Explicit vs Implicit

Implicit Analysis
Lecture - 5

Explicit
q

A direct computation of the dependent variables can

be made in terms of known quantities
Unknown appears only on one side of the equation
x(t+h) = x(t) + h f(x(t))

CE 264
Non-linear Finite Element Modeling and Simulation
u

Implicit
q

The dependent variables are defined by coupled sets

of equations, and either a matrix or iterative
technique is needed to obtain the solution
Unknown appears on both sides of the equation
x(t+h) = x(t) + h f(x(t+h))

CE 264, Lecture 5

Explicit, LS DYNA
u

Slide #2

Implicit, LS DYNA

Internal and external forces are summed at each node point

and a nodal acceleration is computed by dividing by nodal
mass

A global stiffness matrix is computed, inverted and applied to

the nodal out of balance force to obtain a displacement
increment

..

[M]{x}n = [Fexternal ]n [Finternal ]n

u

Solution is advanced by numerical integration of the above

computed acceleration in time

Courant condition limits largest stable time step

Typically requires many relatively inexpensive time steps

u
u

..

Well suited for dynamic simulations such as impact and crash

(short duration)

CE 264, Lecture 5

..

[M ]{ x} n+1 + [ K ]{ x} n+1 = [Fexternal] n+1 [ Finternal]n [ M ]{ x} n

Slide #3

Large numerical effort required to form, store and factorize

the stiffness matrix

Typically involve a relatively small number of expensive time

steps
Well suited for static and quasi-static simulations

Quasi -static analysis: time represents a monotonically

increasing parameter which characterizes the evolution of the
loading

CE 264, Lecture 5

Slide #4

Activating Implicit Analysis

u

Implicit Keywords

Three types of analysis can be performed

q
q
q

Fully explicit (default)

Fully implicit
Explicit followed by implicit (switching)

*CONTROL_IMPLICIT_GENERAL (required)
q
q

*CONTROL_IMPLICIT_SOLVER (optional)
q

Keywords
q
q
q
q
q
q
q

*CONTROL_IMPLICIT_GENERAL
*CONTROL_IMPLICIT_SOLVER
*CONTROL_IMPLICIT_SOLUTION
*CONTROL_IMPLICIT_AUTO
*CONTROL_IMPLICIT_STABILIZATION
*CONTROL_IMPLICIT_DYNAMICS
*CONTROL_IMPLICIT_EIGENVALUE

Performs the CPU intensive stiffness matrix inversion, [k]{x}=[f]

Parameters for linear equation solver
Does NOT invoke a linear analysis

*CONTROL_IMPLICIT_SOLUTION (optional)
q
q
q

Activates implicit mode

Defines implicit time step size

Parameters for linear or nonlinear equation solver (Newton- based methods)

Controls iterative equilibrium search, convergence
linear analysis selected here (a special case where no iterations are
performed)

*CONTROL_IMPLICIT_AUTO (optional)
q
q

Activates automatic time step control

Default is fixed time step size, results in error termination if any steps fail to
converge

Not all features are available in implicit mode

CE 264, Lecture 5

Slide #5

Implicit Numerical Methods

u

Nonlinear Problem
q
q
q

..

[ M ]{x }n+ 1 + [ K ]{x}n +1 = [ Fexternal] n +1 [ Finternal] n [ M ]{x}n

Find displacements x which satisfy equilibrium Fext =Fint

Both K, Fext and Fint can be nonlinear functions of x
Iterative search employed using Newton-based methods
u

Linear Problem
q
q
q

Solve system of linear algebraic equations, [k]{x}=[f]

Must solve during every nonlinear iteration
Great CPU and memory cost makes this problem important

CE 264, Lecture 5

Slide #6

Linear Equation Solver

Implicit governing equations contain two problems to solve

..

CE 264, Lecture 5

Slide #7

A linear system of equations of the form K.Du=R must

be solved within each equilibrium iteration
Stiffness matrix K is inverted and applied to the
residual load R, yielding a displacement increment Du
Storing and solving this linear system represent a
large portion of the memory and CPU costs of an
implicit analysis
Several different linear equations solvers are
available, including direct (Gaussian elimination) and
iterative (conjugate gradient, Lanczos) methods
Very important to allow enough memory for the
stiffness matrix factorization

