping is valid only for damped eigenfrequency and
frequency response analysis. If time-dependent analysis and loss factor
damping is chosen, the model is solved with no damping.
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BOUNDARY OR DOMAIN SELECTION
From the Selection list, choose the boundaries (Shell interface) or domains (Plate
interface) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
DAMPING SETTINGS
Select a Damping typeRayleigh damping (the default), Isotropic loss factor, Orthotropic
loss factor, or Anisotropic loss factor.
For Rayleigh damping, enter the Mass damping parameter dM and the Stiffness damping
parameter dK in the corresponding fields. The default values are 0, which is no
damping.
Isotropic Loss Factor
From the Isotropic structural loss factor list, select From material (the default) to use the
material value or select User defined to enter a value or expression. The default is 0.
Orthotropic Loss Factor
From the Loss factor for orthotropic Youngs modulus list, select From material (the
default) to use the material value or select User defined and enter values for E.
From the Loss factor for orthotropic shear modulus list, select From material (the
default) to use the material value or select User defined and enter values for G or GVo
If Voigt notation is selected, the loss factors for the shear moduli are given in that order
too.
The default values are 0. If the values are taken from the material, these loss factors are
found in the orthotropic material model for the material.
Anisotropic Loss Factor
From the Loss factor for elasticity matrix D list, select From material (the default) to use
the material value or User defined to enter values or expressions for D or DVo. If Voigt
notation is selected, the anisotropic loss factors are given in that order too.
Select Symmetric to enter the components of D or DVo in the upper-triangular part
of a symmetric 6-by-6 matrix or Isotropic to enter a single scalar loss factor.
The defaults are 0. If the values are taken from the material, these loss factors are found
in the anisotropic material model for the material.
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201
Change Thickness
Use the Change Thickness node to model regions with a thickness or offset other than
the overall values defined in the interface Thickness section.
BOUNDARY OR DOMAIN SELECTION
From the Selection list, choose the boundaries (Shell interface) or domains (Plate
interface) to use a different thickness.
CHANGE THICKNESS
Enter a value for the Thickness d (SI unit: m). This value replaces the overall thickness
for the boundaries selected above. The thickness can be variable if an expression is
used.
Offset Definition
If the actual shell midsurface is not the boundary on which the mesh exists, it is
possible to prescribe an offset in the direction of the surface normal by using an offset
definition. The offset is defined as positive if the shell midsurface is displaced from the
meshed boundary in the direction of the positive shell normal.
Select an option from the Offset definition listFrom parent (the default), No offset,
Physical offset, or Relative offset. The default From parent means that the offset is as
defined in the Thickness section of the shell interface.
If No offset is selected, it means that the modeled boundary coincides with the shell
midsurface.
If Physical offset is selected, enter a value or expression in the zoffset (SI unit: m) field
for the actual distance from the meshed boundary to the shell midsurface. The
default is 0.
If Relative offset is selected, enter a value or expression in the zrel_offset
(dimensionless) field for the offset as the ratio between the offset distance and half
the shell thickness. The default is 0. A value of +1 means that the actual shell bottom
surface is located on the meshed boundary, and a value of -1 means that the shell
top surface is located on the meshed boundary.
For theory, see Offset.
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Initial Values
The Initial Values node adds the initial values for the translational displacement and
velocity field as well as the for the normal displacement and velocity field. It can serve
as an initial condition for a transient simulation or as an initial guess for a nonlinear
analysis. Right-click to add additional Initial Values nodes. Choose boundaries for the
Shell interface or domains for the Plate interface.
BOUNDARY OR DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or domains or select All boundaries or All
domains as required.
INIT IA L VA LUES
Enter values or expressions for the initial values. The default value is 0 for all
displacements and velocities:
Displacement field u (SI unit: m) (the displacement components u, v, and w)
u
Velocity field ------ (SI unit m/s)
t
Displacement of shell normals ar (dimensionless).
ar
Displacement of shell normals, first time derivative --------- (SI unit: 1/s)
t
About the Body Load, Face Load, Edge Load, and Point Load Nodes
Add force loads acting on all levels of the geometry. Add a:
Body Load (such as self-weight or centrifugal loads) for the shells on the boundary
(plate: domain) level.
Face Load to boundaries (plate: domains), for example describing a pressure acting
on a surface.
Edge Load as a force or moment distributed along an edge (plate: boundary).
Point Load as concentrated forces or moments at points.
For all of these loads, right-click and choose Phase to add a phase for harmonic loads
in frequency-domain computations. In this way a harmonic load can be defined where
the amplitude and phase shift can vary with the excitation frequency f:
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203
F freq = F F Amp f cos 2f + F Ph f
Body Load
Add a Body Load to boundaries (for the Plate interface add it to domains) and use it for
self-weight or centrifugal loads, for example. Right-click and add a Phase for harmonic
loads in frequency-domain computations.
BOUNDARY OR DOMAIN SELECTION
From the Selection list, choose the boundaries (the Shell interface) or domains (the
Plate interface) to define.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the load. From the Coordinate
system list select from:
Global coordinate system (the default)
Boundary System (a predefined normal-tangential coordinate system)
Any additional user-defined coordinate system
FORCE
Enter values or expressions for the components of the Body load FV (SI unit: N/m3).
MOMENT
Enter values or expressions for the components of the Moment body load ML (SI unit:
Nm/m3).
Face Load
Add a Face Load to boundaries (for the Plate interface add it to domains), to use it as
a pressure or tangential force acting on a surface. Right-click and add a Phase for
harmonic loads in frequency-domain computations.
BOUNDARY OR DOMAIN SELECTION
From the Selection list, choose the boundaries (the Shell interface) or domains (the
Plate interface) to define.
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COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the load. From the Coordinate
system list select from:
Global coordinate system (the default)
Boundary System (a predefined normal-tangential coordinate system)
Any additional user-defined coordinate system
FORCE
Select a Load typeFace load defined as force per unit area or Pressure.
If Face load defined as force per unit area is selected, enter values or expressions for
the components of the Face load FA (SI unit: N/m2).
If Pressure is selected, enter a value or expression for the Pressure p (SI unit: Pa). A
positive pressure is directed in the negative shell normal direction.
The pressure load is a follower load. The direction changes with
deformation in a geometrically nonlinear analysis.
MOMENT
Enter values or expressions for the components of the Moment face load MA (SI unit:
Nm/m2).
Edge Load
Add an Edge Load as a force or moment distributed along an edge (for the Plate
interface add it to boundaries). Right-click and add a Phase for harmonic loads in
frequency-domain computations.
BOUNDARY OR EDGE SELECTION
From the Selection list, choose the edges or boundaries to define.
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205
FACE DEFINING THE EDGE SYSTEM
This section is available only in the Shell interface and is used if a Local
edge system is selected as the coordinate system and the load is applied to
an edge which is shared between boundaries. In that case, the edge system
may be ambiguous. Select the boundary which should define the edge
system. The default is to Use face with lowest number.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the load. From the Coordinate
system list select from:
Local edge system (the default). The local edge coordinate systems directions xl, yl,
and zl are defined so that:
- The first direction (xl) is along the edge.
- The third direction (zl) is the same as the shell normal direction.
- The second direction (yl) is in the plane of the shell, and formed by the cross
product of zl and xl.
The local edge coordinate systems directions are also available as variables for
plotting using an Arrow Line plot, for example: Under Shell>Shell Local System in
the plot settings lists of predefined expressions, select Base vector (shellsys) x,
Base vector (shellsys) y, or Base vector (shellsys) z.
Global coordinate system (the standard global coordinate system).
Any additional user-defined coordinate system.
FORCE
From the Load type list, select the definition of the force load. Select Load defined as
force per unit length FL (the default) (SI unit: N/m) or Load defined as force per unit
area FA (SI unit: N/m2). Enter values or expressions for the components of the Edge
load in the table.
MOMENT
From the Load type list, select the definition of the moment load. Select Edge load
defined as moment per unit length ML (the default) (SI unit: N) or Edge load defined as
moment per unit area MA (SI unit: Nm/m2). Enter values or expressions for the
components of the Moment edge load in the table.
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Point Load
Add a Point Load to points for concentrated forces or moments at points. Right-click
and add a Phase for harmonic loads in frequency-domain computations.
POINT S EL EC TION
From the Selection list, choose the points to define.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the load. From the Coordinate
system list select from:
Global coordinate system (the default)
Any additional user-defined coordinate system
FORCE
Enter values or expressions for the components of the Point load FP (SI unit: N).
MOMENT
Enter values or expressions for the components of the Point moment MP (SI unit:
Nm).
Phase
Right-click any load node (see About the Body Load, Face Load, Edge Load, and
Point Load Nodes) to add a Phase node, which adds a phase for harmonic loads in
frequency-domain computations.
B O U N D A R Y, E D G E , P O I N T , O R D O M A I N S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, domains, edges, or
points) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
PHASE
Add the phase angle Fph (SI unit: rad) for harmonic loads. Enter the phase for each
component of the load in the corresponding fields.
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207
MOMENT LOAD PHASE
Add the phase for the moment load Mph (SI unit: rad) for harmonic loads. Enter the
phase for each component of the moment load in the corresponding fields.
Pinned
The Pinned node adds an edge, boundary, domain, or point condition that fixes the
translations in all directions, that is, all displacements are zero. The rotations are not
constrained.
E D G E , B O U N D A R Y, D O M A I N , O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (edges, boundaries, domains or
points) to define.
CONSTRAINT SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
To Apply reaction terms on all dependent variables, select All physics (symmetric).
Otherwise, select Current physics (internally symmetric) or Individual dependent
variables to restrict the reaction terms as required. Select the Use weak constraints check
box to replace the standard constraints with a weak implementation.
Using Weak Constraints to Evaluate Reaction Forces
No Rotation
The No Rotation node adds an edge, boundary, domain, or point condition that fixes
the rotations around all axes. The translations are not constrained.
E D G E , B O U N D A R Y, D O M A I N , O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (edges, boundaries, domains or
points) to define.
CONSTRAINT SETTINGS
See Pinned for these settings.
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Prescribed Displacement/Rotation
The Prescribed Displacement/Rotation node adds an edge, boundary, domain, or point
condition to a model where the displacements and rotations are prescribed in one or
more directions.
With this condition it is possible to prescribe a displacement in one direction or one of
the rotations, leaving the shell free to deform or rotate in the other directions.
If a prescribed displacement or rotation is not activated in any direction, this is the
same as Free.
If zero displacements and rotations are prescribed in all directions, this is the same
as Fixed Constraint.
If zero displacements are prescribed in all directions, this is the same as Pinned.
If zero rotations are prescribed in all directions, this is the same as No Rotation.
E D G E , B O U N D A R Y, D O M A I N , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (edges, boundaries, domains or
points) to define.
FACE DEFINING THE LOCAL EDGE SYSTEM (EDGES ONLY)
This section is available only in the Shell interface and is used if a Local
edge system is selected as the coordinate system.
If displacement or rotations is prescribed for an edge which is shared between
boundaries, the edge system may be ambiguous. Select the boundary which should
define the edge system. The default is to Use face with lowest number.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the prescribed displacement/
rotation. The coordinate system selection is based on the geometric entity level.
Boundaries (Plate interface: Domains)
From the Coordinate system list select from:
Global coordinate system (the default)
Boundary System (a predefined normal-tangential coordinate system)
Any additional user-defined coordinate system
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209
Edges (Plate interface: Boundaries)
From the Coordinate system list select from:
Local edge system (the default). The local edge coordinate systems directions xl, yl,
and zl are defined so that:
- The first direction (xl) is along the edge.
- The third direction (zl) is the same as the shell normal direction.
- The second direction (yl) is in the plane of the shell, and formed by the cross
product of zl and xl.
The local edge coordinate systems directions are also available as variables for
plotting using an Arrow Line plot, for example: Under Shell>Shell Local System in
the plot settings lists of predefined expressions, select Base vector (shellsys) x,
Base vector (shellsys) y, or Base vector (shellsys) z
Global coordinate system (the standard global coordinate system).
Any additional user-defined coordinate system.
Points
From the Coordinate system list select from:
Global coordinate system (the default)
Any additional user-defined coordinate system
Depending on the selected coordinate system, the displacement and rotation
components change accordingly.
PRESCRIBED DISPLACEMENT
To define a prescribed displacement for each spatial direction (x, y, and z), select one
or all of the Prescribed in x direction, Prescribed in y direction, and Prescribed in
z direction check boxes. Then enter a value or expression for the prescribed
displacements u0, v0, or w0 (SI unit: m).
PRESCRIBED ROTATIONS
Select a prescribed rotation from the By listFree, Rotation, or Normal vector. Select:
Free (the default) to leave the rotations unconstrained.
Rotation to activate a prescribed rotation in a direction. Enter a value or expression
for the prescribed rotation in each row for the local tangential directions t1 and t2
(SI unit: rad). Under For small strains, select one or both of the Free rotation around
t1 direction and Free rotation around t2 direction check boxes to remove the
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constraint for the corresponding rotation component. If unchecked, the rotations
are constrained to either the input value or to the default zero rotation. The status
of the check boxes has no effect when the geometric nonlinearity is activated under
the study settings. This is because the constraints put on different rotation
components are not independent of each other in case of finite rotations.
Normal vector to describe the rotational degrees of freedom as a prescribed normal
vector. Enter the components of the Prescribed normal vector N0 (dimensionless).
CONSTRAINT SETTINGS
See Pinned for these settings.
Prescribed Velocity
The Prescribed Velocity node adds an edge, boundary, domain, or point condition
where the translational or rotational velocity is prescribed in one or more directions.
The prescribed velocity condition is applicable for time-dependent and
frequency-domain studies. With this condition it is possible to prescribe a velocity in
one direction, leaving the shell free in the other directions.
The Prescribed Velocity node is a constraint, and overrides any other constraint on the
same selection.
E D G E , B O U N D A R Y, D O M A I N , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (edges, boundaries, domains or
points) to define.
FACE DEFINING THE LOCAL EDGE SYSTEM (EDGES ONLY)
This section is available only in the Shell interface and is used if a Local
edge system is selected as the coordinate system.
If velocity is prescribed for an edge which is shared between boundaries, the edge
system may be ambiguous. Select the boundary which should define the edge system.
The default is to Use face with lowest number.
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211
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the prescribed velocity. The
coordinate system selection is based on the geometric entity level. Coordinate systems
with directions that change with time should not be used.
Boundaries
From the Coordinate system list select from:
Global coordinate system (the default)
Boundary System (a predefined normal-tangential coordinate system)
Any additional user-defined coordinate system
Edges
From the Coordinate system list select from:
Local edge system (the default). The local edge coordinate systems directions xl, yl,
and zl are defined so that:
- The first direction (xl) is along the edge.
- The third direction (zl) is the same as the shell normal direction.
- The second direction (yl) is in the plane of the shell, and formed by the cross
product of zl and xl.
The local edge coordinate systems directions are also available as variables for
plotting using an Arrow Line plot, for example: Under Shell>Shell Local System in
the plot settings lists of predefined expressions, select Base vector (shellsys) x,
Base vector (shellsys) y, or Base vector (shellsys) z.
Global coordinate system (the standard global coordinate system).
Any additional user-defined coordinate system.
Points
From the Coordinate system list select from:
Global coordinate system (the default)
Any additional user-defined coordinate system
Depending on the selected coordinate system, the velocity components change
accordingly.
P R E S C R I B E D VE L O C I T Y
To define a prescribed velocity for each spatial direction (x, y, and z), select one or
more of the Prescribed in x direction, Prescribed in y direction, and Prescribed in
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z direction check boxes. Then enter a value or expression for the prescribed velocity
components vx, vy, and vz (SI unit: m/s).
P RE S C R I B E D A N G U L A R VE L O C I T Y
To define a prescribed angular velocity for each spatial direction (x, y, and z), select one
or all of the Prescribed around x direction, Prescribed around y direction, and Prescribed
around z direction check boxes and enter a value or expression for in each x t ,
y t , or z t (SI unit: rad/s) field.
Prescribed Acceleration
The Prescribed Acceleration node adds an edge, boundary, domain, or point condition
where the translational or rotational acceleration is prescribed in one or more
directions. The prescribed acceleration condition is applicable for time-dependent and
frequency-domain studies. With this condition it is possible to prescribe an
acceleration in one direction, leaving the shell free in the other directions.
The Prescribed Acceleration node is a constraint, and overrides any other constraint on
the same selection.
E D G E , B O U N D A R Y, D O M A I N , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (edges, boundaries, domains or
points) to define.
FACE DEFINING THE LOCAL EDGE SYSTEM (EDGES ONLY)
This section is available only in the Shell interface and is used if a Local
edge system is selected as the coordinate system.
If acceleration is prescribed for an edge which is shared between boundaries, the edge
system may be ambiguous. Select the boundary which should define the edge system.
The default is to Use face with lowest number.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the prescribed acceleration. The
coordinate system selection is based on the geometric entity level. Coordinate systems
with directions which change with time should not be used.
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213
Boundaries
From the Coordinate system list select from:
Global coordinate system (the default)
Boundary System (a predefined normal-tangential coordinate system)
Any additional user-defined coordinate system
Edges
From the Coordinate system list select from:
Local edge system (the default). The local edge coordinate systems directions xl, yl,
and zl are defined so that:
- The first direction (xl) is along the edge.
- The third direction (zl) is the same as the shell normal direction.
- The second direction (yl) is in the plane of the shell, and formed by the cross
product of zl and xl.
The local edge coordinate systems directions are also available as variables for
plotting using an Arrow Line plot, for example: Under Shell>Shell Local System in
the plot settings lists of predefined expressions, select Base vector (shellsys) x,
Base vector (shellsys) y, or Base vector (shellsys) z.
Global coordinate system (the standard global coordinate system).
Any additional user-defined coordinate system.
Points
From the Coordinate system list select from:
Global coordinate system (the default)
Any additional user-defined coordinate system
Depending on the selected coordinate system, the acceleration components change
accordingly.
PRESCRIBED ACCELERATION
To define a prescribed acceleration for each spatial direction (x, y, and z), select one or
more of the Prescribed in x direction, Prescribed in y direction, and Prescribed in
z direction check boxes. Then enter a value or expression for the prescribed
acceleration components ax, ay, and az (SI unit: m/s2).
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PRESCRIBED ANGULAR ACCELERATION
To define a prescribed angular acceleration for each spatial direction (x, y, and z), select
one or all of the Prescribed around x, y, and z direction check boxes and enter a value
2
2
2
2
2
2
or expression for in each x t , y t , or z t (SI unit: rad/s2) field.
Symmetry
The Symmetry node adds an edge or boundary condition that defines a symmetry edge
or boundary.
E D G E , B O U N D A R Y, O R D O M A I N S E L E C T I O N
From the Selection list, choose the geometric entity (edges or boundaries) to define.
FACE DEFINING THE LOCAL EDGE SYSTEM (EDGES ONLY)
This section is available only in the Shell interface and is used if a Local
edge system is selected as the coordinate system.
If symmetry is prescribed for an edge which is shared between boundaries, the edge
system may be ambiguous. Select the boundary which should define the edge system.
The default is to Use face with lowest number.
COORDINATE SYSTEM SELECTION (EDGES ONLY)
Specify the coordinate system to use for specifying a symmetry edge. From the
Coordinate system list select from:
Local edge system (the default). The local edge coordinates systems directions xl, yl,
and zl are defined so that:
- The first direction (xl) is along the edge.
- The third direction (zl) is the same as the shell normal direction.
- The second direction (yl) is in the plane of the shell, and formed by the cross
product of zl and xl.
The local edge coordinate systems directions are also available as variables for
plotting using an Arrow Line plot, for example: Under Shell>Shell Local System in
the plot settings lists of predefined expressions, select Base vector (shellsys) x,
Base vector (shellsys) y, or Base vector (shellsys) z.
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215
Global coordinate system (the standard global coordinate system).
Any additional user-defined coordinate system.
SYMMETRY (EDGES ONLY)
If another coordinate system than the Local edge system is used, select an Axis to use as
symmetry plane normal.
CONSTRAINT SETTINGS
See Pinned for these settings.
Symmetry and Antisymmetry Boundary Conditions
Antisymmetry
The Antisymmetry node adds an edge or boundary condition that defines an
antisymmetry edge or boundary.
D O M A I N , B O U N D A R Y, O R E D G E S E L E C T I O N
From the Selection list, choose the geometric entity (domains, edges, or boundaries)
to define.
FACE DEFINING THE NORMAL DIRECTION (EDGES ONLY)
This section is available only in the Shell interface and is used if a Local
edge system is selected as the coordinate system.
If antisymmetry is prescribed for an edge which is shared between boundaries, the edge
system may be ambiguous. Select the boundary which should define the edge system.
The default is to Use face with lowest number.
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COORDINATE SYSTEM SELECTION (EDGES ONLY)
Specify the coordinate system to use for specifying a symmetry edge. From the
Coordinate system list select from:
Local edge system (the default). The local edge coordinate systems directions xl, yl,
and zl are defined so that:
- The first direction (xl) is along the edge.
- The third direction (zl) is the same as the shell normal direction.
- The second direction (yl) is in the plane of the shell, and formed by the cross
product of zl and xl.
The local edge coordinate systems directions are also available as variables for
plotting using an Arrow Line plot, for example: Under Shell>Shell Local System in
the plot settings lists of predefined expressions, select Base vector (shellsys) x,
Base vector (shellsys) y, or Base vector (shellsys) z.
Global coordinate system (the standard global coordinate system).
Any additional user-defined coordinate system.
ANTISYMMETRY (EDGES ONLY)
If another coordinate system than the Local edge system is used, select an Axis to use as
symmetry plane normal.
CONSTRAINT SETTINGS
See Pinned for these settings.
Symmetry and Antisymmetry Boundary Conditions
Rigid Connector
The Rigid Connector is a boundary condition for modeling connections between shell
edges. The feature is similar to the rigid connectors in the Solid Mechanics interface,
except that no rigid domain node is available. Rigid connectors from Shell and Solid
Mechanics interfaces can be attached to each other.
Right-click to add Harmonic Perturbation, Applied Force, Applied Moment, or Mass
and Moment of Inertia nodes to the rigid connector.
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217
EDGE SELECTION
From the Selection list, choose the edges to define.
CENTER OF ROTATION
Select a Center of rotationAutomatic (the default) or User defined. The center of
rotation is at the geometrical center of the selected edges. The constraints are applied
at the center of rotation. Any mass is also considered to be located there.
If User defined is selected, enter x, y, and z coordinates (SI unit: m) for the Global
coordinates of center of rotation Xc (SI unit: m) in the table.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. Prescribed displacements
or rotations are specified along the axes of this coordinate system.
PRESCRIBED DISPLACEMENT AT CENTER OF ROTATION
To define a prescribed displacement for each spatial direction x, y, and z select one or
all of the Prescribed in X, Prescribed in Y, and Prescribed in Z direction check boxes. Then
enter a value or expression for the prescribed displacements u0, v0, or w0 (SI unit: m).
PRESCRIBED ROTATION AT CENTER OF ROTATION
Select an option from the By listFree (the default), Constrained rotation, or Prescribed
rotation at center of rotation.
If Constrained rotation is selected, select one or more of the Constrain rotation about
X, Constrain rotation about Y, and Constrain rotation about Z axis check boxes in order
to enforce zero rotation about the corresponding axis in the selected coordinate
system.
If Prescribed rotation at center of rotation is selected, enter an Axis of rotation and
an Angle of rotation (SI unit: rad). The axis of rotation is given in the selected
coordinate system.
Harmonic PerturbationExclusive and Contributing Nodes in the
COMSOL Multiphysics Reference Manual
Theory for the Rigid Connector
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Results Evaluation
For visualization and results evaluation, predefined variables include all nonzero stress
and strain tensor components, principal stresses and principal strains, in-plane and
out-of-plane forces, moments, and von Mises and Tresca effective stresses. It is
possible to evaluate the stress and strain tensor components and effective stresses at an
arbitrary distance from the midsurface. The parameter zshell (shell.z) is found in, for
example, the Parameters table of the settings window of for example a surface plot. Its
can be set to a value from 1 (downside) to 1 (upside). A value of 0 means the
midsurface of the shell. The default value is given in the Height of Evaluation in Shell,
[-1,1] section of the Shell interface.
Stresses and strains are available both in the global coordinate system and in the shell
local system as described in Local Coordinate Systems.
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219
Theory for the Shell and Plate User
Interfaces
The Shell and Plate User Interfaces theory is discussed in this section:
About Shells and Plates
Theory Background for the Shell and Plate User Interfaces
Reference for the Shell User Interface
About Shells and Plates
A shell is a thin-walled structure in 3D where a simple form is assumed for the variation
of the displacement through the thickness. Using this approximation, it is possible to
develop a model for the deformation that is more similar to a 2D plane stress condition
than to a full 3D state.
For a shell to give accurate results it is important that the structure can
really be described as being thin-walled. When modeling using shells it is
also important to define the faces as the midplane of the real geometry.
You can use the offset setting if the midsurface of the shell does not
coincide with the boundary of your geometry.
Plates are similar to shells but act in a single plane and usually with only out-of-plane
loads. The plate and shell elements in COMSOL Multiphysics are based on the same
formulation. The Plate interface for 2D models is a specialization of the Shell interface.
In the following, the text fully describes the Shell interface, and the Plate interface is
mentioned only where there are nontrivial differences.
A Shell interface can be active either on free surfaces embedded in 3D or on the
boundary of a solid 3D object. In the latter case, it can be used to model a
reinforcement on the surface of a 3D solid. A Plate interface can only be active on
domains in 2D.
To describe a shell, you provide its thickness and the elastic material properties.
The element used for the shell interface is of Mindlin-Reissner type, which means that
transverse shear deformation is accounted for. It can thus also be used for rather thick
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CHAPTER 4: SHELLS AND PLATES
shells. It has an MITC formulation where MITC means mixed interpolation of
tensorial components. A general description of this element family is in Ref. 1.
The dependent variables are the displacements u, v, and w in the global x, y, and z
directions, and the displacements of the shell normals ax, ay, and az in the global x, y,
and z directions. For input and output, the Shell interface to a large extent replaces the
latter variables by the more customary rotations x, y, and z about the global axes.
For a geometrically linear analysis, the relation between normal displacement and
rotation vector is simple: a = x n, where n is the unit normal of the shell.
For a standard plate analysis only three degrees of freedom are needed: the
out-of-plane displacement w and the displacements of the shell normals ax and ay. It
is also possible to activate all six degrees of freedom, so that any type of analysis of a
shell initially positioned in the xy-plane can be performed using the Plate interface.
Using six degrees of freedom is the default, but three degrees of freedom can be
selected instead for efficiency.
Also for plates, the rotations x, y (and possibly z) are used to a large extent.
When six degrees of freedoms are used in the Plate interface, there must
be enough constraints to suppress any in-plane rigid body motions.
Theory Background for the Shell and Plate User Interfaces
GEOMETRY AND DEFORMATION
Let r be the undeformed shell midsurface position, i be element local (possibly
nonorthogonal) coordinates with origin in the shell midsurface, and n be the normal
to the undeformed midsurface. The thickness of the shell is d, which can vary over the
element. The local coordinates 1 and 2 follow the midsurface, and 3 is the
coordinate in the normal direction. The normal coordinate has a value of d2 on the
bottom side of the element, and d2 on the top side.
The position of the deformed midsurface is ru, and the normal after deformation is
na. To keep the normal a unit vector requires that
n+a = 1
(4-1)
In a geometrically linear analysis Equation 4-1 is replaced by the simpler linearized
form
THEORY FOR THE SHELL AND PLATE USER INTERFACES
221
na = 0
since the formulation in that case assumes that
a 1
The vectors r, u, n, and a are interpolated by the nth-order Lagrange basis functions.
The basic assumption is that the position of a point within the shell after deformation
has a linear dependence of the thickness coordinate, and thus is
1
x = r ( , ) + u ( , ) + n ( , ) + a ( , )
The superscripts indicate contravariant indices, while subscripts indicate covariant
indices.
STRAINS
The in-plane Green-Lagrange strain in the local covariant components can then be
written as
1
3
r u 3
= --r + u + n + a
+ + n + a
3
3 2
r 3
r 3
+ n
+ n = + +
The indices and range from 1 to 2. The transverse shear strains in local covariant
components are
3 = 3 =
1
3
3
r 3
--r + u + n + a n + a
+ n n = +
The constitutive relation for the shell elements is a plane stress assumption, as is
customary in shell theory. The strain component in the normal direction 33 is thus
irrelevant. The different parts of the strain tensors above can be written out as
1 u r
r u u u
= --- --------- -------- + --------- -------- + --------- -------2
1 r a a r u n n u u a a u
= --- --------- -------- + --------- -------- + --------- -------- + --------- -------- + --------- -------- + --------- -------2
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CHAPTER 4: SHELLS AND PLATES
1 a n n a a a
= --- --------- -------- + --------- -------- + --------- -------2
u
u
1 r
= --- --------- a + --------- n + --------- a
2
a
a
1 n
= --- --------- a + --------- n + --------- a
2
In a geometrically linear analysis, the nonlinear terms (products between u, a, and
their derivatives) disappear. In all study types, the contributions from the parts and
are ignored. They are small unless the element has an extremely high ratio between
thickness and radius of curvature, in which case the errors from using shell theory are
large anyway.
OFFSET
It is possible to model a shell with a midsurface that is not located at the meshed
surface but at a certain offset from it. The offset is assumed to occur along the normal
of the shell surface. In this case,
1
r ( , ) = r R ( , ) + o n ( , )
where rR is the position of the meshed reference surface and o is the offset distance.
Since all geometric derivatives are computed at the mesh on the reference surface, the
following type of expressions are used when evaluating the strains:
r R
rn
-------= --------- + o --------
The degrees of freedom are referred to the midsurface even when there is an offset.
All loads and boundary conditions are assumed to be applied at the midsurface, so a
force acting in the plane of the shell does not cause any bending action if there is an
offset.
The numerical integration of the element is performed over the reference surface. If
the shell is curved, the area of the actual midsurface and the reference surface differ.
This is compensated for by multiplying the weak expressions with an area scale factor,
defined as
THEORY FOR THE SHELL AND PLATE USER INTERFACES
223
r
1
r
2
ASF = ---------------------------r R r R
2
1
Any expressions depending on the coordinates are evaluated on the shell reference
surface.
