Mechanical-Nonlin 13.0 Ch02 Procedure

Customer Training Material
L t Lecture 2 General Procedures
ANSYS Mechanical Structural Nonlinearities

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved. Release 13.0 December 2010
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ANSYS Mechanical General Nonlinear Procedures
Chapter Overview
In this chapter, general tools and procedures, not specific to a particular source of nonlinearity, but useful for achieving convergence and post processing results are introduce: A. Building a Nonlinear Model B Obtaining a nonlinear solution B.
Step Controls Solver Controls Restart esta t Controls Co t o s Nonlinear Controls Output Controls Analysis Data Management
C. Postprocessing Nonlinear Results
ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.
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Release 13.0 December 2010
A. Building a nonlinear model

In some cases, there will be no difference!
What is different about building a nonlinear model vs. a linear model? A model undergoing mildly nonlinear behavior due to large deflection and stress stiffening effects might need no modification with regards to geometry set up and meshing.
In other cases, , you y must include special p features:

Elements with special properties (such as contact elements)
Covered in Chapter 3 & 4
Nonlinear Material data ( (such as p plastic strain, , creep p strain data) )

Covered in Chapter 5 -7
Include geometric features to overcome singularities that cause convergence trouble. (i.e. add radius to sharp corner for example)
You might also need to give special attention to:

Mesh control considerations under large deflection Element technology options under large deflection with nonlinear materials Load and boundary condition limitations under large deflection
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... Building a nonlinear model
With regards to meshing, if large strains are expected, the shape checking option may be changed to Aggressive
For large-deflection g analyses, y , if elements may y undergo g some change g in shape, this may reduce the fidelity of the solution By using Aggressive shape checking, WB-Mechanical will ensure that the element q quality y is much better p prior to solution in order to anticipate p distortion of the element in the course of a large-strain analysis. The quality of the Standard shape checking is suitable for linear analyses, so it does not need to be changed in linear analyses With aggressive shape checking set, some mesh failures may be more likely. See WB-Mechanical - Intro for ways y to detect and remedy mesh failures.
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For any structural element, DOF solution u is solved at nodes Stresses and strains are calculated at integration points. They are derived from DOF.
For example, we can determine strains from displacements via:
= B u
, u
Where B is called the strain-displacement matrix
The image on the right shows a 4-node quad element with 2x2 integration, integration points shown in red. When we post-process results, stress/strain values at integration points are extrapolated or copied to nodal locations
linear results are extrapolated Nonlinear results are copied
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With Element Control set to Manual, users can manually toggle between Full and Reduced Integration Schemes
This option influences the number of integration points within an element.
This switch only applies to higher order elements. It is sometimes helpful to force full integration when only one element exists across the thickness of a part for improved accuracy.
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By default, WB Mechanical element technology will mesh geometry with higher order elements (with midside nodes).
Users have the option to drop midside nodes
Kept midside nodes (Quadratic shape function) 20-Node Hex
Dropped midside nodes (Linear shape function) 8-Node Hex
In challenging large deflection, bending dominated problems with nearly or fully compressible nonlinear materials, it can sometimes be advantageous to drop the midside nodes and allow the code to implement enhanced strain formulations automatically Refer to Appendix 2A for a more detailed discussion of element technology.
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It is important to note the orientation of loads and its effect on the structure in large-deflection analyses:
Load Acceleration (constant direction) ( ) Direction Before Deflection Direction After Deflection
Force, Moment, Bolt Load (constant direction)
Pressure (always normal to surface)
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B. Obtaining a nonlinear solution

What is different about obtaining a nonlinear solution? Multiple matrix solutions:
Linear static requires q only y one p pass through g the matrix equation q solver (Figure on left) Nonlinear performs a new solution with every iteration (Figure on right). F K 1 u u F
Ki
F = Ku
Fi = Kiui
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... Obtaining a nonlinear solution

