Professional Documents
Culture Documents
Kohnke P. (Ed.) - Ansys - Theory Reference, Release 5.6 PDF
Kohnke P. (Ed.) - Ansys - Theory Reference, Release 5.6 PDF
= a+ [bj (3.213) where the brackets (<>) denote a quarternion. The scalar and vector parts ofare a and {b}, respectively. ‘Two useful quarternion operations are multiplication and norm calculations. The norm ofis expressed by: Iq) = a? + b? + b2 + bf (3.2-14) where by, ba, and bg are the components of {b}. If |q| = 1, then |q] is termed a unit quarternion. Consider two quarternions given by:= a+ {b} (3.215)= c+ {dh 16) Multiplication is defined as:= = ac—{b)"{d} + cfb} + ald} -{b} x {d} It follows that scalar and vector components of can be written as: S(qo)) = ac — {b}T{d} (3.2-18) {Vian} = cfd) + ald) — {b} x td} (2-19) In Argyris(67), the rotational pseudovector is presented in the form of a quarternion, in order to circumvent any limitation on the amount of rotation: = cos$ + sin$ te (3.2-20) ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®Chapter 3. Structures with Geometric Nonlinearities Itis clear thatabove is a unit quarternion. By equation (3.2-9), the above can be rewritten as:= cos$ + dio) G221 The pseudovector updating considers sequential rotations {0,| and {AQ] in the form: = cos +2 jog (3.2-22) (3.2-23) where {cp} is the normalized {0q} and {Ac} is the normalized {AQ,}, see equation (32-9). Updating to formuses the multiplication template of equation (3.2-17). Thus, <441> = = cos % cos 49 — 1 fora)” [Ao] 2-24) AO 1 + Ecos M8 toon} + 4 cos % {Ao} ~ 1 fond Ao} Since both andare unit quarternions, their product is also a unit quarternion. The pseudovector for the updated quarternion is (from equation (3.2-21)) + Fost (3.2-25) or using the definition of equation (3.2.8): 6, = cost! + sin oy (3.2-26) Equating scalar and vector parts between equations (3.2-24) and (3.2-25) leads to: 8521 = cos 2 ox Me 2 2z 2 Sasi) = cos =F fon)T {Ao} GB.2-27) =} cosM® fon) +4 cose {A} (Vas db =4 (Ons Loa} {Ao} (3.2-28) ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3163.2 Large Rotation tis clear that @,,, , can be extracted from equation (3.2-27), while the components of {q41} are available from equation (3.2-28). Itis important to mention that 0 is restricted to the range + x. This restriction is due to the nonuniqueness of the sine term of equation (3.2-26) in the vicinity of 0 = x ( sin (x + 6)/2 = sin (x — 6)/2). Thus, when |@| exceeds x, the pseudovector is. shifted as follows: Oif Ol x (3.229) The updated quarternion of equation (3.2-24) or (3.2-26) is adjusted accordingly (0 replaced with 0"). This shift of the magnitude of the pseudovector allows unlimited rotation (> 180°). 3.2.4 Element Transformation The updated transformation matrix [Tp] relates the current element coordinate system to the global Cartesian coordinate system as snown in Figure 3.2—1. Y Vins Current Configuration aX Original Configuration x Figure 3.2-1_ Element Transformation Definitions [Trl can be computed directly or the rotation of the element coordinate system [Rr] can be computed and related to [Tn] by (Tal [Ten (3.2-30) ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®Chapter 3. Structures with Geometric Nonlinearities 318 where [T,] is the original transformation matrix. The determination of [Ta] is unique to the type of element involved, whether it is a solid element, shell element, beam element, or spar element. ‘A. Solid Elements. The rotation matrix [Rn] for these elements is extracted from the displacement field using the deformation gradient coupled with the polar decomposition theorem (see Malvern(87)). B. Shell Elements. The updated normal direction (element z direction) is computed directly from the updated coordinates. The computation of the element normal is given in Chapter 14 for each particular shell element. The extraction procedure outlined for solid elements is used coupled with the information on the normal direction to compute the rotation matrix [Rr C. Beam Elements. The nodal rotation increments from [Au] are averaged to determine the average rotation of the element and equation (3.2-28) is used to update the average element rotation. Equation (3.2~10) then yields the rotation matrix [Rp] from the updated average element rotation. In special cases where the average rotation of the element computed in the above way differs significantly from the average rotation of the element computed from nodal translations, the quality of the results will be degraded. D. Link Elements. The updated transformation [Tp] is computed directly from the updated coordinates. E. Generalized Mass Element (MASS21). The nodal rotation increment from {Au} is used in equation (3.2-28) to update the average element rotation. Equation (3.2-10) then yields the rotation matrix [Rp] from the updated element rotation. 