The Finite Element Method for the Analysis of Non-Linear and Dynamic Systems

Prof. Dr. Eleni Chatzi Lecture 10 - 26 November, 2010

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Method of Finite Elements II

Final Project Description/Overview Test Setup

Dynamic Shake Table Test

Specimen Damper

1285 1535

Servo hydraulic test cylinder Piston: + / - 125 mm Piston force: + / - 100 kN

Anchorage 250 ETH ShakeTable

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Method of Finite Elements II

Test Setup Elevation Drawings

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Test Setup Plan Drawings

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Expected Behavior

RC Response in Cyclic Loading

Experimental Data Accelerometer Measurements Displacement Measurements RC Response Characteristics Strength Deterioration Stiness Degradation Pinching Behavior

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Method of Finite Elements II

Modeling of Reinforced Concrete Behavior Concrete Material Models

Unconned concrete
-

Conned concrete

cu

peak compressive stress E0

Compression

softening

+ o
Tension

strain at maximum stress

cu

Conned concrete, by Kent & Park.

tu = maximum tensile strength of concrete +

Figure 2.5: Typical uniaxial compressive and tensile stress-strain curve for concrete (Bangash 1989)

Typical uniaxial compressive and tensile stress-strain curve for concrete

compression, the stress-strain curve for concrete is linearly elastic up to about 30 percent of e maximum compressive strength. Above this point, the stress increases gradually up to the aximum compressive strength. After it reaches the maximum compressive strength cu , the rve descends into a softening region, and eventually crushing failure occurs at an ultimate ain cu . In tension, the stress-strain curve for concrete is approximately linearly elastic up to e maximum tensile strength. After this point, the concrete cracks and the strength decreases Institute of Structural Engineering adually to zero (Bangash 1989).

Method of Finite Elements II

2. DISCRETE Modeling of Reinforced VS SMEARED CRACK MODELS Concrete Behavior 2.1. The discrete crack approach a geometric for Concrete Failure Criteriaentity. Initially, this was implemented by letting a crack grow when the nodal force at the node ahead of the crack tip exceeded a tensile strength criterion. Then, the node is split The determinationand the tip of the crack is assumed to propagate to the next node. When the into two nodes of failure criteria is very important for the proper tensile criterion is violated at this node, simulation of strengthdegrading behavior of it is split and the procedure is repeated, as concrete structures. sketchedthe in Figure 1 [1]. The discrete crack approach to concrete fracture is intuitively appealing: a crack is introduced as

The discrete Discrete Cracking crack approach in its original form has several disadvantages. Cracks are forced to propagate along element boundaries, so that a mesh bias is introduced. Automatic remeshing The discrete crack approachreduced, if not eliminated, and sophisticated computer codes with a crack allows the mesh bias to be to concrete fracture is intuitively appealing: remeshing were developed entity. and co-workers was implemented by letting a is introduced as a geometricby IngraeaInitially, this [3]. Nevertheless, a computational diculty, namely, the continuous change in topology, is inherent in the discrete crack approach crack grow when certainnodaleven aggravated by remeshing procedures. the crack tip exceeded a and is to a the extent force at the node ahead of The change in topology was to large extent is split into two nodes and the tensile strength criterion. Then, athe node alleviated by the advent of meshless methods, tip of such as the element-free Galerkin method [4]. Indeed, successful analyses have been carried out the crack using these methods, propagate to including diculties with robust the tensile strength is assumed to but disadvantages the next node. When three-dimensional implementations, the large computational demand compared procedure is repeated. criterion is violated at this node, it is split and the with nite element methods, the somewhat ad hoc manner in which the support of a node is changed in the presence of a crack [5]

Figure 1. Early discrete crack modelling.

