Non-linear analysis - Basis

Code_Aster, Salome-Meca course material

GNU FDL licence (http://www.gnu.org/copyleft/fdl.html)
Outline

Description of non-linear problems

Theoretical elements for solving non-linear problems

Solving non-linear problems with Newton

Using Code_Aster

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What is a non-linear problem in mechanics ?

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Non-linear problems

Non-linearities come from :

Kinematic (movement and strains) : large displacement, large rotation, large strains

Material : non-linear response, history-dependent response

Contact/friction

The three non-linearities should been coupled

Numerical simulation require expert analysis

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Non-linear material

Material non-linearity
Experimental identification : identify macroscopical response force/displacement

Most materials are non-linear and/or history dependent

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Non-linear material
Displacement/force function is not linear but not history dependent
u
B

F   (u) with  (u)  a.u  b

t F B
A C
Prescribed
displacement
F u
B AC
Response

t
A C u(C)  u(A)
Prescribed F(C)  F(A)
force

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Non-linear material
Displacement/force function is not linear and history dependent
u
B

F   (u) with  (u)  a.u  b

t F
A C B
Prescribed
displacement
F u
B A C
Response

t u(C)  u(A)
A C
Prescribed Residual displacement
force Next loading : initial
displacement 
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Non-linear kinematic

Truss/beams/shells elements with large rotation and/or large

displacements
F

F
EA z
k
x
u
E: Young modulus Response
A: section
L: length
F: load
u: displacement
k: rigidity of the spring
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Non-linear contact/friction

Contact and friction: a very difficult non-linear problem

pn

g
Ω1

Response
Γc (Signorini contact)
Ω2
pt

pn: normal pressure v

pt: tangent pressure
g: distance between solids (gap)
v: tangential speed between solids Response
(Coulomb friction)
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Some theoretical elements

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Equations – Continuous form

F
Measure of stress : Cauchy (true) stress   lim
S 0 S

F0 Ft

F0 Ft
 0  lim  t  lim
S 0 S0 0 St 0 St

Cauchy stress : measure on deformed configuration

Measure of strain :
for finite strain, it's an arbirtray choice, depending on behavior law

For small strain  (u ) 

1
2
u   t u 
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Equations – Continuous form

Defining solid Ω which is in equilibrium with external forces

 is external boundary
u to apply prescribed displacement ud
g to apply prescribed force g g
c to define contact/friction
f is volumic force Γg
Γ

div  f  0 in 
 .n  g on g
Ω

 f
u  ud on u
 Lcf (u ) on c Γu Γc
ud

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Equations – Finite element approximation

Main shapes for elements :

segment, triangle, quadrangle, hexaedron, tetraedron, pyramid, prism

linear or quadratic (curved or straight edges)

Geometry discretization :
Coordinates in element x
Discretized coordinates at nodes xi 
Shape functions N  g x3
y3

x  N g .xi 
y
x1 x2
y1 y2
x
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Equations – Finite element approximation

Discretization of the unknowns:

Unknowns depending on physic : displacement for mechanics temperature for
thermic, ...
Displacements in element u 
Discretized displacement at nodes ui 
Shape functions Nu  
u3
v3
u  Nu .ui 
u1 u2
v1 v2

We suppose isoparametric elements N   N g   Nu 

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Equations – Finite element approximation

Weak form of equilibrium (weighted residuals) :

Find u  Eu with u~  Eu~ :

  (u ) :  (u~ ).d   f (u ) : u~.d   g (u ) : u~.d

  g

Virtual displacements u~ and virtual strains  (u~ ) 

2

1 ~
u   t u~ 
With Eu space of kinematically admissible displacements :
Eu  u with u( X )  ud X  u 

With Eu~ space of virtual displacements :

Eu~  u~ with u~( X )  0 X  u 

The weak form is the mechanical concept of virtual power

Galerkin form : u  N .ui  and u~  N .u~i 
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Equations – Finite element approximation

Non-linear problem : stress depending on displacement  (u )

From displacement u to strain  : kinematic non-linearity
From strain  to stress  : material non-linearity

Non-linear material
 (u )   ( (u ))

Non-linear material depending on material's history (plasticity,...) :

 (u )   ( ,  (u ))

Internal variables 

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Equations – Finite element approximation

Numerical quadrature : to compute continuous som, using a

Gauss approximation
nb points
  .d    k .k
 k 1

Stress, strain and internal variables : discretized at numerical points

X (quantities post_fixed by _ELGA in Code_Aster)
Displacement : discretized at nodes (quantities post_fixed by
_NOEU in Code_Aster)
u3
v3 k
X k
 k k  k
u1 X k X k u2
v1 k k v2
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Equations – Finite element approximation

Computation of internal forces

  (u ) :  (u~).d  Lint (u )  Q(u ). (u )


