The Finite Element Method for the Analysis of

Non-Linear and Dynamic Systems

Prof. Dr. Eleni Chatzi

Lecture 10 - 4 December, 2012

Institute of Structural Engineering Method of Finite Elements II 1

Nonlinear Dynamic Analysis
Example Case
Dynamic Shake Table Test of a Reinforced Concrete Column

Servo hydraulic test cylinder

Piston: + / - 125 mm

1285
Piston force: + / - 100 kN

1535
Specimen

Damper
Anchorage

250
ETH ShakeTable

Institute of Structural Engineering Method of Finite Elements II 2

Example Case
Elevation Drawings

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Example Case
Plan Drawings

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 Expected Behavior

RC Response in Cyclic Loading

Experimental Data
Accelerometer Measurements
Displacement Measurements

RC Response Characteristics

Strength Deterioration
Stiffness Degradation
Pinching Behavior

6. Forcedisplacement relationships observed in static cyclic tests (RFfailure of vertical reinforcement, DCdiagonal cracking,
mpression failure).

Institute of Structural Engineering Method of Finite Elements II 5

 Modeling of Reinforced Concrete Behavior

Concrete Material Models

-

peak compressive stress

cu
E0

softening
Compression

strain at maximum stress

+ -
o cu
tu = maximum tensile strength of concrete
Tension

Figure 2.5: Typical uniaxial compressive and tensile stress-strain curve for concrete (Bangash 1989)
Typical uniaxial compressive and tensile
stress-strain curve for concrete
compression, the stress-strain curve for concrete is linearly elastic up to about 30 percent of
e maximum compressive strength. Above this point, the stress increases gradually up to the
aximum compressive strength. After it reaches the maximum compressive strength cu , the
rve descends into a softening region, and eventually crushing failure occurs at an ultimate
ain cu . In tension, the stress-strain curve for concrete is approximately linearly elastic up to
e maximum tensile strength. After this point, the concrete cracks and the strength decreases
adually to zero (Bangash 1989).

2.3.1.1 FEM Input Data Institute of Structural Engineering Method of Finite Elements II 6
Modeling of Reinforced Concrete
2. DISCRETE VS Behavior
SMEARED CRACK MODELS

2.1. The discrete crack approach

Failure Criteria forapproach
The discrete crack Concrete
to concrete fracture is intuitively appealing: a crack is introduced as
a geometric entity. Initially, this was implemented by letting a crack grow when the nodal force
at the node ahead of the crack tip exceeded a tensile strength criterion. Then, the node is split
The determination
into two nodes andof the
failure
tip of thecriteria is very
crack is assumed important
to propagate fornode.
to the next theWhenproper
the
tensile strength criterion is violated at this node, it is split and the procedure is repeated, as
simulation of the degrading
sketched in Figure 1 [1]. behavior of concrete structures.
A. DiscreteTheCracking
discrete crack approach in its original form has several disadvantages. Cracks are forced
to propagate along element boundaries, so that a mesh bias is introduced. Automatic remeshing
The discrete
allowscrack
the mesh approach to concrete
bias to be reduced, fracture
if not eliminated, is intuitively
and sophisticated appealing:
computer codes with a crack
is introduced as awere
remeshing geometric
developed by entity.
IngraeaInitially, this [3].
and co-workers was implemented
Nevertheless, by letting a
a computational
diculty, namely, the continuous change in topology, is inherent in the discrete crack approach
crack grow andwhen the nodal
is to a certain force
extent even at the
aggravated node ahead
by remeshing of the crack tip exceeded a
procedures.
The change
tensile strength in topology
criterion. was to athe
Then, largenode
extent alleviated
is splitbyinto
the advent
two ofnodes
meshlessand
methods,
the tip of
such as the element-free Galerkin method [4]. Indeed, successful analyses have been carried out
the crack using
is assumed to propagate to the next node. When the tensile
these methods, but disadvantages including diculties with robust three-dimensional strength
criterion isimplementations,
violated atthethis largenode,
computational demandand
it is split compared
the with nite element
procedure is methods,
repeated. the
somewhat ad hoc manner in which the support of a node is changed in the presence of a crack [5]

Figure 1. Early discrete crack modelling.