An offset applied to a flat shell does not have any effect, since the area
scale factor is 1, and the normal direction is constant.
ROTATION REPRESENTATION
In a geometrically linear analysis, a rotation vector is defined as
= na
In a geometrically nonlinear analysis, the rotation vector axis is defined by
na
e = ----------------na
while the amplitude of the rotation vector is computed as
= acos 1 + n a
This representation is unique only for rotations up to 180 degrees, but since the
rotation vector representation is only an output convenience, it has no impact on the
analysis.
THE MITC SHELL FORMULATION
The MITC formulation (Ref. 1) does not take the strain components directly from the
basis functions of the element. Instead, meticulously selected interpolation functions
are selected for the individual strain components. The values of the interpolated strains
are then at selected points in the element tied to the value that would be computed
from the basis functions. The interpolation functions and tying points are specific to
each element shape and order.
Each contribution to the virtual work of the element is numerically integrated over the
midsurface while the integration in the thickness direction is performed analytically.
The computation of the strain energy from transverse shear deformations uses a
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CHAPTER 4: SHELLS AND PLATES
correction factor of 56 to compensate for the difference between the assumed
constant average shear strain and the true parabolic distribution.
In regions where the discretized surface is smooth (which is always the case for plates),
the normal of the shell surface is uniquely defined. When two or more shell element
meet at an angle, each element must, however, keep its own normal direction. It is thus
not possible to have the same set of degrees of freedom for the normal deformations
in such a point. This is automatically handled by the program.The automatic search for
these fold lines compares the normals of all surfaces sharing an edge. If the angle
between them differs more than a certain angle (with a default of 3 degrees) it is
considered as a fold line. In this case the assumption is that the angle between the shell
normals remains constant. This gives
nj nk = nj + aj nk + ak
or
nj ak + aj nk + aj ak = 0
(4-2)
where the values or j and k range over the number of shells elements with different
normals. The third term in Equation 4-2 is relevant only in a large deformation analysis
because it is nonlinear. A special case occurs when two adjacent surfaces are parallel but
their normal vectors have opposite directions. In this case the special constraint
ak = aj
is applied along their common edge.
INIT IA L VA LUES AND PRES CRIBED VAL UES
Because the normal vector displacements are quantities which are less intuitive than the
more customary nodal rotations, it is possible to specify the initial conditions and
prescribed values in terms of nodal rotations as well as in terms of the normal vector
displacement. The representation by normal vector direction is insensitive to whether
the analysis is geometrically nonlinear or not. The direction of the shell normal is
prescribed in the deformed state, n0. The prescribed values for the actual degrees of
freedom, a0, are internally computed as
n0
a 0 = --------- n
n0
If the rotation vector input is used, and the analysis is geometrically linear, then
THEORY FOR THE SHELL AND PLATE USER INTERFACES
225
a0 = 0 n
where 0 is the vector of prescribed nodal rotations. This relation is fully defined only
when all three components of 0 are given. It is also possible to prescribe only one or
two of the components of 0, while leaving the remaining components free. Because
it has no relevance to prescribe the rotation about the normal direction of the shell, it
is only possible prescribe individual rotations in a shell local system. In this case, the
result becomes one or two constraint relations between the components of a0. The
directions are the edge local coordinate system where t1 is the tangent to the edge and
t2 is perpendicular and inward from the edge, in the plane of the shell. These
constraints are formulated as
t 2 a 0 = 01
t 1 a 0 = 02
Here 0i is the prescribed rotation around the axis ti.
In a geometrically nonlinear analysis, it is not possible to prescribe individual elements
of the rotation vector. If only one or two components have been specified, the
remaining components are set to zero. The actual degrees of freedom are then
computed as
a 0 = R 0 I n
where R is a standard rotation matrix, representing the finite rotation about the given
rotation vector.
Initial velocities are always given using an angular velocity vector as
a = n + a0
SYMMETRY AND ANTISYMMETRY BOUNDARY CONDITIONS
It is possible to prescribe symmetry and antisymmetry boundary conditions. As a
default, they are expressed in a shell local coordinate system. If applied to a boundary,
the normal to the shell is assumed to be the normal to the symmetry or antisymmetry
plane. The conditions are
un = 0
a t1 = 0
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CHAPTER 4: SHELLS AND PLATES
a t2 = 0
for the symmetry case and
u t1 = 0
u t2 = 0
for the antisymmetry case. Here t1 and t2 are two perpendicular directions in the plane
of the shell.
When applied to an edge, there is a local coordinate system where t1 is the tangent to
the edge, and t2 is perpendicular and in the plane of the shell. The assumption is then
that t2 is the normal to the symmetry or antisymmetry plane. The constraints are
u t2 = 0
a t2 = 0
for the symmetry case and
un = 0
u t1 = 0
a t1 = 0
for the antisymmetry case.
When symmetry or antisymmetry conditions are specified in a general coordinate
system with axis directions ei, i1, 2, 3 with e1 as the normal to the symmetry/
antisymmetry plane the constraints are
u e1 = 0
a e2 n = 0
a e3 n = 0
or the symmetry case and
u e2 = 0
THEORY FOR THE SHELL AND PLATE USER INTERFACES
227
u e3 = 0
a e1 n = 0
for the antisymmetry case. Using a general coordinate system sometimes leads to
higher accuracy, since there is no element interpolation of the constraint directions
involved.
EXTERNAL LOADS
Contributions to the virtual work from the external load is of the form
u test F + a test M n + a
where the forces (F) and moments (M) can be distributed over a boundary or an edge
or concentrated in a point. The contribution from a is only included in a geometrically
nonlinear analysis. Loads are always referred to the midsurface of the element. In the
special case of a follower load, defined by its pressure p, the force intensity is
F = p n + a
For a follower load, the change in midsurface area is not taken into account, in order
to be consistent with the assumption that thickness changes are ignored.
STRESS AND STRAIN CALCULATIONS
The strains calculated in the element are, as described above, the covariant tensor
components. They have little significance for the user, and are internally transformed
to a Cartesian coordinate system. This system can be global or element local. The
stresses are computed by applying the constitutive law to the thus computed strain
tensor.
Each part of the covariant strain (, , ) is transformed separately. They
correspond to membrane, bending, and shear action, respectively, and it is thus
possible to separate the stresses from each of these actions. The membrane stress is
defined as
Ni
m = D i T m T ref + -----d
where D is the plane stress constitutive matrix, Ni are the initial membrane forces, and
i the initial membrane strains. The influence of thermal strains is included through
the midsurface temperature Tm. The membrane stress can be considered as the stress
at the mid-surface, or as the average through the thickness.
228 |
CHAPTER 4: SHELLS AND PLATES
The bending stress is defined as
6M i
T
Dd
b = -------- i -------- + ---------2
d
2
d
where i is the initial value of the bending part of the strain tensor (actually: the
curvature), and Mi are the initial bending and twisting moments. T is the
temperature difference between the top and bottom surface of the shell. The bending
stress is the stress at the top surface of the shell if no membrane stress is present.
The average transverse shear stress is defined as
Qi
5
s = --- 2G i + -----6
d
where G represent the transverse shear moduli, i is the initial average shear strain, and
Qi are the initial transverse shear forces. The correction factor 56 ensures that the
stresses are averaged so that they correspond to the ratio between shear force and
thickness. The corresponding strains and i are averaged in an energy sense.
The actual in-plane stress at a certain level in the element is then
= m + z b
where z is a parameter ranging from 1 (bottom surface) to 1 (top surface). The
computation of the shear stress at a certain level in the element uses the following
analytical parabolic stress distribution:
2
3 s 1 z
----------------------------2
The shell section forces (membrane forces, bending moments, and shear forces) are
computed from the stresses as
N = d m
2
d
M = ------
6 b
Q = d s
THEORY FOR THE SHELL AND PLATE USER INTERFACES
229
LOCAL COORDINATE SYSTEMS
Many quantities for a shell can best be interpreted in a local coordinate system aligned
to the shell surface. Material data and initial stresses and stress results are always
represented in this local coordinate system.
The local system for stress output coincides with the orientations defined for the
material input. Stresses are also available transformed to the global coordinate system.
The definition of the local shell surface coordinate system is as follows:
1. The local z direction ezl is the positive normal of the shell surface.
2. The local x direction exl is the projection of the first direction in the material
coordinate system (ex1) on the shell surface
e x1 e x1 e zl e zl
e xl = ---------------------------------------------------e x1 e x1 e zl e zl
This projection cannot be performed if ex1 is normal to the shell. In that case the
second axis ex2 of the material system instead defines exl using the same procedure.
Thus, if
e x1 e zl 0.99
then
e x2 e x2 e zl e zl
e xl = ---------------------------------------------------e x2 e x2 e zl e zl
3. At last, the second in-plane direction is generated as
e yl = e zl e xl
This procedure is followed irrespective of whether a global or a local coordinate system
defines the directions.
Note the following:
When using an isotropic material, the only effect of selecting a local coordinate
system is that the definition directions of local stresses change.
When defining orthotropic and anisotropic materials, local coordinate systems do
not need to be created so that they exactly follow the shell surface. It is sufficient
that the local system when projected as described above gives the intended in-plane
directions.
230 |
CHAPTER 4: SHELLS AND PLATES
For shells in the X-Y plane, and for plates, the global and local directions coincide
by default.
On curved shells, local stress components may become discontinuous if there is a
location where ex1 becomes perpendicular to the shell surface.
In this section, every reference to stresses is equally valid for strains.
Reference for the Shell User Interface
1. D. Chapelle and K.J. Bathe, The Finite Element Analysis of Shells
Fundamentals, Springer-Verlag, Berlin Heidelberg, 2003.
THEORY FOR THE SHELL AND PLATE USER INTERFACES
231
232 |
CHAPTER 4: SHELLS AND PLATES
Beams
This chapter describes the Beam interface, which you find under the Structural
Mechanics branch (
) in the Model Wizard.
In this chapter:
The Beam User Interface
Theory for the Beam User Interface
233
T he B e a m U s er In t erface
The Beam user interface (
), found under the Structural Mechanics branch (
) in
the Model Wizard, has the equations, elements, and features for stress analysis and
general linear structural mechanics in beams and uses beam elements of the Euler (or
Euler-Bernoulli) type. Such elements are intended for slender beams, and do not take
shear deformations into account. The Beam interface is available on edges in 3D
models and boundaries in 2D models.
The Linear Elastic Material node is the default material model, which adds a linear elastic
equation for the displacements and has a settings window to define the elastic material
properties.
When this interface is added, these default nodes are also added to the Model Builder:
Linear Elastic Material, Cross Section Data, Free (a condition where points are free, with
no loads or constraints), and Initial Values.
Right-click the Beam node to add other features that implement, for example, loads
and constraints. The following sections provide information about all nodes available
in this interface.
Cross section data to be used in Cross Section Data settings can be computed using the
separate Beam Cross Section physics interface.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is beam.
EDGE OR BOUNDARY SELECTION
The default setting is to include All edges (3D models) or All boundaries (2D models)
in the model to define the degrees of freedom, cross section, and equations that
describe the beam. To choose specific edges or boundaries, select Manual from the
Selection list.
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CHAPTER 5: BEAMS
REFERENCE POINT FOR MOMENT COMPUTATION
Enter the default coordinates for the Reference point for moment computation xref
(SI unit: m). The resulting moments (applied or as reactions) are then computed
relative to this reference point. During the results and analysis stage, the coordinates
can be changed in the Parameters section in the result nodes.
DEPENDENT VA RIA BLES
The Beam interface has these dependent variables (fields):
The displacement field u, which has two components (u, v) in 2D and three
components (u, v, and w) in 3D.
The rotation angle , which has one component in 2D (th) and three components
in 3D (thx, thy, and thz).
The names can be changed but the names of fields and dependent variables must be
unique within a model.
DISCRETIZATION
The discretization of cannot be changed. The element has different shape functions for
the axial and transversal degrees of freedom. The axial displacement and twist are
represented by linear shape functions, while the bending is represented by a cubic
shape function (Hermitian element).
Show More Physics Options
Boundary, Edge, Point, and Pair Nodes for the Beam User Interface
About the Edge Load and Point Load Nodes
Theory for the Beam User Interface
The Beam Cross Section User Interface
Channel Beam: Model Library path Structural_Mechanics_Module/
Verification_Models/channel_beam
In-Plane Framework with Discrete Mass and Mass Moment of Inertia:
Model Library path Structural_Mechanics_Module/Verification_Models/
inplane_framework_freq
THE BEAM USER INTERFACE
235
Boundary, Edge, Point, and Pair Nodes for the Beam User Interface
The Beam User Interface has the following boundary, edge, point, and pair nodes
available as indicated.
These nodes (and subnodes) are described in this section (listed in alphabetical order):
Antisymmetry
Prescribed Displacement/Rotation
Cross Section Data
Prescribed Velocity (for
time-dependent and
frequency-domain studies)
Damping
Edge Load
Initial Stress and Strain
Initial Values
Linear Elastic Material
No Rotation
Prescribed Acceleration (for
time-dependent and
frequency-domain studies)
Pinned
Point Load
Point Mass
Point Mass Damping
Section Orientation
Symmetry
Thermal Expansion
These nodes are described for the Solid Mechanics interface:
Added Mass
Pre-Deformation
Fixed Constraint
Spring Foundation
Free
If there are subsequent constraints specified on the same geometrical
entity, the last one takes precedence. The exception is that the Pinned
and No Rotation boundary conditions do not override each other since
the degrees of freedom that they constrain are mutually exclusive.
In the COMSOL Multiphysics Reference Manual:
Continuity on Interior Boundaries
Identity and Contact Pairs
236 |
CHAPTER 5: BEAMS
To locate and search all the documentation, in COMSOL Multiphysics,
select Help>Documentation from the main menu and either enter a search
term or look under a specific module in the documentation tree.
Linear Elastic Material
The Linear Elastic Material node adds the equations for a linear elastic beam and an
interface for defining the elastic material properties.
EDGE OR BOUNDARY SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific edges or boundaries to define a linear elastic beam
and compute the displacements, rotations, stresses, and strains. Or select All edges or
All boundaries as required.
MODEL INPUTS
Define model inputs. This can for example be the temperature field if the material uses
a temperature-dependent material property. If no model inputs are required, this
section is empty.
LINEAR ELASTIC MATERIAL
Define the linear elastic material properties.
Specification of Elastic Properties for Isotropic Materials
From the Specify list, select a pair of elastic properties for an isotropic material. Select:
Youngs modulus and Poissons ratio to specify Youngs modulus (elastic modulus) E
(SI unit: Pa) and Poissons ratio (dimensionless). Poissons ratio is used for
computing the torsional stiffness, and is thus important only for 3D beams.
Youngs modulus and shear modulus to specify Youngs modulus (elastic modulus)
E (SI unit: Pa) and the shear modulus G (SI unit: Pa). The shear modulus is used
for computing the torsional stiffness, and is thus important only for 3D beams.
Bulk modulus and shear modulus to specify the bulk modulus K (SI unit: Pa) and the
shear modulus G (SI unit: Pa).
THE BEAM USER INTERFACE
237
Lam parameters to specify the Lam parameters (SI unit: Pa) and (SI unit: Pa).
Pressure-wave and shear-wave speeds to specify the pressure-wave speed
(longitudinal wave speed) cp (SI unit: m/s) and the shear-wave speed (transverse
wave speed) cs (SI unit: m/s).
This is the wave speed for a solid continuum. In a truss or beam element,
the actual speed with which a longitudinal wave travels is lower than the
value given. When using this type of input, the density must also be given.
For each pair of properties, select from the applicable list to use the value From material
or enter a User defined value or expression.
Each of these pairs define the elastic properties, and it is possible to convert from one
set of properties to another.
Density
Define the Density (SI unit: kg/m3) of the material. Select From material to take the
value from the material or select User defined to enter a value for the density.
Thermally Loaded Beam: Model Library path
Structural_Mechanics_Module/Verification_Models/thermally_loaded_beam
Thermal Expansion
Right-click the Linear Elastic Material node to add the Thermal Expansion node.
Thermal expansion is an internal thermal strain caused by changes in temperature. The
temperature is assumed to vary linearly across the beams cross section.
EDGE OR BOUNDARY SELECTION
From the Selection list, choose the geometric entity (boundaries or edges) to define the
coefficient of thermal expansion and the different temperatures that cause thermal
expansion.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
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CHAPTER 5: BEAMS
THERMAL EXPANSION
Specify the thermal properties that define the thermal stress.
From the Coefficient of thermal expansion (SI unit: 1/K) list, select From material to
use the coefficient of thermal expansion from the material, or User defined to enter a
value or expression for .
Enter a value or expression of the Strain reference temperature Tref (SI unit: K), which
is the reference temperature where the thermal strain is zero.
From the Temperature T (SI unit: K) list, select an existing temperature variable from
a heat transfer interface (for example, Temperature (ht/sol1)), or select User defined to
enter a value or expression for the temperature (the default is 293.15 K). This is the
centerline temperature of the beam.
THERMAL BENDING
Enter the Temperature gradient in local y-direction Tgy (in 2D and 3D) and in the
Temperature gradient in local z-direction Tgz (in 3D) (SI unit: K/m), which affects the
thermal bending. If beam cross section dimensions have been defined at Bending stress
evaluation pointsFrom section heights, these could be used in an expression
containing the temperature difference.
Initial Stress and Strain
Right-click the Linear Elastic Material node to add an Initial Stress and Strain node,
which is the stress-strain state in the structure before applying any constraint or load.
Initial strain can, for instance, describe moisture-induced swelling, and initial stress can
describe stresses from heating. See also Thermal Strain in the theory section.
EDGE OR BOUNDARY SELECTION
From the Selection list, choose the geometric entity (boundaries or edges) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
INITIAL STRESS
Specify the initial stress as the:
Initial axial force N (SI unit: N)
THE BEAM USER INTERFACE
239
Initial bending moment Miz and for 3D models, Miy (SI unit: Nm), and
For 3D models: Initial torsional moment Mix (SI unit: Nm).
The default values are zero, which means no initial stress.
INITIAL STRAIN
Specify the initial strain as the:
Initial axial strain eni (dimensionless)
Initial curvature siz and for 3D models, and siy (SI unit: rad/m)
For 3D models: Initial torsional angle derivative six (SI unit: rad/m)
The default values are zero, which means no initial strain.
Damping
Right-click the Linear Elastic Material node to add the Damping node, which adds
Rayleigh damping or an isotropic loss-factor damping. In time-dependent,
eigenfrequency, and frequency domain response studies, undamped or damped
problems can be modeled.
Loss factor damping is valid only for damped eigenfrequency and
frequency response analysis. If a time-dependent analysis and loss factor
damping is chosen, the model is solved with no damping.
EDGE OR BOUNDARY SELECTION
From the Selection list, choose the geometric entity (boundaries or edges) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
DAMPING SETTINGS
Select a Damping typeRayleigh damping (the default) or Isotropic loss factor.
For Rayleigh damping, enter the Mass damping parameter dM and the Stiffness damping
parameter dK in the corresponding fields. The default values are 0, which is no
damping.
240 |
CHAPTER 5: BEAMS
For Isotropic loss factor damping, from the Isotropic structural loss factor list, select
From material (the default) to use the material value or select User defined to enter a
value or expression. The default value is 0.
Initial Values
The Initial Values node adds an initial value for the displacement field u (the
displacement components u, v, and, in 3D, w), the velocity field, the rotations, and
the angular velocity. It serves as an initial conditions for a transient simulation.
Right-click to add additional Initial Values nodes.
EDGE OR BOUNDARY SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific edges or boundaries or select All edges or All
boundaries as required.
INIT IA L VA LUES
Enter values or expressions for the following based on space dimension. The default
value is 0 for all initial values:
Displacement field u (SI unit: m)
du
Velocity field
(SI unit: m/s)
dt
Rotation field (SI unit: rad)
d
Angular velocity
(SI unit: rad/s)
dt
Cross Section Data
In the Cross Section Data node you specify the geometric properties of the beams cross
section. In addition, some stress evaluation properties can be defined. For 3D models,
a default Section Orientation node is added. You can right-click to add additional ones.
Common Cross Sections
Beam Cross Sections
THE BEAM USER INTERFACE
241
EDGE OR BOUNDARY SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific edges or boundaries or select All edges or All
boundaries as required.
CROSS SECTION DEFINITION
The default is User defined. Select Common sections to choose from predefined sections.
If User defined is selected, go to Basic Section Properties and Stress Evaluation
Properties to continue defining the cross section.
If Common sections is selected, choose a Section typeRectangle, Box, Circular, Pipe,
H-profile, U-profile, or T-profile. Then go to the relevant section below to continue
defining the section. Each Section type also has a figure showing the section and its
defining dimensions.
For equations and a figure see:
Rectangular Section
Box Section
Circular Section
Pipe Section
H-Profile section
U-Profile section
T-Profile section
Examples of how to work with cross sections: Model Library path
Structural_Mechanics_Module/Verification_Models/channel_beam and
Structural_Mechanics_Module/Civil_Engineering/pratt_truss_bridge
Rectangle
Enter values or expressions for the following.
Width in local y-direction hy (SI unit: m)
Width in local z-direction hz (SI unit: m)
242 |
CHAPTER 5: BEAMS
Box
Enter values or expressions for the following.
Width in local y-direction hy (SI unit: m)
Width in local z-direction hz (SI unit: m)
Wall thickness in local y-direction ty (SI unit: m)
Wall thickness in local z-direction tz (SI unit: m)
Circular
Enter a value or expression for the Diameter do (SI unit: m).
Pipe
Enter values or expressions for the following.
Outer diameter do (SI unit: m)
Inner diameter di (SI unit: m)
H-profile, U-profile, or T-profile
Enter values or expressions for the following.
Section height hy (SI unit: m)
Flange width hz (SI unit: m)
Flange thickness ty (SI unit: m)
Web thickness tz (SI unit: m)
BASIC SECTION PROPERTIES
This section is only available if User defined is selected as the Cross Section
Definition.
The following table lists the basic section properties (some apply in 3D only). Enter
values for these properties in the associated fields. The default values correspond to a
circular cross section with a diameter of 0.1 m:
COMMENT
DESCRIPTION
PARAMETER
SI UNIT
2D and 3D
Area of cross section
m2
2D and 3D
Moment of inertia about local z-axis
Izz
m4
3D only
Distance to shear center in local z-direction
ez
THE BEAM USER INTERFACE
243
COMMENT
DESCRIPTION
PARAMETER
SI UNIT
3D only
Moment of inertia about local y-axis
Iyy
m4
3D only
Distance to shear center in local y-direction
ey
3D only
Torsional constant
m4
For 3D models, the orientation of the cross section is given in Section
Orientation If the beams cross section is a square or circle (solid or tube),
the area moments of inertia are the same independent of direction, so the
beam is totally symmetric and the orientation of the principal axes of the
cross section is not a problem unless you are interested in looking at
results defined using the local coordinate system. Such results are bending
moments, shear forces, local displacements and rotations.
STRESS EVALUATION PROPERTIES
This section is only available if User defined is selected as the Cross Section
Definition.
Select the Bending stress evaluation pointsFrom section heights (the default) or From
specified points.
Stress evaluation using only section heights is meaningful only when the cross section
is symmetric.
The max shear stress factor determines the ratio between the peak and the average
shear stress over the cross section as described by Equation 5-1 and Equation 5-2.
From Section Heights
If From section heights is selected, enter values in each field for the following parameters
as required for the space dimension:
244 |
COMMENT
DESCRIPTION
PARAMETER
SI UNIT
2D and 3D
Section height in local y direction
hy
2D and 3D
Max shear stress factor in local y direction
3D only
Section height in local z direction
hz
3D only
Torsional section modulus
Wt
m3
3D only
Max shear stress factor in local z direction
CHAPTER 5: BEAMS
From Specified Points
If From specified points is selected, enter values in the Evaluation points in local system
table as required for the space dimension. Then enter the following parameters in the
applicable fields.
COMMENT
DESCRIPTION
PARAMETER
2D and 3D
Max shear stress factor in local y direction
3D only
Torsional section modulus
Wt
3D only
Max shear stress factor in local z direction
SI UNIT
m3
Section Orientation
This node is available for 3D models.
Use the Section Orientation subnode to define the orientation of a beam cross section
using a reference point or an orientation vector. There is always one Section Orientation
node for each cross section, and as many nodes as required can be added.
ORIENTATION METHOD
Select the Reference point (the default) or Orientation vector. If Reference point is
selected, enter a Reference point defining local y direction P (SI unit: m).
The coordinate system is defined as follows:
The local x direction is in the edge direction. The positive edge direction can be
checked by vector plotting the local edge tangent direction. The coordinates of the
reference point define the local xy-plane with the positive y direction defined such that
THE BEAM USER INTERFACE
245
the point lies in the positive quadrant (see Figure 5-1).
Figure 5-1: An example of a Beam interface Section Orientation feature.
For the creation of a local coordinate system to be possible, the point cannot coincide
with the edge or the edge extension. If this is attempted, an error message is generated.
The default settings for the global coordinates of the point are
[1000,1000,1000]. This is useful only for symmetric cross sections.
Often a number of edges in a plane have the same orientation. It is then easy to select
all edges and specify a point anywhere in the same plane, not coinciding with an edge
or an edge extension.
If Orientation vector is selected, enter a Orientation vector defining local y direction V
and optionally the Rotation of vector around beam axis . The beam orientation is
defined similarly to what is described above, with the difference that in this case the
direction vector is explicitly defined whereas when an orientation point is used, the
direction vector is obtained as the vector from the beam axis to the specified point.
The Rotation of vector around beam axis has the effect of rotating the given vector
around the beam axis before it is used to define the local xy-plane. This simplifies the
input for some cross sections, such as L-shaped profiles, where the principal axes have
a direction that is skewed relative to a more natural modeling position.
246 |
CHAPTER 5: BEAMS
About the Edge Load and Point Load Nodes
Add force loads acting on all levels of the beam geometry:
Edge Load as a force or moment distributed along an edge.
Point Load as concentrated forces or moments at points.
For these loads, right-click and choose Phase to add a phase for harmonic loads in
frequency-domain computations. In this way a harmonic load can be defined where
the amplitude and phase shift can vary with the excitation frequency f:
F freq = F F Amp f cos 2f + F Ph f
Also add a moment load phase.
Edge Load
Add an Edge Load as a force distributed along an edge. Right-click and add a Phase
node for harmonic loads in frequency-domain computations.
EDGE OR BOUNDARY SELECTION
From the Selection list, choose the geometric entity (boundaries or edges) to define.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the load. From the Coordinate
system list select from the following based on space dimension:
For 2D models (boundaries):
Global coordinate system (the default)
Boundary System (a predefined normal-tangential coordinate system)
Any additional user-defined coordinate system
THE BEAM USER INTERFACE
247
For 3D models (edges):
Global coordinate system (the default; the standard global coordinate
system).
Local edge system. This is the coordinate system defined by the beam
cross section orientation as defined in the Section Orientation subnode
under Cross Section Data. The local edge coordinate systems directions
are available as variables for plotting using an Arrow Line plot, for
example: Under Beam>Beam Local System in the plot settings lists of
predefined expressions, select Base vector (beamsys) x,
Base vector (beamsys) y, or Base vector (beamsys) z.
Any additional user-defined coordinate system.
FORCE
From the Load type list, select the definition of the force load. Select Load defined as
force per unit length FL (the default) (SI unit: N/m) or Edge load defined as force per
unit volume F (SI unit: N/m3). In the latter case the given load is multiplied by the
cross section area. This option is useful for modeling body loads like gravity or
centrifugal loads.
Enter values or expressions for the components of the Edge load in the table.
MOMENT
Enter values or expressions for the components of the Moment edge load ML (3D) or
Mlz (2D) (SI unit: Nm/m).
Point Load
Add a Point Load to points for concentrated forces or moments at points. Right-click
to add a Phase node for harmonic loads in frequency-domain computations.
POINT SELECTION
From the Selection list, choose the points to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
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CHAPTER 5: BEAMS
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the load. From the Coordinate
system list select from:
Global coordinate system (the default)
Any additional user-defined coordinate system
FORCE
Enter values or expressions for the components of the Point load FP (SI unit: N).
MOMENT
Enter values or expressions for the components of the Point moment MP (3D) or Mlz
(2D) (SI unit: Nm).
Phase
Right-click an Edge Load or Point Load node to add a Phase node, which adds a phase
for harmonic loads in frequency-domain computations.
EDGE OR PO INT SELECTION
From the Selection list, choose the geometric entity (edges or points) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
PHASE
Add the phase load Fph (unit: rad) for harmonic loads. Enter the phase for each
component of the load in the corresponding fields.
MOMENT LOAD PHASE
Add the phase for the moment load Mph (unit: rad) for harmonic loads. Enter the
phase for each component of the moment load in the corresponding fields.
Prescribed Displacement/Rotation
The Prescribed Displacement/Rotation node adds an edge (3D), boundary (2D), or
point (2D and 3D) condition where the displacements and rotations are prescribed in
one or more directions.
THE BEAM USER INTERFACE
249
If a prescribed displacement or rotation is not activated in any direction, this is the
same as a Free constraint.
If zero displacements and rotations are prescribed, this is the same as a Fixed
Constraint.
E D G E , B O U N D A R Y, O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the prescribed displacement/
rotation. See the section Coordinate System Selection for Edge Load.
PRESCRIBED DISPLACEMENT
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for u0,
v0, and for 3D models, w0 (SI unit: m).
PRESCRIBED ROTATION
For 2D models, to define a prescribed rotation select the Prescribed in out
of plane direction check box and enter a value or expression for R0 (SI unit:
rad).
For 3D models, to define a prescribed rotation for each space direction (x,
y, and z), select one or all of the Prescribed around x direction, Prescribed
around y direction, and Prescribed around z direction check boxes and enter
a value or expression for in each thx0, thy0, or thz0 (SI unit: rad) field.
CONSTRAINT SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
To Apply reaction terms on all dependent variables, select All physics (symmetric).
Otherwise, select Current physics (internally symmetric) or Individual dependent
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CHAPTER 5: BEAMS
variables to restrict the reaction terms as required. Select the Use weak constraints check
box to replace the standard constraints with a weak implementation.
