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O Oi
00T HS-005 084

CRITERIA FOR IMPLEMENTATION OF


OPTIMUM INTEGRATION ALGORITHM
INTO THE WRECKER PROGRAM
Volume II: Technical Final Report
lohn R. Tuckex
Michael Chi

Chi Associates, Inc.


Axlington ,VA

Contract No. OOT H8. 7-01620


Contract Amt. $65,275

November 1978

TRANSF0RTATI0N LIBRARY

FINAL REPORT

DEC

5 1979

NORTHWESTERN UNIVERSITY.
This document is available t
e U.S. Public throu6h the
National Technical n ormation Service,
SPrin67ield, Vir6inia 22161

Fxepaxed Fox

OS. DEPARTMENT OF TRANSPORTATION


National Highway Traffic Safety Administration
Washington, DC. 20590

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Title and Subtitle

Criteria for Implementation of Optimum Integration


Algorithm into the WRECKER Program
Technical Final Report Volume II

F November 30, l978


6.

Pctirming Oigmztin Cd!

>__D.

8.
7.

Pertming Organizatin RePrt N,

Atrts)

Tucker, John R. and Chi, Michael


10. Wrb Unit N. (TRAIS)

9. Pertetming otgeniztin Name and Address

CHI ASSOCIATES, INC.


lOll Arlington Blvd., Suite 3l6
Arlington, Virginia 22209

ll.

Cntract r 6rant N.

OOTHS-7-O1620
I).

TyPe t RePrt and Perid Cered

t2. SPnsring Agency Name and Address

U.S. Oepartment of Transportation


National Highway Traffic Safety Administration
2lOO Second Street, SW
Washington, O. C. 20590
'
'5.

I4.

SPnsring Agency Cde

SuPPlementary Ntes

NHTSA Contract Technical Manager:


t6.

Final Technical Report


28 June 77 - 30 Nov. 78

w. Tom Hollowell, N43-l2

Abstrat

Three research versions of the wRECKER program were created by incorporating


new integration methods in the NRECKER I and II programs.

The integration

algorithms are the variable time step Newmark, the EPISOOE, and the FU methods.
These research versions were tested with seven illustrative problems and the
results show that the new methods are superior to the implicit method used in
WRECKER IIand more accurate and more stable than the explicit method used in

NRECKER 1A brief documentation of these research versions is included for


ready reference. A review of modern methods of numerical integration is
appended.

t7.

Key Wrds

13. Oistributin Statement

Oistribution unlimited. This document


available to the public through the
National Technical Information Service,

numerical integration method, variable


time step integration methods, Newmark
beta method, EPISOOE, FU method,
NRECKER program, structural dynamics,
vehicle structure modelinq
t9. Security Cllsit. (r tis rePrt)

UNCLASSIFIEO
Form DOT F 1700.7 (8-72)

Springfield, Virginia

20. Security Cissi. (t tis Page)

UNCLASSIFIEO
ReProduction o7 comPleted Pa6e authrized
1

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PREFACE

This final report entitled, "Criteria for Implementation of


Optimum Integration Algorithm into the WRECKER Program," Technical
Final Report Volume II, presents the results of a research project
undertaken from 28 June I977 to 30 November 1978 by Chi Associates,

Inc. (CAI) for the Oepartment of Transportation, National Highway


Traffic Safety Administration (NHTSA) under Contract OOT-HS-7
0l620.

The report

is presented in two volumes:

Volume I, Summary

Final Report, and Volume II, Technical Final Report.

Mr. Tom Hollowell served as the NHTSA Contract Technical Manager.


The CAI Project Manager was

Or. Michael Chi and the Project Engineer

was Mr. John R. Tucker.

iii

TABLE OF CONTENTS

INTROOUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . .

II.

OEVELOPMENT OF RESEARCH VERSIONS OF NRECKER PROGRAM . . . . . . ..

III.

OESCRIPTION OF INTEGRATION METHOOS . . . . . . . . . . . . . . . .

ANALYSIS OF RESULTS

IV.

. . . . . . . . . . . . . . . . . . . . . . .

CONCLUSIONS ANO RECOMMENOATIONS


REFERENCES

. . . . .

. . . . . . . . . . . . . . . . . 15

. . . . . . . . . . . . . . . . . . . . . . 52

APPENOIX A:

TEST CASES

. . . . . . . . . . . . . . . . . . . . . 53

APPENOIX B:

COMPUTER PROGRAM INPUT MOOIFICATIONS

APPENOIX C:

COMPUTER PROGRAM OUTPUT MOOIFICATIONS . . . . . . . . 7l

APPENOIX O:

OESCRIPTION OF PROGRAMS . . . . . . . . . . . . . . . 72

APPENOIX E:

STATE-OF-THE-ART REPORT . . . . . . . . . . . . . . .183

. . . . . . . . 67

LIST OF FIGURES

Figure

Cantilever Plate, Base Run vs. EPISOOE . .

. .

. . 18

Figure

Cantilever Plate, Base Run vs. Newmark VTS .

. .

Figure

Cantilever Plate, Base Run vs. FU . .

. . 20

Figure

Cantilever Plate, Implicit vs. Explicit Base Runs

. 2l

Figure

Cantilever Beam with Slave Nodes, Force in X Oirection


Base Runs vs. EPISOOE . . . . . . . . . . . . . .

. 22

Cantilever Beam with Slave Nodes, Force in X Oirection


Base Runs vs. Newmark VTS . . . . . . . . . . . . . . .

.. 23

Figure

. .

Cantilever Beam with Slave Nodes, Force in X Oirection


Base Runs vs. FU . . . . . . . . . . . . . . . . . . . .

Figure

Cantilever Beam with Slave Nodes, Force in Y Oirection


Base Runs vs. EPISOOE . . . . . . . . . . . . . . . . .

Figure

Figure

Figure IO

Figure ll

Figure l2

Figure

l3

. 19

. 24

.. 25

Cantilever Beam with Slave Nodes, Force in Y Oirection


Base Runs vs. Newmark VTS . . . . . . .
. . . . . . . .

. 26

Cantilever Beam with Slave Nodes, Force in Y Oirection


Base Runs vs. FU . . . . . . . . . . . . . . . . .

. 27

Cantilever Beam with Slave Nodes, Force in Z Oirection


Base Runs vs. EPISOOE . . . . . . . . . . . . . . . . .

.. 28

Cantilever Beam with Slave Nodes, Force in Z Oirection


Base Runs vs. Newmark VTS . . . . . . . . . . . . . . . . 29
Cantilever Beam with Slave Nodes, Force in Z Oirection
Base Runs vs. FU . . . . . . . . . . . . . . . . . . . .

. 3O

Figure l4

Elastic-Plastic Spring (a), Base Run vs. EPISOOE . . . . . 3l

Figure 15

Elastic-Plastic Spring (a), Base Run vs. Newmark VTS . . . 32

Figure 16

Elastic-Plastic Spring (a), Base Run vs. FU . . . .

Figure 17

Elastic-Plastic Spring (b), Base Runs vs. EPISOOE . . .

Figure 18

Elastic-Plastic Spring (b), Base Runs vs. Newmark VTS .... 35

Figure 19

Elastic-Plastic Spring (b), Base Runs vs. FU . . . . . . . 36

Figure 20

S-Frame without Strain Rate


Base Run vs. Newmark VTS . .

vii

. .

. .

. 33

.. 34

. 37

LIST OF FIGURES (continued)

Figure 2l

Figure 22
Figure 23

S-Frame without Strain Rate


Free Flight vs. Newmark VTS . . . . . . . . . . . . . . .

38

S-Frame without Strain Rate, Base Run vs. FU

39

. . . . . .

Frame with Inclined Support


Base Run vs. Newmark VTS .

. .

40

Fixed End Beam with Hinge, Force in Z Oirection


Base Run vs. FU . . . . . . . . . . . . . . . . . . . ..

4l

Fixed End Beam with Hinge, Force in O Oirection


Base Run vs. FU . . . . . . . . . . .y. . . . .

. . . .

42

Fixed End Beam with Hinge, Force in Z Oirection


Base Run vs. Newmark VTS . . . . . . . . . . . . . . . .

43

Fixed End Beam with Hinge, Force in O Oirection


Base Run vs. Newmark VTS . . . . . . Y . . . . . . . . ..

44

Cylindrical Panel (Tang)


Base Runs vs. Newmark VTS

. . . . . .

45

Figure A-l 8 Node Cantilever Plate . . . . . . . . . . . . . . . . .

55

Figure A-2 Cantilever Beam with Slave Nodes

. . . . . . . . . . . .

57

Figure A-3 S-Frame . . . . . . . . . . . . . . . . . . . . . . . . .

60

Figure A-4 Frame with Inclined Support . . . . . . . . . . . . . . .

62

Figure A-5 Fixed End Beam with Hinge . . . . . . . . . . . . . . . .

64

Figure A-6 Cylindrical Panel . . . . . . . . . . . . . . . . . . . .

66

Figure 24

Figure 25

Figure 26

Figure 27

Figure 28

. .

. . .

. . . . . . . . .

viii

LIST OF TABLES

Table

CPU Cost Chart . . . . . . . . . . . . . . . . . . . . . . '46

Table

Total Cost Chart . . . . . . . . . . . . . . . . . . . . .

47

Table

Approximate Core Required

48

Table

Input Specifications for Test Runs, EPISOOE

Table

Input Specifications for Test Runs, Newmark VTS

Table

. . . . . . . . . . . . . . . .
.

49

. . . . .

50

Input Specifications for Test Runs, FU . . . . . . . . . .

51

ix

. .

I.

INTROOUCTION

The National Highway Traffic Safety Administration (NHTSA) is

mandated to investigate the cause and to mitigate the damage of motor


vehicle collisions.

In an effort to analytically model the collision

event, NHTSA sponsored the development of several computer simulation


programs to analyze the response of vehicle structures under crash load
ing.

Among the programs, WRECKER is one of the most versatile and most

reliable to date.
/

In order to enhance the usefulness of WRECKER, a research program

was undertaken to validate, test, and improve it.

The work contained in

the present report deals with the improvement of the numerical integration
method in WRECKER.

In the original form as developed by Nelch gt_al. (l),

a fixed time step Newmark Beta method of explicit form was employed.

In

a newer version developed by Yeung and Nelch (2), a fixed time step
implicit Newmark Beta method was incorporated.

Base runs using these

methods showed that the implicit method yielded more accurate results but
was considerably more costly to run.

The present effort surveyed the

available numerical integration methods and selected three which were


believed to be suitable to the NRECKER program.

Three research versions

of WRECKER incorporating the three integration methods were developed,


debugged and tested.

The final forms of the program are operational in

the UNIVAC llOB computer at the National Bureau of Standards.

runs were conducted and analyzed.

Comparison

The relative merits of these new versions

were demonstrated by comparing the results with the base runs by fixed time
step Newmark methods.

As an unexpected dividend from this investigation,

several mistakes and shortcomings in the original WRECKER program were


uncovered and noted herein for future benefit.

II.

OEVELOPMENT OF RESEARCH VERSIONS OF NRECKER PROGRAM

In the beginning of the contract, a systematic literature search


was conducted to uncover the available numerical integration methods, cul
minating in a state-of-the-art report. Among the fifteen numerical methods

analyzed in the report, three candidates were selected on the basis of


efficiency, accuracy and stability relevant to complex structural dynamics

problems.

One method, EPISOOE, was available from the Argonne Code Center

in Chicago as a program package: the other two, the variable-step Newmark

and FU methods, required considerable software development.


integrators were then thoroughly tested on
operational status was assured.

The numerical

a stand-alone basis until their

The next step was to provide necessary

linkages to install the integrators into WRECKER to create three research


versions of the WRECKER program.* A sample problem was then selected and a
benchmark result was obtained, using the fixed time step Newmark methods.
The research versions were run to compare with the benchmark results for

verification.

Any discrepancies or abnormalities of the results would be

used for error detection and isolation.

Tedious debugging procedures in

this manner were conducted until the research versions were ascertained to
be operational.

Production comparison runs were then made with government

specified test problems.

See Appendix E.

See Appendix B.

III.

OESCRIPTION OF INTEGRATION METHOOS

A.

EPISOOE - Program NKEP

The first chosen integrator is the recently developed program package


called

EPISOOE (3) which is an acronym for Efficient Program for Integrating

Stiff Ordinary Oifferential Equations.

It is a sophisticated, well documented

package of tremendous versatility and capability.

In the package, it consists

of two variable-step, variable-order methods, the implicit Adams and the


backward differentiation methods.

In all, four different corrector-iteration

procedures are available in this package.

The entire package was installed in

the first research version of WRECKER as program NKEP with the full capability
of EPISOOE.
The EPISOOE package was designated to solve a system of first order

ordinary differential equations in standard form, Y(t) = f(Y(t), t) with the


initial conditions Y(to) = Yo.

Since the equations of motion in WRECKER

assume the form of a second order system, linkage is needed to transform


the wRECKER's second order equations into an equivalent set of first order
equations.

EPISOOE could then be applied to this resulting system.

EPISOOE also requires that the function evaluations, i.e., the values

of f(Y(t), t) for a given time t and known values of Y(t), be isolated and
made available through one subroutine.

In the present program, the explicit

formulation of function evaluation as given in NRECKER I (l) was used for its
simplicity.

The acceleration values thus determined were used in repeated

iterations through EPISOOE to give highly accurate results and presumably less
cost.

The implict formulation of function evaluation as given in WRECKER

II (2) was unsuitable for

EPISOOE

due to incompatibility of procedures.

It was concluded that the explicit formulation is also cheaper to use

in an otherwise implicit numerical integration method.

Its inherent

stability characteristics in general would permit the use of larger


time steps in the solution procedure, which is an additional contributor
to cost-saving.
One complicating factor in the development of this research

version was that within the context of taking a solution step, EPISOOE's
iteration procedure required the storage

existing at the beginning of that step.

of the initial conditions

This necessitated the creation

of additional programming within EPISOOE.


B.

Generalized Newmark Variable Time Step Method


Program NKVTS

The implicit solution procedure present in MRECKER was modified and


generalized to allow the step size to change, as triggered and controlled by
a user-specified accuracy tolerance.

The control was exercised via a

straightforward "half-steps, fullstep" procedure.

This necessitated the

saving and restoring of initial conditions existent at the outset of a cycle


in the solution.

Since the arrays to be stored were of great length, it

was deemed desirable to save them in a temporary file (labeled "28") whose
size can be adjusted as needed through job control cards at the outset of

a particular run.

To enhance the stability of the method, a user-specified

damping can be introduced in the program.


In all test runs of this version, the parameter 8

was always taken

to be %, which is known to make the method unconditionally stable at least

for linear problems.


C.

FU's Explicit Method - Program NKFU

This is an explicit, variable step, fourth order procedure for systems


of second order ordinary differential equations, which allows for a user

specified artificial damping term.

A detailed elucidation of the formulas

and procedures is available in (4).


The complete process had to be specially programmed to be used
in wRECKER.

This is the only explicit numerical integration method studied

in the present effort.

The inclusion of an efficient and stable explicit

method was considered to be highly desirable due to its inherent simplicity


and efficiency.

IV.

ANALYSIS OF RESULTS
Three research versions of the WRECKER program were tested for seven

different case problems.

Oetailed descriptions of these problems are included

in this report as Appendix A.

To orient the readers, the following remarks

are given.

First, the proper choice of input specifications can have a


crucial effect on whether the program at hand will calculate the solutions
accurately.

As an example, Case 4 was run using the FU version with the

exact same input data as is listed in Table 6, except that the tolerance
used was the much less stringent values of l.-O2.

The results deviated

drastically from those of the base run, roughly doubling those magnitudes
shown in Figure 22 obtained using the more appropriate tolerance of l.-O5.

Second, the overall costs of runs are influenced to some extent


by the amount of core space needed for storing and executing the system.
A depiction of the comparative approximate storage requirements of the
various programs is given in Table 3,

where IBANK refers to space used to

store instructions and OBANK is space allocated for the storage of data.
It is thus to be expected that the overhead costs for the EPISOOE version,
for example, will regularly surpass those of the FU version owing to the
greater amount of coding used for monitoring and iterating-to-convergence
to within the requested accuracy bound.

Third, the choice of initial step size for any variable step
solution procedure will have a direct bearing on the total cost of the run.
For example, if an unnecessarily small first step size is used, excess
execution time is spent iterating while the sizes of successive steps are
gradually increased to a point where a more appropriate and efficient step

we write l.-O2 for I. x 10-2.

size is obtained.
Finally, any version of the NRECKER program has the major part of
its costs directly proportional to the number of function evaluations,
i.e., acceleration calculations, which must be performed in the solution
process, no matter how simple the problem.

This is another factor which

contributes to increased costs when too small a step size is employed


initially, for the number of calculations which must be performed to
compute an acceleration for a step size H is the same no matter what
value is given to H.
with these generalities in mind, we now proceed to the specifics.

Case 1 - Eight Node Cantilever Plate


A.

Accuracy
Figures l, 2 and 3 show the comparisons of the accelerations at

nodes 4 and 8 in Z direction.

The acceleration values were chosen as a

basis of comparison since acceleration is a primary variable.

If the

acceleration agrees, the velocity and displacement would follow suit


without problems.

The choice of nodes 4 and 8 was made because there the

maximum accelerations take place.

In the aforementioned figures, it is

clear that the agreement between the base run of the implicit method and
all three research verions is acceptable.

The agreement is best for

EPISOOE results, although there is seemingly "oscillation" behavior at


node 4.

This is, in fact, only the codes reaction to a cumulative

error which exceeds the tolerance and the effect of the code in automatically
correcting it.

This exemplifies how the prooram uses a built-in algorithm

to reduce the step size and obviate the error accumulation in the
solution.

The agreement for the FU version is good.

This is remarkable for

an explicit method, keeping in mind its impressive economy in running costs.


The Newmark method apparently yields good results at the initial
time period but deteriorates rapidly as time progresses, especially for

node 4.

The results can undoubtedly be improved a good deal by imposing a

more stringent error tolerance.

However, because of the cost factor, it

was not attempted since the outcome would not have been cost-competitive.
The comparison

between

the

two

base

runs

was quite poor_

In reference to Figure 4, it is reasonable to conclude that the results in


the explicit version are faulty, as evidenced by rather severe
oscillatory behavior that cannot be accounted for by physical reasons.
B.

Stability
No evidence of instability in any of the research versions was

found.

Oscillation, for which stability is suspect, was rampant in the

explicit version base run at node 4.


C.

Cost
All three methods are much cheaper to use than the implicit version

of the fixed time step Newmark method used in base runs.

we must remark in

passing, however, that the result by the Newmark version must be improved by
reducing time step size which would somewhat increase the cost.

As

previously mentioned, the explicit version base run gave faulty results
owing to oscillation.

Nevertheless, the comparison in cost is interesting.

Tables l and 2 show that the FU method cost only slightly more than half
of the corresponding cost for the explicit version base run but gave
vastly superior results.

EPISOOE, due to its sophistication (iteration

and information storage), was slightly higher in cost than the explicit
version base run.

Case 2 - Cantilever Beam with Slave Nodes

A.

Accuracy
Figures 5 through 13 show the comparison of forces at node I in

the X, Y and Z directions.

It is clear that the agreement with the base

runs was excellent in the X and Z directions.

In the Y direction,

however, only the results in the FU version agree with those in the base
runs.

we remark in passing that the amount of forces in the Y direction

should theoretically be identically zero and appear in minimal quantities


as a reflection of round-off errors.

Consequently, we believe that

the Newmark and EPISOOE versions actually gave better results than the
base runs and the FU method for these components.

we should also note

that the acceleration in the 2 direction for the Newmark version changes
sign in each successive time step.

The exact cause of this is unknown.

Investigation showed that this was not caused by the variable time step
algorithm and was present in the original version of WRECKER.

In a future

effort, this program error should be uncovered and corrected.

8.

Stability
There

C.

is no indication of any stability problem.

Cost
The cost comparison as shown in Tables I and 2 is similar to Case I

in that the FU method shows a dominance in economy for both CPU and total
costs.

The EPISOOE is slightly more expensive than the explicit version

and much less than the implicit version of the base run.

The Newmark

versions is the most expensive and, as shown in Table 2, the total cost
exceeded that for the implicit version of the base run by a wide margin.
we attribute this high cost to the excessive data file storage necessary for
time step change.

It should also be noted that the explicit version base

run gives excellent results and is much more cost effective than the

implicit version.
Case 3 - Elastic Plastic Spring
A.

Accuracy

Figures l4 through l9 show that in both situations, (a) and (b),


accuracy is totally acceptable.
B.

Stability
Again, there is no indication of any stability problems.

C.

Cost

The higher cost of the Newmark VTS'in situation (a) compared to


the implicit base run is due to this test being started with an
inordinately small step size, 2.-O4, so as to observe whether the code
"stabilized" the choice of step size with the stringent error tolerance of
l.-O5.

It did at H = 1.6-O3.

A run made of the Newmark VTS version applied to situation (a)


starting with a larger step size and with a more lenient tolerance, say
l.-O4, would be considerably cheaper.
The comparison of the costs for the FU and EPISOOE runs appears
at first to be incongruous with their performance heretofore.

But the

explanation of why the FU runs are slightly more expensive than those for
EPISOOE is simple:

in each of the two situations a much smaller starting

step size was used for the PU version (see Table 6).

Hence, more

iterations were required to increase the step size to its allowed maximum.
Case 4 - S-Frame without Strain Rate
A.

Accuracy

For this problem, EPISOOE failed to start properly and no results


are available.

The Newmark version yields satisfactory results in the

VTS refers to the new variable time step version.

10

beginning of the simulation interval, as shown in Figure 20.

Near the

end, the test run deviated significantly from that of the base run.

we

attribute this discrepancy to the error bound which, being a constant


for the entire period, was too large for the beginning period.

An overly

stringent control would not be advisable, however, because that would


cause excessive computer running time when the displacement became
large.
Figure 2l shows the comparison for the cases involving velocity
decaying effect at the initial period of time and no decay effect

(free flight).

The Newmark version apparently runs consistent with

the results of the free flight base run.

This insensitivity to the

decaying function must be attributed to insufficient error tolerance,


especially at the early period of the run.

The FU version again gives very accurate results (see Figure 22).
Finally, the failure of the EPISOOE version indicates that
there is an unresolved problem with the NKEP code in initializing
conditions with simultaneous input from a velocity time function and
the subroutine FORCE while taking the very first step in the solution
process.

It seems to be endemic only to this means of providing

simultaneous input, since no difficulty arises in any of the other test


cases run.
8.

Stability
No instability was indicated in either research version.

C.

Cost
Since cost comparisons for this problem required extrapolation

for each method, the costs presented in the tables can only be
considered approximate.

Nonetheless, there are considerable cost

ll

savings for bgth_the research versions over the explicit base run.

we

suggest, however, that the values for the Newmark VTS version are
conservative since they are based on the known exact cost for the last

thirdof the simulation interval where the step size is settled and
changes infrequently.

The more frequent changes in step size that are

known to have taken place in the first third of the simulation entail a
higher price, wherein each step change necessitates the re-evaluation

and inversion of the effective stiffness matrix.


Case 5 - Frame with Inclined Roller Support
A.

Accuracy

Attempts made to employ the FU and EPISOOE versions to this


case (and the next two) were futile as neither one was able to track any
of the correct solution paths for more than a very short initial period.

Methods using the explicit (i.e., WRECKER 1) form of evaluating the


accelerations, even in conjunction with implicit numerical integration
formulas, as those in EPISOOE, cannot perform static or quasi-static
loading simulations.
The Newmark VTS version

handled the problem with no difficulty

(see Figure 23) and was unconstrained by the accuracy request in that it
doubled the step size at every possible time until it was limited by
the value of HMAX.
B.

Stability
There was no stability problem in the Newmark VTS run.

C.

Cost
The higher cost of the research version is entirely due to

starting the calculations with the overly conservative initial step size

After two restarts.

of l.-O3 (see Table 5).

The step was doubled at each possible

instance in the run until it would have exceeded the maximum of l.-Ol,
and thereafter that value was used.

