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11 Aufrufe17 SeitenTwo dimensional solids and its formulation

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Two dimensional solids and its formulation

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11 Aufrufe

Two dimensional solids and its formulation

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discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/318678250

two-dimensional solids and its formulation in a

shell element

DOI: 10.1016/j.compstruc.2017.07.003

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Computers and Structures 192 (2017) 3449

journal homepage: www.elsevier.com/locate/compstruc

its formulation in a shell element

Yeongbin Ko a, Phill-Seung Lee a,, Klaus-Jrgen Bathe b

a

Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea

b

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA

a r t i c l e i n f o a b s t r a c t

Article history: We present in this paper a new reliable and efficient 4-node quadrilateral element, which we call the 2D-

Received 19 May 2017 MITC4 element, for two-dimensional plane stress and plane strain solutions of solids using the MITC

Accepted 3 July 2017 method. We also present an extension of the element assuming a constant element pressure, which

we call the 2D-MITC4/1 element. The elements show a much better predictive capability than the

displacement-based element and perform in linear analyses almost as well as the 4-node element with

Keywords: incompatible modes, an enhanced assumed strain (EAS) element. However, unlike when using EAS ele-

4-node 2D finite element for solids

ments, we do not observe spurious instabilities in geometrically nonlinear solutions. Embedding the

MITC method

EAS method

new MITC formulation into the previously presented MITC4+ shell element, we improve the membrane

Incompatible modes behavior of the shell element. The new 2D solid elements and the improved MITC4+ shell element pass all

Shear and volumetric locking basic tests (the isotropy, zero energy mode and patch tests). We present the finite element solutions of

MITC4+ shell element various benchmark problems to illustrate the solution accuracy of the new elements.

2017 Elsevier Ltd. All rights reserved.

condensation.

During the past decades, the development of effective finite ele- The mixed interpolation of tensorial components (MITC)

ments has been given much focus. Since many continuum prob- method in which judiciously chosen strain fields are tied to the

lems can be modeled mathematically as two-dimensional (2D) displacement-based strains has been extensively employed in

planar problems, 2D solid and fluid elements are frequently used plate and shell finite element analyses to reduce transverse shear

in engineering practice [14]. In these analyses, the use of 4- and membrane locking [1220]. The advantage of this approach

node quadrilateral elements is attractive, but the simple standard is that no additional degrees of freedom are introduced and for

4-node displacement-based element for the analysis of solids suf- well-formulated elements spurious instabilities have not been

fers from severe loss of accuracy due to in-plane shear and volu- observed. Also, once a linear formulation for an element has been

metric locking [1,2]. developed, the extension of the formulation to nonlinear analyses

To alleviate the locking behavior of the displacement-based 4- is accomplished as for displacement-based elements [1].

node solid element, incompatible modes have been added [57], In this paper, we present a new 4-node quadrilateral element

an approach generalized to the use of enhanced assumed strains for the 2D analyses of solids based on the MITC approach. The

(EAS) [3,6]. However, the use of incompatible modes or enhanced new 2D-MITC4 element is based on a new assumed strain field

strains, can result in spurious instabilities in geometrically nonlin- effective to prevent shear locking. To alleviate volumetric locking

ear analyses [4,810] and, indeed, even when only small strains are in the analysis of almost incompressible materials, the assumption

measured [11]. As a remedy, stability factors have been introduced of a constant pressure in the element is used [1,21] to obtain the

which in engineering practice are not desirable. Also, the EAS ele- 2D-MITC4/1 element. The new elements provide solution accuracy

ments carry an additional computational expense and in geometri- comparable to the incompatible modes elements and do not show

cally nonlinear analyses an additional complexity, in that the the spurious instabilities seen in incompatible modes elements

additional degrees of freedom pertaining to the incompatible when used in geometrically nonlinear analyses. The formulation

of the new 2D elements is expressed efficiently using physical

strain patterns and coefficients inherently used in the formulation

Corresponding author. of displacement-based elements. Since only the usual displace-

E-mail address: phillseung@kaist.edu (P.S. Lee).

http://dx.doi.org/10.1016/j.compstruc.2017.07.003

0045-7949/ 2017 Elsevier Ltd. All rights reserved.

Y. Ko et al. / Computers and Structures 192 (2017) 3449 35

are used, there is no static condensation on internal degrees of 2 2

freedom and there are no complications in constructing a mass 1 1

matrix for mode superposition, implicit or explicit dynamic

solutions. xs gs

Considering shell analyses, the MITC4+ shell element recently

proposed provides reliable solutions in linear and nonlinear analy- r

ses even when distorted meshes are used [12]. We further improve xr gr 2x d

this shell element by utilizing the assumed strain field of the 2D-

MITC4 element for the membrane behavior of the shell element,

4 4

while keeping the performance in bending and transverse shear-

ing. When used in (planar) 2D plane stress solutions, the shell ele- 3 3

ment gives the same results as the 2D-MITC4 element. We

demonstrate the performance of the improved MITC4+ shell ele-

(a) (b)

ment through the solutions of some representative shell problems.