Using Weak Constraints to Evaluate Reaction Forces
Prescribed Velocity
The Prescribed Velocity node adds an edge (3D), boundary (2D), or point (2D and
3D) that prescribes the translational or rotational velocity in one or more directions.
The prescribed velocity condition is applicable for time-dependent and
frequency-domain studies. With this condition it is possible to prescribe a velocity in
one direction, leaving the beam free in the other directions.
The Prescribed Velocity node is a constraint, and overrides any other constraint on the
same selection.
E D G E , B O U N D A R Y, O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
COORDINATE SYSTEM SELECTION
Coordinate systems with directions that change with time should not be
used.
Specify the coordinate system to use for specifying the prescribed translational/
rotational velocity. See the section Coordinate System Selection for Edge Load.
Depending on the selected coordinate system, the velocity components change
accordingly.
P R E S C R I B E D VE L O C I T Y
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for vx,
vy, and for 3D models, vz (SI unit: m/s).
THE BEAM USER INTERFACE
251
P R E S C R I B E D A N G U L A R VE L O C I T Y
For 2D models, to define a prescribed angular velocity select the
Prescribed in out of plane direction check box and enter a value or
expression for t (SI unit: rad/s).
For 3D models, to define a prescribed angular velocity for each space
direction (x, y, and z), select one or all of the Prescribed around x direction,
Prescribed around y direction, and Prescribed around z direction check
boxes and enter a value or expression for in each vthx0, vthy0, or vthz0
(SI unit: rad/s) field.
Prescribed Acceleration
The Prescribed Acceleration node adds a boundary or domain condition where the
acceleration is prescribed in one or more directions. The prescribed acceleration
condition is applicable for time-dependent and frequency-domain studies. With this
boundary condition it is possible to prescribe a acceleration in one direction, leaving
the beam free in the other directions.
The Prescribed Acceleration node is a constraint, and overrides any other constraint on
the same selection.
E D G E , B O U N D A R Y, O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
COORDINATE SYSTEM SELECTION
Coordinate systems with directions which change with time should not
be used.
Specify the coordinate system to use for specifying the prescribed translational/
rotational acceleration. See the section Coordinate System Selection for Edge Load.
Depending on the selected coordinate system, the acceleration components change
accordingly.
252 |
CHAPTER 5: BEAMS
PRESCRIBED ACCELERATION
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for ax,
ay, and for 3D models, az (SI unit: m/s2).
PRESCRIBED ANGULAR ACCELERATION
For 2D models, to define a prescribed angular acceleration select the
Prescribed in out of plane direction check box and enter a value or
2
2
expression for t (SI unit: rad/s2).
For 3D models, to define a prescribed angular acceleration for each space
direction (x, y, and z), select one or all of the Prescribed around x direction,
Prescribed around y direction, and Prescribed around z direction check
boxes and enter a value or expression for in each athx0, athy0, or athz0
(SI unit: rad/s2) field.
Pinned
The Pinned node adds an edge condition that makes the edge fixed; that is, all
displacements are zero. This node is also available on boundaries and at points.
E D G E , B O U N D A R Y, O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
CONSTRAINT SETTINGS
See Prescribed Displacement/Rotation for these settings.
No Rotation
The No Rotation node adds an edge condition that prevents all rotation at the edge.
This node is also available on boundaries and at points.
THE BEAM USER INTERFACE
253
E D G E , B O U N D A R Y, O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
CONSTRAINT SETTINGS
See Prescribed Displacement/Rotation for these settings.
Symmetry
The Symmetry node adds an edge condition that defines a symmetry edge. This node
is also available on boundaries and at points.
E D G E , B O U N D A R Y, O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the symmetry. See the section
Coordinate System Selection for Edge Load.
SYMMETRY
Select an Axis to use as normal direction. This specifies the direction of the normal to
the symmetry plane in the selected coordinate system.
CONSTRAINT SETTINGS
See Prescribed Displacement/Rotation for these settings.
Antisymmetry
The Antisymmetry node adds an edge condition that defines an antisymmetry edge.
This node is also available on boundaries and at points.
254 |
CHAPTER 5: BEAMS
E D G E , B O U N D A R Y, O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the antisymmetry. See the section
Coordinate System Selection for Edge Load.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
ANTISYMMETRY
Select an Axis to use as normal direction. This specifies the direction of the normal to
the symmetry plane in the selected coordinate system.
CONSTRAINT SETTINGS
See Prescribed Displacement/Rotation for these settings.
Point Mass
Add a Point Mass node to model a discrete mass or mass moment of inertia that is
concentrated at a point in contrast to distributed mass modeled through the density
and area of the beam. Right-click to add a Point Mass Damping node.
POINT S EL EC TION
From the Selection list, choose the points to define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
COORDINATE SYSTEM SELECTION
With the Coordinate system list, control the coordinate system the principal mass
moment of inertias are defined. See the section Coordinate System Selection for Edge
Load.
THE BEAM USER INTERFACE
255
POINT MASS
Enter a Point mass m (SI unit: kg).
For 2D models, enter one value for J.
For 3D models, enter a Mass moment of inertia J (m2kg) in the table for
each axis x, y, and z.
Point Mass Damping
Right-click the Point Mass node to add a Point Mass Damping node to specify a mass
damping parameter.
POINT SELECTION
From the Selection list, choose the points to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
POINT MASS DAMPING
Enter a Mass damping parameter dM (SI unit: 1/s).
256 |
CHAPTER 5: BEAMS
Theory for the Beam User Interface
The Beam User Interface theory is described in this section:
About Beams
Initial Load and Strain
In-Plane Euler Beams
Implementation
3D Euler Beam
Stress Evaluation
Strain-Displacement/Rotation
Relation
Thermal Coupling
Stress-Strain Relation
Common Cross Sections
Coefficient of Thermal Expansion
Thermal Strain
Beam Cross Sections
About Beams
A beam is a slender structure that can be fully described by the propertiesarea,
moments of inertia, and densityof the cross section. Beams are the choice for
modeling reinforcements in 3D solids and shell structures, as well as in 2D solids under
the plane stress assumption. Naturally, they can also model lattice works, both planar
and three-dimensional.
Beams can sustain loads and moments in any direction, both distributed and on
individual nodes. The beams ends and interconnections can be free, simply supported,
or clamped. In fact, the simplified boundary conditions are usually responsible for
most of the difference that can be found between a beam solution and a full 3D solid
simulation of the same structure. Point constraints on beams are well-behaved, in
contrast to the solid case, and it is possible to use discrete point masses and mass
moments of inertia.
The Beam interface is based on the principle of virtual work. The resulting equation
can equivalently be viewed as a weak formulation of an underlying PDE. The Beam
interface uses special shape function classes to define stresses and strains in the beams
using Euler (or Euler-Bernoulli) theory.
THEORY FOR THE BEAM USER INTERFACE
257
In-Plane Euler Beams
Use the Beam interface in 2D to analyze planar lattice works of uniaxial beams.
In-plane Euler beams are defined on edges in 2D. They can be used separately or as
stiffeners to 2D solid elements.
VAR IA BL ES AND SPA C E DIM E NS IO N S
The degrees of freedom (dependent variables) are the global displacements u and v in
the global x and y directions and the rotation about the global z-axis.
258 |
CHAPTER 5: BEAMS
3D Euler Beam
Use the Beam interface in 3D to model three-dimensional frameworks of uniaxial
beams.
3D Euler beams are defined on edges in 3D. They can be used separately or as
stiffeners to 2D solid or shell elements.
VA R I A BL E S A N D S P A C E D I M E N S I O N S
The degrees of freedom (dependent variables) are the global displacements u, v, w in
the global x, y, z directions and the global rotations x, y, and z about the global x-,
y-, and z-axes.
Strain-Displacement/Rotation Relation
The axial strain depends on the rotation derivative and axial displacement derivative
defined by the shape function and the transversal coordinate in the beam. For the 3D
case it becomes
ly
lz u axi
= z l ---------- y l ---------- + ------------s
s
s
The coordinates from the beam center line in the local transversal directions are
denoted zl and yl respectively. In the 2D case, the second term is omitted, and the local
z direction is always directed out of the plane.
The total strain consists of thermal (th), initial (i), and elastic strains(el)
THEORY FOR THE BEAM USER INTERFACE
259
= el + th + i
Stress-Strain Relation
The stress-strain relation in the beam is described by
= E
The stress-strain relation for linear conditions including initial stress and strain and
thermal effects reads:
= E el + i = E th i + i
where E is known as Youngs modulus or the modulus of elasticity.
Thermal Strain
The temperature is assumed to vary linearly across the beams cross section. For the
3D beam it becomes
T = T m + T gz z l + T gy y l
Tm is the temperature at the beam center line while Tgz and Tgy are the temperature
gradients in the two local transversal directions. The thermal strain is thus
th = T m + T gz z l + T gy y l T ref
For the 2D beam, the term depending on zl disappears.
Initial Load and Strain
The initial stress means the stress before any loads, displacements, and initial strains
have been applied.
The initial stress distribution is given as initial moments and initial normal force
260 |
CHAPTER 5: BEAMS
M yi = i z l dA
A
M zi = i y l dA
A
N i = i dA
A
M xi = ixz y l iyz z l dA
A
In 2D the y and z components of moments disappear.
The initial strain is the strain before any loads, displacements, and initial stresses have
been applied. The initial axial strain distribution is given as initial curvature and initial
axial strain
ly
lz
u axi
i = z l ---------- y l ---------- + -------------
s i
s i s i
In 2D the zl dependent term disappears. As initial strain for the torsional degree of
freedom, the derivative of the twist angle,
lx
--------- s i
is used.
Implementation
The implementation is based on the principle of virtual work, which states that the sum
of virtual work from internal strains and external loads equals zero:
W = el + u F dV = 0
V
The beam elements are formulated in terms of the stress resultants (normal force,
bending moments and twisting moment).
The normal force is defined as
THEORY FOR THE BEAM USER INTERFACE
261
dA = Eel + i dA =
N =
ly
lz u axi
ly
lz
u axi
E z --------- y l ---------- + ------------- z l ---------- y l ---------- + -------------
l s
s
s i
s i
s i
s
T m + T gz z l + T gy y l T ref + i dA =
axi u axi
u
------------ ------------- T m T ref dA + i dA =
s i
s
u axi u axi
EA ------------- ------------- T m T ref + N i
s i
s
Because the local coordinates are defined with their origin at the centroid of the cross
section, any surface integral of an odd power of a local coordinate evaluates to zero.
The beam bending moments are defined as
M ly =
zl dA = zl Eel + i dA =
A
ly
lz u axi
ly
lz
u axi
z l E z l ---------- y l ---------- + ------------- z l ---------- y l ---------- + -------------
s i s i
s
s
s s i
T m + T gz z l + T gy y l T ref + i dA =
zl
A
ly ly
------------------=
E s s i T gz dA + i z l dA
ly ly
EI yy ---------- ---------- T gz + M iy
s s i
262 |
CHAPTER 5: BEAMS
M lz = y l dA = y l E el + i dA =
ly
lz u axi
ly
lz
u axi
y l E z l ---------- y l ---------- + ------------- z l ---------- y l ---------- + -------------
s
s
s i
s i
s i
s
T m + T gz z l + T gy y l T ref + i dA =
lz
lz
2
y l E ---------- + ---------- T gy dA i y l dA =
s i
s
lz lz
EI zz ---------- ---------- + T gy + M iz
s i
s
Mly is present only in 3D, and so is the torsional moment Mlx described below. The
torsional stiffness of the beam is defined using the torsional constant J given by
M
J = -------- l
G
In a similar way as for the bending part a torsional moment is then defined as
lx lx
M lx = GJ ---------- ---------- + M ix
s s i
Using the beam moment and normal force the expression for the virtual work becomes
very compact:
W =
ly
lz
u axi
lx
+ M lz ----------
+ N -------------
+ M lx ---------- dx
Mly ---------s test
s test
s test
s test
L
For 2D, the first and fourth terms are omitted.
A special feature of some unsymmetrical cross sections is that they twist under a
transversal load that is applied to beam centerline. As an example, this would be the
case for a U-profile under self-weight, loaded in the stiff direction. It is only a load
applied at the shear center which causes a pure deflection without twist. This effect can
be incorporated by supplying the coordinates of the shear center in the local coordinate
system (ey, ez). A given transversal load (flx, fly, flz), which is defined as acting along
the centerline, is then augmented by a twisting moment given by
m lx = f ly e z f lz e y
THEORY FOR THE BEAM USER INTERFACE
263
Stress Evaluation
Since the basic result quantities for beams are the integrated stresses in terms of section
forces and moment, special considerations are needed for the evaluation of actual
stresses.
The normal stress from axial force is constant over the section, and computed as
N
n = ---A
The normal stress from bending is computed in four user-selected points (ylk, zlk) in
the cross section as
M ly z lk M lz y lk
bk = ----------------- ----------------I yy
I zz
In 2D, only two points, specified by their local y-coordinates are used.
The total normal stress in these points is then
k = bk + n
The peak normal stress in the section is defined as
max = max k
The shear stress from twist in general has a complex distribution over the cross section.
The maximum shear stress due to torsion is defined as
M lx
t, max = ------------Wt
where Wt is the torsional section modulus. This result is available only in 3D.
The section shear forces are computed as
2
ly
T lz = EI yy -----------2
s
2
T ly
264 |
CHAPTER 5: BEAMS
lz
= E I zz -----------2
s
where Tlz is available only in 3D. The average shear stresses are computed from the
shear forces as
T lz
sz, ave = -------A
T ly
sy, ave = -------A
(5-1)
Since the shear stresses are not constant over the cross section, the maximum shear
stresses are also available, using section dependent correction factors:
sz, max = z sz, ave
(5-2)
sy, max = y sy, ave
As the directions and positions of maximum shear stresses from shear and twist are not
known in a general case, upper bounds to the shear stress components are defined as
xz, max = sz, max + t, max
xy, max = sy, max + t, max
The maximum von Mises effective stress for the cross section is the defined as
mises =
max + 3 xy, max + 3 xz, max
Since the maximum values for the different stress components in general occur at
different positions over the cross section, the effective stress thus computed is a
conservative approximation.
Thermal Coupling
Material expands with temperature, which causes thermal strains to develop in the
material. The beams can handle any temperature variation along the beam, and linear
variation across the beam. The thermal strains together with the initial strains and
elastic strains from structural loads form the total strain.
= el + th + i
where
z
y
th = T m + T z ------ + T y ------ T ref
hz
hy
THEORY FOR THE BEAM USER INTERFACE
265
Thermal coupling means that the thermal expansion is included in the analysis.
Coefficient of Thermal Expansion
The coefficient of thermal expansion defines how much a material expands due to an
increase in temperature.
z
y
th = T m + T z --- + T y --- T ref
h
h
where th is the thermal strain, Ty and Tz are the temperature difference over the
cross section of the beam in the y and z directions, and is the coefficient of thermal
expansion. Tm is the temperature in the middle and Tref is the stress free reference
temperature.
Common Cross Sections
The cross section data for the common cross sections can be computed internally in
COMSOL Multiphysics. In this section, the expressions used are summarized.
Beam Cross Sections
RECTANGULAR SECTION
Figure 5-2: Rectangular section diagram for common cross section. The diagram also
displays in COMSOL Multiphysics when this option is selected.
266 |
CHAPTER 5: BEAMS
TABLE 5-1: RECTANGULAR SECTION CONSTANTS
PROPERTY
EXPRESSION
hy hz
Izz
hy hz
-----------12
ez
1.5
Iyy
REMARKS
hz hy
-----------12
ey
1.5
2
2 2
h y h z q
192q
2n 1 -
----------------- 1
------------------------------ tanh -----------------------5
5
3
2q
2n 1
n=1
q=
J
-------------------------------------------------------------------------------------------------------------------------2
8
hy hz q 1
--------------------------------------------------------------------------
2
2
2n 1
n = 1 2n 1 cosh -------------------------
2q
q=
Wt
min(hy/hz,hz/hy)
min(hy/hz,hz/hy)
p1
h y h z
-------- -------- 2
2
p2
h
h
-----y- --------z-
2 2
p3
h
h
-----y- -----z-
2 2
p4
h y h z
-------- ----- 2 2
THEORY FOR THE BEAM USER INTERFACE
267
BOX SECTION
Figure 5-3: Box section diagram for common cross section. The diagram also displays in
COMSOL Multiphysics when this option is selected.
TABLE 5-2: BOX SECTION CONSTANTS
PROPERTY
EXPRESSION
2 hy tz + hz ty 4 ty tz
Izz
t z h y + t y h z 2t z t y h z 2t z h y t y
------------------------------------------------ + ------------------------------------------------------6
2
ez
h y h z h y 2t y h z 2t z A
------------------------------------------------------------------------------16t z I zz
Iyy
t y h z + t z h y 2t y t z h y 2t y h z t z
------------------------------------------------- + ------------------------------------------------------6
2
ey
268 |
REMARKS
h z h y h z 2t z h y 2t y A
------------------------------------------------------------------------------16t y I yy
2 hy ty hz tz
----------------------------------------------------hy ty hz tz
----------------- + ---------------tz
ty
Thin-walled
approximation
Wt
2 h y t y h z t z min t y t z
Thin-walled
approximation
CHAPTER 5: BEAMS
TABLE 5-2: BOX SECTION CONSTANTS
PROPERTY
EXPRESSION
p1
h y h z
-------- -------- 2 2
p2
h
h
-----y- --------z-
2 2
p3
h
h
-----y- -----z-
2 2
p4
h y h z
-------- ----- 2 2
REMARKS
CIRCULAR SECTION
Figure 5-4: Circular section diagram for common cross section. The diagram also displays
in COMSOL Multiphysics when this option is selected.
TABLE 5-3: CIRCULAR SECTION CONSTANTS
PROPERTY
EXPRESSION
d
---------o4
Izz
d
---------o64
ez
REMARKS
THEORY FOR THE BEAM USER INTERFACE
269
TABLE 5-3: CIRCULAR SECTION CONSTANTS
PROPERTY
EXPRESSION
4
--3
Iyy
I zz
ey
d
---------o32
Wt
d
---------o16
p1
do
-------- 0
2
p2
d o
0 -------
2
p3
do
---- 2 0
p4
0 d
-----o-
2
REMARKS
PIPE SECTION
Figure 5-5: Pipe section diagram for common cross section. The diagram also displays in
COMSOL Multiphysics when this option is selected.
270 |
CHAPTER 5: BEAMS
TABLE 5-4: PIPE SECTION CONSTANTS
PROPERTY
FORMULA
2
do
REMARKS
2
di
--------------------------4
Izz
do di
--------------------------64
ez
d o d i A
-----------------------------------12 d o d i I zz
Iyy
I zz
ey
J
do di
--------------------------32
Wt
do di
--------------------------16d o
p1
do
------- 2 0
p2
d o
0 -------
2
p3
d
-----o- 0
2
p4
0 d
-----o-
2
THEORY FOR THE BEAM USER INTERFACE
271
H-PROFILE SECTION
Figure 5-6: H-profile section diagram for common cross section. The diagram also displays
in COMSOL Multiphysics when this option is selected.
TABLE 5-5: H-PROFILE SECTION CONSTANTS
PROPERTY
EXPRESSION
2h z t y + t z h y 2t y
Izz
2h z t y + t z h y 2t y
ty hz hy ty
------------------------------------------------------- + ----------------------------------2
12
ez
4h z t y h y t y + t z h y 2t y A
-------------------------------------------------------------------------------------8t z I zz
Iyy
2t y h z + t z h y 2t y
---------------------------------------------------12
ey
272 |
REMARKS
h z t z A
-------------------------8I yy
2t y h z + t z h y 2t y
---------------------------------------------------3
Thin-walled
approximation
Wt
J
-----------------------------max t y t z
Thin-walled
approximation
CHAPTER 5: BEAMS
TABLE 5-5: H-PROFILE SECTION CONSTANTS
PROPERTY
EXPRESSION
p1
h y h z
-------- -------- 2 2
p2
h
h
-----y- --------z-
2 2
p3
h
h
-----y- -----z-
2 2
p4
h y h z
-------- ----- 2 2
REMARKS
U-PROFILE SECTION
Figure 5-7: U-profile section diagram for common cross section. Also displays in COMSOL
Multiphysics when this option is selected.
TABLE 5-6: U-PROFILE SECTION CONSTANTS
PROPERTY
EXPRESSION
h y t z + 2 h z t z t y
Izz
t z h y + 2t y h z t z t y h z t z h y t y
----------------------------------------------- + ---------------------------------------------------2
12
zCG
h y t z 2h z t z + 2t y h z t z
---------------------------------------------------------------------------2A
REMARKS
THEORY FOR THE BEAM USER INTERFACE
273
TABLE 5-6: U-PROFILE SECTION CONSTANTS
PROPERTY
EXPRESSION
ez
t z t y 2h z t z h y t y
h z ---- + ---------------------------------------------------------- z CG
2
16I zz
Iyy
REMARKS
h y h z h y 2t y h z t z A
--------------------------------------------------------------------------8t z I zz
3
8t y h z + t z h y 2t y + 3t z h y 2t y 2h z t z
------------------------------------------------------------------------------------------------------------------------12
2
z CG A
ey
z
274 |
0
2
z CG A
----------------2I yy
2t y h z + t z h y 2t y
---------------------------------------------------3
Thin-walled
approximation
Wt
J
----------------------------max t y t z
Thin-walled
approximation
p1
hy
-------- z CG
2
p2
h
-----y- z
2 CG
p3
h
-----y- h z
2 z CG
p4
hy
-------- h z z CG
2
CHAPTER 5: BEAMS
T- P R O F I L E S E C T I O N
Figure 5-8: T-profile section diagram for common cross section. Also displays in COMSOL
Multiphysics when this option is selected.
TABLE 5-7: T-PROFILE SECTION CONSTANTS
PROPERTY
EXPRESSION
h z t y + h y t y t z
yCG
t z h y t y + t y h z 2h y t y
------------------------------------------------------------------------2A
Izz
4t z h y t y + h z t y + 3t y h z 2h y t y
2
----------------------------------------------------------------------------------------------------- y CG A
12
ez
REMARKS
y CG A
-----------------2I zz
Iyy
ty hz + tz hy ty
-------------------------------------------12
ey
ty
h y ---- y CG
2
h z t z A
-------------------------8I yy
THEORY FOR THE BEAM USER INTERFACE
275
TABLE 5-7: T-PROFILE SECTION CONSTANTS
276 |
PROPERTY
EXPRESSION
ty hz + tz hy ty
--------------------------------------------3
Thin-walled
approximation
Wt
J
--------------------------max t y t z
Thin-walled
approximation
p1
t z
y ------ CG 2
p2
h z
h y ------- y CG 2
p3
h y h
-----z-
y CG 2
p3
y t---z-
CG 2
CHAPTER 5: BEAMS
REMARKS
Beam Cross Sections
This chapter describes the Beam Cross sections interface, which you find under the
Structural Mechanics branch (
) in the Model Wizard.
In this chapter:
Using the Beam Cross Section User Interface
The Beam Cross Section User Interface
Theory for the Beam Cross Section User Interface
277
Using the Beam Cross Section User
Interface
In this section:
About Beams and Cross Section Data
Using the Beam Cross Section User Interface
About Beams and Cross Section Data
A beam is a slender structure that can be fully described by cross section properties like
area, moments of inertia. In COMSOL Multiphysics there are two physics interfaces
for analyzing beam structures, one in 2D and one in 3D.
APPROACHES FOR OBTAINING THE CROSS SECTION DATA
The values for the cross section properties can be found in different ways. By:
looking up tabulated values,
inserting dimensions into handbook formulas,
using the built-in common sections in The Beam User Interface, and
using The Beam Cross Section User Interface.
For the common built-in cross sections available with the Beam interface
(Rectangular, Box, Circular, Pipe, H-section, U-section, and T-section),
using the Common sections option in the Cross Section Data settings
provides you with the most efficient input alternative. See Common
Cross Sections for details.
For non-standard cross sections with non-trivial shapes, using the Beam Cross Section
interface is the only realistic alternative. This interface also provides you with more
accurate data than the other methods, since it does not rely on common engineering
approximations.
The cross section data obtained from the different approaches does, in general, differ
somewhat. Two common sources for this difference is that the influence of fillets in the
278 |
CHAPTER 6: BEAM CROSS SECTIONS
geometry may be excluded, and that approximations such as assuming thin walled
sections have been used.
STRESS COMPUTATION
Since the Beam interface is only aware of the cross section properties and not of the
true shape of the cross section, the stresses computed there can only be approximate.
The approximation used by COMSOL is conservative in the sense that all stresses are
assumed to interact in the worst possible way.
In the Beam Cross Section interface the true stress distribution can be computed given
a set of section forces. This may be important in cases where the stresses obtained in
the Beam physics interface exceed allowed values.
Using the Beam Cross Section User Interface
The Beam Cross Section physics interface can either be used separately or as a separate
model node and geometry in the same model file where the actual beam problem is
solved.
In most cases, it is easiest to compute the beam cross section properties in
a separate model.
There are some cases when using one or more Beam Cross Section interfaces and a
Beam interface together in the same model file can be advantageous. For example,
when changes in the cross sections can be anticipated. There are however a number of
things to pay attention to in this case:
Usually the determination of the cross section data is more computationally
expensive than the actual analyses of the beam structure. Then it is best to use either
separate studies or study steps for the two tasks.
When two separate studies or study steps are used, then the Values of variables not
solved for must be set in the second study step where only the beam problem is
solved. Under Dependent Variables you can also click to clear the Store in output
check box for the beam cross section degrees of freedom in order to save space.
USING THE BEAM CROSS SECTION USER INTERFACE
279
When referencing the beam cross section properties in the input fields of the Beam
interface, you must use a fully qualified variable name, like mod2.bcs3.A for the
area.
If a Beam interface is added after a Beam Cross Section interface, the only study type
shown in the Model Wizard is Stationary. In this case, under Custom Studies, select
Preset Studies for Some Physics to find the other study types available for the beam
analysis.
Specifying Values of Dependent Variables and Selecting Physics and
Variables in the Study Steps in the COMSOL Multiphysics Reference
Manual
Since the Beam Cross Section interface is active in 2D, the cross sections are analyzed
in the xy-plane. However, the Beam interface uses a notation where the local x-axis is
along the beam, and the cross section is described in a local yz-plane.
In order to avoid confusion, the cross section properties are described in local x1-x2
coordinates (see Figure 6-1). When data is transferred to a Beam interface, keep track
of the coordinates that correspond to the local y and z directions, respectively.
Channel Beam: Model Library path Structural_Mechanics_Module/
Verification_Models/channel_beam
COMPUTING THE CROSS SECTION DATA
In a 2D model, the geometry of the cross section is drawn. If the section is simply
connected (that is, has no internal holes), then usually nothing else needs to be done
before running the analysis.
The default mesh density is tuned for thin-walled sections. For solid sections an
unnecessarily large model is obtained when using the default mesh.
If the section is not simply connected, add one Hole node for each internal hole. In
that node, select all boundaries around the hole.
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CHAPTER 6: BEAM CROSS SECTIONS
The computed cross section data is stored in the variables listed in Table 6-1:
TABLE 6-1: VARIABLES CONTAINING CROSS SECTION DATA
VARIABLE
DESCRIPTION
INPUT TO BEAM INTERFACE
LINK TO THEORY
SECTION
bcs.A
Area
Area (A)
Area
bcs.CGx
Center of gravity, x
coordinate
Implicit, since it affects the
positioning of the beam
centerline.
bcs.CGx
Center of gravity, y
coordinate
As above
bcs.x1
First coordinate in principal
axes system
Implicit, since it can be
used for determining stress
evaluation locations
bcs.x2
Second coordinate in
principal axes system
As above
bcs.I1
Largest principal moment of
inertia
Moment of inertia around
local y/z-axis (Izz/Iyy)
bcs.I2
Smallest principal moment
of inertia
As above
bcs.Ixx
Moment of inertia around
x-axis
bcs.Iyy
Moment of inertia around
y-axis
bcs.Ixy
Deviatoric moment of
inertia in xy system
bcs.rg
Radius of gyration
bcs.alph
a
Angle from x-axis to first
principal axis
Rotation of vector around
beam axis ()
Center of
Gravity
Local
Coordinates
Moments of
Inertia
Directions of
Principal Axes
USING THE BEAM CROSS SECTION USER INTERFACE
281
TABLE 6-1: VARIABLES CONTAINING CROSS SECTION DATA
VARIABLE
DESCRIPTION
INPUT TO BEAM INTERFACE
bcs.mu1
Max shear stress factor, x1
direction
Max shear stress factor in
local y/z direction (y/z)
bcs.mu2
Max shear stress factor, x2
direction
As above
bcs.beta
1
Shear correction factor, x1
direction
bcs.beta
2
Shear correction factor, x2
direction
bcs.ei1
Shear center location, first
local coordinate
Distance to shear center in
local y/z direction.
bcs.ei2
Shear center location,
second local coordinate
As above
bcs.J
Torsional constant
Torsional constant (J)
bcs.Wt
Torsional section modulus
Torsional section modulus
(Wt)
bcs.Cw
Warping constant
bcs.Kw
Warping section modulus
bcs.sw
Non-uniform torsion
parameter
LINK TO THEORY
SECTION
Bending Shear
Stresses
Torsion
Warping
COMPUTING DETAILED STRESSES
If you have set of section forces (axial force, shear forces, bending moments, and
twisting moments), it is possible to display the stresses it causes. To do this, enter the
values in the Section Forces section.
The stresses are available in the variables listed in Table 6-2.
After changing data in this section, you do not need to compute the study
for this interface again once is has been solved. It is sufficient to do an
Update Solution to get the stress plots updated.