3.2.5 Deformational Displacements The displacement field can be decomposed into a rigid body translation, a rigid body rotation, and a component which causes strains: {uy = {ut} + {udp (32-31) where: {u'} rigid body motior {u} = deformational displacements which cause strains {u%} contains both translational as well as rotational DOF. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®3.2 Large Rotation The translational component of the deformational displacement can be extracted from the displacement field by {ug} = Ral (exe) + tu) - bed (32-32) where! {ui} = translational component of the deformational displacement [Rq] = current element rotation matrix {%}_ = original element coordinates in the global coordinate system {u} = element displacement vector in global coordinates {u4} is in the global coordinate system. For elements with rotational DOFs, the rotational components of the deformational displacement must be computed. The rotational components are extracted by essentially “subtracting” the nodal rotations {u) from the element rotation given by {u") In terms of the pseudovectors this operation is performed as follows for each node: 1. Compute a transformation matrix from the nodal pseudovector {8"} using equation (3.210) yielding [T,]. 2. Compute the relative rotation [T4] between [Rp] and [Ty]: (T4] = (Ral Tal” (3.2-33) This relative rotation contains the rotational deformations of that node as shown in Figure 3.2-2. 3. Extract the nodal rotational deformations {u%} from [T9] using equation (3.2-11). Because of the definition of the pseudovector (equation (3.2-9)), the deformational rotations extracted in step 3 are limited to less than 30°, since 2sin(@/2) no longer approximates @ itself above 30°. This limitation only applies to the rotational distortion (ie. bending) within a single element. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®Chapter 3. Structures with Geometric Nonlinearities 3-20 Y Figure 3.2-2 Definition of Deformational Rotations 3.2.6 Updating Rotations Once the transformation [T] and deformational displacements {u‘} are determined, the element matrices (equation (3.2-3)) and restoring force (equation (3.2-4)) can be determined. The solution of the system of equations yields a displacement increment {Au}. The nodal rotations at the element level are updated using equation (3.2-24) with the rotational components of {Au}. The global rotations (in the output and on the results file) are not updated with the pseudovector approach, but are simply added to the previous rotation in {Up_1}. 3.2.7 Applicable Input NLGEOM,ON activates the large rotation computations in those elements which support it. SSTIF,ON activates the stress-siffening contribution to the tangent stiffness matrix (which may be required for structures weak in bending resistance). 3.2.8 Applicable Output Stresses (output quantity S) are engineering stresses in the rotated element coordinate system (the element coordinate system follows the material as it rotates). Strains (output quantity EPEL, EPPL, etc.) are engineering strains, also in the rotated element coordinate system. This applies to element types that do not have large strain capability. For element types that have large strain capability, see Section 3.1. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®3.2 Large Rotation 3.2.9 Consistent Tangent Stiffness Matrix and Finite Rotation It has been found in many situations that the use of consistent tangent stiffness in a nonlinear analysis can speed up the rate of convergence greatly. It normally results in a quadratic rate of convergence. A consistent tangent stiffness matrix is derived from the discretized finite element equilibrium equations without the introduction of various approximations. The terminology of finite rotation in the context of geometrical nonlinearity implies that rotations can be artitrarily large and can be updated accurately. Acconsistent tangent stiffness accounting for finite rotations derived by Nour-Omid and Rankin(175) for beam/shell elements is used. The technology of consistent tangent matrix and finite rotation makes the buckling and postbuckling analysis a relatively easy task. KEYOPT(2) = 1 implemented in BEAM4 and SHELL63 uses this technology. The theory of finite