Fig. 2. Representative vectors for the element geometry. (a) Two vectors xr and xs

In the following sections, the formulations of the 2D-MITC4 and corresponding to the covariant base vectors at the element center, (b) in-plane

2D-MITC4/1 elements and the improved MITC4+ shell element are distortion vector xd .

given. Then basic element tests are considered, and the results of a

number of convergence tests are presented. We focus on the accu-

racy of the solutions obtained, the order of convergence reached,

and the stability of the 2D-MITC4 solid element in nonlinear n1 n2 n3 n4 1 1 1 1 ;

2

analysis. g1 g2 g3 g4 1 1 1 1 :

2. Formulation of the 2D-MITC4 and 2D-MITC4/1 solid elements The corresponding displacement interpolation of the element is

given as

In this section, we present the formulation of the new 2D solid

elements based on the MITC method. The treatments of shear lock- X

4

u hi r; sui with ui ui ix v i iy ui v i T ; 3

ing and volumetric locking are presented. i1

2.1. Geometry and displacements in which ui is the nodal displacement vector in the global Cartesian

coordinate system at node i.

The geometry of the standard 4-node quadrilateral 2D solid ele- The covariant base vectors and displacement derivatives for the

ment is interpolated using [1,37] 2D solid element are expressed as

X

4

x hi r; sxi with xi xi ix yi iy xi y i T ; 1 @x @u

gr xr sxd ; u;r ur sud ;

i1 @r @r 4

@x @u

in which ix and iy are the unit base vectors of the global Cartesian gs xs rxd ; u;s us rud ;

@s @s

coordinate system (x, y), xi is the nodal coordinate vector and

hi r; s is the two-dimensional interpolation function of the stan-

with the following characteristic geometry and displacement

dard isoparametric procedure for node i, see Fig. 1. vectors

We employ the interpolation functions hi r; s in the useful form

1X 4

1X 4

1X 4

1 xr n xi ; xs g xi ; xd n g xi ;

hi r; s 1 ni r1 gi s with i 1; 2; 3; 4; 4 i1 i 4 i1 i 4 i1 i i

4 5

1X 4

1X 4

1X 4

ur n ui ; us g ui ; ud n g ui ;

4 i1 i 4 i1 i 4 i1 i i

the element geometry.

2 In Eq. (4), the two vectors xr and xs are the covariant base vec-

1 tors at the element center,

_ _

xr g r gr 0; 0; xs g s gs 0; 0; 6

and the vector xd is only non-zero when the element geometry is

distorted. Note that the three vectors xr , xs and xd are completely

r independent of each other and fully represent the characteristics

y

of the planar geometry of the quadrilateral element.

The contravariant base vectors g j are defined using the covari-

iy ant base vectors in Eq. (4)

4 ix

x gi g j dij with g1 gr ; g2 gs ; g1 gr ; g2 gs ; 7

z

3 and the strain tensor (e) and its covariant components (eij ) are

1

Fig. 1. A standard 4-node quadrilateral 2D solid element. e eij gi g j with eij g u;j gj u;i : 8

2 i

36 Y. Ko et al. / Computers and Structures 192 (2017) 3449

Fig. 3. Physical strain patterns from the characteristic geometry and displacements. (a) Stretching strains. (b) Shearing strains. (c) Bending strains.

ess ess jcon ess jlin r ers jbil r 2 ; 9

1 1 1

ers ers jcon err jlin r ess jlin s ers jbil rs;

2 2

with

err( A)

1

err jcon xr ur ; ess jcon xs us ; ers jcon xr us xs ur ;

2

err jlin xr ud xd ur ; ess jlin xs ud xd us ; ers jbil xd ud ;

ess( D ) ess(C ) r

1 1 10

in which con, lin and bil denote constant, linear and bilinear

err( B ) terms, respectively.

We refer to the strain coefficients in Eq. (10) as physical strain

coefficients because they correspond to the physical strain pat-

1 terns of stretching, bending and shearing in the directions of xr ,

xs and xd as shown in Fig. 3. We will establish a new combination

of these physical strain patterns, to pass the patch tests and obtain

Fig. 4. Tying positions and corresponding strain components for the assumed strain

an improved element membrane behavior.

of the 2D-MITC4 element.

2.2. New assumed strain field

@x @u

in which gi @r and u;i @r with r 1 r, r2 s. Note that e11 err ,

i i

e22 ess and e12 ers . To establish the strain field of the new 2D-MITC4 element (and

The covariant strain components can be obtained using the the 2D-MITC4/1 element), we use instead of the covariant strain

characteristic geometry and displacement vectors [12] components in Eq. (9) the following strain components

Y. Ko et al. / Computers and Structures 192 (2017) 3449 37

t

s

r

2 1

4

z

iz

iy

3 y

ix

x

(a)

s

n r

2 1 2 1

xs

xr 4 2x d 4

P

3 3

(b) (c)

Fig. 5. Mid-surface geometry and representative vectors for the shell element. (a) Geometry of shell mid-surface (colored). (b) Two in-plane vectors xr and xs in the plane P

with normal vector n. (c) 3D distortion vector xd . (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.)

1

s

err( A)

A

r

E C

D ess( D ) ess(C ) r

P 1 e (E) 1

rs

B

err( B )

(a) (b)

Fig. 6. Tying positions for the assumed membrane strain of the improved MITC4+ element. (a) Tying positions in 3D space. (b) Tying positions in r; s space and

corresponding strains.