Studies and Solvers in the COMSOL Multiphysics Reference Manual
282 |
CHAPTER 6: BEAM CROSS SECTIONS
TABLE 6-2: VARIABLES CONTAINING STRESS DISTRIBUTIONS
VARIABLE
DESCRIPTION AND
LINK TO THEORY
SECTION
bcs.sN
Stress from axial force
Axial Stress
bcs.sM1
Bending stress from moment around x1 axis
bcs.sM2
Bending stress from moment around x2 axis
bcs.tT1x
Shear stress from force in x1 direction, x
component
bcs.tT1y
Shear stress from force in x1 direction, y
component
bcs.resT1
Shear stress from force in x1 direction,
resultant
bcs.tT2x
Shear stress from force in x2 direction, x
component
bcs.tT2y
Shear stress from force in x2 direction, y
component
bcs.resT2
Shear stress from force in x2 direction,
resultant
bcs.tMtx
Shear stress from twisting moment, x
component
bcs.tMty
Shear stress from twisting moment, y
component
bcs.resMt
Shear stress from twisting moment,
resultant
bcs.mises
von Mises effective stress
Bending Axial Stresses
Bending Shear
Stresses
Torsional Shear
Stresses
Effective Stress
USING THE BEAM CROSS SECTION USER INTERFACE
283
The Beam Cross Section User
Interface
The Beam Cross Section user interface (
), found under the Structural Mechanics
branch (
) in the Model Wizard, is used for computing cross section properties for
beams. It can also be used for a detailed evaluation of stresses in a beam when the
section forces to which it is subjected are known.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is bcs.
DOMAIN SELECTION
The default setting is to include All domains in the model to define the cross section.
To choose specific domains, select Manual from the Selection list.
MATERIAL PROPERTIES
Enter a value for Poissons ratio v (dimensionless). The default is 0.3. This value only
influences the detailed distribution of shear stresses caused by a transversal load.
SECTION FORCES
If you want to perform a detailed computation of the stress state in a beam cross
section, enter the section forces.
After changing data in this section, you do not need to compute the study
for this interface again once is has been solved. It is sufficient to do an
Update Solution to get the stress plots updated.
Enter values or expressions for the following:
Axial force N (SI unit: N). The default is 1 N.
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CHAPTER 6: BEAM CROSS SECTIONS
Bending moment around 1-axis M1 (SI unit: Nm). The default is 1 Nm.
Shear force along 2-axis T2 (SI unit: N). The default is 1 N.
Bending moment around 2-axis M2 (SI unit: Nm). The default is 1 Nm.
Shear force along 1-axis T1 (SI unit: N). The default is 1 N.
Twisting moment Mt(SI unit: Nm). The default is 1 Nm.
DISCRETIZATION
To display this section, select click the Show button (
) and select Discretization.
Select an Element orderLinear, Quadratic (the default), Cubic, Quartic, or Quintic.
Show More Physics Options
Using the Beam Cross Section User Interface
Theory for the Beam Cross Section User Interface
Studies and Solvers in the COMSOL Multiphysics Reference Manual
Hole
Use the Hole feature to define internal holes for the beam cross section. One Hole
feature must be added for each internal hole. Right-click the Beam Cross Sections node
to add the Hole node.
BOUNDARY SELECTION
You should select all boundaries around a certain hole from the Selection list (Manual).
The All boundaries option is not relevant.
Using the Beam Cross Section User Interface
Theory for the Beam Cross Section User Interface
THE BEAM CROSS SECTION USER INTERFACE
285
Theory for the Beam Cross Section
User Interface
The Beam Cross Section User Interface theory is described in this section:
Cross Section Properties
Computation of Stresses
Cross Section Properties
The following cross section properties computed by the Beam Cross Section interface
are described in this section:
Area
Local Coordinates
Center of Gravity
Bending Shear Stresses
Moments of Inertia
Torsion
Directions of Principal Axes
Warping
AREA
The area is computed as:
A =
dA
A
CENTER OF GRAVITY
The center of gravity is computed as:
1
x CG = ---- x dA
A
1
y CG = ---- y dA
A
MOMENTS OF INERTIA
The moments of inertia in the XY coordinate system are:
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CHAPTER 6: BEAM CROSS SECTIONS
y yCG
I xx =
dA
x xCG
I yy =
dA
I xy =
x xCG y yCG dA
A
Since the input data required by the Beam physics interface is the principal moments
of inertia, these must also be computed. Using the radius of the Mohrs circle:
R =
I xx I yy 2
2
--------------------- + I xy
the principal moments of inertia can be expressed as:
I xx + I yy
I 1 = ---------------------- + R
2
I xx + I yy
I 2 = ---------------------- R
2
As an auxiliary variable, the radius of gyration is computed, using the expression
rg =
I1 + I2
---------------A
DIRECTIONS OF PRINCIPAL AXES
The angle needed to rotate the x-axis to the axis of the largest principal moment of
inertia (x1) is denoted . From the definition of Mohrs circle, the angle is:
2I xy
1
= --- atan ----------------------
I xx I yy
2
When implemented using the atan2 function, the angle can be correctly evaluated for
all rotations, and returns in the interval -< < .
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
287
Figure 6-1: Local coordinate system and rotation angle.
LOCAL COORDINATES
The local coordinate system, having its origin in the center of gravity, and orientation
given by the principal moments of inertia is given by:
x 1 = x x CG cos + y y CG sin
x 2 = y y CG cos x x CG sin
BENDING SHEAR STRESSES
The shear stresses caused by bending cannot be given a simple closed form solution,
but must be solved using two independent partial differential equations, one for the
force in each direction. The complete derivation is given at the end of this section. First
some quantities computed from the shear stresses are defined.
1
The following notation is used: 2z . This is a shear stress in the x2 direction (acting
on the plane with z as normal) caused by a unit shear force acting in the x1 direction.
Max Shear Stress Factor
The max shear stress factor is the ratio between the maximum shear stress in the cross
section and the average shear stress. For a shear force in the x1 direction, the definition
is:
288 |
CHAPTER 6: BEAM CROSS SECTIONS
max
1
1 = --------------------------- = max A
1
---A
where
1 2
1 2
1z + 2z
is the resulting shear stress from a unit load in the x1 direction. Similarly:
2 = max
Shear Correction Factor
The shear correction factor is also computed. It is currently not used by the Beam
interface in COMSOL Multiphysics, but can be useful when doing estimates of shear
deflection. The shear correction factor is a multiplier which makes the strain energy
from the average shear stress in the cross section equal to the true shear energy in the
cross section. The shear correction factor can also be introduced through the concept
shear area. The shear area is the reduced area which should replace the true area when
computing the shear deformation of a beam. In terms of the shear correction factor it
can be written as:
1
As
A
= -----1
where 1 is the shear correction factor for a shear force in the x1 direction.
To compute the shear correction factor, the true strain energy is set equal to the strain
energy from the average shear stress, when acting over the shear area. Thus:
T 1 2 1
1 1
1 1
1
1 - -------- 1z 1z + 2z 2z dA = ------A
2
2G A s
giving
2
T1
11 2
1 2
------ 1z + 2z dA = ------------------2G
2G 1 A
Since T1 is a unit shear force,
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
289
1
1 2
1 = dA A
Similarly:
1
2 2
2 = dA A
Shear Center Distance
The shear center (or, equivalently, the center of rotation) is the point around which
the shear stresses from bending has no torque. In COMSOL it is represented as the
distance from the center of gravity of the cross section in the principal axes coordinate
system. The torque can be computed as:
0 = 1z e 2 x 2 + 2z e 1 x 1 dA =
A
1z x2 + 2z x1 dA + e1 2z dA e2 1z dA
A
Since there are two separate solutions for the shear stresses, it is possible to split the
determination of the two shear center coordinates into:
2
e 1 = 1z x 2 + 2z x 1 dA
A
e 2 = 1z x 2 + 2z x 1 dA
A
Here the fact that the shear force resultant has a unit value has been used.
Derivation of the Equations for Computing the Shear Stresses
Basic beam theory assumptions gives the following stress components:
1 = 0
2 = 0
M1 x2 M2 x1
z = -------------- -------------I1
I2
12 = 0
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CHAPTER 6: BEAM CROSS SECTIONS
(6-1)
The shear forces are related to the bending moments through
M 2
T 1 = ----------z
M 1
T 2 = ----------z
The static equilibrium equations are:
1 1 + 12 2 + 1z,z = 0
12 1 + 2 2 + 2z,z = 0
1z,1 + 2z,2 + z,z = 0
Insertion of the known stresses into the equilibrium equations gives:
1z,z = 0
2z,z = 0
T2 x2 T1 x1
1z,1 + 2z,2 + ------------- + ------------- = 0
I1
I2
The two first equations simply state that the shear stresses are independent of z,
whereas the third equation is the one on which to focus the interest. Assume that the
shear stresses can be derived from a scalar stress potential , through:
2
T 1 x 2
1z = ,1 + --------------------------2 1 + I 2
2
T 2 x 1
2z = ,2 + --------------------------2 1 + I 1
Insertion of this assumption into the third equilibrium equation gives the Poisson type
equation:
T2 x2 T1 x1
= ------------- + -------------
I1
I2
(6-2)
In addition to equilibrium, also compatibility must be fulfilled. The Beltrami-Michell
form of compatibility equations includes the assumption of an isotropic linear elastic
material, and then states that:
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
291
1 trace
ij + ------------ -------------------------------- = 0
1 + x i x j
Given the stress state from Equation 6-1, the only two non-trivial equations are:
1 T1
1z + ------------ ------ = 0
1 + I2
1 T2
2z + ------------ ------ = 0
1 + I1
Inserting the assumed stress components gives:
T 1
T1
1 T1
,1 + ----------------------- + ------------ ------ = ,1 + ------ = 0
1 + I 2 1 + I 2
I2
T 2
T2
1 T2
,2 + ----------------------- + ------------ ------ = ,2 + ------ = 0
1 + I 1 1 + I 1
I1
Integration of the first equation with respect to x1 and the second equation with
respect to x2 gives:
T1 x1
+ ------------- + f 2 x 2 = 0
I2
T2 x2
+ ------------- + f 1 x 1 = 0
I1
Combining these two equations results in:
T2 x2 T1 x1
= ------------- + -------------
I1
I2
This is the same equation as Equation 6-2. It is thus possible to fulfill equilibrium,
compatibility, and the constitutive relation with a single equation of Poisson type.
On all free boundaries, the stress must be zero, giving the condition:
1z n 1 + 2z n 2 = 0
Using the assumed shear stresses, this can be converted into the Neumann condition:
292 |
CHAPTER 6: BEAM CROSS SECTIONS
T 2 x 1
T 1 x 2
n = --------------------------- n 1 + --------------------------- n 2
2
1
+
I
2
1
+
2
1
It must also be determined that the resultant of the shear stresses actually match the
applied shear forces, that is:
1z dA = T1
A
2z dA = T2
A
The proofs for the two components are analogous, so it is shown only for the x1
direction:
2
1z dA =
T 1 x 2
,1 + --------------------------- dA =
2
1 + I 2
T 1 I 1
,1 dA + -------------------------2 1 + I 2
To compute the integral of the x1 derivative of , a term containing the differential
equation itself is added. This is a zero contribution, but it makes further simplifications
possible.
T2 x2
T1 x1
- + ------------- dA =
,1 dA = ,1 + x1 + -----------I1
I2
,1 + x1 dA + T1 = x1 x1 ,1 + x2 x1 ,2 dA + T1 =
x1 ,1 n1 + x1 ,2 n2 ds + T1 = x1 n ds + T1 =
2
T 2 x 1
T 1 x 2
x 1 --------------------------- n 1 + --------------------------- n 2 ds + T 1 =
2
1
+
I
2
1
+
I
2
1
T1 I1
T 1 x 2
--------------------------- dA + T 1 = --------------------------- + T 1
2
1
+
I
2
1 + I 2
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
293
In the transformations above these facts are used:
The area integral of x1, x1 or x1x2 are zero since the coordinate system is positioned
at the center of gravity and is oriented along the principal axes.
2
The area integral of x 2 is I1.
The divergence theorem is used for transformation between area and surface
integrals.
The Neumann condition on the boundary is inserted into the integral along the
boundary.
This proves that the assumed stress field also produces the correct resultants.
When internal holes are present, it is necessary ensure compatibility in the sense that
the displacement is single valued when going around the hole:
du1 = du2 = duz
= 0
The displacements can be derived from the strains, which are given by the stress state:
u 1
1 = --------- = z
x 1
u 2
2 = --------- = z
x 2
u z M 1 x 2 M 2 x 1
z = --------- = -------------- -------------EI 1
EI 2
z
u 1 u 2
12 = --------- + --------- = 0
x 2 x 1
2
u 1 u z 1
T 1 x 2
1z = --------- + --------- = ---- ,1 + ---------------------------
z x 1 G
2 1 + I 2
2
2z
u 2 u z 1
T 2 x 1
= --------- + --------- = ---- ,2 + ---------------------------
2 1 + I 1
z x 2 G
Integrations of the direct strains gives:
294 |
CHAPTER 6: BEAM CROSS SECTIONS
M 1 x 1 x 2 M 2 x 21
u 1 = ------------------------ + ------------------ + g 1 x 2 z
EI 1
2EI 2
2
M 1 x 2 M 2 x 1 x 2
u 2 = ------------------ + ------------------------ + g 2 x 1 z
2EI 1
EI 2
Since the only part of the displacement that is relevant for the bending shear stresses is
independent of the z coordinate, the functions g1 and g2 can be considered as
independent of z.
u 1
u 1
- dx + --------- dx =
x 1 1 x 2 2
du1 = -------M 1 x 2
M 2 x 1
M 1 x 1
g 1
- ------------------ dx 1 + ------------------ + --------- dx 2 =
EI 1
EI 2
EI 1
x 2
---------------- M 1 x 1 x 2
M 1 x 1 x 2
- dA ------------------------ dA = 0
---------------------- EI1
EI 1
In the last transformation Greens theorem is used. The uniqueness of the u2
displacement can be shown in the same way.
The uniqueness of the out-of-plane component of the displacement is shown in
Equation 6-3:
u z
u z
u 1
u 2
- dx + --------- dx = --------- dx + --------- dx =
1z z 1 2z z 2
x 1 1 x 2 2
duz = -------
2
2
T 1 x 2 T 1 x 1 x 2 T 2 x 1
1
------------------------------------------------------------- dx +
--+
,1 +
2 1 + I 2 EI 1
2EI 2 1
G
2
2
T 2 x 1 T 1 x 2 T 2 x 1 x 2
1
---- ,2 + --------------------------- ---------------- + ---------------------- dx 2 =
2 1 + I 1 2EI 1
EI 2
G
(6-3)
T 1 x 2
T 1 x 1
1
---- ,12 + ----------------------- ---------------- dA +
G
1 + I 2
EI 1
T 2 x 1
T 2 x 2
- ---------------- dA = 0
---G- ,21 + ---------------------1 + I 1
EI 2
1
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
295
In the last step of Equation 6-3 all integrals are zero since the coordinate system is
located at the center of gravity of the section. This proves that all displacement
components are unique.
When solving the problem, the shear stresses caused by a unit force in each of the two
principal directions must be separated, so two separate problems are solved. For the
force in the x1 direction it is formulated as:
x1
= ----I2
with
x2
n = --------------------------- n 1
2 1 + I 2
on all boundaries. The stresses are computed as:
2
x 2
1
1
1z = ,1 + --------------------------2 1 + I 2
1
2z = ,2
The corresponding problem for the x2 direction is:
x2
= ----I1
2
x1
n = --------------------------- n 1
2 1 + I 1
2
1z = ,1
x 1
2
2
2z = ,2 + --------------------------2 1 + I 1
TO R S I O N
The torsional properties cannot in general be computed using a closed form
expression. Determining the torsional rigidity requires the solution of a PDE over the
cross section. There are two ways to do this: Using a warping function or using the
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CHAPTER 6: BEAM CROSS SECTIONS
Prandtl stress function. The Prandtl stress function approach is used in COMSOL
since it gives easier boundary conditions.
The general torsion theory includes the shear modulus and angle of twist, but these
properties are not needed to determine the torsional rigidity, so both parameters are
treated as having the value 1. In that case the equation to be solved can be simplified
to:
= 2
where is the stress function. For a singly connected region the boundary condition
is = 0 along the whole boundary. Having solved this problem the torsional rigidity
can be computed as:
J = 2 dA
A
The shear stresses are defined as:
xz = -----y
yz = -----x
The torsional modulus can be determined as:
J
W t = ---------------------------max
In the case that there are internal holes in the section the situation is slightly more
complex. The = 0 condition is now applicable only to the external boundary,
whereas each boundary of an internal hole i needs a Dirichlet boundary condition:
= Hi
where H i is a constant to be determined. The constant value of the stress function
fulfills the stress free boundary conditions. There is also a compatible condition that
must be fulfilled: the displacements must be single valued when going around each
hole along its boundary i . This is trivially fulfilled for the in-plane displacements, but
the out-of-plane displacement, w, generates the necessary equations to determine H i :
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
297
dw =
0=
-----ww
dx + ------- dy =
x
y
u-
v
----dx + yz ------ dy
xz z
----+ y t x ------ + x t y ds
y
----+ y dx + ------ x dy =
y
Here it has been used so that the strains are equal to the stresses since the shear
modulus is set to 1. The kinematic assumption that the in-plane displacements can be
written as:
u = yz
v = xz
is employed. This assumption implies that the origin of the coordinate system is at the
center of rotation. This is true only for doubly symmetric sections, but adding a
constant offset to the x and y coordinates does not contribute to the integral.
Since the gradient of depends linearly on the yet unknown variables H i , the values
of which can be solved by adding one equation:
----
---- ds = 0
y + y t x x + x t y
for each hole.
The expression for the torsional rigidity must in this case be augmented to:
J = 2 dA + 2
A
Hi Ai
i
where A i is the area of hole i.
WA RP IN G
The warping properties of the cross section are not used by the Beam interface in
COMSOL Multiphysics, since an assumption of pure St Venant torsion is used. The
data may still be useful to do manual estimates.
The warping function (x,y) describes the out-of-plane deformation related to
torsion. It fulfills the Laplace equation = 0 .
The boundary conditions giving stress-free boundaries:
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CHAPTER 6: BEAM CROSS SECTIONS
n = x e x t x + y e y t y
The offset by the shear center coordinates (ex, ey) is introduced since the torsion
theory assumes that the coordinate system has it origin in the center of rotation (which
is the same as the shear center).
The level of warping function must also be fixed by adding a Dirichlet condition in a
point. The actual value is however difficult to set. Instead it is easier to solve for a
shifted warping function:
s (x,y) = (x,y) + C
The shifted warping function can be set to zero in an arbitrary point. The true warping
function is then computed as:
1
(x,y) = s (x,y) ---- s (x,y) dA
A
This criterion expresses that the average of the warping function must be zero since the
axial stresses induced by torsion should not have a resultant.
The warping constant, which is used in analysis of non-uniform torsion, is defined as:
Cw =
(x,y)
dA
The axial stress caused by non-uniform torsion is:
B (x,y)
w (x,y) = --------------------Cw
where B is the bimoment. The maximum axial stress is:
B max (x,y)
B
w, max = -------------------------------------------- = -------Cw
Kw
The warping modulus is then defined as:
max (x,y)
K w = -----------------------------------Cw
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
299
Given the warping constant, it is possible to compute a non-dimensional number that
can be used to characterize the influence of non-uniform torsion in a beam with a
certain length L. This number is:
2
2 1 + C w
EC w
------------------- = ----------------------------------2
2
GJL
JL
Since the length is independent of the cross section, the sensitivity number is defined
as:
2
2 1 + C w
s w = -----------------------------------J
It has the physical dimension length squared.
Computation of Stresses
The stresses are computed using the following expressions:
Axial Stress
Torsional Shear Stresses
Bending Axial Stresses
Effective Stress
Bending Shear Stresses
AXIAL STRESS
The axial stress is computed as:
N
N = ---A
where N is the axial force.
BENDING AXIAL STRESSES
The bending stresses are computed as:
M1 x2
M1 = -------------I1
M2 x1
M2 = -------------I2
300 |
CHAPTER 6: BEAM CROSS SECTIONS
Where M1 is the moment around the first principal axis and M2 is the moment around
the second principal axis.
BENDING SHEAR STRESSES
The components of the shear stresses caused by a shear force T1 along the x1 axis are:
1
T1x = 1z cos 2z sin T 1
T1y = 2z cos + 1z sin T 1
The components of the shear stresses caused by a shear force T2 along the x2 axis are:
2
T2x = 1z cos 2z sin T 2
T2y = 2z cos + 1z sin T 2
In both cases, the resultants are also computed as:
T1 =
T1x + T1y and T2 =
T2x + T2y
TO R S I O N A L S H E A R S T R E S S E S
The components of the shear stress caused by Saint-Venant torsion are:
M t ,y
Mtx = --------------J
M t ,x
Mty = -------------J
where Mt is the twisting moment. The resultant is computed as:
Mt =
Mtx + Mty
EFFECTIVE STRESS
The von Mises effective stress is computed from the stress components defined above
using the expression:
vM =
N + M1 + M2 + 3 T1x + T2x + Mtx + 3 T1y + T2y + Mty
THEORY FOR THE BEAM CROSS SECTION USER INTERFACE
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Trusses
This chapter describes the Truss interface, which you find under the Structural
Mechanics branch (
) in the Model Wizard.
In this chapter:
The Truss User Interface
Theory for the Truss User Interface
303
T he T r us s U s e r In t erfac e
The Truss user interface (
) is found under the Structural Mechanics branch (
) in
the Model Wizard. Trusses are elements that can only sustain axial forces; therefore use
trusses to model truss works where the edges are straight but also to model sagging
cables like the deformation of a wire exposed to gravity. The Truss interface is available
on edges in 3D models and boundaries in 2D models.
The Linear Elastic Material node is the default material model, which adds a linear elastic
equation for the displacements and has a settings window to define the elastic material
properties.
When this interface is added, these default nodes are also added to the Model Builder:
Linear Elastic Material, Cross Section Data, Free (a condition where points are free, with
no loads or constraints), Straight Edge Constraint (to ensure that the points lie on a
straight line between the end points of the edge or boundary), and Initial Values.
Right-click the Truss node to add other nodes that implement, for example, loads and
constraints. The following sections provide information about all nodes available in
this interface.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is truss.
BOUNDARY OR EDGE SELECTION
The default setting is to include All edges or All boundaries in the model. To choose
specific edges or boundaries, select Manual from the Selection list.
REFERENCE POINT F OR MOMENT COMPUTATION
Enter the default coordinates for the Reference point for moment computation xref
(SI unit: m). The resulting moments (applied or as reactions) are then computed
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relative to this reference point. During the results and analysis stage, the coordinates
can be changed in the Parameters section in the result nodes.
DEPENDENT VA RIA BLES
The dependent variable (field variable) is for the Displacement field u which has two
components (u, v) in 2D and three components (u, v, and w) in 3D. The name can be
changed but the names of fields and dependent variables must be unique within a
model.
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization. Select
Quadratic (the default), Linear, Cubic, or Quartic for the Displacement field. Specify the
Value type when using splitting of complex variablesReal or Complex (the default).
Show More Physics Options
Boundary, Edge, Point, and Pair Nodes for the Truss User Interface
About the Edge Load and Point Load
Theory for the Truss User Interface
Vibrating String: Model Library path Structural_Mechanics_Module/
Verification_Models/vibrating_string
In-Plane and Space Truss: Model Library path
Structural_Mechanics_Module/Verification_Models/
inplane_and_space_truss
Boundary, Edge, Point, and Pair Nodes for the Truss User Interface
The Truss User Interface has these boundary, edge, point, and pair nodes available as
indicated.
To locate and search all the documentation, in COMSOL Multiphysics,
select Help>Documentation from the main menu and either enter a search
term or look under a specific module in the documentation tree.
T H E TR U S S U S E R I N T E R F A C E
305
These nodes (and subnodes) are described in this section (listed in alphabetical order):
Antisymmetry
Prescribed Displacement
Cross Section Data
Prescribed Velocity (for
time-dependent and
frequency-domain studies)
Edge Load
Initial Stress and Strain
Initial Values
Linear Elastic Material
Point Mass
Straight Edge Constraint
Symmetry
Phase
Pinned
Thermal Expansion
Prescribed Acceleration (for
time-dependent and frequency-domain
studies)
These nodes are described for the Solid Mechanics or Beam interface:
Added Mass
Point Load
Damping
Point Mass Damping
Fixed Constraint
Pre-Deformation
Free
Spring Foundation
If there are subsequent boundary conditions specified on the same
geometrical entity, the last one takes precedence.
In the COMSOL Multiphysics Reference Manual:
Continuity on Interior Boundaries
Identity and Contact Pairs
Linear Elastic Material
The Linear Elastic Material node adds the equations for a linear elastic truss element,
and an interface for defining the elastic material properties.
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BOUNDARY OR EDGE SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or edges to define a linear elastic truss
elements and compute the displacements, stresses, and strains. Or select All edges or All
boundaries as required.
MODEL INPUTS
Define model inputs, for example, the temperature field of the material uses a
temperature-dependent material property. If no model inputs are required, this section
is empty.
LINEAR ELASTIC MATERIAL
Define the linear elastic material properties. These settings are the same as described
under Linear Elastic Material for The Beam User Interface.
GEOMETRIC NONLINEARITY
In this section there is always one check box. Either Force linear strains or Include
geometric nonlinearity is shown.
If a study step is geometrically nonlinear, the default behavior is to use a large strain
formulation for all boundaries or edges. There are however some cases when you
would still want to use a small strain formulation in a part of the structure. In those
cases, select the Force linear strains check box. When selected, a small strain
formulation is always used, independently of the setting in the study step. The default
value is that the check box is cleared, except when opening a model created in a version
prior to 4.3. In this case the state is chosen so that the properties of the model are
conserved.
The Include geometric nonlinearity check box is displayed only if the model was created
in a version prior to 4.3, and geometric nonlinearity was originally used for the selected
boundaries or edges. It is then selected and forces the Include geometric nonlinearity
check box in the study step to be selected. If the check box is cleared, the check box is
permanently removed and the study step assumes control over the selection of
geometric nonlinearity.
T H E TR U S S U S E R I N T E R F A C E
307
Thermal Expansion
Right-click the Linear Elastic Material node to add the Thermal Expansion node. Thermal
expansion is an internal thermal strain caused by changes in temperature. The
temperature is assumed to be constant over the cross section of the truss element.
The settings for the Truss interface are the same as described for the Beam
interface (excluding the thermal bending options). See Thermal
Expansion.
Initial Stress and Strain
Right-click the Linear Elastic Material node to add an Initial Stress and Strain node,
which is the stress-strain state in the structure before applying any constraint or load.
Initial strain can, for instance, describe moisture-induced swelling, and initial stress can
describe stresses from heating.
BOUNDARY OR EDGE SELECTION
From the Selection list, choose the geometric entity (boundaries or edges) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
INITIAL STRESS AND STRAIN
Enter an Initial axial strain eni (dimensionless) and Initial axial stress ni (SI unit: N/
m2). The default values are zero, which means no initial stress or strain.
Cross Section Data
This is required input data for the truss.
Use the Cross Section Data node to enter the cross section area for the truss elements.
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BOUNDARY OR EDGE SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or edges, or select All edges or All
boundaries as required.
BASIC SECTION PROPERTIES
Enter an Area A (SI unit: m2).
Initial Values
The Initial Values node adds an initial value for the displacement field u (the
displacement components u, v, and, in 3D, w), and the velocity field. It can serve as
an initial condition for a transient simulation or as an initial guess for a nonlinear
analysis. Right-click to add additional Initial Values nodes.
BOUNDARY OR EDGE SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or edges, or select All edges or All
boundaries as required.
INIT IA L VA LUES
Enter values or expressions in the applicable fields based on the space dimension. The
default value is 0 for all initial values of the Displacement field u (SI unit: m) and the
du
Velocity field
(SI unit: m/s).
dt
About the Edge Load and Point Load
You can add force loads acting on all levels of the Truss geometry:
Edge Load for a force distributed along an edge
Point Load for concentrated forces at points
For these loads, right-click and choose Phase to add a phase for harmonic loads in
frequency-domain computations. In this way, you define a harmonic load where the
amplitude and phase shift can vary with the excitation frequency f:
T H E TR U S S U S E R I N T E R F A C E
309
F freq = F Amp f cos 2f + F Ph f
Edge Load
Add an Edge Load as a force distributed along an edge (3D models) or boundary (2D
models). Also right-click and add a Phase for harmonic loads in frequency-domain
computations.
BOUNDARY OR EDGE SELECTION
From the Selection list, choose the geometric entity (boundaries or edges) to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
FORCE
From the Load type list, select the definition of the force load. Select Load defined as
force per unit length FL (the default) (SI unit: N/m) or Edge load defined as force per
unit volume F (SI unit: N/m3). In the latter case the given load intensity is multiplied
by the cross section area. This option is useful for modeling body loads like gravity or
centrifugal loads.
Enter values or expressions for the components of the Edge load in the table.
Phase
Right-click an Edge Load or Point Load node to add a Phase node, which adds a phase
for harmonic loads in frequency-domain computations.
EDGE OR POINT SELECTION
From the Selection list, choose the geometric entity (edges or points) to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
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PHASE
Add the phase load Fph (SI unit: rad) for harmonic loads. Enter the phase for each
component of the load in the corresponding fields.
Straight Edge Constraint
The Straight Edge Constraint controls the addition of an additional constraint, forcing
the edge to be straight; see Straight Edge Option. The default is to add the constraint.
Using this additional constraint removes the need to use a mesh with only one element
per edge. The problem with internal nodes is that they makes the problem singular
because the truss only has stiffness in the axial direction in a geometrically linear
problem. In the case of geometric nonlinearity, there is a stiffness in the transverse
directions as long as the axial force is tensile.
Internal nodes with the same problem are present also when using higher-order
elements.
The additional constraint increases the solution time, especially for large 3D and
transient problems. If possible, try to use first order elements with one element only
per edge, so that you can remove the Straight Edge Constraint node.
BOUNDARY OR EDGE SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or edges, or select All edges or All
boundaries as required.
Pinned
The Pinned node adds an edge (3D), boundary (2D), or point (2D and 3D) condition
that makes the edge, boundary, or point fixed; that is, the displacements are zero in all
directions.
B O U N D A R Y, E D G E , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
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311
CONSTRAINT SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
To Apply reaction terms on all dependent variables, select All physics (symmetric).
Otherwise, select Current physics (internally symmetric) or Individual dependent
variables to restrict the reaction terms as required. Select the Use weak constraints check
box to replace the standard constraints with a weak implementation.
Prescribed Displacement
The Prescribed Displacement node adds an edge (3D), boundary (2D), or point (2D
and 3D) condition where the displacements are prescribed in one or more directions.