rotation representation and update has been described in Section 3.2 (Pseudovector Representation) using a pseudovector representation. The following will outline the derivations of a consistent tangent stiffness matrix used for the corotational approach The nonlinear static finite element equations solved can be characterized by at the element level by: N (crat{re) — (re (3.2-34) a where: N = number of total elements "| = element internal ‘orce vector in the element coordinate system, generally see equation (3.235) [T,]" = transform matrix transferring the local internal force vector into the global coordinate system [F3] = applied load vector at the element level in the global coordinate system {Fe = J [By]"{oe} divol) (3.2-35) Hereafter, we shall focus on the derivation of the consistent tangent matrix at the element level without introducing an approximation. The consistent tangent matrix is obtained by differentiating equation (3.2-34) with respect to displacement variables {ue} ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 321Chapter 3. Structures with Geometric Nonlinearities te Fe 1 divod + (TI | AB fog} avon) 3.236) 0 It can be seen that Part lis the main tangen: matrix (equation (3.2-3)) and Part I! is the stress stiffening matrix (equation (3.135), (3.3-14) or (3.3-17)). Part Ill is another part of the stress stiffening matrix (see Nour-Omid and Rankin(175)) traditionally neglected in the past. However, many numerical experiments have shown that Part II of [2] is essential to the faster rate of convergence. KEYOPT(2) = 1 implemented in BEAM4 and SHELL63 allows the use of [Kz] as shown in equation (3.2-36). In some. cases, Part Ill of [Ke] is unsymmetric; when this occurs, a procedure of symmetrizing [Kz] is invoked. As Part Il of the consistent tangent matrix utilizes the internal force vector {Fe} to form the matrix, itis required that the internal vector {F"| not be so large as to dominate the main tangent matrix (Part |). This can normally be guaranteed if the realistic material and geometry are used, that is, the elements not used as a rigid link and the actual thicknesses are input. Itis also noted that the consistent tangent matrix (3.2-36) is very suitable for use with the arc-length solution method. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3.2233. Stress Stffening 3.3 Stress Stiffening 3.3.1 Overview and Usage Stress stiffening (also called geometric stiffening, incremental stiffening, initial stress stiffening, or differential stiffening by other authors) is the stiffening (or weakening) of a structure due to its stress state. This stiffening effect normally needs to be considered for thin structures with bending stiffness very small compared to axial stiffness, such as cables, thin beams, and shells and couples the in-plane and transverse discplacements. This effect also augments the regular nonlinear stifiness matrix produced by large strain or large deflection effects (NLGEOM,ON). The effect of stress stiffening is accounted for by generating anc then using an additional stiffness matrix, hereinafter called the “stress stiffness matrix". The stress stiffness matrix is added to the regular stiffness matrix in order to give the total stiffness using the SSTIFON command. Stress stiffening may be used for static (ANTYPE, STATIC) or transient (ANTYPE, TRANS) analyses. Working with the stress stiffness matrix is the pressure load stiffness, discussed in Section 3.3.4. The stress stiffness matrix is computed based on the stress state of the previous equilibrium iteration. Thus, to generate a valid stress-stiffened problem, at least two iterations are normally required, with the first iteration being used to determine the stress state that will be used to generate the stress stiffness matrix of the second iteration. If this additional stiffness affects the stresses, more iterations need to be done to obtain a converged solution In some linear analyses, the static (or initial) stress state may be large enough that the additional stiffess effects must be included for accuracy. Modal (ANTYPE, MODAL), reduced harmonic (ANTYPE,HARMIC with Method = REDUC on the HROPT command), reduced transient (ANTYPE, TRANS with Method = REDUC on the TRNOPT command) and substructure (ANTYPE,SUBSTR) analyses are linear analyses for which the prestressing effects can be included using the PSTRES,ON ‘command. Note that in these cases the stress stiffness matrix is constant, so that the stresses computed in the analysis (e.g. the transient or harmonic stresses) are assumed small compared to the prestress siress. It membrane stresses should become compressive rather than tensile, then terms in the stress stiffness matrix may “cancel” the positive terms in the regular stiffness matrix and therefore yield a nonpositive-definite total stifness matrix, which indicates the onset of buckling. If this happens, it is indicated with the message: “Large negative pivot value __, atnode_ may be because buckling load has been exceeded’. It must be noted that a stress stiffened model with insufficient boundary conditions to prevent rigid body motion may yield the same message. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3.23Chapter 3. Structures with Geometric Nonlinearities 3.24 The linear buckling load can be calculated directly by adding an unknown multiplier of the stress stiffness matrix to the regular stiffess matrix and performing an eigenvalue buckling problem (ANTYPE,BUCKLE) to calculate the value of the unknown multiplier. This is discussed in more detail in Section 17.5. 3.3.2 Theory The strain-displacement equations for the general motion of a differential length fiber are derived below. Two different results have been obtained and these are both discussed below. Consider the motion of a differential fiber, originally at dS, and then at ds after deformation. Figure 3.3-1 General Motion of a Fiber One end moves {u}, and the other end moves {u + du}, as shown in Figure 3.3-1. The motion of one end with the rigid body translation removed is {u + du} — {u} = {du}. {du} may be expanded as dw {du} = {et (3.3-1) dw where u is the displacement parallel to the original orientation of the fiber. This is shown in Figure 3.3-2. Note that X, Y, and Z represent global Cartesian axes, and x, y, and z represent axes based on the original orientation of the fiber. By the Pythagorean theorem, ds = (dS + du)? + (dv)? + (dw)? (3.3-2) ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®33. Stress Stffening The stretch, A, is given by dividing ds by the original length dS: ds A=-% (3.3-3) dv d dw x A y Zz (uy 2 mI ds x Figure 3.3-2 Motion of a Fiber with Rigid Body Motion Removed As dS js along the local x axis, A= (1 (3.3-4) (3-5) (3-6) when A? <1, One should be aware that using a limited number of terms of this series may restrict its applicability to small rotations and small strains. If the first two terms of the series in equation (3.3-6) are used to expand equation (3.3-5), ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3.25Chapter 3. Structures with Geometric Nonlinearities (33-7) If, more accurately, the first three terms of equation (3.3-6) are used and displacement derivatives of the third order and above are dropped, equation (3.3-6) reduces to: )) (3.3-9) The resultant strain is: = A-1 =m 41 (fay 4 (aw — & se A-1 aM 4s (a) (2) (3.3-10) For most 2-D and 3-D elements, equation (3.3-8) is more convenient to use as no account of the loaded direction has to be considered. The error associated with this, small as the strains were assumed to be small. For 1-D structures, and some 2-1 elements, equation (3.3-10) is used for its greater accuracy and causes no difficulty in its implementation. 3.3.3 Implementation The stress-stiffness matrices are derived besed on equation (3.1-35), but using the nonlinear strain—displacement relationships given in equation (3.3-8) or (3.3-10) (Cook(5)). For a spar such as LINKS the stress-stifiness matrix is given as: 0 0 0 0 0 0 o 1 0 0 + 0 _F}O 0 1 0 0 A SI=Tlo 0 0 0 0 0 63-11) o 1 0 0 1 0 o 0 +1 0 08 1 ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3-2633. Stress Stffening The stress stiffness matrix for a 2-D beam (BEAMS) is given in equation (3.3-12), which is the same as reported by Przemieniecki(28). All beam and straight pipe elements use the same type of matrix. The 3-D beam and straight elements do not account for twist buckling. Forces used by straight pipe elements are based on not only the effect of axial stress with pipe wall, but also internal and external pressures on the ‘end-caps' of each element. This force is sometimes referred to as effective tension. 