Plasticity in ADINA Structures

Theodore Sussman, Ph.D.

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 Overview
• Review of hardening rules and material models.

• Kinematic formulations:
– small displacements, small strains (MNO)
– large displacement, small strains
– large displacement, large strains

• Incompressibility and the u/p formulation.

• “Type 2” plasticity algorithm.

• Transition from loading to unloading conditions.

• Some remarks on large strain bending.

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Hardening rules

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 Generalization to multiaxial conditions

Uniaxial Uniaxial stress - Effective stress -

stress-strain plastic strain accumulated effective
curve curve plastic strain curve

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 Plasticity material models
• Bilinear plasticity material model:
- MATERIAL PLASTIC-BILINEAR ... E=... YIELD=... ET=...,
HARDENING={ISOTROPIC or KINEMATIC}

• Multilinear plasticity material model:

- MATERIAL PLASTIC-MULTILINEAR ... E=...,
HARDENING={ISOTROPIC or KINEMATIC}
strain1 stress1
strain2 stress2
...

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Input option MASTER EXTEND-SSCURVE
• MASTER EXTEND-SSCURVE=NO
- The multilinear stress-strain curve is not extended. If the accumulated
effective plastic strain exceeds the largest input strain, the material
ruptures.

- MASTER EXTEND-SSCURVE=YES (the default)

- The multilinear stress-strain curve is extended, using the slope given by the
last two points in the curve.
- The amount of extension is effectively infinite, thus the material cannot
rupture.

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 Cyclic plasticity model
• Model includes
- combined isotropic and kinematic hardening
- nonlinear kinematic hardening

• Example of input
PLCYCL-ISOTROPIC BILINEAR 1 YIELD=... EP=...
PLCYCL-KINEMATIC ARMSTRONG-FREDRICK 1
h1 zeta1
h2 zeta2
MATERIAL PLASTIC-CYCLIC ... E=...,
PLCYCL-ISOTROPIC=1 PLCYCL-KINEMATIC=1

• Model is able to reproduce complex cyclic plastic phenomena.

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 Response to uniaxial cyclic loads
• Consider uniaxial cycling of a bar.

Stress-strain curve,
Prescribed strain perfect plasticity

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 Bilinear isotropic hardening Bilinear kinematic hardening

Multilinear isotropic hardening Multilinear kinematic hardening

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Nonlinear kinematic hardening (cyclic plasticity model)

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 Ratchetting

Prescribed stress, nonsymmetric

Stress-strain curve

Strain time history

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 Example – shear link
• Shear link used in seismic energy dissipation system for bridges.

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• Stress-strain data for Grade-345 steel

Experimental data Cyclic plasticity model

Exponential isotropic hardening (3 material constants)

Armstrong-Fredrick kinematic hardening with two terms (4 material constants)

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 Kinematic formulations for plasticity
• Small displacement / small strain.
- Materially nonlinear only (MNO)
- Strain = small strain, stress = Cauchy (true) stress
- Input stress-strain curve assumes small strains and Cauchy stresses
- Program output is small strains and Cauchy stresses

• Large displacement / small strain

- Strain = Green-Lagrange strain, stress = 2nd Piola-Kirchhoff stress
- Input stress-strain curve assumes Green-Lagrange strains and 2nd Piola-
Kirchhoff stresses. Under small strain conditions, the Green-Lagrange
strains are numerically close to small strains, and the 2nd Piola-Kirchhoff
stresses are numerically close to Cauchy stresses.
- Program output is Green-Lagrange strains and Cauchy stresses

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 Kinematic formulations for plasticity
• Large displacement / large strain using the ULJ formulation
- Strain = Jaumann strain, stress = Cauchy stress
- Input stress-strain curve assumes log strains and Cauchy stresses (but see
note below)
- Strain output depends on the material model:
- MATERIAL PLASTIC-BILINEAR or PLASTIC-MULTILINEAR
- Strain output is stretches or deformation gradients
- MATERIAL PLASTIC-CYCLIC
- Strain output is Jaumann strains
- Stress output is Cauchy stresses.

• If MASTER CONVERT-SSVAL=YES, then the input stress-strain curve

assumes engineering strains and engineering stresses (not applicable for
MATERIAL PLASTIC-CYCLIC).