If a prescribed displacement or rotation is not activated in any direction, this is the
same as a Free constraint.
If zero displacements are prescribed in all directions, this is the same as a Pinned
constraint.
B O U N D A R Y, E D G E , O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The constraints are
prescribed in the directions of the selected coordinate system.
PRESCRIBED DISPLACEMENT
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for u0,
v0, and for 3D models, w0 (SI unit: m).
CONSTRAINT SETTINGS
See Pinned for these settings.
Prescribed Velocity
The Prescribed Velocity node adds an edge, boundary, or point condition that
prescribes the velocity in one or more directions. The prescribed velocity condition is
applicable for time-dependent and frequency-domain studies. With this condition it is
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possible to prescribe a velocity in one direction, leaving the truss free in the other
directions.
The Prescribed Velocity node is a constraint, and overrides any other constraint on the
same selection.
B O U N D A R Y, E D G E , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The velocities are
prescribed in the directions of the selected coordinate system.
Coordinate systems with directions which change with time should not be used.
P R E S C R I B E D VE L O C I T Y
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for vX,
vY, and for 3D models, vZ (SI unit: m/s).
Prescribed Acceleration
The Prescribed Acceleration node adds a boundary, edge, or point condition where the
acceleration is prescribed in one or more directions. The prescribed acceleration
condition is applicable for time-dependent and frequency-domain studies. With this
boundary condition it is possible to prescribe a acceleration in one direction, leaving
the truss free in the other directions.
The Prescribed Acceleration node is a constraint, and overrides any other constraint on
the same selection.
B O U N D A R Y, E D G E , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The constraints are
T H E TR U S S U S E R I N T E R F A C E
313
prescribed in the directions of the selected coordinate system. Coordinate systems with
directions which change with time should not be used.
PRESCRIBED ACCELERATION
Select one or all of the Prescribed in x direction, Prescribed in y direction, and for 3D
models, Prescribed in z direction check boxes. Then enter a value or expression for aX,
aY, and for 3D models, aZ (SI unit: m/s2).
Symmetry
The Symmetry node adds an edge (3D), boundary (2D), or point (2D and 3D)
condition that defines a symmetry edge, boundary, or point.
B O U N D A R Y, E D G E , O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The coordinate system is
used in conjunction with the Axis to use as normal direction setting.
SYMMETRY
Select an Axis to use as normal direction. This specifies the direction of the normal to
the symmetry plane. Select 1, 2, or 3 for the first, second, or third axis in the selected
coordinate system.
CONSTRAINT SETTINGS
See Pinned for these settings.
Antisymmetry
The Antisymmetry node adds an edge (3D), boundary (2D), or point (2D and 3D)
condition that defines an antisymmetry edge, boundary, or point.
B O U N D A R Y, E D G E , O R PO I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
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COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. The coordinate system is
used in conjunction with the Axis to use as normal direction setting.
ANTISYMMETRY
Select an Axis to use as normal direction. This specifies the direction of the normal to
the symmetry plane. Select 1, 2, or 3 for the first, second, or third axis in the selected
coordinate system.
CONSTRAINT SETTINGS
See Pinned for these settings.
Point Mass
The Point Mass node adds a discrete mass that is concentrated at a point in contrast to
distributed mass modeled through the density and area of the truss element.
Right-click to add a Theory for the Truss User Interface subnode.
POINT S EL EC TION
From the Selection list, choose the points to define.
POINT MA SS
Enter a Point mass m (SI unit: kg).
T H E TR U S S U S E R I N T E R F A C E
315
Theory for the Truss User Interface
The Truss User Interface theory is described in this section:
About Trusses
Theory Background for the Truss User Interface
About Trusses
Truss elements are elements that can only sustain axial forces. They have displacements
as degrees of freedom. Truss elements are sometimes referred to as bars or spars. They
live on boundaries in 2D and edges in 3D. The Truss interface supports the same study
types as the Solid Mechanics interface. Use trusses to model truss works where the
edges are straight but also to model sagging cables like the deformation of a wire
exposed to gravity. In such applications trusses are often referred to as cable elements.
I N - P L A N E TR U S S
Use the Truss interface in 2D to analyze planar lattice trusses or sagging cable-like
structures. The Truss interface is defined on edges in 2D.
Variables and Space Dimensions
The degrees of freedom (dependent variables) are the global displacements u and v in
the global x and y directions, respectively.
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TR U S S ( 3 D )
Use the Truss interface to model three-dimensional trusses or sagging cable-like
structures. The Truss interface is defined on edges in 3D.
Variables and Space Dimensions
The degrees of freedom (dependent variables) are the global displacements u, v, and
w in the global x, y, and z directions, respectively.
Theory Background for the Truss User Interface
Trusses are modeled using Lagrange shape function. The Lagrange shape function
makes it possible to specify both normal strains and Green-Lagrange strains to handle
small strains as well as large deformations.
STRAIN-DISPLACEMENT RELATION
The axial strain n is calculated by expressing the global strains in tangential derivatives
and projecting the global strains on the edge.
t
n = t gT t
where t is the edge tangent vector and gT is defined as
xT xyT xzT
gT = xyT yT yzT
xzT yzT zT
T H E O R Y F O R T H E TR U S S U S E R I N T E R F A C E
317
The strains can be expressed as either engineering strains for small displacements or
Green-Lagrange strains for large displacements. The Green-Lagrange strain tensor
used for large displacements is defined as
1 u i
ijT = ---
2 xj
+
T
u j
xi
+
T
u k
xi
u k
xj
T
The engineering strain tensor used for small displacements is defined as
1 u i
ijT = ---
2 xj
+
T
u j
xi
T
(7-1)
The axial strain written out becomes
n = t x xT t x + xyT t y + xzT t z +
t y xyT t x + yT t y + yzT t z +
t z xzT t x + yzT t y + zT t z
STRESS-STRAIN RELATION
The constitutive relation for the axial stress including thermal strain and initial stress
and strain is
n = E n T T ref ni + ni
(7-2)
In a geometrically nonlinear analysis, this equation should be interpreted as a relation
between Second Piola-Kirchhoff stresses and Green-Lagrange strains,
S n = E n T Tref ni + S ni
For output, the First Piola-Kirchhoff stress Pn is then computed from the Second
Piola-Kirchhoff stress using
P n = S n s'
where s is the ratio between current and initial length. The axial force in the element
is then computed as
N = Pn A0
where A0 is the undeformed cross-section area. The engineering (Cauchy) stress is
defined by
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A0
n = P n ------A
where A is the deformed area of the element. For a linearly elastic material, the area
change is
A0
2
------- = 1 n
A
This is the only occasion where the Truss interface uses the Poissons ratio .
In a geometrically linear analysis all the stress representations have the same value, as
defined by Equation 7-2.
THERMAL COUPLING
Material expands with temperature, which causes thermal strains to develop in the
material. The trusses can handle any temperature variation along the truss. The
thermal strains together with the initial strains and elastic strains from structural loads
form the total strain.
= el + th + i
where
th = T Tref
Thermal coupling means that the thermal expansion is included in the analysis.
IMPLEMENTATION
Using the principle of virtual work results in the following weak formulation
W = d n n + u F V dV +
u FPi
t
where the summation stands for summation over all points in the geometry. Replacing
the integration over the cross section with the cross-sectional area (A) and the volume
forces with line forces, the equation becomes
W =
ntest n A + utest FL dL + utest FPi
t
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319
In the case of geometric nonlinearity, the stress and strain should be interpreted as
Second Piola-Kirchhoff stress and Green-Lagrange strains
STRAIGHT EDGE OPTION
The optional constraint to enforce the nodes to lie on the straight line between the end
points of the edge are formulated as follows:
Starting with the large displacement case, let xd1 and xd2 be the deformed position of
the two end points of the edge
x di = u i + x i
(7-3)
where ui is the displacement, and xi is the coordinate (undeformed position) at end
point i. The equation for the straight line through the end points is
x + u = x d1 + ta
(7-4)
where t is a parameter along the line, and a is the direction vector for the line. a is
calculated from the deformed position of the end points as
a = x d2 x d1
The constraints for the edge is derived by substituting the parameter t from one of the
scalar equations in Equation 7-4 into the remaining ones. In 2D the constraint
equations become
x + u x d1 a y y + v y d1 a x = 0
In 3D the two constraints equations become
x + u x d1 a z z + w z d1 a x = 0
y + v y d1 a z z + w z d1 a y = 0
To avoid problems when the edge is directed in one of the coordinate axes directions,
a third constraint is added. This constraint is a linear combination of the two earlier
constraints:
y + v y d1 a x x + u x d1 a y = 0
This constraint is nonlinear, since a depends on the displacement.
A linear constraint is needed in the case of a geometrically linear problem to become
independent of the solver. The linear relation for the displacement is
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u 1 x n2 x n + u 2 x n x n1
u = ------------------------------------------------------------------------ + u ax x 2 x 1
x n2 x n1
(7-5)
where uax is the axial displacement along the edge, and xn are a linear parameter along
the edge
x x 2 x1 + y y2 y 1 + z z2 z1
x n = -------------------------------------------------------------------------------------------2
2
2
x2 x1 + y2 y1 + z2 z1
Eliminating uax from Equation 7-5 results in the following linear constraint in 2D
u 1 x n2 x n + u 2 x n x n1
------------------------------------------------------------------------ u y 2 y 1
x n2 x n1
v 1 x n2 x n + v 2 x n x n1
---------------------------------------------------------------------- v x 2 x 1 = 0
x n2 x n1
and the following three linear constraints in 3D:
u 1 x n2 x n + u 2 x n x n1
------------------------------------------------------------------------ u z 2 z 1
x n2 x n1
w 1 x n2 x n + w 2 p x n1
----------------------------------------------------------------------- w x 2 x 1 = 0
x n2 x n1
v 1 x n2 x n + v 2 x n x n1
---------------------------------------------------------------------- v z 2 z 1
x n2 x n1
w 1 x n2 x n + w 2 x n x n1
-------------------------------------------------------------------------- w y 2 y 1 = 0
x n2 x n1
(7-6)
v 1 x n2 x n + v 2 x n x n1
---------------------------------------------------------------------- v x 2 x 1
x n2 x n1
u 1 x n2 x n + u 2 x n x n1
------------------------------------------------------------------------ u y 2 y 1 = 0
x n2 x n1
T H E O R Y F O R T H E TR U S S U S E R I N T E R F A C E
321
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Membranes
This chapter describes the Membrane interface, which you find under the
Structural Mechanics branch (
) in the Model Wizard.
In this chapter:
The Membrane User Interface
Theory for the Membrane User Interface
323
T he M e m br a ne User In t erfac e
The Membrane (mem) user interface (
) is found under the Structural Mechanics
branch (
) in the Model Wizard. Membranes can be considered as plane stress
elements in 3D with a possibility to deform both in the in-plane and out-of-plane
directions. The Membrane interface is available for 3D and 2D axisymmetric models.
The difference between a shell and a membrane is that the membrane does not have
any bending stiffness. When a membrane is used by itself, a tensile prestress is necessary
in order to avoid singularity, since a membrane with no stress or compressive stress has
no transverse stiffness.
The Membrane interface can be used to model prestressed membranes, but can also
be used to model a thin cladding on solids.
Since prestress is used in almost all cases, the interface is formulated so that it always
includes geometric nonlinearity. This property does not interact with the settings for
geometric nonlinearity within the study settings, which apply to other interfaces under
the Structural Mechanics branch.
The Linear Elastic Material node is the only available material model. It adds a linear
elastic equation for the displacements and has a settings window to define the elastic
material properties.
When this interface is added, these default nodes are also added to the Model Builder:
Linear Elastic Material, Free (a condition where edges are free, with no loads or
constraints), and Initial Values. In the case if axial symmetry, an Axial Symmetry node is
also added.
Right-click the Membrane node to add other nodes for defining, for example, loads and
constraints. The following sections provide information about all nodes available in
this interface.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
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The default identifier (for the first interface in the model) is mem.
BOUNDARY SELECTION
The default setting is to include All boundaries in the model. To choose specific
boundaries, select Manual from the Selection list.
S T R U C T U R A L TR A N S I E N T B E H AV I O R
From the Structural transient behavior list, select Include inertial terms (the default) or
Quasi-static. Use Quasi-static to treat the elastic behavior as quasi-static (with no mass
effects; that is, no second-order time derivatives). Selecting this option gives a more
efficient solution for problems where the variation in time is slow when compared to
the natural frequencies of the system.
THICKNESS
Define the Thickness d by entering a value or expression (SI unit: m) in the field. The
default is 0.0001 m. Use the Change Thickness node to define a different thickness in
parts of the membrane. The thickness can be variable if an expression is used.
REFERENCE POINT FOR MOMENT COMPUTATION
Enter the default coordinates for the Reference point for moment computation xref
(SI unit: m). The resulting moments (applied or as reactions) are then computed
relative to this reference point. During the results and analysis stage, the coordinates
can be changed in the Parameters section in the result nodes.
DEPENDENT VA RIA BLES
The dependent variable (field variable) is for the Displacement field u which has three
components (u, v, and w). The name can be changed but the names of fields and
dependent variables must be unique within a model.
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization. Select
Quadratic (the default), Linear, Cubic, or Quartic for the Displacement field. Specify the
Value type when using splitting of complex variablesReal or Complex (the default).
Show More Physics Options
Boundary, Edge, Point, and Pair Nodes for the Membrane User
Interface
Theory for the Membrane User Interface
THE MEMBRANE USER INTERFACE
325
Vibrating Membrane: Model Library path Structural_Mechanics_Module/
Verification_Models/vibrating_membrane
Boundary, Edge, Point, and Pair Nodes for the Membrane User
Interface
The Membrane User Interface has the following boundary, edge, point, and pair nodes
available as indicated.
Edge Load
Initial Values
Face Load
Linear Elastic Material
Initial Stress and Strain
Prescribed Displacement
These nodes (and subnodes) are described for the Solid Mechanics interface:
Added Mass
Phase
Body Load
Point Load
Change Thickness
Pre-Deformation
Damping
Spring Foundation
Fixed Constraint
Thermal Expansion
Free
In the COMSOL Multiphysics Reference Manual:
Harmonic PerturbationExclusive and Contributing Nodes
The links to the nodes described in the COMSOL Multiphysics Reference
Manual do not work in the PDF, only from the on line help in COMSOL
Multiphysics.
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To locate and search all the documentation, in COMSOL, select
Help>Documentation from the main menu and either enter a search term
or look under a specific module in the documentation tree.
Linear Elastic Material
The Linear Elastic Material node adds the equations for a linear elastic membrane and
an interface for defining the elastic material properties. Right-click to add a Damping,
Thermal Expansion, or Initial Stress and Strain subnode.
BOUNDARY SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries to define a linear elastic membrane and
compute the displacements, stresses, and strains, or select All boundaries as required.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
the coordinate systems in which the local in-plane equations can be formulated. The
coordinate system is used when stresses or strains are presented in a local system.
LINEAR ELASTIC MATERIAL
The Solid model is always set to Isotropic.
Specification of Elastic Properties for Isotropic Materials
Select a pair of elastic properties for an isotropic material:
Youngs modulus and Poissons ratio to specify Youngs modulus (elastic modulus)
E (SI unit: Pa) and Poissons ratio (dimensionless).
Youngs modulus and shear modulus to specify Youngs modulus (elastic modulus)
E (SI unit: Pa) and the shear modulus G (SI unit: Pa).
Bulk modulus and shear modulus to specify the bulk modulus K (SI unit: Pa) and the
shear modulus G (SI unit: Pa).
THE MEMBRANE USER INTERFACE
327
Lam parameters to specify the first and second Lam parameters (SI unit: Pa) and
(SI unit: Pa).
Pressure-wave and shear-wave speeds to specify the pressure-wave speed
(longitudinal wave speed) cp (SI unit: m/s) and the shear-wave speed (transverse
wave speed) cs (SI unit: m/s).
This is the wave speed for a solid continuum. In plane stress, for example,
the actual speed with which a longitudinal wave travels is lower than the
value given.
For each pair of properties, select from the applicable list to use the value From material
or enter a User defined value or expression.
Initial Stress and Strain
Right-click the Linear Elastic Material node to add an Initial Stress and Strain node,
which is the stress-strain state in the structure before applying any constraint or load.
Initial strain can, for instance, describe moisture-induced swelling, and initial stress can
describe stresses from heating.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
By default, this node inherits the selection from its parent node, and only
a selection that is a subset of the parent nodes selection can be used.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate system that the model includes. The given initial stresses and
strains are interpreted in this system.
INITIAL STRESS AND STRAIN
Specify the initial stress as the Initial local in-plane force N0 (SI unit: N/m) and the
initial strain as the Initial local in-plane strain 0 (dimensionless). If you know the stress,
rather than the force per unit length, type in the stress multiplied by the membrane
thickness mem.d.
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Initial Values
The Initial Values node adds an initial value for the displacement field and the structural
velocity field. It can serve as an initial condition for a transient simulation or as an initial
guess for a nonlinear analysis. Right-click to add additional Initial Values nodes.
BOUNDARY SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or select All boundaries as required.
INIT IA L VA LUES
Enter values or expressions in the applicable fields based on the space dimension. The
default value is 0 for all initial values of the Displacement field u (SI unit: m) and
du
Structural velocity field
(SI unit: m/s).
dt
Face Load
Add a Face Load to boundaries to use it as a pressure or tangential force acting on a
surface. Right-click and add a Phase for harmonic loads in frequency-domain
computations.
BOUNDARY SELECTION
From the Selection list, choose the boundaries to define.
COORDINATE SYSTEM SELECTION
Specify the coordinate system to use for specifying the load. From the Coordinate
system list select from:
Global coordinate system (the default)
Boundary System (a predefined normal-tangential coordinate system)
Any additional user-defined coordinate system
FORCE
Select a Load typeLoad defined as force per unit area, Total force, or Pressure.
If Load defined as force per unit area is selected, enter values or expressions for the
components of the Load FA (SI unit: N/m2).
THE MEMBRANE USER INTERFACE
329
If Pressure is selected, enter a value or expression for the Pressure p (SI unit: Pa). A
positive pressure is directed in the negative shell normal direction.
The pressure load is a follower load. The direction changes with
deformation.
If Total force is selected, enter values or expressions in the components of the Total
force Ftot (SI unit: N).
Edge Load
Add an Edge Load as a force distributed along an edge. Also right-click and add a Phase
for harmonic loads in frequency-domain computations.
EDGE SELECTION
From the Selection list, choose the edges to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
FORCE
From the Load type list, select the definition of the force load. Select one of the
following and then enter values or expressions for the components in the table.
Load defined as force per unit length FL (SI unit: N/m)
Load defined as force per unit area FA (SI unit: N/m2)
Total force Ftot (SI unit: N)
Prescribed Displacement
The Prescribed Displacement node adds a condition where the displacements are
prescribed in one or more directions to the geometric entity (boundary, edge, or
point).
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If a displacement is prescribed in one direction, this leaves the membrane free to
deform in the other directions.
If a prescribed displacement is not activated in any direction, this is the
same as a Free constraint.
If a zero displacement is applied in all directions, this is the same as a
Fixed Constraint.
B O U N D A R Y, E D G E , O R P O I N T S E L E C T I O N
From the Selection list, choose the geometric entity (boundaries, edges, or points) to
define.
PAIR SELECTION
If this node is selected from the Pairs menu, choose the pair to define. An identity pair
has to be created first. Ctrl-click to deselect.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. If you choose another, local
coordinate system, the displacement components change accordingly.
PRESCRIBED DISPLACEMENT
For 2D axisymmetric models, select one or both of the Prescribed in r
direction and Prescribed in z direction check boxes. Then enter a value or
expression for the prescribed displacements u0 or w0 (SI unit: m).
For 3D models, select one or more of the Prescribed in x direction,
Prescribed in y direction, and Prescribed in z direction check boxes. Then
enter a value or expression for the prescribed displacements u0, v0, or w0
(SI unit: m).
CONSTRAINT SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
To Apply reaction terms on all dependent variables, select All physics (symmetric).
Otherwise, select Current physics (internally symmetric) or Individual dependent
THE MEMBRANE USER INTERFACE
331
variables to restrict the reaction terms as required. Select the Use weak constraints check
box to replace the standard constraints with a weak implementation.
Using Weak Constraints to Evaluate Reaction Forces
Weak Constraint in the COMSOL Multiphysics Reference Manual
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Theory for the Membrane User
Interface
The Membrane User Interface theory is described in this section:
About Membranes
Theory Background for the Membrane User Interface
About Membranes
Membranes can be considered as plane stress elements in 3D with a possibility to
deform both in the in-plane and out-of-plane directions. The difference between a
shell and a membrane is that the membrane does not have any bending stiffness. If the
ratio between the thickness and the dimensions in the other directions becomes very
small, a membrane formulation is numerically better posed than a shell formulation.
The Membrane User Interface supports the same study types as the Solid Mechanics
interface except it does not include the Linear Buckling study type.
To describe a membrane, provide its thickness and the elastic material properties. All
properties may be variable over the element. All elemental quantities are integrated
only at the midsurface and this is a good approximation since by definition a membrane
is thin.
The interface is intended to model either prestressed membranes or a thin cladding on
top of a solid.
STIFFNESS IN THE NORMAL DIRECTION
If membrane elements are used separately, a prestress is necessary in order to avoid a
singularity since they have no stiffness in the normal direction. It is the geometrically
nonlinear effects (stress stiffening) which supplies the out-of-plane stiffness. A
prestress can be given either through initial stress and strain or through a tensile
boundary load. Prestress is not necessary in cases where inertia effects are included in
a dynamic analysis. A small prestress may however still be useful to stabilize the analysis
in the initial state.
THEORY FOR THE MEMBRANE USER INTERFACE
333
MEMBRANES FOR 3D MODELS
The Membrane interface in 3D can be active on internal and external boundaries of a
domain, as well as on boundaries not adjacent to any domain.
The dependent variables are the displacements u, v, and w in the global x, y, and z
directions, and the displacement derivative unn in the direction normal to the
membrane.
MEMBRANES FOR 2D AXISYMMETRIC MODELS
The Membrane interface for 2D axisymmetric models can be active on internal and
external boundaries of a solid, as well as on edges that not adjacent to a solid.
The dependent variables are the displacements u and w in the global r and z directions,
and the displacement derivative unn in the direction normal to the membrane in r-z
plane.
Theory Background for the Membrane User Interface
A 3D membrane is similar to a shell but it has only translational degrees of freedom
and the results are constant in the thickness direction.
The thickness of the membrane is d, which can vary over the element. The
displacements are interpolated by Lagrange shape functions.
A 2D axisymmetric membrane is similar to the 3D membrane and it has a non-zero
circumferential strain in the out-of-plane direction.
LOCAL COORDINATE SYSTEMS
Many quantities for a membrane can best be interpreted in a local coordinate system
aligned to the membrane surface. Material data, initial stresses-strains, and constitutive
laws are always represented in the local coordinate system.
This local membrane surface coordinate system is defined by the boundary coordinate
system (t1, t2, n).
The quantities like stresses and strains are also available as results in the global
coordinate system after a transformation from a local (boundary) system.
STRAIN-DISPLACEMENT RELATION
The kinematic relations of the membrane element are first expressed along the global
coordinate axes. The strains are then transformed to the element local direction. Since
the membrane is defined only on a boundary, derivatives in all spatial directions are not
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directly available. This makes the derivation of the strain tensor somewhat different
from what is used in solid mechanics.
The deformation gradient F is in general defined as the gradient of the current
coordinates with respect to the original coordinates:
x
u
F = ------- = I + ------X
X
In the membrane interface, a tangential deformation gradient is computed as
t
F T = I N N + Tu
Here Tu is a displacement gradient computed using the tangential derivative
operator, and N is the normal vector to the undeformed membrane. FT now contains
information about the stretching in the plane of the membrane.
The Right Cauchy-Green tensor C is generally defined as
T
C = F F
Since the tangential deformation gradient does not contain any information about the
transversal stretch n, it must be augmented when creating C.
t
C = F T F T + n N N = F T F T + 1 + u nn N N
From C, the Green-Lagrange strains are computed using the standard expression
1
E = --- C I
2
The local tangential strains in the membrane are calculated by transformation of this
strain tensor into the local tangent plane coordinate system.
The Jacobian J is the ratio between the current volume and the initial volume. In full
3D it is defined as
J = det F
In the membrane, only the C tensor is available, so instead the following expression is
used:
J =
det C
The area scale factor is also computed as
THEORY FOR THE MEMBRANE USER INTERFACE
335
J
J A = ------------------1 + u nn
CONSTITUTIVE RELATION AND WEAK EXPRESSIONS
The constitutive relation for the membrane on the reference surface is similar to that
of linear elastic solid mechanics. It should be interpreted as a relation between the
Second Piola-Kirchhoff stresses and Green strains, since the equations in this interface
always assume geometric nonlinearity.
The thermal strains and initial stresses-strains (only for the in-plane directions of the
membrane) are added in the constitutive relation in a similar manner as it is done in
linear elastic solid mechanics.
The weak expressions in the Membrane interface are similar to that of linear elastic
continuum mechanics.
EXTERNAL LOADS
Contributions to the virtual work from the external load are of the form
u test F
where the forces (F) can be distributed over a boundary or an edge or be concentrated
in a point. In the special case of a follower load, defined by its pressure p, the force
intensity is
F = pn
where n is the normal in the deformed configuration.
For a follower load, the change in midsurface area is taken into account, and
integration of the load is done in the spatial frame.
STRESS CALCULATIONS
The stresses are computed by applying the constitutive law to the computed strains.
The membrane does not support transverse and bending forces so the only section
forces it support is the membrane force defined as:
N = ds
where s is the local stress tensor and contains only in-plane stress components.
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CHAPTER 8: MEMBRANES
Multiphysics User Interfaces
The Structural Mechanics Module contains predefined multiphysics interfaces to
facilitate easy set up of models with the most commonly occurring couplings. Three
) in the Model
of the interfaces are found under the Structural Mechanics branch (
WizardThermal Stress, Joule Heating and Thermal Expansion, and Piezoelectric
Devices. The Fluid-Structure Interaction interface is found under the Fluid Flow
branch (
). In this chapter:
The Thermal Stress User Interface
The Fluid-Structure Interaction User Interface
Theory for the Fluid-Structure Interaction User Interface
The Joule Heating and Thermal Expansion User Interface
The Piezoelectric Devices User Interface
Theory for the Piezoelectric Devices User Interface
337
The Thermal Stress User Interface
The Thermal Stress (ts) user interface (
), found under the Structural Mechanics
branch (
) in the Model Wizard, combines a Solid Mechanics interface with a Heat
Transfer interface. The coupling occurs on the domain level, where the temperature
from the Heat Transfer interface acts as a thermal load for the Solid Mechanics
interface, causing thermal expansion. The interface has the equations and features for
stress analysis and general linear and nonlinear solid mechanics, solving for the
displacements. It also includes the equations and nodes for heat transfer. By default,
thermal expansion is included.
When this interface is added, these default nodes are also added to the Model Builder
Thermal Linear Elastic Material (the default material model, which adds a linear elastic
equation for the displacements and the heat equation for the temperature), Free (a
boundary condition where boundaries are free, with no loads or constraints), Thermal
Insulation, and Initial Values. Right-click the Thermal Stress node to add other features
that implement, for example, loads, constraints, heat sources, and nonlinear material
models.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is ts.
DOMAIN SELECTION
The default setting is to include All domains in the model to define the displacements
and the equations that describe the solid mechanics. To choose specific domains, select
Manual from the Selection list.
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
2D APPROXIMATION
From the 2D approximation list select Plane stress or Plane strain. When
modeling using plane stress, the interface solves for the out-of-plane strain
components in addition to the displacement field u.
THICKNESS
Enter a value or expression for the Thickness d (SI unit: m). The default
value of 1 m is suitable for plane strain models, where it represents a a
unit-depth slice, for example. For plane stress models, enter the actual
thickness, which should be small compared to the size of the plate for the
plane stress assumption to be valid.
In rare cases, when thickness is changed in parts of the geometry; then use
the Change Thickness node. This thickness also controls the thickness dz,
active in the separate Heat Transfer interface for 2D out-of-plane heat
transfer.
S T R U C T U R A L TR A N S I E N T B E H AV I O R
From the Structural transient behavior list, select Include inertial terms or Quasi-static
(the default). Use Quasi-static to treat the elastic behavior as quasi-static (with no mass
effects; that is, no second-order time derivatives). Selecting this option will give a more
efficient solution for problems where the variation in time is slow when compared to
the natural frequencies of the system. The default solver for the time stepping is
changed from Generalized alpha to BDF when Quasi-static is selected.
REFERENCE POINT FOR MOMENT COMPUTATION
Enter the coordinates of the Reference point for moment computation xref (SI unit: m).
The resulting moments (applied or as reactions) are then computed relative to this
reference point. During the results and analysis stage, the coordinates can be changed
in the Parameters section in the result nodes.
TY P I C A L W AV E S P E E D
The typical wave speed cref is a parameter for the perfectly matched layers (PMLs) if
used in a solid wave propagation model. The default value is ts.cp, the pressure-wave
speed. If you want to use another wave speed, enter a value or expression in the Typical
wave speed for perfectly matched layers field.
THE THERMAL STRESS USER INTERFACE
339
PHYSICAL MODEL
If you also have the Heat Transfer Module, the out-of-plane heat transfer,
surface-to-surface radiation, and radiation in participating media options
are available in this section and described in the Heat Transfer Module
Users Guide.
For 2D models, select either the Out-of-plane heat transfer model or
Surface-to-surface radiation check boxes. When surface-to-surface
radiation is active, a Radiation Settings section displays. You can also select
the Radiation in participating media check box.
Select the Surface-to-surface radiation check box to include
surface-to-surface heat radiation in the model. When surface-to-surface
radiation is active, a Radiation Settings section displays. You can also select
the Radiation in participating media check box.
RADIATION SETTINGS
If you have the Heat Transfer Module, then this section can be made
available. To display this section select the Surface-to-surface radiation
check box under Physical Model.
Select a Surface-to-surface radiation methodHemicube (the default) or Direct area
integration. See the Heat Transfer interface documentation for details.
If Hemicube is selected, select a Radiation resolution. 256 is the default.
If Direct area integration is selected, select a Radiation integration order. 4 is the
default.
