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Nam-Ho Kim

Introduction
to Nonlinear
Finite Element
Analysis
Introduction to Nonlinear Finite Element Analysis
Nam-Ho Kim

Introduction to Nonlinear
Finite Element Analysis
Nam-Ho Kim
Department of Mechanical
and Aerospace Engineering
University of Florida
Gainesville, FL, USA

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To my family
Preface

The finite element method (FEM) is one of the numerical methods for solving
differential equations that describe many engineering problems. The FEM, origi-
nated in the area of structural mechanics, has been extended to other areas of solid
mechanics and later to other fields such as heat transfer, fluid dynamics, and
electromagnetism. In fact, FEM has been recognized as a powerful tool for solving
partial differential equations and integrodifferential equations, and in the near
future, it may become the numerical method of choice in many engineering and
applied science areas. One of the reasons for FEM’s popularity is that the method
results in computer programs versatile in nature that can solve many practical
problems with least amount of training.
The availability of undergraduate- and advanced graduate- level FEM courses in
engineering schools has increased in response to the growing popularity of the FEM
in industry. In the case of linear structural systems, the methods of modeling and
solution procedure are well established. Nonlinear systems, however, take different
modeling and solution procedures based on the characteristics of the problems.
Accordingly, the modeling and solution procedures are much more complicated
than that of linear systems, although there are advanced topics in linear systems
such as complex shell formulations.
Researchers who have studied and applied the linear FEM cannot apply the
linearized method to more complicated nonlinear problems such as elastoplastic or
contact problems. However, many textbooks in the nonlinear FEMs strongly
emphasize complicated theoretical parts or advanced topics. These advanced text-
books are mainly helpful to students seeking to develop additional nonlinear FEMs.
However, the advanced textbooks are oftentimes too difficult for students and
researchers who are learning the nonlinear FEM for the first time.
One of the biggest challenges to the instructor is finding a textbook appropriate
to the level of the students. The objective of this textbook is to simply introduce the
nonlinear finite element analysis procedure and to clearly explain the solution
procedure to the reader. In contrast to the traditional textbooks which treat a vast
amount of nonlinear theories comprehensively, this textbook only addresses the

vii
viii Preface

representative problems, detailed theories, solution procedures, and the computer

implementation of the nonlinear FEM. Especially by using the MATLAB program-
ming language to introduce the nonlinear solution procedure, those readers who are
not familiar with FORTRAN or C++ programming languages can easily understand
and add his/her own modules to the nonlinear analysis program.
The textbook is organized into five chapters. The objective of Chap. 1 is to
introduce basic concepts that will be used for developing nonlinear finite element
formulations in the following chapters. Depending on the level of the students or
prerequisites for the course, this chapter or a part of it can be skipped. Basic
concepts in this chapter include vector and tensor calculus in Sect. 1.2, definition
of stress and strain in Sect. 1.3, mechanics of continuous bodies in Sect. 1.4, and
linear finite element formulation in Sect. 1.5. A MATLAB code for three-
dimensional finite element analysis with solid elements will reinforce mathematical
understanding.
Chapter 2 introduces nonlinear systems of solid mechanics. In Sect. 2.1, funda-
mental characteristics of nonlinear problems are explained in contrast to linear
problems, followed by four types of nonlinearities in solid mechanics: material,
geometry, boundary, and force nonlinearities. Section 2.2 presents different methods
of solving a nonlinear system of equations. Discussions on convergence aspects,
computational costs, load increment, and force-controlled vs. displacement-controlled
methods are provided. In Sect. 2.3, step-by-step procedures in solving nonlinear finite
element analysis are presented. Section 2.4 introduces NLFEA, a MATLAB code for
solving nonlinear finite element equations. NLFEA can handle different material
models, such as elastic, hyperelastic, and elastoplastic materials, as well as large
deformation. Section 2.5 summarizes how commercial finite element analysis pro-
grams control nonlinear solution procedures. This section covers Abaqus, ANSYS,
and NEi Nastran programs.
Chapter 3 presents theoretical and numerical formulations of nonlinear elastic
materials. Since nonlinear elastic material normally experiences a large deforma-
tion, Sect. 3.2 discusses stress and strain measures under large deformation.
Section 3.3 shows two different formulations in representing large deformation
problems: total Lagrangian and updated Lagrangian. In particular, it is shown that
these two formulations are mathematically identical but different in computer
implementation and interpreting material behaviors. Critical load analysis is intro-
duced in Sect. 3.4, followed by hyperelastic materials in Sect. 3.5. Different ways of
representing incompressibility of elastic materials are discussed. The continuum
form of the nonlinear variational equation is discretized in Sect. 3.6, followed by a
MATLAB code for a hyperelastic material model in Sect. 3.7. Section 3.8 summa-
rizes the usage of commercial finite element analysis programs to solve nonlinear
elastic problems, particularly for hyperelastic materials. In hyperelastic materials, it
is important to identify material parameters. Section 3.9 presents curve-fitting
methods to identify hyperelastic material parameters using test data.
Different from elastic materials, some materials, such as steels or aluminum
alloys, show permanent deformation when a force larger than a certain limit
(elastic limit) is applied and removed. This behavior of materials is called plasticity.
Preface ix

