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Documenti di Professioni
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University of Sydney
28 Feb 2006 02 Mar 2006
Copyright 2005 ABAQUS, Inc.
Day 1
Lecture 1
Overview of ABAQUS
Workshop 1
Lecture 2
Workshop 2
Lecture 3
Materials Metal
Workshop 3a
Workshop 3b
Lecture 4
Materials Concrete
Workshop 4
Day 2
Lecture 5
Workshop 5a
Workshop 5b
Lecture 6
Workshop 6a
Workshop 6b
Lecture 7
Workshop 7a
Workshop 7b
Day 3
Lecture 8
Workshop 8a
Hinge Model
Workshop 8b
Lecture 9
Workshop 9a
Workshop 9b
Lecture 10
Question Session
Legal Notices
The information in this document is subject to change without notice and should not be construed as
a commitment by ABAQUS, Inc.
ABAQUS, Inc., assumes no responsibility for any errors that may appear in this document.
The software described in this document is furnished under license and may be used or copied only
in accordance with the terms of such license.
No part of this document may be reproduced in any form or distributed in any way without prior
written agreement with ABAQUS, Inc.
Copyright ABAQUS, Inc., 2005.
Printed in U.S.A.
All Rights Reserved.
ABAQUS is a registered trademark of ABAQUS, Inc.
The following are trademarks of ABAQUS, Inc.:
ABAQUS/Aqua; ABAQUS/CAE; ABAQUS/Design; ABAQUS/Explicit; ABAQUS/Foundation;
ABAQUS/Standard; ABAQUS/Viewer; ABAQUS Interface for MOLDFLOW; ABAQUS Interface for
MSC.ADAMS; and the ABAQUS, Inc., logo.
All other brand or product names are trademarks or registered trademarks of their respective
companies or organizations.
Lecture 1
Overview of ABAQUS
Overview
Introduction
Components of an ABAQUS Model
Structure of an ABAQUS Input File
ABAQUS Conventions
Workshop 1: Linear Static Analysis of a Cantilever Beam
L1.2
What is ABAQUS?
Introduction
ABAQUS is a suite of finite element analysis modules
L1.4
L1.5
Introduction
The heart of ABAQUS are the analysis modules, ABAQUS/Standard and
ABAQUS/Explicit, which are complementary and integrated analysis
tools.
ABAQUS/Standard is a general-purpose, finite element module.
It provides a large number of capabilities for analyzing many different
types of problems, including many nonstructural applications.
ABAQUS/Explicit is an explicit dynamics finite element module.
ABAQUS/CAE incorporates the analysis modules into a Complete
ABAQUS Environment for modeling, managing, and monitoring ABAQUS
analyses and visualizing results.
L1.6
Introduction
ABAQUS/CAE
Complete ABAQUS Environment for
modeling, managing, and monitoring
ABAQUS analyses, as well as
visualizing results.
Intuitive and consistent user
interface throughout the system.
Based on the concepts of parts and
assemblies of part instances, which
are common to many CAD systems.
Parts can be created within
ABAQUS/CAE or imported from
other systems as geometry (to be
meshed in ABAQUS/CAE) or as
meshes.
Built-in feature-based parametric
modeling system for creating parts.
Copyright 2004 ABAQUS, Inc.
L1.7
Introduction
Solver modules
ABAQUS/Standard and ABAQUS/Explicit provide the user with two
complementary analysis tools.
ABAQUS/Standards capabilities:
General analyses
Static stress/displacement analysis:
Rate-independent response
Rate-dependent (viscoelastic/creep/viscoplastic) response
Transient dynamic stress/displacement analysis
Transient or steady-state heat transfer analysis
Transient or steady-state mass diffusion analysis
Introduction
Steady-state transport analysis
Coupled problems:
Thermo-mechanical (sequentially or fully coupled)
Thermo-electrical
Pore fluid flow-mechanical
Stress-mass diffusion (sequentially coupled)
Piezoelectric (linear only)
Acoustic-mechanical
L1.8
L1.9
Introduction
Linear perturbation analyses
Static stress/displacement analysis:
Linear static stress/displacement analysis
Eigenvalue buckling load prediction
Dynamic stress/displacement analysis:
Determination of natural modes and frequencies
Transient response via modal superposition
Steady-state response resulting from harmonic loading
Includes alternative subspace projection method for
efficient analysis of large models with frequency-dependent
properties (like damping)
Response spectrum analysis
Dynamic response resulting from random loading
L1.10
Introduction
ABAQUS/Explicits capabilities:
Explicit dynamic response with or without adiabatic heating effects
Fully coupled thermo-mechanical analysis
Structural-acoustic analysis
Annealing for multistep forming simulations
Automatic adaptive meshing allows the robust solution of highly nonlinear
problems
L1.11
Introduction
Comparing ABAQUS/Standard and ABAQUS/Explicit
ABAQUS/Standard
A general-purpose finite element program.
Can solve for true static equilibrium in structural simulations.
Provides a large number of capabilities for analyzing many different
types of problems, including many nonstructural applications.
L1.12
Introduction
ABAQUS/Explicit
Solution procedure does not require iteration.
Solves highly discontinuous high-speed dynamic problems efficiently.
Does not require as much disk space as ABAQUS/Standard for larger
problems.
Contact calculations are easier with ABAQUS/Explicit. Applications
such as quasi-static metal forming simulations are easier.
Provides an adaptive meshing capability.
L1.13
Introduction
Documentation
Unless otherwise indicated, all documentation is available both online
and in print.
ABAQUS Analysis Users Manual
ABAQUS/CAE Users Manual
ABAQUS Example Problems Manual
ABAQUS Benchmarks Manual (online only)
ABAQUS Verification Manual (online only)
ABAQUS Theory Manual (online only)
L1.14
Introduction
Additional reference materials
Installation and Licensing Guide
(Installation instructions)
Release Notes
(Explains changes since previous release)
Advanced lecture notes on various topics (print only)
Tutorials
Getting Started with ABAQUS
Getting Started with ABAQUS/Standard: Keywords Version
(online only)
Getting Started with ABAQUS/Explicit: Keywords Version
(online only)
ABAQUS Home Page
www.abaqus.com
L1.16
L1.17
History data
Procedure options
Loading options
Output options
L1.18
L1.19
Step 3 = natural
frequency extraction
Step 1 = pretension
L1.21
Property reference
option block
Node option
block
Model
data
Material option
block
Element option
block
Contact option
block
History
data
Analysis procedure
option block
Boundary conditions
option block
Initial conditions
option block
Output request
option block
L1.22
L1.23
*ELEMENT,
560, 101,
564, 102,
572, 103,
ABAQUS Conventions
TYPE=B21
102
103
104
keyword line
data lines
L1.25
ABAQUS Conventions
Units
ABAQUS uses no inherent set of units.
It is the users responsibility to use consistent units.
ABAQUS Conventions
Time measures
ABAQUS keeps track of both total time in an analysis and step time for
each analysis step.
Time is physically meaningful for some analysis procedures, such as
transient dynamics.
Time is not physically meaningful for some procedures. In rateindependent, static procedures time is just a convenient, monotonically
increasing measure for incrementing loads.
L1.26
L1.27
ABAQUS Conventions
Coordinate systems
For boundary conditions and
point loads, the default
coordinate system is the
rectangular Cartesian system.
local rectangular
coordinate system
with YSYMM
boundary conditions
Alternative local
rectangular, cylindrical, and
spherical systems can be
defined.
These local directions do
not rotate with the material
in large-displacement
analyses.
L1.28
ABAQUS Conventions
For material directions (i.e., directions
associated with each elements material or
integration points) the default coordinate
system depends on the element type:
Solid elements use global rectangular
Cartesian system.
L1.29
ABAQUS Conventions
Alternative rectangular, cylindrical,
and spherical coordinate systems
may be defined.
Affects input: anisotropic
material directions.
Affects output: stress/strain
output directions.
Local material directions
rotate with the material in
large-displacement analyses.
ABAQUS Conventions
Degrees of freedom
Primary solution variables at the nodes.
Available nodal degrees of freedom depend on the element type.
Each degree of freedom is labeled with a number: 1=x-displacement,
2=y-displacement, 11=temperature, etc.
L1.30
Workshop tasks
1. Follow detailed instructions
to create a simple cantilever
beam model using the
ABAQUS/CAE modules.