Copyright # 2004 John Wiley & Sons, Ltd. Int. J. Numer. Anal. Meth. Geomech. 2004; 28:583607

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Method of Finite Elements II

Modeling of Reinforced Concrete Behavior

Failure Criteria for Concrete - Smeared Cracking
In a smeared crack approach, the nucleation of one or more cracks in the volume is translated into a deterioration of the current stiness and strength. Generally, when the combination of stresses satises a specied criterion, e.g. the major principal stress reaching the tensile strength ft ; a crack is initiated. This implies that at the integration point where the stress, strain and history variables are monitored, the isotropic stress - strain relation is replaced by an orthotropic elasticity-type relation with the n; s-axes being axes of orthotropy; n is the direction normal to the crack and s is the direction tangential to the crack.

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Method of Finite Elements II

Modeling of Reinforced Concrete Behavior

surface for the concrete. Consequently, a criterion for failure of the concrete due to a multiaxial stress state can be calculated (William and Warnke 1975). A three-dimensional failure surface for concrete is shown in Figure 2.7. The most significant nonzero principal stresses are in the x and y directions, represented by xp and yp, respectively. Three failure surfaces are shown as projections on the xp-yp plane. The mode of failure is a function of the sign of zp (principal stress in the z direction). For example, if xp and yp are both negative (compressive) and zp is slightly positive (tensile), cracking would be predicted in a direction perpendicular to zp. However, if zp is zero or slightly negative, the material is assumed to crush (ANSYS 1998).

One such criterion is utilized by ANSYS accounting for both crushing & cracking. The most signicant nonzero principal stresses are in the x and y directions (xp , yp ). The mode of failure is a function of the sign of zp (principal stress in the z direction). For xp , yp 0 (compressive) and zp > 0, cracking would be predicted in a direction perpendicular to zp . However, if zp 0, the material is assumed to crush.

f c

fr fr

f c

Figure 2.7: 3-D failure surface for concrete (ANSYS 1998)

In a concrete element, cracking occurs when the principal tensile stress in any direction lies outside the failure surface. After cracking, the elastic modulus of the concrete element is set to zero in the direction parallel to the principal tensile stress direction. Crushing occurs when all principal stresses are compressive and lie outside the failure surface; subsequently, the elastic modulus is set to zero in all directions (ANSYS 1998), and the element effectively disappears.

During this study, it was found that if the crushing capability of the concrete is turned on, the finite element beam models fail prematurely. Crushing of the concrete started to develop in elements located directly under the loads. Subsequently, adjacent concrete

After cracking, the elastic modulus of the concrete element is set to zero in the direction parallel to the principal tensile stress direction. Crushing occurs when all principal stresses are compressive and lie outside the failure surface; subsequently, the elastic modulus is set to zero in all directions, and the element eectively disappears. In practice, a pure compression failure of concrete is unlikely. Therefore, crushing is ignored and cracking controls failure.
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Method of Finite Elements II

iffness of the entire structure based on diaphragmatic

Modeling of Reinforced Concrete Behavior Steel Material Models

conventional stress-strain curves both for unconfined parabolic stress-strain relationship with a softening s-strain diagram with hardening is implemented. The d in Figure 1.

80

fy
60

Ep

STRESS [ksi]

R=20 40 R=5

20

0.002

0.004

0.006

0.008

STRAIN [in/in]

Bilinear Model for reinforcing steel nconfined concrete and b)with Hardening

Figure 15. Material Parameters of Monotonic Envelope of Steel_2 Model

100

Giur`-Menegotto-Pinto Model e
80 60 40 20

R controls the transition from elastic to

inelastic branch. ral elements namely; beams, columns and shear walls storey buildings. By combining such elements one inked together through Institute of Structural Engineering diaphragms at the floor levels Method of Finite Elements II
Stress [ksi]
0

10

Modeling of Reinforced Concrete Behavior Steel Cyclic Model

Figure 2. Steel cyclic model.

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finite element analysis textbooks for a more formal and complete introduction to basic concepts if needed.