When the total strain is small (infinitesimal deformation), it is possible to assume

that the total strain can be additively decomposed into elastic and plastic strains.
Sections 4.2 and 4.3 are based on infinitesimal elastoplasticity. In a large structure,
even if the strain is small, the structure may undergo a large rigid-body motion due
to accumulated deformation. In such a case, it is possible to modify infinitesimal
elastoplasticity to accommodate stress calculation with the effect of rigid-body
motion. Since the rate of Cauchy stress is not independent of rigid-body motion,
different types of rates, called objective stress rates, are used in the constitutive
relation, which is discussed in Sect. 4.4. When deformation is large, the assumption
of additive decomposition of elastic and plastic strains is no longer valid.
A hyperelasticity-based elastoplasticity is discussed in Sect. 4.5, in which the
deformation gradient is multiplicatively decomposed into elastic and plastic parts
and the stress–strain relation is given in the principal directions. This model can
represent both geometric and material nonlinearities during large elastoplastic
deformation. Section 4.6 is supplementary to Sect. 4.5, as it derives several expres-
sions used in Sect. 4.5. Section 4.7 summarizes the usage of commercial finite
element analysis programs to solve elastoplastic problems.
When two or more bodies collide, contact occurs between two surfaces of the
bodies so that they cannot overlap in space. Metal formation, vehicle crash,
projectile penetration, various seal designs, and bushing and gear systems are
only a few examples of contact phenomena. In Sect. 5.2, simple one-point contact
examples are presented in order to show the characteristics of contact phenomena
and possible solution strategies. In Sect. 5.3, a general formulation of contact is
presented based on the variational formulation. Section 5.4 focuses on finite
element discretization and numerical integration of the contact variational form.
Three-dimensional contact formulation is presented in Sect. 5.5. From the finite
element point of view, all formulations involve use of some form of a constraint
equation. Because of the highly nonlinear and discontinuous nature of contact
problems, great care and trial and error are necessary to obtain solutions to practical
problems. Section 5.6 presents modeling issues related to contact analysis, such as
selecting slave and master bodies, removing rigid-body motions, etc.
This textbook details how the nonlinear equations are solved using practical
computer programs and may be considered an essential course for those who intend
to develop more complicated nonlinear finite elements. Usage of commercial FEA
programs is summarized at the end of each chapter. It includes various examples in
the text using Abaqus, ANSYS, NEi Nastran, and MATLAB program. Depending
on availability and experience of the instructor, any program can be used as part of
homework assignments and projects. The textbook website will maintain up-to-date
examples with the most recent version of the commercial programs. Each chapter
contains a comprehensive set of homework problems, some of which require
commercial FEA programs.
Prospective readers or users of the text are graduate students in mechanical, civil,
aerospace, biomedical, and industrial engineering and engineering mechanics as well
as researchers and design engineers from the aforementioned fields.
x Preface

The author is thankful to the students who took Advanced Finite Element
Analysis course at the University of Florida and used the course package that had
the same material as in this book. The author is grateful for their valuable sugges-
tions especially regarding the example and exercise problems. Finally, special
thanks to my daughter, Hyesu Grace Kim, for her outstanding work editing the
manuscript.