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 Kinematic formulations for plasticity
• Large displacement / large strain using the ULH formulation
- Strain = right or left Hencky strain, stress = rotated or unrotated Cauchy
stress (depends on the type of element).
- Input stress-strain curve assumes log strains and Cauchy stresses
(MASTER CONVERT-SSVAL can also be used, as in ULJ)
- Strain output depends on the material model,
- MATERIAL PLASTIC-BILINEAR or PLASTIC-MULTILINEAR
- Strain output is stretches or deformation gradients
- MATERIAL PLASTIC-CYCLIC
- Strain output is left Hencky strain
- Stress output is Cauchy stresses.

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Input stresses and strains for large strain formulations
• For input:
- True stress = force / unit area  F / A
t t

- Engineering stress = force / unit undeformed area  t F / 0 A

- True strain = ln t L / 0 L
- Engineering strain = ( t L / 0 L)  1

• Assuming incompressibility,
t
- True stress = engineering stress times L / 0L

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 ULH vs ULJ
• ULH
- Rigid-body rotations are mathematically removed, so the material can
undergo an arbitrarily large rigid body rotation in one time step.
- The material can undergo a very large proportional loading within a single
time step.
- Calculation of Hencky strains is relatively expensive.

• ULJ
- The Jaumann strain approximates the (left) Hencky strain.
- There is an error when the material undergoes a rigid body rotation, but the
error becomes small as the amount of rotation per time step is reduced.
- There is an error when the material undergoes a large proportional loading,
but this error becomes small as the amount of loading per time step is
reduced.
- Calculation of Jaumann strains is relatively inexpensive.

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 Comparison of kinematic formulations
• Single plane stress element under uniaxial tension

Input stress-strain curve

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Comparison of kinematic formulations

Input stress-strain curve

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 Comparison of kinematic formulations
• Plasticity is characterized by a soft stress-strain response combined with
relatively large stresses. This combination causes the different kinematic
formulations to give different force-displacement curves.

• Large displacement / small strain

- Program output of Cauchy stresses can cause confusion, when comparing
computed response to expected response (program internally uses 2nd
Piola-Kirchhoff stresses).

• Large displacement / large strain

- The large displacement / large strain formulation (either ULH or ULJ)
should be used whenever geometric nonlinearities are present.
- The differences between ULH and ULJ are usually negligible in practical
analysis.

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 u/p formulation for plasticity
• The elements that are undergoing plasticity “lock” in volumetric motion. Only
those motions for which the volumetric strain is zero at each integration point
are allowed.

• The pressures have a large variation within each element.

• The effective stresses are not directly affected, since the effective stress does not
include the pressure.

• The overall response is too stiff.

• The above effects are most pronounced for coarse meshes.

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Indenting of a half-space by a rigid punch

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 Effective stress

Displacement-based u/p

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 Pressure

Displacement-based u/p

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 Accumulated effective plastic strain

Displacement-based u/p

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 u/p formulation
• It is because of the u/p formulation that we recommend the use of 9-node
elements in 2D. The 8-node element (with three pressure degrees of freedom)
has some volumetric locking.

• Similarly, it is because of the u/p formulation that we recommend the use of the
11-node tet and 27-node brick element in 3D. The 10-node tet and 20-node brick
have some volumetric locking.

• On the other hand, higher-order elements can cause difficulties especially under
contact conditions. The u/p formulation can also be used with the lower-order
elements:
- 4-node element with constant pressure in 2D: 4/1 element
- 8-node element with constant pressure in 3D: 8/1 element

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 “Type 2” plastic algorithm
• Normally, plasticity is determined directly from the yield stress:
- Effective stress smaller than yield stress  material is elastic
- Effective stress larger than yield stress  material is plastic, update plastic
strain so that the effective stress matches the yield stress.

• This “intuitive” algorithm is used for the “type 1” plastic algorithm.

• In the “type 2” plastic algorithm, we sometimes allow the effective stress to be

larger than the yield stress during the equilibrium iterations (but not for the
converged solution.)

• The “type 2” algorithm is useful when there are geometric nonlinearities along
with the nonlinearity due to plasticity.