For either method, also select the Use radiation groups check box to enable the ability
to define radiation groups, which can, in many cases, speed up the radiation
calculations.
DEPENDENT VARIABLES
The dependent variables (field variables) are the Displacement field u and its
components, the Temperature T, and (for surface-to-surface radiation) the Surface
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
radiosity J. The names can be changed but the names of fields and dependent variables
must be unique within a model.
ADVANCED SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
Normally these settings do not need to be changed.
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization.
Select an Element typeMixed order (the default) or Equal order. Mixed order means
that the interface uses shape functions that are one order higher for the displacements
than for the temperature. Select U1+T1, U2+T1 (the default), U3+T2, or U4+T3 for the
Thermal stress fields for mixed-order elements or the corresponding element-order
combinations for equal-order elements. U2+T1, for example, means second-order
elements for the displacements and first-order elements for the temperature.
For the Surface radiosity, elect Linear (the default), Quadratic, Cubic, Quartic, or (in 2D)
Quintic for the Surface radiosity.
Specify the Value type when using splitting of complex variablesReal (the default) or
Complex.
Select the Frame type (default choice is Material) where pure heat transfer features are
defined. Note that the multiphysics and solid mechanics features are always defined on
the material frame.
For information about the constitutive equations including thermal
expansion in the section dealing with the theory background, see Theory
for the Solid Mechanics User Interface
Show More Physics Options
Domain, Boundary, Edge, Point, and Pair Nodes for the Thermal
Stress User Interface
THE THERMAL STRESS USER INTERFACE
341
Fuel Cell Bipolar Plate: Model Library path
Structural_Mechanics_Module/Thermal-Structure_Interaction/
bipolar_plate
If you also have the Nonlinear Structural Materials Module, see
Viscoplastic Creep in Solder Joints: Model Library path
Nonlinear_Structural_Materials_Module/Viscoplasticity/
viscoplastic_solder_joints
Domain, Boundary, Edge, Point, and Pair Nodes for the Thermal
Stress User Interface
Because The Thermal Stress User Interface is a multiphysics interface, almost every
physics node is shared with, and described for, other interfaces. Below are links to the
domain, boundary, edge, point, and pair nodes as indicated.
These nodes are described in this section:
Initial Values
Thermal Hyperelastic Material
Thermal Linear Elastic Material
Thermal Linear Viscoelastic Material
These nodes are described for the Heat Transfer interface in the COMSOL
Multiphysics Reference Manual (listed in alphabetical order):
The links to the nodes described in the COMSOL Multiphysics Reference
Manual do not work in the PDF, only from the on line help in COMSOL
Multiphysics.
If you also have the Heat Transfer Module, there are several other feature
nodes available and described in the Heat Transfer Module Users Guide.
To locate and search all the documentation, in COMSOL Multiphysics,
select Help>Documentation from the main menu and either enter a search
term or look under a specific module in the documentation tree.
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Boundary Heat Source
Point Heat Source
Heat Flux
Surface-to-Ambient Radiation
Heat Source
Symmetry
Heat Transfer in Fluids
Temperature
Heat Transfer in Solids
Thermal Insulation
Line Heat Source
Thin Thermally Resistive Layer
Outflow
These nodes are described for the Solid Mechanics interface (listed in alphabetical
order):
Added Mass
Point Load
Antisymmetry
Pre-Deformation
Body Load
Prescribed Acceleration
Boundary Load
Prescribed Displacement
Contact
Prescribed Velocity
Edge Load
Rigid Connector
Fixed Constraint
Roller
Free
Spring Foundation
Linear Elastic Material
Symmetry
Linear Viscoelastic Material
Thin Elastic Layer
Periodic Condition
Initial Values
The Initial Values node adds initial values for the displacement field (the displacement
components u, v, and w in 3D), the temperature, and the surface radiosity (applicable
for surface-to-surface radiation only) that can serve as an initial condition for a
transient simulation or as an initial guess for a nonlinear analysis. Right-click to add
additional Initial Values nodes.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
THE THERMAL STRESS USER INTERFACE
343
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
INITIAL VALUES
Enter values or expressions for the initial values of the Displacement field u (default
value 0 m) and of the Temperature T (default value 293.15 K).
Thermal Linear Elastic Material
The Thermal Linear Elastic Material node combines a linear elastic material with thermal
expansion. This physics node defines the settings for the linear elastic material, thermal
expansion, heat conduction, and thermodynamic properties. Right-click the main
node to add Initial Stress and Strain and Damping subnodes.
With the addition of the Heat Transfer Module or the CFD Module, also
right-click the main node to add a Pressure Work subnode.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. Prescribed displacements
or rotations are specified along the axes of this coordinate system.
LINEAR ELASTIC MATERIAL
See the Linear Elastic Material node for details about this section (as described for the
Solid Mechanics interface).
THERMAL EXPANSION
By default, the Coefficient of thermal expansion (SI unit: 1/K) is taken From material.
Select User defined to enter a value or expression for , then select Isotropic, Diagonal,
Symmetric, or Anisotropic and enter one or more components for a general thermal
expansion coefficient vector vec.
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
Enter a value or expression for the Strain reference temperature Tref (SI unit: K). This
is the reference temperature that defines the change in temperature together with the
actual temperature. The default is 293.15 K.
HEAT CONDUCTION
The default Thermal conductivity k (SI unit: W/(mK)) uses values From material. If
User defined is selected, choose Isotropic to define a scalar value, or Diagonal, Symmetric,
or Anisotropic to enter other values or expressions in the field or matrix.
THERMODYNAMICS
The default Heat capacity at constant pressure Cp (SI unit: J/(kgK)) is taken From
material. If User defined is selected, enter a value.
GEOMETRIC NONLINEARITY
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
and Modeling Geometric Nonlinearity
Studies and Solvers in the COMSOL Multiphysics Reference Manual
Thermal Hyperelastic Material
The Thermal Hyperelastic Material node combines a hyperelastic material with thermal
expansion. Right-click the main node to add a Damping subnode.
With the addition of the Heat Transfer Module or the CFD Module, also
right-click the main node to add a Pressure Work subnode.
DOMAIN SELECTION
From the Selection list, choose the domains to define.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes. Prescribed displacements
or rotations are specified along the axes of this coordinate system.
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345
HYPERELASTIC MATERIAL
Select a hyperelastic Material modelNeo-Hookean, Mooney-Rivlin, Murnaghan, or User
defined. Then see below for details about each selection.
For any selection, the material Density (SI unit: kg/m3) uses values From material by
default. Select User defined to enter a different value or expression.
Neo-Hookean
If Neo-Hookean is selected as the Material model, the default values for both Lam
parameter (SI unit: Pa) and Lam parameter (SI unit: Pa) use values From material.
Select User defined to enter different values or variables.
To use a mixed formulation by adding the negative mean pressure as an extra
dependent variable to solve for, select the Nearly incompressible material check box, and
enter a value for the Initial bulk modulus (SI unit: Pa) and Lam parameter (SI unit:
Pa).
Mooney-Rivlin
If Mooney-Rivlin is selected as the Material model, the Model parameters C10 (SI unit: Pa)
and C01 (SI unit: Pa) use values From material. Select User defined to enter different
values or variables. Enter the Initial bulk modulus (SI unit: Pa).
Murnaghan
If Murnaghan is selected as the Material model, the Murnaghan third-order elastic moduli
constants l (SI unit: Pa), m (SI unit: Pa), and n (SI unit: Pa) and the Lam parameter
(SI unit: Pa) and (SI unit: Pa) use values From material. Select User defined to enter
different values or variables for the constants as required.
User defined
If User defined is selected as the Material model, enter an expression for the Strain energy
density Ws (SI unit: J/m3).
To use a mixed formulation by adding the negative mean pressure as an extra
dependent variable to solve for, select the Nearly incompressible material check box,
then enter the Isochoric strain energy density Wsiso (SI unit: J/m3) and the Volumetric
strain energy density Wsvol (SI unit: J/m3).
For the Thermal Expansion, Heat Conduction, and Thermodynamics settings,
see Thermal Linear Elastic Material for details.
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Thermal Linear Viscoelastic Material
The Thermal Linear Viscoelastic Material combines a viscoelastic material with thermal
effects. Right-click the main node to add an Initial Stress and Strain node.
For the Long-Term Elastic Properties and Generalized Maxwell Model
section, see Linear Viscoelastic Material.
For the Thermal Effects section, see Thermal Effects.
For the Heat Conduction, Thermodynamics, and Geometric Nonlinearity
sections, see Thermal Linear Elastic Material.
THE THERMAL STRESS USER INTERFACE
347
The Fluid-Structure Interaction User
Interface
The Fluid-Structure Interaction (fsi) user interface (
), found under the Fluid Flow
branch (
) in the Model Wizard, has the equations and physics for fluid-structure
interaction, solving for the displacements, fluid velocity, and fluid pressure. All
functionality from the solid mechanics and fluid-flow interfaces is accessible for
modeling the solid and fluid domains under the Laminar Flow (the default) and Solid
Mechanics submenus. On the solid and boundary level, material models, sources, loads,
and boundary conditions for the individual node is also accessible.
The Fluid-Structure Interaction interface is available for 3D, planar 2D,
and 2D axisymmetric geometries.
In planar 2D, the interface uses the assumption that the structures deform
in the plane strain regime. This means that the interpretation of the results
are values per meter thickness, and there is no specific thickness to
specify.
When the Fluid-Structure Interaction interface is added, the following default nodes are
added to the Model BuilderFluid Properties, Linear Elastic Material, and Free
Deformation (for the mesh movement and default boundary conditions) in the
domains; Wall (for the fluid), Prescribed Mesh Displacement (for the mesh movement),
and Free (for the solid mechanics, which initially is not applicable to any boundary
because the default settings assume a fluid domain) as default boundary conditions;
and Initial Values. In addition, for the fluid-solid boundary, a Fluid-Solid Interface
Boundary node adds the fluid-structure interaction. This node is only applicable to
interior fluid-solid boundaries.
Right-click Fluid-Structure Interaction to add other nodes that implement, for example,
loads, constraints, and nonlinear materials for the solid domain. The Fluid-Structure
Interaction settings window contains the following sections plus additional sections
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that are similar to those for interface nodes settings windows for fluid flow, solid
mechanics, and moving mesh interfaces.
The Fluid-Structure Interaction interface default is to treat all domains as
fluid. The Linear Elastic Material node, which is the default node for the
solid domain, initially has an empty selection. When a solid mechanics
material is added to the solid domains, the interface automatically
identifies the fluid-solid interaction boundaries and assigns the Fluid-Solid
Interface Boundary condition to those boundaries. Two materials are
typically defined in an FSI model: one for the fluid and one for the solid.
For an overview of available variables for monitoring and plotting the
moving mesh, see Predefined Variables in Deformed Geometry and
Moving Mesh in the COMSOL Multiphysics Reference Manual. Note,
however, that the variables in the Fluid-Structure Interaction interface use
the identifier fsi instead of ale.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is fsi.
DOMAIN SELECTION
The default setting is to include All domains in the model to define fluid-structure
interaction (domains representing the fluid and the solid). To choose specific domains,
select Manual from the Selection list.
FREE DEFORMATION SETTINGS
Select a Mesh smoothing typeWinslow (the default), Laplace, or Hyperelastic.
PHYSICAL MODEL
Select a CompressibilityCompressible flow (Ma<0.3) or Incompressible flow.
THE FLUID-STRUCTURE INTERACTION USER INTERFACE
349
Depending or your license, the settings in the Physical Model section can also include
selections of a turbulence model, Stokes flow, and channel flow approximation.
REFERENCE POINT F OR MOMENT COMPUTATION
Enter the coordinates for the Reference point for moment computation, xref
(SI unit: m). All moments are then computed relative to this reference point.
TY P I C A L WA V E S P E E D
The typical wave speed cref is a parameter for the perfectly matched layers (PMLs) if
used in a solid wave propagation model. The default value is fsi.cp, the
pressure-wave speed. If you want to use another wave speed, enter a value or
expression in the Typical wave speed for perfectly matched layers field.
DEPENDENT VARIABLES
The dependent variable (field variables) include the following. The turbulence
variables are only active if the fluid-flow part uses a turbulence model. The name can
be changed but the names of fields and dependent variables must be unique within a
model.
Pressure p (SI unit: Pa)
Turbulent dissipation rate ep (SI unit: m2/s3)
Turbulent kinetic energy k (SI unit: m2/s3)
Reciprocal wall distance G (SI unit: 1/m)
Displacement field usolid (SI unit: m)
Velocity field ufluid (SI unit: m/s)
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization. Select a
Discretization of fluidsP1+P1, P2+P1 (the default), or P3+P2. Select a Displacement
fieldLinear, Quadratic (the default), Cubic, or Quartic. Specify the Value type when
using splitting of complex variablesReal or Complex (the default).
CONSISTENT AND INCONSISTENT STABILIZATION
To display this section, click the Show button (
unique to this interface are listed below.
) and select Stabilization. Any settings
The consistent stabilization methods are available for the Navier-Stokes equations.
The Isotropic diffusion inconsistent stabilization method is available for the
Navier-Stokes equations.
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ADVANCED SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
Normally these settings do not need to be changed.
The Use pseudo time stepping for stationary equation form check box is active per
default. It adds pseudo time derivatives to the momentum equations when the
Stationary equation form is used. When selected, also choose a CFL number expression
Automatic (the default) or Manual. Automatic sets the local CFL number (from the
CourantFriedrichsLewy condition) to the built-in variable CFLCMP which in turns
trigger a PID regulator for the CFL number. If Manual is selected, enter a Local CFL
number CFLloc.
Pseudo Time Stepping for Laminar Flow Models and About Pseudo
Time Stepping in the COMSOL Multiphysics Reference Manual
Show More Physics Options
Domain, Boundary, Edge, Point, and Pair Nodes for the
Fluid-Structure Interaction User Interface
Theory for the Fluid-Structure Interaction User Interface
Basic Modeling Steps for Fluid-Structure Interaction
Peristaltic Pump: Model Library path Structural_Mechanics_Module/
Fluid-Structure_Interaction/peristaltic_pump
Domain, Boundary, Edge, Point, and Pair Nodes for the
Fluid-Structure Interaction User Interface
Because The Fluid-Structure Interaction User Interface is a multiphysics interface,
almost every node is shared with, and described for, other interfaces. Below are links
to the domain, boundary, edge, point, and pair node as indicated.
To locate and search all the documentation, in COMSOL Multiphysics,
select Help>Documentation from the main menu and either enter a search
term or look under a specific module in the documentation tree.
THE FLUID-STRUCTURE INTERACTION USER INTERFACE
351
These nodes are unique to the interface and described in this section:
Initial Values
Fluid-Solid Interface Boundary
If you also have a CFD Module or Heat Transfer Module, the Interior Wall
boundary condition is also available and is documented in the CFD
Module Users Guide or Heat Transfer Module Users Guide,
respectively. This boundary condition is useful for avoiding meshing of
thin wall structures by using no-slip conditions on interior curves and
surfaces.
These nodes are described for the Solid Mechanics interface (listed in alphabetical
order):
Added Mass
Point Load
Antisymmetry
Pre-Deformation
Body Load
Prescribed Acceleration
Boundary Load
Prescribed Displacement
Contact
Prescribed Velocity
Edge Load
Rigid Connector
Fixed Constraint
Roller
Free
Spring Foundation
Linear Elastic Material
Symmetry
Linear Viscoelastic Material
Thin Elastic Layer
Periodic Condition
In the COMSOL Multiphysics Reference Manual:
Continuity on Interior Boundaries
Infinite Element Domains and Perfectly Matched Layers
Identity and Contact Pairs
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These nodes are described for the Laminar Flow or Moving Mesh interfaces in the
COMSOL Multiphysics Reference Manual (listed in alphabetical order):
Boundary Stress
Periodic Flow Condition
Fixed Mesh
Prescribed Deformation
Flow Continuity
Prescribed Mesh Displacement
Fluid Properties
Pressure Point Constraint
Free Deformation
Symmetry
Inlet
Volume Force
Open Boundary
Wall
Outlet
The links to the nodes described in the COMSOL Multiphysics Reference
Manual do not work in the PDF, only from the on line help in COMSOL
Multiphysics.
Initial Values
The Initial Values node adds initial values for pressure, turbulent dissipation rate,
turbulent kinetic energy, reciprocal wall distance, displacement field, and velocity field.
These variables can serve as an initial condition for a transient simulation or as an initial
guess for a nonlinear analysis. If more than one set of initial values is required,
right-click to add additional Initial Values nodes.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
INIT IA L VA LUES
Enter the initial values as values or expressions. The variables for turbulence are only
valid for fluid flow using a turbulence model.
Pressure p (SI unit: Pa)
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353
Turbulent dissipation rate p (ep) (SI unit: m2/s3)
Turbulent kinetic energy k (SI unit: m2/s3)
Reciprocal wall distance G (SI unit: 1/m)
Displacement field usolid (SI unit: m)
Velocity field ufluid (SI unit: m/s)
Fluid-Solid Interface Boundary
The Fluid-Solid Interface Boundary condition defines the fluid load on the structure and
how structural displacements affect the fluids velocity.
BOUNDARY SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific boundaries or select All boundaries as required.
Basic Modeling Steps for Fluid-Structure Interaction
The following steps describe the basics of how to set up a model of fluid-structure
interaction:
1 In the Model Wizard, select the Fluid-Structure Interaction interface on the Add Physics
page; then click Next.
2 Select a study optionStationary, Stationary, One-Way Coupled, Time Dependent, or
Time Dependent, One-Way Coupled from the Preset Studies branch on the Select Study
Type list; then click Finish.
If you also have the CFD Module, you can also add a Stationary, One-Way
Coupled with Initialization or Transient, One-Way Coupled with Initialization
study for turbulence models requiring the wall distance. See Stationary,
One-Way Coupled with Initialization and Transient, One-Way Coupled
with Initialization in the COMSOL Multiphysics Reference Manual for
more information.
3 Create the geometry, which should contain a fluid domain and a solid domain.
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4 Add the materials, typically a fluid and a solid. Then assign the material added last
to the domains that represents the solid (or the fluid, if the solid material was added
first).
5 By default, the Fluid-Structure Interaction interface adds a Fluid Properties node for
the fluid domain as well as a Free Deformation node for the mesh displacements in
the moving mesh to all domains in the geometry. For the solid domain, the default
is the Linear Elastic Material node with the setting to include geometric nonlinearity
and an initially empty selection. To use another material model for the solid,
right-click the Fluid-Structure Interaction node and from the Solid Mechanics
submenu, in the top section of the context menu, select a material node for the
solid. Add the domains that represent the solid to its selection. That selection
automatically overrides the Fluid Properties and Free Deformation nodes in the solid.
Typically, fluid-structure interaction means that there are large
deformations. In this case, the Include geometric nonlinearity check box
should be selected in the Geometric Nonlinearity section of the settings
window for the solid material if other solid mechanics material nodes are
used (other than the one that is added by default).
6 Verify that the default boundary conditions are correctly assigned for the three types
of boundaries in the model: the Wall node for all fluid boundaries (and a Prescribed
Mesh Displacement node for zero mesh displacements on the same boundaries), the
Free node for all solid boundaries, and the Fluid-Solid Interface Boundary node on the
interior boundaries between the fluid and the solid. The Fluid-Solid Interface
Boundary node implements the coupling from the force exerted on the solid
boundary by the fluid as well as the as the structural velocities acting on the fluid as
a moving wall.
7 Add additional boundary conditions as needed. Typically the fluid domain needs an
Inlet node and an Outlet node for the inflow and outflow boundaries, respectively.
Add these nodes by right-clicking the Fluid-Structure Interaction node and then
select Laminar Flow>Inlet and Laminar Flow>Outlet (if the fluid is laminar). The solid
domain needs some constraint such as a Fixed Constraint at some boundary.
8 Create the mesh and check that it resolves the domains sufficiently. A finer mesh
might be needed other than what the default mesh settings provide.
9 To solve the problem, right-click the Study node and select Compute. The solver
settings might require some adjustments depending on the characteristics of the
model.
THE FLUID-STRUCTURE INTERACTION USER INTERFACE
355
10 Also add additional physics to the model such as Joule heating, thermal expansion,
or conjugate heat transfer, if applicable.
Studies and Solvers in the COMSOL Multiphysics Reference Manual
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Theory for the Fluid-Structure
Interaction User Interface
The Fluid-Structure Interaction User Interface combines fluid flow with solid
mechanics to capture the interaction between the fluid and the solid structure. A Solid
Mechanics interface and a Single-Phase Flow interface model the solid and the fluid,
respectively. The Fluid-Structure Interaction (FSI) couplings appear on the boundaries
between the fluid and the solid. The interface uses an arbitrary Lagrangian-Eulerian
(ALE) method to combine the fluid flow formulated using an Eulerian description and
a spatial frame with solid mechanics formulated using a Lagrangian description and a
material (reference) frame.
The fluid flow is described by the Navier-Stokes equations, which provide a solution
for the velocity field ufluid. The total force exerted on the solid boundary by the fluid
is the negative of the reaction force on the fluid,
2
f = n pI + u fluid + u fluid T --- u fluid I
3
(9-1)
where p denotes pressure, the dynamic viscosity for the fluid, n the outward normal
to the boundary, and I the identity matrix. Because the Navier-Stokes equations are
solved in the spatial (deformed) frame while the solid mechanics interfaces are defined
in the material (undeformed) frame, a transformation of the force is necessary. This is
done according to
dv
F = f -------dV
where dv and dV are the mesh element scale factors for the spatial frame and the
material (reference) frame, respectively.
The coupling in the other direction consists of the structural velocities
u solid
t
(the rate of change for the displacement of the solid), which act as a moving wall for
the fluid domain. The predefined Fluid-Solid Interface boundary condition includes
these couplings for bidirectionally coupled FSI simulations.
THEORY FOR THE FLUID-STRUCTURE INTERACTION USER INTERFACE
357
The solid mechanics formulation supports geometric nonlinearity (large
deformations). The spatial frame also deforms with a mesh deformation that is equal
to the displacements usolid of the solid within the solid domains. The mesh is free to
move inside the fluid domains, and it adjusts to the motion of the solid walls. This
geometric change of the fluid domain is automatically accounted for in COMSOL
Multiphysics by the ALE method.
ONE-WAY FLUID-STR UCTURE INTERACTION
For small values of the solid displacement and its rate of change, the FSI interface
includes one-way coupled model formulations. The one-way coupled models
sequentially solve for the fluid flow, compute the load from Equation 9-1, and then
apply it in the solution for the solid displacement. Since these methods are
unidirectional, the mesh deformation is excluded from the solution. When applicable,
the one-way coupled versions offer computationally cheaper alternatives to a fully
coupled counterpart.
Stationary and time-dependent one-way coupled studies are available for selection
from the Preset Studies branch of the Model Wizard. These studies include a Fluid
study step and a Solid study step. When additional physics is added to the model, it is
by default added to both study steps.
In this case the one-way coupled study steps display under Preset Studies
for Some Physics branch since the Fluid study step does not solve for the
solid displacement and vice versa. When using a turbulence model
requiring the distance to the closest wall, the Preset Studies includes a
Wall Distance Initialization study step.
When solving a transient one-way coupled FSI model, besides saving the
solution from the Fluid study step with adequate frequency, it is advisable
to save the solution from the Solid study step at the same times as the fluid
solution. This way, all the information from the Fluid study step is used
in the Solid study step.
Studies and Solvers in the COMSOL Multiphysics Reference Manual
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The Joule Heating and Thermal
E xpa ns i o n U s e r In t erface
The Joule Heating and Thermal Expansion (tem) user interface (
), found under the
Structural Mechanics branch (
) in the Model Wizard, is a combination of the Solid
Mechanics, Electric Currents, and Heat Transfer interfaces, and it includes as
predefined couplings:
A Joule Heating Model and an Electromagnetic Heat Source
A Thermal Linear Elastic default model for the thermal-structural coupling
You can use this multiphysics interface for coupled thermal, electrical, and structural
analysis of, for example, the movement of some actuator, where an electric current
causes a temperature increase, which in turn leads to a displacement through thermal
expansion.
In addition, all other physics nodes from the individual physics interfaces are accessible.
INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is tem.
DOMAIN SELECTION
The default setting is to include All domains in the model to define Joule heating and
thermal expansion. To choose specific domains, select Manual from the Selection list.
2D APPROXIMATION
From the 2D approximation list select Plane stress or Plane strain. When
modeling using plane stress, the interface solves for the out-of-plane strain
components in addition to the displacement field u.
THE JOULE HEATING AND THERMAL EXPANSION USER INTERFACE
359
THICKNESS
For 2D models, enter a value or expression for the Thickness d
(SI unit: m). The default value of 1 m is suitable for plane strain models,
where it represents a a unit-depth slice, for example. For plane stress
models, enter the actual thickness, which should be small compared to the
size of the plate for the plane stress assumption to be valid.
In rare cases, when changing the thickness in parts of the geometry; then
use the Change Thickness node. This thickness also controls the thickness
dz, active in the separate Heat Transfer interface for 2D out-of-plane heat
transfer.
S T R U C T U R A L TR A N S I E N T B E H AV I O R
From the Structural transient behavior list, select Include inertial terms or Quasi-static
(the default). Use Quasi-static to treat the elastic behavior as quasi-static (with no mass
effects; that is, no second-order time derivatives). Selecting this option will give a more
efficient solution for problems where the variation in time is slow when compared to
the natural frequencies of the system. The default solver for the time stepping is
changed from Generalized alpha to BDF when Quasi-static is selected.
REFERENCE POINT F OR MOMENT COMPUTATION
Enter the coordinates for the Reference point for moment computation xref (SI unit: m).
The resulting moments (applied or as reactions) are then computed relative to this
reference point. During the results and analysis stage, the coordinates can be changed
in the Parameters section in the result nodes.
SWEEP SETTINGS
Select the Activate terminal sweep check box to switch on the sweep and invoke a
parametric sweep over the terminals. Enter a Sweep parameter name to assign a specific
name to the variable that controls the terminal number solved for during the sweep.
The generated lumped parameters are in the form of capacitance matrix elements. The
terminal settings must consistently be of either fixed voltage or fixed charge type.
The lumped parameters are subject to Touchstone file export. Enter a file path or Browse
for a file.
Select an Output format for the Touchstone exportMagnitude angle, Magnitude (dB)
angle, or Real imaginary. Enter a Reference impedance Zref (SI unit: ). The default is
50 .
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
PHYSICAL MODEL
If you have the Heat Transfer Module or CFD Module, the out-of-plane
heat transfer feature is also available in this section. With the Heat
Transfer Module, it also includes surface-to-surface radiation and
radiation in participating media options. See the applicable user guide for
information.
For 2D models, select either the Out-of-plane heat transfer model or
Surface-to-surface radiation check boxes. When surface-to-surface
radiation is active, a Radiation Settings section displays. You can also select
the Radiation in participating media check box.
For 3D models, select the Surface-to-surface radiation check box to include
surface-to-surface heat radiation in the model. When surface-to-surface
radiation is active, a Radiation Settings section appears. You can also select
the Radiation in participating media check box.
RADIATION SETTINGS
To display this section select the Surface-to-surface radiation check box
under Physical Model. Surface-to-surface radiation requires the Heat
Transfer Module.
Select a Surface-to-surface radiation methodHemicube (the default) or Direct area
integration. See the Heat Transfer interface documentation for details.
If Hemicube is selected, select a Radiation resolution. 256 is the default.
If Direct area integration is selected, select a Radiation integration order. 4 is the
default.
For either method, also select the Use radiation groups check box to enable the ability
to define radiation groups, which can, in many cases, speed up the radiation
calculations.
THE JOULE HEATING AND THERMAL EXPANSION USER INTERFACE
361
ADVANCED SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
Normally these settings do not need to be changed.
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization.
Select Linear, Quadratic, Cubic, Quartic, or (in 2D) Quintic for the order of the elements
for each of these variablesDisplacement field, Electric potential, Temperature, and
Surface radiosity.
The default is to use quadratic elements for the electric potential, displacements, and
temperature, and to use linear elements for the surface radiosity.
Specify the Value type when using splitting of complex variablesReal or Complex (the
default).
Select the Frame type (default choice is Material) where heat transfer and electric current
features are defined. Note that solid mechanics features and multiphysics features
containing solid mechanics are always defined on the material frame.
DEPENDENT VARIABLES
The dependent variables (field variables) include the following. The names can be
changed but the names of fields and dependent variables must be unique within a
model.
Electric potential V (SI unit: V)
Displacement field u (SI unit: m) and its components
Temperature T (SI unit: K)
Surface radiosity J and the Radiative intensities (SI unit: W/m2) for
surface-to-surface radiation
Show More Physics Options
Initial Values
Domain, Boundary, Edge, Point, and Pair Nodes for the Joule Heating
and Thermal Expansion User Interface
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Thermal Microactuator: Model Library path
Structural_Mechanics_Module/Thermal-Structure_Interaction/
thermal_actuator_tem_parameterized
Initial Values
The Initial Values node adds initial values for electric potential, displacement field,
temperature, and surface radiosity. These variables can serve as an initial condition for
a transient simulation or as an initial guess for a nonlinear analysis. Right-click to add
additional Initial Values nodes.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
INIT IA L VA LUES
Enter the initial values as values or expressions for Electric potential V (SI unit: V),
Displacement field u (SI unit: m), and Temperature T (SI unit: K). The default values
are 0 except for the temperature, which has a default initial value of 293.15 K.
Domain, Boundary, Edge, Point, and Pair Nodes for the Joule
Heating and Thermal Expansion User Interface
Because The Joule Heating and Thermal Expansion User Interface is a multiphysics
interface, every node (except Initial Values) is shared with, and described for, other
interfaces. Below are links to the domain, boundary, edge, point, and pair nodes as
indicated.
To locate and search all the documentation, in COMSOL Multiphysics,
select Help>Documentation from the main menu and either enter a search
term or look under a specific module in the documentation tree.
