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Peter Wriggers

Nonlinear Finite Element


Methods

4y Springer
Contents

1. Introduction 1

2. Nonlinear Phenomena 7
2.1 Geometrical Nonlinearity 7
2.1.1 Large Displacements of a Rigid Beam 7
2.1.2 Large Displacements of an Elastic System 9
2.1.3 Bifurcation Problem 11
2.1.4 Snap-Through Problem 12
2.2 Physical Nonlinearity 15
2.3 Nonlinearity Due to Boundary Conditions 17

3. Basic Equations of Continuum Mechanics 19


3.1 Kinematics 19
3.1.1 Motion and Deformation Gradient 20
3.1.2 Strain Measures 23
3.1.3 Transformation of Vectors and Tensors 29
3.1.4 Time Derivatives 31
3.2 Balance Equations 34
3.2.1 Balance of Mass 34
3.2.2 Balance of Linear and Angular Momentum 34
3.2.3 First Law of Thermodynamics 36
3.2.4 Introduction of Different Stress Tensors 37
3.2.5 Balance Equations with Respect to Initial Configuration 38
3.2.6 Time Derivatives of Stress Tensors 38
3.3 Constitutive Equations 40
3.3.1 Elastic Material 41
3.3.2 Elasto-Plastic Material Laws 52
3.3.3 Visco-Elastic and Visco-Plastic Material Behaviour . . . 65
3.3.4 Incremental Form of the Material Equations 73
3.4 Weak Form of Equilibrium, Variational Principles 82
3.4.1 Weak Form of Linear Momentum in the Initial
Configuration 83
3.4.2 Weak Form of Linear Momentum in the Current
Configuration 85
VIII Contents

3.4.3 Variational Functional 86


3.5 Linearizations 89
3.5.1 Linearization of Kinematical Quantities 92
3.5.2 Linearization of Constitutive Equations 94
3.5.3 Linearization of the Variational Formulation 96

4. Spatial Discretization Techniques 103


4.1 General Isoparametric Concept 104
4.1.1 One-Dimensional Interpolations 109
4.1.2 Two-Dimensional Interpolations 112
4.1.3 Three-Dimensional Interpolation 119
4.2 Discretization of the Weak Forms 123
4.2.1 FE-Formulation of the Weak Form in Initial
Configuration 123
4.2.2 Linearization of the Weak Form in the Initial
Configuration 128
4.2.3 FE-Formulation of the Weak Form in the Current
Configuration 134
4.2.4 Linearization of the Weak Form in the Spatial
Configuration 136
4.2.5 Deformation Dependent Loads 142

5. Solution Methods for Time Independent Problems 149


5.1 Solution of Nonlinear Systems of Equations 152
5.1.1 Newton-Raphson Method 152
5.1.2 Modified Newton Scheme 154
5.1.3 Quasi-Newton Method 155
5.1.4 Damped Newton Method, Line-Search 157
5.1.5 Path-Following or Arc-Length Method 160
5.2 Solvers for Linear Systems of Equations 171
5.2.1 Direct Solvers 172
5.2.2 Iterative Solution Methods 175
5.2.3 Parallel Equation Solvers 182
5.3 Examples Related to Algorithms and Equation Solvers 190
5.3.1 Rubber Block 190
5.3.2 Solid with an Inclusion 194
5.3.3 Elasto-Plastic Plate with Hole 196
5.3.4 Problems Solved on Parallel Computers 198
5.3.5 General Observations 202
5.3.6 Problems, Which Occur when Running Actual
Simulations 203
Contents IX

6. Solution Methods for Time Dependent Problems 205


6.1 Integration of the Equations of Motion 207
6.1.1 Explicit Time Integration Methods 209
6.1.2 Implicit Time Integration Methods 212
6.1.3 Conserving Algorithms 215
6.1.4 Numerical Examples 220
6.1.5 Reduction Techniques for Nonlinear Equations
of Motion : 223
6.2 Integration of Inelastic Constitutive Equations for Small
Deformations 231
6.2.1 Viscoelastic Material 232
6.2.2 Elasto-Plastic Material 235
6.2.3 Elasto-Viscoplastic Material 243
6.3 Integration of Constitutive Equations for Finite Deformation
Problems 244
6.3.1 General Implicit Integration 245
6.3.2 Implicit Integration with Respect to Principal Axes... 247
6.3.3 Consistent Tangent Modulus 251
7. Stability Problems 255
7.1 Computation of Stability Points 255
7.1.1 Classical and Linear Buckling Analysis 257
7.1.2 General Investigations of Stability 258
7.2 Direct Computation of Singular Points 262
7.2.1 Formulation of an Extended System 262
7.2.2 Computation of the Directional Derivative of KT 266
7.2.3 Example: Bifurcation Point of an Arc 268
7.3 Algorithms for Nonlinear Stability Problems 270
8. Adaptive Methods 273
8.1 Introduction 273
8.2 Boundary Value Problems and Discretization 279
8.2.1 Boundary Value Problem for Finite Elasticity 280
8.2.2 The Linearized Boundary Value Problem '. 280
8.2.3 Discretization 281
8.3 Error Estimators and Error Indicators 282
8.3.1 Error Estimation for Nonlinear Problems 283
8.3.2 Residual Based Error Estimator 285
8.3.3 Error Indicator Based on the Z2 Method 286
8.3.4 Error Estimators Based on Dual Methods 288
8.4 Error Estimation for Plasticity 292
8.5 Mesh Refinement 294
8.6 Adaptive Mesh Generation 297
8.6.1 Mesh Generation 297
8.6.2 Transfer of History Variables 299
X Contents

