Chapter VIII Elastoplastic FEM Part I

1
Copyright by A. Erman Tekkaya 2003

Chapter 8
General Elasto-Plastic Finite Element
Solution
Introduction
Part A: Review of Continuum Mechanics
Nonlinear Kinematics of Deformation
Stress Definitions
Objectivity
Elasto-Plastic Constitutive Law
Part B: Implicit Solution
Linearization of Principle of Virtual Work
Integration of Constitutive Law
Incremental Objectivity and Stress Update
Part C: Explicit Solution
General Formulation
Discretization
Stability
2
Aim of Lecture
This lecture aims
To review fundamentals of continuum
mechanics
To derive the elastoplastic material law
for large strains and large displacements
To overview the various discretization
procedures
3
Introduction
(1)
The principle of
virtual displacements
is valid for any body
and reads (neglecting
mass forces and
inertia effects):
{ } { } { } { }
t
T T
V A
T dV t u dA =

or:
t
ij ij i i
V A
T dV t u dA =

internal virtual
work
external virtual
work
internal virtual
work
external virtual
work
with T
ij
the Cauchy stress tensor, t
i
the traction vector and u
the displacement vector.
4
Introduction (2)
Remarks:
1. This principle must be applied at the current
(deformed) configuration, at t = t
0
+ t
2. The virtual strain due to the virtual displacement is
in fact the engineering strain as defined at the
current configuration:
1
2
j
i
ij
j i
u
u
x x
| |
= +
|
|

\ .
3. The principle is the weak form of the static equilibrium
equations, i. e. the Euler equation corresponding to the
principle of virtual displacements are the differential
equations of equilibrium.
4. However, since the current (deformed) configuration is
not known, we end up with a non-linear problem.
5
Introduction (3)
This nonlinearity results due to the nonlinear kinematics and
due to elasto-plastic material behaviour.
The large displacement elastic behaviour as well as the
continuous change of the configuration of the body necessiates
the introduction of nonlinear kinematics concepts for the
deformation: We can not add the Cauchy stress increment
during time increment t to the Cauchy stress at time t
0
due to
eventual rigid-body rotations.
For this purpose we will adapt the notation of Ramm & Bathe:
0
0
0
1
2
t
t
j
i
j
j
i
i
t
u
u
x x
| |
= +
|
|

\ .
configuration
of quantity
reference
configuration coordinate axis (components)
6
PART A
Review of Continuum Mechanics
Nonlinear kinematics
Stresses
Elasto-Plastic Constitutive Equations
7
Kinematics of Deformation (1)
x
2
,u
2
A ,V
0 0
prescribed
displacements
prescribed
forces
t
t
i
Body at time B t
0
P
0
Q
0
0
dx
i
P
Q
t
F
Body B
t
A
t
t
A
u
Q
P
at time t
t t
A, V
0
x
i
0
x
i
P
t
x
i
Q
t
x
i
t
dx
i
x
3 3
,u
x
1
,u
1
Q
u
i
P
u
i
8
Kinematics of Deformation (2)
The motion can be described by:
( )
0
,
t t
i i i
x x x t =
The neighborhood of a particle can be described by:
( )
0
0
0
,
t
i i
t
i j
j
x x t
dx dx
x
0
0
t t
i ij j
dx F dx =
or:
0
0
t
t
i
ij
j
x
F
x
is the deformation
gradient tensor
where
9
Finite Strain Measure (1)
Remarks:
1. All equations are valid for finite displacements
2. Only an infinitesimal neighborhood of a particle is described
3. The equation of motion is invertible
4. The deformation gradient tensor is not a measure of strain
A measure of strain is defined by considering material line
lengths: 2 0 2 0 0
0
t t
i ij j
ds ds dx E dx =
where the Green-Lagrangian strain tensor is defined by:
( )
0 0 0
0 0
1 1
2 2
t t
t t t
m m
ij mi mj ij ij
i j
x x
E F F
x x

| |

= =
|
|

\ .
10
Finite Strain Measure (2)
Notice that the finite strain can be written in terms of the
infinitesimal strain and rotation tensor as:
( )
0 0 0 0 0 0 0 0 0 0
1
2
t t t t t t t t t t
ij ij im mj im mj im mj im mj
E = + +
where, the infinitesimal strain tensor is given by:
0
0 0
1
2
j
t
i
ij
j i
u
u
x x
| |
= +
|
|

\ .
(does not measure strain
for large deformations)
and the infinitesimal rotation tensor by:
0
0 0
1
2
j
t
i
ij
j i
u
u
x x
| |
=
|
|