0 0 $ Symmetric o dp 21? s) == 0” 1s (33-12) rl oo 0 0 6 0 o § a 0 0 hE where F = force in member L length of member The stress stiffness matrix for 2-D and 3-D solid elements is generated by the use of numerical integration. A 3-D solid element ‘SOLID45) is used here as an example: [So] [0] [0] [SJ =] 10) [Sol [0] (3.3-13) [0] [0] [Sol] where the matrices shown in equation (3.3-13) have been reordered so that first all x-direction DOF are given, then y, and then z. [So] is an 8 by 8 matrix given by: [Sol = | [Se]"[Sml [Se] d(vol) (3.3-14) vol The matrices used by this equation are: Ox Oy gy [Sn] =|ay oy 6, (3.3-15) Sw Sy 9, Where o,, Oxy etc. are stress based on the displacements of the previous iteration, and, ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3.07Chapter 3. Structures with Geometric Nonlinearities aN, Ny ax ax ONg wy aNg a (3.3-16) aN, % where Nj represents the ith shape function. This is the stress stiffness matrix for small strain analyses (NLGEOM,OFF or NLGEOM,ON with large deflection elements). For large strain elements in a large strain analysis (NLGEOM,ON), the stress stiffening contribution is computed using the actual strain—displacement relationship (equation (3.1-6)). One further case requires some explanation: axisymmetric structures with non-axisymmetric deformations. As any stiffening effects may only be axisymmetric, only MODE = 0 cases are used for the prestress case. Then, any subsequent load steps with any value of MODE (including 0 itself) uses that same stress state, until another, more recent, MODE = 0 case is available. Also, torsional stresses are not incorporated into any stress stiffening effects. Specializing this to SHELL61 (Axisymmetric-Harmonic Structural Shell), only two stresses are used for prestressing: 0, dy, the meridional and hoop stresses, respectively. The element stress stiffness matrix is: [Se = nm] [Sp] d(vol) (3.3-17) Os 0 0 0 sj = | ° % 9 0 0 0 mw 0 0 0 0 % [Se] = [ASIN] where [Ac] is defined below and [N] is defined by the element shape functions. [As] is an operator matrix and its terms are: ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3.2833. Stress Stffening 0 0 a as. A) = “ v cage Ral (33-18) = Rao U 0 where: c= eo eteas 1.0 if MODE >0 The three columns of the [As] matrix refer to u, v, and w motions, respectively. As suggested by the definition for [Sm]. the first two rows of [As] relate to as and the second two rows relate to oy, The first row of [Ac] is for motion normal to the shell varying in the s direction and the second row is for hoop motions varying in the s direction. Similarly, the third row is for normal motions varying in the hoop direction. Thus equation (3.3-10), rather than equation (3.3-8), is the type of nonlinear strain-displacement expression that has been used to develop equation (3.3-18) 3.3.4 Pressure Load Stiffness The effect of change of direction and/or area of an applied pressure is responsible for the pressure load stiffness matrix ([S*") (Bonet and Wood(236), Section 6.5.2). Itis used either for a large deflection analysis (NLGEOM,ON), regardless of the setting of the SSTIF command, for an eigenvalue buckling analysis, or for a dynamic analysis using the PSTRES,ON command The need of [S°"] is most dramatically seen when modelling the collapse of a ring due to external pressure using eigenvalue buckling. The expected answer is: Py = SH (3.3-19) where: Pg = critical buckling load E = Young's modulus ' moment of inertia R radius of the ring c = 30 This value of C = 3.0 is achieved when using [S"], but when it is missing, C = 4.0, a 33% error. [SP"] is available only for SURF154, SHELL181, BEAM188, and BEAM189. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 3.29Chapter 3. Structures with Geometric Nonlinearities 3-30 3.3.5 Applicable Input Table 3.0-1 indicates the elements which compute a stress stiffness matrix. Ina nonlinear analysis (ANTYPE,STATIC or ANTYPE, TRANS), SSTIFON activates the stress stiffness contribution to the stiffness matrix. With NLGEOM,OFF, the rotations are presumed to be small and the additional stiffness induced by the stress state is included. With NLGEOM,ON, the stress stifmess augments the tangent matrix, affecting the rate of convergence but not the final converged solution. Ina prestressed linear analysis, PSTRES,ON activates the stress stifiness contribution in the prestressed analysis and directs the preceding analysis to save the stress state. 3.3.6 Applicable Output In a small deflection/small strain analysis (NLGEOM,OFF), the 2-D and 3-D elements compute their strains using equation (3.3-8). The strains (output quantities EPEL, EPPL, etc.) therefore include the higher-order terms (e.g. + (> in the strain computation. Also, nodal and reaction loads (output quantities F and M) will reflect the stress stiffness contribution, so that moment and force equilibrium include the higher order (small rotation) effects. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®34. Spin Softening 3.4 Spin Softening The vibration of a spinning body will cause relative circumferential motions, which will change the direction of the centrifugal load which, in turn, will tend to destabilize the structure. As a small deflection analysis cannot directly account for changes in geometry, the effect can be accounted for by an adjustment of the stiffness matrix, called spin softening. Spin softening is activated with the input quantity KSPIN on the OMEGA command, and is intended for use only with modal (ANTYPE,MODAL), harmonic response (ANTYPE, HARMIC), reduced transient (ANTYPE, TRANS, with TRNOPT,REDUC) or substructure (ANTYPE,SUBSTR) analyses. When doing a static (ANTYPE, STATIC) or a full transient (ANTYPE, TRANS with TRNOPT,FULL) analysis, this effect is more accurately accounted for by large deflections (NLGEOM, ON). Consider a simple spring-mass system, with the spring oriented radially with respect to the axis of rotation, as shown in Figure 3.41. Equilibrium of the spring and centrifugal forces on the mass using small deflection logic requires: Ku = oMr G41) where u_ = radial displacement of the mass from the rest position r = radial rest position of the mass with respect to the axis of rotation ©, = angular velocity of rotation os LA//VA 0 }__ , —_|_ ._| Figure 3.4-1 Spinning Spring-Mass System However, to account for large deflection effects, equation (3.4~1) must be expanded to: Ku = @Mo + w G42) Rearranging terms, (K - @2M)u = Mr (3.4-3) ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 331Chapter 3. Structures with Geometric Nonlinearities Defining K = K- @M G44) and = o Mr G45) equation (3.43) becomes simply, Ku = F (3.4-6) Kis the stiffness needed in a small deflection solution to account for large deflection effects. F is the same as that derived from small deflection logic. Thus, the large deflection effects are included in a small defection solution. This decrease in the effective stifiness matrix is called spin (or centrifugal) softening. See also Carnegie(104) for additional development. Extension of equation (3.4~4) into three dimensions gives: Ku Ky — (07 + ©?) Mex (4-7) Ry = = (02 + 03) My G.-8) Ku = Ka — (0% + 03) Mz G.4-9) where: KxysKy,K;, = the x, y, and z components of stiffness as computed by the element “avRy;Kz = the x, y, and z components of stiffness adjusted for spin softening Myx,Myy,M,, = the x, y, and z components of mass @,@y@z = angular velocities of rotation about the x, y, and z axes There are no modifications to the cross terms: Ry = Ky (3.410) Ry = Ky B11) Kx = Kix (3.4-12) ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 33234. Spin Softening From equations (3.47) thru (3.4-9), it may be seen that there are spin softening effects only in the plane of rotation, not normal to the plane of rotation. Using the example of a modal analysis, equation (3.4~4) can be combined with equation (17.3-4) to give: |[K] - ©? [Mj] = 0 (4-13) or | (IK] - 3 [M)) -o?[Mj| = 0 (34-14) where © = the natural circular frequencies of the rotating body. If stress stiffening is added to equation (3.4~14), the resulting equation is: { (IK) + ts] M]) - o?[Mj| = 0 (4-15) Stress stiffening is normally applied whenever spin softening is activated, even though they are independent theoretically. The modal analysis of a thin fan blade is shown in Figure 3.42. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 333Chapter 3. Structures with Geometric Nonlinearities 100. A.=No Stress Stiffening, No Spin Softening B = Stress Stiffening, No Spin Softening 90. C= No Stress Stitfening, Spin Softening D = Stress Stiffening, Spin Softening 80. 70: Fundamental Natural Frequency (Hertz) 40. 30. 20: 10: 40 80 120° 160-200 240280320 360400 Angular Velocity of Rotation («.) (Radians/Sec) Figure 3.4-2 Effects of Spin Softening and Stress Stiffening on Fan Blade Natural Frequencies ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 334Chapter 4 Structures with Material NonlinearitiesANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®40 44 42 43 ANSYS Theory Reference Chapter 4 — Table of Contents Introduction to Material Nonlinearities ..... 4.01 Strain Definitions Rate-Independent Plasticity ............. 444 Theory 44.2 Yield Criterion 4413 Flow Rule 414 Hardening Rule 415 Plastic Strain Increment 44.6 Implementation 447 Elasto-Plastic StressStrain Matrix 418 Specialization for Multilinear Isotropic Hardening (MISO) and Bilinear Isotropic Hardening (BISO) 449 Specification for Nonlinear Isotropic Hardening 4.1.10 Specialization for Bilinear Kinematic Hardening (BKIN) 4.1.11 Specialization for Multilinear Kinematic Hardening (MKIN/KINH) 4.4.12 Specialization for Nonlinar Kinematic Hardening (CHAB) . 