_ _ _ p

e ij ekl g ki g lj with g ij g i g j and gi gi 0; 0; 11 ^err err 0; 0

3 _A_

__

kr; s e rr e rrB s;

2

_ p

in which g i is the covariant base vector evaluated at the element 3 __ __ 12

^ess ess 0; 0 kr; s e C D

ss e ss r;

center. Using these strain components to establish the strain field 2

is beneficial for passing the patch tests [3,6,22].

^ers ers 0; 0;

The new assumed strain field is

38 Y. Ko et al. / Computers and Structures 192 (2017) 3449

Table 1

Predicted vertical displacement at the tip (point A) in the cantilever problem.

Q4 0.235608 0.203966

Q4I4 0.347810 0.342552

2D-MITC4, 2D-MITC4/1 0.347810 0.302102

Exact solution 0.347810

Table 2

Predicted stress-xx (102 ) at the support (point B) in the cantilever problem.

Q4 0.466667 0.351417

Q4I4 0.700000 0.615516

2D-MITC4, 2D-MITC4/1 0.700000 0.580764

Exact solution 0.700000

_ _ _ _

with

where the tying points A, B , C and D are shown in Fig. 4 and p p p

n1

kr; s is the ratio of the determinants of the Jacobian matrices ^elin

rr p ers jbil 3n1 err jcon 3n2 ess jcon n3 err jlin n4 ess jlin 2 3n5 ers jcon ;

3

p p p

j0; 0 m1

^elin p ers jbil 3m1 ess jcon 3m2 err jcon m3 ess jlin m4 err jlin 2 3m5 ers jcon ;

kr; s with jr; s det gr gs : 13 ss

3

jr; s 2 2 2 2

1 1

n1 g rr _ g rr _ ; n2 g sr _ g sr _ ;

2 A B 2 A B

We use kr; s in Eq. (12) to have the element pass the patch tests.

1 r 2

r _ 2 1 r

s _

While using the strain components evaluated at the element center n3 g r g r ; n4 g r

_ _ gr g rr _ g sr _ ;

2 A B 2 A A B B

to represent constant strain behaviors, the linear terms in Eq. (12) 1 r

are employed to obtain the correct rank and good bending behavior. n5 g r _ g r _ g r _ g r _ ;

s r s

2 A A B B

The assumed strain fields in Eq. (12) are closely related to the fields 1 2 2 1 2 2

m1 g ss _ g ss _ ; m2 g rs _ g rs _ ;

of the QMITC element proposed by Dvorkin and Vassolo [22]. How- 2 C D 2 C D

1 s 2 2 1 r

ever, we use only the 4 element corner nodes to interpolate the dis- m3 g s _ g s _ ; m4 g s _ g s _ g rs _ g ss _ ;

s s

2 C D 2 C C D D

placements and interpolate the normal strain components

1

differently to obtain a simpler field that improves the membrane m5 g rs _ g ss _ g rs _ g ss _ ;

2 C C D D

behavior, see Refs. [23,24]. 15

In order to reduce the computational cost, the assumed strain

components in Eq. (12) can be directly obtained using the covari- in which g ij is g ij evaluated at a tying point . Note that in Eq. (14)

ant strain terms in Eq. (9) without recourse to the strain transfor-

the strain terms eij con , ^elin ^lin

rr and ess are constant within the element

mation in Eq. (11). Namely, the assumed strain field is given as a

linear combination of the physical strain patterns (hence are only evaluated once during the numerical integration).

rr s; 2.3. Treatment of volumetric locking, the 2D-MITC4/1 element

^ess ess jcon kr; s ^elin

ss r;

14

^ers ers jcon ; When the above formulated 2D-MITC4 element is used in plane

strain analysis of almost incompressible materials, volumetric

12 40

y

B A

x

12 12 12 12

12 40

y

B A

x 16 8 20

4

Fig. 8. Cantilever problem (plane stress conditions, 1 4 mesh, E 3:0 104 and m 0:0). (a) Regular mesh. (b) Distorted mesh.

Y. Ko et al. / Computers and Structures 192 (2017) 3449 39

Table 5

Predicted vertical displacement at point A in Cooks problem with plane stress

conditions.

Elements Mesh

22 44 88 16 16 32 32

Q4 11.8452 18.2992 22.0792 23.4304 23.8176

Q4I4 21.0503 23.0164 23.6888 23.8833 23.9398

2D-MITC4 17.4146 21.8089 23.3378 23.7894 23.9145

2D-MITC4/1 19.6105 22.6393 23.5860 23.8572 23.9334

Reference solution 23.9642

checker-boarding and if it occurs, the phenomenon is seen when

plotting the pressure. For computational efficiency we do not

introduce an additional pressure variable but simply employ a con-

Fig. 9. Curved beam problem (plane stress conditions, 1 4 mesh, E 1:0 103

and m 0:0). stant volumetric strain [1,21] in the element. The use of the con-

stant volumetric strain can also improve the behavior of the

plane stress element.