2.2 ELEMENT TYPES Concrete Modeling using Solid Elements 2.2.1 Reinforced Concrete A solid (3D) nite element can be used to model the concrete. For An example, ANSYS usesSolid65, was used element the concrete. withsolid element has eight-node solid element, an eight node to model (Solid 65) The three degrees eight nodes with three degrees of freedom at each node translations in the nodal x, y, and z of freedom at each capable of plastic deformation, cracking in and orthogonal directions. The element is node translations in the nodal x, y, three z directions. The element is capable of plastic node locations cracking in three are shown in directions, and crushing. The geometry anddeformation, for this element type orthogonal directions, and crushing. Figure 2.1.

Modeling of Reinforced Concrete Behavior - 3D Solid Approach

Figure 2.1: Solid65 3-D reinforced concrete solid (ANSYS 1998)

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Modeling of Reinforced Concrete Behavior - 3D Solid Approach

Reinforcing Steelapplication, the element maySolid Elementselement, a cable element, a link el Modeling using be thought of as a truss

LINK8 is a spar which may be used in a variety of engineering applications. Depending

A truss element candegrees of freedom at each node: translations in the nodal x, Two z directions. As in a be used to model the steel reinforcement. y, and nodes are required for this structure, no bending of the element is considered. Plasticity, creep, swelling, stress stiff element. Each node has three degrees of freedom, deflection capabilities are included. See Section 14.8 in the ANSYS Theory Reference fo translations in the nodal this element. A tension only compression-only element is defined as LINK10 and about x, y, and z directions. Section the For example, ANSYS uses4.10. LINK8, is a uniaxial tension-compression element, which is also capable of plastic deformation.
Figure 4.8-1 LINK8 3-D Spar

element, etc. The three-dimensional spar element is a uniaxial tension-compression elem

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Method of Finite Elements II

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Modeling of Reinforced Concrete Behavior - Beam Approach

Alternative View to the simulation of Degrading Hysteretic Behavior

The well known 1D beam element can be used as a simplied tool reinforced column behavior in place of the eight 3D solid element solutions functions and trial formulation.

ents - Galerkin

ght functions and trial solutions the for the simulation of are

ape functions are

This element has two degrees of freedom per node, one translational (perpendicular to the beam axis) and one rotational.

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Modeling of Reinforced Concrete Behavior - Beam Approach

The shape functions utilized from this element are the Hermite Beam Elements - Shape Functions Polynomials (see Lecture 6)
Hermite Polynomials Hermite Polynomials

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Modeling of Reinforced Concrete Behavior - Beam Approach

Then, as we saw in Lecture 6, the elastic force deformation relationship, for a prismatic beam without shearing deformations, is Fi 12 6L 12 6L vi Mi EI 6L 4L2 6L 2L2 i or FE = KE v Fj = L3 12 6L 12 6L vj 6L 2L2 6L 4L2 Mj j Whilst , from Lecture 8, we saw that in case P-Delta eects are taken into account, the geometric (nonlinear) stiness is: 36 3L 36 3L vi Fi Mi T 3L 4L2 3L L2 i Fj = 30L 36 3L 36 3L vj or FG = KG v 3L L2 3L 4L2 j Mj Therefore, the total forces acting on the beam element will be: FT = FE + FG = [KE + KG ]v = KT v
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Moment Curvature Envelope

In order to simulate the eects of varying stiness due to plasticity appropriate plasticity model and a hysteretic law will be introduced. The hysteretic model is formulated based on an initial moment-curvature relationship otherwise known as the backbone skeleton curve. Such skeleton curves must be dened for each dierent section type. For instance, the bottom sections are more heavily reinforced than the top. These curves can be either user dened or can be computed using a ber model.

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Moment Curvature Envelope

Reinforced Concrete Design Calculations normally assume a simple material model for the concrete and reinforcement to determine the moment capacity of a section. The Whitney stress block for concrete along with an elasto - plastic reinforcing steel behavior is one widely used such material model.

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Moment Curvature Envelope

The actual material behavior is nonlinear and can be described by idealized stress-strain (material) models, as the ones introduced earlier.