Non-linear internal forces : depending on u

Non-linear kinematic Q(u )

Non-linear material  (u )

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Equations – Finite element approximation

Computation of external forces

 f (u ) : u~.d   g (u ) : u~.d  Lext (u )
 g

Non-linear external forces : depending on u

Non-linear when following forces : pressure always normal to
boundary → pressure depends on displacement
p(u) p(u)

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Equations – Finite element approximation

Final equilibrium equation : discretized form

Lint (u) Lext (u)  0

Non-linear equation, depending on u

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General algorithm for non-linear problem

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Solving non-linear problem

To solve non-linear problem : an incremental algorithm

Problem is parametrized by the parameter t
t is not real time (quasi-static problem)

Why parametrization ?
Real boundary conditions should been applied by non-constant values
Non-linear material produced non-linear equation, precision should depends on
incremental step size
An non-linear problem is easier to solve when cut by small step size

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Solving non-linear problem

Parametrization because boundary conditions should been

applied by non-constant values

f g ud
B B

t t t
A C A C
Prescribed Prescribed Prescribed
volumic force surfacic force displacement

Some examples of prescribed boundary conditions

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Solving non-linear problem

Parametrization to cut a non-linear problem to decrease degree of

non-linearity

F F

Cutting

<=
u u

High degree of non- Low degree of non-

linearity on complete linearity at each step
problem

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Solving non-linear problem

The parameter t in the equations :

Internal forces : dependence with respect to t is implicit, it results from the
integration of the constitutive relation in time
External forces : dependence with respect to t is explicit (applied BC) or implicit
(following forces)

Lint (u(t )) Lext (t, u(t ))  0

« Time » discretization, all quantities are parametrized by step k :

Lint
k Lext
k
uk tk  k  k k

Time t0 t1 t2 t3 t4
t
Step 1 2 3 4

Incremental quantities : uk  uk 1  u
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Solving non-linear problem

Solving a non-linear equation F ( x)  0 : the Newton's method

Construction of the series x n nN  
Taylor series expansion of the first order

0  F ( x n )  F ( x n1 )  F ( x n1 ).( x n  x n1 )

Next value of the term of the series

1
x n  x n1  n1
F ( x n1
)
F ( x )

Properties :
Quadratic convergence near the solution
n1
Computation of F ( x ) should be very expensive
F ( x n1 )  0

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Solving non-linear problem

Newton's method for equilibrium equation, at step k :

Lint (uk (tk ))  Lext (tk , uk (tk ))  0 Simplify : we are at step k
Lint (u (t ))  Lext (t , u (t ))  0

Internal forces :

 Lint  n1
int, n 1
   .u n with u  (u  u )
n n
L int, n
L 
 u u
n 1

External forces :
 Lext 
n1
 Lext ,n1   with u  (u  u )
n n
Lext ,n  .u n

 u u n 1

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Solving non-linear problem

Newton's method for equilibrium equation, at step k :

int, n 1 ext ,n 1  Lext Lint 

L L     .u n  0

 u u u
n 1

K n1.u n  R n1

K n1 is tangent matrix

 Lint   Lext 
K n1    _
  u 

 u u  n 1 u n 1

R n1 is equilibrium residual


R n1  Lext ,n1  Lint, n1 
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Solving non-linear problem

Global algorithm :
1) Compute internal and external forces
2) Compute tangent matrix
3) Solve linear system
4) Update displacements
5) Evaluate convergence

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Solving non-linear problem

Compute internal and external forces :

Exact computation is necessary (software requirement)
Non-linear behavior is evaluated at each Gauss point
Complex behavior laws computation should be expensive
Precision of computation of some behavior laws should depend on
increment of displacement :
Visco-plasticity
Non-radial loading
PETIT_REAC strain measure

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Solving non-linear problem

Compute tangent matrix :

Exact computation is NOT necessary

Tangent matrix is evaluated at each Gauss point
Tangent matrix computation should be expensive

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Solving non-linear problem – Newton by graphic

Find the solution u* , F *  where F * is known and u * is unknown

L
ext
Lint
F*

F0 *
u0 u u
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Solving non-linear problem – Newton by graphic

Dividing F * in two increments (reducing degree of non-linearity) :

find u1 , F1  and u2 , F2 
L
ext
Lint
F *= F 2

F1

F0
u0 u1 u *= u 2 u
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Solving non-linear problem – Newton by graphic

Compute tangent matrix K1n for iteration Newton n and step 1

L
ext
Lint
F *= F 2

F1

K 1n

F0
u0 u1 n u1 u *= u 2 u
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Solving non-linear problem – Newton by graphic

Solving K1n .u1n  F1  F0  u1n

L
ext
Lint
F *= F 2

u1n
F1

K 1n

F0
u0 u1 u *= u 2 u
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Solving non-linear problem – Newton by graphic