Table 3 The strain components in Eqs. (9) and (14) are transformed into

Predicted vertical displacement at the tip (point A) in the curved beam problem. the global Cartesian coordinates,

_ _ _ _

Elements Regular mesh estij ekl ii g k ij g l ; eas ^

ij ekl ii g ij g

k l

with

14 28 4 16 8 32

i1 ix ; i2 iy ; 16

Q4 57.9325 79.1450 87.2312 89.5583

Q4I4 84.6070 88.2500 89.7753 90.2226 _

in which g k is the contravariant base vector evaluated at the ele-

2D-MITC4, 2D-MITC4/1 82.4881 88.0888 89.7646 90.2219

Reference solution 90.4100 ment center, and the superscripts st and as denote the standard

displacement based and assumed strain components, respectively.

The volumetric strain is assumed to be constant within the ele-

ment and is obtained from the strain components evaluated at the

Table 4

Predicted stress-yy (103 ) at the support (point B) in the curved beam problem.

element center

v ol U with U u1

ev ol estxx 0; 0 estyy 0; 0 B u2 u3 u4 T :

14 28 4 16 8 32 17

Q4 1.65873 2.01208 2.09773 2.05927

and the deviatoric strain components are obtained from

Q4I4 2.45257 2.26952 2.15383 2.06920

2D-MITC4, 2D-MITC4/1 1.99949 2.15453 2.13429 2.06343 1 v ol

ede v dev U:

dij B

Reference solution 2.03932 ij ij e

eas ij 18

2

The stiffness matrix of the 2D-MITC4/1 element is then given by

Z Z

l v ol dV e

v olT B dev T C dev B

dev dV e ;

K j GB B ij ij ij 19

Ve 3 Ve

14m1m

in which V e is the element volume, l 12m1m and l 1 for the

plane stress and plane strain cases, respectively, the bulk modulus

j 312

E

m and the shear modulus G 21m with Youngs modulus

E

v

E and Poissons ratio m, and C de

ij is the material law tensor for the

v dev dev

deviatoric strain and stress (C de

11 C 22 2G and C 12 G).

Note that Eq. (19) provides a unified formulation of the 2D-

MITC4/1 element for plane stress and plane strain analyses, in

which volumetric locking for the plane strain case is alleviated.

For plane strain analyses with any Poissons ratio we may use

the 2D-MITC4/1 element, but for plane stress analyses we can

use the 2D-MITC4 element or the 2D-MITC4/1 element. We show

in Sections 5.15.3 the differences in results obtained using the

two elements.

For the shell element, we do not use the assumption of constant

Fig. 10. Cooks problem (4 4 mesh, E 1:0, plane stress conditions with m 1=3; pressure and when using the element in (planar) plane stress prob-

plane strain conditions with m 0:3, m 0:4 or m 0:499 ). lems, the same results as given by the 2D-MITC4 element are

obtained.

locking can occur. To alleviate volumetric locking, we use the u/p

formulation with the assumption of constant element pressure, 3. Application to the MITC4+ shell element

although the element then does not pass the inf-sup condition

[1,2]. The undesirable consequence is that for certain meshes and In this section we improve the MITC4+ shell element, in which

boundary conditions, pressure checker-boarding can be present. the assumed membrane strain field of the 2D-MITC4 solid element

40 Y. Ko et al. / Computers and Structures 192 (2017) 3449

Fig. 11. Convergence curves for Cooks problem with plane strain conditions. The bold line represents the optimal convergence rate.

Fig. 12. Clamped square plate subjected to in-plane moment (plane strain conditions, L 1:0, E 1:0, M 1:0, and m 0:3, 0:4 or 0:499 ). (a) Problem description with

regular mesh (4 4 mesh). (b) Distorted mesh (4 4 mesh).

formulated in Section 2 is applied. The strains in continuum- The mid-surface geometry of the 4-node continuum mechanics

mechanics based shell elements can be identified as membrane, based shell element is interpolated using [1,12,19]

bending and transverse shear strains [12]. We focus here only on

X

4

the formulation and improvement of the membrane strain. Follow- x hi r; sxi ; 21a

ing the MITC approach, the assumed membrane strain components i1

are tied to the displacement-based strain components to ensure

computational efficiency. xi xi ix yi iy zi iz xi yi zi T ; 21b

In the formulation we use Eq. (14) in the compact form

in which ix , iy and iz are the unit base vectors for the global Carte-

^err T T sian coordinates (x, y, z), and xi is the nodal position vector of node

Mr; s err jcon ess jcon ers jcon err jlin ess jlin ers jbil ;

^ess i, see Fig. 5(a).

^ers ers jcon ; The displacements are interpolated correspondingly

20a X

4

u hi r; sui ; 22a

where i1

2p p 3

1=k 3n1 s 3m2 r

6 p p 7 ui ui ix v i iy wi iz ui vi wi T ; 22b

6 3n2 s 1=k 3m1 r 7

6 7

6 2p p

2 3m5 r 7 in which ui is the nodal displacement vector at node i.

6 3n5 s 7

Mr; s k6 7: 20b Using the interpolations in Eqs. (21) and (22), the characteristic

6 n3 s m4 r 7

6 7 vectors in Eq. (5) as well as the physical strain coefficients in Eq.