44.413 Specialization for Anisotropic Plasticity (ANISO) ..... 4.1.14 Specialization for Drucker-Prager (DP) ..........6.0000s Rate—Dependent Plasticity 4.24 Overview 422 Theory .. 423 Implementation Creep : bo dcueeeeeeecevtteeeeeeeesneteee 434 Definition and Limitations .......2...000ceeeeeeeeereeeee 43.2 Calculation of Creep... ee .eeecceveeeeeeeeeseeeeeeees ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® ao 45 45 49 410 4-10 4-13 4415 415 416 a7 419 421 4-23 427 4-30 4-30 4-30 4-31 4-33 4-33 4-3344 45 46 47 48 4.3.3 Nonlinear Elasticity ...........0ee eee 444 Time Step Size... .... Overview and Guidelines for Use Hyperelasticity ........... 45.4 45.2 Viscoelasticity bec eeeeee bees Basic Theory ....... ooo eee te eee eeeeee 464 Concrete .... 2.6... c cece eee eect eee ee ee ee ATA The Domain 0 > 01 202203 ....00..0cceeeeereees 472 The Domain o1 20202203... 473 The Domain o1 2 0220203 .....0.0c.ceeecveseeeees 474 The Domain o1 > 02203 20 St Mooney-Riviin and late Ko Models ween e een eee ee Uniaxial Tension (Equivalently, Equibiaxial Compression) Equibiaxial Tension (Equivalently, Uniaxial Compression)... Pure Shear (Uniaxial Tension and Uniaxial Compression in Orthogonal Directions) Least Square Fit Analysis ............0000 0 Arruda—Boyce Model ANSYS Theory Reference . 001242 . Eleventh Edition . SAS IP, Inc.®4.0. Introduction to Material Nonlinearities 4.0 Introduction to Material Nonlinearities This chapter discusses the structural material nonlinearities of plasticity, creep, nonlinear elasticity, hyperelasticity, viscoelasticity, concrete and swelling. Not included in this section are the slider, frictional, or other nonlinear elements (such as COMBIN7, COMBIN40, CONTAC12, CONTAC48, etc. discussed in Chapter 14) that can represent other nonlinear material behavior. Material nonlinearities are due to the nonlinear relationship between stress and strain, that is, the stress is a nonlinear function of the strain. The relationship is also path dependent (except for the case of nonlinear elasticity and hyperelasticity), so that the stress depends on the strain history as well as the strain itselt. The program can account for eight types of material nonlinearities: 1. Rate-independent plasticity is characterized by the irreversible instantaneous straining that occurs in a material. 2. Rate-dependent plasticity allows the plastic-strains to develop over a time interval. This is also termed viscoplasticity. 3. Creepis also an irreversible straining that occurs in a material and is rate-dependent so that the strains develop over time. The time frame for creep is usually much larger than that for rate-dependent plasticity 4, Nonlinear elasticity allows a nonlinear stress-strain relationship to be specified. All straining is reversible. 5. Hyperelasticity is defined by a strain energy density potential that characterizes elastomeric and foam-type materials. All straining is reversible. 6. Viscoelasticity is a rate~dependent material characterization that includes a viscous contribution to the elastic streining. 7. Concrete materials include cracking and crushing capability. 8. Swelling allows materials to enlarge in the presence of neutron flux. Only the concrete element (SOLID65) supports the concrete model and only the viscoelastic elements (VISCO88, VISCO89) support the viscoelastic material model. The elements which support the other options are listed in Table 4.01. Note that also listed in this table are how many stress and strain components are involved. One component uses x (e.9. SX, EPELX, etc.), four components use X, Y, Z, XY and six components use X, Y, Z, XY, YZ, XZ. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 44Chapter 4 Structures with Material Nonlinearities The plastic pipe elements (PIPE20 and PIPE6O) have four components, so that the nonlinear torsional and pressure effects may be considered. If only one component is available, only the nonlinear stretching and bending effects could be considered. This is relevant, for instance, to the 3-D thin-walled beam (BEAM24) which has only one component. Thus linear torsional effects are included, but nonlinear torsional effects are not. Table 4.0-1_ Elements Having Nonlinear Material Capability Ba|2 az 2 me 33 5 zé|a2|22| 5 [2a & TINKI__ [=D SpartorTnsy) Tx x Dx x PLANED] 2-D 6-Node Triangular Stactral Sold ox x Lx x TONKS [Spar (or Tas) Tx XOX x PIPE20 | Plastic Swaight Pipe px xx x BEAMS | 2-D Plasic