8.7 Examples 302


8.7.1 Hertzian Contact Problem 302
8.7.2 Elasto-Plastic Deformation of a Cylindrical Shell 306
9. Special Structural Elements 313
9.1 Nonlinear Truss Element 314
9.1.1 Kinematics and Strains 314
9.1.2 Constitutive Equations for the Truss 316
9.1.3 Variational Formulation and Linearization 317
9.1.4 Finite-Element Model 318
9.2 Two-dimensional Geometrically Exact Beam Element 325
9.2.1 Kinematics 326
9.2.2 Weak Form of Equilibrium 330
9.2.3 Constitutive Equations 331
9.2.4 Finite Element Formulation 334
9.2.5 Example 343
9.2.6 Summary 345
9.3 Axisymmetric Shell Element 345
9.3.1 Kinematics and Strains of the Axisymmetrical Shell .. 346
9.3.2 Variational Formulation 349
9.3.3 Constitutive Equations 350
9.3.4 Finite Element Formulation 357
9.4 General Shell Elements 362
9.4.1 Introductory Remarks 363
9.4.2 Kinematics 369
9.4.3 Parametrization of the Rotations 372
9.4.4 Weak Form 375
9.4.5 Constitutive Equations for Shells 376
9.4.6 Finite Element Formulation for the 5-Parameter
Model 378
9.4.7 Shell Intersections 391
9.5 Examples 392
9.5.1 Bending of a Clamped Beam 393
9.5.2 Quadratic Plate under Internal Pressure 394
9.5.3 Pinched cylinder 395
9.5.4 Final Remarks 396

10. Special Finite Elements for Continua 399


10.1 Requirements for Continuum Finite Elements 399
10.2 Mixed Elements for Incompressibility 406
10.2.1 Mixed Q1-P0 Element 409
10.2.2 Linearization of the Q1-P0 Element 410
10.3 Mixed Finite Elements for Finite Elasticity 411
10.4 Stabilized Finite Elements 416
10.4.1 Stabilization Vectors 418
Contents XI

10.4.2 Weak Form and Linearization 420


10.5 Enhanced Strain Element 421
10.5.1 General Concept and Formulation 422
10.5.2 Discretization of the Enhanced Strain Element 424
10.5.3 Combination of Enhanced Formulation and Hour-Glass
Stabilization 436
10.5.4 Instabilities Related to Enhanced Elements 440
10.5.5 Stabilization of the Enhanced Strain Formulation 447
10.5.6 Special Interpolation of the Enhanced Modes 449
10.5.7 Special One Point Integration and Enhanced
Stabilization 451
10.6 Examples 456
10.6.1 Patch Test 456
10.6.2 Beam with Distorted Mesh 456
10.6.3 Nearly Incompressible Block 458

11. Contact Problems 461


11.1 Contact Kinematics 461
11.2 Constitutive Equations at the Contact Interface 465
11.2.1 Normal Contact 465
11.2.2 Tangential Contact 466
11.3 Weak Formulation 470
11.4 Discretization 473
11.4.1 NTS-Discretization 475
11.4.2 Matrix Form of Contact Residual 477
11.4.3 Integration of the Friction Law 478
11.4.4 Algorithms 479
11.4.5 Linearization of the Contact Residual 480
12. Automation of the Finite Element Method by J. Korelc .. 483
12.1 Advanced Software Tools and Techniques 483
12.1.1 Symbolic and Algebraic Computational Systems 484
12.1.2 Automatic Differentiation Tools 485
12.1.3 Problem Solving Environments 485
12.1.4 Hybrid Approaches 486
12.2 Automatic Differentiation 487
12.2.1 Principles of Automatic Differentiation 487
12.2.2 Automatic Differentiation and FEM 489
12.3 Hybrid Symbolic-Numerical Approach 491
12.3.1 Typical Example of the Automatic Code Generation
Procedure 494
12.4 Abstract Symbolic Formulations in Computational Mechanics 495
12.4.1 Variational Principle 497
12.4.2 Weak Form 497
12.4.3 Symbolic Formulation of Elasto-Plastic Problems 498
XII Contents

12.5 Finite Strain Plasticity Example 502


12.5.1 Formulation 502
12.5.2 AceGen Input 503
12.5.3 Efficiency of Automatically Generated Codes 507

A. Vectors and Tensors 509


A.I Tensor Algebra 509
A.I.I Definition of a Tensor 509
A.1.2 Vectors and Tensors in a Base System 510
A.1.3 Operations with Vectors and Tensors 512
A. 1.4 Special Forms of Tensors 513
A. 1.5 Eigenvalues and Invariants of Tensors 514
A.1.6 Tensors of Higher Order 517
A.2 Tensor Analysis 517
A.2.1 Differentiation with Respect to a Real Variable 518
A.2.2 Gradient of a Field 518
A.2.3 Divergence of a Field 520
A.2.4 Rotation of a Vector Field 520
A.2.5 Derivation of an Invariant with Respect to a Tensor .. 520
A.2.6 Pull Back and Push Forward Operations 521
A.2.7 Lie-Derivative of Stress Tensors 522
A.2.8 Integral Theorems 523

Bibliography 525
Index 553

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