6 7

4 n4 s m3 r 5

p p (10) are defined for the mid-surface of the shell element [12].

n1 s= 3 m1 r= 3 Using Eqs. (21) and (22) in Eqs. (4) and (5), the two mid-surface

covariant base vectors gr and gs are evaluated, and the third covari-

Y. Ko et al. / Computers and Structures 192 (2017) 3449 41

Fig. 13. Convergence curves for the clamped square plate subjected to in-plane moment using (a) the uniform meshes and (b) distorted meshes. The bold line represents the

optimal convergence rate.

Fig. 14. Rubber block problem (15 6 element mesh, plane strain conditions,

E 1:0 103 and m 0:49). Fig. 15. Predicted load-displacement curves for the rubber block.

42 Y. Ko et al. / Computers and Structures 192 (2017) 3449

ing due to the in-plane and out-of-plane distortions.

The strains sampled at the five tying points in Fig. 6 are related

to the physical strain coefficients as follows:

1 A 1 A

Fig. 16. Deformed shapes (drawn to scale) of the rubber block at P 80:4. ers jbil err jcon e eB

rr ; err jlin e errB

;

2 rr 2 rr

1 1 24

ant and contravariant base vectors are established at the center of ers jbil ess jcon eC eD

ss ; ess jlin eC eD

ss ;

2 ss 2 ss

the shell mid-surface E

ers jcon ers :

_ _ xr xs

g3 g3 g 3 g 3 n with n ; 23

jxr xs j Using Eq. (24) in Eq. (14), the assumed membrane strain field can be

A B C D E

expressed in terms of err , err , ess , ess , ers and ers jbil . We then sub-

in which the vector n is normal to the flat plane P formed by the stitute the following assumed strain for the strain component ers jbil

characteristic geometry vectors xr and xs , see Fig. 5(b). [12],

In the shell element, the vector xd denotes both in-plane and

~ers jbil aA eA B C D E

rr aB err aC ess aD ess aE ers 25

out-of-plane geometric distortions, see Fig. 5(c). We use the base

vectors defined using Eqs. (5) and (23) to calculate the coefficients with

g ij in Eq. (11) for the shell element. The volume ratio k in Eq. (13)

cr cr 1 cr cr 1 cs cs 1

for the shell element is calculated using jr; s det gr gs n . aA ; aB ; aC ;

2d 2d 2d

To obtain the improved membrane strain, we embed the cs cs 1 2cr cs

assumed membrane strain of the 2D-MITC4 element as used for aD ; aE ;

2d d

flat mid-surface geometries, while the other assumptions of the

Fig. 17. Composite block problem (15 6 mesh, plane strain conditions, E 1:0 103 and m 0:49 in non-shaded region and E 1:0 106 and m 0:3 in shaded region).

Y. Ko et al. / Computers and Structures 192 (2017) 3449 43

_ _ _ _ _ _

gs g r g s rxd g r cr r; gr g s g r sxd g s cs s;

_ _ _ _ _ _

gr g r g r sxd g r 1 cr s; gs g s g s rxd g s 1 cs r:

28

Combining Eqs. (20), (26) and (27), the final form of the assumed

membrane strain is given by

2 3

~err

6~ 7 A B C D

E T E

4 ess 5 Ar; sC err err ess ess ers Sr; sers ; 29

~ers

Tr; s and Sr; s given in Eqs. (20) and (27) are functions of r and

s, while the matrix C defined in Eq. (26) is constant.

Note that in Eq. (29) the strain-displacement matrices for the

A B C D E

tying strains (err , err , ess , ess and ers ) and the matrix C can be

pre-calculated for each element. The computations needed at each

Gauss integration point are reduced to the calculation of small-

sized matrices (Ar; s and Sr; s). The element is referred to as

an improved MITC4+ shell element.

Note that in this element formulation we do not use the

assumption of a constant volumetric strain over the element.

Therefore, as mentioned above already, when this shell element

is used in a (planar) plane stress solution, the results will be the

same as when using the 2D-MITC4 element.

All 4-node elements considered in this study are integrated

using 2 2 Gauss integration in the r - s plane, while for the shell

Fig. 19. Deformed shapes (drawn to scale) of the composite block at P 82:8.

element, also 2 -point Gauss integration is employed in the thick-

ness direction.

_ _

c r xd g r ; c s xd g s ; d c2r c2s 1;

4. Basic numerical tests

which produces ers jbil in flat geometries but alleviates membrane

locking in case curved geometries are considered. The formulations of the 2D-MITC4 and improved MITC4+ ele-

Eqs. (24) and (25) can be written as ments do not use any numerical factor or internal degrees of free-

dom. We consider here the isotropy, zero energy mode and patch

E T

err jcon ess jcon ers jcon err jlin ess jlin ~ers jbil C eA

T B C D

rr err ess ess ers tests. When we refer here to the 2D-MITC4 element, we also

include the 2D-MITC4/1 element.

2 3 The spatially isotropic behavior is an important consideration

1=2 aA 1=2 aB ac aD aE

for any element. The element behavior should not depend on the

6 aA aB 1=2 ac 1=2 aD aE 7

6 7 sequence of node numbering [1,14,15]. The 2D-MITC4 and

6 7

6 0 0 0 0 1 7 improved MITC4+ elements pass the isotropy test.