Copyright # 2004 John Wiley & Sons, Ltd. Int. J. Numer. Anal. Meth. Geomech. 2004; 28:583607

Institute of Structural Engineering Method of Finite Elements II 7

Modeling of Reinforced Concrete Behavior

B. Smeared Cracking

In a smeared crack approach, the nucleation of one or more cracks in

the volume is translated into a deterioration of the current stiffness
and strength.
Generally, when the combination of stresses satisfies a specified
criterion, e.g. the major principal stress reaching the tensile strength
ft ; a crack is initiated.
This implies that at the integration point where the stress, strain and
history variables are monitored, the isotropic stress - strain relation is
replaced by an orthotropic elasticity-type relation with the n,s-axes
being axes of orthotropy; n is the direction normal to the crack and s
is the direction tangential to the crack.

Institute of Structural Engineering Method of Finite Elements II 8

 Modeling of Reinforced Concrete Behavior
surface for the concrete. Consequently, a criterion for failure of the concrete due to a
multiaxial stress state can be calculated (William and Warnke 1975).

A three-dimensional failure surface for concrete is shown in Figure 2.7. The most
significant nonzero principal stresses are in the x and y directions, represented by xp and
yp, respectively. Three failure surfaces are shown as projections on the xp-yp plane.
One such criterion is utilized by ANSYS accounting for both crushing & cracking.
The mode of failure is a function of the sign of zp (principal stress in the z direction).
For example, if xp and yp are both negative (compressive) and zp is slightly positive
(tensile), cracking would be predicted in a direction perpendicular to zp. However, if zp
is zero or slightly negative, the material is assumed to crush (ANSYS 1998).

fr
f c

fr For xp , yp 0 (compressive) and zp > 0

(tensile), cracking would be predicted in a direction
perpendicular to zp . However, if zp 0, the
f c
material is assumed to crush.

Figure 2.7: 3-D failure surface for concrete (ANSYS 1998)

After cracking, the elastic modulus of the concrete element is set to zero in the
In a concrete element, cracking occurs when the principal tensile stress in any direction
lies outside the failure surface. After cracking, the elastic modulus of the concrete
direction parallel to the principal tensile stress direction.
element is set to zero in the direction parallel to the principal tensile stress direction.
Crushing occurs when all principal stresses are compressive and lie outside the failure
surface; subsequently, the elastic modulus is set to zero in all directions (ANSYS 1998),
Crushing occurs when compressive stresses exceed the compressive failure
and the element effectively disappears.

strength.
During this study, it was found that if the crushing capability of the concrete is turned on,
the finite element beam models fail prematurely. Crushing of the concrete started to
develop in elements located directly under the loads. Subsequently, adjacent concrete

In practice, a pure compression failure of concrete is unlikely. Therefore, crushing

13

is ignored and cracking controls failure.

Institute of Structural Engineering Method of Finite Elements II 9

iffness of the entire structure based on diaphragmatic
Modeling of Reinforced Concrete Behavior

Steel Material Models

conventional stress-strain curves both for unconfined
parabolic stress-strain relationship with a softening
s-strain diagram with hardening is implemented. The 80

d in Figure 1. fy
E
Ep

60

STRESS [ksi]
R=20

40
R=5

20

0
0 0.002 0.004 0.006 0.008
STRAIN [in/in]

Giuffre-Menegotto-Pinto Model
Figure 15. Material Parameters of Monotonic Envelope of Steel_2 Model
Bilinear
nconfined Model
concrete and b)with Hardening
for reinforcing steel 100

R controls the transition from elastic to

80

60
inelastic branch.
ral elements namely; beams, columns and shear walls
40
Stress [ksi]

storey buildings. By combining such elements one

20

inked together through Institute

diaphragms at theEngineering
of Structural floor levels Method of Finite Elements II 0
10
Modeling of Reinforced Concrete Behavior

Steel Cyclic Model

Figure 2. Steel cyclic model.

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finite element analysis textbooks for a more formal and complete introduction to basic concepts
Modeling of Reinforced Concrete Behavior - 3D Solid
if needed.