\ .
(does not measure rigid
body rotations for large
deformations)
11
Volume and Density Changes
It can be shown that the relation ship between infinitesimal
volumes is given by:
0
0
t t
ij
dV F dV =
where, the Jacobian determinant
0
t
J is defined by
0 0
t t
ij
J F =
Due to mass conservation note that:
0
0
t t
ij
F =
where is the density.
12
Polar Decomposition Theorem (1)
The deformation gradient tensor can be decomposed into a
unique product:
0 0 0
t t t
ij im mj
F R U =
where R
ij
is the rotation tensor and U
ij
the right stretch tensor.
The stretch tensor presents the pure deformation, whereas the
rotation tensor represents the rigid body rotation of the principal
axes of the strech tensor.
Alternatively, the decomposition can be done also by:
0 0 0
t t t
ij im mj
F V R =
where V
ij
the left stretch tensor.
13
Polar Decomposition Theorem (2)
It can be shown that:
( )
0 0 0
t t t
ij mi mj
U F F =
and
( )
0 0 0
t t t
ij im jm
V F F =
14
Distortional Component of F
ij
The deformation gradient can be decomposed into a
distortional and volumetric portions:
( )
1 3
0 0 0

t t t
ij ij
F J F =
0

t
ij
F
where is the isochoric part of the deformation gradient.
15
Area Changes
The relationship between an undeformed and deformed area
element is given by:
0 0
0 0
t t T t t
i ij j
dA n J F n dA
=
where n
i
is the unit normal vector and dA the area of the
area element considered.
16
Velocity Gradient, Rate of Deformation
Tensor & Spin Tensor (1)
t
t
i
i
d x
v
dt
=
Velocity Field:
t
t
i
t ij
t
j
d v
L
d x
=
The velocity gradient:
The velocity gradient can be decomposed as:
t t t
t ij t ij t ij
L D W = +
where the rate of deformation tensor is defined by:
1
2
t
t
j
t
i
t ij
j i
v
v
D
x x
| |
= +
|
|

\ .
(symmetric)
17
and the rotation tensor is defined by:
1
2
t
t
j
t
i
t ij
j i
v
v
W
x x
| |
=
|
|

\ .
(skew-symmetric)
It can be shown that the rate of deformation tensor is a
measure for the strain-rate:
2
2
t t t t
i t ij j
ds dt dx D dx =
The spin tensor W
ij
can be interpreted as the rate of rigid-
body rotation of the principal axes of the rate of deformation
tensor D
ij
.
18
Recall carefully that
0
0 0
t
ij
t t t
mi t mn nj
d E
F D F
dt
=
and
( ) ( ) ( )
0 0 0
1 1
0 0 0 0 0
1
2
t t t
t
im nm mk
t ij
t t t t t
jm in mk nm jk
d R d U d U
d W
R R U U R
dt dt dt dt

| |
| = +
|
\ .
Also, the rate of volume change is given by:
( )
0
0
( )
t
t
d J
d dV
dV
dt dt
=
( )
0
0
t
t t
t kk
d J
J D
dt
=
and
19
Stress Definitions (1)
x
2
0 0
A, V
Body B
P
0
Body B
P
at time t
t t
A, V
0
x
i
x
3
x
1
at time
0
t
0
n
i
t
n
i
0
dh
i
t
df
i
0
dA
t
dA
t
x
i
The Cauchy stress
tensor T
ij
is defined as:
t t t
i t ij j
t T n =
such that:
t t t t
i t ij j
df T n dA =
current
area
current
force
t t t
i i
df t dA = Note that:
20
0 0
0
t t
i ij j
df H n dA =
Instead of relating the current force to the current area, we
can relate the original (undeformed) area to the current
force:
x
2
0 0
A, V
Body B
P
0
Body B
P
at time t
t t
A, V
0
x
i
x
3
x
1
at time
0
t
0
n
i
t
n
i
0
dh
i
t
df
i
0
dA
t
dA
t
x
i
This defines the first
Piola-Kirchhoff stress
tensor.
The first Piola-Kirchhoff stress tensor is unsymmetric. It
corresponds to the engineering stress definition.
initial
area
current
force
21
x
2
0 0
A, V
Body B
P
0
Body B
P
at time t
t t
A, V
0
x
i
x
3
x
1
at time
0
t
0
n
i
t
n
i
0
dh
i
t
df
i
0
dA
t
dA
t
x
i
1
0 0
t t t
i ij j
dh F df
=
To introduce a symmetric stress tensor defined wrt the
undeformed configuration, we introduce a pseudo-force
vector:
Now the second Piola-
Kirchhoff stress tensor
is defined as:
0 0
0 0
t t
i ij j
dh S n dA =
initial
area
pseudo
force
22
The various stress definitions are related to each other by:
Cauchy stress First Piola-Kirchhoff stress:
0 0
0
t
t t t
t ij im mj
T F H
=
Cauchy stress Second Piola-Kirchhoff stress:
0 0 0
t t t
ij im jm
H S F =
Second Piola-Kirchhoff stress First Piola-Kirchhoff stress:
0 0 0
0
t
t t t t
t ij im mn jn
T F S F
=
Note that for small displacements/strains all stress measures
are approximately equal.
23
An important issue is that the the stresses are work-
conjugate with certain deformation measures. The stress-
power per unit mass is given by:
( )
0
0
0
1 1
stress power
t
ij
t t t
t ij t ij ij
t
d E
T D S
dt
=
From above considerations we can also derive the Kirchhoff
stress tensor:
0
1 1
stress power
t t t t
t ij t ij t ij t ij
t
T D G D