C6

6

7: 26

6 1=2 1=2 0 0 0 77 In the zero energy mode test, the stiffness matrix of a single

6 7 unsupported element should show only zero eigenvalues corre-

4 0 0 1=2 1=2 0 5

sponding to the correct rigid body modes. Three rigid body modes

aA aB ac aD aE

(2 translations and 1 rotation) and six rigid body modes (3 transla-

To couple the membrane strains with the bending and transverse tions and 3 rotations) should be present for 2D solid and shell ele-

shear strains of the MITC4+ shell element, the assumed membrane ments, respectively. Both the 2D-MITC4 and improved MITC4+

strain ^eij in Eq. (14) is transformed into the covariant coordinate elements pass this test.

_ _ In the patch tests [1], the patch of elements shown in Fig. 7 is

system using ~eij gi g k gj g l ^ekl [1,12,13]. This transformation

subjected to the minimum number of constraints to prevent rigid

can be denoted by the following relations,

2 3 body motions, and forces are applied at the boundary correspond-

~err ing to the constant stress states. The predicted stresses should then

6~ 7 ^err

4 ess 5 Tr; s Sr; s^ers be the analytically correct values of stresses at any location in the

^ess patch. The 2D-MITC4 and improved MITC4+ elements pass the

~ers

membrane patch tests, and the improved MITC4+ shell element

with additionally passes the bending and shearing patch tests.

2 3

1 cr s2 cs s2

6 7 5. Illustrative solutions for 2D-solid problems

Tr; s 4 cr r2 1 cs r2 5;

cr r1 cr s cs s1 cs r In this section, we present the performance of the new 2D solid

2 3 27

2cs s1 cr s elements through the solutions of well-known 2D examples estab-

6 7 lished to check in-plane shear locking and volumetric locking.

Sr; s 4 2cr r1 cs r 5;

Comparisons are made with the standard displacement based 4-

cr cs rs 1 cr s1 cs r

node element referred to as Q4 as well as the standard 4-node

where the entries are derived from incompatible modes element referred to as Q4I4, see Refs. [1,6,7].

44 Y. Ko et al. / Computers and Structures 192 (2017) 3449

Fig. 20. Hyperboloid shell problem (E 2:0 1011 , m 1=3, L 1:0 and p0 1:0). (a) Problem description. (b) Graded regular mesh (8 8 mesh, t=L 1=1000). (c) Distorted

mesh pattern (4 4 element mesh). (d) Used distorted mesh (8 8 element mesh).

The performance of the new solid elements is investigated in ment and the 2D-MITC4/1 element gives solutions not much less

linear plane stress and strain analyses, namely, a cantilever beam accurate than obtained using the Q4I4 element.

problem, a curved beam problem, Cooks problem and a clamped

square plate subjected to an in-plane moment. We also include 5.2. Curved beam problem

geometrically nonlinear analyses to see whether a possible insta-

bility arises that may be seen using an EAS element [4,811]. To We next consider the curved beam problem in Fig. 9 [27,28].

use the incompatible modes element in nonlinear analysis, we The curved beam is subjected to a shearing force of total magni-

employ ADINA [25]. For the 2D-MITC4 element, we implemented tude P at its tip; plane stress conditions are assumed. We use

the classical total Lagrangian formulation [1]. meshes of N 4N elements, 4N elements along the beam length,

with N 1; 2; 4 and 8. Through this problem, we test the predictive

capability of the elements in a mixed behavior of bending and

5.1. Cantilever problem shearing when naturally distorted meshes are used.

Tables 3 and 4 give the predicted tip vertical displacement at

We solve the cantilever problem shown in Fig. 8. The structure point A and the yy -component of stress at the support point B,

is subjected to a shearing force at its tip. The cantilever is modeled respectively. The reference solutions for the displacement and

using regular and distorted meshes with four elements as in Refs. stress are obtained from the solution using a 16 64 mesh of 9-

[2628]. node displacement-based elements.

Tables 1 and 2 give the tip vertical displacement at point A and The predictions in displacement and stress using the 2D-MITC4

the xx -component of stress at point B, respectively, with reference and Q4I4 elements are not far apart.

to the reference solutions. The use of the 2D-MITC4 and 2D-

MITC4/1 elements gives the exact values for the regular mesh as 5.3. Cooks problem

does the Q4I4 element. For the distorted mesh case, the solutions

using the 2D-MITC4 and 2D-MITC4/1 elements are much more We consider the well-known Cooks problem [6,22,26] shown in

accurate than when using the standard displacement-based ele- Fig. 10. The cantilever is clamped at one end and is subjected to a

Y. Ko et al. / Computers and Structures 192 (2017) 3449 45

Fig. 21. Convergence curves for the clamped hyperboloid shell problem with (a) the graded regular and (b) distorted meshes. The bold line represents the optimal

convergence rate.

distributed shearing force of total magnitude P at its tip. We con- The optimal convergence for 4-node bilinear elements is given

sider the solutions using plane stress conditions with Poissons by

ratio m 1=3, plane strain conditions with m 0:3, 0.4 and 0.499, 2

and meshes of N N elements with N 2; 4; 8; 16 and 32. The Eh Ch ; 31

regions of stress singularities at the top and bottom of the clamped in which C is a constant independent of the material properties and

boundary are very small and do not affect the overall results.

h is the element size.

