Modeling of contact interaction

with friction

Author: Margarita Kovtun

Saint-Petersburg State Polytechnic University
 Objective
• Contact problems are highly nonlinear,
their solution is always expensive in terms
of time and resources

• Development of the algorithm based on

the minimization of deformation energy of
mechanical system

• Two main spheres of application:

simulation of riveting process, modeling of
sliding between soil layers
 Contents

• Problem statement
• Rigidity matrix concept
• Computational procedure
• Applications
- One-dimensional problem
- Sliding
- Rode bending
• Future improvements
 Problem statement
Two parts are initially separated, distance between them – initial gap

F – applied loads

initial gap

contact zone

Unknown variables: U – vector of displacements in the contact zone

U = arg min W , where W – deformation energy of the mechanical system

Bodies may slide relative to each other according to the dry friction law
 Rigidity matrix (1)
1
Deformatio n energy : W = U T ⋅ K ⋅ U , K - rigidity matrix
2
Elastic body
Fixations

Area of possible contact Computational nodes

Thus, we substitute the body by its rigidity matrix, having

the equality:
F = K ⋅U
 Rigidity matrix (2)

Elastic body
Fixations

Area of possible contact Computational nodes

Loads can be applied in computational nodes in any direction

F = ( f1x , f1 y , f1z , f 2 x , f 2 y , f 2 z ,L, f nx , f ny , f nz )

T
 Rigidity matrix (2)

Elastic body
Fixations

Area of possible contact Computational nodes

Loads can be applied in computational nodes in any direction

F = ( f1x , f1 y , f1z , f 2 x , f 2 y , f 2 z , L , f nx , f ny , f nz )
T
 Rigidity matrix (2)

Elastic body
Fixations

⎛ u1x ⎞
⎜ ⎟
⎜ u1 y ⎟
⎜u ⎟
⎝ 1z ⎠
Area of possible contact Computational nodes

Displacements of nodes are calculated in all direction

U = (u1x , u1 y , u1z , u 2 x , u 2 y , u 2 z ,L, u nx , u ny , u nz )

T
 Main idea
1
Energy of deformation: W = U T ⋅ K ⋅U → min
2
Forces acting on the system are balanced: K ⋅U = F

Displacements in normal direction are restricted: UN ≤ Δ

Forces in contact nodes should obey Coulomb law: Fτ ≤ μ Fn

initial gap

contact zone
 One-dimensional problem
Felastic Felastic
x1 x2 x3
F
Fтр
N −1 N
c T c 2
Energy of deformation: W ( x1 , x2 , K x N ) = ⋅ U KU = u N + c ∑ ui − c ∑ ui ui −1
2

2 2 i =1 i =1

where c – spring rate, m – mass

Friction force Elastic force

− μmg ≤ c (ui +1 − ui ) − c(ui − ui −1 ) ≤ μmg , i = 1, K , N − 1

− μmg ≤ F − c(u N − u N −1 ) ≤ μmg

 Results

F (H) x1 x2 x3
№ (м) (м) (м) Scheme of bodies displacements

1 3 0 0 0 x1 x2 x3 F
Fтр

x1 x2 x3 F
2 6 0 0 2
Fтр Fтр

3 9 0 1 6 x1 x2 x3 F
Fтр Fтр Fтр

x1 x2 x3 F
4 14 2 8 18
Fтр Fтр Fтр
 2D sliding
• 2D deformable body
• Made of isotropic material
• Moves on the rigid foundation
• Gap between bodies initially is closed

F
Rigid foundation
 2D sliding
• Compute rigidity matrix by mentioned
procedure
1
W = U T ⋅ K ⋅U → min
2
F
• All the nodes are contact ones: Rigid foundation
• Gap is zero: U y = 0

• Couloumb-Mohr law is to be satisfied in

each node:
Fτ ≤ μ Fn
 Results comparison
max U calc − U ANSYS
Relative error : ε = i =1, n

max U ANSYS
i =1, n

friction coefficient = const

0.6

0.5

0.4

Error, % 0.3

0.2

0.1

0
0 500 1000 1500 2000 2500 3000 3500
Force
 Results comparison
max U calc − U ANSYS
Relative error : ε = i =1, n

max U ANSYS
i =1, n

Force = const

1.20

1.00

0.80

Error,% 0.60

0.40

0.20

0.00
0.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60
friction coefficient
 Results comparison
Dependence of displacements in X-direction on the force value

3.50E-03

3.00E-03

2.50E-03
Force = 50H
2.00E-03 Force = 200H
Ux
Force = 800H
1.50E-03
Force = 3200H
1.00E-03

5.00E-04

0.00E+00
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Node number
 Results comparison
Dependence of displacements in X-direction on
the value of friction coefficient

6.00E-05

5.00E-05

4.00E-05 mu=0.05
mu=0.2
Ux 3.00E-05 mu=0.5
mu=1
2.00E-05

1.00E-05

0.00E+00
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Node number
 2D sliding

Body deformation for mu = 1 Body deformation for mu = 0.1

 Rode bending

Fixations
y
Applied load xN
x

x2 5 mm
x1
1 mm

Gap elimination
• Contact problem
Calculation of sliding distances

• Zone of possible contact depends on applied loads

• It is necessary to derive iterative procedure

 Iterative procedure

contact nodes nodes in equilibrium

Equilibrium equations: K ⋅ U = F

Unknown forces appear: K ⋅ U = F + f contact ,

f contact - reaction force or friction force

Coulomb-Mohr law: Fτ ≤ μ Fn
 Iterative procedure

Parts are separated: K ⋅U = F

Compute force Fmin so that

one node comes in contact

false
If F > Fmin
Done
true

Substitute the equality K ⋅ U = F

by unequality Fτ ≤ μ Fn
in new contact node
 Results
Dependence of displacement in X-direction on the friction
coefficient value in the last node

0.0018

0.0016

0.0014
0.0012
sliding
0.001
Ux sticking
0.0008

0.0006
0.0004

0.0002

0
0 0.0025 0.005 0.0075 0.01 0.0125 0.015 0.0175 0.02 0.0225 0.025
Friction coefficient
 Results
Dependence of displacement in X-direction on the
force value in the last node

0.012

0.01
Displacements

0.008

mu=0.15
0.006
mu = 0

0.004

0.002

0
1000 1500 2000 2500 3000 3500 4000 4500 5000
Force
 Results
Dependence of relative error on the force value
max U calc − U ANSYS
Relative error : ε = i =1, n

max U ANSYS
i =1, n

0.5
0.45
0.4
0.35
0.3
Error 0.25
0.2
0.15
0.1
0.05
0
0 10000 20000 30000 40000 50000 60000 70000
Force
 Deformation shapes

Two contact nodes One contact node

 Future improvements and investigations

• Sliding: - modeling two flexible bodies interaction

- modeling systems with refined meshes
- 3D geometry simulation

• Riveting process simulation:

- modeling 2D and 3D objects
- optimizing the procedure of defining
contact zone
Thank you!