2. Submit a job for analysis.
3. View the analysis results.
L1.32
Lecture 2
Nonlinear Analysis in
ABAQUS/Standard
Overview
Equilibrium Equations
Linear Analysis
Nonlinearity in Structural Mechanics
Solving Nonlinear Equilibrium Equations
Including Nonlinear Effects in an ABAQUS Simulation
Convergence Issues
Diagnostics
Workshop 2: Nonlinear Analysis of a Skew Plate
L2.2
Equilibrium Equations
L2.4
Equilibrium Equations
The finite element method seeks to find the displacements of a structure,
u, such that:
The solution is continuous across element boundaries.
Equilibrium is achieved, and the prescribed boundary conditions are
satisfied.
Static equilibrium
The basic statement of static equilibrium is that the internal forces exerted
on the nodes, I, resulting from the element stresses and external forces, P,
acting at every node must balance:
P (u ) I (u ) = 0
(Eq. 2.1)
L2.5
Equilibrium Equations
L2.6
Linear Analysis
Linear assumptions
If we assume
the deflections, rotations and strains are small
the material behaves linearly, and
the loads and boundary conditions do not change as the
structure deforms
then P is constant and I = Ku where K is constant
The equilibrium equation is then linear in u and the solution can be
found directly:
u = K-1P
L2.7
Linear Analysis
Characteristics of a linear analysis
Results (stress, strain, displacement) vary in proportion to the
applied loads.
Eg twice the load gives twice the displacement
If the problem is solved once, the results can be scaled
For a given set of boundary conditions, the results from distinct
loads can be superimposed to find the combined effect
Linear Analysis
Linear analysis has historically been widely used
Linear methods are easy and fast to solve
ABAQUS can solve linear problems
But
Real world problems are only approximately linear
Linear analysis is often inappropriate:
Non-linear material response
Large deformations
Loads or boundary conditions dependent on solution
In these cases, a nonlinear analysis is required to correctly model the
structural response.
L2.8
L2.10
L2.11
L2.12
L2.13
Video Clip
L2.15
P = Ku
However, now P and K can depend on u :
L2.16
Increments
in applied
load
Final equilibrium
solution at total load
u
Intermediate
equilibrium solutions
Copyright 2004 ABAQUS, Inc.
L2.17
P (ui + ci +1 ) I (ui + ci +1 ) = 0.
(Eq. 2.2)
Expanding the left-hand side of Equation 2.2 in a Taylor series about the
approximate solution, ui, then gives
P(ui ) I (ui )
P(ui ) I (ui ) +
ci +1 + .... = 0.
u
u
(Eq. 2.3)
L2.18
K i ci +1 = P (ui ) I (ui ),
where K i =
I (ui ) P (ui )
is the tangent stiffness.
u
u
ui +1 = ui + ci +1.
Note that if the load depends on displacement (e.g., pressure on a surface
that rotates), the stiffness matrix includes a load stiffness contribution.
L2.19
L2.20
Is ci +1 <<
c ?
j
j =1
L2.21
Small corrections
1
Internal force
2
Correction
L2.22
L2.23
Otherwise:
maintain same increment size
Tip: For highly nonlinear problems, it is recommended that the initial time
increment be chosen as a small fraction (e.g., 10%) of the total step time.
L2.24
Automatic time
incrementation chosen by
default.
Default maximum
number of increments
allowed for the step.
Suggested initial
increment size.
Default is the time
period.
Minimum and
maximum increment
sizes.
Defaults based on time
period for step.
L2.26
L2.27
Preloading (initial
stresses).
Load stiffness.
If the above are not important,
the answer will be the same as
with Nlgeom set to Off but the
analysis will be more
expensive.
Convergence Issues
L2.29
L2.30
Zero pivots
Negative eigenvalues
Diagnostics
L2.32
Diagnostics
Job Monitor
Summarizes the solution progress.
The same information is also printed to the status (.sta) file.
Job Diagnostics
Provides details of each iteration for an ABAQUS/Standard analysis.
The same information is also printed to the message (.msg) file.
L2.33
Diagnostics
Understanding the Job Monitor
Summarizes how analysis
proceedsshows automatic time
incrementation at work.
You can check the status file
while the job is running.
One line written after each
successful increment.
Diagnostics
Understanding Job Diagnostics in ABAQUS/Standard
Includes:
All iteration details.
Solver messages.
Useful troubleshooting information:
Locations of highest residuals.
Locations of excessive deformation.
Locations of contact changes.
The locations can be highlighted in the model.
L2.34
L2.35
Diagnostics
Tools
Job Diagnostics
L2.36
Diagnostics
L2.37
Diagnostics
0.005
0.012
L2.38
Diagnostics
0.005
0.012
L2.39
Diagnostics
4 or fewer
iterations (do
this again and
t can increase)
L2.40
Diagnostics
no increase
Two consecutive
increments with 4 or
fewer iterations: t =
1.5 told
t = 1.5 told
L2.41
Diagnostics
L2.43
Workshop tasks
1. Create model.
a. Local material directions.
b. Local boundary
condition directions.
2. Run static analysis:
a. Linear
b. Geometric nonlinearity
3. Postprocess the results.
Video Clip
Lecture 3
Materials - Metal
Overview
Introduction
Typical Metal Behaviour
Linear Elasticity
Metal Plasticity
Yield Functions
Hardening
Input of Material Data for Plasticity
Workshop 3a: Plasticity and Hardening
Workshop 3b: Skew Plate with Plasticity
L3.2
Introduction
Introduction
ABAQUS has a wide variety of built-in material models designed to be
used to model
Metals, ceramics, rubbers, foams, plastics, soils, concrete and other
geotechnical materials
Phenomenological Approach
Most material models (for metal and concrete) are based upon
experimental observations.
Capture critical material behaviour within a usable and stable continuum
description
Material Input
Key material parameters (eg Youngs Modulus) must be entered by the
user
ABAQUS has no inbuilt library of material parameters
L3.4
L3.5
Introduction
This course provides general information about modeling two particular
materials in ABAQUS
Metals
Concrete
The focus of this lecture is on modeling Metals
Conrete is discussed in the next lecture
L3.7
stress
E
1
C
strain
L3.8
L3.9
L3.10
stress
C
strain
D
A
L3.11
stress
temperature
increasing
strain
Linear Elasticity
strain rate
increasing
strain
L3.13
Linear Elasticity
Most metals have some range of deformation in which their behavior
remains elastic and linear
The linear elastic material model:
Is valid for small elastic strains (normally less than 5%);
Can be isotropic, orthotropic, or fully anisotropic; and
Can have properties that depend on temperature and/or other field
variables.
Orthotropic and anisotropic material definitions require the use of local
material directions.
L3.14
Linear Elasticity
For a linear elastic material, Hooke's law states:
stress strain.
The generalized form of the law is written as
= D el : el
where is the Cauchy (or true) stress, D el is the fourth-order elasticity
el
tensor, and is the elastic log strain.
L3.15
Linear Elasticity
Defining linear elasticity in ABAQUS
*Material, name=steel
*Elastic
2.e11, 0.3
Temperaturedependence
Metal Plasticity
L3.17
Metal Plasticity
When inelastic material models are used in ABAQUS, the total strain in the
model, , is decomposed into elastic, plastic, and creep strains:
= el + pl + cr .
ABAQUS plasticity models are usually formulated in terms of a yield
surface, a flow rule, and hardening.
A yield surface is a test function that determines if the material
responds purely elastically at a particular stress state.
A flow rule defines the plastic deformation that occurs if the material is
no longer responding purely elastically.
Hardening defines the way in which the yield and/or flow definitions
change as inelastic deformation occurs.
Yield Functions
L3.19
Yield Functions
0
The yield function of the metal plasticity models, f , , defines when
the metal begins to deform inelastically.
1
3
3
Mises equivalent stress, q =
( S : S ),
2
L3.20
Yield Functions
There are two yield functions available for the classical metal plasticity
models in ABAQUS:
The Mises yield function,
f = q 0.
Hills anisotropic yield function,
f = F yy zz
+ G ( zz xx ) + H xx yy
F, G, H, L, M, and N are
material constants
2
2
2
+ 2 L yz
+ 2 M zx
+ 2 N xy
0.
L3.21
Yield Functions
The Mises yield function is suitable when:
The metal is subjected to monotonic loads, such as crash analyses
and forming simulations.
The material has isotropic yielding.
Hills yield function is intended for metals that have initial anisotropy in their
yield behavior.
The anisotropy does not evolve with plastic deformation of the
material.