A larger initial step was not used,

nor were steps larger than l.-Ol allowed because the runs made for the
next case (chronologically made prior to those of this case), which is
a similar sort of situation, indicated that step sizes larger than 2.-O3
there yield instability in the accelerations.

By running the Newmark VTS

for this case with HMIN=H=l.Ol and setting HMAX=5.-Ol, say, the research
version will certainly compare more favorably with the implicit base run
done with H=l.-Ol.
when the base run is made with H=l.-O3, the advantage of the
Newmark VTS procedure is self-evident.
Case 6 - Fixed End Beam with Oiscontinuity Oevice (Hinge)
A.

Accuracy
Again, for this quasi-static situation, neither the EPISOOE

version nor the PU version is applicable.

What little FU could handle,

prior to losing the solution entirely, is depicted in Figures 24 and 25.


when the Newmark VTS was applied to this model, the results
seemed acceptable in comparison to those of the H=l.-Ol implicit base
run, except that the accelerations which were being printed differed
markedly between the two runs.

The implicit base run was re-done with

a step of H=l.-O3, and the accelerations produced there were generally


in good agreement with those for the research version.
Figures 26 and 27 exhibit that the forces at node l for the
first implicit base run and the run of the research version are in
perfect agreement.

13

Case 7 - Clamped Cylindircal Panel (Tang)


A.

Accuracy
Again, neither the FU nor the EPISOOE version is applicable to

this quasi-static situation.


The Newmark VTS version successfully tracks the solution for
about two-thirds of the entire simulation interval and then develops an

oscillation in the computed force in the Z direction at node 1, the point


of loading, which quickly causes the results to go awry, ending in the
code asserting that the effective stiffness matrix has become singular
and thus uninvertible.

Figure 28 shows only those results which are

present prior to the oscillating load overwhelming the calculations.

For

these, the agreement is good.


B.

Stability
The oscillation which develops in the computed loading force

appears to be an instability of some sort, but it is from all evidence

available an inherited characteristic, and not generic to the improvements


made in this contract effort.
C.

Cost

The extrapolated cost of this research run for the entire


simulation interval is given in Tables 1 and 2.
for the implicit base run(s) were not available.

14

The corresponding amounts

V.

CONCLUSIONS ANO RECOMMENOATIONS

A.

Conclusions

Three different integration methods were implemented into the


NRECKER program in substitution for the existing Newmark fixed time step
method.

Although a detailed assessment of these integration methods must

await additional, more extensive testing, the limited experience gained on


a variety of problems does indicate that all the research versions using
new integration methods yield satisfactory, and sometimes excellent results.
The new integration methods generally were vastly superior to the
fixed time step implicit Newmark method employed in the original WRECKER
program.

They are comparable to the original explicit version of the

Newmark fixed time step method in terms of memory requirement, time and

cost considerations.

However, they proved to be of greater accuracy and

stability than the original explicit method.


Limited experience shows that the FO method (variable time step,

explicit) is best for general dynamic problems.

It is not applicable for

static and quasi-static problems for which a variable time step Newmark
method is recommended.
I

The EPISOOE version of the research NRECKER program is comparable


in accuracy and stability to the implicit fixed time step Newmark method
for complicated nonlinear dynamic problems, but is vastly superior in terms

of running efficiency.

Unfortunately, due to its built-in sophistication,

it is severely penalized by the high cost of function evaluations in


NRECKER and so it does not compete well with simpler explicit methods.

15

Also, the EPISOOE version was found to be unsuitable for use in the static
and quasi-static problems.

This is because the NRECKER I procedure used

for evaluating accelerations was not accurate enough to satisfy


EPISOOE for these problems.

In spite of the fact that EPISOOE employs

a sophisticated implicit Adams predictor-corrector integration technique, it


could not overcome this difficulty.

Some difficulties have been experienced

during the program development in choosing the input, such as initial time
step size and the bounds of permissible size of subsequent time steps,
the amount of artificial damping, etc., due to the lack of general guidelines.
The proper choice of the various parameters can undoubtedly improve the

program efficiency.

Most of the runs for this project

were made with

guesstimates for the input, which may have been quite poor and thus the
final results here should be considered as first indications of the merit
and potential of the research versions of the WRECKER program.
Some general guidelines of choosing these input parameters, especially
the initial time step size and error tolerance at the beginning of a run
should be made available.

However, the deduction of the guidelines may

have to rely on a painstaking accumulation of experience in running the


programs with a wider variety of problems.

B.

Recommendations

I.

The

FU method apparently has great potential, at least for the

problems included herein.

Therefore, a more systematic investigation of the

effect of damping to its stability should be conducted.

2.

Analyze iteration-to-convergence methods and incorporate the

most suitable one in the Newmark VTS version of WRECKER.

16

3. Improve the starting procedure in the EPISOOE version of NRECKER


program such that it can admit inputs of the velocity time function and the velo
city decay function simultaneously in the S-Frame problem.
4. Make a systematic investigation of the algorithm for error control
procedure and criteria with special emphasis on (a) the selection of the key

components to be monitored and (b) the weighting of error estimates.


5. Construct a coupling procedure to link two or more versions of
the WRECKER program so that the best usage can be made to solve any given
problem

by a combination of different methods.

A monitoring algorithm should

be created to switch from one version to another automatically for maximum


running efficiency.

6. Certain errors in the WRECKER I and II program such as the inconsist


ent sign appearing in successive time step in Cantilever Beam with Slave Nodes
problem and oscillatory behavior in loading in the Clamped Cylindrical Panel
probem should be debugged and corrected.
7. Improve the modeling technique so that structures of high complexity
such as a beam-plate assemblage can be readily simulated by NRECKER programs.

-5

C)
EPISOOE
Implicit
Y

EPISOOE
4}
Acceleration
iaZ
O8
4
Nodes
I.
Plate,
CiFigure
at
arnnd
etcnitlieovner
1):!)
9
O
7
6
5
A
3
'1
2
0

Implicit
0

SI
TIME
ECI
4:
Node

6x105

ll.o

8:
Node

ACCELERATION

I.

=M -. -,-e- i
o

a
T o

4:
Node
Implicit
O
NVTS
ewmark
x 5-8:
NImplicit
A
NVTS
odeoewmark

2Eo

2Figure
CPlate,
AOin
aZ
cNodes
4
i8
aat
netrlielndcreatvieorn

00
5
7
g
5
1
09
Q
:k
1

0-+
A=e--

doo
(SEC)
TIME
~

lNode@
0

Node

|
1.3-0
013,w
.

6x10

.L

a]
fAa

E0U

FU
A

aNodes
8
Oin
4
Aat
Z
Plate,
CicFigure
3:
arnendltceirtlaietovenr
Implicit
x

Implicit
0

OM80

4:
Node

8:
Node

(SEC)
ME

011.111'.012as1.

0o
@
(Node

.Node

2IMAMAvrtH,Ii

5
.

6x10

2:. .2

02

u: L) 2

4aANodes
4
8
OiPlate,
Z
CcFigure
at
Runs
iaBase
enrndlteircnlateivoenr,
Node
Implicit
4:
Explicit
x-x -x x

II
lI
ll

8:
Implicit
Explicit
Node
eo-e-eo

0
S
4
3
2
1
(I

ISECI
TIN

ACIELJERATHJN

1?

10m

Cwith
Beam
Slave
aNodes,
in
Force
X
nONode
l
tiat
rlecvteiron

implicit
an

'Explicit >
EPISOOE

(SEC)
TIME

5.
Figure

0x66
f
4:102'

6.
Slave
in
Cl
with
Force
Nodes,
OBeam
X
Node
Figure
at
ainrteiclteivoern

Q
Newmark
VTS
Implicit
x-5
_

'Explicit
(SEC)
TIME

Nodes,
dNode
1
CX
Slave
with
in
Beam
Force
at
iarneticlteivoenr

Explicit
hnpUc
x

ISECI
TIME
EU
0

7.
Figure

4:152

in?

'6

iJxIJ

I
9']
l
oI
COin
Force
Nodes,
Slave
with
l
Node
Figure
Beam
Y
at
a8.
inrteiclteivoern

'5'

9
o
2
1
Ia.
s
'0'

HnpHcH
x- _

E'xplicit 4
EPISO E
TIMEISEC)

..-

-:mo

-2,.-_.

(I) LIJ

u_I OU

Cwith
Beam
Slave
aNodes,
in
Force
OY
nNode
l
iat
trielcvteiron

40

Newmark
VTS
<7
xplicii
E

lmpUcH
x.
(SEC)
TIME

9
Figure

-2
~

-30

vi
u: 4)_1 c:u.

COin
Nodes,
Slave
with
Beam
Force
Y
l
Node
Figure
aat
i10,
nrteiclteivoenr

(EE0
xplUicit)
E'xpudi

'lmpUcM
x- .

ISECI
TIME

U-

-JO

_1_

-2?
(D

u: a: 8

LZ

l
Oin
Node
Z
Force
Nodes,
Slave
with
at
CiBeam
ll.
Figure
arnetcitlieovenr

Imblici!
x

Explicit 41>
EPISOOE
/
(SE
TIME
l
C

'3
3X10.

FORCES

10110

12.
Figure
CBeam
Slave
with
Nodes,
aForce
in
Z
OnNode
l
iat
trielcvteiron

(IVTS
Newmark
mC)
plicit)

'Imxplicit

'ExpUcH
(SE
TIME
C)

3810

2. .

FORCES

.2

0100'6

l3.
CFigure
Slave
with
Beam
ONodes,
Z
in
Force
l
aNode
iat
nrteilcetvieorn

(Explicit)
FOU
imPlicit
x

3X10

Explicit

CI
ISE
TIME

FORCES

O.

OX
9
8
6
5
I3
Z
0
1
7.

(
I
(
l
I
_2
I_|_

14(a),
AOiNode
2
EFigure
Spring
X
at
cliasertleicr-nPatlisotinc

Implicit
1:
E0
PISOOE

(SEC)
TIME

2
o
l

2:3
ET' I

(5

_o
2
_e.

6x10

on
:2 Q

UU .

n:

_,

Ri

15.
(a),
2
EFigure
ASpring
OiNode
X
at
lciasretlice-rnPtalisotinc

Newmark
VTS
0
)
l
)
(
J'c
I.
l-2
1

Implicit
x

(SEC)
TIME
O
2
1
3
S
4
7
16
8
):)

O _

a
O

O
Q
Q

2
6x10

ACCELERATMN

-2
13:0

I
I
lt
(a),
16.
Figure
iAEX
2
Node
OSpring
lat
ciasretliec-nrPtalisotinc

I!
mplicit

'0
FU
ISECI
TIME

7
9
8
5
6
L
3
Z
1
O

'0 0t

o
2~o o 0t
.O

10o
ll
2
U

6x10

ACCELERATION

..

0(
;

0.8

u-seczrtcu

103
n0.45
amace
naL1--onB

0.001
COOE
AtIMPLICIT_
SEC
0.001
COOE
AtEXPLIC_I.T_ SEC

xxrs-sccz
men0.2
MASSu-

l
I
)
1l
1I
l
l11II

(b)
SPRING,
EL17.
AS01-
AN
RTIEFCS-PILAOGSTNUISCREE

0.7
0.6
0.5
0.4
0.3
0.2I

aJUUNETL
-->M
CH
2.54
I1
',NCH

0x103!
0.3s

EPISOOE

t0.4
0.1
O

(SEC)
TIME

NCH) I ( SPLACENENT DI

(7.

i siFron-s10
so
ecitici

103
1
Lroacz
0.45
Nex-wBton

EXPLICIT
CODE
0.00].
SEC
At:-_ _

300
F

IMPLICIT
CODE
0.001
At
SEC
_I

KINCH
IPS-._EC
rI
1
l
I
Ii1#

12.54
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0.4
0.5
0.6
0.8 I
0.7

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M

nor
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(b)
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LAsSTrIoC-nPLsASeTIC

Newmark
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D
WM

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f0.1
0.a

(SEC)
TIME

)8.
FIGURE

(INCH) SPLACENEN.. DI

SE:

0.8

#cm

NEWTON

ESEC
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XAtI
PLIC_.I_T

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SEC
ICODE
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I

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ICH
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0.3
0.6
0.5
0.14
I
l
11
I

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MI
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F0.1
0.4

(SEC)
TIME

0.2

19.
FIGURE

NCH) (I SPLACI-TNENT DI

.:

20Figure
S-Frame
without
Strain
Oin
Rate,
X
iNode
l7
sat
prleacteimoent

O
Newmark
VTS

'1-_UExplicit

TIMEISECI
E5
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3,73
o, \O\
e.

I
l
I
{
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I.
L
-6
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2
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6
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-2
._ ._
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.\

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21.
Figure
without
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OStrain
Rate,
in
iX
l7
Node
at
srpleacteimoen t

EBase
0
Run
xplicit

Flight
Free
1} ()
VTS
Newmark

SE(3)
TIME(

(
i
-6
' -1.

-5-_

U
-

MSPLCEMENT

.E

Owithout
din
Figure
S-Frame
Strain
X
l7
Node
Rate,
iat
22.
srpelcatcieomne t

DExplicit
{)
FU

TIMEISEC)

l
N

'

i
'

OISPLA'CEMENT

'

4x15
u:

x Implicit

Newmark VTS

w:

o Implicit

Newmark VTS

OISPLICEMENT

STATE

Figure 23.

LOAD IN LB

Frame with Inclined Support, Horizontal

or Vertical Oisplacement, u or w, at the


Roller Support

4()

0:103

Figure
Fixed
24.
End
with
Beam
in
Force
Hinge,
O1
Z
Node
at
irection

I)
l
1
I
II
a
2
I.
s
7
a
(sec)
TIME

(Explicit)
F0U
Implicit
x

x10
3

FORCES

IV

25.
l
ONode
Hinge,
in
with
Force
at
iFixed
End
Beam
Figure
rby
ection

a
-P-._..._I
--I-II
._-',.-._,-_~w_

Gr

)
TIMEISEC

2o

0
2
5
3

aI
/"
i

2(TU
E10
xplicit)
. Implicit
o,

/
1
'in.

9
g,1"
u

Z?

13x15

Ol
iNode
Z
Force
Hinge,
End
Fixed
with
irection
at
Beamn

ISECI
TIME

I5

Newmark
VTS
X

Implicit
()

26.
Figure

:10
-3

N
l

FORCES

.17

+F Newmark
VTS
x

Fixed
27.
Figure
End
Beam
Owith
1
Node
Hinge,
in
Force
at
iBy
rection
.,/
//////q(//

/I
.1o
l
i

'0

TIMEISEC)

,
7
6
5
L
3
2
1
0

*//

4/
4?
Implicit
O/

./"
a(
LX10

1/
m

u
..../

Vb

/
_1

l
I
I
' .15.20.25.1).45.35.40

WPANELeREFCuKE.R PANEL
W,R.ExC,K-iE/R4

<-coMTPAuiNAGnouSs

TANG'S
a
DATA
TEST
Newmark
VTS
I

(Tang)
28.
Figure
CCurves
OPanel
Load
eyfliencdtriocnal
CENTER
DEFLECTIONI N.)

LEGEND

15m

3
LOADIIbl) CENTER

,P

TABLE I
CPU COST CHART
(Oollars)

PROBLEM CASES

BASE RUNS

I.

(I) $23.17
(E) $ I.53

8 Node Cant. Plate

2.

3.

Cant. Beam with

(I) S 2.34t

Slave Nodes

(E) $

Elastic-Plastic
Spring a)

$ .88

(I) S .83
.((E)
UN

$ .43

UN

$ .87

S-Frame w/o

5.

NEWMARK VTS

FU

7.79

$T 71

.78

b)

4.

EPISOOE

.85

.56

.57

2.14+

l.47

4.89

$ 1.O4

$926.02

Strain Rate

(E) $948.95

Frame with
Inclined Support

(I) S

.98
( = 01)

00

$68T.56

NA

4.26

NA

NA

.99

NA

NA

$l39.28

(I) $ 45.76

( = OOl)

6.

Fixed End Beam

with Hinge

(I) S

.98

( =.Ol)
(I) $ 40.20

( = 001)

7.

(Tang) Cylindrical

UN

NA

Panel

II
C2

Implicit base run, E = Explicit base run


Cost information unavailable

Quasi-static problem for which an explicit-type method is not applicable


Method is not starting properly for this input data

Value has been extrapolated from that for a partial run to represent cost
at the end of the entire simulation interval for comparison purposes.

Alternating sign in acceleration in Z direction at Node 4

46

TABLE 2
TOTAL COST CHART
(Oollars)

PROBLEM CASES

BASE RUNS

l.

(I) 5
(E) S

2.

3.

8 Node Cant. Plate

Cant. Beam with


Slave Nodes

Elastic-Plastic
Spring
a)
0)

4.

5.

EPISOOE

34.92
3.56

NEWMARK VTS

28.41

$3.91

(I) $
(E) $

5.00+
2.26

(I) $

2.83

(5)

UN
UN

FU

2.31

1.83

$
$

1.95
2.53

9.69

$2.90

6.62

13.61

{
$1.83
$2.71

S-Frame w/o

$1060.36

Strain Rate

(E) $1321.29

Frame with

(1) $

Inclined Support

2.82

00

$1233.05

NA

17.54

NA

NA

2.69

NA

NA

$ 219.53*

(H= 01)

) $

76.60

(H= 001)

6.

Fixed End Beam

(1) $

with Hinge
I

7.

(Tang) Cylindrical

5.94

(H=.Ol)
$

69.38
(H=.001)

UN

NA

Panel

= Implicit base run, E = Explicit base run.

UN = Cost information unavailable.


NA = Quasi-static problem for which an explicit-type method is not applicable.
60

= Method is not starting properly for this input data.

Value has been extrapolated from that for a partial run to represent cost
at the end of the entire simulation interval for comparison purposes.

Alternating sign in acceleration in Z direction at Node 4.

(7

TABLE 3

APPROXIMATE CORE REQUIREO

IBANK
(WOROS)

OBANK
(WOROS)

TOTAL
(NOROS)

NEWMARK VTS

(7224

80247

97471

FU

16830

6093]

7776)

EPISOOE

?9684

81O49

l00733

IMPLICIT OR
EXPLICIT BASE RUN

16425

6l907

78332

TABLE 4
INPUT SPECIFICATIONS FOR TEST RUNS

EPISOOE

CASE

HSTART

TOLERANCE

TIMENO

l.

Cantilever Plate

l.-O6

l.-O4

l.-O4

2.

Cant. Beam with

2.5-O7

l.-O4

l.-O5

3.

Spring (a)

5.-O3

l.02

2.-O2

(b)

1.-O3

1.-O4

1.

4.

S-Frame

5.

Frame with

09

Inclined Support (NA)

6.

Fixed End Beam

with Hinge

7.

(NA)

Tang Cylindrical
Panel
(NA)

NA = Method is not applicable.


60

= Method does not properly set up initial conditions from input data.

49

CASE
OAMP(Y)
HMAX
HMIN
HSTART
TART
TIMENO
OLERANCE
I.
CI.03
I.-O6
Plate
T.-O6
T.-O4
a0.
I.O4
ntilever
Slave
l.25-07
Nodes
l.2507
l.-O3
l.-O5
O.

(a)
Spring
3.
2.-O4
l.-Ol
l.-O5
2.-O2
0.

4.
l.-O5
S-Frame
5.-O3
5.-O4
l.-O2
2.-O2
O.

ISupport
l.-Ol
l.-O6
l.-O3
l.-O5
nl.
O.
clined

(b)
l.-Ol
2.-O4
l.-O4
l.
O.

Panel
3.2-Ol
l.-O2
l.O2
l.
O.

Hinge
with
l.-O2
5.Ol
l.-O3
5.O2
l.
O.

SFOR
INPUT
RUNS
TEST
PECIFICATIONS

NEWMARK
VTS
TABLE
5

C7.
Tang
ylindrical
2.
Cant.
with
Beam

Fixed
6.
End
Beam
with
Frame
5.

OS

OAMP(Y)
HSTART
HMAX
HMIN
TCASE
ART
TIMENO
OLERANCE
l.-O5
1.-O3
l.-O6
2.-O2
S-Frame
4.
0.

l.-O3
l.-O6
Cl.
Plate
lOO.
l.-O4
antilever
Slave
l.-O3
2.5-O7
l.-O5
Nodes
lOO.
l.-O4

(a)
l.-O4
1.-O5
l.-Ol
2.-O4
2.-O2
10.
Spring
3.
(NA)
l.
Hinge
6with
1
2.5-O6
l.-O3
l.-O5
O.
-O4

(b)
l.-O2
5.-O4
l.-Ol
2.-O4
l.
0.

sqthis
made
explicit
Attempt
method
for
to
iutarun
usait-isotna.tic

RUNS
TEST
FOR
SINPUT
PECIFICATION

FU

(NA)
Panel

(NA)
ISupport
nclined
C7.
long
ylindrical
2.
with
Beam
Cant.
End
Fixed
6.
Beam
with
Frame
5.

_,

REFERENCES

welch, R.E., R.W. Bruce, and T. Belytschko, "Finite Element Analysis

of Automotive Structures Under Crash Loadings, Vol. II."

Final

Technical Report for Oepartment of Transportation Contract No. OOT

HS-lO5-3-697, March 1976.


Yeung, K.S. and R.E. welch, "Automobile Structures Under Crash Loading."
Summary Final Report of Oepartment of Transportation Contract No.

OOT-HS-6-Ol364, October l977.


Hindmarsh, A.C. and G.O. Byrne, "EPISOOE: An Experimental Package
for the Integration of Systems of Ordinary Oifferential Equations."
Lawrence Livermore Laboratory Report UCIO-30ll2, May l975.

Fu, C.C., "A Method for the Numerical Integration of the Equations
of Motion Arising from a Finite-Element Analysis." Journal of
Applied Mechanics, September l970.

52

APPENOIX A
TEST CASES

1.

8 Node Cantilever Plate

GUT-DOOM

Cantilever Beam with Slave Nodes

Elastic-Plastic Spring (a) and (b)


S-Frame without Strain Rate under Impact Load
Frame with Inclined Roller Support

Fixed End Beam with Oiscontinuity Oevice (Hinge)


7.

Clamped Cylindrical Panel (Tang)

53

Case 1:

8 Node Cantilever Plate

A steel plate, 3" x l x 0.1", is modeled with 6 triangular plate


elements and 8 nodes as shown in Figure A-l.The plate is cantilevered from

one end (the 1-5 edge) and a load of 5 1bf is suddenly applied at time t = 0
to each of the nodes (nodes 4 and 8) at the free end.
The material properties were

modulus of elasticity,

E = 30 x 106 psi

yield stress,

0y = 210 psi

first plastic modulus,

Ep = 20 x 106 psi

Poisson ratio,

0 = 0.3

Base runs were made using the implicit procedure and the explicit
procedure, each with 100 steps of size H = 10's.

54

33m

93332.

.oom
m

IQEIQL

mm

Case 2:

Cantilever Beam with Slave Nodes


A three-beam steel box section frame is cantilevered at one end,

and the displacement of the free end in the Z direction is specified by


an input time function table.
the axis of beam elements.

The center beam

element is offset .1" from

The endpoints of the offset element are connected

by undeformable rigid links to the other two elements.

In the nomenclature

of the NRECKER program, the endpoints of the offset element are "slave"
nodes to "master" nodes on the other two.

Material properties are those

for mild steel, i.e.,

"'1
,

modulus of elasticity,
Poisson ratio,

30 x 106 psi
0.3

The implicit and explicit base runs were each made for 50 steps of

length H = 2.5 x 10'7.


The implicit base run exhibits an as yet unexplained alternating
sign for the acceleration in the Z direction at node 4 (the free end).
The cantilever beam with slave nodes is depicted in Figure A-2.

56

>_~

3 EFLs
t1 1.0

E
5

Global Coordinate System

2
T I, l/64

'2

.)

1/
//

L
Beam Cross-Section

Figure A-2Cantilever Beam with Slave Nodes

57

Case 3:

Elastic-Plastic Spring (a) and (b)


This example is intended to illustrate the elastic-plastic

spring element.

There are only two nodes and one element: the spring

element's undeformed length is l0 inches, and it lies along the x-axis.