Update displacements u1n  u1n1  u1n

L
ext
Lint
F *= F 2

u1n
F1

K 1n

F0
u0 u1 n u1 u *= u 2 u
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Solving non-linear problem – Newton by graphic

Compute Lint u1n  and R  F1  Lint u1n 

L
ext
Lint
F *= F 2

u1n
F1
 
R u1n
 
Lint u1n
K 1n

F0
u0 u1 n u1 u *= u 2 u
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Solving non-linear problem – Newton by graphic
L
ext
Lint L
ext
Lint
F *= F 2 F *= F 2
u1n
F1 F1

K 1n
1 2
K 1n

F0 F0
u0 u1 n u1 u *= u 2 u
u0 u1 n u1 u *= u 2 u
Matrix computation Solve system
L
ext
Lint L
ext
Lint
F *= F 2 F *= F 2
u1n u1n
F1 F1
 
R u1n
 
Lint u1n
n
K1 K 1n
3 4

F0 F0
u0 u1 n u1 u *= u 2 u u0 u1 n u1 u *= u 2 u

Update displacements Evaluate convergence

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Solving non-linear problem

1 Matrix computation :
True Newton method : K in is evaluate every step and every Newton
iteration
Quasi-Newton method : K in is evaluate every i Newton's iteration and
every n time's step

L
ext
Lint L
ext
Lint
F *= F 2 F *= F 2

F1 F1

Slope changes Slope doesn't

every Newton's change every
iteration Newton's
iteration
F0 F0
u0 u1 u *= u 2 u u0 u1 u *= u 2 u

True Newton method Quasi Newton method

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Solving non-linear problem

1 Matrix computation :
Quasi-Newton method : compute approximate matrix (elastic matrix)

L
ext
Lint L
ext
Lint
F *= F 2 F *= F 2

F1 F1

Slope is Slope is elastic

coherent matrix matrix

F0 F0
u0 u1 u *= u 2 u u0 u1 u *= u 2 u

True Newton method Quasi Newton method

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Solving non-linear problem

1 Matrix computation : Why quasi-Newton methods ?

Compute exact matrix every iteration : matrix must been factorized →

very expensive
Make more iterations but each iteration is quicker
Elastic matrix achieve convergence for all standard generalized materials
with a lot of iterations (thousands). Elastic matrix is computed and
factorized ONE time : very cheap
Elastic matrix is the better choice for unloading loading's cases

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Solving non-linear problem

2 Solve system : using direct solver or iterative solver

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Solving non-linear problem

3 Update displacement - Improving by line-search - Method

n1 n 1
Solving K .u  R
n
is equivalent to minimizing functional
n1 n 1
Solving K .u  R give the direction u of the solution
n n

Solving functionnal minimisation give the line-search coefficient 

Update displacements

u n  u n1  .u n

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Solving non-linear problem

3 Update displacement - Improving by line-search - Functional

Functional (scalar) J is :
u  J (u )    u .d   f .u.d   t.u.d
  

With   u  is the density of free energy, for hyperelastic material :




This functional is convex, minimizing convex function → its gradient
vanishes :
J (u).u~  0 u~  Eu~

Gradient vanishes <=> Virtual power

  u  :  u~ .d   f (u ) : u~.d   g (u ) : u~.d u~  Eu~
  g

Find equilibrium : minimize J scalar functional

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Solving non-linear problem

3 Update displacement - Improving by line-search - Minimize

functional
Derivative of the functional

Lint (u n1  u n ) Lext (u n1  u n ) 0

Scalar functional

 
g (  )  u n . Lint (u n1  u n )  Lext (u n1  u n )  0
Using classical method for minimizing scalar convex function (dichotomy
for instance)

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Solving non-linear problem

3 Update displacement - Improving by line-search - Notes

Only few iterations : it's not necessary to find exact zero of g
Only compute internal and external forces (no matrix)
Algorithms for minimizing scalar function are very efficient and very simple

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Solving non-linear problem

4 Evaluate convergence
Absolute (RESI_GLOB_MAXI)

Lext  Lint, n1 


Relative (RESI_GLOB_RELA)

Lext  Lint, n1


ext

L


By reference : giving stress reference (RESI_REFE_RELA)

Lext  Lint, n1   .Lref

k
k

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Using non-linear in Code_Aster

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Non-linear in Code_Aster

Material is steel with Von Mises plasticity with isotropic hardening,

traction curve from file
FSIGM = LIRE_FONCTION(UNITE=21,PARA='EPSI')

STEEL = DEFI_MATERIAU(ELAS=_F(YOUNG=210.E9,NU=0.3),
TRACTION=_F(SIGM=FSIGM))

Steel on all mesh

CHMA = AFFE_MATERIAU(MAILLAGE=MESH,
AFFE=_F(TOUT='OUI',
MATER='STEEL'))

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Non-linear in Code_Aster

Plasticity with isotropic hardening, small strains

RESUN = STAT_NON_LINE(...
CHAM_MATER = CHMA,
COMPORTEMENT = _F(
TOUT ='OUI',
RELATION ='VMIS_ISOT_TRAC',
DEFORMATION ='PETIT'),
...)