Gainesville, FL, USA Nam-Ho Kim

July 2014
Contents

1 Preliminary Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Vector and Tensor Calculus . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.1 Vector and Tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.2 Vector and Tensor Calculus . . . . . . . . . . . . . . . . . . . . . . 11
1.2.3 Integral Theorems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Stress and Strain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3.1 Stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.3.2 Strain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.3.3 Stress–Strain Relationship . . . . . . . . . . . . . . . . . . . . . . . 31
1.4 Mechanics of Continuous Bodies . . . . . . . . . . . . . . . . . . . . . . . . 36
1.4.1 Boundary-Valued Problem . . . . . . . . . . . . . . . . . . . . . . . 37
1.4.2 Principle of Minimum Potential Energy . . . . . . . . . . . . . 38
1.4.3 Principle of Virtual Work . . . . . . . . . . . . . . . . . . . . . . . . 46
1.5 Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
1.5.1 Finite Element Approximation . . . . . . . . . . . . . . . . . . . . 50
1.5.2 Finite Element Equations for a One-Dimensional
Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
1.5.3 Finite Element Equations for 3D Solid Element . . . . . . . 61
1.5.4 A MATLAB Code for Finite Element Analysis . . . . . . . . 67
1.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
2 Nonlinear Finite Element Analysis Procedure . . . . . . . . . . . . . . . . . 81
2.1 Introduction to Nonlinear Systems in Solid Mechanics . . . . . . . . 81
2.1.1 Geometric Nonlinearity . . . . . . . . . . . . . . . . . . . . . . . . . 85
2.1.2 Material Nonlinearity . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
2.1.3 Kinematic Nonlinearity . . . . . . . . . . . . . . . . . . . . . . . . . 89
2.1.4 Force Nonlinearity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

xi
xii Contents

2.2 Solution Procedures for Nonlinear Algebraic Equations . . . . . . . 91

2.2.1 Newton–Raphson Method . . . . . . . . . . . . . . . . . . . . . . . 93
2.2.2 Modified Newton–Raphson Method . . . . . . . . . . . . . . . . 101
2.2.3 Incremental Secant Method . . . . . . . . . . . . . . . . . . . . . . 103
2.2.4 Incremental Force Method . . . . . . . . . . . . . . . . . . . . . . . 109
2.3 Steps in the Solution of Nonlinear Finite Element Analysis . . . . . 114
2.3.1 State Determination . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
2.3.2 Residual Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
2.3.3 Convergence Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
2.3.4 Linearization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
2.3.5 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
2.4 MATLAB Code for a Nonlinear Finite Element
Analysis Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
2.5 Nonlinear Solution Controls Using Commercial Finite
Element Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
2.5.1 Abaqus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
2.5.2 ANSYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
2.5.3 NEiNastran . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
2.7 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
3 Finite Element Analysis for Nonlinear Elastic Systems . . . . . . . . . . . 141
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
3.2 Stress and Strain Measures in Large Deformation . . . . . . . . . . . . 142
3.2.1 Deformation Gradient . . . . . . . . . . . . . . . . . . . . . . . . . . 142
3.2.2 Lagrangian and Eulerian Strains . . . . . . . . . . . . . . . . . . . 145
3.2.3 Polar Decomposition . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
3.2.4 Deformation of Surface and Volume . . . . . . . . . . . . . . . . 154
3.2.5 Cauchy and Piola-Kirchhoff Stresses . . . . . . . . . . . . . . . 158
3.3 Nonlinear Elastic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
3.3.1 Nonlinear Static Analysis: Total Lagrangian
Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
3.3.2 Nonlinear Static Analysis: Updated Lagrangian
Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
3.4 Critical Load Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
3.4.1 One-Point Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
3.4.2 Two-Point Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
3.4.3 Stability Equation with Actual Critical Load Factor . . . . . 182
3.5 Hyperelastic Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
3.5.1 Strain Energy Density . . . . . . . . . . . . . . . . . . . . . . . . . . 184
3.5.2 Nearly Incompressible Hyperelasticity . . . . . . . . . . . . . . 190
3.5.3 Variational Equation and Linearization . . . . . . . . . . . . . . 197
3.6 Finite Element Formulation for Nonlinear Elasticity . . . . . . . . . . 200
3.7 MATLAB Code for Hyperelastic Material Model . . . . . . . . . . . . 205
Contents xiii