Node l is fixed and massless, and node 2 is constrained to move along
the x-axis without rotations, and has a lumped mass of .2 lbf-secz/in
(a weight of 77.28 lbf).

The spring's material properties are

(a)

(b)

elastic stiffness,

E = lOO lbf/in

same as (a)

first yield force,

0y1= 200 lbf

same as (a)

first plastic stiffness,

Ep1= 33.3 lbf/in

same as (a)

second yield force,

oy2= O. lbf

300 lbf

second plastic stiffness,

Ep2= 250. lbf/in

O lbf/in

ultimate strength,

ou = 300 lbf

3lO lbf

strain rate coefficient,

= 33.3

A piecewise linear force function, f, is supplied in user-coded

subroutine FORCE.

Applied

to node 2, the function is defined by


3000 t, O _t _0.1

f(t) =

lOOO(.4-t), 0.1

|
A

t _O.4

O, 0.4

/
|

58

Case 4:

S-Frame without Strain Rate


Half of a two member S-shaped frame of mild steel is modeled using

l6 beam elements of rectangular cross-section.


section is represented with l0 segments.

The open walled beam cross

The global coordinate system and

typical dimensions are presented in FigureA-3.

Nodes I through T7 are

constrained by symmetry boundary conditions and are given an initial

velocity of 322.5 in/sec toward the barrier.

The velocity at Node l decays

to zero in .1 msec according to the function

v = 322.5 (.OOOl-TIME)2/lO-8.
The half-masses of the front and rear transverse connecting links are
lumped at the end nodes.

modulus of elasticity,

E = 30 x lO6 psi

yield stress,

oyl= 36 x 103 psi

first plastic modulus,

Ep1= 30 x lO3

ultimate stress,

0U = 100 x 103 psi

Poisson's ratio,

second yield stress,

oy2= 50 x 103 psi

second plastic modulus,

Ep2= 30 x l03 psi.

psi

= 0.33

The explicit base run was made with a step size of H = 5 x l07
and terminated on a I80 min (SUP) limit soon after printing out at time

T = .Ol3623 for cycle 27250.

The total simulation interval goes to T = .02.

59

Connecting

Total
wgt.
1bf
8.5

Rigid
Rear

Link

17

Typical
Cross
Beam
A
A-A
Section

10
15
Section

ifoJsi

727/2
Z1k

Centerline
Frame

10.19

Con ecting
Link
Front
Rigid
Total
wgt.
1bf
1.5

Figure
S-Frame
A-3

Case 5:

Frame with Inclined Roller Support


A

steel two-member frame with one leg rigidly mounted and the

other lying on an inclined support plane is modeled by two box section

beam elements.
element.

The inclined support is modeled by a single spring

The entire assembly (FigureA-4) is initially in the x-z

plane, and is subjected to an in plane load at the frame apex (node 2)

of IO lbf/sec.

Base run computations are in implicit mode with l0 time

steps of size At = O.1 sec.

The box section beam elements are of mild steel with (elastic)
material properties:

modulus of elasticity,

30 x 106 psi

Poisson ratio,

0.3

The spring element has a stiffness of 30 x lO4lbf/in.

6)

Spring Element

Global Coordinate System

'

T/64

i. u
___.__>~.

wwas-a__,_
Frame Cross-Section

FigureA-4 Frame with Inclined Support

62

5,.

Case 6:

Fixed End Beam with Oiscontinuity Oevice (Hinge)


A mild steel box section beam is modeled with three beam elements

and four nodes.

The x-axis of the global coordinate system lies along

the longitudinal centerline of the beam, as shown in Figure A-5.


A moment release about the y-axis (transverse) has been incor
porated at 50% of the length of the center beam element.

A z-force of

100 in/sec is imposed at node 3 through an input time function table.


The base run computations were done in implicit mode using ten

time steps of size At = 0.1 sec, and using elastic material properties:
namely

elastic modules,

30 x lO6psi

Poisson's ratio,

0 = 0.3

63

MomentARelease
about y axis at
this section

:)

1/64

1.44

Figure A-5Fixed End Beam with Oiscontinuity Oevice

64

Case 7:

Clamped Cylindrical Panel (Tang)


This model aims to compute the quasistatic response of a

26" x 28" x 0.125 cylindrical steel panel segment (50" radius of


curvature) subjected to a point load of I500 lbf at its center (Figure A

6a).

A mesh consisting of 36 nodes and 50 triangular plate elements is

used to represent one quadrant of the l panel (Figure6b).

Symmetrical

boundary conditions are applied along the two "material" edges, and the
panel is loaded with a consistent load of 375 lbf applied in l00 load
steps of 3.75 lbf each.

Since in this one-quarter panel model the load

is applied at the corner boundary node number one, the shape function

associated with that node has essentially a of the support it would have
in the full panel model, and so its coefficient (the value of the
generalized force at that node) should be a of the desired full panel
load.

65

wwzmd

n.d=Q1anm_

>|mm

waacwm

0,

am

_ Hm

.eb _

..

25f

|||||||l\

Prllilllii

Li a

. ,1..

H0

a:

~o

~m

A.

Mm

.1

a:

M~ - m

.
a

3mm:

wmzmd

ocmwnmw

>lmw

wmcwm

mm

APPENOIX B
COMPUTER PROGRAM INPUT MOOIFICATIONS

A description is presented of those changes and additions to the


program input for WRECKER which are needed to run each of the three
versions developed in this project.
B.1.

Input Format Changes for WKEP

l.

On card 1, the entry in column 1 must always be E.

2.

On card 2, the variable MXSTEP is not used, and the variable


OELT now provides the initial time step (which is thereafter
automatically adjusted by the EPISOOE logic).

3.

On card 3, the variable KONTRL(5) is not used.

4.

Two additional cards should be placed at the end of the data:

Card No.
l3

Format
6El0.6

l3.1

315

Variable Name

Oescription

HMIN
HMAX
EXTRA

(Unused)
(Unused)
(Unused)

EVTS3
TIMENO

Local error tolerance


End of solution interval

IERROR

MF
INOEX

Error control indicator

Method flag
Status flag

EVTSB is used only on the first call to subroutine ORIVE.

Estimates

of the relative local error are kept less than EVTS3 in root-mean-square

(RMS) norm.

Errors in Yi are divided by YMAX(i) to get relative errors,

where the vector YMAX is computed in subroutine ORIVE as described below


under IERROR.

and velocities

and the vector Y = (Yi) is made up of the displacements

Y = (X, X).

Oescribed in detail below and in comment cards at the start of the

listing of subroutine ORIVE.

67

IERROR has the following values and meanings:

For absolute error control.

YMAX(i) is always I.

For relative error control.

YMAX(i) is always IYiI, using

the latest computed values of Yi.


3

For a

semi-relative control, defined as follows.

YMAX(i) is initialized as IYiI, or I if Yi(to) = 0.

Then

YMAX(i) is updated after each step to be the larger of its


current value and IYiI.

(Thus if Yi(to) f 0, YMAX(i) is the

largest value of |Y1| seen so far.)

Errors in Yi are then

controlled relative to YMAX(i).


MF is the method flag.

It is used only for input, and used only on

the first call, unless INOEX = -l.


l2, I3, 20,

22

and 23.

The allowed values of MF are l0,

MF is an integer with two decimal digits,

METH and MITER (MF = l0METH + MITER).

(METH, MITER).)

(MF can be regarded as the ordered pair

METH is the basic method indicator, with the following values

and meanings:
I

For the variable-step, variable-order implicit Adams method,


suitable for non-stiff problems:

For the variable-step, variableorder BOF method suitable for


stiff problems.

MITER is the corrector iteration method indicator, with the following values
and meanings:
0

for functional (fixed point) iteration:

_I

cannot be used with NRECKER:


2

for chord method with Jacobian generated internally:

for chord method with diagonal approximation to Jacobian.

68

INOEX is an integer flag used by subroutine ORIVE to distinguish what


the status is at the time ORIVE is called.

Initially, it should be 1.

Other

circumstances are described in comment cards at the beginning of the listing of


ORIVE in Appendix O, which should be read by any user of this method.

The runs made for this report always used IERROR=3, MF=10, and INOEX=1.

B.2.

Input Format Changes for WKVTS

1.

On card 1, the entry in column 1 must always be I.

2.

On card 2, the variable MXSTEP is not used, and the variable OELT
now provides the initial time step (which is thereafter automatically

adjusted by the programming logic).


3.

On card 3, the variable KONTRL(4) now represents the artificial


damping term v in the form GAMMA1000.

All test runs in this

report used GAMMA = 0.

4.

One additional card must be placed at the end of the data:


Card No.
13

B.2.1.

Format
6E10.6

Variable Name

Oescription

HMIN
HMAX
EXTRA
EXTRA

Minimum step size permitted


Maximum step size permitted
(Unused)
(Unused)

EOISP
TIMENO

Local error tolerance


End of solution interval

External File Requirement for WKVTS

A second temporary scratch file - Logical Unit 28 - is used in the


solution process, and must be made available via the job control language
prior to program execution.

8.3.

Input Format Changes for WKFU

1.

On card 1, the entry in column 1 must always be E.

2.

On card 2, the variable MXSTEP is not used, and the variable OELT

69

now provides the initial time step (which is thereafter


automatically adjusted by the programming logic).
One additional card must be placed at the end of the data:

Card No.
13

Format

Variable Name

6El0.6

HMIN

Minimum step size permitted

HMAX
EVTSl

Maximum step size permitted


Local error tolerance

ART OAMP
EXTRA

Artificial damping term


(Unused)

TIMENO

End of simulation interval

70

Oescription

APPENOIX C
COMPUTER PROGRAM OUTPUT MOOIFICATIONS

All three new versions of WRECKER provide appropriate echoes of

the additional input from card group 13.

Also, the NKEP version gives

an additional line of information at the end of the printing of an output


cycle.

There, the current values of the step size used, the latest order

(of numerical integration formula) used, the number of time steps taken
by EPISOOE to that point (which will, generally, be greater than the number
of cycles which have occurred), and the number of function evaluations

(i.e., acceleration calculations) to that point are given.

71

APPENOIX O
OESCRIPTION OF PROGRAMS
0.1.

Oescription of wKEP

0.1.1.

Subroutines Removed from WRECKER


The following NRECKER subroutines were superfluous for the merging

of EPISOOE with WRECKER and so were deleted for the research version development:
ASSMBL, BOUNO, CRVTBL, EFFSTF, EPTSTF, ESOLV, ETOG, FORMK, INCOOE, KAOO, LOCSB,
MCHB, MOOIFY, NTOG, PLSTF, SLTOMR, SOLVE, TRIANG, ZERORC.
0.1.2.

New Subroutines Oescriptions


The following single precision subroutines in WKEP are new or modified

(as indicated by N or M), and listings of them are given after these brief

descriptions.
(N)

AOJUST
Common Blocks
EPCOMl
EPCMlD

A subroutine from EPIS0OE which is called by TSTEP to adjust the


history array Y when the integration order is reduced.

(N)

M
Common Blocks
EPCOMl
EPCMlD
A subroutine from EPISOOE which is called by TSTEP to set the

coefficients that are used there, both for the basic integration step and
for error control.

on

95
Common Blocks

An EPISOOE subroutine called by PSET which performs the LU decomposi


tion of a matrix.

72

(N)

OIFFUN
Common Blocks
WORK

FUNKE
OFN
OYNAM
JUNK
FBLOK

BEAMS

EPCOMl
STF

OIF
STR

A CAI developed subroutine required by the EPISOOE package whichis


called by TSTEP, and also by PSET if MITER=2 (see Appendix B).

It

computes the vector V = (X, X) for given values of T = Time and Y


= (X,X), after conditions at the start of a solution cycle have been

restored.

(N)

ewe
Common Blocks
EPCOMl
EPCOM2
EPCOM3
EPCOM4
EPCOMS
EPCOM6
EPCOM7
EPCOM8
EPCOM9
STR
JUNK
FBLOK
BEAMS
STF
OYNAM
OIF
BLANK

The EPISOOE managing subroutine, called by SOLEP, which drives the


integration process through one cycle by calling the step-by-step inte
gration routine TSTEP, checks certain input for errors, and writes

error messages.

It also

saves

73

the prevailing conditions existent

at the beginning of a cycle for later restoration in OIFFUN during the


iteration procedure performed in TSTEP.

It has been amended to prevent

interpolation of calculated results.

(N)

FUNKEV
Common Blocks
BLANK
MASS
FUN
FUNKE
A CAI developed subroutine which is called by OIFFUN to perform

a function evaluation (acceleration calculation) at a given time for a


given set of initial conditions.

INTERP
Common Blocks
EPCOMl

An EPISOOE subroutine which normally would compute interpolated


solution values by a call from ORIVE.

It is not used, but kept so that

the EPISOOE package is intact in wKEP.


MAIN
Common Blocks
WORK
BLANK
CONTRL

OYNAM
STR
BEAMS
FUNKE

OFN

The main program

from NRECKER which has been modified to call

SOLEP after calls to REAOIN and ASSBLE.

(N)

PEOERV
Common Blocks

A dummy version of a subroutine required by EPISOOE provided


merely to satisfy the loader.

It is never actually called.

74

00

Pl
Common Blocks
EPCOMl
EPC0M2
EPCOM4
EPCOMS
EPCOM6
EPCOM7
EPCOM8

An EPISOOE subroutine called by TSTEP if MITER=2 (see Appendix B)


which sets up and processes a Jacobian dependent coefficient matrix for solution
of the linear algebraic system generated by the chord corrector iteration method.
(M)

REAOIN
Common Blocks
ENGY
STR

OYNAM
OUTPA
CONTRL
BEAMS
FUN

VTS

The WRECKER subroutine was modified to permit input and echo of


the parameters necessary to utilize EPISOOE.

(M)

RESTRT
Common Blocks
JUNK
OYNAM
STR
BLANK
ENGY
FBLOK
BEAMS
EPCOM9

The WRECKER subroutine, modified to enable checkpointing and


restarting with the EPISOOE version.

75

(N)

-Common Blocks

An EPISOOE subroutine called by TSTEP if MITER is 2, which solves

linear algebraic systems for which the matrix was processed by OEC.
(N)

SOLEP
Common Blocks
BGO
VTS
JUNK

CONTRL
STR
STF
OYNAM
BEAMS
FUNKE

OIF
EPCOM9
FUN
OUTPA

A CAI developed subroutine which is the linkage, along with


OIFFUN and FUNKEV, between WRECKER and EPISOOE.
the solution via EPISOOE is mandated by
ORIVE.
(N)

In this subroutine

looping around a call to

Within the loop the results are printed by a call to OUTPUT.

TSTEP
Common Blocks
EPCOMl
EPCOM2
EPCOM3
EPCOM4
EPCOMS
EPCOM6
EPCOM7
EPCOM8
EPCOM9
EPCMl0
An EPISOOE subroutine called by ORIVE which takes a single step in
the integration and performs the control of local error (including the
choice of step size and order) for that step.

O.1.3.

New Subroutines Listings

76

013

JROJV9

(ELAS
?11
OVE
1=3
.1

I551

HJ'e
19'
P01107
OOJsLE
X1
AC)
6onnnF
FOIJF<I3T1ILHO

AOJ0ST
eeelee
eeeeee"6YF
?"tq7P

1I
1003
0003
R
4*10
0000
0NSUW
T
an?n
=
00101
0000}
10002
0O00A
00000
000 3JSTARI
0"0003
0J0}
0000
IVJP!
Jil
1
I
000013
00005
J
00002
0001?
"0311
000 I
0004
1
0003
HETH
0.
LAx
L
00037
00040
00010
03117
0004?
01'
004

IVTE0ER
A13'
H0
tnan?)
00105
9JF0120
131"?
)
"1'

C0IVE.
I110352
TH?
SVIA
A0JT:ORJ
11
00103
C
Y3'
UWAHLE
SPT6POUCTIOV?S
SIN0LE
1=
T45
13
T4IS
P21
SVERSION
101052
A1JJ00SO
AOJUST.
7'
01105
URSERCOIUSTIOVE A11015?
00103
S
P'
OJ0 TO EC1r10h

FUUCT10N
STCF
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0.2.

Oescription of wKVTS

0.2.1.

Subroutines Removed from NRECKER

The following NRECKER subroutines were unnecessary for this research version
and so were deleted during development:

0.2.2.

EBOUNO, ESOLV.

New Subroutines Oescriptions


The following subroutines required significant modifications to incorporate

the variable time step procedures into the Implicit version of WRECKER, and listings

of them are given after these brief descriptions.

ENERGY
Common Blocks

OUTPA
OYNAM
ENGY
VTS
In this NRECKER subroutine in which the discrete energy is

calculated, a switch was inserted to have the calculations comply with


the revised integration procedures.
MAIN
Common Blocks
WORK
BLANK
CONTRL

OYNAM
STR
BEAMS
This main program from NRECKER now only can call SOLVE after input
and assembling of the initializing data.

REAOIN
Common Blocks
ENGY
STR
OYNAM

OUTPA
CONTRL
BEAMS
FUN
VTS

This NRECKER subroutine was modified to permit the input and


echo of parameters pertinent to the variable time step procedures.
RESTRT
Common Blocks
JUNK
OYNAM
STR
BLANK

ENGY
FBLOK
BEAMS
BGO
VTS

This WRECKER subroutine was modified to enable checkpointing


and restarting during the variable time step iterations.
SOLVE
Common Blocks
JUNK
CONTRL
STR
OYNAM
STF
BEAMS
STUFF
OUTPA
ENGY
FBLOK
BLANK
BGO
VTS

This subroutine was extensively modified to include the "half


steps - full step" monitoring procedure and step varying logic.

This

entails the saving and restoration of conditions existent at the start


of an integration step, which is done on a storage file 28.
0.2.3.

New Subroutines Listings

137

RA0E

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000253 000305 003333 003306 000002 000000 00030R 001150

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n.na...

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BLOCKS:
CONHJN
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000061 000110 001606 005216 000006 000003 001660 000000 000000

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F04WAT(2X.10'12X03FI.501X0F1305) PUINT
70000
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1=(VOE(1).E90)VOE(9H)=1
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160
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00
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2005 4002
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00112
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can000000
ulraLoxlnrocsu01. 0n16
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1 0000015
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00210
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100
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1.NcHA1
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100110
500
00
01000012'nc0 1

01 000222
15'
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100
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c011
1000111
151271

500
51'
201002
c011
1000020
1:1251
000111
50'
C011
501 102710

R00200
100
00'
EAJ000215
(270ENO~=20 )

00211
1c011
za'
5000155
01 251
15'
01275
1c000220
10
+<=1cHK*1

03107
309773
(,'
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IF
25'
01211
1Wc000150
100
10
00
n 1.:0.01

'00115
15'
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1trs0xv15

11'
00227
CO000201
100
NTINUE

52'
01105
c01v011u01E5
501
01111
IF
I01'
10
00
501
N000015
c01 .20.01
10'
00202
27
RZJINO
000210

01111
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0'
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00111
1r0000010
10'
150 1020.10

00250
Nc001
200
01'
1
000200
=

'v01110
11'
1 2000000
.1901501 '51 21 0 1

1405!
Rorn.l'c
n. . .

FOR
EI0

153
333L 563 6163 6363 6653 3323 5673 6363 7633

36135

JVTS

IVTS

BAR
3BL

STRESS

IVJS

OELT

23IL 33BL

VPFREI

(3VTL

$31603
ZV'ZO

2303F

ViJ VTVTS

1=53
VTS

164<

3J5!

:2

16

1X515

TL

000332 0012
000305 0010
1
003303
1
000002 0012
0006
000300 0016

003303 0015
6
0003
0'01606 0013
000656
6

LJ:
002565
0033

002615
0001 001103
0331 0031
0031
000701 301131

301262 0001
0001
001332 0301
001662 0001
001563

002517 0036
6
3033
6
03613
000301 0002
6
303333 0036
003335 00013

002227 0301
0001
302213

30016
1
00313 1
03036
30333

0033
002725 1
00016
00312

3031
33155!
000700 300206 000266 303266 000266 333266 000266 103200 603266 000200 000266

333266 300266 003266 333200 363266 00326R

!93?9,

3032R

005210
R
0010

110676
OATE

I
00030
02577

00000
I
02533

00000
I
03333

00035
R
0353!

001201
H001
SOLVOUIO SOLVOUZO SOLV003O
FNOOFY

AFORCE

ITERNX

VTSTEP
HASS

31605
ZOOL 22UL 2666 332L 350L

635L 6616 5216 5616 6326 7156 7766

XNOX

EVTS

JSTO (603

SOLV00RO

SOLVOOSO

STRAIV
TIITLE

NORS

5BLV0060

XAX

1n0 r.1qVr.10us1.lrnpcgl.unts1.509$sLQn|v01'

SOLV0130

SOLV0360

WJU VLIN(
61

6IL

16

1
LE16
U02
C6
000723 001061 000531 000577 002121 002035 332772 001326 001616 001531 001663 002053 002356 033000 002616 002623 302536 003303 000003 002576 002637 002632 002576 032605 002536 000011 302616 002612 300001 000003 307676 000655 001636 005216 000000
SOLVEINUWZLBUHPR.NO6OE0NUH1S'TNO01IS'HN4XCFYc'z.

605N/7610INE(3601.STRAIN653.STREl6510SIOE(901PI60
r-.-III_HMI-IMHAIAIAIAIAIII

0-1

..

0001 0001 0001 0301 0031 0001 0001 0001 0031 0001 0001 0001 0031 0016 0000 0000 0010 3316 0311 0000 0000 0000 0300 3000 3000 0016 0000 0000 3012 0006 0313 0005 0012 0032 0015

BETH
WETHOO
TUITH
SOFUTIJV
NEU9ARK
RANSIENT
C310N/OYHA/OELT.1WENO.HXSTEP.NSTE0IVE YHO
2166 2356

660L 5016 5526 6266 7076 7636

366L 6076
63BL

33IL

CHlT

ERRS

ACC

NCHAT

INOEX

FINTO

ITER

HNIN

NSTRS
NPRP

STI=F2 TIHENO
XKEN

PANS

COWHN/BEAS/RIS30 153)01COSl30 15 08lR120

OEL2
12 JJ KK

65

2L

NJ

L
U01
000616 000621 000656 330656 300675 331170 302757 303032 331355 331520 301657 302063 332323 002663 002276 002622 302635 316236 001606 000006 000001 002626 302575 302267 332611 332613 002625 303007 331661 300005 313625 016237 300001 003610 306000

'105X301V0l3610=360=1INT0A6LE)
x Jln7UZu~HInH<~I4?u6il6.HX

0001 0031 0001 0331 0001 0001 3001 0001 0001 3001 0001 0001 0001 0000 0000 0003 0000 3315 0013 0316 0005 0000 3000 0000 3303 0000 0000 0016 0012 0016

0015 0006 0032


0010

3010

N3UT VSECT

313HT
103L 2106 232L 325L 3625 3776 6336

XEXH

TIVY

COWILER(IH=1 )91A50=1NO)

6:S (6013 )0NSECT.N6(103)


C3 60N/JUNK/TL(30 0I

OJT

951IF
16? 10 11

66

JFOlYnV(i3)u'sFlCo(u3)

COVHON/STUF IFVO FY(6O0)

STIFF

K3_O KVTS

05.1 5251 F01N 461K

5736 7566

5636
63TL 603BL

WE3 NB

O0L1OWSEN(S5I3O0N1

63 0N/COVTRL/(OVTI.(13)

S336

0E1F016ENS6I0O3N1
F0I1 HNETN(SI1O)N

031766 002271 002666 000006 002621 032636 302573 002261 000003 002662 002630 000000 002626 002606 033313 002603 002615 001610 010626 000006 000000 303006 001606

032621 030673 000737 001156 301226 003027 003116 601535

002735

CJWION/STFISTIF I1203 )

001110

031610
003R13

0I1NWSLEN(S3I0O1N)
whammy-514041240382

3301 0031 0031 0331 0301 3001 0001 3001 0001 0301 0031 0001 0001 0000 0016 0033

3333 0016 0000 0300 0605 0033 0000 0016 0000 0000 0012 0010

0ST9SI O0 O)

0012
I 0037
R 3006
I O R
0002
OYVI91C

36IL

3000 3E
F
030
EFORE
6AVHA
35LTA
FICC

BETA

3706 6226 636L 6676 5366 5756 5666 7666

107L 2326 2326 3366

0R
010
TZERO VTSPI

(OUNT
VIC 36V JLOS SIOE ST9S
IEN

98BL

1X5

15
V
002627
002610 000003 001660 000001 003607 002621 002632 002666
002660 000606 000655 000613 000662 331132 001212 003023 001333 031663 001555 001706 002260 303123 002601 002620 002633 001131 302266 002606 005216 002613 302660 002607 002631 002661
:3

19

J (

,..