CE 264, Lecture 5

Slide #8

Non-linear Equation Solver

u

Element Formulations

Several different non-linear equations solvers are

available. All of them are iterative
When the norms of displacement and energy are
reduced below user prescribed tolerances (default 1.0e3 and 1.0e-2 respectively), equilibrium is reached within
sufficient accuracy, the iteration process is said to have
converged, and the solution proceeds to the next time
step

u
u

Slide #9

Hourglass
u

For implicit analysis it is generally more effective to

use more expensive element formulations which
are less susceptible to hourglass instability

CE 264, Lecture 5

Slide #10

Hourglass Control

Crash codes use a 1-point integration scheme for

elements to achieve fast computation
This causes rank deficiency in stiffness matrix and causes
hourglass modes or zero energy modes
In-plane Mode
Two main hourglass modes
q

Good for explicit, where element costs can dominate

solution
Bad for implicit, since hourglass modes cause
convergence trouble

CE 264, Lecture 5

Selected using *SECTION keywords

Default elements often use single point integration
with hourglass control

Tips for Hourglass control

q

In plane (membrane mode)

Out of plane (W mode)

Lower Youngs modulus than steel, hourglass may occur.

Increase hourglass control coefficient
Connecting a 1-D element to a shell may generate large
hourglassing. Using triangular elements may help
Improving connections and refining mesh might help reduce
or eliminate hourglass

Out-of-plane Mode

Good
Good
Bad
CE 264, Lecture 5

Slide #11

CE 264, Lecture 5

Bad
Slide #12

Hourglass Control

Element Formulations for Implicit Analysis

u

Shell Elements
q

S/R Hughes Liu shell element #6

2x2 selective -reduced integration
6 DOF per node (dx, dy, dz, rx, ry, rz)
Most expensive
Fully integrated shell element #16
2x2 integration with enhanced strain formulation
6 DOF per node (dx, dy, dz, rx, ry, rz)
Least expensive of 2x2 elements

Bad
Bad

Solid Elements
q

Good

CE 264, Lecture 5

Good

Slide #13

Element Formulations for Implicit Analysis

u

CE 264, Lecture 5

Hughes -Liu #1
6 DOF per node (dx, dy, dz, rx, ry, rz)
One integration point along length

Several contact interfaces are available for implicit

analysis
q
q
q

Spring Element
q
q

2 node, 3 DOF per node (dx, dy, dz) or (rx, ry, rz)
Springs act only in one direction (no shear strength),
unlike beam elements
Nonlinear F/D behavior and failure can cause
convergence trouble

CE 264, Lecture 5

Slide #14

Implicit Contact Interfaces

Beam Element
q

Hughes Liu brick element #2

3 DOF per node (dx, dy, dz)
2x2x2 selective reduced integration
Most expensive

Slide #15

u
u

*CONTACT_SURFACE_TO_SURFACE
*CONTACT_NODES_TO_SURFACE
*CONTACT_AUTOMATIC_SINGLE_SURFACE
etc.,

All implicit contact interfaces use the penalty

method
Oriented normal vectors are recommended
Automatic contact types often fail for implicit

CE 264, Lecture 5

Slide #16

Loads
u
u

Automatic Time Step Control

Ramp up load from zero to final value

Load curve should extend beyond the termination
time for stability

u
u

*CONTROL_IMPLICIT_AUTO
Automatic time step control adjusts stepsize during
the simulation
q

Force

After successful steps

q
q

Time

Slide #17

Compare iteration count to target value ITEOPT

Increase/decrease size of next step if difference
exceeds ITEWIN

After failed steps

q

CE 264, Lecture 5

Very persistent, reliable

Step size varied such that solving for equilibrium in
each step is equally difficult

Decrease step size

Back up, repeat failed step with new DT

CE 264, Lecture 5

Slide #18

Model Setup

Implicit Analysis
Examples

Honeycomb Block
q
q
q

122.5 x 122.5 x 150

C/S Area = 122.5 2
Length = 150 mm

CE 264
Non-linear Finite Element Modeling and Simulation
u

Implicit Analysis
q

CE 264, Lecture 5

Crosshead speed
10 mm/sec
Output Rwforc
and nodout

Slide #20

Dyna Input

CE 264, Lecture 5

Dyna Output

Slide #21

Force vs Displacement

CE 264, Lecture 5

Slide #22

Stress vs Relative Volume

CE 264, Lecture 5

Slide #23

CE 264, Lecture 5

X-axis,
q R.Vol
q R.Vol
q R.Vol
q R.Vol

= Current vol/Initial vol

= L1L2L3/L1L2L3
= (L3-d)/L3
= (150-d)/150

Y-axis,
q Stress = Force/Area
q Stress = F/(122.52)

Slide #24

Comparison

CE 264, Lecture 5

Slide #25