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Non-linear in Code_Aster

Loading : parametrized by time – Using function in FONC_MULT

Lext
200
Lext (t, u(t ))  g (t ) . Lext (u)
t
0 2
RAMPE = DEFI_FONCTION(PARA='INST',VALE=(0,0,2,2))

LOAD = AFFE_CHAR_MECA(MODELE=MOD,
PRES_REP=_F(PRES=100.,
GROUP_MA='TOTO'))
RESUN = STAT_NON_LINE(...
EXCIT=_F(CHARGE =LOAD,
FONC_MULT=RAMPE)
...)

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Non-linear in Code_Aster

Loading : parametrized by time – Using function directly in BC

Lext
200 Lext (t, u(t ))  g (t ) . Lext (u)
t
0 2

RAMPE = DEFI_FONCTION(PARA='INST',VALE=(0,0,2,200))

LOAD = AFFE_CHAR_MECA_F(MODELE=MOD,
PRES_REP=_F(PRES=RAMPE,
GROUP_MA='TOTO'))
RESUN = STAT_NON_LINE(...
EXCIT=_F(CHARGE =LOAD)
...)

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Non-linear in Code_Aster

Computing is parametrized by time

Time 0.0 1.0 2.0

t

L_INST=DEFI_LIST_REEL( DEBUT=0.0,
INTERVALLE=(
_F(JUSQU_A=1.0,NOMBRE=4,),
_F(JUSQU_A=2.0,NOMBRE=3,),
),)

RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=L_INST)
...)

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Non-linear in Code_Aster

Loading and time definition must been consistent !

Time 0.0 1.0 2.0
t

Lext
200

t
0 2

Computation on part of step

RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=L_INST,
INST_FIN =1.0)
...)
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Non-linear in Code_Aster – Advanced controls

Automatic step cut : no convergence → automatic cutting

L_INST=DEFI_LIST_REEL( DEBUT=0.0,
INTERVALLE=(
_F(JUSQU_A=1.0,NOMBRE=4,)
_F(JUSQU_A=2.0,NOMBRE=3,),
),)
DEFLIST = DEFI_LIST_INST(
DEFI_LIST = _F(
LIST_INST = L_INST,),
ECHEC = _F(
EVENEMENT = 'ERREUR',
ACTION = 'DECOUPE',),)

RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=DEFLIST)
...)
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Non-linear in Code_Aster – Advanced controls

Automatic step adaptation :

L_INST=DEFI_LIST_REEL( DEBUT=0.0,
INTERVALLE=(_F(JUSQU_A=2.0,NOMBRE=1,),
),)

DEFLIST = DEFI_LIST_INST( DEFI_LIST = _F(

METHODE = 'AUTO‘
LIST_INST = L_INST,
PAS_MINI = 1.E-6),)

RESUN = STAT_NON_LINE(...
INCREMENT=_F(LIST_INST=DEFLIST)
...)

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Non-linear in Code_Aster – Advanced controls

Quasi-Newton method : recompute matrix every 2 Newton's iteration

RESUN = STAT_NON_LINE(...
NEWTON=_F(REAC_ITER=2,),)

Quasi-Newton method : recompute matrix every 3 time's step

RESUN = STAT_NON_LINE(...
NEWTON=_F(REAC_INCR=3,),)

Quasi-Newton method : using elastic matrix

RESUN = STAT_NON_LINE(...
NEWTON=_F(MATRICE='ELASTIQUE',),)

Default values in Code_Aster

RESUN = STAT_NON_LINE(...
NEWTON=_F( REAC_INCR=1,
REAC_ITER=0, !
MATRICE=‘TANGENTE’,),)
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Non-linear in Code_Aster – Advanced controls

Convergence criterion : careful when change values ! !

RESUN = STAT_NON_LINE(...
CONVERGENCE=_F(
RESI_GLOB_MAXI=1.E-6,
RESI_GLOB_RELA=1.E-6,),)
Changing criterion convergence may produces WRONG results !
Maximum number of Newton's iteration
RESUN = STAT_NON_LINE(
CONVERGENCE=_F(ITER_GLOB_MAXI=20,),)

Elastic matrix uses thousands of Newton's iterations

Default values in Code_Aster
RESUN = STAT_NON_LINE(...
CONVERGENCE=_F(
ITER_GLOB_MAXI=10,
RESI_GLOB_RELA=1.E-6,),)
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 End of presentation

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