SOLVE

50 60

20 $0
1.
OZIIDII

6.

160

an

1'

9.

10' 11' 12' 13'

110
15' 16'

18'

160 .-__.1... n~_,

h-.i-IMD-.r-i.-r-

0001 0031 0001 0001 6001 0001 0001 0001 0001 0031 0001 0001 0001 0001 0030 0000 0000 0030 0060 0000 0013 0005 0300 0030 0000 0000 0000 3003 0012 0012 0303 0035 0005 0000 0000

03131 03133 03103 33133 03105 03106 00107 03107 00110 03111 03112 03112 33113 03116 33115 03116 03117 03120 00121
....

.1

P05.

110'"R
OATF

000200 000200

000200 101200

000200 001200 000200 000200 100200 000200 000200 000200 000200 000200 000200 100250 000256 110270 000273 000276 000301 000310 000300 000305 000307 000311 000310 100316 000320 111335 000302 000305 100306 000306 000355 000365 000365 000367 000371 100372 000370 111375 000375 000005 100016 000006 000013 000013 000013 000013 000013 100010 000021 110021 000025 110030 001032 000000

sozvoszo
SOLV01HO
SOLV0150

SOLV0190 SOLV0200 SOLV0210 SOLV0220

SOLV0170

SOLV0230 SOLV020 OLV0250 50LV0260 SOLV0270

SOLV0310 SOLV03 0

SOLV0250 $0LV02?0 SOLV0300

SOLV0350

SOLV0360 SOLV0370 SOLV0380 SOLV0390 SOLV1010 SOLV0010

C10N/E5VXKZNI310).XPEV(30)'XEJ(30)FINTO(901F5C019 q

C0WON/VTSE 13)0HWAX qIN.STR0NVTS4CHAT0JVSyLBnR

F3W9ON/UTPA/NanuNO9S0PFR4UNPIC03UT(109)NPOUT(201)

UO(90 10U 1(90 10U 2(90 )

.0X:(1).YC(I)03X(901)EI601)Jt71'ZCI)

'"nf"
05$I
,.

UPPER
CAL--CULATE
HUO
WAK
01A6OHAL

VA91ABLES
ICUNTROL
FOR
VTE0RATIOV

0V5TS7(I20F3 9201'2ER0S(03)
OEiEINAOBZLNETS
VZERO

CJWOV/FBLOK/AFORCE(5)0B9OYT(6)
1(IVKTORVTL=1()=1.0LE0. 0)
(BETA'57.0.5) I
1=
JST1P=1
(ITERHX.0T.5)
J571P=1
(60
I
980
T1
JSTOPEO'1)

12
101.
732
11

i71TLE(20) NRV0NR

K(=1X(30H1- X10 NT
051=NU5VP0N0 RE

302
NO0
=1'NUWEL

IF1K.6T.J)
J=KK

CJWON
OUMHY(90 )0 C0 50 1860/XWAX190 10
150
301
70
=(X (H'H)ILTI?)
EPSI/1'E-3/
1110
CH07190703)
01IENSION

BZYA=KONTRL(S)

1=10HE6
212
00

ITZRVX=KONTRL(51

10103
356
10

KBLO=KONT9L1 1

515 0=KONTRL151
$05HA=0lFHA/10 0

1075050
OJT

( =103$(K 1
ST9AIVI 1=0'0

.01ITS0VTS

12=11'2 10011'0 15011'6

9
so
3q_

BETA=BETA/10 0

57:ES (1 )=0.0
1010600
733
OO

12(1)=1

1(1lv3)=1

IVTS=0 KITS=0

XW9X1 1=1

FORCO(1)=0.0

0LOS(1 =0.

'IZV(30 26)

J=0
A1(1 )=0.0

IC40=0

X0(1)=0. X1(11=0 V(1)=0

212

955

732

733

1
"ll

SOLVE
590
20 21' 22' 23' 20' 25' 26' 27' 28' 29' 30' 31' 32' 33' 30' 35' 36' 37' 38 39' 00' 01' 02' 03' aa 05' 06' 07' 08' 09' 50' 51' 52' 53' 50' 55' 56' 57' 58 59 50' 51' 62' 53' 60' 65' 66' 57' 66'

70' 71' 72' 73' 10' 75' 15' 77'

00121 11122 11132 11123 01120 01120 01125 01126 01127 00127 01130 01130 01131 01132 01130 01136 00101 01102 01100 00105 00106 01107 00107 01150 00151 01152 01153 00150 01155 01157 00151 00163 01150 01150 00155 01170 00171 00172 01173 01170 01175 01175 01177 01201 01210 01205 00207 01212 00212 01212 01212 00210 01215 01220 01222 01223 00220 01226
......

851

90

303002 303005 00007 000056 000055 333050 300052 000065 303077 000077 000077 000077 300077 000530 000510 000531 "00531 333531 000532 000532

003533 300530 000535 000503 000507 000552 300557 000552 000562 000562 000555 000602 300530 000613 300513 000516 000616 000616 030616 333516 330515 000620 000520 000603 000556 000651 003550 030565 900672 000575 333677 000701 000701 000703 000720 000723 000723
30053?

110H70
OATF

SOLV0 50 SOLV0050 SOLV0070

SOLV0 20 SOLV3030 SOLV90 0

SOLV0690

SOLV0670 SOLV0680

$0LV0530

SOLV3550 SOLV0550 SOLV0570

FacICAALL
NtUHEL'NUHP.NO6RE.1ElFN1'OLSl)
FCALL
EOZ0NUH1SWO0XSNUHP.u0REINUWEL'
SFOF
ORTWAI/F10X'U9'01 0I1X0"S)IE
RE$T (-10KONT9-()91CHK0FINT0XO I0V 01
CAALL
(N0O
I=
1
TO
PR?.6T'OlNO'VP9-Li0NUHP)

I.x0.1)
VC0Y ZC0X1'V91O0F RCO0E91X

PREJINO
FILE
PLlSTIC
ROPEITIES

IVAT9EASWREITEIROSV
CJiPJTE

(50
IF
333
TO
KONTRLB)'LTIO)
INITIAL
CCULlTE
ON01TIONS
C1=(0'5-BETI)'JELTIJZLT
VB=HEO.H OI(2'HE(1'WJO-13/2
UHUO0NS
RITE(6020 83
KJTRL(B7=-K0VTRL(n)

( =IX(1'N)-I (L'V3
130
300
=10NLINK
CZ=3ETA'OELTOELT
L=1'VLIN<
325
30
I10
F200
1KNTRL(7'6E'70

WUO=VO6RE '(J'1)-1
3
33
E2
I
1'
=
C0=0./OELTI2

I=l'VH
00
03

(K=1IBS(K )

CS=I.6l'!l

KBLO=KJNTRL(1)

5 0312705V0=3 21

C5=0.IOELT
32503250320
1=(KK-J)

CJVTINUE CONTIVUE
COVTINUE CJYTINUE

COVIIVJE

COVTINUE

CJVTINUE

NCWIT,I
27
WEJINO

TO
03
2

STIF I10)=0.0

N2INK=3

COYTINUE

COVTINUE

tI=ITOI)
0.0

C3=OELT/2.0
YTSTEP=0

J=KK

l)7\=n

10121 TO
331
60

REJINO
27
F0.0
OI=CO0(1)

T10i=00

1=3
00

320 325 300

331

CC
AL

332 333

200

2008
300 302

301

(FnIINW

......

000a- _

S9LVE
. n. .

1260 1290

BSI

78' 79 80' 01 32' 83'

lb.

S70

98' 99' 100' 101' 102' 103' 100' 105' 106 107' 108' 109' 110' 111' 112' 113' 110 115' 116' 117. 118 119' 120' 121' 122' 123' 120' 125 126' 127'

90' 95' 96

88' 89 90' 91' 92'

86'

03'

130' 131' 132' 133' 130. .dxss

07

03227 03230 00231 00230 03237 03200 03201 31200 03205 00201 03251 03252 03250 03255 03256 03262 01253 03255 00267 03267 03271 03272 00273 03270 03275 00276 03277 00300 03301 00301 00301 03302 03300 03335 03310 03311 03313 00313 03313 00313 03310 00310 03315 00315 00316 00317 00321 03322 00323 00325 03326 03321 00330

00333 03350 00335 03336


00337

VSl

..

.4

110876

003723 300123 000723 333723 330736 000737

300703 000750 000750 000176 001000 001030 331032 001013


000137

001101 301151 001201 001231 001203 001215 301227 001227 001310 001326 001326 001300 001306 001351 301355 001363 031376 001310 001315 301000 001606 001006 001436 001006 301013 001016 301016 301010 331016 001001

301012 001005 331005 001056 031056 001056 001067 001061 301067 001061 001071
33131?

00107~

00IC

SOLV0850

SOLV0910 30LV0920 110


NTSOLV0030
STEP=NTSTEP01

B0CA_L
5THUO.
FAJ5.IX'VJNPv6si'XC.Y0ZCE.JICOSvTL
PLSTFCALL
(Jt'lX4UWVNO6REIXCY:Z'E401COS'TL IOELS)0

cSTEP
mnuL
usna:
Fan
Swa.IrmNsr6=nL.zsxE
FIRST
THE

ITHRU
STEP
L00
OOUBLE
ONE
THO
(0NO
STEPS
SIN6LE
JVTS=216)3

U0H1 3U011'U372(1)E0X(10X2(1)09V 1AO(I10 ()'


XUNTVTS)
1
<10
E'V(1I=.TEV(1I2)08XE)U(1)
80NCALL
I0HNv0 315.VJH01S TIF='WUO.V0RE)
EFST( IF.5WAS'HASvWEJ'VU 0HUOq:9)
CALL

F1
I1
HEO)
NTO(1'=)0FOPC3O(1)'FIVT(1 '
H109)
ITL(10J)0
J
I
R0I=NTE(V2T8S)(.

FILE
PLlSTIC
WE0100
303501 5

H1'
STRS(1)0
1
NSTRS)
31=TE(28)(
H10
1
800(1)
LBAP)
RI=TE(ZR)(
8H10
I
N8)
91=T=EF(I251)(0
(U106
0R1COIS(1T0JEK)'(J=1203801)= '31

x=
cuv01-$1_-._p~:1._n2)s
1300
TO
6O
(1X(R'JE).6E.2)
IHFROIRTCE.(B2H8O)WT
(00
IF
T3
178
NCHAT'E9'O)

CON01TIONS
INITIAL
SAVE
03
JF=1.NUMEL
220

103
117
=10NCF0T

K=1vN3VZL
116
33

U111
CHAT
RITEIZR)

S103
TIF (1I) =STIF 2(1)
(I
1
H'=J-1)2

CFAT
E00127)
IL00P
NTE6RATION

'PAV6(JE)'WUO.1 )

3Z-2=OEL14"EL1

1=10N8
113
30

JVTS=1'3
199
03

OELTAF=OELT0.5

10=1NOEI(JE)
-S=3'(JE-1)1

TZ RO=TIHE
0EL1=OELT

:JVTINUK
220
220
TO
6O 300
COVTINUE

35LT=3EL2

COVTINUE
173
NJ
HJ
1
0=
REiINO
28
27
REIIN)

REJINO
27
'5T351 3108 9(1 '
1)

WJ
0
=

(311

(1', '1

00~01

(30313

I')~

'....
SOLVE
150' 151 152 153' 150' 155' 156' 167' 158' 159 160' 161' 162' 163' 150' 165' 156' 167 168' 169 170' 171' 172' 173' 170' 175' 175' 177 178. 119 100' 181' 162' 153' 156' 105' 156' 151' 108' 189 190' 131' 102'

136' 131' 118' 139 100' 101' 102' 103 105' 105' 146' 107' 108'

103

lb?

03336 03336

03307 03350 03351 03352 00353 03350 03355 00355 03356 03353 33361 03361 03361 00362 03362 00362 03362 00363 03360 03375 03005 03013 03016 03020 03026 03430 00034 03050 03060 03063 03075 03011 03500 00503 03506 00512 03513 03510 00515 03516 03516 03516 03516 03511 03520 03520 03520 00520 00523

01031 03360 03301 00390 03306


03307

I.....

J1336

001006 001006 001050 001053 001072 001520 001520 001522

001530 101506 001560 001560 001601 001651 001657 001675 011617 001712 001706 001010 101725 001125

001033 001737 001702 001701 001753 001753 001753 001753 001753 001753 011155 001166 001766
001727

001773 001773 001713 001773 002016 002032 002035 002035 002003 002100 002055 002053 002056 002060 002060 002071 002071 002111 002121 0021?2
1017R1

0015??

OAY?
110010

SOLVIOSO
SOLV090 SOLV090 SOLV0950 SOLV0960 $0LV0070

SOLV1050 $0LV1070

SOLV0990

U01 5U01(1)'UO02(1)1IU(2'X1(50V10(1 (1v

PLSTF(JE91X0NUHP'NO6RE0XCvY0ZC.E01COSTL4 0ETLS)0
CALL

X?KE10
1
NTVTS)
N(10)=XE(N 2I1'BXC)H(1)'

SIZE
STE
SHAS
STEP.
LlST
HALVEO
HATRIX
TIF NES

FR:ALL
EO(10NUFOIS0NO lS.NU0PqVO6RE'NUHEL4

F1
IN1.
HEB)
TO('1=)4FORC O(1 )0FINT(1 .
1=
(50
.ANO.
T0
01
VITS.E'0.1

1NYVTS).
IL(1'J)0
J
1
1'
510
91
0=(281(

PLASTIC
REUINO
PROERTIES
FIILE
'I0.1)
lc0' zcxlvVA0 FORC 0E.IX
S01'
1
N51
5T0I=OFI2(51)(0
RH57051
1
<TRS(1)
10
E=0 (251(
LJ00)
1
800(1).
1'
E0=(251(
0500128)
( 01COS(I.J0K)J=1'3 01= 031
C1=(0.5-8ETA)'0ELT'OELT

ITO
350
=6O
(lX(6'JE).6E.2)

AFORCE4BHOHI
9500(28)
K0 1=HO (VTS E'KBLO)
1TO
9)
=(<0 0'NE.0)0

CZ BETIA0EL1'OELT
I=l0NCHAT
105
00

00
K=10NU0EL
180

110
JOO
t=1'Nu0EL IN3I=1NOEX(JE)-l

STIPF2(1)=STIF (1)
T10E=T10EOELT
CWAT JCHRT
05001251
01 E(21)

UPOATEO.
BE
UST
80
OJ
I=1.ME4

00
1=10N8
191

I=1qNB
02
OJ
LS=3'(JE-1)1

1c
(186
11
60
VCWAT0F0'0)

09l16(JEI'0U0.1 1

C0=0.IOELT"2 CS=0./IOELT

(187
IF
70
60
JVTS.E0.3)

1 0E=TZERO

CJVTINUF

OELT=OEL1

CO0TIVUE

CJVTINJE

COVTINUE

COVTIVUE

C3=OELT/2.0

J
NJ
1
0=

19=IN0x01

PEdINO
28

110
T0
20

00
0
=

REdINO
27

27
RZJINO

51IF (1 =0.0

F0!CO(1)=0.0

180

185 186

181

80

190 01

350

02

191
(I00

llnl

IF
C

I.....

SOLVE
2200
198' 199' 200 211' 202' 203' 200 205 206' 207' 208 209' 210' 211' 212 213' 210' 215' 216' 217' 218 219' 220' 221' 222' 223'

190' 195' 196'

200a
225' 226' 227' 228' 229' 230' 251' 232' 233' 230' 235' 236 231' 238' 239' 200' 201' 202' 203'

205. 206 207 208 209 250 21

107

00625 01630 01602 01600 00605 00650 01653 01651 00660 00662 00663 01660 00665 01666 01661 01667 00667 00610 00610 01670 00671 01612 01675 00611 00700 00100 00700 00100 01101 01703 01705 00706 01111 01113 00110 01111 00120 00721 01723 00720 01720 01725 01126 01771

01525 00526 00521 00530 01501 01551 00550 01555 00557 00565 00573 00601 00601
01627
na....

..

=53=

-_

110910

002125 002133 002135 002100 002100

002171 002202 002202 002202 002212 002212 002212 002212 002212 002216 002216 002200 002200 002203 002211 002271 002210 002306 002323 002323
002151

002306 102305 002306 002306 002306 002301 002351 002356 002365 002370 002370 002376 002000 002021 102021 002021 002021 002022 002031 002051 002053 002062 002062 002065 002501 002510 012511 012525 002525 002531

392511._ _ _

002327

OATE

soLv1s o

SOLVI91IO
SOLV1020 SOLV1030 $0LV10 0 SOLV1050

SOLV1390 SOLV10 0

$0LV1370

SOLV1 30 SOLV1100 $0LV1150

SOLV1120

$0LV1050
'_
.~1IIr.'wa

4HU94

80C0-L
$TF(JE.1X0VUWN0 RE0XCY0ZCE01COS0TL
H0IFV(LOCHE1WUOK NTvJ(1'EFORCDX1lvFHO Y)
CALL
E121
ORCKL)=FORC(L)-=INT(L)SHA (I)'C5V(L)AO(L)
BOUN01UqHP0NO IS0NUH1S0TIF.HU50NO6RE)
CALL

F105
IER='.13.'
0AT
"18)
STEP
TIHE
1HAIn.T(SX0'"'EPRO9

CFST( IFvSWI 'RHAS0NE4vVUHNP.U09C)


CALL

9O01FY
S1CI'
FOR
0FORCES
PSELCAICFEHIENTOS

HCCALL
BtFORCE0$TIF.HEl01vHUOL01'E-5'IFR1

0HPA0(RHAS(1' 1'FAC0FYN'3v01)
CALL
AC=(EFOCE(1)-0EL1'V(1-C1'A0(1)IC2

E=3RCE(L)=FOIC(L)-=IVT(L)FOYV(J)
123

V1)=V(1)'OEL1'(C6'AJ1 6AH '0C)

2LASTIC
PWEVIVO
FILE
ROFRTIES
I=(VTSEP.ST1.An.<43).VE0)L=-1

COVPUTE
=ORCE
EF ECTIVE
10101X
XJtK0l1=EFORCZ(K1) l0(K1)
OCALL
ECO (NO 01S(1).J .10 7)

t2s_aMs<g1,gL1w.?w',

JRITE(601 51 F0.NTS EP
FAC (J)=C5'V(L)*A0(L)
122

I232
TO
F(VUH01S.0.0)0O

<TIS(10)BlP(1)01X5)
J=10NORE
231
00

120
03
I=1'NUN P

10
IF(J (J1.E0.01
6O
231

IOO
160
=1 0NUHVP

I100
T0
F(1ER.E6.O)6O
L=5'(1-1)'3'J

K=(1-1)HO6RE

LOS=NO6RE (J (1)-1)

lO)
230
=1.NUN)1$
L=s'(1-1)J

I=11qHF4
150
O)
100

L=6'(1-1).J3

1X5=1Xl5vJE)
1 5=0 0(1X50101

)0
J=1'3
121

33
123
J=113
JO
J=110
122

110
CJVTINUE

COVTIVUE CJVTINUE
231
233

:ONTINUE
12O

EX1T
CALL

A'(1)=ACC
150

COVTINUE
232

COVTINJE
90
L92=L0C01

(W0
1
=J-1 '?

27
RZJINO
KOJN1=0
L=1

0110

1010n~

II....

92"21.
SOLVE
252' 253' 250. 255' 256' 251 258' 259' 250' 251' 252' 263' 260' 265 266' 261' 268' 263' 270' 271' 272' 273' 270' 275' 216' 271' 278' 279' 280' 251' 282' 283' 280' 265' 286' 287' 288' 289' 290' 291' 292' 233' 290' 295' 295' 291 298' 299' 300' 301' 302' 303'

305' 306' 301' 308'


3X!

00730 00731 00732 00133 01733 00130 00136 00131

01100 00100 01100 00100 00100 00101 00102 01105 00150 00151 00153 01756 00151 00161 01762 01165 00166 01110 00710 01110 00110 00112 01113 00775 01000 01001 01002 01005 01006 01010 01011 01013 01015 01016

LSl
I

01021 01022 01020 01030 01031 01032 01035 01036 01037 01001 01000 01005
01010

00137 01137

01115

.51

110N7R
OATE

002502 002505 002507 002551 002565 002556

002575 002630 002615 002613 002532 002632 002632 002652 102551 002651 002652 002659 002630 002650 002660 002660 012552 002676 002677 002701 002706 002706 002736 002706 002706 002705 002715 702715 002720 002755
00257!

EN"6Y(X0EFORC0VFINT0OR $HAS0R $ME0NUHR0VO6E)


CALL

002755 002755 002755 002755 002755 002755 002757 002760 002761 002763 )JZT4S 002770 002772

302706 002755 002755 002755

00115

002705

0027b0 00270

COHPUTE
ERROR.
ABS
HAX
FOR
10302030
ZRR(T)0
INT.
ACCEL'0
FORCE.
ANO
SZCIFIEO
TO
ALLOUABLZ
(IS
HHlX
lllWdW
SHALLER)'
SO
JNICHEVER

STE
EVTS(1)0
9ALVEO
XS
SIZE
SHINIHUH0
TO
SET
0''
H91N
PECIFIEO IS
O(STEO
LAR0ER).
XS
SIZE
OR
OJUBLEO
ISET
TNHIECRWUETVSER.

STEO
THE
IS
L9NS
SIZE
)JRIN6
JNCHANSEO
HEVT
LAST
AVO
STEP.

IF
THAN
LAR6ER
IS
ERRSl1)
AVT
CORRESP.
TOLERANCE
ALLOHABLE

=RC1"
CAALL
INUHEL0JVP0N3RE0IX'i01I.FlVTvoLOsv1)

VOT
STEo
THE
HAS
HALVEO
THAT.
BEFORE

(6O
IF
453
TO
ER S(J).LT.VTSPA!)
XWA(1)=AHX1(HAX(1)0A8S(X01)

VTSPAR=VT$1 0J K1-VT5120J K)
STORE
SIN0LE
200
RESULTS
STEP

X01(3)=EFORCE(K3)0XO(K'3)
STORE
STE
OOUBLE
RESULTS
(197
1r
TO
6O
JVTS'NE'S)

ERIS(J =EVTS(J)'XHAI(K)

197
(TO
1=
199
6O
JVTSVE.1)

VTSPAR=AOS(VTSPA9)IS.
10!.!
Y!
III._IC_MI|"I.#5
'.n

X3(K6)=EFORCE(K6)
XJI(04)=F OFCi(K4) XO(K5)=EFORCE(K'51 160
VTS(2010K)=A0(K)

VT31 010K)=AO(K)
00
(=10HEI
196

1=10050
195
00

V19B
T512030K1=1 (K1

1=
(050
13
000
EL16F'H IN)

VTS(2020K)=V(K)

VTS(1020F)=V(K)

01SOLACEHENT0
RES
K=10MF4
920
00

V196
TS(1030)=X1( )

198
OO
K=1'HE2

EF)lCE(1)=X1(1 )

1 '1s.vc.01
1=
055
050
10
00

OELT=OELTAF
l=(VR0 T'0)
:0
000
35LT=H91N 10
COVTINUE
199

COVTINUE
020
TO
00
035

IVTS=1 KVTS
033
=1

ERS(1)=0'0
015
X1 1)=!0(1)
195

10103
*15
OJ

IIKTI)

J=5

lllinn

(~1)

.IYKIIlnlI

SOLVE
3150
310' 511' 312 313' 310' 315' 316' 317

305' 306. 307' 308' 309' 350' 351' 552' 553 350' 555' 356' 351' 358 359' 360. 361' 362' 363' 350' 505. 366' 01.