These nodes are described for the Thermal Stress interface:
Thermal Hyperelastic Material
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363
Thermal Linear Elastic Material
Thermal Linear Viscoelastic Material
These nodes are described for the Solid Mechanics interface (listed in alphabetical
order):
Added Mass
Point Load
Antisymmetry
Pre-Deformation
Body Load
Prescribed Acceleration
Boundary Load
Prescribed Displacement
Contact
Prescribed Velocity
Edge Load
Rigid Connector
Fixed Constraint
Roller
Free
Spring Foundation
Linear Elastic Material
Symmetry
Linear Viscoelastic Material
Thin Elastic Layer
Periodic Condition
In the COMSOL Multiphysics Reference Manual:
Using Symmetries
Continuity on Interior Boundaries
Identity and Contact Pairs
The links to the nodes described in the COMSOL Multiphysics Reference
Manual do not work in the PDF, only from the on line help in COMSOL
Multiphysics.
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
These nodes are described for the Electric Currents and Electrostatics interfaces in the
COMSOL Multiphysics Reference Manual (listed in alphabetical order):
Boundary Current Source
External Current Density
Contact Impedance
Ground
Contact Impedance
Line Current Source
Current Source
Line Current Source (on Axis)
Distributed Impedance
Normal Current Density
Electric Insulation
Point Current Source
Electric Potential
Sector Symmetry
If you also have the AC/DC Module, the Electrical Contact node (and
other specialized features) is available and described in the AC/DC
Module Users Guide.
These nodes are described for the Heat Transfer and Joule Heating interfaces in the
COMSOL Multiphysics Reference Manual:
Boundary Electromagnetic Heat
Source
Line Heat Source
Boundary Heat Source
Point Heat Source
Electromagnetic Heat Source
Surface-to-Ambient Radiation
Heat Flux
Symmetry
Heat Source
Temperature
Heat Transfer in Fluids
Thermal Insulation
Heat Transfer in Solids
Thin Thermally Resistive Layer
Outflow
Joule Heating Model
If you also have the Heat Transfer Module, there are several other feature
nodes available and described in the Heat Transfer Module Users Guide.
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365
The Piezoelectric Devices User
Interface
The Piezoelectric Devices (pzd) user interface (
), found under the Structural
) in the Model Wizard, combines Solid Mechanics and
Electrostatics for modeling of piezoelectric devices, for which all or some of the
domains contain a piezoelectric material. The interface has the equations and features
for modeling piezoelectric devices, solving for the displacements and the electric
potential.
Mechanics branch (
The piezoelectric coupling can be presented in stress-charge or strain-charge form. All
solid mechanics and electrostatics functionality for modeling is also accessible to
include surrounding linear elastic solids or air domains. For example, add any solid
mechanics material for other solid domain, a dielectric model for air, or a combination.
When this interface is added, these default nodes are also added to the Model Builder
Piezoelectric Material, Free (for the solid mechanics and default boundary conditions),
Zero Charge (for the electric potential), and Initial Values. Right-click the Piezoelectric
Devices node to add other features that implement, for example, loads, constraints, and
solid mechanics and electric materials. In 2D and 2D axial symmetry, adding a
Piezoelectric Devices interface also adds predefined base-vector coordinate systems for
the materials (in the plane 2D case) XY-, YZ-, ZX-, YX-, XZ-, and XY-planes. These
additional coordinate systems are useful for simplifying the material orientation for the
piezoelectric material.
All functionality from the Solid Mechanics and Electric Current interfaces
is accessible for modeling the solid and electric properties and
non-piezoelectric domains. Only the features unique to this interface are
described in this section. For details about the shared features see:
The Solid Mechanics User Interface
The Electrostatics User Interface in the COMSOL Multiphysics
Reference Manual
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INTERFACE IDENTIFIER
The interface identifier is used primarily as a scope prefix for variables defined by the
physics user interface. Refer to such interface variables in expressions using the pattern
<identifier>.<variable_name>. In order to distinguish between variables
belonging to different physics user interfaces, the identifier string must be unique.
Only letters, numbers and underscores (_) are permitted in the Identifier field. The first
character must be a letter.
The default identifier (for the first interface in the model) is pzd.
DOMAIN SELECTION
The default setting is to include All domains in the model to define the dependent
variables and the equations. To choose specific domains, select Manual from the
Selection list.
2D APPROXIMATION
From the 2D approximation list select Plane stress or Plane strain (the
default). When modeling using plane stress, the Piezoelectric Devices
interface solves for the out-of-plane strain components in addition to the
displacement field u.
THICKNESS
Enter a value or expression for the Thickness d (SI unit: m). The default
value of 1 m is suitable for plane strain models, where it represents a a
unit-depth slice, for example. For plane stress models, enter the actual
thickness, which should be small compared to the size of the plate for the
plane stress assumption to be valid. In rare cases, use a Change Thickness
node to change thickness in parts of the geometry.
S T R U C T U R A L TR A N S I E N T B E H AV I O R
From the Structural transient behavior list, select Include inertial terms (the default) or
Quasi-static. Use Quasi-static to treat the elastic behavior as quasi-static (with no mass
effects; that is, no second-order time derivatives). Selecting this option will give a more
efficient solution for problems where the variation in time is slow when compared to
the natural frequencies of the system. The default solver for the time stepping is
changed from Generalized alpha to BDF when Quasi-static is selected.
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367
REFERE NCE PO IN T FO R MOMENT COMPUTAT IO N
Enter the coordinates for the Reference point for moment computation xref (SI unit: m).
The resulting moments (applied or as reactions) are then computed relative to this
reference point. During the results and analysis stage, the coordinates can be changed
in the Parameters section in the result nodes.
DEPENDENT VARIABLES
This interface defines these dependent variables (fields): the Displacement field u (and
its components) and the Electric potential V. The names can be changed but the names
of fields and dependent variables must be unique within a model.
ADVANCED SETTINGS
To display this section, click the Show button (
) and select Advanced Physics Options.
Normally these settings do not need to be changed.
DISCRETIZATION
To display this section, click the Show button (
) and select Discretization. Select
Linear, Quadratic (the default), Cubic, Quartic, or (in 2D) Quintic for the Displacement
field and Electric potential. Specify the Value type when using splitting of complex
variablesReal or Complex (the default).
Show More Physics Options
Domain, Boundary, Edge, Point, and Pair Nodes for the Piezoelectric
Devices User Interface
Theory for the Piezoelectric Devices User Interface
Piezoelectric Shear-Actuated Beam: Model Library path
Structural_Mechanics_Module/Piezoelectric_Effects/shear_bender
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Domain, Boundary, Edge, Point, and Pair Nodes for the Piezoelectric
Devices User Interface
Because The Piezoelectric Devices User Interface is a multiphysics interface, many
physics nodes are shared with, and described for, other interfaces. Below are links to
the domain, boundary, edge, point, and pair nodes as indicated.
To locate and search all the documentation, in COMSOL Multiphysics,
select Help>Documentation from the main menu and either enter a search
term or look under a specific module in the documentation tree.
These nodes are described in this section:
Damping and Loss
Initial Values
Dielectric Loss
Periodic Condition
Electrical Conductivity
(Time-Harmonic)
Piezoelectric Material
Remanent Electric Displacement
Electrical Material Model
These nodes are described for the Solid Mechanics interface (listed in alphabetical
order):
Added Mass
Point Load
Antisymmetry
Pre-Deformation
Body Load
Prescribed Acceleration
Boundary Load
Prescribed Displacement
Contact
Prescribed Velocity
Edge Load
Rigid Connector
Fixed Constraint
Roller
Free
Spring Foundation
Initial Stress and Strain
Symmetry
Linear Elastic Material
Thermal Expansion
Linear Viscoelastic Material
Thin Elastic Layer
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369
These nodes are described for the Electrostatics interface in the COMSOL
Multiphysics Reference Manual:
Electric Displacement Field
Point Charge
Electric Potential
Point Charge (on Axis)
Ground
Space Charge Density
Line Charge
Surface Charge Density
Line Charge (on Axis)
Thin Low Permittivity Gap
Line Charge (Out-of-Plane)
Zero Charge
The links to the nodes described in the COMSOL Multiphysics Reference
Manual do not work in the PDF, only from the on line help in COMSOL
Multiphysics.
Piezoelectric Material
Use the Piezoelectric Material node to define the piezoelectric material properties on
stress-charge form using the elasticity matrix and the coupling matrix or on
strain-charge form using the compliance matrix and the coupling matrix. The default
settings is to use material data defined for the material in the domain. Right-click
Piezoelectric Material to add Electrical Conductivity (Time-Harmonic), Initial Stress
and Strain, Thermal Expansion and Damping and Loss nodes as required.
For entering these matrices, the ordering is different from the standard
ordering used in COMSOL Multiphysics. Instead, use the following
order (Voigt notation), which is the common convention for piezoelectric
materials: xx, yy, zz, yz, xz, zy.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
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MODEL INPUTS
This section has field variables that appear as model inputs, if the current settings
include such model inputs. By default, this section is empty.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
PIEZOELECTRIC MATERIAL PROPERTIES
Select a Constitutive relationStress-charge form or Strain-charge form. For each of the
following, the default uses values From material. Select User defined to enter other
values in the matrix or field as required.
For Stress-charge form, select an Elasticity matrix (ordering: xx, yy, zz, yz, xz, xy) (cE)
(SI unit: 1/Pa).
For a Strain-charge form, select a Compliance matrix (ordering: xx, yy, zz, yz, xz, xy)
(sE) (SI unit: 1/Pa).
Select a Coupling matrix (ordering: xx, yy, zz, yz, xz, xy) (d) (SI unit: C/m2 or C/N).
Select a Relative permittivity (erS or erT) (dimensionless).
Select a Density (p) (SI unit: kg/m3).
GEOMETRIC NONLINEARITY
If a study step is geometrically nonlinear, the default behavior is to use a large strain
formulation in all domains. There are however some cases when you would still want
to use a small strain formulation for a certain domain. In those cases, select the Force
linear strains check box. When selected, a small strain formulation is always used,
independently of the setting in the study step.
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
The Solid Mechanics User Interface
Electrical Material Model
The Electrical Material Model adds an electric field to domains in a piezoelectric device
model that only includes the electric field. Right-click the node to add Electrical
Conductivity (Time-Harmonic) and Dielectric Loss nodes as required.
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371
DOMAIN SELECTION
From the Selection list, choose the domains to define.
MODEL INPUTS
This section contains field variables that appear as model inputs, if the current settings
include such model inputs. By default, this section is empty.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
ELECTRIC FIELD
Select a Constitutive relationRelative permittivity, Polarization, or Remanent
displacement.
If Relative permittivity is selected, also choose a Relative permittivity (r)
(dimensionless). The default uses values From material. If User defined is selected,
choose Isotropic, Diagonal, Symmetric, or Anisotropic and enter values in the matrix
or field.
If Polarization is selected, enter the Polarization P (SI unit: C/m2) coordinates.
If Remanent displacement is selected, select a Relative permittivity (r). The default
uses values From material. If User defined is selected, choose Isotropic, Diagonal,
Symmetric, or Anisotropic and enter values in the matrix or field. Then enter the
Remanent displacement (Dr) (SI unit: C/m2) coordinates.
GEOMETRIC NONLINEARITY
If a study step is geometrically nonlinear, the default behavior is to use a large strain
formulation in all domains. There are however some cases when you would still want
to use a small strain formulation for a certain domain. In those cases, select the Force
linear strains check box. When selected, a small strain formulation is always used,
independently of the setting in the study step.
Geometric Nonlinearity Theory for the Solid Mechanics User Interface
See The Solid Mechanics User Interface for details about this section.
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Electrical Conductivity (Time-Harmonic)
Right-click the Piezoelectric Material node or the Electrical Material Model to add an
Electrical Conductivity (Time-Harmonic) node. This subnode adds ohmic conductivity to
the material. For example, if the model has metal electrodes, or if the piezoelectric
material might not be a perfect insulator but has some electrical conductivity. Because
The Piezoelectric Devices User Interface solves for the charge balance equation (that
is, electrostatics) this conductivity would lead to a time integral of the ohmic current
in the equation. This feature can therefore only operate in a time-harmonic study (as
pointed out in the name), and the equivalent electric displacement Jij appears in
the equation.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
COORDINATE SYSTEM SELECTION
The Global coordinate system is selected by default. The Coordinate system list contains
any additional coordinate systems that the model includes.
CONDUCTION CURRENT
Select an Electrical conductivity (SI unit: S/m). Select:
From material to use the conductivity value from the domain material.
Linearized resistivity to define the electric resistivity (and conductivity) as a linear
function of temperature.
User defined to enter a value (SI unit: S/m) or expressions for an isotropic or
anisotropic conductivity. Select Isotropic, Diagonal, Symmetric, or Anisotropic from
the list based on the properties of the conductive media.
If Linearized resistivity is selected, each default setting in the corresponding Reference
temperature (Tref), Resistivity temperature coefficient (), and Reference resistivity (0)
lists is From material, which means that the values are taken from the domain material.
To specify other values for these properties, select User defined from the corresponding
list and then enter a value or expression in the applicable field.
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373
Damping and Loss
Right-click the Piezoelectric Material node to add a Damping and Loss subnode, which
adds damping (Rayleigh damping or loss damping), coupling losses, and dielectric
losses to the piezoelectric material.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
DAMPING SETTINGS
Select a Damping typeRayleigh damping, Loss factor for cE, Loss factor for sE, No
damping, or Isotropic loss factor:
No damping
For Rayleigh damping, enter the Mass damping parameter dM and the Stiffness
damping parameter in the dM corresponding fields. The default values are 0, which
means no damping.
For Loss factor for cE, select From material (the default) from the Loss factor for
elasticity matrix cE list to use the value from the material or select User defined to
enter values or expressions for the loss factor in the associated fields. Select
Symmetric to enter the components of cE in the upper-triangular part of a
symmetric 6-by-6 matrix or select Isotropic to enter a single scalar loss factor. The
default values are 0.
For Loss factor for sE, from the Loss factor for compliance matrix sE list, select From
material (the default) to use the value from the material or select User defined to
enter values or expressions for the loss factor in the associated fields. Select
Symmetric to enter the components of sE in the upper-triangular part of a
symmetric 6-by-6 matrix or select Isotropic to enter a single scalar loss factor. The
default values are 0.
For an Isotropic loss factor s, select From material (the default) from the Isotropic
structural loss factor list to take the value from the material or select User defined to
enter a value or expression for the isotropic loss factor in the field. The default value
is 0.
COUPLING LOSS SETTINGS
Select a Coupling lossNo loss, Loss factor for e, or Loss factor for d.
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For Loss factor for e and Loss factor for d, select a Loss factor for coupling matrix e or d
from the list. Select User defined to enter values or expressions for the loss factor in the
associated fields. Select Symmetric to enter the components of e or d in the
upper-triangular part of a symmetric 6-by-6 matrix or select Isotropic to enter a single
scalar loss factor. The default values are 0.
DIELECTRIC LOSS SETTINGS
From the Dielectric loss list, select Loss factor for S, Loss factor for T, or No loss.
For Loss factor for S and Loss factor for T, select a Loss factor for permittivity. Select
From material (the default) to use the value from the material or select User defined to
enter values or expressions for the loss factor in the associated fields. Select Symmetric
to enter the components of eS or eT in the upper-triangular part of a symmetric
6-by-6 matrix, select Isotropic to enter a single scalar loss factor, or select Diagonal. The
default values are 0.
Remanent Electric Displacement
Right-click the Piezoelectric Material node to add a Remanent Electric Displacement
subnode to include a remanent electric displacement vector Dr (the displacement
when no electric field is present).
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
REMANENT ELECTRIC DISPLACEMENT
Enter the components of the remanent electric displacement Dr (SI unit: C/m2) in
the Remanent displacement fields (the default values are 0 C/m2).
Dielectric Loss
Right-click the Electrical Material Model node to add a Dielectric Loss subnode to
include a dielectric loss using a dielectric loss factor.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
THE PIEZOELECTRIC DEVICES USER INTERFACE
375
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
DIELECTRIC LOSS SETTINGS
The default Dielectric loss factor uses values From material. If User defined is selected,
then also select Isotropic, Diagonal, Symmetric, or Anisotropic and enter one or more
components in the field or matrix. The default values are 0.
Initial Values
The Initial Values node adds an initial value for the displacement field and the electric
potential. Right-click to add additional Initial Values nodes.
DOMAIN SELECTION
For a default node, the setting inherits the selection from the parent node, and cannot
be edited; that is, the selection is automatically selected and is the same as for the
interface. When nodes are added from the context menu, you can select Manual from
the Selection list to choose specific domains or select All domains as required.
INITIAL VALUES
Enter the initial values as values or expressions for the Displacement field u (SI unit: m)
and the Electric potential V (SI unit: V).
Periodic Condition
The Periodic Condition node adds a periodic boundary condition. This periodicity make
uix0uix1 for a displacement component ui or similarly for the electric potential.
You can control the direction that the periodic condition applies to and if it applies to
the electric potential. Right-click the Periodic Condition node to add a Destination
Selection subnode if required. If the source and destination boundaries are rotated with
respect to each other, this transformation is automatically performed, so that
corresponding displacement components are connected.
This feature works well for cases like opposing parallel boundaries. In
other cases use a Destination Selection subnode to control the destination.
By default it contains the selection that COMSOL Multiphysics identifies.
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PERIODICITY SETTINGS
Select a Type of periodicityContinuity (the default), Antiperiodicity, Floquet periodicity,
Cyclic symmetry, or User defined.
If Floquet periodicity is selected, enter a k-vector for Floquet periodicity kF (SI unit:
rad/m) for the X, Y, and Z coordinates (3D models), or the R and Z coordinates
(2D axisymmetric models), or X and Y coordinates (2D models).
If Cyclic symmetry is selected, select a Sector angleAutomatic (the default), or User
defined. If User defined is selected, enter a value for S (SI unit: rad; default value: 0).
For any selection, also enter a Azimuthal mode number m (dimensionless; default
value: 0).
If User defined is selected, select the Periodic in u, Periodic in v (for 3D and 2D
models), and Periodic in w (for 3D and 2D axisymmetric models) check boxes as
required. For all dimensions the Periodic in V check box is also available. Then for
each selection, choose the Type of periodicityContinuity (the default) or
Antiperiodicity.
In the COMSOL Multiphysics Reference Manual:
Periodic Condition and Destination Selection
Periodic Boundary Conditions
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377
T he o r y f o r the Pi ez oel ect ri c D ev i c es
User Interface
The Piezoelectric Devices User Interface theory is described in this section:
The Piezoelectric Effect
Piezoelectric Constitutive Relations
Piezoelectric Material
Piezoelectric Dissipation
Initial Stress, Strain, and Electric Displacement
Geometric Nonlinearity for the Piezoelectric Devices User Interface
Damping and Losses Theory
References for the Piezoelectric Devices User Interface
The Piezoelectric Effect
The piezoelectric effect manifests itself as a transfer of electric to mechanical energy
and vice versa. It is present in many crystalline materials, while some materials such as
quartz, Rochelle salt, and lead titanate zirconate ceramics display the phenomenon
strongly enough for it to be of practical use.
The direct piezoelectric effect consists of an electric polarization in a fixed direction
when the piezoelectric crystal is deformed. The polarization is proportional to the
deformation and causes an electric potential difference over the crystal.
The inverse piezoelectric effect, on the other hand, constitutes the opposite of the
direct effect. This means that an applied potential difference induces a deformation of
the crystal.
PIEZOELECTRICITY CONVENTIONS
The documentation and the Piezoelectric Devices interface use piezoelectricity
conventions as much as possible. These conventions differ from those used in other
structural mechanics interfaces. For instance, the numbering of the shear components
in the stress-strain relation differs, as the following section describes. However, the
names of the stress and strain components remain the same as in the other structural
mechanics interfaces.
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
Piezoelectric Constitutive Relations
It is possible to express the relation between the stress, strain, electric field, and electric
displacement field in either a stress-charge form or strain-charge form:
STRESS-CHARGE
T
T = cE S e E
D = eS + S E
STRAIN-CHARGE
T
S = sE T + d E
D = dT + T E
The naming convention differs in piezoelectricity theory compared to structural
mechanics theory, but the Piezoelectric Devices interface uses the structural mechanics
nomenclature. The strain is named instead of S, and the stress is named instead of
T. This makes the names consistent with those used in the other structural mechanics
interfaces.
The numbering of the strain and stress components is also different in piezoelectricity
theory and structural mechanics theory, and it is quite important to keep track of this
aspect in order to provide material data in the correct order. In structural mechanics
the following is the most common numbering convention, and it is also the one used
as default in the structural mechanics interfaces:
xx
xx
xx
yy
yy
yy
zx
zz
xy
xy
zz
2 xy
yz
yz
2 yz
xz
xz
2 xz
In contrast, textbooks on piezoelectric effects and the IEEE standard on piezoelectric
effects use the following numbering convention (also called Voigt notation):
THEORY FOR THE PIEZOELECTRIC DEVICES USER INTERFACE
379
xx
xx
xx
yy
yy
yy
zz
yz
zz
yz
zz
2 yz
xz
xz
2 xz
xy
xy
2 xy
The Piezoelectric Devices interface uses the immediately preceding piezo numbering
convention (Voigt notation) to make it easier to work with material data and to avoid
mistakes.
The constitutive relation using COMSOL Multiphysics symbols for the different
constitutive forms are thus:
STRESS-CHARGE
T
= cE e E
D = e + 0 rS E
STRAIN-CHARGE
T
= sE + d E
D = d + 0 rT E
Most material data appears in the strain-charge form, and it can be easily transformed
into the stress-charge form. In COMSOL Multiphysics both constitutive forms can be
used; simply select one, and the software makes any necessary transformations. The
following equations transform strain-charge material data to stress-charge data:
1
cE = sE
e = d sE
S = 0 rT d s E d
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
Piezoelectric Material
The Piezoelectric Devices interface also has different materials for easier modeling of
piezo components. This means that the material for each domain can be defined as:
Piezoelectric material (the default material)
Purely solid as a linear elastic or nonlinear material
Purely dielectric using an electrical material (to model surrounding air, for example)
The piezoelectric material operates as described above, whereas using the two other
materials, structural and electrical problems can be modeled, together or either of
them independently.
Piezoelectric Dissipation
In order to define dissipation in the piezoelectric material for a time-harmonic analysis,
all material properties in the constitutive relations can be complex-valued matrices
where the imaginary part defines the dissipative function of the material.
As described in Damping and Losses Theory complex-valued data can be defined
directly in the fields for the material properties, or a real-valued material X and a set of
loss factors X can be defined, which together form the complex-valued material data
X = X 1 j X
See also the same references for an explanation of the sign convention. It is also
possible to define the electrical conductivity of the piezoelectric material: S or T
depending on the constitutive relation. Electrical conductivity does not appear directly
in the constitutive equation, but it appears as an additional term in the variational
formulation (weak equation).
The conductivity does not change during transformation between the
formulations. S and T are used to get fully-defined materials in each
formulation.
Initial Stress, Strain, and Electric Displacement
Using the piezoelectrical physics interfaces initial stress (0), initial strain (0), and
initial electric displacement (D0) can be defined for models. In the constitutive relation
for piezoelectric material these additions appear in the stress-charge formulation:
THEORY FOR THE PIEZOELECTRIC DEVICES USER INTERFACE
381
= cE 0 e E + 0
D = e 0 + 0 rS E + D 0
When solving the model, these program does not interpret these fields as a constant
initial state, but they operate as additional fields that are continuously evaluated. Thus
use these initial field to add, for example, thermal expansion or pyroelectric effects to
models.
Geometric Nonlinearity for the Piezoelectric Devices User Interface
PIEZOELECTRIC MATERIALS WITH LARGE DEFORMATIONS
The linear piezoelectric equations as presented in Piezoelectric Constitutive Relations
with engineering strains are valid if the model undergoes only relatively small
deformations. As soon as the model contains larger displacements or rotations, these
equations produce spurious strains that result in an incorrect solution. To overcome
this problem, so-called large deformation piezoelectrical equations are required.
The Piezoelectric Devices interface implements the large deformation piezoelectrical
equations according to Yang (Ref. 8). Key items of this formulation are:
The strains are calculated as the Green-Lagrange strains, ij:
1 u i u j u k u k
ij = --- -------- + -------- + --------- ---------
2 X j X i X i X j
(9-2)
Green-Lagrange strains are defined with reference to an undeformed geometry.
Hence, they represent a Lagrangian description. In a small-strain, large rotational
analysis, the Green-Lagrange strain corresponds to the engineering strain in
directions that follow the deformed body.
Electrical field variables are calculated in the material directions, and the electric
displacement relation is replaced by an expression that produce electric polarization
in the material orientation of the solid.
In the variational formulation, the electrical energy is split into two parts: The
polarization energy within the solid and the electric energy of free space occupied
by the deformed solid.
The first two items above result in another set of constitutive equations for large
deformation piezoelectricity:
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CHAPTER 9: MULTIPHYSICS USER INTERFACES
S = cE e Em
P m = e + 0 rS 0 I E m
where S is the second Piola-Kirchhoff stress; is the Green-Lagrange strain, Em and
Pm are the electric field and electric polarization in the material orientation; I is the
identity matrix; and cE, e, and rS are the piezoelectric material constants. The
expression within parentheses equals the dielectric susceptibility of the solid:
= 0 rS 0 I
The electric displacement field in the material orientation results from the following
relation
1
D m = P m + 0 JC E m
where C is the right Cauchy-Green tensor
T
C = F F
Fields in the global orientation result from the following transformation rules:
E = F
Em
P = J FP m
1
(9-3)
D = J FD m
v = V J
where F is the deformation gradient; J is the determinant of F; and v and V are the
volume charge density in spatial and material coordinates respectively. The
deformation gradient is defined as the gradient of the present position of a material
point xX + u:
x
F = ------X
DECOUPLED MATERIALS WITH LARGE DEFORMATIONS
The large deformation formulation described in the previous section applies directly to
non-piezoelectric materials if the coupling term is set to zero: e0. In that case, the
structural part corresponds to the large deformation formulation described for the
solid mechanics interfaces.
THEORY FOR THE PIEZOELECTRIC DEVICES USER INTERFACE
383
The electrical part separates into two different cases: For solid domains the electric
energy consists of polarization energy within the solid and the electric energy of free
space occupied by the deformed solidthe same as for the piezoelectric materials. For
nonsolid domains this separation does not occur, and the electric displacement in these
domains directly results from the electric fieldthe electric displacement relation:
Dm = 0 r Em
On nonsolid domains the global orientation of the fields is not known
unless the ALE method is used.
LARGE DEFORMATION AND DEFORMED MESH
The Piezoelectric Devices interface can be coupled with the Moving Mesh (ALE)
physics interface in a way so that the electrical degrees of freedom are solved in an ALE
frame. This feature is intended to be used in applications where a model contains
nonsolid domains, such as modeling of electrostatically actuated structures. This
functionality is not required for modeling of piezoelectric or other solid materials.
The use of ALE has impacts on the formulation of the electrical large deformation
equations. The first impact is that with ALE, the gradient of electric potential directly
results in the electric field in the global orientation, and the material electric field
results after transformation.
The most visible impact is on the boundary conditions. With ALE any surface charge
density or electric displacement is defined per the present deformed boundary area,
whereas for the case without ALE they are defined per the undeformed reference area.
Damping and Losses Theory
HYSTERETIC LOSS
The equivalent viscous and loss factor damping are special cases of a more general way
of defining damping: hysteretic loss. Generally, and independently of the microscopic
origin of the loss, the dissipative behavior of the material can be modeled using
complex-valued material properties. For the case of piezoelectric materials, this means
that the constitutive equations are written as follows:
For the stress-charge formulation
384 |
CHAPTER 9: MULTIPHYSICS USER INTERFACES
T
= c E e E
D = e + E
S
and for the strain-charge formulation
T
= s E + d E
D = d + E
T
where c E , s E , S , T , and d are complex-valued matrices, where the imaginary part
defines the dissipative function of the material.
Similarly to the real-valued material data, it is not possible to freely define the
complex-valued data. Instead the data must fulfill certain requirement to represent
physically proper materials. A key requirement is that the dissipation density is positive;
that is, there is no power gain from the passive material. This requirement sets rules for
the relative magnitudes for all material parameters. This is important to be aware of,
especially when defining the coupling losses.
In COMSOL Multiphysics the complex-valued data can be entered directly, or the
concept of loss factors can be used. Similarly to the loss factor damping, the complex
data X is represented as pairs of a real-valued parameter
X = real X
and a loss factor
X = imag X real X
the ratio of the imaginary and real part, and the complex data is then
X = X 1 j X
where the sign depends on the material property used. The loss factors are specific to
the material property, and thus they are named according to the property they refer to,
for example, cE. For a structural material without coupling, simply use s, the
structural loss factor.
Depending on the field, different terminology is in use. For example, the loss tangent
tan might be referred to when working with electrical applications. The loss tangent
has the same meaning as the loss factor. Often the quality factor Qm is defined for a
THEORY FOR THE PIEZOELECTRIC DEVICES USER INTERFACE
385
material. The quality factor Qm and the loss factor i are inversely related: i1 Qm,
where i is the loss factor for cE, sE, or the structural loss factor depending on the
material.
The Piezoelectric Devices interface uses a formulation that assumes that a positive loss
factor corresponds to a positive loss. The complex-valued data is then based on sign
rules. For piezoelectric materials, the following equations apply (m and n refer to
elements of each matrix):
m n
m n
m n
c E = c E 1 + j cE
m n
m n
m n
e
=e
1 j e
m n
m n
m n
S = S 1 j S
m n
m n
m n
s E = s E 1 j sE
(9-4)
m n
m n
m n
d
=d
1 j d
m n
m n
m n
T = T 1 j T
The losses for the non-coupled material models are more straightforward to define.
Using the complex stiffness and permittivity, the following equations describe the lossy
material:
m n
m n
m n
D
= 1 + j
D
m n
m n
m n
= 1 j e
e
e
(9-5)
Often fully defined complex-valued data is not accessible. In the Piezoelectric Devices
interface the loss factors can be defined as full matrices or as scalar isotropic loss factors
independently of the material and the other coefficients.
For more information about hysteretic losses, see Ref. 1 to Ref. 4.
T H E L O S S F A C T O R U S I N G D I F F E R E N T D A M P I N G TY P E S
The following damping types use an isotropic loss factor s:
Loss factor damping
Equivalent viscous damping
Isotropic loss
386 |
CHAPTER 9: MULTIPHYSICS USER INTERFACES
In each case the meaning of the loss factor is the same: the fractional loss of energy per
cycle.