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Moment Curvature Envelope

Moment Curvature Analysis is a method to accurately determine the load - deformation behavior of a concrete section using nonlinear material stress-strain relationships. For a given axial load there exists an extreme compression ber strain and a section curvature at which the nonlinear stress distribution is in equilibrium with the applied axial load. Dividing the section into bers at distance z from the CG axis the strain distribution will be: (z) = 0 + z A unique bending moment can be calculated at this section curvature from the stress distribution. The extreme concrete compression strain and section curvature can be iterated until a range of moment curvature values is obtained.

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Method of Finite Elements II

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Moment Curvature Envelope

For the purpose of the project you can use a free software package to generate the Moment - Curvature relationships by inputing the, geometry, reinforcement characteristics, material properties and axial load for the section you have. Material properties for concrete will be obtained as a result of lab compression tests on the utilized concrete mix. Material properties from Steel can be directly obtained from the quality of the reinforcing Steel Software packages that can be used for the generation of Moment Curvature Envelopes are: SAP section designer (for those that have access to SAP2000) Response 2000: http://www.ecf.utoronto.ca/ bentz/r2k.htm MyBiaxial: http://users.ntua.gr/vkoum/links-prog/MyBiaxial/mybiaxial.htm

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Plasticity Model
There are dierent approaches for the modeling of inelastic behavior. Concentrate Plasticity (plastic hinge approach) Distributed Plasticity Spread Plasticity Concentrated Plasticity Model We assume that the beam element consist of two components in parallel: A beam which remains fully elastic A basic e4lasto-plastic beam which develops a plastic hinge at either end when that end moment exceeds a specied yield value, My

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Plasticity Model
Concentrated Plasticity Model

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Plasticity Model
Concentrated Plasticity Model

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Plasticity Model
Concentrated Plasticity Model

The total 4 4 stiness matrix will then be obtained as: 1/L 1/L 1 0 = T KT T where T = K 1/L 1/L 0 1
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Method of Finite Elements II

Plasticity Model
Distributed & Spread Plasticity Models

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Bouc - Wen Hysteretic Model

The smooth hysteretic model presented herein is a variation of the model originally proposed by Bouc (1967) and modied by several others (Wen 1976; Baber Noori 1985). The use of such a hysteretic constitutive law is necessary for the eective simulation of the behavior of R/C structures under cyclic loading, since often structures that undergo inelastic deformations and cyclic behavior weaken and lose some of their stiness and strength. Moreover, gaps tend to develop due to cracking causing the material to become discontinuous. The Bouc-Wen Hysteretic Model is capable of simulating stiness degradation, strength deterioration and progressive pinching eects.
(see: V. Koumousis, E. Chatzi and S. Triantallou: Plastique A Computer Program For 3D Inelastic Analysis Of Multi-Storey Buildings, Advances in Engineering Structures, Mechanics & Construction, Solid Mechanics and Its Applications, 2006, Volume 140, Part 3, 367-378) Institute of Structural Engineering Method of Finite Elements II 27

 (t ) M =M + Bouc - Wen Hysteretic(t) Model (1 ) z(t)

y

relation between generalized moments and curvatures is given by:

(1)

(t ) + (1 ) z (t ) where My is the yield moment; y is the yield curvature; is the ratio of the post-yield to the initial y The model can be visualized as component defined below.nonlinear element in parallel: a linear and a elastic stiffness and z(t) is the hysteretic
M (t ) = M y
y

(1)

where My is the yield moment; y is the yield curvature; is the ratio of the post-yield to the initial elastic stiffness and z(t) is the hysteretic component defined below.

Figure 3. Bouc-Wen Hysteretic Model

The relation betweenhysteretic function z(t) is the solutionand curvatures is differentialby: The nondimensional generalized moments of the following non-linear given
equation:
z (t ) = f ( (t), z (t ))