Yield Functions
Defining Mises plasticity in ABAQUS
*Material, name=steel
*Elastic
Linear elasticity
2.e11, 0.3
*Plastic
Plastic strain at
4.e8, 0.0
initial yield = 0.0
4.2e8, 0.02
5.e8, 0.2
6.e8, 0.5
L3.22
L3.23
Yield Functions
Defining Hills plasticity in ABAQUS
*Material, name=steel
*Elastic
2.e11, 0.3
*Plastic
4.e8, 0.0
4.2e8, 0.02
5.e8, 0.2
6.e8, 0.5
*Potential
1.5, 1., 1., 1., 1., 1.
L3.24
Yield Functions
ABAQUS calculates the values of the constants F, G, H, L, M, and N of
Hills yield function from stress ratios:
where 11, 22 , K are the yield stress values when ij is the only
nonzero component of stress, 0 is the reference yield stress value and
0 =0
3.
L3.25
Yield Functions
Example: cylindrical cup deep drawing with transverse anisotropy
We examine two cases: one in which the material is considered isotropic,
another in which transverse anisotropy is assumed. This example is
modeled using the POTENTIAL option within the material block:
POTENTIAL
1., 1., 1.1511, 1., 1. , 1.
Plots of blank thickness in the final formed configuration for both cases are
shown in the figures on the next page.
L3.26
Yield Functions
The effect of the anisotropy on the thickness is readily apparent, as the
increased strength in the thickness direction results in less thinning of the
blank.
isotropic
anisotropic
Hardening
L3.28
Hardening
Yield surface must be coupled to a hardening relationship
The yield surface may change as a result of plastic deformation. The
change in the yield surface is defined by the hardening law.
The following hardening laws are available in ABAQUS:
Perfect plasticity
Isotropic hardening
Kinematic hardening
L3.29
Hardening
Perfect plasticity (no hardening)
Simplest definition of plasticity
In perfect plasticity the metals yield function, f, does not evolve as the
metal accumulates plastic strains.
Perfect plasticity can be used with either the Mises or the Hill yield
function.
Perfect plasticity is defined by providing only one value for the yield stress
of the metal, 0.
Hardening
Defining perfect plasticity in ABAQUS
*Material, name=steel
*Elastic
2.e11, 0.3
*Plastic
4.e8, 0.0
L3.30
L3.31
Hardening
Isotropic hardening (default)
Isotropic hardening is used to model gross plastic straining or when
straining at a point is essentially in the same direction in strain space.
The yield stress increases (or decreases) uniformly in all stress directions
as plastic straining occurs
With isotropic hardening the metals yield stress evolves as the metal
accumulates plastic strains, 0 pl .
( )
pl
pl
2 pl pl
& : & dt.
3
L3.32
Hardening
pl
L3.33
Hardening
Define isotropic hardening by
providing tabular data of 0 and
pl
*Material, name=steel
*Elastic
2.e11, 0.3
*Plastic
4.e8, 0.0
4.2e8, 0.02
5.e8, 0.2
6.e8, 0.5
L3.34
Hardening
Linear kinematic hardening
Linear kinematic hardening is used to model the behavior of metals
subjected to cyclic loading.
The linear kinematic model defines the yield function as
f = q ( ) 0 = 0.
is the backstress tensor that describes how the center of the yield
surface moves in stress space as plastic strains accumulate.
q ( ) can be either Mises or Hills yield potential (function).
L3.35
Hardening
pl
1.0
[103]
, 0)
0.5
StressS11
0.0
0.5
1.0
10.
5.
0.
StrainE11
5.
10.
[103]
Hardening
Sample usage:
*Material, name=steel
*Elastic
200.E3,.3
*Plastic, hardening=kinematic
200., 0.0
220., 0.0009
L3.36
L3.37
Hardening
The linear kinematic model can provide a first-order approximation of the
anisotropic hardening that occurs in metals when they are loaded
cyclically.
The model accounts for the translation of the yield surface with plastic
deformation but does not consider any change in the size of the yield
surface.
The linear kinematic model is valid only for relatively small strains
( < 0.05).
Approximates the Bauschinger
stress
A
Y
B
O
strain
C
Y
The Bauschinger
effect
Copyright 2005 ABAQUS, Inc.
L3.39
lnpl = ln
true
E
Lecture 4
Materials - Concrete
Overview
Introduction
Mechanical Behavior of Plain Concrete
ABAQUS Constitutive Models for Concrete
Concrete Smeared Cracking
Usage
Calibration
Modeling Aspects
Reinforcement Modeling
Workshop 4: Collapse of a Concrete Slab
L4.2
Introduction
Introduction
ABAQUS offers a variety of constitutive material models suited for the
analysis of concrete structures.
This lecture is intended as an introduction to the Smeared Cracking
Model in ABAQUS/Standard.
Suitable for modeling reinforced concrete under low confining pressures
and monotonic loading.
Other models are available, but are beyond the scope of this course.
This lecture also provides an overview of modeling reinforcement.
L4.4
L4.5
Introduction
Typical applications
Collapse load calculations of structural components, such as reinforced
beams, columns, shear walls, etc.
Nuclear reactor engineering: Failure analysis of reinforced concrete
containment by overpressurization
Road and bridge engineering
L4.7
L4.8
L4.9
Typical plot of compressive stress vs. axial, lateral, and volumetric strain
L4.10
Compressive stress vs. strain components and volumetric strain under biaxial-compressive loading
Kupfer et al. (1969)
L4.11
L4.12
L4.13
L4.15
L4.16
L4.17
L4.18
L4.20
L4.21
L4.22
L4.23
L4.24
Usage
Usage
Isotropic Linear Elasticity for
undamaged elastic response
***
** MATERIALS
**
*Material, name=concrete
*Elastic
29000., 0.18
L4.26
L4.27
Usage
Defining the plastic response in compression
User enters the uniaxial stress-strain response
Give tabular data defining yield stress as a function of plastic strain
Data is usually readily available from a uniaxial compression test
Usage
Plastic response in compression
***
** MATERIALS
**
*Material, name=concrete
*Elastic
29000., 0.18
*Concrete
18.4,
0.
32., 0.0013
L4.28
L4.29
Usage
Post-cracking tensile response tension stiffening
The post-crack response is defined by a tension stiffening curve
Two possible ways of specifying tension stiffening:
Postfailure stress-strain relation
Fracture energy cracking criterion (stress-displacement relation)
The default is to define a Postfailure stress-strain relation (Type=Strain)
Give tabular data defining fraction of stress remaining versus postcracking strain
Ratio of stress to
failure stress
1.0
L4.30
Usage
Tension stiffening continued
When there is no reinforcement in the concrete, the stress-strain softening
approach introduces unreasonable mesh sensitivity.
To deal with this, we assume that the fracture energy to open a unit area of
crack, Gf , is a material property.
With this approach the concretes brittle behavior is characterized by a
stress-displacement response rather than a stress-strain response.
Use Type=Disp to activate this approach
Specify the displacement, u0, at which linear loss of strength gives
zero stress
Ratio of stress to
failure stress
1.0
u0
Crack opening
displacement
L4.31
Usage
Mesh sensitivity for unreinforced concrete:
P
u
1 element
1, 2, 4, and 8 elements
2 elements
Usage
Tension stiffening continued
The user must specify the tension stiffening behaviour; it cannot be
omitted.
However, this data is not easily specified since the tension stiffening
behaviour depends on the amount an orientation of reinforcement
But it is very important to the behaviour of the model
See later comments on Calibration and Modelling Aspects
L4.32
L4.33
Usage
Tension stiffening
***
** MATERIALS
**
*Material, name=concrete
*Elastic
29000., 0.18
*Concrete
18.4,
0.
32., 0.0013
*Tension Stiffening
1.,
0.
0., 0.0008
Fraction of
remaining
stress
Postcracking
strain
Usage
Defining the yield/failure surfaces
The user can enter four ratios to define the yield and failure surfaces
Ratio of ultimate biaxial compressive stress to ultimate uniaxial
compressive stress
Ratio of uniaxial tensile stress at failure to ultimate uniaxial
compressive stress
Ratio of magnitude of principal plastic strain at ultimate stress in
biaxial compression to plastic strain at ultimate stress in uniaxial
compression
Ratio of tensile principal stress at cracking in plane stress (when the
other principal stress is at the ultimate compressive value) to the
tensile cracking stress in uniaxial tension
If this data is not specified, default values are used
L4.34
L4.35
Usage
Failure ratios
***
** MATERIALS
**
*Material, name=concrete
*Elastic
29000., 0.18
*Concrete
18.4,
0.
32., 0.0013
*Tension Stiffening
1.,
0.