319' 320' 321' 322' 323' 320 325' 326 327' 328' 329 330' 331' 352' 333' 330' 335' 336' 337' 338' 339 300 301' 302 303'
B99

01120 01125 01120 01125 01120 01150 01150 01150 01150 01150 01150 01150 01150 01150 01152 01155 01150 01155 01150 01100 01101

01001 01050 01051 01052 01050 01051 01000 01001 01055 01000 01000 01000 01000 01000 01000 01070 01015 01010 01075 01011 01071 01071 01011 01101 01100 01105 01100 01110 01110 01110 01110 01110 01112 01115
01110
"....

.51

011'2 01100

110070

302177 003001003011 003011 303013 003017 003021 003023 103023 003025 003027 003027 103027 003027 003027

00303?

003005 003006 003050 103053 003035 003051 003061 003110 003110 003110 003117 003123 003101 003131 003257

OATE

SOLV1220

SOLV1250 SOLV1250 SOLV1270 SOLV1250

SOLV130

ALUATS4
FIHAL
RESULTS
F10!
THE
SECONO
SIN6LE
STEP
ARE
KEPT

3ETA
1=v
0 E(5'6)
CALL
RESTR(1.K0NTL19)0ICHK0FIN1'XO010V.A0 I1

IF(KONTRL(0).6T0.AV).HO(NTSEPvKONTRL(8).50 )

951
FO9HZA9TION5R0SX10T'OEA9THX

101
TIHE
.6O
LTO
170
T'TIHENO)
1=(K0O
TO
O090
NTFL(P).LE.0)
1r
(O00
TO
000
ELTILF'H X)

980
UI1TER('6l'y9i1E)TA

V(K)=VTS(1.2K)
CA_L
OUTPUT(FI NT)
431()=VT5(1010K1

005
X1(K)=VTS(1.3.K)
L00P
OF
ENO

04X
005
O)
K=10HE9

03
1010"? 032
032
51IF I1 =5T1= 21
OELT=H AX

090
CJNTINUE

OL1=OEL2

JZ:1=OEL1

9ZIU9V

TO
0O
000
IVTS=1

Iw
_V
JWW.

OZL1=OEL1
TO
6O
040

IVTS=0
436

SIOP

437
KVTS=0

SORIN0
nn.l..

EV)

I,(,I'I
......

S0LVE
368' 369' 370' 371' 372 373' 370' 375' 376' 377' 376' 379' 350' 301' 382'

380. 385' 386' 387' 398' 309' 390' 391' 392'


303'

390 335' 396'


303'

398'
307
......

FOR
EVO
01106 01107 31150 01153 01155 01157 01160 01161 01152 01163 01160 01155 01165 01165 01155 01166 01171 01172 01173 01175 01176 01200 01200 01202 01203 01203 01205 01206 01212 01213 01210

6i00vP
VJC.

"..

..

0.3.

Oescription of WKFU

O.3.1.

Subroutines Removed from WRECKER


The following WRECKER subroutines were extraneous to the research version

and so were removed during development:

ASSMBL, BOUNO, CRVTBL, EFFSTF, EPTSTF,

ETOG, FORMK, INCOOE, KAOO, LOCSB, MCHB, MOOIFY, NTOG, PLSTF, SLTOMR, TRIANG.
ZERORC.
0.3.2.

New Subroutines Oescriptions


The following subroutines were created or modified to infuse the variable

time step FU procedures into the Explicit WRECKER program.

Listings of them

trail these brief descriptions.

w
Common Blocks

JUNK
CONTRL
STR
OYNAM
BEAMS
FUN
OUTPA
MASS
ENGY
BGO
VTS
This is a CAI developed subroutine which contains the explicit FU
numerical integration procedure and the equations of motion, with an
error monitoring and step varying algorithm.

It uses the

same

principal subroutines as the previous version of ESOLV it replaces.

MAIN
Common Blocks

WORK
BLANK
CONTRL
OYNAM
STR
BEAMS

I60

This main program from WRECKER now only can call ESOLV after
input and assemblage of the initial data.

REAOIN
Common Blocks

ENGY
STR
OYNAM
OUTPA
CONTRL
BEAMS
FUN
VTS
This WRECKER subroutine was modified to permit the input and
echo of variable time step parameters.
RESTRT
Common Blocks

JUNK
OYNAM
STR
BLANK
ENGY
FBLOK
BEAMS
BGO
VTS

This WRECKER subroutine was modified to enable checkpointing


restarting during the variable time step FU algorithm iterations.

SOLVE
Common Blocks

JUNK
CONTRL
STR
OYNAM
STF
BEAMS
STUFF
OUTPA
ENGY

I61

and

This subroutine has been dummied out since it is not used, but
the loader is (for some unknown reason) not satisfied when it is
deleted.

0.3.3.

New Subroutines Listings

162

vY81EP

215:

IWOEX

"135

1511

ITER

TITsE

H9J

135
15
12
xZ
W52 v==152
000311 001200 (101151 001195 001155 001102 O00JOW 000005 003113 002150 301511 003110 001020 023251
12

0 01 2 0 01 2 101 12 0 01 2 101 12 10 1 2 0 01 2 0 01 2 0 01 2 0 01 2 10 1 2 1 1 12 10 1 2 0 01 2 100115 0 01 2 0 01 2 0 01 2 0 01 2


OAY?
111R?"

1 0007
0006
9

r-lclu-o

no 1 5

oco1 2
0005 0000 0000 0000 0010 0011 0011

0010 0011 0010

OLOS
000001
1
00011
0J1
010625
0007
OWASS
007070
FAV6
0000

0K050
R
0010
XOSHX
010620
0013
0012
XPEN
000454
3
XRHAS
12430
00000

001210
0010
TERROR
0006
T=
001130
01I"ENO
1
TIH:
00004
00001
001130
000000
0013
IEXH
0014
XKZN
0XLOE9
R
1
XL05
10234
16040

000002
0010
:XSTEF
000635
000676
0000
0VCOFF
1
VUOE
"rUV
01205
IOOUB
000005
XCV
005214
0013
1
0015
INO
000006
0000
INALF
01200

001171
0K3'P
(
1
0000
KOVT9L
LOC
01206
00000
000
0000
INJPS
00125
01P
0010
IN
INPUT
1
0005
01202
00000
02013

2 01 2 10 1 2 101201 acon 0 021 0 121 10 21 0 02 2 0 02 3 0 02 1 ,0 02

20 1 2 101 12 0 21 2 0 01 2 1 1 12 2031 2 0 01 2 0 01 2

0
0010 R
0014

0010
N9V
0001660
1
0007
V'JT
NSECT
010624
VTP
000577
0010
0636

0000
11
0001160
1
16
0J
JJ
01161
01170
01131
000
VPIIC
000003
N)UT
001610
1
0011
0000001
NPRP
W905
01661

0000
TL
000000
0R
T1SS
1
0014
TOLRAF
V05
0114W
01174
05210
2'
ESO_VJ(NWZBL0NJHRVP.NOU0REJNUHITS'NOIJ1S0NHASE4KC?VvZC0
0TO(1)X(1I0V )E10(N)01($'FOR1CI0VO 1SN( 05H$S(1
15'
CJW'ON/E6YIXKENT301XPFH(30)XEJ(301'FIN019 FURCO(901'
20'
CO1n'
WHN/FU INPT(60)IF(30 1 2(30I 1COEFI301NFU T130
C0 ON/ST910NOEX130)STRAIN(5)0STRE (451vSIOE(90)I(6'
7'
T0'
OYHAHIC
C"'
50_UTIOV
WITH
HETHOO
VFU
OE
ROA0N-ESLIAENRTE
C09'
WON/YVAH/OEL1'TIWENO0HXSTEP.NSTEP1HE4Y OyELl

C020'
1ON/UTPlVRU0 lSNFRE40NICOUT(109 )'NOUT12 0
000607
0005
0519E
R
0
ST9AIV
STRESS
002921
5103
00055
00532
CJW1ON/BEAWS1'9LS(3015)0IC513 5013R120
10'
1TERWX
001160
11=U
01IV2
1
0000
0005
11
01201
01203
00000
'4X05(9 1.05VX(90)X50(9 1.XL05(9 )0XL5190
27'
COH29'
N/VTSIEVTS(31.HWIX0HlN01IOUF01HALF
'vX:(1)YC(10X190 CI61 J(8).ICl1)
16'
COWHN/B6OA0St9U)'05(90)VZ(90).V05(90)
26'
'1X0E U0X1'V0AJI0 R201FIN10VLE)
3'

28'
'01901'O!L(90)'XZ(901'AZ190)
OA(C 5(3C10NTW$AS10(3N10
F17'
"11'
WS (4015 0VSEC1 N3(10 )
C04PI LER(XM=1)0( OR=IN0)
1'

N19'
S
COEF'NPUT
C6'
30 9H/COVTPL/(OVT9L=10)

O0ILNOESN1S5l0OV)
13'
'71ILE(201 09RVqNR9
21'
COWHOV/HAS /X9HAS13 010 )
23'
J=IN111)
12'
IHENSION
CJW!OV/JUVK/TL1903 0)
5'

OHIBWLE5N150101N
010'

E30'
OITI
PS1/10F'3/
1=1IE0ER
22'
OUT
15=11'6
30'
12=11'2 35'
10=11'4 36'
140LF
3H'
0
= 39'
IOJUB
0
=

32'
12(1)=)

'$TS(10 0 1
8'

IC4K=0
37'

'TEV130261
25'
31'
10103
356
O0

I33'
956
(1'3)=1

0
'0'
"....

ESOLV

1
0015 0000 0000 0000 0000 0006 0011 0011 0000 0005 0000 0003 0013 0014
00125 00126 00130 00133 00130 00136 00137 00140 00101 00102 00103 00153

00101 00103 00103 00103 00105 00106 00107 00107 00110 00111 00111 00112 00113 00110 00115 00115 00116 00117 00117 00120 00120 00121 00122 01123 00123 00124 00125
0112'
'"...

,.

3
206"

890;"!
lm.
000225 000227 000232 000235 000203 000203 000203 000203 000325 000326 000327 000332 000330 000335 000300 000302 000300 000366 000350 000352 000353
00032 00002

000355 000355 000357 000350 000361 100352 000030 000630 000630 000035 000035 000035 000635 000035 000433 000003 000003 000053 000053 000553 000070 000475 000500 000512 000520 000526 000501 000501 000501 100553 000553 000553 000SIP
00035

110078
nlTt

1'2!

.r'.~n~r?(-'ln'.
n

TWA5102=9HAS5103 'RHAS(2031-RHAS(3091)'RHAS(Iv2.1)

T9AS(Zv30=RHAS(103.)'RHASlvZ01)-RHAS(10' RHASlZn301)

7WAS$(1'3)=RHAS(1.20)IRHAS$1203 -RHAS103 'RHAS5120 )

TWAS(140=RHAS42Z01)'BHAS(3091-(RHAS 2.31)"2 TIAS(2.)=R5AS$(1.la)'R5AS$(3q'1)(RHAS(1.3')"20 7WAS(30)=RFAS(10')RHAS5120 )-(RHAS(12.)"


OZVH=RAS(1'0)'WAS(20 1)'R!AS(34I)
-

VNATREI6RABTLIEONS
ICONTROL
FOR
$42.'RHAS(1.2 )'RWAS(1.391)'R!AS(2'31)
AS(30'1)(RHAS(1.241)'2)
JZNOH=EVOH.RWAS(201'0HAS1031'021 0$
2WAS10 1)(RHAS(20341)"2 'RHS

.-_

552
7T0HAW=S 5I(J4KIK9OE1HO)H
OAERPIFANBOLENST
VZERO

(1TE9FX0T'S)
IF
JST0P=1
(980
1=
T3
00
JSTOPaEO.1 )
T551
HAS (K4J)=YHAS (J4()
HATRIX
HASS
IVVERT

10600

00
1=10NJN0P
550

5E0=0U5NPI0 305E
1010
132
00

l=1'HEO
212
00

=0.0

ITERHX=KONTRL16)
CA9T
EVTSI?)
=
0 0
FOiCO(X)=O.0

00(1)
0.
=

551
00
J=103 551
00
K=103

552
K=103
J=103 00
552
00

550
CJVTIHUE
II

II

Il(1)=O

'I H

STIAIN(1 )=0.0 S732


TRES (1)
1
733
OO

0
=
10=5HX(1) XOSII)
1.0
733
0-OS(1)=0.
xli1)

OL(1)
0.
=
XL05(10.
X050(1).

III..

CC

212
Vl1)=0.

VZ(1) Al(1)

l1050(1)
0.
=

A5(1)
0.

v05(1)
0.
= 0
l05(1)
= AJ(1 )=0.0 A1(1)=0'0 x0(1)=0.

nnn

.(III

.9007,

ESOLV
01' 32' 3'

55' 56' 57' 58' 59' 60 51' 52' 63'

50 51' 52' 53'

05' 46. 37' OH.

60.

55' 56 57' 68' 69 10' 71' 72' 13

75' 76' 77 78 79' 80'


T

5.

82' 83'
91'

85' 86' 81' BB 89' 90' 91' 02'


8!

90'

95' 9o 91'

03'

00133 00103 00100 .0105 00106 00107 00151 00151 00151 00151 00153 00155 00157 00160 00161 00162 00153 00160 00165 00166 00157 00170 00171 00172 00173 00170 00175 00176 00177 00200 00202 00205 00206 00210 00213 00213 00213 00213 00215 00220 00220 00221 00221 00221 00222 00223 00224 00225 00226 00227 00230 00233 00236 00201

00207

0020!

7.

00252
0075?

l7

000570 000570 000570 000571 000572 000577 033600 300507 000611 000613 330613 000513 000613 000616 000633 300535 000637 000602 000606 003605 000606 330670 300673 000670 000670 000733 000707 000720 000726 000731 000733 000735 000700 003752 000752 000755 300755 000757 000766 001000 001017 001017 301017 001022

001022 001005 001005 001005 001005 001005 101131 001101 001103 001111 001121 001123

301125

00102

OATF
110070

(NO6RE4NUHOIS0NO1S4XO01 V'0.1'FORC0'AVLC.
EBOUNO
CALL

F9CIN(VU!CL0VJ10V3RE01XE.OvFIN1'OLJS'0)
:ALL
0VUWNO'V35RE 0NUHEL0

0U WN4V0 RE nNUHEL.

RECA-L
ST (-1'KOHT_(3)01CHKFINTvXO01V0 1
(N6O
IF
TO
P1
R.6T'0ANO.iP.LF'NUHP)

.XO00)

4XO'0)

INAT4FA0REATEIROSV
COWUTE
FRE FOIZ'NUWJIEnVOJ01S
CALL

OCOHUTE
NEH
IS=LOCEWENTS
'XCY IZC'lInV0A FOR:09E41X

O0./10.
E_0=1'CART) U5./(6.
COVFU2
i-'=TCART)

9/(9.
OCOVFUI
EL'1'CART)

.XC0YCZCIX1IV0A FORCOE01X

6/(6'
CJVFUZ
JE-TCA<T3
CON01TIOVS
INITIAL

OEC0 (INPUT(INP)0J 01 08)


CAALL
1TO
200
=(KONTRL(R).SE'0)SO

F:9LL
RE U1 0NU53150V3 15
K3VTRL(B)=-KONTRL(B1

I6O
TO
100
Fl TYP'6T'0)

IF(VPUT.EO.0)
102
TO
6O

IL00
NTE6RATIJN
OE=L1'OELT

0.5='ZVTS(1)

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100
NP=1'NPUT

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TIWE=TIHEOELT

00
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010
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=

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=
OELI
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=

05.1
OELl
=

OELAF
OEL1'0.5
=

1=1'H60
020
OO

NTSTEP=NT5T5901 ITFU
060
00
1
2
=

1 1=J (21U._-.

00
M50
1
3
=
COVTIWUE

II

CJVTINUE
010

II I'"

1T1=J 1 1

CJVTINU
200
ITER=O
000

FO=RCO (1
2
TO
0O

FIVTO(11
0
=
FOCO(1)=00
'0)

(Ill

.~.,

um:

.ltll

......

ESOLV
99' 100' 101' 102' 103' 100' 105' 106' 107 108' 109' 110' 111' 112' 113' 110' 115' 116 117' 118' 119' 120' 121' 122' 123' 120' 125' 126' 127' 126' 129' 130' 131' 132' 133' 130' 135' 136' 137' 138' 109' 100' 101' 102 103' 100' 105' 106' 107' 100' 109' 150' 151' 152' 153' 150' 155' 156'

33252 03252 00250 00255 00256 03257 03260 00261 00262 00263 03263 00263 00263 00260 63256 03267 03270 00271 03272 03273 03273 03270 00270 00270 00270 03275 00277 03300 00301 00302 00303 00300 03305 03306 00307 03310 00311 03312 00313 00316 03317 00322 03323 00320 03326 00326 00327 00327 00327 00327 03327 03330 03333 00335 00300 00301 03302

5.1

00101

1 121
011:
21::

0 1 21 001131 101 1 1 1 15 101 1 0 1 1 0 1 1 101 1 011111 101110 0 1 10 0 123 011213 0 1206 1 121 10121 0 121 0 1302 0 131 0 1 13 0 1313 0 1316 01 121

101327 0 13 2 10131 0 1314

0 131 0 131

o 1'u1 1 1 1 001006 10141 0 10 0 0 1 1

0 141

1 1 1 1011 ' 0 10 6 0 1051 0 1 51 0 1 51 1 1 10 0 1 12 001010 0 1076 30151 0 151~ 0 1512 0 1512 111512 101512 0 1525

aPT1~4

001555
00150!

n01525
.0 1.5 ._ - .-_. _

.L-H&D_I6kilIsU"OLSAD'J1qydi-la'iJl (sm_-

(ITFU
IF
E0'
11(1)
12(1)
O2)
E0=LS1O0'V(ZA(1)

O1=
X1(1)
1)
.50.
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XO(1)
ELZ0$=L0l(F0'V0(1)
(1TFU
IF
V(1)
2)
CCO.
ON=
EFL0U12'(AVZS(1)
FRCINTUWEL.VU0N.V0RE.X0E1X FIH710L501
CALL
IF
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(1IFU
V(1)
C1)
0OE=NL0
F1U'(0V(1)
1(L02)=(FORCJ(LOC)-FXVT(LOC)ISWA l1)
C2.'11(1)
20.'01V'(-1)VZ)(/16).
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CALL

VC005(1)
A0R5T(i-1)0.)'V/(210).

VClZ(1)
AZ90
(1-')(0')/V6(1.)
025
11
30
FOC (J)=FORCO(LOC)-IVT(LOC)

COHPUTF
VELOCITIES
NEH
OEC0 (INPUT(INP)'J .10.8)
CALL

L1 =NO0RE '(NO E-1)0(O!P

LJC=NO0RE '(NO E-l)(OHP

.F0.
(1IFU
16
TO
6O
2)
610
01(1)
CART-V(1) /0.)
I6O
TO
600
F(INO'E0.2)

1TO
020
00
=(LOC.E01)

I00
620
TO
F(LOC.E0'1)

IO)
025
=1V0 NP
I00
600
NP=12NUT

L1C=6'(l-1)3J
I110
10
BC
F(IN0.E0.?)
X=(SHAS (1).E2.0')

nn
I=110FEO
620

LJC=6'(l-1)'J

1=10ME0
610
00
02(1)
00(1)
=

00(1)
01(1)
=
IF10
502
00
NPUTvE9U0)

X215(1)
X05(1)
=

I10
F300
00
(ITY.6T.0)
CONTINUE

J=1'3
510
O)

J=1.3
520
CJVTINUE 30

COVTIVUE L1C=6'(I-1)0

CJVTINUE

A1(1)
005(1)
.0
=
0 05(1)

XZ(1)
X1(1)
= V(1)
VZ(1)
=

CJUTINUE CONTINUE

Y1 E=J (B)

C9NTINUF

IOVTINUE

COVTINUE COYTINUE

NT1E=J (8) K01P=J (3)

K0 =J (3)

1 1=J (1)
11=J (2)

1
020

510

025 601

520

610

1
620

600 602

100 102
"~~
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ESOLV
_-

1590
151 158'

190' 195' 196' 197' 190' 199 230' 201' 202' 203' 200 205' 206' 217' 208 209' 210' 211' 212' 213'

182' 183' 180' 185' 186 181' 188. 169' 190' 191' 192'

150' 151' 162' 153' 160' 135 166' 161' 168 169' 110 101 112' 113 110' 115' 116' 171 118' 119 180
191'

103'

00031 00030 00036 00001 00002 01003 00005 00006 01050 01051 01052 00053 01055 01051 01060 00060 200062 00062 00050 01065 1051

00011 00012 01013 00015 00020 00021 01023 01020 00025 01026

00305 00301 00350 01351 01352 01350 00356 01351 01357 00361 01361 00363 00365 01366 00371 00373 01376 01371 01000 00002 01005 01006
01007

01027 01027 00027 01027

0"...

..

,.2'

3:,.'

113379

001555 331577 331515 331615 131615 001620 301622 001623 301627 001630 331600 3016~0 301682 301602 301651 001671 331677 301677

301730 001736 001706 301706 301750 331757 001763 301763 002313 302016 '102050 002050 302053 002055 032053 332053 002066 302076 002076 302131 002104 002106 302106 032110 302113 002115 002115 002126 002130 002132 002135
301734 301704

.902152

002160 302102 332103 002155


102103

002107

0175

(l'CA-L
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1)
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EL=.S41'-('7.V'(A1(1)
V21 1 1/20.

En.

C02(1)
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(T60R03
1=
EVTS(1))
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TO
50
1625

1
.Fl'
.(1HALF
10OUB
0
AVO.
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l355X111
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TOLRAE)
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50
1r
1602
1=
50
HMIN)
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TO
1627
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0TERROR
5(=U P1/X05HX1
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1
0571
33
1150
1'
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03
I
1600
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10
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03
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458
30
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101191)
453
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1
= 1

14LF
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1
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10
03
21
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57
135(1)
455
A1(1)
=

X1111
X35111
=

OE.AF
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OE-1
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1=(VPR.6T.0)

)Z-T
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=

35.1
410
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X311)
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=

COVTIVUE
457

OW(1)
X050(1)
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=-

1TZ=1TER01

COVTIHUE
1600

CJVTINUE
H60

COVTlNUE
1602

CJVTINUE
1601

1625
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COYTINUE
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TO
63
066
1650
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1211)
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L9ULV
2560

316' 217' 010

21=4

220' 221' 222' 223'

225' 226' 227' 228 229' 230' 231' 252' 233

234.

239' 240' 2&1 202' 243 20 25' 206'

235 256' 237'


23?.

22~

208. 269' 250' 251' 252' 253 25b 255'

2580
257' 258 259 260' 261' 262' 253'

265 256' 267'

259' 270' 271' 272'

204

247

I15

.3570 3472 .3075 00076 03077 03500 03502 03503 03504 03505 03510 03512 53512 0351b 03517 00521 03523 03520 03525

Inna.

00566 00567 00570 03572 03573 00570 03575 03576 03577 00600 01601

00525 03530 03531 03532 03533 03533 03534 00535 03536 03540 03503 00554 03505 03507 00550 03552 03550 03555 00556 03557 03560 00551 00562 00563

10524 01524

53564

03R67

L.1
.I

=sr

002151 002166 002171 002207 002207 002210 102223 012225 002225 102230 112230 002235 002237 002201 002200 002296 002250 002252 102252 002250 002263 002270 002273 002311 002311 002316 002326 002326 002331 002331 002355 002365 112355 002365 002365 002370 002370 002001

002527
00201

111879
OATE

RE'CALL
ST (10KONTRL(9)'ICHKqFINT0XO410VlO0A1)
1=(KONTRL(91.0T lNO' (NTSEP.K01L(R)1'E0 )

A05(1)
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0A0511)
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V1511)
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6./(6.
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C=L'I'CA4T)

EF116)
5R0='0
HAOT1RvH0lT5XE0R'OHlXTA

CJF01
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0400
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TO
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LT'71HENT1
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IF
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TO
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HHAX)
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1675
TO
6O
41

(10005
I=
5)
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1575
T:
so
ITERHX
NI TE(609 1)
OELI
OELl
'=
00011
OE=LO/OZLI

1
1660
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10
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=

1630
11
1
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10
=

O32.50
E=L1'15L1

170
=~90
50
(KONTRL(8).LE.0)

033301
E=LOIJEL1

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=

L00P
OF
ENO

OELT
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=
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=
00001
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l.
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1675
70
$0
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=
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CIVTINUE
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CJVTINUE

REYU9N
STOP
C00O01
30001
1.
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1630

1650

1660 1675

1655

980

690

991

IE
...