What is different about obtaining a nonlinear solution? Analysis Settings has many options that need to be considered for a nonlinear run.
Step Control - Load steps and substeps Solver Control - Choosing the right Solver type Restart Controls - resuming a solve Nonlinear Controls - N-R convergence criteria Output Controls - controlling what data is saved Analysis Data Management deleting/keeping files
In the following slides, we consider each of these tools
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Step Controls Auto Time Stepping under Step Controls, enables user to define an initial, , minimum and maximum number of substeps per loadstep. If WB-Mechanical has trouble converging, it will use these auto time stepping specifications to bisect the solution.
Bisection applies the load in smaller increments (using more substeps within the specified range) starting from the last successfully converged substep.
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Step Controls (contd) Recall that breaking the load into increments improves convergence by bringing the start point within the radius of convergence. Auto time stepping automatically adjusts the load increment sizes (up and down) throughout the solution.
Smaller increments when convergence is difficult, larger increments when convergence is easy. tstart tmin
F F1 ustart u Load
Time tmax
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S Step Controls C l (contd) ( d)
If no specifications are defined (Auto Time Stepping = Program Controlled), Mechanical will set specifications automatically depending on the nature of the nonlinearity in the model. If taking the default auto time stepping specs, user should always verify that these values are adequate by checking the Solution Information folder at the b i i beginning of f the th run and d watching t hi for f bisections. bi ti Discussed in more detail in Chapter 8 Nonlinear Diagnostics
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Solver Controls Solver Type offers two options, Direct and Iterative.
This is a reference to the way the code builds the stiffness matrix for each Newton-Raphson equilibrium iteration. Direct (Sparse) solver is more robust and is recommended for challenging nonlinear models and with noncontinuum elements (shells and beams). Iterative (PCG) solver is more efficient (in terms of run time) and is recommended for large bulk solid models dominated by linear elastic behavior. The default Program Controlled will automatically select a solver based on the problem currently in session.
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Solver Controls (contd) By setting Large Deflection = ON, in the Solver Control branch of Analysis y Settings:
Adjustments will be made to the stiffness matrix over multiple iterations to account for changes in the geometry during the course of the analysis. Also, , stress stiffening g effects will be included.
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Workshop 2A Large Deflection
Please refer to your Workshop Supplement for instructions on: W2A- Small Deflection Vs. Large Deflection Analysis
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Restart Controls Restart Controls offer the ability to generate solution restart points to to.. Review/correct an unconverged solution with changes g to specifications in Details of Analysis Settings Interrupt a Solution in progress to review results Add Post command snippets without performing p g a full solve Supported by Static & Transient Structural analyses
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Restart Controls (contd) Generate Restart Points - Enables the creation of restart points with the following options Program Controlled: Instructs the program to select restart point generation settings g automatically y
The setting is equivalent to Load Step = Last and Substep = Last.
Manual: Exposes additional options (next slide) Off: Restricts any new restart points from being created.
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With Generate Restart Points set to Manual Load Step: Specifies at what load steps to create restart points (Last or All). Substep: Specifies how often the restart points are created within a load step.
Last: Create a restart point for the last substep of each load step only. All: Creates restart points for all substeps of each load step. Specified: Creates restart points for a user specified number (N) of substeps per load step.
Where N is defined in Rate of Recurrence Field
Equally Spaced: Creates specified number (N) of restart points at equally spaced time intervals within a load step.
Where N is defined in Rate of Recurrence Field
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Restart Control (Contd) Max Points to Save per Step
default is All (=999) When the maximum number has been saved for each load step, the first file of that load step will be overwritten for subsequent substeps.
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Restart Control (Contd)
For example, to write 3 equally spaced restart files for each load step:
Load r4 r3 r2 2
r5
r6 (last converged)
r1 Substeps Restart points

Time LS1 LS2
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Restart Control (contd) Retain Files After Full Solve:
Restart files are automatically deleted if a full solve completes successfully (default)
User has the option to keep restart files regardless by setting this field to YES.
Restart files are always retained for an incomplete solve due to a convergence failure or if solution run is manually interupted.
Under the Analysis Data Management category, setting Future Analysis to Prestressed analysis also forces the restart files to be retained. Similarly, setting Delete Unneeded Files to No implies that restart files are to be No retained.
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At the completion of the run, user can specify the restart point for the subsequent run.
If default restart controls were taken, restart will only be available for th last the l t successfully f ll converged d substep b t Restart Type = Manual Restart Point = Load Step 1, Substep 6
Restart specifications:

Once the restart specifications have been set and the analysis control t l settings tti and/or d/ existing i ti l loads d h have b been adjusted dj t d as needed, execute a solve to begin the solution restart
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Nonlinear Controls Tolerances on Convergence are calculated automatically. They are used during the Newton-Raphson process to dictate when a model is Converged or balanced
The default convergence criterion works very well for most engineering applications. For special situations, users can override these defaults to Tighten or loosen the convergence tolerance. A tighter tolerance gives better accuracy, but can make convergence more challenging
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Nonlinear Controls (Contd) In addition to force balance, a moment balance will also be included if rotational degrees of freedom (DOF) are present in the model (i.e. when beam and/or shell elements are present for example).
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Nonlinear Controls (contd) Balance checks on displacement and/or rotational DOF values can also be added as a supplement pp to force/moment balances.
When contact nonlinearities are present, these additional dditi l checks h k are not t included i l d d by b default d f lt because they are generally considered overly restrictive and can cause unnecessary divergence.
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The Force Convergence graph shows what the force criterion and residual forces (force convergence) are. When the residual forces are less than the criterion, the substep is assumed to be converged.
Additional useful features include the fact that converged substeps and loadsteps p are also indicated on this Solution Information chart with a green and blue dotted line, respectively.
Residual
Criteria
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Nonlinear N li Controls C l (contd) ( d) If you change any convergence criteria, the program deletes all the default criteria!
For example, example if you override program control by adding a displacement convergence check, the force convergence check will be deleted. Make sure you reestablish the force convergence check. After redefining convergence criteria criteria, you should always confirm the specifications reported in the Solution Information branch to ensure intended balance checks are active.
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Why must you re-establish a force convergence criterion? B Because di displacement-based l tb d checking is a relative measure of convergence, it should only be used as a supplement to force-based convergence. Force-based convergence provides id an absolute b l t measure of convergence, as it is a measure of equilibrium between the internal and external forces.
Relying on displacement convergence alone can in some cases lead to erroneous results.
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Big g Residual
Nonlinear Controls (contd) The Minimum reference value (MINREF) is a safety feature that prevents your p y solution from trying y g to converge g to a zero tolerance.
If free-body (unconstrained) systems or mechanisms have no external forces, , the criterion (R * ||{ ||{F}|| }||2) will be zero. If the criterion is zero, the solution will never converge! In such cases, the program redefines the criterion to be (R * MINREF). Where R is the convergence tolerance value. The default value that WB-Mechanical uses for MINREF depends on the physics of the problem.
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Nonlinear Controls (contd)
Line Search is an additional tool intended to enhance convergence behavior. When active, line search multiplies the displacement increment by a program-calculated scale factor between 0 and 1, whenever a stiffening response is detected, detected typical in a contact application. application
By default, the program turns Line Search ON when contact elements are present. You can override the default to turn it on or off explicitly.
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Convergence criteria guidelines: Default convergence criteria work well most of the time.
You should rarely need to change the criteria. criteria
To tighten or loosen a criterion, dont change the default reference value, but instead change the tolerance factor by one or two orders of magnitude. it d Do not use a loose criterion to eliminate convergence difficulties.
This simply allows the solution to converge converge to an incorrect result!
Tightening the criterion requires more equilibrium iterations. Review any MINREF warning messages during solution. Make sure the minimum reference value used makes sense for the problem being solved.
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Nonlinear Controls (contd) Stabilization is an advanced nonlinear control intended te ded to deal dea with t structural st uctu a instability stab ty (buckling and/or localized yielding).
Analogous to adding artificial dampers or dashpot elements at strategic locations locations.
Refer to Chapter 8 for detailed discussion.
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C. Reviewing nonlinear results

What is different about reviewing nonlinear results?
The procedure for reviewing nonlinear results is similar to that of a linear p problem. The difference is that there is usually y more information to process
multiple results sets more information per result set (i.e (i e contact status, status pressure pressure, penetration, inelastic strains due to plasticity and or creep,...etc).
A nonlinear analyses produces a response history
Animated response history

Response history graph

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... Reviewing nonlinear results
In large deformation problems, one usually should view the deformation with Actual scaling from the Result toolbar Any of the structural results may be requested, such as Equivalent Stress, shown below
Model shown is from a sample Unigraphics assembly.

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If contact is defined, a contact tool can be used to postprocess contact related results (pressure, penetration, frictional stress, status,..etc)
We can explore this tool in greater detail in Chapters 3 and 4
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If nonlinear material is defined, various stress and strain components can be requested.
We will explore this in greater detail in Chapters 5 and 6.
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Workshop 2B Restart Control
Please refer to your Workshop Supplement for instructions on: W2B- Restart Control
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Customer Training Material

L t Lecture 2 General Procedures

ANSYS Mechanical Structural Nonlinearities

ANSYS Mechanical General Nonlinear Procedures

Customer Training Material

C. Postprocessing Nonlinear Results

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

A. Building a nonlinear model

Customer Training Material

In other cases, , you y must include special p features:

Nonlinear Material data ( (such as p plastic strain, , creep p strain data) )

You might also need to give special attention to:

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Building a nonlinear model

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Building a nonlinear model

Customer Training Material

Where B is called the strain-displacement matrix

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Building a nonlinear model

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Building a nonlinear model

Customer Training Material

Dropped midside nodes (Linear shape function) 8-Node Hex

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Building a nonlinear model

Customer Training Material

Force, Moment, Bolt Load (constant direction)

Pressure (always normal to surface)

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

B. Obtaining a nonlinear solution

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

ANSYS Mechanical General Nonlinear Procedures

... Obtaining a nonlinear solution

Customer Training Material

In the following slides, we consider each of these tools

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Obtaining a nonlinear solution

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Obtaining a nonlinear solution

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

ANSYS Mechanical General Nonlinear Procedures

... Obtaining a nonlinear solution