(t) dz 1 1 + )z(t) M (t) = M=yK where K + (1B sign(d ) | z(t ) | + z(t ) or alternatively d 2 2 y = A
z z y nC nD

nB

1+ | 1 sign 3. z ( | + z (t Hysteretic | z (t ) | D where MyC is sign(d )yield zmoment;2 (yBouc-Wen E 1 curvature;z(t is the ratio of the | z(t ) 2 (t ) Figure d ) |ist )the) yield sign(d ) Model ) 2 2 2 2 the post-yield to the initialfunction z(t) is the solution of is the hysteretic The nondimensional hysteretic C,elastic stiness and z(t) theoffollowing non-linear differential In the above expression A, B, D & E are constants which control the shape the hysteretic loop component denedofas: while the exponents n , n , n & n govern the transition from the elastic equation:for each direction loading,
nE

(2)

z (t ) =

1 + sign(d ) | z (t ) | z (t ) 1 sign(d ) | z (t ) | + z (t ) 1 sign(d ) | z (t ) | z (t ) D E The of loop 2 parameters C, D control the gradient2 the hysteretic2 after unloading occurs. The assignment 2 2 2
of null values for both, results to unloading stiffness equal to that of the elastic branch. Also, the model is capable of simulating non symmetrical yielding, so if the positive Elements II is regarded Institute of Structural Engineering Method of Finite yield moment

to the plastic state. Small values of ni lead to a smooth transition, however as ni increases the transition .becomes sharper tending to a perfectly bilinear behavior in the limit (n ). 1 + sign(d ) | z (t ) | + z (t ) nB 1 dz 1 or alternatively where K z = A B f (The program defaults are: (t), z (t )) = Kz y d y 2 2 M y 1 1 , b =1 and nB = nE = n (3) A = 1, C = D =0 & B = n , E = n where e = + nC nE M y nD bB eE

(2)

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Bouc - Wen Hysteretic Model

In the above expression A, B, C, D & E are constants which control the shape of the hysteretic loop for each direction of loading, while the exponents nB , nC , nD & nE govern the transition from the elastic to the plastic state. Small values of ni lead to a smooth transition, however as ni increases the transition becomes sharper tending to a perfectly bilinear behavior in the limit (ni ). Plastique A Computer Program forcan be expressed as: Buildings 371 Finally, the exural stiness Analysis of Multi-Storey
Finally, the flexural stiffness can be expressed as:
K = EI = dM 1 dz 1 1 = M y + (1 ) = M y + (1 ) K z = EI 0 + (1 ) K z d d y y y

(4)

6.1 Hysteretic behavior Variations a) Stiffness Degradation The stiffness degradation that occurs due to cyclic loading is taken into account by introducing the parameter into the differential equation:
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Modeling of Degradation
Stiness Degradation

Strength Deterioration

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Method of Finite Elements II

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The parameter depends on the damage of Modeling Sof Degradationthe section which is quantified by the Damage Index DI:
S = 1 S d DI where DI =

Strength Deterioration

max 1 c 1

S p1 dE diss 4 E mon

Sp2

(7)

In the above expression Sd, Sp1, Sp2 are constants controlling the amount of strength deterioration; c is the maximum plasticity that can be reached, c = u / y ; dEdiss is the energy dissipated before unloading occurs and finally Emon is the amount of energy absorbed during a monotonic loading until failure as shown in Figure 4.

Figure 4. Dissipated Energy (Ediss) and Monotonic Energy (Emon).

The model can also be appropriately modied to simulate pinching. Note: The Matlab code for the Bouc Wen Model will be provided!
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Bouc Wen Model

Resulting Hysteretic Loops Stiness & Strength Degradation Pinching

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Bouc Wen Model

Dynamic Equation of Motion This is a dynamic problem (input: base excitation Ug ). The general equation of motion is therefore written as: MX(t) + CX(t) + KX(t) = MUg (t) The Newmark Constant acceleration method outlined in Lecture 8 can be used for the direct integration of the above equation. (You can neglect the eect of damping for this project) In order to achieve equilibrium within each time step, it is necessary to implement a Newton - Raphson iterative scheme as outlined in Lecture 3. Note: An algorithm for the nal stiness matrix (accounting for plasticity eects) will be given, however extra credit will be awarded to teams who use their own module Extra credit will also be awarded for teams who additionally use an FE program to model the specimen using 3D elements.
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