0., 0.0008
*Failure Ratios
1.16, 0.0625,
1.28, 0.3333
Usage
Shear retention
The user can specify data to define how the shear modulus degrades in
the presence of cracking.
The data required is
Fraction of shear modulus applicable to a closed crack
Crack opening strain at which the shear modulus is zero
If this option is omitted, the default is for full shear retention (i.e. the
shear modulus is unaffected by cracking)
L4.36
L4.37
Usage
Shear retention
***
** MATERIALS
**
*Material, name=concrete
*Elastic
29000., 0.18
*Concrete
18.4,
0.
32., 0.0013
*Tension Stiffening
1.,
0.
0., 0.0008
*Failure Ratios
1.16, 0.0625,
1.28, 0.3333
*Shear Retention
0.9, 0.002
Calibration
L4.39
Calibration
Minimum of two experiments are required to calibrate the simplest
version of the concrete model (using all possible defaults)
Uniaxial compression test
Uniaxial tension test
Uniaxial compression
This test gives the compressive stress-strain curve
Uniaxial tensile test
This test is difficult to perform, and data is often not available
Assumption required for tensile failure strength (usually about 7-10% of
compressive strength)
Calibration of post-failure response depends on nature of reinforcing
Calibration
Shear Retention
Combined tension and shear experiments are required to calibrate the
post-cracking shear behaviour
Tests are difficult so default (full shear retention) is often used
Failure Ratios
Biaxial experiments are required to calibrate the Failure Ratios
Tests are difficult so default values are generally used
L4.40
Modeling Aspects
L4.42
Modeling Aspects
Choice of material properties
The users success in analyzing concrete problems depends significantly
on making sensible choices regarding the concrete material parameters.
The values chosen for tension stiffening are the most important item when
analyzing problems that involve cracking failure of the concrete. Generally,
the more tension stiffening is included, the easier it is to obtain numerical
solutions.
The tensile postfailure behavior is not easily specified: the loss of strength
depends on such factors as the density of reinforcement and the quality of
the bond between the rebar and the concrete.
Some trial and error may be required to calibrate the tension stiffening in
each particular case
L4.43
Modeling Aspects
A reasonable starting point for reinforced concrete is to assume that the
strain softening after failure reduces the stress linearly to zero at a total
strain about 10 times the strain at failure.
t
t0
t0
10 t0
L4.44
Modeling Aspects
Elements
ABAQUS offers a variety of elements for use with the concrete cracking
model including beam, shell, plane stress, plane strain, axisymmetric, and
three-dimensional continuum elements.
For general shell analysis more than the default number of 5 integration
points through the thickness of the shell should be used; 9 thickness
integration points are commonly used to model progressive failure of the
concrete through the thickness with acceptable accuracy.
L4.45
Modeling Aspects
Output
In addition to the standard output identifiers available in ABAQUS, the
following variables relate specifically to material points in the smeared
crack concrete model:
CRACK
CONF
These variables are only available in the printed results file (*.dat)
Not currently supported through ABAQUS/CAE
Must be manually requested
*El Print, Elset=concrete_elems
CONF, CRACK
Modeling Aspects
Other considerations
Considerable nonlinearity is expected in the response of concrete
structures, including the possibility of unstable regimes as the concrete
cracks. The following is recommended to alleviate possible convergence
difficulties:
Use automatic stabilization in static steps, STATIC, STABILIZE. In
problems with global instabilities, use the modified Riks method,
RIKS.
Since the overall convergence of the solution is expected to be nonmonotonic, use CONTROLS, ANALYSIS=DISCONTINUOUS to
prevent premature termination of the equilibrium iteration process
because the solution may appear to be diverging.
L4.46
Reinforcement Modeling
Reinforcement Modeling
Reinforcement in ABAQUS
In ABAQUS, concrete reinforcement is modeled using REBAR LAYERS
Shell, membrane, and surface elements are reinforced by directly
specifying a rebar layer in the element.
Surface elements do not have any element properties other than the
rebar layer and are used primarily as place-holders for rebar layers.
Solid elements are reinforced using the embedded element constraint.
In this technique, either surface or membrane elements reinforced
with rebar layers are embedded in the solid host elements.
L4.48
L4.49
Reinforcement Modeling
Reinforcement
Solid elements
Embedded
element
constraint
Rebar layers in
membranes
Structural elements
Rebar layers in
membranes
Rebar layers
in shells
Rebar layers in
surface elements
L4.50
Reinforcement Modeling
Rebars layers are used for modeling uniaxial reinforcement in shell,
membrane and surface elements.
Rebars layers have the following properties:
Their material properties are independent of those of the underlying
elements.
As many different combinations and orientations of rebar layers as are
needed can be defined within a single element.
The rebar layer volume is not subtracted from the volume of the
element to which the rebar layer is added.
Thus, rebar layers should be used only when the volume fraction
of reinforcement is small (such as with reinforced concrete where
the volume fraction of the rebar is between 1% and 4%).
L4.51
Reinforcement Modeling
Specification of rebar layers
The REBAR LAYER option is used in conjunction with the
SHELL SECTION,
MEBRANE SECTION, or
SURFACE SECTION
L4.52
Reinforcement Modeling
Sample usage:
*SHELL SECTION, ELSET=...
*REBAR LAYER, ORIENTATION=ORI1
name, a, s, f, mat, alpha, 1
name
mat
alpha
L4.53
Reinforcement Modeling
For each rebar layer, specify
rebar layer name (used to identify the layer in the list of section points
when postprocessing with ABAQUS/Viewer);
the rebar material name;
cross-sectional area a of each rebar;
the rebar spacing s in the plane of the membrane, shell, or surface
element;
the angular orientation alpha, in degrees, measured relative to the
local 1-direction, positive in the direction of the element normal; and
the position of the rebars in the thickness direction f (for shell
elements only), measured from the midsurface of the shell (positive in
the direction of the positive normal to the shell).
Repeat the data to define each rebar layer
Similar method is used to define rebar in membrane and surface element
Copyright 2005 ABAQUS, Inc.
L4.54
Reinforcement Modeling
Prestresses in rebar layers
Prestress can be defined in the rebars using the *INITIAL CONDITIONS,
TYPE=STRESS, REBAR option, with or without using the *PRESTRESS
HOLD option.
With the *PRESTRESS HOLD option the initial stress defined in the
rebar is held constant.
While equilibrium iterations are performed to obtain the
corresponding (self-equilibrating) stresses in the matrix material,
the rebar layer will strain, but this strain is not allowed to cause
changes in the stress in the rebar layer.
Without the *PRESTRESS HOLD option, the initial stresses are
allowed to change during an equilibrating static analysis step as both
the matrix and the rebar stresses adjust to the equilibrium
configuration.
L4.55
Reinforcement Modeling
For example, in reinforced concrete:
The rebar are initially stretched to a desired tension before being
covered by concrete.
After the concrete cures and bonds to the rebar, release of the
initial rebar tension transfers load to the concrete, introducing
compressive stresses in the concrete.
The resulting deformation in the concrete reduces the stress in
the rebar.
L4.56
Reinforcement Modeling
Output
ABAQUS/CAE supports visualization of rebar layer orientations and results
in rebar layers.
Output of variables such as stresses and strains at the rebar integration
points is available
Results can be viewed on a layer-by-layer basis.
To display results for a given rebar layer, select the named rebar layer
from the list of available section points.
L4.57
Reinforcement Modeling
The force in the rebar is available at
the layer integration points as
RBFOR, which is the rebar stress
times the current cross-sectional area
(see the figure on the following page).
RBANG and RBROT identify the
current orientation of rebar within the
element and the relative rotation of
the rebar layer as a result of finite
deformation.
Sample output request:
*Element output, rebar
S, E, RBANG, RBROT, RBFOR
Reinforcement Modeling
Rebar force output
L4.58
L4.59
Reinforcement Modeling
Embedding Rebar Layers
Membrane and surface elements reinforced with rebar layers can be
embedded in continuum (solid) elements in an arbitrary manner such that
the two meshes need not match.
This is accomplished using an EMBEDDED REGION constraint.
Reinforcement Modeling
Usage:
*EMBEDDED ELEMENT, HOST ELSET=tread,
ROUNDOFF TOLERANCE=1.e-6
belt1, belt2
L4.60
L4.61
Reinforcement Modeling
rebar orientation
embedded membrane element
L4.63
L4.64
L4.65
ABAQUS/Standard
Lecture 5
Overview
Introduction
Eigenvalue Problem Formulation
ABAQUS Usage
Closely Spaced Eigenvalues
Concluding Remarks
Workshop 5a: Cargo Crane Critical Load Estimation
Workshop 5b: Eigenvalue Buckling of a Square Tube
L5.2
Introduction
L5.4
Introduction
The stability of structures is a problem that analysts face frequently.