01553
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315'
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307'
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286' 01626
291' 01633
253' 00622
284' 00623
265' 00626
257' 01627
258' 01630
290' 00632
292'
282' 01621
01617
289' 01631

00610 01611
273' 00603
00602
270' 00606
250'
275' 01605
276' 277'
278' 01613
279' 01610
251'
00615

296'
296' 01636
01635
295' 00637
203'
01630

311' 00650
300' 01650
302' 303'
01652 01653
298' 299'
01603
00645 00606
306'

310' 01662
311' 01663
312'
308' 00656
01655
309' 00661

207'
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FOR
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staxlv

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10s
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0002 0002 0006 0000 0002 0002 0000 0005 0002


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MAIN
20' 21' 22' 25' 20' 25' 26' 27'

10'

29' 30' 31' 32' 33'


2'

I.

35' 36' 37' 32' 39' 40'


34.
......

FOR
E00
34050F
30110 00110 33111 03111 03112 03113

33105 00105 00106

03115 33120 00120 03121 33121 03122 03124 03125 03126 03126 03127 03130
00114

....

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00

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0 0136 0 0136 500136 10 136 0 1 36 0 0136 0 3156 0 015 20 135 0 015 0 0135 000136 0 0135 a?o1s aoaxse 0 0135 103135 n oxs 000136 0 01& 0 0136 20 135 0 0135 0 015 301 36 01 10 301 52 0 0152 _n anxsz
aux

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2000
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330152 330172 003172 000232 000202 303216 000220

000220 000227 330227 300227 000205 000205 000205 000266 000250 000260 000260

300265 330250

000300 300325 000327 000342 000302 003342 000302 000302 000302 000342 300342 000302 330302 300392 003352 300302 000302 000302 000302 300302 000302 300302 000302 000302 000302

000264 000256
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03100 33147 53150

50' 51' 52' 53' 50 55' 56' 57' 58' 59' 60' 61' 62' 63'

65' 46' 07 08'

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65' 66' 67' 68' 69' 70' 71' 72' 73'


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JT1YnE07(E J(0H6TV0PF2)0J=510 )63
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100

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110

2005
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30
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105' 130' 107' 138' 109' 110' 111' 112' 113'

94' 35' 96' 97' 98' 99' 100' 101' 102' 133'

58' 09' 90' 91' 92'

10"

03'

115' 116' 117 118' 119' 120' 121' 122' 123'


11"

115',

135' 136' 137' 138' 139' 100' 101' 132' 1'3.

125' 126' 127' 128' 129' 130' 131' 132' 133'


12"

IS0'
l10'

00351 03360 03357 03370 03371 03372

03252 00262 03263 03253 03255 03267 03257 00270 03271 03272 00300 03305 03305 03310 03311 00312 03310 00315 00316 03317 03322 00320 00325 03326 00327 00330 03333 00330 03335 00336 03330 03301 00332 00333 03300

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103L3

253
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333730 000730 300700 000700 000700 000700 000700 333735 300727 000727 000733 000703 000705 003750 000753 000760 000755 333773 303775 301000 101012 001010 001001 301001 301000 001063 001057 001073 001073 001073 301073 001076 001115 331115 001115 001115 001116 001116 301130 301131 001137 001137 001100 001100 301152 001150 001157 001150 001161 001156 001175 001201 001205 001210 001222

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150
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CALL
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100

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150

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151

100 190
2007

1001
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Gilli-l

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mm

REA01N
1000
106' 107'

109' 150' 151' 152' 153' 150' 155' 156' 157' 158 159 160' 161' 162' 153' 160 165' 156' 167 168' 169' 170 171' 172' 173' 110' 175' 176' 177' 178' 179' 180'

182' 163' 180' 165' 186. 187 188' 189 190' 191' 192
191'

198 199' 200' 201' 202'

190' 195' 196'


103'

107'

03373 03373 00373 03370 03376 00376 03377 33000 03007 03010 03012 00010 03015 03016 03017 00021 03023 03025 03026 03031 03030 03035 00037 33001 00002 03051 03050 03057 00060 03060 03051 03063 03055 03071 00072 00073 03073 03073 03076 00077 00501 03502 03505 03506 03507 00511 03512 00513 00510 03516 00520 03522 00520 03525 03532 00533

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001230 001231 001231 001240 001201 001201 001256 001256 001251 111213 001215 001211 101301 001311 001311 001311 101319 001321 001321 001323 001325 001336 001336 001362 111363 101353 001363 001353 001350 001010 101910 101425 001025 001625 001025 001025 001'35 101001 001051 001051 111070 001010 101011 001010 001014 001b7b 001501 001501 101522 101522 101522 1015?2 001522 001522 001522 001529

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150
200
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191 .91 1-.1. _,.


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E(WATEB15X01501 51 .51

TABLES
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NT=JN=NTFUV41
H91ITEIS91U)

0
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IF
50
1
011
10
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15
10
51

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F50HAT(E(0'01

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J=103
195
00

(61101
FIR6l1

2'00LE(31')

VR1 E(60131
VIFUN=0 1

NCJEF=0

0 1 E(601 01

01 IE(602 01

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1
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1201

2201

195 2202 200

1500

003

1505

can.

11

13 15 16

11

11

18

20 11

IN
0 0. .

2090

2000

205' 206' 207 208

210 211 212' 213' 210' 215' 216' 211' 218' 219 220 221' 222' 223' 220' 225' 226' 227' 228' 229 230' 231 232' 233' 230' 235' 236'

01535 01531 01500 00543 01500 00501 00550 01555 00556 01560 01561 00562 01563 01510 01511 00512 01512 01516 00516 01511 00600 01601 00600 00605

01516 01611 01611 01620 01622 00630 01635


01607

......

SL1

255' 256' 251' 258' 259' 260'

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5A

CONTENTS
PAGE

FOREWORD - -------------------------------------------------------- -.

188

Chapter 1 INTROOUCTION ------------------------------------------- -

189

Chapter 2

-suMMARY ANO RECOMMENOATIONS --------------------------- - 192

Chapter 3 -PROSPECTIVE INTEGRATION METHODS FOR

STIFF, NONLINEAR EQUATIONS

-----------F-------------- -- 196

.1 Newmark Beta Method ---------------------------------- -

198

(a) Central Difference Method -------------------------- -- 200


(b) Constant Average Acceleration Method --------------- --

201

(c) Methods Using Intermediate Values of Beta ---------- --

202

.2 Newmark Beta Method - "Non-Iterative" Version -------- -

202

.3 Variants of the Newmark Method -----_----------------- -_ 204


(a) Houbolt Method ------------------------------------- -~ 204
(b) Wilson 9 Method ------------------------------------ -- 205
.4 The Runge Kutta Variants ----------------------------- -- 206
(a) Cash's L-Stable Method ----------------------------- -- 206
(b) Michelsen's Third-Order, Variable Step Method ------- -- 207
.5 The Gear Family of Methods --------------------------- -- 209

(a) OVOGER --------------------------------------------- -- 209


(b) EPISOOE -------------------------------------------- -- 210
(c) Park's Method ---------------------------- --' ------- -- 210

.6 Stable Explicit Methods -----_----_-----_-----__----_- -_ 211


(a) Fu -de Vogelaer ------------------------------------ -- 211
(b) Modified Euler Explicit Method --------------------- -- 212
(c) Nonlinear Explicit Methods --------_-_-------_------ -- 213
.7 Other Predictor-Corrector Methods -------------------- - 214
(a) DE/STEP Program ------------------------------------ -- 214
(b) Cash's A-Stable High Order Predictor-Corrector
Method ---------- 215

185

Chapter 4

PAGE
CONSIOERATIONS FOR VARIABLE TIME STEP SCHEMES _----------__ _- 217
Variable Time Step Control Algorithms --------------------- -- 218

Chapter 5

FURTHER THEORETICAL CONSIOERATIONS ------------------------ -- 223

5.

Stiff Systems ---------------------------------------------- -(223

5.

Types of Errors ------------------------------------------- -- 224

Stability ------------------------------------------------- 225


Stability of Some Classical Integration Methods ------------ -226
Modern Theories of Numerical Stability Criteria -- 228
S.

Order vs. Stability ---------------------------------------- 232

5.

Explicit vs. Implicit Methods -------_-----__-_----___-__-__ -.233

Chapter 6

REFERENCES ------------------------------------------------- --238

186

TABLES AND FIGURES


IAGIE

TABLE I - Truncation Errors of Various Methods ---F---------------- -194

TABLE II - Stability of Methods for Linear Systems ---------------- - 195

FIGURE 1

Stability Regions -------------------------------------- -236

a.

Implicit Trapezoidal Method

b.

Backward Euler Method

c.

Explicit Euler Method

FIGURE 2

Stability Region of the Runge-Kuttu


Method of Order p -------------------------------------- --237

FIGURE 3

Region of a Stiffly Stable Method ---------------------- --237

187

FOREWORD

This study was motivated by the desire of the National


Highway Traffic Safety Administration to improve the computational
efficiency of a vehicle structural simulation program, WRECKER.
CHI ASSOCIATES, INC. undertook this task commencing June 1977.
Specifically, three variable step stiff equation integrators are
to be chosen and implemented into the WRECKER program to replace
the fixed time step integration algorithm in the present version
of WRECKER.

This report represents the result of a state of the

art review of modern integration methods suitable for the stipulated


purpose.

The material is mainly the result of a research effort

conducted by John Tucker and Michael Chi of CHI ASSOCIATES, INC.


The encouragement and helpful guidance of W.T. Hollowell,
the Contract Technical Manager of the project, are gratefully
acknowledged.

188

1.

INTRODUCTION

Most modern structural modeling programs, such as WRECKER,


involve both material and geometrical nonlinearities, a situation
which inevitably creates enormous complexities in the formulation
and resolution of problems.

When the spatial variables of a system

are approximated by a discretization procedure, such as a finite


element method, the temporal
Equations

part becomes a set of Ordinary Differential

(ODE), resulting in an Initial Value Problem (IVP).

Because

of the nonlinear nature of the system, a classical closed-form solution


is not possible.

Rather, a numerical integration method must be

employed, preferably with the assistance of a digital computer.


Another problem inherent in structural mechanics problems is
what is commonly referred to as "stiffness" of a system.

The term

stiffness is derived from the observation that this type of system


exhibitslehavior likethat of a hardening spring in a mechanical
system and the tight coupling between different elements in an automatic
control mechanism.

In mathematical terms, stiffness is measured by the

gap between the highest and lowest frequencies in the system.


wider the gap, the stiffer the system.

The

In structural mechanics problems,

especially those which require a large number of nodal points for


accurate modeling, the gap between the frequencies is usually very
large and results in an extraordinarily stiff ODE system.

Therefore,

the search for an effective method of solving problems in modern


structural dynamics requires at the outset the selection of a reliable
and efficient algorithm, capable of integrating numerically a nonlinear,
stiff ODE system.
This State-ofthe-Art Report deals only with nonlinear, stiff

189

systems such as those described above.

Attempts to analyze linear

or non-stiff systems would not be appropriate to the structural dynamics


involved in vehicular crash situations and would entail a superfluous
overview of the vast amount of literature on generalized numerical
integration methods.
Attention has only recently been focused on stiff, nonlinear
systems.

In fact, they were first investigated analytically by Dahlquist

in 1963 and, from his findings, he proposed a correlation between


stiffness and numerical stability.

He introduced some basic

definitions and concepts and laid the foundation of the stability


theory of stiff systems.

Subsequent research has been very active, but

so far results have not been conclusive.

This latter situation became

evident when we undertook to review the literature on the subject.


The problems encountered included material which was not only
disorganized, but at times incorrect and in most cases presented a

theoretical solution which had not received any direct, practical


application.

Surprisingly, there exist very limited numerical data to

verify theoretical findings, especially for large systems which are


common in structural mechanics problems.

The final difficulty is the

apparent bifurcation of research efforts between mathematicians

and

structural engineers who approach these types of problems from different


viewpoints and utilize divergent methodologies, the results of which
_are almost impossible to compare.

Results recorded in this report must, therefore, be considered


as tentative and exploratory.

While they represent the most complete

and accurate information available, they have not been fully tested

190

and will no doubt require continuous improvement and revision before


being perfected.
This report is divided into six chapters.

Chapter 1 is this

brief introduction, and Chapter 2 presents a summary of our conclusions


and recommendations.

Chapter 3 is a technical discussion of various

integration methods and represents original research concerning their


efficiency, numerical stability and truncation errors.

The variable

time-step (VTS) algorithms are discussed in Chapter 4 and reports our


findings on low vs. high order methods and fixed vs. variable time
steps.

Chapter 5 contains a discussion of the theoretical considerations

underlying the assumptions and findings presented in Chapters 3 and 4.


Finally, a complete list of pertinent references is provided in Chapter 6.

2_

SUMMARY ANO RECOMMENDATIONS

A search of theliterature reveals confusion and controversy over the


comparative merits of various integration methods for stiff, nonlinear
systems.

In this Report, we have analyzed applicable methodologies, cited

their strengths and weaknesses, and developed criteria for their applica
bility to the problem at hand.
Tables I and II provide, to the best of our knowledge, the most

complete information available on the properties of these various methods

Despite this fact, available results are still not sufficient to permit
conclusive comparisons of all available methods.

In addition, methods

must be tested for comparative running efficiency on large systems.

Some

ideas on this subject have been presented in the text but a definitive
assessment cannot be made at this time due to the lack of practical ex
perimentation in the field.

We can state at this time, however, that,

for the solution of stiff problems, a method should be at least A-stable


or stiffly-stable.

In terms of the accuracy, it is certain that the

higher the order of the truncation error the more accurate the method.
On the other hand, it should be pointed out that, in stiff systems, step
size is decided mostly by stability factors and the order of the trunca
tion error is of

lesser importance.

Our investigation to date has led us to conclude that, as a first


step, we must decide on three classes of methods that are most efficacious
in solving stiff, nonlinear systems.

Within these classes, we must, through

experimentation, then decide which specific programs best suit our needs.
This approach permits us maximum flexibility so that modifications can
be applied as our experience grows.

192

Out of the various classes of methods reviewed, we believe we can

recommend the following, from which three candidate programs for WRECKER
will be selected.
1.

Gear's Methods.

Highly popular in the mathematical com

munity, these implicit methods are based on use of a variable step, vari
able order backward differention formulations.
ferred computer program

Within this class, pre

packages for inclusion in program libraries are

GEAR and EPISODE.

2.

Newmark's Beta Methods.

strong and flexible.

This engineering approach is both

Though its properties are still not fully under

stood, experience over many years has demonstrated its superiority.

Part

of the reason for this recommendation is that it is an excellent second


derivative method and, as such, can be a

viable alternative to first

derivative methods, such as Gear's.

3.

An Explicit Method Suitable for Stiff Problems.

For the sake

of maximum efficiency, an explicit method must be considered.

Its sta

bility can hopefully be improved by use of either an interpolation algorithm


or Fu's artificial damping method.

We must recommend inclusion of some

kind of explicit method because such methods are wler to formulate and
implement.

Inasmuch as an explicit version of the WRECKER program is al

ready operational, an explicit method that is reasonably stable and ef

ficient will be a useful addition to the candidate list of prospective


integration methods.
Yet another possibility is application of Lambert's nonlinear explicit

methods, which have either not been highly developed or, for those that have
been developed, have not been adequately tested.
come very powerful methods for stiff problems.

193

In time, they may be

Table I Truncation ELOLLQU? riauyiHilmz


Method

Formula

lst Central

Truncation Error

yn+1 = yn-1 + 2hyn(1)

- lh3y(3)

Difference

4)
2nd

Central

Difference

+1

4.

n 1

- ImpllClt
Trapezoidal

Newmark Y

(1)
(1)
zn+1 = 2n + h(Yzn+1 + (1 - Y )zn )

Z = y(1)

= y
+1

12

+ h-(y (1) + y (1) )


2 "*1
n

lh 3 Y (3)
12
n

(Y - g): 2 Zn (2)

(1)
Newmark - B

yn+1 = yn + hyn

-- -y
l8

(Gear's Three Step)

*1

- 9
-

11 n

3
(8- )h3Y )

.Zlqhliyrg)
+ 2--y

11 "'1

3)
Zn

(2)

+ h (Byn+1

+ (a - my; 2 )1
Houbolt lst

3--

11 n-2

h 4 y (4)

22

(1)
+116 hyn+1
Houbolt 2nd

yn+1 = 5i yn - 2yn-l + % yn-2

%% h 4 y: 4 J

+1 h m
2

Gear's Two Step

(1)
yn+1 = 43 yn - 31 yn-1 + 32 h yn+1

Park's Weigh
Gear's,
C2=--,ed

g b3 yi3l

3 (1)

y n+1 = 2- y n - S- y n-1 + -10 yn-Z + S- yn+1

1 3 (3)
-_ h
10

20

= 1i
3

20

Wilson 1st

W . 150

2 d
n"

(cf:ref,45)

Not applicable

yn+1

(1)
2(1)
-1
yn+3hyn+1+3hy
'

. 1 b2 y(2)
6

Note:

superscripts indicate order of derivative

1534b

4
(4)
--1
72hyn

TABLE II.

STABILITY OF METHODS FOR LINEAR SYSTEMS

METHOD OR PROGRAM

LSTABLE

A-STABLE

STIFFLY
STABLE

4th order explicit Runge-Kutta


Explicit Euler (forward)
Implicit Trapezoidal

Implicit Euler (backward)

Explicit Central Difference


Newmark

Implicit

/(for B=%)

Newmark

Non-iterative

/(for B=%)

Wilson

(O=li)

Houbolt (3rd order implicit)

Park(3 step, Gear Variant)

Runge-Kutta, Semi-implicit (Michelsen) /

Runge-Kutta Type, implicit (Cash)

Predictor-corrector 4th order (Cash)

Explicit 5th order Devoglaere (Fu)


Explicit Nonlinear methods (Lambert)

Gear P-C Program (stiff option)


Adams-Bashforth-Moulton PECE (DE/STEP)

195

3.

PROSPECTIVE INTEGRATION METHODS FOR STIFF, NONLINEAR EQUATIONS

In this chapter, a number of the better known and most efficient


methods for integrating nonlinear, stiff equations are discussed.

To

provide better perspective, these methods are grouped naturally into dif
ferent classes.

The first and most popular within the engineering com

munity is the Newmark type, which uses a second derivative formulation.


It is actually a collection of several methods of diverse origins and is
unique in that it encompasses one explicit formulation among mainly im

plicit formulations through a suitable choice of its two parameters.


Also, by judiciously adjusting

one of them, the method can provide

a variable damping such that it can remove the oscillation introduced by


spurious roots while preserving the desired natural oscillation of the
solution.

Several methods can be considered variants on it, among these are

the Houbolt and Wilson methods.

Unfortunately, the Newmark family has

not yet caught the attention of mathematicians, and its stability and
error estimates have not been investigated thoroughly, especially for non
linear problems.
The second class of methods is the Adams type, which have a first
derivative formulation.

Being a classical method,

it has been thoroughly

studied and its principles extended into many modern algorithms.

Probably

the best known and well-documented of these is the DE/STEP program, which
is perhaps the most powerful of all in dealing with non-stiff to moderately
stiff problems.

Programs developed on the basis of Adams type methods in

clude Gear's DIFSUB which incorporates his second, third and higher order
formulas, which were formulated specifically for stiff problems.

These

second and third order formulas were the basis of Park's method, while

196

DIFSUB is the progenitor of the latest, improved programs such as DVOGER


and GEAR.

This last program stimulated the development of the highly ad

vanced program, EPISOOE.


The third class of methods is the Runge-Kutta type, which also em
ploy

a first derivative formulation.

The classical explicit version

has poor stability properties and is very inefficient.

The implicit

version is somewhat better and the semi-implicit version is highly respect


able.

Among the latter's variants are Cash's L-Stable method and the

Michelsen variable step method.


But for their lack of stability, explicit methods would have been
generally favored because they are easy to formulate and efficient to
execute.

Several approaches have been used to improve the stability prop

erties of explicit methods.

For example, Fu's artifical damping method

is appealing, not only because it has the potential of improved stability


but also because it has a second derivative formulation, a rare find among

the mathematical literature.

Another is the Euler method with interpola

tion and yet a third uses rational functions in

the interpolation and

is the only nonlinear formulation discussed in this report.

These latter

stable explicit nonlinear methods, as they are known, have not been suf

ficiently developed and tested as yet to be recommended as reliable tools.


We have included them here because of their potential.

It is our belief

that a "dark-horse candidate" could possibly be in order since it is ap


parent that no single one of the methods above can be considered a panacea

r a altiifactory solution(of all the problems involved.

197

3.1

Newmark Beta Method (8,9,l4,16,20,27,34,48,50,51,52,53,54,55,63,64)


The Newmark Beta method has provided the basis for perhaps the most

widely used integration procedures for structural dynamics problems.

Oue

to the natural kinematic interpretation of the parameters used in New


mark's methodology, it is commonly known as the "generalized acceleration"
method.

The formulation is as follows:


yn+1

i',, + (1 -Y) ynh +Y'y'm1h

_
.. 2 + Bymlhz.
"
yml = yn + ynh
+ (a - mynh

Due to the second order character of the difference equations, the


method is ideally suited for dynamical problems which Newton's second
law Ma + Cv + Ky = F(t) governs.

By substituting the above formulation

into Newton's law, we have:

(M+hYC+h2 BK) yn+1= (M+hYC)yn


.
+[hM+h 2 (Y-B)C]Yn

1
-2
+[h 2 ('s8)M+h 3 (1r
-B)C]yn+h
BFMI

These two parameters 6 and Y have distinct physical meaning.


himself discovered that the parameter

Newmark

Y, or rather Y- %, is proportional

to the artificial damping that the method introduces into the system.

In

most applications the artificial damping is not desirable and Y is taken


as k.

In recent years some researchers have recommended the use of Y = 0.55

to take advantage of the artificial damping properties.

It has been found

through numerical experimentation that, by using an adjustable damping


parameter, the Newmark Beta Method can be just as effective but much more
flexible than its variants, such as the Houbolt and the Wilson 6 methods.
(See Section 3.3)

198

The parameter 6 governs the shape of acceleration assumed between


nodal points:

for example, when 8 is set to be zero, the formulation

degenerates into the standard central difference formulas which were


discussed by Levy and Kroll in 1951.

For

B=l/12, it coincides with a

method developed in 1949 by Fox and Goodwin which has the lowest trunca
tion error.

For

B=l/8 the acceleration is a step function with a uni

form value equal to the initial value for the first half of the time
interval and a uniform value equal to the final value for the second
half of the time interval.

For B=l/6 the method is known as the "linear

acceleration" method, which has a pleasing feature in that velocity and


acceleration are both continuous.

In the case of B=l/4, the acceleration

profile is constant over the interval and assumes an average value of the
initial and final accelerations.

A method equivalent to this case was

introduced as early as 1928 by Timoshenko.

It is a method for 2nd order

ODEs which is equivalent to the first order formulation trapezoidal

rule.

From this vantage point the generalized acceleration method of Newmark is


really a group of several powerful methods of diverse origins.
The Newmark Beta Method is an implicit procedure, except for B=0
which can be reduced into explicit form.

Its properties depend heavily

on the value of B,and the permissible time step length is limited by


considerations of stability and convergence.

Let the smallest natural

period of the linear system be denoted by T, then the permissible time


step b is as follows:
8

1/12

l/8

Convergence
Limit h[T

0.551

Stability
Limit h/T

0.318

0.389

I99

1/6

1/4

0.450

0.389

0.318

0.450

0.551

It is seen that for the B=O, the procedure is unconditionally con


vergent but has a stringent stability requirement, i.e., it may become
unstable when the time step is too large.