3.8 Nonlinear Elastic Analysis Using Commercial Finite

Element Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
3.8.1 Usage of Commercial Programs . . . . . . . . . . . . . . . . . . . 211
3.8.2 Modeling Examples of Nonlinear Elastic Materials . . . . . 214
3.9 Fitting Hyperelastic Material Parameters from Test Data . . . . . . 221
3.9.1 Elastomer Test Procedures . . . . . . . . . . . . . . . . . . . . . . . 222
3.9.2 Data Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
3.9.3 Curve Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
3.9.4 Stability of Constitutive Model . . . . . . . . . . . . . . . . . . . . 229
3.10 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
3.11 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
4 Finite Element Analysis for Elastoplastic Problems . . . . . . . . . . . . . 241
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
4.2 One-Dimensional Elastoplasticity . . . . . . . . . . . . . . . . . . . . . . . 242
4.2.1 Elastoplastic Material Behavior . . . . . . . . . . . . . . . . . . . 242
4.2.2 Finite Element Formulation for Elastoplasticity . . . . . . . . 247
4.2.3 Determination of Stress State . . . . . . . . . . . . . . . . . . . . . 250
4.3 Multidimensional Elastoplasticity . . . . . . . . . . . . . . . . . . . . . . . 265
4.3.1 Yield Functions and Yield Criteria . . . . . . . . . . . . . . . . . 266
4.3.2 Von Mises Yield Criterion . . . . . . . . . . . . . . . . . . . . . . . 272
4.3.3 Hardening Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
4.3.4 Classical Elastoplasticity Model . . . . . . . . . . . . . . . . . . . 280
4.3.5 Numerical Integration . . . . . . . . . . . . . . . . . . . . . . . . . . 290
4.3.6 Computational Implementation of Elastoplasticity . . . . . . 299
4.4 Finite Rotation with Objective Integration . . . . . . . . . . . . . . . . . 308
4.4.1 Objective Tensor and Objective Rate . . . . . . . . . . . . . . . 309
4.4.2 Finite Rotation and Objective Rate . . . . . . . . . . . . . . . . . 314
4.4.3 Incremental Equation for Finite Rotation
Elastoplasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
4.4.4 Computational Implementation of Finite Rotation . . . . . . 321
4.5 Finite Deformation Elastoplasticity with Hyperelasticity . . . . . . . 325
4.5.1 Multiplicative Decomposition . . . . . . . . . . . . . . . . . . . . 325
4.5.2 Finite Deformation Elastoplasticity . . . . . . . . . . . . . . . . . 326
4.5.3 Time Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
4.5.4 Return-Mapping Algorithm . . . . . . . . . . . . . . . . . . . . . . 333
4.5.5 Consistent Algorithmic Tangent Operator . . . . . . . . . . . . 336
4.5.6 Variational Principles for Finite Deformation . . . . . . . . . 337
4.5.7 Computer Implementation of Finite Deformation
Elastoplasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
4.6 Mathematical Formulas from Finite Elasticity . . . . . . . . . . . . . . 343
4.6.1 Linearization of Principal Logarithmic Stretches . . . . . . . 343
4.6.2 Linearization of the Eigenvector of the Elastic
Trial Left Cauchy-Green Tensor . . . . . . . . . . . . . . . . . . . 344
 xiv Contents

4.7 MATLAB Code for Elastoplastic Material Model . . . . . . . . . . . 345

4.8 Elastoplasticity Analysis of Using Commercial Finite
Element Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.8.1 Usage of Commercial Programs . . . . . . . . . . . . . . . . . . . 350
4.8.2 Modeling Examples of Elastoplastic Materials . . . . . . . . 355
4.9 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
4.10 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
5 Finite Element Analysis for Contact Problems . . . . . . . . . . . . . . . . . 367
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
5.2 Examples of Simple One-Point Contact . . . . . . . . . . . . . . . . . . . 369
5.2.1 Contact of a Cantilever Beam with a Rigid Block . . . . . . 369
5.2.2 Contact of a Cantilever Beam with Friction . . . . . . . . . . . 374
5.3 General Formulation for Contact Problems . . . . . . . . . . . . . . . . 378
5.3.1 Contact Condition with Rigid Surface . . . . . . . . . . . . . . . 379
5.3.2 Variational Inequality in Contact Problems . . . . . . . . . . . 382
5.3.3 Penalty Regularization . . . . . . . . . . . . . . . . . . . . . . . . . . 385
5.3.4 Frictionless Contact Formulation . . . . . . . . . . . . . . . . . . 389
5.3.5 Frictional Contact Formulation . . . . . . . . . . . . . . . . . . . . 393
5.4 Finite Element Formulation of Contact Problems . . . . . . . . . . . . 398
5.4.1 Contact Between a Flexible Body and a Rigid Body . . . . 398
5.4.2 Contact Between Two Flexible Bodies . . . . . . . . . . . . . . 404
5.4.3 MATLAB Code for Contact Analysis . . . . . . . . . . . . . . . 406
5.5 Three-Dimensional Contact Analysis . . . . . . . . . . . . . . . . . . . . . 408
5.6 Contact Analysis Procedure and Modeling Issues . . . . . . . . . . . . 412
5.6.1 Contact Analysis Procedure . . . . . . . . . . . . . . . . . . . . . . 413
5.6.2 Contact Modeling Issues . . . . . . . . . . . . . . . . . . . . . . . . 417
5.7 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427

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