These problems predominantly occur in beam and shell structures.
Such stability studies usually require two types of analyses:
Eigenvalue buckling analysis
Postbuckling or collapse analysis
We focus on eigenvalue buckling analysis, which very often is a required
step for the more general collapse or load-displacement response
analysis.
Eigenvalue buckling analysis is used to obtain estimates of the critical load
at which the response of a structure will bifurcate, assuming that the
response prior to bifurcation is essentially linear.
The simplest example is the Euler column, which responds very stiffly
to a compressive axial load until a critical load is reached, at which
point it bends suddenly and exhibits much lower stiffness.
L5.5
Introduction
Load-displacement response of an Euler column
Introduction
Deformed configurations of an Euler column
L5.6
L5.7
Introduction
The purpose of eigenvalue buckling analysis is to investigate singularities
in a linear perturbation of the structures stiffness matrix.
The resulting estimates will be of value in design only if the linear
perturbation is a realistic reflection of the structures response before it
buckles.
Therefore, eigenvalue buckling is useful for stiff structures
(structures that exhibit only small, elastic deformations prior to
buckling).
In most cases of stiff structures, even when inelastic response may occur
before collapse, eigenvalue buckling analysis provides a useful estimate of
the collapse mode shape.
Only in quite restricted cases (linear elastic, stiff response; no imperfection
sensitivity) is it the only analysis needed to understand the structures
collapse limit.
L5.8
Introduction
In many cases the post-buckled response is unstable; the collapse load
will then depend strongly on imperfections in the original geometry.
This is known as imperfection sensitivity.
In this case the actual collapse load may be significantly lower than
the bifurcation load predicted by eigenvalue buckling analysis.
Thus, eigenvalue buckling analysis provides a nonconservative
estimate of the structures load carrying capacity.
Even if the pre-buckling response is stiff and linear elastic, nonlinear loaddisplacement response analysis (of the imperfect structure) is generally
recommended to augment the eigenvalue buckling analysis.
This is essential if the structure is imperfection sensitive.
L5.10
L5.11
K = K + K P .
L5.12
( K 0 + K )V = 0.
L5.13
L5.14
ABAQUS Usage
ABAQUS Usage
ABAQUS will calculate the initial stress and
load stiffness matrix corresponding to the live
load directly.
The BUCKLE step is a linear
perturbation step, and the magnitude of
the live load is not important.
The live load is specified in the
BUCKLE step.
The BUCKLE step may be preceded by a
STATIC step in which the dead load is
applied.
L5.16
L5.17
ABAQUS Usage
The buckling mode shapes of
symmetric structures are either
symmetric or antisymmetric.
For such structures it is more
efficient to model only part of the
structure and to perform the
buckling analysis twice: once with
symmetric boundary conditions
and once with antisymmetric
boundary conditions.
The live load pattern is usually
symmetric, so symmetric boundary
conditions are needed for the
calculation of the perturbation
stresses used in the formation of the
initial stress stiffness matrix.
ABAQUS Usage
The boundary conditions must be
switched to antisymmetric in the
BUCKLE step to obtain the
antisymmetric modes.
This is done by giving the
antisymmetric boundary
conditions with LOAD CASE=2 on
the BOUNDARY option in the
BUCKLE step.
L5.18
L5.19
ABAQUS Usage
Example 1: Antisymmetric buckling of a symmetric structure
Boundary conditions
for load case 1
Boundary conditions
for load case 2
B21 elements
Rectangular cross-section (1 in 1in)
Linear elastic material:
E = 30E6 psi
=0
Copyright 2004 ABAQUS, Inc.
ABAQUS Usage
Partial input for antisymmetric buckling of a symmetric structure
*heading
antisymmetric ring buckling
eigenvalue estimate
:
:
*nset, nset=left
4
*transform, nset=left
1., 1., 0., -1., 1., 0.
*boundary
right, 2
right, 6
left, 2
left, 6
*step, name=Step-1
*buckle
3,
*boundary, load case = 2, op=new
right, 2
right, 6
left, 1
*dsload
ring, p, 1.
*end step
Copyright 2004 ABAQUS, Inc.
L5.20
L5.21
ABAQUS Usage
The dead and live loads can be point loads, distributed loads, or thermal
loads; dead loads can also include nonzero prescribed boundary
conditions.
If the live loads include uniform motion of a boundary, use multi-point
constraints to constrain these nodes to a single point and load that
point.
The dead load, P0, and the live load, P, can be entirely different in
magnitude and in nature.
Multiple buckling modes and associated critical load values can be
obtained in a single eigenvalue buckling step.
Obtaining multiple buckling modes is often useful since many common
systems (such as short cylindrical shells) have several closely spaced
critical modes.
L5.22
ABAQUS Usage
Negative eigenvalues are sometimes obtained.
These values can indicate that there is a buckling mode
corresponding to the load applied in the opposite direction.
For example, a pressure vessel under internal pressure might
buckle under external pressure.
However, they can also point to spurious modes if nonlinearities occur
before buckling.
L5.23
ABAQUS Usage
The load stiffness can have a significant effect on the critical buckling load.
ABAQUS will use the symmetric form of load stiffness in eigenvalue
calculations.
Follower force effects are associated with pressure, hydrostatic pressure,
buoyancy effects, centrifugal loading, and Coriolis loading and also with
concentrated loads with the FOLLOWER option.
Eigenvalue buckling analysis with concentrated FOLLOWER loads will not
yield the correct results since the follower force effects are not taken into
account (the load stiffness is generally not symmetric).
L5.24
ABAQUS Usage
If temperature-dependent elastic properties are used, the elastic stiffness
will be based on the temperatures prior to the eigenvalue buckling step.
Modifying temperatures in an eigenvalue buckling step will not change
the elastic stiffness matrix.
When nonlinear material properties such as hyperelasticity are present in a
model, ABAQUS/Standard ignores the nonlinear effects during the
eigenvalue buckling analysis.
The material response during the buckling analysis is based on the
linear elastic stiffness in the (potentially nonlinear) base state at the
end of the previous step.
Inelastic behavior such as plasticity can be used if the eigenvalue buckling
step is applied before the stress at any point has reached yield.
ABAQUS will use the elastic stiffness, defined with linear elasticity, in
the eigenvalue buckling procedure to calculate K, not the tangent
stiffness from the hardening curve.
Copyright 2004 ABAQUS, Inc.
L5.25
ABAQUS Usage
Choice of eigenvalue extraction method
In ABAQUS/Standard you have the choice of using either the subspace
iteration or the Lanczos method to extract the eigenvalues.
The Lanczos method is generally faster when a large number of
eigenmodes are required for a system with many degrees of freedom.
The subspace iteration method may be faster when only a few (less
than 20) eigenmodes are needed.
ABAQUS Usage
By default, the subspace iteration method is used when extracting the
buckling modes.
To use the Lanczos solver, include the EIGENSOLVER=LANCZOS
parameter on the BUCKLE option.
L5.26
L5.27
ABAQUS Usage
When the Lanczos eigensolver is requested, you can also specify the
minimum and/or maximum eigenvalues of interest on the data line.
ABAQUS extracts eigenvalues until either the requested number of
eigenvalues has been extracted in the given range or all the
eigenvalues in the given range have been extracted.
The Lanczos eigensolver has the following restrictions for buckling
simulations; it cannot be used with:
A model containing hybrid elements
A model containing distributing coupling elements
A model containing contact pairs or contact elements
A model that has been preloaded above the bifurcation (buckling) load
L5.29
Radius = 100
Length = 800
Thickness = 0.25
Youngs modulus = 30 106
Poissons ratio = 0.3
L5.30
bottom
top
L5.31
Circum. modes
Critical stress
40718.09
43291.86
44283.65
44292.48
10
44662.13
44711.87
11
44751.29
10
11
44867.94
44874.56
10
44909.49
45608.18
45718.54
10
12
45792.77
45827.96
L5.32
L5.33
L5.34
L5.35
L5.36
L5.37
L5.38
Concluding Remarks
L5.40
Concluding Remarks
Eigenvalue buckling analysis yields a reliable estimate for the buckling
load only if the assumptions of small geometric changes and linear elastic
material response before buckling are realistic for the structure being
modeled and if the collapse is not imperfection sensitive.