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 Motivating example

• In iteration 1, the tip node moves vertically upwards. The whole beam elongates
slightly (2nd order effect) and there is a corresponding membrane strain.
• In the expected solution, the tip node moves horizontally to the left, so that the
beam has no net change in length (consistent with no axial force applied to the
beam), and there is no membrane strain.
• If the beam uses an elastic-plastic material, it may be that in the expected
solution, the strains are small enough so that the beam is elastic, but that the
membrane strains of iteration 1 are large enough so that the beam is plastic. In
this case, the model cannot converge, because the incremental stiffness is based
on plastic conditions.

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 Remedy – “type 2” plasticity algorithm
• The geometric error in a geometrically nonlinear solution can interact with the
plasticity algorithm, in such a way as to cause the solution to diverge.

• As a remedy, the “type 2” plasticity algorithm delays the onset of plasticity for
one equilibrium iteration:
• If the material is elastic, and the effective stress exceeds the yield stress,
the material goes into the “elastic yielded” state.
• If the material is in the “elastic yielded” state, and the effective stress is
smaller than the yield stress, the material returns to the elastic state.
• If the material is in the “elastic yielded” state, and the effective stress is
larger than the yield stress, the material becomes plastic.

• The convergence check includes a check on the elastic yielding states: If any
integration point is in the “elastic yielded” state, the solution is not converged.

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 Remedy – “type 2” plasticity algorithm
• The type 2 plasticity algorithm is only implemented for large displacement /
large strain formulations.

• The type 2 plasticity can also slow down convergence for certain problems. For
example, if the beam were loaded by an axial force, convergence would be
slower.
- Iteration 1, tip displacement determined as if beam is elastic, membrane
strain is large enough so that beam is plastic, however beam goes into
“elastic yielded” state instead.
- Iteration 2, tip displacement determined based on elastic yielded beam,
membrane strain does not increase.
- Iteration 3, tip displacement determined based on plastic beam, membrane
strain increases.

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 Transition from loading to unloading conditions
• When the material is plastic, the corresponding stiffness matrix corresponds to
plastic conditions. This is the situation during loading.

• If unloading begins, the material must eventually become elastic, with a stiffness
matrix corresponding to elastic conditions.

• The transition from loading to

unloading must be done using a
small time step size. This is because
the response to the change in load, in
the first equilibrium iteration,
assumes plastic conditions.

• Once unloading is established, the

time step size can be increased.

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 Remarks on large strain bending
• Under large strain bending conditions, the neutral axis can shift. This
causes additional difficulties in obtaining accurate solutions.

• The 3D-shell element was developed, in part, in order to solve large

strain bending problems using shell elements. Although better than the
ordinary shell elements in large strain bending, when the deformations
become very large, these elements also give inaccurate solutions.

• The next few slides describe a “simple” large strain bending problem,
and present some approximate solutions.

• Actual large strain bending problems can be expected to be even more

difficult to solve.

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Plane strain bending of a rigid perfectly-plastic block
2 1
 e /2  e /2 Material properties:
1 E = 1010
 = 0.4999
 e /2 3 4  e /2
 y = 105
Le
Shell thickness a = 1

35000

30000

25000
Various
20000 results from
Moment

Le/a=2
15000
the 3D-shell
Le/a=1
element
10000 Le/a=1/2
Le/a=1/4
5000
Analytical solution

0
0.0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
Normalized curvature

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Plane strain bending of a rigid perfectly-plastic block
–Le/a = 1/2, normalized curvature = 2

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Plane strain bending of a rigid perfectly-plastic block
• What kind of FE mesh can give an accurate solution to this problem?

• Try a 2D solid mesh:

– The mesh can be refined in the vertical direction

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Plane strain bending of a rigid perfectly-plastic block
• For a coarse mesh of 3D-shell elements, the assemblage is too stiff.

• As a mesh of 3D-shell elements is refined, the assemblage becomes too soft.

The refinement corresponds to elements with length/thickness < 1.

• A 2D solid mesh can accurately solve the problem, but the number of
elements needed in the thickness direction is large. As the curvature for
which an accurate solution is required increases, the number of elements
needed in the thickness direction also increases.

• The same holds for a mesh of 3D solid elements.

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Plane strain bending of a rigid perfectly-plastic block
• The neutral axis is no longer halfway between the top and bottom of the
block.

• A material fiber above the original neutral axis always is in tension.

• A material fiber below the original neutral axis starts in compression, but
then as the neutral axis moves, this material fiber returns to tension.

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