In the other extreme, for B=l/4,

the opposite is true, i.e., the procedure is unconditionally stable but


produces high truncation errors when the time step is too large.
severe cases, the method may not converge.

In

This was proved for a one

degree of freedom system by Newmark, and holds true for multi-degree of


freedom systems as shown by Nickell 62 ).

In applications, a compromise

of convergence and stability must be effected.


One must stress that the above stability consideration is for linear
systems only.

For nonlinear problems, not much is known, especially when

the nonlinearity is geometric, but it appears certain that conditional

stability is all that can be expected even for B= l/4.

Oespite the

lack of understanding of stability and other properties, it can be safely


said at the present time that the performance of this method depends on,
in addition to the parameters 8 and Y , the iteration process, the vari

able time step control procedure and the type of nonlinearity.

The ac

curacy and stability in nonlinear problems can best be studied by numeri


cal experimentation.

For our immediate application, the following re

marks may be useful:

(a)

Central Difference Method.(8,12,27,33,51,52,53,54,55,64-)


This is the case of B=O and is the only explicit procedure among

the various versions of the Newmark Method.

For this reason some numeri

cal instability is expected, and investigators have reported that it does


indeed occur frequently.

The method is advantageous in terms of ease of

formulation, savings in memory space and computational simplicity.


Limited experience shows that it gives good results in comparison with
other reliable methods for simple nonlinear systems, as long as the step

200

size is kept small.

If a large step is used, the result is no longer reliable

because of instability.
The central difference method usually reduces a nonlinear system into
a set of linear algebraic equations, the solutions of which are relatively
straightforward to obtain.

In some instances--for example, when the non

linearity involves time derivatives--the resulting algebraic system will


be nonlinear and quite troublesome to solve.

In the case of a nonlinear

system which is also stiff, as is the case in most structural dynamics


problems, the fixed time step central difference method is not efficient.
Nervertheless, a good variable time step algorithm might possibly make it
competitive with the implicit methods.

For more advanced explicit methods

see section 6.
(b)

Constant Average Acceleration Method (2, 7, 8, ll, 12, 14, 15, 17, 20,
24, 27, 32, 34, 35, 36, 37, 41, 42, 48, 50, 51, 52, S3, 54, 55, 59, 63,
64.)
In this method, B=k and the resultant numerical procedure for 2nd order

ODEs is equivalent to the well-known trapezoidal rule for integration of first


order OOEs.

One of Dalquist's theorems established the fact that the trapezoid

al rule has the smallest truncation error of any A-stable method.

The B=k method

is perhaps the most extensively used method in structural analysis.

Within the

engineering community, it is regarded as unconditionally stable for linear


problems.

When the parameter

is set to be 1/2, no damping is introduced.

The method usually produces good results in amplitudes and frequencies although
some phase shifts have been observed.

It is, in short, an effective procedure

for solving stiff linear equations, provided the stiffness is not excessive.
When the latter condition is present, a moderate amount of damping, (e.g.,
Y=0.55), can be introduced in order to improve the running efficiency which
would have been impaired due to the necessity of keeping the time step very
small.

20!

For nonlinear problems, the stability properties of the method have


not been studied, although it is known to be at least conditional
ly stable.

The stability factor should be carefully considered, especially

when softening springs are involved.

For stiff nonlinear problems, the method

can be most effective if a sophisticated variable time step algorthm is in


corporated into the program, and it has been suggested that an equilibrium
iteration algorithm may also enhance its effectiveness.
(c)

Methods Using Intermediate Values of Beta ( 8,20 ,27,34,51

For O<B<%, the stability properties of the procedure are discussed by


Hughes (34), and Goudreau and Taylor (27).

We expect that the stability

region is somewhere between the two extremes, i.e., B=0 and B=%.

In other

words, the stability region can be expected to change continuously from a

small closed region on the y-axis which is symmetric about the real axis
into the half plane left of the imaginary axis of the hi plane.

(Cf. 5.3

and 5.4.)

3.2

Newmark Beta Method - "Non-Iterative" Version (9,50 )


This method is commonly known as the "explicit" version of the Newmark

Beta method.

It was developed at the suggestion of Belytschko (9) who

observed that the implicit terms in the original Newmark formulation can be
made explicit by a straightforward algebraic manipulation, of which the form
ulation, when Y=%, is:

n+1 = yn + a h (yn + y,.,)


(K ) MI Ezg'yn + ;g yn + (53 - 1)y,] + (Ke) F
e

"

'1

l
"

n+1

n+1

h
were

Ke=K-

l
H2?

202

Because the method is derived from the basic implicit method with no
simplifying assumptions added, it inherits all the good features of the
implicit method despite its appearance of explicitness.

Furthermore,

since it is in fact explicit, there is no need of an iterative scheme


to solve the difference equations.

This eliminates not only a source

of roundoff error but also a source of instability.

The price to pay

for these advantages is the necessity of updating and inverting the


stiffness matrices.

So, if this must be done very frequently, itvwill

become a laborious and time-consuming process.


In light of the proven excellent performance of this method on
linear as well as nonlinear systems, however,

it is highly recommended.

The installation of a suitable variable time step procedure should


greatly enhance its effectiveness in dealing with the complex stiff sys
tems.
At this juncture, it might be useful to discuss the method of esti

mating the required time step.

It has been shown that a sufficient sta

bility condition for a linear problem is:

(%-B) b2 1/x
where A. Max ZZ

and K and M are the stiffness and mass matrices,

respectively. yFrgm this expression, for a given value of B, and an

estimation of A, the step size can be calculated:


To facilitate the solution process by using the noniterative Newmark
method, Mondkar and Powell

(50) suggested a combination of step-by-step

integration and equilibrium iteration procedures.

An extensive table of

computational steps for implementation of this algorithm is also given by


the authors for easy reference.

203

3.3

Variants of the Newmark Method

(a)

Houbolt Method

(8, 27, 33, 36, 52, 53, 54, 55, 64.)

The HOubOlt method can be interPreted as replacing the calculation in


the Newmark formulation by a third order backward difference, and the velocity
expression is taken to be identical to Gear's third-order method.

The formula

tion is as follows:
vn+1 = ?%T (llyn+1 - 18yn + 9yn-1 - 2yn-2)

an+1 =

._1- (2yn+1

- Syn + 4yn-l - yn-Z)

h2
or when applied to the system Ma + Cv + Kx = F(t),
(2M +(ll/6)hC + hzK) yn+1 = (5M + 3hC)yn - (4M + (3/2)hC)yn-1 +
(M +(l/3)hC)yn-2 + Fn+1.

This method requires a separate starting alrogithm, and Houbolt has


recommended one which is equivalent to the linear acceleration method
of the Newmark family.
Because of its backward-difference methodology, considerable
storage space is needed during its execution to accommodate the past
displacement vectors.

This method is unconditionally stable for linear

systems, but its built-in artificial damping can yield inaccurate results
and distortions for some solutions.

In nonlinear systems, the Houbolt

method is no longer unconditionally stable, but the artificial damping may


actually stabilize the parasitic roots enough to avoid a runway oscillation.
The price to pay is that the solution may be damped too quickly for practical
purposes, causing a rather severe phase shift in the solution.

In order

to minimize the effects of artificial damping, and to revive the high

204

frequency components a sufficiently small time step can be used.

This,

of course, increases the cost of the computational effort.


The Houbolt method was quite popular in earlier days when there were
relatively few numerical integration schemes from which to choose.
present time, it has lost some of its favor.

In the

For example, its procedure is

in part identical to a well-developed GEAR method and thus is superseded


by the latter.

The Houbolt method is inflexible in that its artificial

damping property is fixed.

damping coefficient v

(b)

The Newmark method which uses a variable

is a recommended substitute.

The Wilson 9 Method

(27, 52, 53, 54.)

This method is basically a version of the Newmark Method, using


8 =1/6.

In an effort to compensate for the spurious oscillation inherent

in discrete approximations to continuum problems, Wilson introduced a


factor 6 as the artificial damping.

acceleration method

The basic approach is to use a linear

for a double interval and then to proceed step by

step in the manner of a predictor-corrector method.

The formulation is

as follows:

yn.e = 9 yn+1 +

(1 -9 )yn

Predictor

k =611

_
. n+6

2"

3'"

yn + kyn + k yn/Z + k lyn+l - )n)/6h

205

y' n+1 = in + b (y
Corrector

+
+1

.y

'

Yn+1 , Yn + hyn

P
2

+ h

1/2

y
'

.0

(yn+1 + 2yn)/6

The Wilson method has been generalized somewhat by Farhoomand into


a third-order difference equation.

Both methods are unconditionally stable

and have considerable artificial damping.

In fact, it can be shown that

the damping is far more than is usually needed to control the spurious
oscillation of the discrete approximation.
as flexible as the Newmark Beta Method.

The Wilson Method, too, is not

By choosing a parameter somewhat

larger than one-half, it is possible to provide the damping in the Newmark


Method necessary to control the unwanted oscillation and keep desired oscilla
tions accurate.

3.4.

The Runge Kutta Variants

(10,18,45)

(a) Cash's L-Stable Method (6)

Runge-Kutta methods are probably the best-known class of methods.

One

version, the fourth order explicit, is perhaps the most popular, at least
for rigid body mechanics.

For stiff problems in contiuum mechanics, how

ever, the method lacks efficiency because its stability region is very small,
a problem it shares with other standard explicit methods.

To have practical application to stiff problems, it has been


determined that a method should preferably be L-stable, i.e., stable for a
large region of the complex plane and accurate in some neighborhood of
its origin.
ly A-stable.

The implicit Runge-Kutta formulas have been found to be mere


They also suffer from the serious disadvantage of requiring

that complicated nonlinear implicit equations be solved at each time


step.

To overcome this latter difficulty at least partially, methods

have been developed that are compromises between the implicit and ex
plicit varieties.

These methods are known as the semi-implicit methods.

206

Although semi-implicit Runge-Kutta methods are much more efficient from


a computational point of view, most of them are still only A-stablef
In fact,

Cash's method is unique, being the only semi-implicit Runge

Kutta method which is L-stable.

Its formulation is:

yn+1=yn+h(-:-k2 +%k3+_:_

k4)

where
k2

f(tn+1

1
3_h,
yn+1 - g

k3 =

1
l
fn+1 - Q'h
yn+1 - lg'h
k1 3-1 h k2)

k4 =

f(tn,yn) and k1 = f(tml, yml)

In common with the classical RungeKutta methods, the solution of


Cash's method at the point tm+1 is obtained from the solution at the point.
tn, using evaluations of the function f(y,t) within the range (tn, tn+1).
Thus, it is possible to solve a system of algebraic equations for a single
Unknown Yn+1 instead of for a large system as is the case for implicit

methods.

A predictor-corrector method is included in Cash's paper for

the solution of such an algebraic system.


(b)

Michelsen's Third-Order, Variable-Step Method. (49)


This semi-implicit RungeKutta method was based on the ideas of

Caillaud and Padmanabhan, using a third-order formula.


system which was stable but found to be inaccurate.

They developed a

Michelsen, however,

recognized the method's potential and improved it by incorporating an ef


ficient step length adjusting procedure.

207

If the system to be integrated is gt (y) = f(y) with y(tn) = Y, let the

J aco b'ian A b e given


T
as A..
1] = ( 8 fi/ 8 yj)yn

tn+h is found from:

k1 -- h(l _ haA) _1 f(yn)


k2 -- h(I - haA) -1 f(yn + bzkl)
=

k3

(1 - haA) ~1 (bslkl + b32k2)

yn+1 = Yn Rlkl * Rzkz * k3


where
a3 - 3a2 + -a l-= O, a = 0.4358...

2
b

= 0.75
2

bsl -l
6; (8a 2 2a + l)

b32 = -932 (63 2

- 6 a +1 )

11

R1 57"b31
I6
b 32 .
R2 = -_-27

Then the solution


'
yn+1 at time
'

3.5

The Gear Family of Methods (3,10,12,l3,17,22,23,24,25,26,28,29,31,

35,36,37,39,40,42,4S,53,54,55,58,60,65)
Gear was among the first to recognize the need to develop a package
specially designed to deal with stiff nonlinear problems.

For this he

implemented the basic Adams type of integration scheme with variable


order and variable step capabilities.

Being a variable order method, it

can cope with a wide range of errors and can also keep the number of func
tion evaluations well below the number required by other methods.

This is

especially significant in the application to structural mechanics problems,


since these functions are usually very expensive to evaluate.

Another ad

vantage of this method, in common with any Adams methods, is that is


lends itself to interpolation at intermediate points much better than
its competitors.

As Hull (35) has stated, "There is no doubt that a

program library should contain a variable-order, variable step Adams


method."
(a)

For stiff problems, Gear type methods would be a logical choice.

DVOGER (3,13,17,22,23,24,25,3l,35,37,42,57,58,60.)
Gear developed the original version of his method into a computer

program, OIFSUB, has subsequently been improved to provide better efficiency.


One of the latest versions of DIFSUB is the IMSL program known as DVOGER,
which has also been tested for nonstiff problems with favorable results.
Although it has been recommended for stiff problems, systematic numerical

experiments which have recently been reported have shown it to be inferior


to the newer program packages called GEAR and EPISODE (Cf. (b) below.)
Three isolatable disadvantages of DVOGER have been noticed so far.
One is that it uses a Taylor series representation to store information.
There is considerable evidence that the conventional divided difference
approach is better.

Another drawback is that DVOGER is less efficient that

other methods when the eigenvalues of the Jacobian are close to the imaginary

309

axis.

Also, for extremely stiff systems, a secondeorder algorithm with an

effective step length adjustment procedure Could perform more efficiently


than a complex multi-order method, especially when the number of function
evaluations is low.
(b)

EPISODE.

(3, 4, 5, 29, 31)

Hindmarsh, recognizing DVOGER's limitations, first developed a modified


version of the program, which he named GEAR in honor of its originator.

Then

in 1975 Hindmarsh and Byrne (29) announced that they had developed a new
program, EPISODE (Effective Package for the Integration of Systems of Ordinary
Oifferential Equations: Formerly, the E stood for Experimental.)

Similar in

some ways to the original programs developed by Gear, EPISODE provides options
for the use of implicit linear multi-step methods, i.e., a generalized Adams

method for non-stiff problems, or of a generalized backward differentiation


scheme for the solution of stiff problems.

It also uses a dynamic variable

order formulation for both stiff and non-stiff problems.

However, in contrast

to GEAR, which stipulates that a step size be used for several consecutive
successful steps, and changes step size by an interpolation scheme, EPISODE
uses a truly variable-step algorithm in which the step size is permitted to
vary from step to step.
EPISODE was designed to overcome the deficiencies in previous programs in

dealing with the instability difficulties of non-smooth problems, i_e_ problems


with rapidly changing characteristics.

However, Enright and Hull have reported

that EPISODE requires frequent updating of the Jacobian matrix which must itself

be accompanied by a new LU-decomposition.

For large stiff problems, this can be

very costly.

(c)

Park's Method ( 36,54,55.

In the course of evaluating a few of Gear's stiffly stable methods with


other methods which were used for the solution of structural dynamics problems,
Park discovered that Gear's two-step methodology was only slightly better than

210 i

Houbolt's, while his three-step method was unstable(for the frequency ranges
in interest.

He concluded that the two-step method injected high numerical

damping into the system for improved stability while the three-step method is
of higher order for better accuracy.

By combining the two methods, Park

theorized that he would obtain a method which would be accurate and stable
for the low frequency range and stable for high frequency components.

The

formulation is:

vn+1 = l/6h (10 y n+1

_ 15 yn + 6 yn-l ' yn-2)'

He has shown that this new method yields good results but exhibits a
slight phase shift from the known exact solution, while the two and three
step Gear-originated methods undershoot and overshoot the exact solution
respectively.

3.6

Stable Explicit Methods

(a)

Fu-de Vogelaer (21)


The original de Vogelaer Method was designed for the numerical integra

tion of a system of second-order differential equations without explicit


first derivatives.

Fu then extended the scope of the method so that it

could be practically applied to solve large systems of equations.

The

Fu-de Vogelaer Method , being an explicit method, requires a minimal amount


of storage locations and is also relatively easy to program.

Its

accuracy is quite impressive, having a truncation error of the fifth


order in the integration step length.

The Fu-de Vogelaer method is claimed

to be faster by a factor of at least two for a Schroedinger equation than


the Runge-Kutta-Gill method.

In a transient vibration of a Timoshenko beam

problem, the method was found to be as accurate as Hamming's modified predictor


corrector method but required significantly less running time.

211

Fu's contribution to the method was the addition of a damping term.


This permitted representation of the internal material viscosity in ad
dition to providing control of numerical oscillation, resulting in
a more stable calculation_

His experience has shown that in applying

this method to actual problems, accuracy considerations determine the step


size.

Furthermore, the step size itself is generally smaller than

the upper bound of the step length established by the stability consider
ation.

This is in contrast to ordinary explicit methods in which the

step length is almost invariably controlled by stability considerations.


When the Fu-de Vogelaere method was used to study two-dimensional wave
propagation in axisymmetric and plane strain problems, it demonstrated
that its integration scheme was capable of treating a suddenly applied
load and could also be used to provide static finite-element solutions.
In its present form, the method employs a fixed time step algorithm, but
this can easily be converted to a variable step version.
(b)

Modified Euler Explicit Method

(45,56)

Richards, Lanning and Torrey (56) modified Euler's original method

by changing it into a variable step procedure, which meant that a much


larger step size could be used without instability resulting.

The

method, therefore, appears to combine the simplicity of the Euler method


with the economy of using the large time step lengths usually associated
only with unconditionally stable implicit methods.
The basis of the method is the replacement of the calculated value

for

y = f(y)

with an interpolated value, provided the following

condition is satisfied:

f (yn) f (yml)
< - 1/8

llynll f(nml'

212

The interpolated value is defined by:

= fun) my") - romp]


II fem) - f(y,)||2
and
t

= t
n+1

yn+1

(c)

+ sh
n

yn = S(Yn -yn)

Nonlinear Explicit Methods(43, 44)


Research endeavors previously concentrated on reducing the compu

tationa1 complexity of implicit

linear multi-step methods to make them

acceptable for solving stiff systems, but at best, success was only marginal.
Recently, however, efforts have been directed toward developing a class of
explicit methods with improved stability properties. Being explicit, these
methods are

inherently simple to use and they should be effective in solving

stiff systems since their greater stability regions permit larger time
steps in integration.

Known as the Explicit Nonlinear methods, they have

the advantage, in common with all explicit methods, of requiring no matrix


inversions.

The latter factor is responsible for most of the computing

time and storage space required for implicit methods.


The strategy of Explicit Nonlinear methods is based on local ex
trapolation through the use of rational functions instead of a polynomial,
as in the linear methods.
linear method.

First, we shall define what we mean by a non

A method for the numerical solution of an IVP.

y = f(y= t)

y(to) : yo

is said to be nonlinear if, when applied to the test equation,


y = Ay, A = a dense matrix

213

it yields a nonlinear

difference equation in the discrete variable

yn = y(tn), tn=to+nh.

To date, stability analysis of Explicit Nonlinear methods has been


made only for the scalar test equation: that for the vector test equation
remains to be done.

It has been determined that control of local trunca

tion errors is difficult and, in fact, the notion of a principal local

truncation error
linear methods.

cannot be logically carried over directly from that used in


This results in a lack of error control and good results can

only be obtained through use of small time steps, even though the sta
bility consideration would allow much larger time steps.

The possible

application of Explicit Nonlinear methods to stiff systems has not been


thoroughly studied and is, therefore, not adequately understood.
been

found

It has

that sometimes they work well for linear problems with high

stiffness ratios but poorly for low or medium stiffness ratios.

It has

been conjectured that these methods may serve as excellent "predictors"


but that a more accurate method must be developed to serve as a "corrector."
Such a combination may ultimately evolve into a powerful tool for the
solution of stiff systems.
3.7
(a)

Other Predictor-Corrector Methods

(l3,l8,39,40,58,59,60)

DE/STEP Program
This program is a sophisticated OOE solver composed of a driver,

DE, and a modified divided difference variable-order AdamsBashforth

Moulton type variable-step code, STEP.

The originators, Shampine and

Gordon (59), have thoroughly documented all aspects of the program in


their book.

Among DE/STEP's advantages is its ability to detect

both stiffness and discontinuities.

DE recognizes and responds

to requests for high accuracy through implementation of a propagated


roundoff error control algorithm and the degree of accuracy is
dependent only on the limitations of the computer itself.

thus

The DE/STEP

program, in encounters with problems of extreme stiffness, has a built-in


algorithm which reduces the order to permit use of a larger stability

region, a property associated with lower order formulas.

For moderately

stiff problems, the program gives a warning signal which means that
using

stiff system solver, if it is available, is advised.

One deficiency of DE/STEP may present a problem in its application.


In order to use OE/STEP in an existing program or as a subroutine in a
new program, it is necessary to supply a derivative evaluation algorithm
to determine the Jacobian matrix.

It may prove to be extremely compli

cated to provide linkages for such an algorithm to a complex, sophisti


cated program such as WRECKER.
(b)

Cash's A-Stable High Order Predictor-Corrector Method (7)


Cash recently modified the standard linear multi-step methods into

a higher order A-stable method.

His third-order method was merely of

theoretical interest and was not useful in practical application.

In

his fourth-order method he employs the backward Euler method as a pre


dictor and the trapezoidal rule as a corrector.

.The solution is, there

fore, not computed directly but is generated by an iterative procedure,


which will remain Astable if not used more than a specified number of
times.

Based on limited experience, it is believed that this method is

superior to the trapezoidal rule.


The formulation is

Yn+1 * 9y - 9Yn-1- Yn-2 = 6h( f(tn,7n) + f(tn-l,yn-l) )

215

which, when written iteratively becomes

Yn(p) - yfff} = h2 ( f(tn.yn( P ) ) + f(tn-1.y,'-1 1 - llzvzynP, - 1) + ll. Dzyffl-1 )


where

Ozysol yii 2ygoltygig.

Unfortunately, the method is complex to formulate and costly to


program.

The iteration scheme which insures its A-stability, is particu

larly intricate and requires extensive support procedures.

Therefore, it

is not possible to recommend the method until it has been tested more
thoroughly.

216

4.

CONSIDERATIONS FOR VARIABIU TIME STEP SCHEMES

(26, 39, 40,41,57)

A practical integration method must be efficient and accurate.

Since

the cost of running a program is directly proportional to the number of

repetitively made calculations,

it is obviously necessary to take as

large a time step as possible without producing unacceptable error.

If

the dynamic response is even and smooth throughout tEe period of interest,
tye ideal time step would be the largest possible or such that the local trunca
t on error is just below the tolerance limit.
s'ep would be a constant or fixed value.

Ir o? 2? words, the time

This is no? possible for a

5 iff problem in which the frequency of the fastest compu'ent may be a thousand
c- more times larger than the frequency of the slowest one.

A fixed time step

=1itable for the fast period would give more than adequate accuracy for the slow
p<riod but would be vastly inefficient.

On the other hand, if the time

s'cp were chosen on the basis of slow components, then the solution would
b

entirely inadequate for the fast moving period 01 motions.

This is

particularly true in many practical problems in which several smooth


tajectories of motion are joined by fast transitions in an aperiodic
fashion.

In such cases, a variable time step must be used.

the variation of steps a well-designed algorithm is needed.


"

To control

Since structural

r
I

dynamic research frequently yields a stiff problem, it can be safely Said


that.a variable step program is a must for its solution.

An automatic

step size control logic is a necessary part of a variable step integra


tion program, of course, but we observe in passing that the former may.
be independent of the latter.

That is to say, an otherwise good inte

gration algorithm may inadvertently have incorporated in it an inefficient


variable time step logic, and conversely, an effective step changing procedure
can be rendered useless by a poor integration method.

217

For this reason, in

the present work we shall separate these two distinct but somewhat related

methodologies, the integration algorithm and the variable time step


control algorithm.

Variable Time Step Control Algorithms

In this section, we shall discuss the logical basis of varying the


integration time steps.