If in doubt, introduce an imperfection (in the shape of the lowest buckling
modes) into the structure and use STEP, NLGEOM with the STATIC,
RIKS procedure to obtain the complete pre- and postbuckling history.
L5.41
Concluding Remarks
For more examples of buckling and collapse analysis with ABAQUS see:
ABAQUS Benchmarks Manual:
1.2.1 Buckling analysis of beams
1.2.2 Buckling of a ring in a plane under external pressure
1.2.3 Buckling of a cylindrical shell under uniform axial pressure
ABAQUS Example Problems Manual:
1.2.2 Laminated composite shells: buckling of a cylindrical panel with
a circular hole
1.2.6 Buckling of an imperfection sensitive cylindrical shell
Lecture 6
Overview
Introduction
ABAQUS Implementation
ABAQUS Usage
Snap-Through Problems
Postbuckling Problems
Introducing Imperfections for Postbuckling Simulations
Postbuckling Examples
Usage Hints
Limitations
Summary
Workshop 6a: Cargo Crane Riks Analysis
Workshop 6b: Square Tube with Imperfections
L6.2
Introduction
L6.4
Introduction
Eigenvalue buckling analysis is useful for the analysis of stiff structures.
The method is not suitable if large geometry changes occur prior to
buckling and can provide very misleading results if the structure is
imperfection sensitive.
In cases where the eigenvalue buckling procedure is not applicable or its
results are questionable, a fully nonlinear transient analysis is required.
A transient analysis can be done dynamically or by addition of viscous
forces to the static problem.
The disadvantage of such analyses is that it is hard to understand the
characteristics of the structure after the load maximum is reached.
L6.5
Introduction
To avoid any of the effects of the stabilizing forces,
we would like to obtain a solution to the static
equilibrium equation without adding such forces.
An algorithm is needed in which the applied loads
are adapted automatically.
The solution algorithm must solve
simultaneously for loads and displacements.
As a consequence another quantity must be selected
to measure the progress of the solution.
For this we choose the arc length, l, which is
the length along the static equilibrium path in
load-displacement space.
A form of this method is activated in ABAQUS by
adding the RIKS parameter on the STATIC option.
L6.6
Introduction
Static analysis of snap-through and postbuckling problems with the arclength method provides valuable information about the characteristics of
structures in the unstable regime.
The method works well if the equilibrium path in the load-displacement
space is smooth and does not branch.
Otherwise, convergence and incrementation problems may occur.
Generally, this means that the method should always be applied to
imperfect geometriesthe perfect structures initial coordinates
should be perturbed to create a suitable imperfection.
This converts a pure bifurcation behavior into a snap-through problem.
ABAQUS Implementation
L6.8
ABAQUS Implementation
Riks method for globally
unstable problems
Consider this loaddisplacement curve:
Load
P2
P1
Displacement
L6.9
ABAQUS Implementation
At the top of the curve the gradient equals zero and the stiffness is
singular. This can occur when structures snap-through, buckle, or
collapse.
The structures instability may be the result of geometric or material
effects.
In an unstable problem the structure must release energy to remain in
equilibrium. In reality, this energy is converted to kinetic energy.
A way of studying a buckling problem is to use displacement control rather
than force control; i.e., you prescribe the motion of a particular part of the
model and look at the reaction forces to understand the load-displacement
behavior.
Even with displacement control the structure may buckle dynamically.
L6.10
ABAQUS Implementation
An alternative is to use the modified Riks method.
The basic solution method is still the Newton-Raphson method, so the
usual convergence rules apply.
It is the method by which the analysis progresses along the solution
path that is changed.
The Riks method solves for both the displacements and the applied loads
to find the equilibrium path.
The method can calculate solutions even when the slope of the forcedeflection curve is negative.
The magnitude of the load must be expressed in terms of a load
proportionality factor, .
The method uses the concept of arc length (l) to track the size of the
increment and how far the analysis has progressed.
L6.11
ABAQUS Implementation
RIKS is an arc-length control procedure
The solution is advanced along the load-deflection curve by
solving for the equilibrium position a particular arc-length away
from the last position.
Load
l
l
Displacement
Copyright 2004 ABAQUS, Inc.
L6.12
ABAQUS Implementation
In the Riks method we always deal with proportional loading within an
analysis step. The load is assumed to consist of:
An initial load vector, P0, which has already been applied at the start
of the step and remains constant throughout the step.
A load, P, where P is a nominal load vector and is the load
proportionality factor that ABAQUS will find as part of the solution.
In the simplest case P0 will be zero and P will be the result of distributing,
for example, a uniform pressure of unit magnitude onto the structure.
In general, P is obtained as the difference between the reference load Pref
specified in the Riks step and the dead load, P0 :
P = Pref P0 .
ABAQUS Usage
ABAQUS Usage
The Riks procedure is invoked by including the Riks parameter on the
STATIC option.
Since the method is generally used with geometrically nonlinear
cases, the NLGEOM parameter is usually included on the STEP
option.
L6.14
L6.15
ABAQUS Usage
A typical input sequence for a postbuckling analysis is
*STEP, NLGEOM (apply optional dead load)
*STATIC
(define the dead load and specify output requests)
*END STEP
*STEP, NLGEOM, INC= (postbuckling Riks step)
*STATIC, RIKS
linit, lperiod, lmin, lmax, end, node, dof, umax
(define the reference load and specify output requests)
*END STEP
L6.16
ABAQUS Usage
The first two entries on the STATIC, RIKS data line define the initial and
estimated total arc lengths associated with the step.
*STATIC, RIKS
linit, lperiod, lmin, lmax, end, node, dof, umax
linit
lperiod
L6.17
ABAQUS Usage
The second two entries are optional and form bounds for the arc length
increment, l.
*STATIC, RIKS
linit, lperiod, lmin, lmax, end, node, dof, umax
ABAQUS Usage
The last four optional entries serve as alternate termination criteria.
*STATIC, RIKS
linit, lperiod, lmin, lmax, end, node, dof, umax
L6.18
L6.19
ABAQUS Usage
ABAQUS will not stop exactly at these values but will stop when the values
are exceeded.
If none of the above termination criteria is included, ABAQUS will stop
when the maximum number of increments is reached or when the solution
fails (for example, because of excessive distortion).
L6.20
ABAQUS Usage
Any amplitude references are ignored in the Riks procedure.
All loads are ramped from the initial (dead load) value to the reference
value specified.
If the reference load is equal to the dead load, the Riks procedure will
fail.
The load magnitudes are available as output.
The status (.sta) file shows clearly that a step uses the Riks procedure.
SUMMARY OF JOB INFORMATION:
MONITOR NODE:
1 DOF: 2
STEP INC ATT SEVERE EQUIL TOTAL
DISCON ITERS ITERS
ITERS
1
1
1
0
3
3
1
2
1
0
2
2
1
3
1
0
3
3
1
4
1
0
3
3
1
5
1
0
3
3
1
6
1
0
3
3
TOTAL
TIME/
FREQ
STEP
TIME/LPF
0.0471
0.0882
0.138
0.184
0.200
0.177
0.04713
0.04110
0.04958
0.04638
0.01590
-0.02278
INC OF
TIME/LPF
DOF
IF
MONITOR RIKS
-0.195
-0.397
-0.714
-1.22
-2.00
-2.93
R
R
R
R
R
R
Snap-Through Problems
L6.22
Snap-Through Problems
The Riks method works very well for snap-through problems.
Classical snap-through problems are characterized by a smooth loaddisplacement curve and do not exhibit branching (bifurcation).
As a result, the Riks procedure can solve this kind of problem with
ease.
Generally, you do not need to take any special precautions to ensure
a successful analysis.
An example of a problem with a smooth load-displacement curve (taken
from the ABAQUS Example Problems Manual) is the shallow-arch problem
shown on the following pages.
L6.23
Snap-Through Problems
Example 1: Shallow circular arch under pressure
Snap-Through Problems
History input for shallow circular arch
*step, nlgeom
loading
*static, riks
0.05, 1.0, , 0.2, 0.4
*dsload
arch, p, 5000.
.
.
.
*end step
L6.24
L6.25
Snap-Through Problems
Load-displacement curve of shallow arch
Postbuckling Problems
L6.27
Postbuckling Problems
The Riks method can also be used to solve postbuckling problems, both
with stable and unstable postbuckling behavior.
The exact postbuckling problem cannot be analyzed directly because of
the discontinuous response at the point of (bifurcation) buckling.