=
0
t t
t ij t ij
t
G T
=
or:
24
To interpret physically the second Piola Kirchhoff stress tensor,
visualize a rigid-body deformation:
0 0 0 0
t t t t
ij im mj im
F R U R = = Then:
0
0 0
1
t t
ij
t
J F
= = =
0 0 0
0
t
t t t t
t ij im mn jn
T F S F
=
Hence, from:
0
0 0 0
t t t t
mn mi t ij nj
t
S F T F
=
0 0 0
t t t t
mn mi t ij nj
S R T R =
or for rigid-body rotations:
25
Objectivity (1)
x
1
x
2
x
3
A ,V
0 0
Body B
P
0
Q
0
0
dx
i
Body B
Q
P
at time t
1
at time t
0
P
Q
Body B
at time t
2
0 ij
1
F
Q
ij
1
dx
i
2
dx
i
0 ij
2
F
r
igid
b
o
d
y
r
o
t
a
t
i
o
n
d
e
f
o
r
m
a
t
ion
1 2 0 2 0 1 0
0 i ij j
ds ds dx E dx =
2 2 0 2 0 2 0 0 1 0
0 0 i ij j i ij j
ds ds dx E dx dx E dx = =
1
1
0
0
i
ij
j
x
F
x
2
2
0
0
i
ij
j
x
F
x
2 1
0 0 ij im mj
F Q F =
2 1
0 0 ij im mn nj
E Q E Q =
2 1
0 0 ij mn
E E
1 T
ij ij
Q Q
=
Although
they have the
same physical
meaning!
26
Objectivity (2)
By definition any vector v
i
and any tensor T
ij
is objective, if
it transforms under a rigid-body rotation Q
ij
according to:
i im m
v Q v =
ij im mn jn
T Q T Q =
where Q
ij
is an orthogonal transformation:
1 T
ij ij
Q Q
=
1 T
im mj ij
Q Q
=
or
27
Objectivity (3)
The Cauchy stress tensor, for instance, is objective since:
t t
t ij im t mn jn
T Q T Q =
However taking the material time derivative of it yields:

( )
t t t t
t ij im t mn jn im t mn jn im t mn jn
T Q T Q Q T Q Q T Q = + +
`
` ` ` `
Hence, the rate of Cauchy stress tensor is not objective
unless the rigid-body rotation is not time-dependent.
28
Objectivity (4)
To illustrate this fact, consider a rod under axial loads and
rotated by 90
o
:
F
F
x
y
F
F
time t
time t+ t
r
i
g
i
d
b
o
d
y
rota
t
i
o
n
The stress state at
time t is:
0 0
0 0 0
0 0 0
xx
ij
T
T
(
(
( =

(
(

The stress state at
time t+Dt is:
0 0 0
0 0
0 0 0
ij yy
T T
(
(
( =

(
(

0
ij
T
`
0
ij
D =
Obviously:
but:
29
Objectivity (5)
So, a constitutive equation of type
ij ijkl kl
T C D =
`
can not be used.
An objective stress rate can be defined by the so-called
Jaumann rate:
ij
ij im mj im mj
T T W T T W = +
.
`
where W
ij
is the already defined rotation tensor.
Note that for the rotated by example the Jauman rate of
stress vanishes!
30
x
1
x
2
x
3
A ,V
0 0
Body B
P
0
Q
0
0
dx
i
Body B
Q
P
at time t
1
at time t
0
Body B
at ntermed i iate
configuration
0 ij
1
F
1
dx
i
pu
r
e
l
y
e
l
a
s
t
i
c
t
o
t
a
l
d
e
f
o
r
m
a
t
i
o
n
0 ij
1
F
el
0 ij
1
F
pl
p
urely plas
tic
Q
P
1
dx
i
pl
Hyperelastic-Plastic Model:
0 0 0
t t el t pl
ij im mj
F F F =
Elastic work is
independent of the
path and the elastic
strains are derived
from a potential.
Elastic-Plastic Constitutive Law (1)
31
Hypoelastic-Plastic Model:
t t el t pl
t ij t ij t ij
D D D +
This equation is only valid if
1
t el
t ij
D < 1
t el
t ij
W <
and
This is however the case for metals during large plastic
deformation. Therefore, we will cover here only the hypo-
elastic model.
32
Recall the Levy-Mises flow rule for isotropic hardening:
3
2
pl
i i
dY
E T
H Y