Table 5 gives the vertical displacement at point A for the plane

Fig. 11 shows the convergence of the relative error according to

stress case. The performance of the 2D-MITC4 element is similar to

the element size h 1=N. While the Q4 element severely locks

that of the Q4I4 element. For the plane strain case, we measure the

near the incompressible limit, the convergence of the 2D-

solution error using the s-norm [16,19] with reference solutions

MITC4/1 and Q4I4 elements is nearly optimal regardless of Pois-

obtained using a 72 72 mesh of the standard 9-node

sons ratio.

displacement-based element (Q9) for the cases v 0:3, 0.4 and

the 9/3 element for the case v 0:499 [1],

5.4. Clamped square plate subjected to an in-plane moment

Z

kuref uh k2s DeT DsdXref with De eref eh ; Ds sref sh ; We solve a clamped square plate subjected to an in-plane

Xref

moment of magnitude M, see Fig. 12. We assume plane strain con-

kuref uh k2s ditions with Poissons ratios m 0:3, 0.4 and 0.499. For the solu-

Eh ;

kuref k2s tions we use regular and distorted meshes with N N elements

and N 2; 4; 8; 16 and 32, see Fig. 12(a), and (b), where the ele-

30

ment edges are discretized in the ratio L1 : L2 : L3 : . . . LN 1: 2: 3:

where uref is the reference solution, uh is the solution of the finite . . . N. The regions of stress singularities at the top and bottom of

element discretization, and e and s are the strain and stress vectors, the clamped boundary are very small and do not affect the overall

and Eh is the relative error. results.

46 Y. Ko et al. / Computers and Structures 192 (2017) 3449

Fig. 22. Convergence curves for the free hyperboloid shell problem with (a) the graded regular and (b) distorted meshes. The bold line represents the optimal convergence

rate.

The relative error is measured using the s-norm with the refer- the reference load-displacement path. However, when the Q4I4

ence solutions obtained using a 72 72 mesh of the standard 9- element is employed, the analysis predicts an instability at

node displacement-based element (Q9) for the cases m 0:3, 0.4 P = 80.4, which is spurious. This phenomenon is well-known and

and the 9/3 element for the case m 0:499. Fig. 13 shows that can even happen at very small strain levels [11]. The deformed

the 2D-MITC4/1 element converges optimally in both the uniform shape shown in Fig. 16 reveals the spurious hour-glassing encoun-

and distorted mesh cases irrespective of Poissons ratio. tered [4,811]. The 2D-MITC4/1 element does not show any spuri-

ous instability.

5.5. Rubber block problem

5.6. Composite block problem

We solve the geometrically nonlinear problem of a rubber block

subjected to compression as shown in Fig. 14 [9,10]. Solving this We consider next the geometrically nonlinear compression of

problem, we want to investigate whether our new element shows the composite block shown in Fig. 17. While the base material is

spurious modes as seen when using the incompatible modes (EAS) the same as in the previous problem, a stiff material with low Pois-

element. [4,811]. The distributed load with a force per unit length sons ratio is used in the shaded region. We want to study the

P is asymmetrically applied to the rubber block. behavior of the 4-node EAS element under high compressive

Fig. 15 shows the load-displacement curves with the reference strains. The block is fully clamped at the bottom and the dis-

solution obtained using the standard 9-node displacement-based tributed load with force per unit length P is applied.

element (Q9) because Poissons ratio is not close to 0.5. The meshes Fig. 18 shows the predicted load-displacement curves with the

are not fine and so we do not claim to have reached a close approx- reference solution obtained using the Q9 element because Pois-

imation to the exact solution. Unlike the Q4 element showing a too sons ratio is not close to 0.5. While the solution using the 2D-

stiff behavior, the Q4I4 and 2D-MITC4/1 elements closely follow MITC4 element closely follows the reference load-displacement

Y. Ko et al. / Computers and Structures 192 (2017) 3449 47

Fig. 23. Scordelis-Lo roof shell problem (E 4:32 108 , m 0:0, R 25:0, L 25:0 and self-weight is 90 per unit surface area). (a) Problem description with graded regular

mesh (8 8 element mesh). (b) Distorted mesh pattern (4 4 element mesh). (c) Used distorted mesh (8 8 element mesh).

curve, the solution obtained using the Q4I4 element does not fol- The loading is a smoothly varying pressure ph

low the reference solution and predicts a spurious collapse load.