To analyze the problem, you must turn it into a problem with continuous
response instead of bifurcation.
The problem can be converted by introducing an initial imperfection in
the model so that there is some response in the buckling mode before
the critical load is reached.
If the imperfection is small, the deformation will be quite small (relative to
the imperfection) below the critical load.
L6.28
Postbuckling Problems
The response will grow quickly near the critical load, introducing a rapid
change in behavior.
Such a rapid transition is difficult to analyze.
If the imperfection is large, the postbuckling response will grow steadily
before the critical load is reached.
The transition into postbuckled behavior will be smooth and relatively
easy to analyze.
Imperfections are usually introduced as perturbations in the initial
geometry of the model.
Imperfections can also be introduced by perturbations in the loads or the
boundary conditions.
Moreover, imperfections based on linear buckling modes can be useful for
analyzing structures that behave inelastically prior to reaching peak load.
L6.30
L6.31
L6.32
L6.33
L6.34
L6.35
L6.36
L6.37
where U1, U2, and U3 are the components of the imperfection that will be
added to the nodes initial position.
L6.38
L6.39
L6.40
Postbuckling Examples
Postbuckling Examples
Example 2: Rectangular frame with point load at corner
The (lowest) critical load and buckling mode are easily obtained with the
eigenvalue buckling procedure.
L6.42
L6.43
Postbuckling Examples
We use the buckling mode to introduce an imperfection with an amplitude
of 0.1% of the frame height and analyze the resulting structure with the
Riks method.
eigenmode
L6.44
Postbuckling Examples
The load-displacement curve is shown below:
L6.45
Postbuckling Examples
Example 3: Buckling of an imperfectionsensitive cylindrical shell
Problem 1.2.6 in the ABAQUS Example
Problems Manual.
Simply supported cylinder loaded by
uniform, compressive axial load.
Internal pressure also applied
(increases imperfection sensitivity of the
cylindrical shell).
Very thin shell (t/r = 1/500).
Refined mesh: Full length model
accounts for both symmetric and antisymmetric buckling modes.
L6.46
Postbuckling Examples
Solution procedure:
1. Perform linear eigenvalue buckling analysis.
2. Introduce imperfections using different combinations of modes.
Fix imperfection size by prescribing the maximum out-ofroundness.
3. Postbuckling analysis using the Riks method.
Repeated eigenvalues:
L6.47
Postbuckling Examples
As the relative phase between repeated modes changes, the
imperfection and therefore the postbuckling response changes.
To overcome these problems, the phase is fixed before the
postbuckling analysis is performed.
In this example, the eigenvectors associated with repeated
eigenmodes are scaled such that their linear combination generates a
maximum displacement of 1 on the X-axis.
A FORTRAN program is run to read the results file from the linear
eigenvalue analysis to generate the imperfection:
The scale factors are computed for linear combinations of repeated
eigenmodes.
The maximum out-of-roundness is enforced.
L6.48
Postbuckling Examples
Results: First 19 eigenvalues of the cylindrical shell.
Eigenvalues of the cylindrical shell
Mode number
Eigenvalue
11721
2, 3
11722
4, 5
11726
6, 7
11733
8, 9
11744
10, 11
11758
12, 13
11777
14, 15
11802
16, 17
11833
18, 19
11872
L6.49
Postbuckling Examples
The buckling load is normalized with respect to the linear eigenvalue
buckling load. The results when different modes are used to seed the
imperfection are shown below.
Normalized buckling loads
Mode used to seed
the imperfection
Normalized
buckling load
0.902
2, 3
0.707
4, 5
0.480
6, 7
0.355
8, 9
0.351
10, 11
0.340
12, 13
0.306
14, 15
0.323
16, 17
0.411
18, 19
0.422
0.352
L6.50
Postbuckling Examples
Load-displacement curve
Usage Hints
L6.52
Usage Hints
The Riks procedure works very well for problems exhibiting global snapthrough behavior.
Since the solution may pass unstable points, it is important that the
residuals at the beginning of a new increment be small.
The default tolerances in ABAQUS are sufficiently tight in most cases;
however, for very unstable postbuckling problems, tighter tolerances
may need to be specified with the CONTROLS optionparticularly if
the prebuckling behavior is nearly linear and very rapid stiffness
changes occur near the instability point.
Even with tight controls, the procedure may fail if such a point is
approached with large load increments.
Under such circumstances the load and the solution may track back to
the starting point, as shown in the following figure.
L6.53
Usage Hints
Backtracking near a sharp transition:
Usage Hints
You can make the problem easier by
introducing a larger imperfection into
the initial model so that the
nonlinearity in the overall response is
less severe.
You can avoid the problem by limiting
the arc length increment with lmax.
If the problem has already
occurred, you can correct it by
using the RESTART, READ,
END STEP option just before the
instability point to make sure that
the point is approached with
small arc length increments.
L6.54
L6.55
Usage Hints
The analysis of problems involving local instabilities sometimes leads to
difficulties.
Such instabilities cause local growth of the solution, which may be
insufficiently constrained by the algorithm.
In addition, local instabilities can be fueled by release of elastic
energy from other parts of the structure, which makes it difficult to
control the solution by changing the applied load.
Nevertheless, with careful control of the increment size, it is often possible
to complete such analyses successfully.
Limitations
L6.57
Limitations
The Riks postbuckling procedure requires that the equilibrium path be
continuous.
Such continuity is not present in instability problems involving loss of
contact constraints, as shown below:
L6.58
Limitations
Loss of contact occurs as the roof snaps through.
When the contact force is zero, the roof and Point A have separated.
L6.59
Limitations
Problems with discontinuities typically occur when the load on a structure
is applied by motion of a rigid surface and the structure buckles under the
applied load.
Once the structure buckles away from the constraints, the solution can
no longer be controlled by the applied loads and the Riks algorithm no
longer has any beneficial effect.
In such cases a successful solution will be obtained only if the regular
Newton algorithm is able to bridge the gap in the equilibrium path at this
point.
If the jump cannot be made, the analysis may fail or backtrack.
In some cases the contact surface moves back but the structure
freezes in a load-free, unstable equilibrium configuration.
Summary
L6.61
Summary
The static Riks procedure in ABAQUS is a useful tool for the analysis of
snap-through and postbuckling problems.
Snap-through problems are handled with relative ease.
For postbuckling problems you must ensure that:
Suitable imperfections are introduced.
Sufficiently small load increments are chosen.
Extra tight controls may be required for very unstable postbuckling and
localization problems.
For postbuckling problems involving loss of contact, the Riks method will
usually not work and inertia or viscous damping forces must be introduced
to stabilize the solution.
Such procedures are discussed in Lecture 7.
Lecture 7
Overview
Motivation
Automatic Stabilization and Dashpots
Postbuckling and Loss of Contact
Example
Summary
Workshop 7a: Cargo Crane Damped Static Analysis
Workshop 7b: Cargo Crane Dynamic Analysis
L7.2
Motivation
L7.4
Motivation
To obtain an accurate assessment of the postbuckling behavior of
structures, static analysis methods are preferred because they provide
insight into the postbuckling characteristics of the structure.
However, it is not always possible to carry out such an analysis: in
situations where loss of contact occurs or where the deformation localizes,
the static postbuckling method may fail to yield a solution.
In such cases a transient analysis can be done, either dynamically or
statically with viscous forces.
L7.5
Motivation
The addition of inertial forces provides a solution to the physical
postbuckling behavior.
However, it is not always required or even desired that the actual dynamic
solution be obtained.
In many cases the objective of the analysis is not to simulate the
actual dynamic response but to obtain the static equilibrium state after
buckling.
In some cases, such as in automotive roof crush or side intrusion
calculations, elastic buckling is only an initial effect that is followed by
extensive bending and plastic deformation.
L7.6
Motivation
In such cases a more effective and less noisy solution may be obtained
through the addition of suitable damping forces in a static analysis.
There are two ways in which damping can be introduced in a static analysis:
Damping can be introduced using automatic viscous damping with the
ABAQUS static procedure options.
Alternatively, discrete dashpots can be added to the model.
Element type DASHPOT1 can be used to damp absolute motions.
Element type DASHPOT2 can be used to damp relative motions.
L7.7
Motivation
If damping is used in static analysis, the velocity is assumed to be equal to
the displacement increment divided by the time increment.
Assume that the cumulative effect of all damping added to the static model
is described by the damping matrix C.
The equilibrium equations can then be written in the form
Cu& + I = C u / t + I = P.
In linearized form this becomes
K + t C cu = P I C u / t.