=
Dividing both sides of the equation by an infinitesimal time dt

and switching to tensorial notation yields:
3
2
pl
ij ij
Y
D T
H Y

=
`
where the rate of change of the yield (flow) stress is given as:
dY
Y
dt
=
`
33
The elastic strain rates are given by the generalized
Hookes law as:
1 1 2
2
el
ij ij H ij
D T T
G E

= +
` `
el pl
ij ij ij
D D D = +
Applying the hypoelastic-plastic assumption:
yields the well-known Prandtl-Reu equations:
1 1 2 3
2 2
ij ij H ij ij
Y
D T T T
G E H Y

= + +
`
` `
. . . .
. . . . . .
1 for and > 0
0 for or and > 0
v M v M
v M v M v M
Y
Y Y

= =
= < =
`
`
with
34
The Prandtl Reu equations can be transformed in a more
convinient way following the following procedure:
2 3
ij ij
T T
Y
Y

=
`
`
Taking the time derivative
of the flow condition
2
2
3
ij ij
Y T T

=
yields:
2 3
ij ij
T T
Y
Y
=
`
`
Or,
(*)
Furthermore:
1 1 2 1
2
ij H ij ij mm ij
T T T T
G E E E

+
+ =
` ` ` `
(**)
35
Inserting the equations (*) and (**) into the Prandtl-Reu
equation yields:
2
1 9
4
ij nm
ij in jm ij nm nm ijnm nm
T T
D T T
E E H Y

| |
+
= + =
|
\ .
` `
C
where the elastic-plastic consititutive tensor is given by:
2
1 9
4
ij nm
ijnm in jm ij nm
T T
E E H Y

+
= + C
For the use in the finite element discretization, this equation
has to be converted however into:
1
ij ijnm nm
T D
=
`
C
36
For inverting the Prandtl Reu equations, we start from:
ij ij H ij
T T T
= +
` `
It can be shown easily that:
( )
3 1 2
H ij ij nm nm
K
E
T D
_
On the other hand
( )
2
ij ij ij
T G D T

=
`
`
where
2
4
9
2
2
nm nm
nm nm
GT D
G T T Y H

=

+
`
37
After some computation, the inverted equation is found as:
( )
2
2 1
3 3
2
1 2 1
ij nm
ij in jm ij nm nm
G
T T
T G D
Y H
| |
= +
|
|
+
\ .
`
Hence, in
1
ij ijnm nm
T D
=
`
C
the inverse constitutive fourth order tensor reads:
( )
1
2
2 1
3 3
2
1 2 1
ij nm
ijnm in jm ij nm
G
T T
G
Y H
| |
= +
|
|
+
\ .
C
38
The Prandtl-Reu constitutive equation is only valid for small
total strains and small rotations, since in the given form the
relation does not fulfill the axiom of objectivity. A generalization
of the Prandtl-Reu equation reads:
( )
2
2 1
3 3
2
1 2 1
ij nm
ij
in jm ij nm nm
G
T T
T G D
Y H
| |
= +
|
|
+
\ .
.
where the material time rate of the Cauchy stress tensor is
replaced the Jaumann rate of it.
39
The deviatoric part of the generalized Prandtl-Reu relationship
can be in the nine-dimensional stress-space as:
{ }
{ } { }
1
3
1
2 2
1
2 3 2 3
i i
i i i
G
T T
T G D G D
H
Y Y
| |

= |
` `
|
+

) )
\ .
.
It can be shown easily that
{ }
{ }
1
3
1
1
2 3 2 3
pl
i i
i i
G
T T
D D
H
Y Y
| |

= |
` `
|
+

) )
\ .
So that:
{ }
{ }
{ }
2 2
pl
i i i
T G D G D

=
.
40
T
2
'
T
1
'
T
3
'
2 { G D
pl
}
{T
i
}
'
2 { G D}
'
{T
i
}
'
total strain
loaded elastically
plastic strain part
loaded elastically
Radius =
2 3 Y
In the three-dimensional principal stress space this can be
visualized as:
{ }
{ }
{ }
2 2
pl
i i i
T G D G D

=
.

Chapter VIII Elastoplastic FEM Part I

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Chapter VIII Elastoplastic FEM Part I

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Copyright by A. Erman Tekkaya 2003

However taking the material time derivative of it yields:

Dividing both sides of the equation by an infinitesimal time dt

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