Approach
2.2 ELEMENT TYPES
Concrete Modeling using Solid Elements
2.2.1 Reinforced Concrete
A solid (3D) finite element can be used to model the concrete. For
An example,
eight-node ANSYS
solid element,
usesSolid65,
an eightwasnode
used element
to model the concrete.
(Solid The solid
65) with threeelement has
degrees
eight nodes with three degrees of freedom at each node translations in the nodal x, y, and z
of freedom
directions. at eachis node
The element capabletranslations in the nodal
of plastic deformation, x, y,
cracking and zorthogonal
in three directions.
directions, and crushing. The geometry and node locations for this element type orthogonal
The element is capable of plastic deformation, cracking in three are shown in
directions,
Figure 2.1. and crushing.

Figure 2.1: Solid65 3-D reinforced concrete solid (ANSYS 1998)

Institute of Structural Engineering Method of Finite Elements II 12
Modeling of Reinforced Concrete Behavior - 3D Solid
Approach
LINK8 is a spar which may be used in a variety of engineering applications. Depending
Reinforcing Steelapplication,
Modeling using
the element maySolid Elements
be thought of as a truss element, a cable element, a link el
element, etc. The three-dimensional spar element is a uniaxial tension-compression elem
A truss element candegrees
be used to model
of freedom at eachthe steel
node: reinforcement.
translations in the nodal x, Two
y, and znodes
directions. As in a
are required for this structure,
element. no bending
Each of the element
node is considered.
has three degrees Plasticity, creep, swelling, stress stiff
of freedom,
deflection capabilities are included. See Section 14.8 in the ANSYS Theory Reference fo
translations in the nodal x, element.
about this y, and Az tension
directions.
only compression-only element is defined as LINK10 and
For example, ANSYS uses4.10.
Section the LINK8, a uniaxial tension-compression
element, which is also capable of plastic deformation.
Figure 4.8-1 LINK8 3-D Spar

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 Modeling of Reinforced Concrete Behavior - Beam
Approach

Alternative View to the simulation of Degrading Hysteretic

Behavior
ents - Galerkin
The well known 1D beam element can be used as a simplified tool
ght functions
for theand trial solutions
simulation are
of thereinforced column behavior in place of the
eight 3D
functions and trial solutions
solid element formulation.

ape functions are

This element has two degrees of freedom per node, one translational
(perpendicular to the beam axis) and one rotational.

Institute of Structural Engineering Method of Finite Elements II 14

Modeling of Reinforced Concrete Behavior - Beam
Approach
The shape functions utilized from this element are the Hermite
Beam Elements - Shape Functions
Polynomials (see Lecture 6)

Hermite Polynomials
Hermite Polynomials

Institute of Structural Engineering Method of Finite Elements II 15

Modeling of Reinforced Concrete Behavior - Beam
Approach
Then, as we saw in Lecture 6, the elastic force deformation relationship, for
a prismatic beam without shearing deformations, is

Fi 12 6L 12 6L vi
Mi EI 6L 4L2 6L 2L2 i or FE = KE v

Fj = L3 12 6L

12 6L vj
2 2
Mj 6L 2L 6L 4L j
Whilst , from Lecture 8, we saw that in case P-Delta effects are taken into
account, the geometric (nonlinear) stiffness is:

Fi 36 3L 36 3L vi
2
Mi T 3L 4L 3L L2 i

Fj = 30L 36 3L 36 3L vj or FG = KG v

Mj 3L L2 3L 4L2 j
Therefore, the total forces acting on the beam element will be:
FT = FE + FG = [KE + KG ]v = KT v

Institute of Structural Engineering Method of Finite Elements II 16

Moment Curvature Envelope

In order to simulate the effects of varying stiffness due to plasticity

appropriate plasticity model and a hysteretic law will be
introduced.

The hysteretic model is formulated based on an initial

moment-curvature relationship otherwise known as the backbone
skeleton curve.

Such skeleton curves must be defined for each different section type.
For instance, the bottom sections are more heavily reinforced than
the top. These curves can be either user defined or can be computed
using a fiber model.

Institute of Structural Engineering Method of Finite Elements II 17

Moment Curvature Envelope
Reinforced Concrete Design Calculations normally assume a simple material
model for the concrete and reinforcement so as to determine the moment
capacity of a section. The Whitney stress block for concrete along with an elasto
- plastic reinforcing steel behavior is one widely used material model.

Institute of Structural Engineering Method of Finite Elements II 18

Moment Curvature Envelope
However, the actual material behavior is nonlinear and can be described by
idealized stress-strain (material) models, as the ones introduced earlier.