The difference between these damping types is how the loss enters the equations.
Using the isotropic loss, s is used to build complex-valued material properties,
whereas when using the loss factor damping, s appears in a complex-valued multiplier
in the stress-strain relation. In the equivalent viscous damping, s appears in a
complex-valued and frequency-dependent expression for dK of the Rayleigh damping
model.
ELECTRICAL CONDUCTIVITY AND DIELECTRIC LOSSES
For frequency response and damped eigenfrequency analyses, the electrical
conductivity of the piezoelectric and decoupled material (see Ref. 2, Ref. 5, and Ref.
6) can be defined. Depending on the formulation of the electrical equation, the
electrical conductivity appears in the variational formulation (the weak equation) either
as an effective electric displacement
Jp
D = r 0 E j -----
(the actual displacement variables do not contain any conductivity effects) or in the
total current expression
J = Jd + Jp
where Jp = eE is the conductivity current and Jd is the electric displacement current.
Both a dielectric loss factor (Equation 9-4 and Equation 9-5) and the electrical
conductivity can be defined at the same time. In this case, ensure that the loss factor
refers to the alternating current loss tangent, which dominates at high frequency,
where the effect of ohmic conductivity vanishes (Ref. 7).
References for the Piezoelectric Devices User Interface
1. R. Holland and E. P. EerNisse, Design of Resonant Piezoelectric Devices, Research
Monograph No. 56, The M.I.T. Press, 1969.
2. T. Ikeda, Fundamentals of Piezoelectricity, Oxford University Press, 1990.
3. A.V. Mezheritsky, Elastic, Dielectric, and Piezoelectric Losses in Piezoceramics:
How it Works all Together, IEEE Transactions on Ultrasonics, Ferroelectrics, and
Frequency Control, vol. 51, no. 6, 2004.
THEORY FOR THE PIEZOELECTRIC DEVICES USER INTERFACE
387
4. K. Uchino and S. Hirose, Loss Mechanisms in Piezoelectrics: How to Measure
Different Losses Separately, IEEE Transactions on Ultrasonics, Ferroelectrics, and
Frequency Control, vol. 48, no. 1, pp. 307321, 2001.
5. P.C.Y. Lee, N.H. Liu, and A. Ballato, Thickness Vibrations of a Piezoelectric Plate
with Dissipation, IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency
Control, vol. 51, no. 1, 2004.
6. P.C.Y. Lee and N.H. Liu, Plane Harmonic Waves in an Infinite Piezoelectric Plate
with Dissipation, Frequency Control Symposium and PDA Exhibition, IEEE
International, pp. 162169, 2002.
7. C. A. Balanis, Electrical Properties of Matter, Advanced Engineering
Electromagnetics, John Wiley & Sons, 1989.
8. J. Yang, An Introduction to the Theory of Piezoelectricity, Springer Science and
Business Media, N.Y., 2005.
388 |
CHAPTER 9: MULTIPHYSICS USER INTERFACES
10
Glossary
This Glossary of Terms contains finite element modeling terms in a structural
mechanics context. For mathematical terms, and geometry and CAD terms specific
to the COMSOL Multiphysics software and documentation, see the glossary in
the COMSOL Multiphysics Reference Manual. For references to more
information about a term, see the index.
389
Glossary of Terms
anisotropy Variation of material properties with direction. Both global and local user
defined coordinate systems can be used to define anisotropic material properties.
arbitrary Lagrangian-Eulerian (ALE) method A technique to formulate equations in a
mixed kinematic description. An ALE referential coordinate system is typically a mix
between the material (Lagrangian) and spatial (Eulerian) coordinate systems.
augmented Lagrangian method A method for solving contact problems.
Augmentation components are introduced for the contact pressure and the
components of the friction traction vector. Additional iteration levels are added where
the displacement, contact pressure and traction variables are solved separately. The
algorithm repeats this procedure until it fulfills a convergence criterion.
axial symmetry Symmetry in both load and geometry, solves for the radial (r) and
axial (z) displacement.
bar A line element that only has translational degrees of freedom, capable of
sustaining axial forces, with no bending moments, torsional moments, or shear forces.
Can be used on lines in 2D and 3D. Also called spar or truss element.
beam A line element having both translational and rotational degrees of freedom.
Capable of sustaining axial forces, bending moments, torsional moments, and shear
forces. Can be used on curves in 2D and 3D.
benchmark Standard test designed to evaluate the accuracy or efficiency of a finite
element system or model.
body forces Forces distributed through the volume of a body.
buckling The sudden collapse or reduction in stiffness of a structure under a critical
combination of applied loads.
cable A tension-only truss member used to model large deformation including sag.
Cauchy stress The most fundamental stress measure defined as force/deformed area
in fixed directions not following the body.
390 |
CHAPTER 10: GLOSSARY
compliance matrix The inverse of the elasticity matrix. See elasticity matrix.
constitutive equations The equations formulating the stress-strain relationship of a
material.
constraint Constrains the displacement or rotations to zero or a specified value.
contact model The mathematical method to model bodies that come into contact
with each other.
contact pair A pair that consists of some source boundaries and destination
boundaries and is used for contact modeling.
coordinate system Global Cartesian, local geometrical, application specific, and
user-defined coordinate systems. Loads, constraints, material properties, and variables
are defined in a specific coordinate system.
damping Dissipation of energy in a vibrating structure. A common assumption is
viscous damping where the damping is proportional to the velocity. See also Rayleigh
damping.
deformation gradient Tensor containing the complete information about the local
straining and rotation of the material. It is a positive definite second rank tensor.
destination boundary One side of a contact pair; the destination boundary is
prohibited to penetrate the source boundary.
double dogleg solver The default nonlinear solver for mechanical contact. This solver
is also useful for highly nonlinear simulations such as large plastic deformation or
hyperelastic materials.
eigenfrequency study Solving for the undamped natural frequencies and vibration
modes of a structure.
elasticity matrix The matrix D relating strain to stresses:
= D
equilibrium equation The equation expressing the equilibrium formulated in the stress
components.
G L O S S A R Y O F TE R M S
391
Eulerian Model described and solved in a coordinate system that is fixed (spatial
frame). See also Lagrangian and arbitrary Lagrangian-Eulerian method.
first Piola-Kirchhoff stress A stress measure used when geometric nonlinearities arise.
All forces in COMSOL Multiphysics in case of geometric nonlinearity are of this type.
flexibility matrix The inverse of the elasticity matrix. See elasticity matrix.
free vibration The undamped vibration of a structure after it is displaced from the
equilibrium position and released. See also eigenfrequency analysis.
frequency response A harmonic analysis solving for the steady-state response from a
harmonic excitation. Typically a frequency sweep is performed, solving for many
excitation frequencies at one time.
geometric nonlinearity In solid mechanics, the deformation state characterized by
finite (or large displacements) but small to moderate strains. Sometimes referred to as
nonlinear geometry. This typically occurs when the main part of the deformations
presents a finite rigid body rotation.
Green-Lagrange strain Nonlinear strain measure used in large-deformation analysis.
In a small strain, large rotation analysis, the Green-Lagrange strain corresponds to
the engineering strain, with the strain values interpreted in the original directions. The
Green-Lagrange strain is a natural choice when formulating a problem in the
undeformed state. The conjugate stress is the second Piola-Kirchhoff stress.
initial strain The strain in a stress-free structure before it is loaded.
initial stress The stress in a non-deformed structure before it is loaded.
isotropic material A material where the material properties are independent of
direction.
Lagrangian Model described and solved in a coordinate system that moves with the
material. See also Eulerian and arbitrary Lagrangian-Eulerian method.
large deformation The deformations are so large so the nonlinear effect of the change
in geometry or stress stiffening need to be accounted for.
linear buckling analysis Solves for the linear buckling load using the eigenvalue solver.
392 |
CHAPTER 10: GLOSSARY
linear viscoelasticity See viscoelastic material.
load multiplier A load used in linearized buckling analysis for estimating the critical
load at which a structure becomes unstable.
mass damping parameter Rayleigh damping parameter, the coefficient in front of the
mass matrix.
mass participation factors The scaling of eigenvectors by the mass matrix, used in
eigenfrequency analysis for displaying the resulting eigenmodes.
mixed formulation A formulation used for nearly incompressible materials, where the
mean stress have been added as a dependent variable to avoid numerical problems.
nonlinear geometry See large deformations.
orthotropic material An orthotropic material has at least two orthogonal planes of
symmetry, where material properties are independent of direction within each plane.
Such materials require nine elastic constants in the constitutive equations.
parametric study A study that finds the solution dependence due to the variation of a
specific parameter.
pinned A constraint condition where the displacement degrees of freedom are fixed
but the rotational degrees of freedom are free, typically used for frames modeled using
beams and truss elements.
plane strain An assumption on the strain field where all out-of-plane strain
components are assumed to be zero.
plane stress An assumption on the stress field, all out-of-plane stress components are
assumed to be zero.
plate Thin plane structure loaded in the normal direction.
principle of virtual work States that the variation in internal strain energy is equal to
the work done by external forces.
G L O S S A R Y O F TE R M S
393
principal stresses/strains Normal stresses/strains with no shear components that act
on the principal planes. The magnitude of the principal stresses/strains are
independent of the coordinate system used.
rate of strain tensor The rate at which the strain tensor changes with respect to time
in time-dependent studies.
quasi-static transient study The loads vary slowly so inertia terms can be neglected. A
transient thermal study coupled with a structural analysis can often be treated as
quasi-static.
Rayleigh damping A viscous damping model where the damping is proportional to the
mass and stiffness through the mass and stiffness damping parameters.
rotational degrees of freedom Degrees of freedom associated with a rotation around
an axis. Beams, Mindlin plates, and shells have rotational degrees of freedom.
second Piola-Kirchhoff stress Conjugate stress to Green-Lagrange strain used in
large deformation analysis.
shell elements A thin element where both bending and membrane effects are
included.
source boundary One side of a contact pair; the destination boundary is prohibited
to penetrate the source boundary.
spar see bar.
spin tensor The skew-symmetric part of the velocity gradient tensor.
stationary study A study where the loads and constraints are constant in time. Also
called static.
strain Relative change in length, a fundamental concept in structural mechanics.
stress Internal forces in the material, normal stresses are defined as forces/area normal
to a plane, and shear stresses are defined as forces/area in the plane. A fundamental
concept in structural mechanics.
394 |
CHAPTER 10: GLOSSARY
stress stiffening The geometrically nonlinear effect which supplies the out-of-plane
stiffness for membranes.
stiffness damping parameter Rayleigh damping parameter, the coefficient in front of
the stiffness matrix.
strain energy The energy stored by a structure as it deforms under load.
time-dependent study A time-dependent or transient study shows how the solution
varies over time, taking into account mass, mass moment of inertia, and damping.
Tresca stress An effective stress measure that is equal to the maximum shear stress.
truss See bar.
viscoelastic material Viscoelastic materials have a time-dependent response, even if
the loading is constant. Many polymers and biological tissues exhibit such a behavior.
Linear viscoelasticity is a commonly used approximation where the stress depends
linearly on the strain and its time derivatives.
viscoelastic transient initialization A stationary study with viscoelasticity included.
Used to precompute initial states for time-dependent studies when the viscoelastic
material model is used. It is a regime of instantaneous deformation and/or loading.
G L O S S A R Y O F TE R M S
395
396 |
CHAPTER 10: GLOSSARY
I n d e x
A
absolute-tolerance parameters 82
solid mechanics 86
acceleration loads 26
acoustic-structure interaction, frequency
domain interface 38
added mass (node) 133
added mass, theory 178
advanced settings 9
ALE method 384
analysis types. see study types.
angular excitation, frequency 11
anisotropic materials
defining 144
elastic properties 98
loss factor damping and 101, 163
antisymmetry (node)
beam interface 254
shell and plate interfaces 216
solid mechanics 109
truss interface 314
applied force (node) 118
applied moment (node) 119
applying
loads 22
moments 25
Arbitrary Lagrangian-Eulerian (ALE)
method 45
area, beam cross sections 286
attachment (node) 135
augmented Lagrangian method 5, 49, 170
axial stress 300
axial symmetry
constraints and 28
initial stress and strain 175
solid mechanics 150
viscoelastic materials and 168
axisymmetric models
azimuthal wave-number 189
B
beam cross section interface 284
theory 286
beam interface 234
theory 257
beams
coefficient of thermal expansion 266
cross section data 241
damping 240
initial loads and strains 260
initial stresses and strains 239, 260
linear elastic material 237
loads applied 255
prescribed acceleration 252
prescribed displacement/rotation 249
prescribed velocity 251
section orientation 245
strain-displacement/rotation 259
stress evaluation 264
thermal coupling 265
thermal expansion 238
thermal strain 260
Beltrami-Michell 291
bending shear stress 301
bending shear stresses 288
bending stress 300
bimoment 299
body load (node)
shell and plate interfaces 204
solid mechanics 103
bolt pre-tension (node) 125
bolt pre-tension, theory 179
bolt selection (node) 125
bolted joints 179
boundary conditions
INDEX|
contact pairs 51
coefficient of thermal expansion
shell and plate interfaces 226
beams 239, 266
boundary load (node) 104
shells and plates 198
boundary loads theory 155
thermal couplings and 13
boundary nodes
cohesion sliding resistance 172
beam interface 236
common sections, beam interface 242
fluid-structure interaction 351
complex modulus 65
Joule heating and thermal expansion
consistent stabilization settings 9
constitutive relation, membranes 336
363
membrane interface 326
constraint settings 9
piezoelectric devices 369
constraints 28
shell and plate interfaces 195
contact (node) 120
solid mechanics 94
contact formulation 52
thermal stress 342
contact help variables 172
truss interface 305
contact modeling 170
boundary selection 10
contact modeling, friction 172
box sections, beams 242
contact pairs 4950
buckling 4
converse piezoelectric effect 66
bulk modulus
coordinate system selection 10
elastic moduli 141
C
coordinate system, beam cross sections
288
cable elements 316
coordinate systems
cables 317
constraints and 28
calculating stress and strain 228
loads and 22
canonical systems 137
local edge system 212
Cauchy stress 149
physics symbols and 88
Cauchy stress tensor 45
solid mechanics theory 137
Cauchy-Green tensors 147, 164
coordinate systems, membranes 334
center of gravity, beam cross sections
Coulomb friction 123
286
critical load factor 47
center of rotation 290
cross section (node) 241
centrifugal acceleration loads 26
cross section data (node) 308
CFD Module 352
crystal cut standards 67
CFL number, pseudo time stepping, and
curvature 261
351
cyclic symmetry, settings 111
change thickness (node)
cyclic symmetry, theory 187
shell and plate interfaces 202
cylindrical coordinate systems 86
solid mechanics 99
circular sections, beams 242
ii | I N D E X
damped eigenfrequency study 65
damping
fluid-structure interaction 351
equation of motion and 59
joule heating and thermal expansion
linear viscoelastic material and 63
363
loss factors 100
piezoelectric devices 369
losses and 59
solid mechanics 94
piezoelectric devices 374, 384
thermal stress 342
point mass 256
domain selection 10
solid mechanics 100
Duhamel-Hookes law 139
types 386
Dulong-Petit law 145
viscoelastic materials and 168
dynamic cyclic symmetry 188
damping (node)
beam interface 240
shell and plate interfaces 200
solid mechanics 99
damping and loss (node) 374
damping models 161162
defining
anisotropic materials 144
constraints 28
contact models 49
isotropic materials 140
multiphysics models 38
orthotropic materials 143
thermoelastic materials 144
deformation gradient 147
deformations, modeling 164
destinations and sources 50
dielectric loss 387
dielectric loss (node) 375
dielectric loss factor 76
direct piezoelectric effect 66, 378
discretization 9
displacement field, defining 43
displacement gradients 138
dissipation, piezoelectric materials 381
distributed loads, theory 155
documentation 15
domain nodes
dynamic frictional coefficients 173
E
edge load (node)
beam interface 247
membrane interface 330
shell and plate interfaces 205
solid mechanics 105
truss interface 310
edge nodes
beam interface 236
fluid-structure interaction 351
Joule heating and thermal expansion
363
membrane interface 326
piezoelectric devices 369
solid mechanics 94
thermal stress 342
truss interface 305
edge selection 10
effective stress 301
eigenfrequency study 10, 54
solid mechanics 160
eigenvalue solvers 55
elastic material properties 9798, 327
elastic moduli 140
elasticity matrix 140
elcontact variable 170
electrical conductivity (time-harmonic)
(node) 373
INDEX|
iii
electrical material model (node) 371
geometric nonlinearity 41, 147
emailing COMSOL 16
membranes and 333
equation of motion, damping and 59
micromechanics and 43, 45
equation view 9
piezoelectric devices 382
equivalent viscous damping 64
solid mechanics theory 182
Eulerian frame 44
glass transition temperature, viscoelastic
excitation frequency 11, 64
materials 167
expanding sections 9
global coordinate systems 138
explicit damping 65
GMG preconditioners 81
external loads, shell and plate interfaces
GMRES iterative solvers 81
gradient displacements 138
228
F
Green strains 146
face load (node) 204, 329
Greens theorem 295
first Piola-Kirchhoff stress 149
Green-Lagrange strain 43
fixed constraint (node) 106
Green-Lagrange strain tensors 164
Floquet periodicity, settings 111
Green-Lagrange strains 146
Floquet periodicity, theory 187
fluid-solid interface boundary (node) 354
fluid-structure interaction
hear center 290
hear correction factor 289
setting up a model 354
fluid-structure interaction interface 348
heat dissipation 65
theory 357
Hermitian matrices 81
fold-line limit angle 194
hide button 9
follower loads 156, 336
hole (node) 285
force linear strains (check box) 98
H-profile sections, beams 242
free (node) 108
hysteretic loss 73, 384
solid mechanics 159
frequency response study 6465
friction (node) 123
friction forces 124
friction in contact modeling 172
friction models 123
friction traction penalty factor 172
gap distance variable 171
generalized Maxwell model 166
Geomechanics Module 175
geometric entity selection 10
iv | I N D E X
Heat Transfer Module 340, 352
fold lines 225
frequency domain study 11
harmonic loads 159
I.R.E. standard, for material orientation
67
IEEE standard, for material orientation
67
IEEE standard, piezoelectric materials
379
imperfection sensitivity 48
implementation
beams 261
trusses 319
include geometric nonlinearity (check
box) 98
incompressible deformation state 164
inconsistent stabilization settings 9
terface 39, 359
K
inertial effects, contact modeling 52
kinematic constraints 30
knowledge base, COMSOL 17
initial loads and strains, beams 260
initial stress and strain 381
beams 260
theory 175
trusses 318
initial stress and strain (node)
beam interface 239
membrane interface 328
shell and plate interfaces 199
solid mechanics 126
truss interface 308
initial values (node)
beam interface 241
fluid-structure interaction 353
Joule heating and thermal expansion
363
membrane interface 329
piezoelectric devices 376
shell and plate interfaces 203
solid mechanics 102
thermal stress 343
truss interface 309
initial values, theory for shells and plates
225
interior wall (node) 352
Internet resources 15
inverse piezoelectric effect 378
isotropic materials
defining 140
elastic properties 97, 327
loss damping and 163
loss factor damping and 101
iterative solvers 81
Lagrange shape functions, trusses and
317
Lagrangian formulations 138
Lagrangian frame 43
Lam parameters 141
large deformations 4, 146
piezoelectric materials 382
lattice trusses 316
linear buckling study 4, 12, 42
linear elastic material (node) 95
beam interface 237
membrane interface 327
shell and plate interfaces 196
truss interface 306
linear elastic materials 35, 139
linear viscoelastic material (node) 111
linear viscoelastic material, damping and
63
linear viscoelastic materials
theory 165
linear viscoelasticity 165
linearized buckling analysis 47
load cases 23
load multiplier 47
loads
acceleration 26
applied to beams 255
pressure 25
singular 23
solid mechanics theory 155
total 27
trusses 309
local CFL number 351
joints, bolted 179
Joule heating and thermal expansion in-
local coordinate systems 138
local edge system 212
INDEX|
logarithmic decrement 60
geometric nonlinearity 43
loss factor damping
initial stress and strain 127
modeling 65
solid mechanics and 100
363
solid mechanics theory 162
linear buckling study 48
springs and 78
linear elastic material 238
loss modulus 65, 168
load cases 23
loss tangents 385
membrane interface 326
losses and damping 59
MEMS materials database 37
low-reflecting boundary (node) 134
modal mass 56
low-reflecting boundary, theory 186
model mass 58
mass and moment of inertia (node) 119
mass damping parameter 63
mass moment of inertia 255
material coordinates 136
material frame 43
material models 35
materials
linear elastic 139
linear viscoelastic 165
nearly incompressible 185
piezoelectric 379
piezoelectric devices 381
max shear stress factor 288
membrane interface 324
theory 333
Mindlin-Reissner type shell 220
MITC shell formulation 221, 224
mixed formulations 36, 185
Model Library 16
Model Library examples
beam cross sections 280
beams 235
cross section data 242
damping 102
eigenfrequency analysis 56
fixed constraint 107
fluid-structure interaction 351
vi | I N D E X
Joule heating and thermal expansion
piezoelectric devices 368
piezoelectric materials database 37
prestressed analysis study 13
prestressed bolts 182
rigid connector 118
shells 195
solid mechanics 93
spring foundation 79
thermal expansion 114
thermal stress 342
trusses 305
viscoelastic material 112
modeling fluid-structure interaction 354
modeling, large deformations 164
Mohrs circle 287
moment computations 31
moments
beams 244, 260
shells and plates 228
solid mechanics and 25
moments of inertia 257, 278
moments of inertia, beam cross sections
286
moving mesh interface, piezoelectric devices and 384
MPH-files 16
multiphysics modeling 38
MUMPS direct solvers 81
N
Navier-Stokes equations 357
nearly incompressible materials 175, 185
no rotation (node)
beam interface 253
shell and plate interfaces 208
nominal stress 183
nonlinear geometry 147, 182
normal forces 260
normal stress 149
periodic condition (node)
piezoelectric devices 376
solid mechanics 110
periodic conditions, theory 187
phase (node)
beam interface 249
shell and plate interfaces 207
solid mechanics 127
truss interface 310
physics symbols
coordinate directions for 88
one-way coupled model formulations
358
orientation, piezoelectric material 67
orthotropic materials
defining 143
elastic properties 97
loss damping and 163
loss factor damping and 102
override and contribution 9
P
pair nodes
beam interface 236
showing 86
piezoelectric coupling 366
piezoelectric crystal cut 67
piezoelectric devices interface 366
theory 378
piezoelectric losses 73
piezoelectric material (node) 370
pinned (node)
beam interface 253
shell and plate interfaces 208
truss interface 311
fluid-structure interaction 351
pipe sections, beams 242
Joule heating and thermal expansion
plane strain models, and thickness 360
363
plane stress and strain 85, 92
membrane interface 326
plane stress models, and thickness 360
piezoelectric devices 369
planes, symmetry and constraints 29
solid mechanics 94
plate interface 192
thermal stress 342
truss interface 305
theory 220
plates
pair selection 10
damping 200
parametric analysis 4
external loads 228
penalized friction traction 171
initial and prescribed values 225
penalty factors
initial stresses and strains 199
contact node and 122
linear elastic material 196
contact pairs and 51
MITC shell formulation 224
theory 171
prescribed acceleration 213
periodic boundary conditions 110
prescribed displacement/rotation 209
INDEX|
vii
prescribed velocity 211
beam interface 249
stress and strain calculations 228
shell and plate interfaces 209
symmetry and antisymmetry 226
prescribed values, shells and plates 225
thermal expansion 198
prescribed velocity (node)
point load (node) 105
beam interface 251
beam interface 248
shell and plate interfaces 211
shell and plate interfaces 207
solid mechanics 128
point loads example 24
truss interface 312
point mass (node)
pressure loads 25, 156
beam interface 255
pressure-wave speeds 141
truss interface 315
prestressed analysis, eigenfrequency
point mass damping (node)
study 42
prestressed analysis, frequency domain
beam interface 256
study 42
point nodes
beam interface 236
principle of virtual work 158
fluid-structure interaction 351
Prony series 165
Joule heating and thermal expansion
pseudo time stepping
advanced settings 351
363
membrane interface 326
piezoelectric devices 369
quality factors and losses 385
quaternion representation, of rigid con-
solid mechanics 94
nector 173
thermal stress 342
truss interface 305
point selection 10
Poisson type equation 291
Poissons ratio 36, 141
Prandtl stress function 297
pre-deformation (node) 131
prescribed acceleration (node) 129
beam interface 252
shell and plate interfaces 213
truss interface 313
prescribed displacement 30
prescribed displacement (node)
solid mechanics 107
solid mechanics interface 330
truss interface 312
prescribed displacement/rotation (node)
radius of gyration 287
rate of strain tensor 148
Rayleigh damping 61, 63, 161
rectangle sections, beams 242
reference coordinates 136
reference point for moment computation 31
refpnt variable 92
remanent electric displacement (node)
375
resonant frequency 61
results evaluation, for shells 219
rigid connector 173
rigid connector (node) 115, 217
rigid connectors
kinematic constraints and 30
moments and 25
viii | I N D E X
rigid domain (node) 118
skew-symmetric part 148
roller (node) 110
slit boundary 179
rotated coordinate system 71
solid mechanics
rotational degrees of freedom 258
damping 100
rotational inertia 118
edge loads 105
rotational joints, beams 30
initial stresses and strains 126
sagging cables 316
Saint-Venant torsion 301
scaling of eigenvectors 55
second Piola-Kirchhoff stress 45, 149
section orientation (node) 245
selecting
solvers 80
settings windows 9
shear area 289
shear modulus expression 141
shear strain 146
shear stress 149
shear-wave speeds 141
shell interface 192
theory 220
shells
damping 200
external loads 228
initial and prescribed values 225
initial stresses and strains 199
linear elastic material 196
MITC shell formulation 224
prescribed acceleration 213
prescribed displacement/rotation 209
prescribed velocity 211
stress and strain calculations 228
symmetry and antisymmetry 226
thermal expansion 198
show button 9
showing
physics symbols 86
singular loads 23
prescribed acceleration 129
prescribed velocity 128
solid mechanics interface 91
theory 136
solver methods, augmented Lagrangian
170
solver parameters 80
solver settings 80
SOR line solvers 82
sources and destinations 50
spatial coordinates 136
spatial frame 44
spatial stress tensor 45
spin tensor 148
spring constant 78
spring foundation (node) 129
spring foundation, solid mechanics 78
spring foundation, theory 176
St Venant torsion 298
St. Venants principle 24
stabilization settings 9
static frictional coefficients 173
stationary solvers 80
stationary study 10
stiffness damping parameter 63
storage modulus 65, 168
straight edge constraint (node) 311
straight edges 320
strain 146, 149
axial symmetry 146
engineering form 146
shear 146
INDEX|
ix
tensor form 146
beam interface 254
strain tensor 146
shell and plate interfaces 215
strain-displacement relation 146
solid mechanics 109
large displacement 146
truss interface 314
small displacement 146
strain-displacement, trusses 317
strain-displacement/rotation 259
strains, membranes 334
stress 149
Cachy 149
first Piola-Kirchhoff 149
normal 149
second Piola-Kirchhoff 149
shear 149
stress and strain tensors 139
stress and strain, piezoelectric devices
379
stress components, beam cross sections
290
stress evaluation, beams 264
stress stiffening 333
stresses, membranes 334
stress-strain relation 149
beams 260
trusses 318
structural damping 65
study steps, geometric nonlinearity and
41
study types 10
eigenfrequency 160
frequency domain, solid mechanics 159
parametric 4
stationary, solid mechanics 158
viscoelastic transient initialization 159
surface traction and reaction forces 33
symbols for physics 86
symmetric matrices 80
symmetry (node)
x | INDEX
symmetry constraints 28
T
tangential strains 335
technical support, COMSOL 16
temperature loads 26
tensors
linear elastic materials 139
theory
beam cross sections 286
beam interface 257
fluid-structure interaction 357
membrane interface 333
piezoelectric devices 378
shell and plate interfaces 220
solid mechanics 136
truss interface 316
thermal coupling
beams 265
trusses 319
thermal effects (node) 114
thermal expansion
loads and 26
thermal expansion (node)
beam interface 238
shell and plate interfaces 198
solid mechanics 112
truss interface 308
thermal expansion, Joule heating and 359
thermal hyperelastic material (node) 345
thermal linear elastic material (node) 344
thermal linear viscoelastic material
(node) 347
thermal strain
beams 260
study types and 13
thermal stress interface 338
user community, COMSOL 17
modeling 38
using
thermal-electric-structural interaction
coordinate systems 137
predefined variables 31
39
thermal-structural analysis 13
spatial and material coordinates 136
thermoelastic materials, defining 144
weak constraints 32
thermorheologically simple viscoelastic
materials 167
uspring variable 78
V
thin elastic layer (node) 132
variables
cross section data, beams 281
thin elastic layer, solid mechanics 78
elcontact 170
thin elastic layer, theory 177
material and spatial coordinates 137
time-dependent study 11
predefined 31
torional shear stress 301
refpnt 92
torsion, beam cross sections 296
stresses, beams 282
torsional constants and moments 263
vdamper variable 79
total force loads 155
viscoelastic materials
total Lagrangian formulation 4
axial symmetry 168
total loads 27
definition 36
t-profile sections, beams 242
frequency domain analysis and damp-
tractions 44
ing 168
transient study 11
temperature effects 167
TRS material 167
viscoelastic transient initialization 12, 159
true stress tensor 45
viscous damping 65, 79
truss interface 304
Voigt form 67
theory 316
Voigt notation 102, 142, 379
trusses
volume ratio 147
initial stresses and strains 308, 318
von Mises effective stress 301
linear elastic material 306
loads 309
W warping function 296
warping, beam cross sections 298
prescribed displacements 312
wave speeds 97, 238, 328
prescribed velocity 312
weak constraint settings 9
straight edge 320
weak constraints, using 32
strain-displacement 317
web sites, COMSOL 17
thermal coupling 319
WLF shift functions 114115, 167
thermal expansion 308
U
undamped models 76
Youngs modulus expression 141
units, loads and 22
u-profile sections, beams 242
INDEX|
xi
xii | I N D E X
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