The deformations are compared in Fig. 19. For the EAS element, ph p0 cos2h: 33

strong element hourglass-shapes are observed. However, the geo-

metric predictions obtained using the 2D-MITC4/1 element are Due to symmetry, only one-eighth of the structure corresponding to

smooth as in the reference solution. the shaded region ABCD in Fig. 20(a) is modeled for the analysis. For

the membrane-dominated case, the clamped boundary condition is

6. Illustrative solutions of shell problems imposed: uz b 0 along BC, ux b 0 along AD, uy a 0 along

DC, and ux uy uz a b 0 along AB. For the bending-

In this section, we present the performance of the improved dominated case, the free boundary condition is imposed:

MITC4+ shell element, in which the in-plane membrane field of uz b 0 along BC, ux b 0 along AD, and uy a 0 along DC.

the 2D-MITC4 solid element is used. The hyperboloid shell The solutions are calculated using N N element meshes

problems and the Scordelis-Lo roof problems are considered (N 4, 8, 16, 32 and 64). The element size is h L=N. For the

[12,1419,29]. We vary the ratio of the shell thickness to the over- clamped (free) boundary condition, the regular mesh is graded as

p p

all dimension of the structure, t=L 1=100, 1/1000 and 1/10,000. shown in Fig. 20(b) in a boundary layer of width 6 t (0:5 t), see

The convergence of the finite element solutions is measured using Refs. [12,1419]. We also perform the convergence studies with

the s-norm in Eq. (30). The results of the improved MITC4+ shell the distorted mesh pattern shown in Fig. 20(c), where each edge

element are compared with those using the MITC4 [13] and is discretized in the following ratio: L1 : L2 : L3 : . . .. . . LN 1: 2: 3:

MITC4+ [12] shell elements. . . .. . . N for the N N element mesh. The applied distorted mesh

is shown in Fig. 20(d). A 72 72 element mesh of MITC9 shell ele-

6.1. Hyperboloid shell problems ments [1719] is used to obtain the reference solutions

Fig. 21 shows that the improved MITC4+ shell element performs

The hyperboloid shell shown in Fig. 20(a) is considered, see noticeably better than the MITC4+ shell element for all shell prob-

Refs. [12,1419]. The mid-surface of the shell structure is given by lems. As reported earlier, when using the MITC4 element in the

distorted meshes, the results severely deteriorate due to mem-

x2 z2 1 y2 ; y 2 1; 1 : 32

brane locking, see Fig. 22.

48 Y. Ko et al. / Computers and Structures 192 (2017) 3449

Fig. 24. Convergence curves for the Scordelis-Lo roof shell problem with (a) the regular meshes (b) distorted meshes. The bold line represents the optimal convergence rate.

6.2. Scordelis-Lo roof shell problem mesh of MITC9 shell elements. When compared with the MITC4

and the MITC4+ shell elements, the improved MITC4+ shell ele-

The Scordelis-Lo roof shell problem shown in Fig. 23(a) is con- ment shows improvements in solution accuracy.

sidered [13,18,19,29]. The 40 roof structure with radius R and

length 2L is supported by rigid diaphragms. The structure is loaded

by its self-weight. The structure is known to asymptotically show

7. Concluding remarks

membrane-bending mixed behavior [18,19].

Utilizing the symmetry, only one-quarter of the structure corre-

A new 2D-MITC4 element was presented for the two-

sponding to the shaded region ABCD in Fig. 23(a) is modeled for the

dimensional analysis of problems in solid mechanics. The 2D-

analysis. The following boundary condition is imposed: ux b 0

MITC4 element passes all basic tests and performs well in linear

along DC, uy a 0 along BC, and ux uz b 0 along AD. As the

analyses, almost as well as the 4-node incompatible modes (EAS)

thickness becomes small, the mesh is graded according to the fol-

element. In the geometrically nonlinear problems solved, the

lowing layer angle formula applied for hl < 40 [18]

new element also performs well and does not show a spurious

hl 5:35L0:75 t 0:25 : 34 instability, as observed with the EAS element. The 2D-MITC4 ele-

ment is computationally effective because no degrees-of-freedom

Fig. 23(a) shows a regular mesh with the mesh grading. We also other than those for the 4-node displacement-based element are

perform the convergence studies with distorted meshes, see used. While we considered only plane stress and plane strain con-

Fig. 23(b). Here, mesh grading along the edges BC and AD is still ditions, the element formulation can be extended for axisymmetric

used, but the edges AB and CD are discretized in the following ratio: analyses, and while we considered only static analyses, the ele-

L1 : L2 : L3 : . . .. . . LN 1: 2: 3: . . .. . . N for the N N element mesh. ment will also be valuable in dynamic solutions because the mass

Fig. 24 shows the predicted convergence curves. The solutions matrix is formulated as for the pure displacement-based element.

are obtained with N N element meshes (N 4, 8, 16, 32, and Using the 2D-MITC4 formulation for the membrane strain of the

64). The reference solutions are calculated using a 72 72 element MITC4+ shell element, we further improved the performance of

Y. Ko et al. / Computers and Structures 192 (2017) 3449 49

this shell element, although not very much, because the MITC4+ [11] Sussman T, Bathe KJ. Spurious modes in geometrically nonlinear small

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Acknowledgments evaluation in finite element solutions. Comput Struct 2002;80(3):23555.

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ed. Springer; 2003. 2nd ed., Springer, 2011.

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through the Disaster and Safety Management Institute funded by modeling and the finite element solution. Springer; 2011.

[21] Sussman T, Bathe KJ. A finite element formulation for nonlinear

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incompressible elastic and inelastic analysis. Comput Struct 1987;26(1

the Climate Change Research Hub of KAIST (No. 11170061). 2):357409.

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