Institute of Structural Engineering Method of Finite Elements II 19

Moment Curvature Envelope

Moment Curvature Analysis

is a method to accurately determine the load - deformation behavior of a
concrete section using nonlinear material stress-strain relationships.

For a given axial load there exists an extreme compression fiber strain
and a section curvature at which the nonlinear stress distribution is
in equilibrium with the applied axial load. Dividing the section into
fibers at distance z from the CG axis the strain distribution will be:

(z) = 0 + z

A unique bending moment can be calculated at this section curvature

from the stress distribution.
The extreme concrete compression strain and section curvature can be
iterated until a range of moment curvature values is obtained.

Institute of Structural Engineering Method of Finite Elements II 20

Moment Curvature Envelope

Software packages are available for generating Moment - Curvature

relationships by inputing the, geometry, reinforcement characteristics,
material properties and axial load for a given section.

Material properties for concrete can be obtained as a result of lab

compression tests on the utilized concrete mix.
Material properties from Steel can be directly obtained from the quality of
the reinforcing Steel

Software packages that can be used for the generation of Moment

Curvature Envelopes are:
SAP section designer (for those that have access to SAP2000)
Response 2000: http://www.ecf.utoronto.ca/ bentz/r2k.htm
MyBiaxial:
http://users.ntua.gr/vkoum/links-prog/MyBiaxial/mybiaxial.htm

Institute of Structural Engineering Method of Finite Elements II 21

Plasticity Model

There are different approaches for the modeling of inelastic behavior.

Concentrate Plasticity (plastic hinge approach)

Distributed Plasticity
Spread Plasticity

Institute of Structural Engineering Method of Finite Elements II 22

Plasticity Model
Concentrated Plasticity Model

Institute of Structural Engineering Method of Finite Elements II 23

Plasticity Model
Distributed & Spread Plasticity Models

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Plasticity Model
Distributed & Spread Plasticity Models

source: Hwasung Roh, Andrei M. Reinhorn, Jong Seh Lee, Power spread plasticity model for inelastic analysis of
reinforced concrete structures, Engineering Structures, Volume 39, June 2012, Pages 148-16

Institute of Structural Engineering Method of Finite Elements II 25

Bouc - Wen Hysteretic Model
The smooth hysteretic model presented herein is a variation of the
model originally proposed by Bouc (1967) and modified by several
others (Wen 1976; Baber Noori 1985).

The use of such a hysteretic constitutive law is necessary for the

effective simulation of the behavior of R/C structures under cyclic
loading, since often structures that undergo inelastic deformations
and cyclic behavior weaken and lose some of their stiffness and
strength. Moreover, gaps tend to develop due to cracking causing
the material to become discontinuous.

The Bouc-Wen Hysteretic Model is capable of simulating stiffness

degradation, strength deterioration and progressive pinching effects.

(see: V. Koumousis, E. Chatzi and S. Triantafillou: Plastique A Computer Program For 3D Inelastic Analysis Of

Multi-Storey Buildings, Advances in Engineering Structures, Mechanics & Construction, Solid Mechanics and Its

Applications, 2006, Volume 140, Part 3, 367-378)

Institute of Structural Engineering Method of Finite Elements II 26

 relation between generalized moments and curvatures is given by:
Bouc - Wen Hysteretic
M (t ) Model
(t )
= M


+ (1 ) z (t ) y (1)
y
(t )
M (t ) = M y + (1 ) z (t ) (1)
The where My is the yield moment; y is the yield curvature;
model can be visualized as a linear and is the ratio of the post-yield to the initial
a nonlinear element in parallel:
elastic stiffness and z(t) is the hysteretic componentdefined below.
y

where My is the yield moment; y is the yield curvature; is the ratio of the post-yield to the initial
elastic stiffness and z(t) is the hysteretic component defined below.