Beam px x px x BEAM —[ 3-D Thin-Walled Beam px x Lx x PLANES] 2D Structural So 7x x Lx x SHELLAS | Plastic Sell op x Lx x SOLIDS] 3-D Structural Soha ox xx x SHELLST — [ Axisymmete Siactaral Shel Dx x LX x THIYPERS6 | 2-D 4-Node Mixed U-P Hyperelastic Sond | 4,6T x TIYPERSS | 3-D# Node Mixed U-PHypentasicSoid | 6 x PIPESO | Plastic Curved Pipe Elbow) 7px px x SOLIDS] FD Coupled Magnetc-Swuctara Soma | 6 |X xD x SOLIDS] FD Reinforced Concrete Sold TX XOX TIYPERTS | 2-D§-Node Mixed U-P Hyperclastc Soid | 4.67 X PLANER] 3-D #-Node Structural Solid 7px x Lx x TIYPERSA _| 2-D Node Hyperelastic Sd TF x TIYPERSS | 3-D Node Hyperhate Soha 3 x SHELLOT | 16-Layer Structural Sha ox x SOLIDI] 3D 10-Node Tetahedral Sractoal Saud] 6] xx x SHELLS | f-Node Soctral She oLx x SOLIDS] 30-Node Structural Sold ox x D® X VISCOI06 | 2-D Large Strain Solid aor} x | x VISCOIOT | 3-D Large Swain Solid op x px VISCOTOS_| 2-D ¥ Node Large Stain Sand atx x TYPERISS | 3-D 10-Node Teraedral Mined U-P x iyperetasie Solid TONKTSO [5D Finite Stan Spar (or Tas) x x ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®4.0. Introduction to Material Nonlinearities Name Number of Stress ‘Components = x SHELLIST | 4-Node Structural Shell PLANEIS2 | 2-D Structural Sola PLANEISS | 2-D &-Node Structural Solid SOLIDISS | 3-D Structural Solid SOLIDIS6 | 20-Node Structural Solid SOLIDIST | 3-D 10-Node Tetrahedral Structural Solid BEAMIS® | 3-D Finite Strain Linear Beam BEAMINO_| 3-D Finite Strain Quadratic Beam sel se] ve] xe] se] oe] ve] ve] Rate—independer >| 24] 2] >| >| oe] 2] >] creep The rebar in SOLIDOS uses one componen:, the bulk solid uses six components, +t Four components if plane strain, six if axisymmetric (includes torsion) 4.0.1 Strain Definitions For the case of nonlinear materials, the definition of elastic strain given with equation (2.1-1) has the form of: tel = Ce} - fe} — fe) - fe} - fe") (4.0-1) where et elastic strain vecior (output quantity EPEL) total strain vector thermal strain vector (output quantity EPTH) € a é = plastic strain vector (output quantity EPPL) a creep strain vector (output quantity EPCR) = _ swelling strain vector (output quantity EPSW) In this case, {cis the strain measured by a strain gauge. (Equation (4.0-1) is only intended to show the relationships between the terms. See subsequent sections for more detail). In POST, total strain is reported as: {e) = fel) + (eM) + fe} (40-2) where e = component total strain (output quantity EPTO) Comparing the last two equations, ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 43Chapter 4 Structures with Material Nonlinearities: fe fe} — fe) - fe) (4.0-3) The difference between these two ‘total’ strains stems from the different usages: {¢} can be used to compare strain gauge results and e"" can be used to plot nonlinear stress-strain curves. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.®4.1, Rate-Independent Plasticity 41 Rate—Independent Plasticity Rate-independent plasticity is characterized by the irreversible straining that occurs in a material once a certain level of stress is reached. The plastic strains are assumed to develop instantaneously, that is, independent of time. The ANSYS program provides seven options to characterize different types of material behaviors. These options are: TB Lab Material Behavior Option BISO Bilinear Isotropic Hardening MISO Mulilinear Isotropic Hardening NUSO Nonlinear Isotropic Hardening BKIN Classical Bilinear Kinematic Hardening MKIN/KINH | Multilinear Kinematic Hardening CHAB Nonlinear Kinematic Hardening ANISO Anisotropic DP Drucker-Prager USER User Specified Behavior (see Chapter 6 of the ANSYS Advanced Analysis Techniques Guide) Except for TB,USER, each of these is explained in greater detail later in this chapter. Figure 4.1—1 represents the stress-strain behavior of each of the options. The TB label (Lab field of the TB command) is used throughout this section to identify which type of plasticity is being discussed. The actual values are input on the TBDATA or TBPT ‘commands. Table 4.0-1 indicates which elements support the rate-independent options. 414 Theory Plasticity theory provides a mathematical relationship that characterizes the elasto-plastic response of materials. There are three ingredients in the rate-independent plasticity theory: the yield criterion, flow rule and the hardening rule. These will be discussed in detail subsequently. Table 4.1-1 summarizes the notation used in the remainder of this chapter. ANSYS Theory Reference .001242 . Eleventh Edition . SAS IP, Inc.® 45