It is clear that the damping matrix becomes more important when the time
increment decreases.
L7.9
C = cM1,
where
L7.10
L7.11
L7.12
L7.13
or
*STATIC, STABILIZE=
or
*STATIC, STABILIZE, FACTOR=
damping factor
L7.14
L7.15
L7.16
L7.17
L7.18
ELSD
ELSDDN
ALLSD
Not output
by default to
.odb file!
VF
L7.19
VF
L7.20
10000
1.5
L7.21
L7.22
L7.23
L7.24
L7.25
L7.26
Buckling
occurs here
unstable
stable
L7.27
L7.28
L7.29
Snap-through
Instability
starts here
Load-displacement curve
Energy-displacement curve
L7.30
L7.31
L7.32
L7.33
Snap-through
Load-displacement curve
Energy-displacement curve
L7.34
L7.36
L7.37
L7.38
Example
L7.40
Example
Local buckling of reinforced plate
Plate with small and large reinforcements
Spring connections to the rest of the structure
and symmetry boundary conditions
Linear elastic material
Axial loading
Courtesy of IRCN-France
L7.41
Example
First, localized buckling
occurs in the plate sections
between the small
reinforcements.
global buckling
L7.42
Example
Summary
L7.44
Summary
Damped static postbuckling analysis is a useful technique to complement
classical eigenvalue buckling and static postbuckling analysis with the Riks
method.
The primary advantage of this method is the reliability it offers, in particular
in conjunction with contact changes.
Like static postbuckling analysis, the method provides an accurate
estimate of the critical load of imperfect structures, even if the structures
are imperfection sensitive.
Unlike static postbuckling analysis, however, it does not provide detailed
insight into the nature of the postbuckling behavior.
L7.45
Summary
The method is often useful for the analysis of crash and crushing
problems.
In such problems buckling of the structure away from an indenter may
occur in the early phases of analysis, prior to large scale plastic
deformation.
In such cases the postbuckling behavior is not the primary interest.
The damped analysis technique regularizes this initial instability and
enables the analysis to proceed quickly to the deformation phase that is of
primary interest.
The local contact surface damping option is provided specifically for
such applications.
Lecture 8
Introduction to Contact in
ABAQUS/Standard
L8.2
Overview
Introduction
Contact Output
Contact Examples
Surface Definition
Adjusting Surfaces
Local Surface Behavior
Relative Sliding of Points in
Contact
Introduction
Introduction
When two solid bodies touch, contact stress is transmitted across their
common surface.
In some cases only normal stress is transmitted.
If friction is present, a limited amount of shear stress can also be
transmitted.
The general objective is to determine contacting areas and stress
transmitted.
Contact is a severely discontinuous form of nonlinearity.
The contact constraint is either active or inactiveit is not smoothly
varying.
L8.4
Contact Examples
Contact Examples
Hertz contact
Small
displacements of
the contact
surfaces relative to
each other.
Contact over a
distributed surface
area.
L8.6
L8.7
Contact Examples
Deformable to rigid
body contact
Typical examples:
Rubber seals
Tire on road
Pipeline on seabed
Forming
simulations (rigid
die/mold,
deformable
component).
Video Clip
L8.8
Contact Examples
Large-sliding contact
between deformable bodies
This is the most general
category of contact.
Example: threaded
connector.
Contact pressure
distribution due to
interference
resolution
L8.9
Contact Examples
Self-contact
SURF1
(rigid)
Self-contact is contact of a
single surface with itself. It is
available in two- and threedimensional models in
ABAQUS.
SURF2
L8.11
L8.12
L8.14
L8.15
L8.16
slave
master
These nodes are
free to penetrate
L8.17
master
L8.18
slave, master
L8.19
Incorrect
Master surface placed on fine mesh
Gross penetration into slave surface
Correct
Master surface placed on coarse mesh
Minimal penetration into slave surface
L8.21
L8.22
L8.23
L8.24
L8.25
interactions as necessary.
Interaction Manager
Surface Definition
L8.27
Surface Definition
User-specified contact faces: GUI
interface
Solid bodies
The surface on a solid is defined
by selecting the appropriate
region of the exterior of the part.
Regions may be selected
individually or based on face
angles.
Surface Definition
User-specified contact faces: GUI interface (cont'd)
Shells and beams
The surface on a
shell/membrane or
beam/truss is defined by
choosing the
appropriate side of the
part.
L8.28
Adjusting Surfaces
L8.30
Adjusting Surfaces
The slave nodes of any contact pair can be adjusted automatically so that
they are initially in contact with the master surface.
This process is useful when preprocessors do not place nodes in
exact positions.
ABAQUS modifies coordinates of slave nodes before the analysis
starts.
The adjustment does not generate any strain.
L8.31
Adjusting Surfaces
The initial positions of the nodes on the contact surfaces can be adjusted
without stress or strain prior to the analysis.
ABAQUS/Standard allows the user to adjust the nodes by specifying
either
an absolute distance or
a node set.
Warning: With either method only surface nodes are relocated.
Gross (large) adjustments can severely distort initial element shapes.
L8.32
Adjusting Surfaces
1.0
CONNODE
L8.34
L8.35
Pressure-clearance relationship
L8.36
Soft contact
L8.37
L8.38
L8.39
L8.40
crit
ideal
penalty
crit
L8.41
L8.43
Small-sliding
L8.44
Contact Output
Contact Output
Contact information is available for all surfaces.
Contact stresses: CSTRESS (contact pressure CPRESS and frictional
shear stresses CSHEAR1 and CSHEAR2)
Contact displacements: CDISP (contact opening COPEN, relative
tangential motions CSLIP1 and CSLIP2)
L8.46
L8.47
Contact Output
Field output requests
CPRESS,
CSHEAR1, and
CSHEAR2
COPEN,
CSLIP1, and
CSLIP2
Contact Output
Solver contact output
Controls output to the message file during the analysis phase.
Gives details of the iteration process.
Use to understand where difficulties are occurring during contact.
Activate in the Edit Diagnostic Print dialog box of the Step module
Copyright 2005 ABAQUS, Inc.
L8.48
L8.50
h(u1 , u 2 , u 3 , ...) 0,
where h is the penetration and uN are degrees of freedom.
L8.51
determine
contact state
begin increment
open
do not apply
constraint
point opens;
severe
discontinuity
iteration
h>0
closed
apply
constraint
perform
iteration
5
p<0
check for
changes in
contact
point closes;
severe
discontinuity
iteration
h>0
no changes
end increment
8
convergence
check
equilibrium
no convergence
L8.52
open).
2 Impose contact constraints, calculate stiffness.
3 Perform iteration pass through the solver once.
4 Contact pressures and clearances consistent with contact
L8.53
equilibrium.
L8.54
L8.55
L8.56
Slave nodes
that close: h > 0
L8.57
Slave nodes
that open: p < 0
L8.58
L8.59
L8.60
L8.62
L8.63
L8.64
F2
F1
L8.65
master surface 1
slave node
master surface 2
L8.67
L8.68
Lecture 9
Overview
Modeling Bolted Connections
Mesh-Independent Point Fasteners
Beam + Coupling Technique
Modeling Bolts with Solid Elements
Bolt Pre-tension Loads
L9.2
L9.3
L9.4
Coarse system
models
Not interested in local
detail, just overall
load transfer
Detailed component
models
Interested in accurate
local results in vicinity
of bolts
L9.6
multiple
surfaces
attachment
points
radius of
influence
L9.7
coupling
constraint
L9.8
Video Clip
Fasteners
L9.9
L9.11
manually defined
coupling constraint
manually created
beam element
L9.13
Contact pressure
distribution due to
interference
resolution
L9.14
L9.15
L9.16
L9.17
L9.18
Bolt
Tension
Axial force
Radial
force
Bolt
Bolt hole
L9.19
L9.20
L9.21
45
38.7
40
35
34.8
30
25
20
Meshed threads
New bolt feature
15.6
14.0
15
10.1 9.9
10
8.1
7.7
6.2
6.1
5.1
4.8
4.3
4.2
0
1
L9.23
bolt
pre-tension
section
gasket
A
Example of a fastener
L9.24
L9.25
L9.26
n
2
beam or truss
element
1
pre-tension
node
pre-tension
section
L9.27
L9.28
pre-tension node
pre-tension section
elements chosen by
user to describe the
pre-tension section
L9.29
L9.30
Create a new
bolt load
Select an internal
surface for the pretension section
L9.31
L9.32
gasket
bolt
L9.33