Figure 3. Bouc-Wen Hysteretic Model

The relation betweenhysteretic

The nondimensional generalized moments
function z(t) is the solutionand
of the curvatures
following non-linear is differential
given by:
equation:  
(t)
. (1 nB
z (t ) = f ( (t), z (t )) M (t) = M dz y
where K + )z(t)
. 1
=K
1 1 + sign (d ) | z (t ) | + z (t )

or alternatively
y d z
y = A B 2 2
y
z

(2)
1 + sign(d ) | z (t ) | z (t ) Figure
1 sign(d3.
) Bouc-Wen
| z (t ) | + z (t ) Hysteretic
1 sign(d ) Model
nC nD nE

| z (t ) | z (t )
where MyC is the
2
yield

2
moment; D
2 y
is the yield
2
E curvature;
2

2
is
the ratio of

the post-yield
The nondimensional to thehystereticinitial elastic
function stiffness and z(t) is the hysteretic
In the above expression A, B, C, D & E arez(t) constants is the whichsolution
control theofshapetheoffollowing
the hystereticnon-linear
loop differential
component defined
equation:for each direction ofas: loading, while the exponents n , n , n & n govern the transition from the elastic
B C D E
to the plastic state. Small values of ni lead to a smooth transition, however as ni increases the transition
. .becomes sharper
1 tending to a perfectly dz bilinear behavior
1 in the limit (n). n
1 + sign(d ) | z (t ) | + z (t ) B
z (t ) = f (The
(t),program or alternatively
z (t )) defaults are: = Kz where K z = A B
y d y M y
2 2
1 1
A = 1, C = D =0 & B = n , E = n where e = , b =1 and nB = nE = n (3) (2)
nC bB eE M y+ nD nE
1 + sign(d ) | z (t ) | z (t ) 1 sign(d ) | z (t ) | + z (t ) 1 sign(d ) | z (t ) | z (t )
C Dgradient of the hysteretic
the E occurs. Theassignment
unloading
2The parameters
C,
2 D control 2 2loop after 2 2
of null values for both, results to unloading stiffness equal to that of the elastic branch. Also, the
model is capable of simulating
Institute non symmetrical
of Structural Engineering yielding, so if the
Method ofpositive yield moment
Finite Elements II is regarded 27
 Bouc - Wen Hysteretic Model

In the above expression A, B, C, D & E are constants which control the

shape of the hysteretic loop for each direction of loading, while the
exponents nB , nC , nD & nE govern the transition from the elastic to the
plastic state. Small values of ni lead to a smooth transition, however as ni
increases the transition becomes sharper tending to a perfectly bilinear
behavior in the limit (ni ).
Finally, A
Plastique the flexuralProgram
Computer stiffness
forcan be expressed
Analysis as: Buildings
of Multi-Storey 371
Finally, the flexural stiffness can be expressed as:

dM 1 dz 1 1
K = EI = = M y + (1 ) = M y + (1 ) K z = EI 0 + (1 ) K z (4)
d y d y y

6.1 Hysteretic behavior Variations

a) Stiffness Degradation

The stiffness degradation that occurs due to cyclic loading is taken into account by introducing the
parameter into the differential equation:
Institute of Structural Engineering Method of Finite Elements II 28
Modeling of Degradation
Stiffness Degradation

Strength Deterioration

Institute of Structural Engineering Method of Finite Elements II 29

 The parameter S depends on the damage of the section which is quantified by the Damage Index DI:
Modeling of Degradation

max 1 1 (7)
S = 1 S d DI where DI =
c 1 S dE
Sp2

Strength Deterioration 1 p1 diss

4 E mon

In the above expression Sd, Sp1, Sp2 are constants controlling the amount of strength deterioration; c is
the maximum plasticity that can be reached, c = u / y ; dEdiss is the energy dissipated before
unloading occurs and finally Emon is the amount of energy absorbed during a monotonic loading until
failure as shown in Figure 4.

Figure 4. Dissipated Energy (Ediss) and Monotonic Energy (Emon).

The model can also be appropriately modified to simulate pinching.

Note: The Matlab code for the Bouc Wen Model will be provided!
Institute of Structural Engineering Method of Finite Elements II 30
Bouc Wen Model

Resulting Hysteretic Loops

Stiffness & Strength Degradation Pinching

Institute of Structural Engineering Method of Finite Elements II 31

Bouc Wen Model

Dynamic Equation of Motion

This is a dynamic problem (input: base excitation Ug ). The general

equation of motion is therefore written as:

MX(t) + CX(t) + KX(t) = MUg (t)

The Newmark Constant acceleration method outlined in Lecture 8 can

be used for the direct integration of the above equation.
(You can neglect the effect of damping for this project)

In order to achieve equilibrium within each time step, it is necessary to

implement a Newton - Raphson iterative scheme as outlined in Lecture 3.

Institute of Structural Engineering Method of Finite Elements II 32