To carry out a numerical solution in the absence

of exact solution as a guide, the estimation of error can only be done


by

repetitiously comparing the results obtained through different ways

of calculation.

The error can be estimated through an analytical repre

sentation of the numerical formula of integration such as a Taylor ex


pansion in which the first neglected term in the expansion is then assumed
to be the dominant source of error.

The error can be conveniently re

lated there in terms of a given powerof the step size.


To illustrate the

general procedure we shall present the following

which is taken from Kurokawa (41 )

To fix ideas, let us use the implicit trapezoidal method to integrate


the differential equation y = f (y,t).

,
.

.I

(y

The formulation is

+yn)+

, . . . . . . . . . . . . . . . . . . .

n+1

where

yn= y (tn) and yn = f(yn, tn), tn+1= tn+ h , h= step size,and

D = error term of the (trapezoidal) formuhtion,

Using the Taylor expansion we obtain


.

yn+1=yn+hyn+i

"

ha...

yn+.

1+

. . . . . . . . . -.

which, with the consideration of example (1) can be written as:

2T8

D + - (y
2

+ y l
n+1

..

'\.

+
.

3:

O A D" F

r. M v

0n the other hand, differentiating (2) gives

.
.
..
yn+1 = yn + hyn

b2 ...
+ i
yn + 0(h3)

which can be rewritten as

2- (yn+1

yn)

= h yn +

Subtracting (4) from (3) we obtain the error term D to be

o = =T5'h'
1
yn + 0(h)

If y is sufficiently Smooth, a backward difference formula states


...
1
.
.
.
yn - h2 (yn-Z ' 2ynl + yn)

12 (yn-2

or D = - _--

- 2

yn-1

'.

yn)

( )

+ O h

A variation of the above mentioned method was introduced recently for


general purpose integrators.

It was apparently inspired by the popularity

of modern variable order methods.

In this algorithm, the same integra

tion polynomial is used but the calculations are done for different orders.
The difference of the results by the different order methods is then used as a
measure of the local truncation error.

This algorithm was first implemented

for the Runge-Kutta method but it should be applicable equally well.

to other methods, such as Adams methods.

Another fairly common decision procedure for step size control is


based on the number of iteration cycles.

In this method, a first integra

tion step size is chosen and using it, a certain physical parameter such as

2315)

acceleration is predicted or estimated.


with the chosen step size.

numerical integration then proceeds

The result is then used to determine the new

value of the sarephysical parameter.


values (i.e., the estimated vs.
truncation error.

The

The difference between these two

the calculated)

is used as a measure of the

If the error is large in comparison to a tolerance, the

procedure is repeated using half of the original step size, and so on until
the result is acceptable.

If the error is too small, the step size is doubled

until a satisfactory result is obtained.

The number of halvings or doublings

is recorded by a counter whose subsequent total will be compared with a


threshold value.

If the threshold is a more than

a constant multiple of

the number of iterations, then the step size of the next integration step
shall be increased.

If it is less than a fraction of the number of iteration

cycles used, the step size of the next integration shall be decreased.

If

neither is the case, the step size for the next integration shall be unchanged.
This algorithm has been used for step size control in an Implicit Newmark
Beta program.
To carry the method a step further, we can use this logic to regulate
the time step in a standard predictor-corrector method.

Suppose that the

predicted value of the jth component of the solution at ith integration step
is P13 and the corrected value of its counterpart is Cij, then the absolute
value of their difference Cij-Pij

is a measure of the local truncation error.

In application of this method it is crucial to have a reasonably good


estimate of the parameter which is used for error estimation.

Usually, the

standard procedure of comparing the predictor and corrector results would be adequat
Care should be exercised when an explicit formula is used as a predictor.
Due to its poor stability property, the predicted value may be grossly
in error when the step size is outside of its stability region.

This

consideration is perhaps especially important for nonlinear systems.


It is well known that the nonlinear system can have

220

a complicated phase space.

If a starting value in a solution process

is not near the solution itself, the

iteration may lead to a legitimate

but undesired result.


Perhaps the most commonly used variable step technique for linear
multistep methods is one in which previous values of the function f in

the differential equation y = f(y,t) are used.

In this method the Step

size is changed by integrating the interpolating polynomial through

those previous values of the function f, and estimating the local error
as well as the effect

of a change in the step size on future estimated

errors.
This method has the following advantages:
(1) The actual error is more likely to vary continuously with
the prescribed local truncation error:
(2) It is easier to increase the step size when the round-off
error is affecting the accuracy of the result, and not
merely the truncation error.
The main disadvantage of this algorithm lies in the additional cost
for determining prior to the integration process the weighting coefficients
which must be applied to the previous values of f.

This cost should not

be excessive for stiff systems since the integration order is invariably


low for stability and efficiency reasons, hence the number of previous
values of f required is relatively small.
A plausible but paradoxical phenomenon occurs in the use of linear
multistep variable-step methods?- the computing time remains the same
regardless of the prescribed accuracy.

The reason is that in stiff prob

lems stability, rather than accuracy,is the deciding factor of the step
size.

It turns out that, inside the stability region, the propagation

221

error is always damped out and the variable-step algorithm will call for
an increase of the step size: outside the stability region, the error

will grow rapidly and the algorithm will reduce the step size.

The net

result is that the chosen step size will be such that the process oper
ates always in the proximity of the boundary of the stability region.
The prescribed accuracy in such cases has virtually no effect on the
step size determination.
In this condition, the order of the integration method has no effect:
that is, for a variable order method, a low-order procedure will work as
well as a high-order one.

The reason is the same as before, i.e., the

step size of a stiff system is decided by stability, rather than accuracy.

Since the higher order method is usually more laborious, a low order
method will usually turn out to be more efficient.

It is then simpler

sometimes to use even a fixed-order method provided that a sophisticated


step size adjustment algorithm is incorporated in it.

5-FURTHER THEORETICAL CONSIOERATIONS


5.1. Stiff systems

Given a system

y = f (t, y)
one wants to test its stiffness.

It has previously been stated that

the stiffness of a system is measured by the difference between its fast


est and slowest components.

It is known that the components are related

to the eigenvalues of the Jacobian Qf/By.

If f is linear in y and auton

omous, then the Jacobian will be a constant matrix, and the eigenvalues

of the system will also be constants - in general complex numbers.


One measure of the stiffness of the system is the difference be
tween the largest and smallest moduli of the eigenvalues.

For nonlinear

systems, the Jacobian itself varies with time and often rather rapidly.
In such cases, the stiffness of a system can only be defined within an
interval of time.
In general, a system is said to be stiff in an interval I of t if
for t s I, the eigenvalues Aj(t), j = i,

(a)

Relj(t)<0 ,

(b)

> m,

j = l, ..., p and

where M = Max

111's
and

..., p of its Jacobian satisfy

m =

min

1:15p

| ReA.(t)|

I ReA.(t)|.

The ratio M/m is called the stiffness ratio.

A system is very

stiff if the stiffness ratio is .n the order of thousands, or even


millions.
It should be noted that the Jacobian is expressed in terms of
partial derivatives which must be continuous and bounded in an appropri
ate region.

If so, the Lipschitz constant L may be defined as the norm

223

of the Jacobian.

It is clear that if M is large, so must L be.

For

this reason, a stiff system is sometimes referred to as a system with


a large Lipschitz constant.
Stiffness of a system has great implications on the stability of
an integration algorithm which is applied to it.

Further discussion of

this shall appear in a later section.

5.2

Types of Errors
Any numerical computation, being approximate in nature, will en

gender a variety of errors.

Among these are the starting error, the

round-off error, and the truncation errors.

A brief discussion of each

error type should facilitate the discussion that follows.


There are two categories of truncation errors:
the local.

the global and

The global truncation errors originate from the discretiza

tion of the continuous operator, the most common procedure being to ap

proximate the original differential equations by the finite element dis


cretization.

In general, the global truncation error can be minimized

by using a large number of elements subject to the constraints of


economy and convergence.

The local truncation error is that which is

introduced at each time step via the interpolation polynomial(s) used


for the approximation.

For example, a fourth order Runge-Kutta method

employs a fourth order polynomial to approximate a given function.

The

difference between the given function and the polynomial produces a local
truncation error.
The starting error is that which is introduced in the very first
step of the numerical solution of an IVP.

Since some numerical methods

require great precision in the starting sequence, it can be crucial that

224

accurate values be obtained at this point.

For this reason, some pro

grams use a separate method in the initial phase of the numerical solu
tion which thereafter is abandoned.
The round-off error occurs due to inexact machine representation
of the numbers involved in the numerical process.

How numbers are stored

and manipulated in the hardware varies from computer to computer, and


accordingly the propagation of round-off error is machinedependent.

5.3

Stability
The word "stable" is used widely in the literature on the numeri

cal solution of ordinary differential equations and has several different


definitions.

However, the most basic meaning usually ascribed to it

pertains to controlling the growth of the parasitic solutions introduced


by the replacement of the first-order differential equations by the
higher order difference equations of the numerical method.

The simplest

and most natural kind of control one would desire is that the induced
parasitic solutions be damped out in the limit as the step size approaches
zero.

It is this notion which underlies most other more abstract and

technically specific sorts of stability.


In numerical integration, one is primarily interested in two types
of stability notions:

the absolute and the relative stability.

The

region of absolute stability of a method is that set of 1h for which the

Sequence {Yn}: is bounded.

The definition refers to a simple test equation

y=1y

of which the solution at t = tm, m = O,l,...,with tj+1 = tj+h is y(tm).

he

I.) U1

In the above sequence, yn, n = 0,1... is an approximate solution of the


test equation relative to the exact solution y(tn).
The relative stability region of a method is defined as the region
in which the extraneous eigenvalues introduced by the method are no larger
than the eigenvalues of the system.

Since the size of the extraneous

roots affects the stability of the method, it is of importance to know


if accuracy demands are insuring some stability.

For most methods and

problems, relative stability is not the limiting factor in accuracy re


quirements.

In other words, the size of extraneous roots is seldom a

problem and emphasis is usually placed in trying to keep the truncation.


error low.

SA

Stability of some Classical Integration Methods


Since the problem of stability is so vital in the selection of in

tegration methods, it is important to introduce those modern concepts of


numerical stability which can be used to judge the merit of a new or more
advanced method.

In order to do that, it is pertinent to study the sta

bility of some classical methods.


With reference to the Test Equation, y = Ay, three selected
integration methods, namely the Implicit Trapezoidal, Backward Implicit
Euler and Explicit Euler methods, have the following recursion formulas:

method
.

recurrence relation
.

solution at tn
1+Ah/2 n

Implicit trapezoida 1 yn+1 =yn+2 (f(yn+1) + f(yn ) )

yn = (1- h 2)

Backward Euler

yn= (l-Ah)

yo

-n

..

Explicit Euler

yn+1=yn+hf(yn+1)
=

yn+1 yn+hf(yn)

226

yn

yo

hn

(1+1 ) yo

It is evident that the stability region for the Implicit Trapezoidal


Method consists of the entire left half-plane,Rc(Ah) < 0.

Thus, it is said

to have an "unbounded" region of absolute stability, (see Fig. l a)

Re

gardless of the step size chosen for the calculation, the numerical re
sults will not have a runaway error growth which is characteristic of an
unstable numerical computation.

We remark in passing that stability does

not necessarily imply accuracy.

In most cases, as the step size increases,

the accuracy of results invariably deteriorates.


With this in mind, it is pertinent to inquire if it is possible to
have a larger region of absolute stability than the left half-plane, and
if so, to determine if it is more advantageous.

The answer to the former

question is affirmative, an easy example:being the Backward Euler Method,


whose stability region consists of the exterior of a circle of radius one
with its center at one on the real axis (Fig. l b).

The extension of the

stability region over a large area into the right half-plane has a dis
advantage, however.

The algorithm tends to produce

artificial damping

which can cause components to die out in the numerical solution while, in
the exact solution, they ShOlld be growing rapidly in time.

This is a danger

because in nonlinear problems, those time-dependent eigenvalues which have


large moduli may move quickly from left to right in the complex plane.

In the other extreme, the region of absolute stability of the Ex


plicit Euler Method consists of the interior of a circle of radius one,

centered at -1 (see Fig. lc).

In common with nearly all explicit linear

multistep methods, violently unstable results can be frequently expected

when these methods are applied to stiff systems because of their small
stability regions.

227

5.5.

Modern Theories of Numerical Stability Criteria


Motivated by these considerations, Dahlquist advocated that a method for

stiff problems ought to have a region of absolute stability at least as large


as that of the Implicit Trapezoidal Method.

This he referred to as "A-stability"

and described it formally as follows:


"A numerical method is said to be A-stable if its region of absolute
stability contains the whole of the left half-plane of Re(1h.)"

Thus, a linear multi-step method is A-stable if all approximate solutions yn


tend to zero when the method is applied with fixed h0 to the test problem
y = 1y, Re(1)<0
How good are the A-stable methods?

The answer is that they are fairly

good, but not nearly good enough for nonlinear stiff problems.

In this re

gard, they are comparable to the Implicit Trapezoidal Method, which has the
potential to produce rather large truncation errors in a stiff system.

To

illustrate, the principal local truncation error of the trapezoidal method is


h3d3(tn)/ 12, which can be rather sizeable if d3
dt
dt

is very large.

For a stiff

system, this will happen in an interval in which the transient solution is

appreciable in magnitude.

Also, for a test equation with large IReAIit can

be shown that the numerical solutions reduce only very slightly in magnitude
between two successive iterations.

As a matter of fact,

unity for an h which is not too small.

|yn+1/yn|is almost

Since the trapezoidal method is A-stable,

Iynl will decay to 0, but only very slowly in this situation.

The implication

is that for an extremely stiff system, the amount of calculation effort may be
too excessive to be practical, especially if the selected integration method
barely satisfies the requirement of A-stability.

A stronger requirement is

needed.
Ironically, A-stability is very prohibitive.

For example, it can be shown

that no explicit linear multi-step method can be A-stable, nor can a high-order
implicit one.

This rules out many popular methods, including the (explicit)

Runge-Kutta Method, whose stability region is

228

shown in Fig. 2.

It can be seen that this region is comparable to that

of the Explicit Euler Method.

For stiff systems, the permissible time

step is minute and the computing expenditure correspondingly expensive.


If, however, one tries to violate this restriction by using a larger

time step, a violent instability problem will arise, as the following


example shows(ll).

Y2

Y3 = Y2

and at t = 0, y1 = y2 = y3 = 0.
It can be verified that the eigenvalues of this linear system are
-100, i,-i and that

y1 = Sin t - 0.01 Cos t + 0.01 exp (-100 t ) / 1.001.

It is obvious that the exponential term decays rapidly to less


than 106 after the first 0.1 unit of time.
quickly loses its dominance.

Thus, the largest eigenvalue

One might expect that, in subsequent

calculations, a much larger step size would be permissible but, to one's

disappointment, the following are results at t=3 for the classical


fourth-order Runge-Kutta Method:
h

0.015

0.020

0.025

0.030

y1(t)

0.1510

0.1510

0.15094

6.7 x 1011

It is seen that 7or a step size, h = 0.025 gives a good result


whereas use of h = 0.030 creates a terrific instability.

The explanation

is that the step size must be limited by 0.027, i.e., 2.7 divided by
the absolute value of the numerically largest eigenvalue (100 in the
present case) throughout the entire period of calculation.

In fact, for

many methods the step size is limited due to stability reasons by the
following expression:

229

max

Ajh

l
in which C is a method-dependent constant and is 2.7 for the fourth
order Runge-Kutta Method.
In an effort to strengthen A-stability conditions, Ehle proposed
the notion of L-stability, which is defined as follows:
"A one-step method is said to be L-stable if
(a)

it is A-stable,

(b)

it yields yn+1 = E (A h) yn , |E (l h)l+

o as Re (i h) -* - m

It is evident that L-stability implies Astability but not vice versa.


Research to date indicates that very few methods can pass the requirement
of L-stability.

(See Table II).

Another notion, developed by Gear, is that of the "Stiffly


Stable" condition:

"A numerical method is said to be stiffly stable if


(a)

its region of absolute stability contains R1,

(b)

it is accurate for all lheR2 when applied to the scalar

test equation y = ly, Re (A )< 0


where

R1 =

{lhl Re (A h)< - a}

R2 = uh I -a .gRe o h) .<. -b=< 1moh1=<b1


and a,b and c are positive constants.

See Fig. 3.

The stiffly stable condition is in certain regards weaker than the


A-stable condition in that it does not require the inclusion of the entire
left half-plane, i.e., the boundary of its region is allowed to be a
distance away from the imaginary axis.

In another sense, it is stronger

since it includes as its stability region a rectangular area in the


neighborhood of the origin.

A method can be A-stable, or even L-stable,

230

but not be stiffly stable.

A simple example is any Implicit Runge-Kutta

Method, which is Astable but not stiffly stable, because its unstable

region, although small, encroaches too closely to the origin. (Cf- (61-)
Unfortunately, with rare exceptions, linear explicit multi-step
methods cannot satisfy even stiffly stable conditions.

Thus, these

methods are very inefficient in solving stiff systems.

The reason for presenting the principle of stiff stability is


derived from the known fact that those fast components, which represent
rapidly decaying terms in transient solutions, correspond to values of
Ah

lying in R1.

Thus, the remaining lower eigenvalues will lie in R2

if the step size h is suitably chosen.

In this manner, the slower

components will be computed accurately as well as "stably".

In a

similar vein, it is not important to represent the fast-decaying terms


accurately as long as they can be somehow made to decay with sufficient
rapidity and, in consequence, be represented "stably."
The concept of numerical stability is under intensive study and
in the process of development.

stability have arisen.

Recently, the notions of P-, H- and Q

However, to the best of our knowledge, they are

in the purely theoretical stage and no practical properties have been


uncovered.
We have discussed some modern notions of numerical stability and
have determined that the state of the art has not yet reached a satis
factory point.

Further developments in theory and in practice, however,

are expected to occur rapidly in the next few years.

At this juncture,

it should be emphasized that pure theory does not really give one much
guidance in the selection of a candidate method for a particular
application.

This is not entirely due to inadequate knowledge but rather

because selection of an integration method is more aptly derived from


actual experience.

Such experience can only be obtained by painstakingly

conducting numerical experimentation.

231

It is pertinent to discuss how an instability can be detected


during computation.

Experience has shown that the propagation error, or

instability, is indicated by an exponential growth of errors.

However,

this growth is not monotonic but usually starts with an oscillation,


which will either grow or die depending on the amount of damping in the
method.

If it grows to a violent stage, the process is described as

being unstable.

Thus, instability can be detected through the

oscillation of numerical results.

Let us take the predictor-corrector

method as an example with Pij and Cij the predicted and corrected values
of ith components and jth time increment, respectively.

We can monitor

the sign changes of the difference between these values, i.e.,


dij = Pij-Cij.
of zero.

Suppose that we use a counter Ij with an initial setting

Every time the difference, dij, disagrees in sign in two

successive time increments, the counter is advanced by one: otherwise,

remains in place.

it

If Ij registers three, an oscillation is confirmed and

instability is indicated.

Care should be exercised to select a dij

substantially greater than zero for a successful process.

If it is not,

a false alarm may be triggered by roundoff errors and the process will
not succeed.

5.6

Order vs. Stability


In recent years research has concentrated on the development of

the so-called variable-order methods.

The definition of what constitutes

the order of a method differs depending on the sort of method being


discussed but is always characterized by a total error in the numerical
solution due to truncation.

The order of a method is in general one less

than the order of the per-step truncation error of the formula.

For

example, if a method has a truncation error of 0(h5) per step, then it is

232

termed a fourth-order method.


It can be seen that, as the order increases, so does the accuracy
of the method, other conditions being the same.

In other words.if all other

factors are ignored, the greater the order of the method, the greater the
accuracy that can be achieved for any given step size.

However. in applications

to most stiff systems, this is not true due to stability conditions_ When a
variable order procedure is applied to a stiff problem, an increase in the order
of the numerical method will generally result in a decrease in the size of the
region of stability.

Thus, an increase in order may place a given step size

acceptable for the lower order version

stability.

outside the reduced region of

While this change of order can potentially improve the accuracy of

results, it places a severe restriction on the permissible step size and is the

main reason that a high order method is not recommended for very stiff problems,
and why any

variable order program should also contain a procedure to vary the

step size in conjunction with a change of order.

A low order method, frequent

ly less than three, is preferable for stiff problems in almost all cases.

5.7

Explicit vs. Implicit Methods


As stated before, a sizeablestructural dynamics problem will

frequently

lead to a stiff system of ODES- Because of the simplicity of its formulation,


though,one is inclined to treat this through an explicit method, mainly to

avoid the necessity of inverting matrices.

However, Since the explicit

methods cannot even satisfy conditions of A-stability, their application


to stiff ODE systems will at best probably increase computer costs inordinately
and at worst cause violent instability.

An implicit method, therefore,

is normally advocated.
In an implicit formulation, it is necessary to solve a set of
implicit difference equations, which take the form of simultaneous
algebraic equations denoted by F(y) = 0.

233

In many structural dynamics

problems, F(y) is nonlinear and the stiffness of the differential system


carries over into it, causing the ordinary direct iterative approach to
converge extremely slowly, if at all.

(The reason for this is that stiff

ness imposes very severe restrictions on step size.)

A more powerful

method must be used, and Newton's iteration method is often selected.


The formulation of this method is:

y(n + 1) = y(n) _

J1(y(n))

F(y(n))

where J(y) is the Jacobian matrix %-,

In application, the reevaluation

and inversion of the Jacobian matrix at each iteration still require


unacceptable amounts of computing time and memory core space, and it is
frequently more expedient to hold the Jacobian constant for a number of
iteration steps.

In the latter system, the Jacobian is only reevaluated

if the computation fails to converge after three or so iterations.

For

this reason, the method is not strictly a Newton method, but is close to

it and is commonly known as a "Newton-like" method.

Experience has shown that

for many problems, its results are highly satisfactory, because the
Jacobian varies quite slowly.

In exceptional cases, the Jacobian matrix

does not change at all, even during a number of consecutive integration


time steps.

Though this is only occasionally true, it is advantageous to

take it into consideration in practical calculations.

be sure that the iteration method is convergent.

One must, above all,

This means that the

solution generated by the iteration procedure must approach the theoretical


(exact) solution as the time step length approaches zero.

From a

practical point of view, the mere notion of convergence is not particularly


important but the rate at which the predicted convergence will occur is.
More precisely, the iteration algorithm must produce a solution which
converges within an acceptable tolerance limit to the unknown exact
solution after a reasonably small number of iteration steps.

234

This require

ment is mandatory in order to insure that the convergent method does


not use inordinately small step lengths to produce accurate results.
In carrying out the iteration for solving implicit difference
equations, one can use a piecewise linearization technique, i.e., the

time-varying Jacobian J(y) can be assumed to be a constant matrix within


a sufficiently small time increment.

This is permissible as long as the

Jacobian varies slowly enough and is updated at sufficiently frequent


intervals.
To solve the difference equations in a Newton formulation, we can

multiply throughout by J(Y)(n 1 , which is a nonsingular, constant


matrix.

The formulation thus becomes:

mm) Mn) - W) = - F mm)


which has the form of Ax=b, where A is a constant matrix.

one can use any number of standard methods.

To solve this,

Among these, the most

popular is perhaps the "LU Decomposition" method, which is a special


case of the Gaussian elimination scheme.

In this method the matrix A is

first decomposed into a product of a lower triangular matrix L and an


upper triangular matrix U.

The original problem is then reduced to the

solution of a pair of equations, namely Ux=w and Lw=b.

Decomposition is

easily accomplished and is available through standard FORTRAN program


library packages.

23S

Re(ah)
3~.(~

Explicit
Euler
I.m(>.h)

Method

/;

1\

=/
l

g/I
\a

Re(lh)
Stability
Regions

\
Backward
Euler

lm(>.h)
Method

Fig.
1

b.

Re(?.h)
TrImplicit
apezoidal

lm(>.h)

%i

Method

8..

982

Unstable

Unstable

Stable

Re(Ah)

Fig.2

Stability Region of the Runge-Kutta Method of p-Order

Im(Ah)

\R1

Fig. 3

Region of A Stiffly Stable Method

237

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