COMMUNICATIONS IN NUMERICAL METHODS IN ENGINEERING

Commun. Numer. Meth. Engng, 15, 745±754 (1999)

IMPROVED IMPLEMENTATION OF AN ALGORITHM FOR

NON-LINEAR ISOTROPIC/KINEMATIC HARDENING
IN ELASTOPLASTICITY

ROLF MAHNKEN*
Institut fuÈr Baumechanik und Numerische Mechanik, University of Hannover,
Appelstrasse 9a, 30167 Hannover, Germany

SUMMARY
In this article a modi®cation of an algorithm by Doghri (1993) for incorporating isotropic and kinematic
hardening e€ects in von Mises elastoplasticity is proposed, whereby the discretized rate equations are
reduced to a one-dimensional problem. The resulting relations for linearization of this problem and of the
global equilibrium equations are obtained in a straightforward manner, which avoids inversion of second-
order tensors. A numerical example illustrates the second-order convergence rate typical for the Newton
method. Copyright # 1999 John Wiley & Sons, Ltd.

KEY WORDS non-linear isotropic and kinematic hardening; implicit integration; one-dimensional local iteration;
linearization

1. INTRODUCTION
Mathematical equations for modelling inelastic material behaviour are generally given in rate
form, thus requiring numerical integration for implementation in existing ®nite element pro-
grams. For von Mises plasticity with non-linear isotropic hardening a very ecient integration
scheme has been developed: as it is shown by Wilkins,1 the resulting discretized rate equations can
be reduced to a one-dimensional equation, in which only the plastic multiplier appears as an
unknown. This problem is solved iteratively with a Newton method in an e€ective manner.
Furthermore, Simo and Taylor showed in their celebrated publication2 that the global equi-
librium condition can also be satis®ed with a Newton method by use of the so-called consistent
tangent modulus.
In practice most engineering structures are subjected to cyclic loading, and then additional
e€ects, such as the Bauschinger e€ect, are observed. In order to become more realistic, the
mathematical modelling then requires an extension of the purely non-linear isotropic hardening
part by a non-linear kinematic hardening part; see, for example, Lemaitre and Chaboche.3
An algorithm for implementation of combined non-linear isotropic and kinematic harden-
ing Ð where the latter is formulated due to Armstrong and Frederick4 Ð has been proposed by

* Correspondence to: R. Mahnken, Institut fuÈr Baumechanik und Numerische Mechanik, University of Hannover,
Appelstrasse 9a, 30167 Hannover, Germany.

CCC 1069±8299/99/100745±10$17.50 Received 16 February 1998

Copyright # 1999 John Wiley & Sons, Ltd. Accepted 4 March 1999
746 R. MAHNKEN

Doghri.5 Here, an integration scheme is presented, in which the plastic multiplier and a reduced
stress tensor appear as unknowns in the resulting problem. It follows that the number of
unknowns is ®ve or seven for two- or three-dimensional problems, respectively. This may
lead to numerical diculties for the Newton method if the starting vector is far away from the
solution vector.
In this work an alternative formulation is presented, in which the resulting problem is reduced
to dimension one, such that only the plastic multiplier appears as an unknown. This gives the
opportunity to combine the Newton method with di€erent one-dimensional solution schemes,
such as the Bisection method or the Pegasus method, in cases where the Newton method has
diculty converging. A similar approach has been proposed by Hartmann and Haupt6 for the
geometrically linear case and recently by LuÈhrs et al.7 for problems of ®nite deformations in
elasto-viscoplasticity.
This work is organized as follows. In Section 2 the constitutive equations for modelling
von Mises plasticity with combined isotropic and kinematic hardening are brie¯y summarized,
and the discretized counterpart is reviewed in Section 3. In Section 4 the new formulation of the
resulting one-dimensional problem is presented, in order to solve the non-linear set of discretized
rate equations. Here, contrary to the presentation in reference 5, no analytical inversion of
second-order tensors is involved. The results of this Section form the starting point for derivation
of the consistent tangent modulus in Section 5. Finally, in Section 6 a numerical example
illustrates the correctness of the presented approach, followed by a short conclusion.

2 CONSTITUTIVE EQUATIONS
An extensive description for formulating constitutive rate equations in order to model von Mises
elastoplasticity combined with non-linear isotropic and kinematic hardening can be found
elsewhere, and we will not elaborate on these details; see, for example, Lemaitre and Chaboche3
or Doghri.5 A summary of the resulting set of equations considered in the ensuing sections of this
paper

1. Hooke's law s ˆ s vol ‡ s dev , where

s vol ˆ Ktreel 1, s dev ˆ 2GIdev: eel
2. Isotropic hardening stress R ˆ R…q† ˆ c…1 ÿ exp…ÿbq††
r
2
3. Yield condition FY ˆ kb bk ÿ …Y ‡ R†; where b ˆ s dev ÿ X
3 0 (1)
4. Flow rule _ where n ˆ b
e_ pl ˆ ln,
r kb
bk
2
5. Equivalent plastic strain evolution q_ ˆ l_
3
6. Kinematic hardening evolution X_ ˆ k e_ pl ÿ k Xq_
1 2

Here s denotes the stress tensor with volumetric part s vol and deviatoric part s dev, respectively.
eel is the elastic strain tensor, obtained from the standard relation of geometric linear theory
eel ˆ e ÿ epl , where e are the total and epl the plastic strain tensors, respectively. In addition 1 is
the second-order unit tensor, and we de®ne Idev ˆ I ÿ 1=3 1
1 with second-order and
fourth-order unit tensors 1 and I, respectively. The notation k?k in (1)3 represents the norm of a

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
 NON-LINEAR ISOTROPIC/KINEMATIC HARDENING 747

second-order tensor, i.e. kb b : b †1=2 , and in (1)4 n is a normal vector, satisfying knk ˆ 1. The
bk ˆ …b
evolution equation for the back-stress tensor X was originally proposed by Armstrong and
Frederick.4 Lastly, we note that K, G, b, c, k1 , k2 are material parameters.

3. IMPLICIT INTEGRATION SCHEME

Following standard integration procedures in ®nite element techniques a strain-driven algorithm
is considered, where the total strain n‡1e and initial values nepl, nq, nX are given at each time step
n‡1
t. Then it is the object to ®nd the corresponding quantities n‡1epl, n‡1q, n‡1X at time n‡1t
consistent with the constitutive equations (1). In order to alleviate the notation, the index n ‡ 1
referring to the actual time step will be omitted subsequently. Then, the discretized counterpart of
equations (1) is given as (see, for example, Doghri5):
1. Total stresses s ˆ s vol ‡ s dev;tr ÿ 2GDepl
2. Isotropic hardening stress R ˆ R(q) r
2
3. Yield condition FY ˆ kb
bk ÿ …Y ‡ R†
3 0 (2)
pl
4. Flow rule De ˆ Dln r
2
5. Equivalent plastic strain integration q ˆ nq ‡ Dl
3
6. Kinematic hardening integration X ˆ nX ‡ k1 Depl ÿ k2 XDl
s dev;tr ˆ 2GIdev : …e ÿ n epl † is the deviatoric plastic predictor, and we de®ne the constant
Here p

k2 ˆ …2=3†k2 .

4. ONE-DIMENSIONAL LOCAL ITERATION

The subsequent relations make use of the fact that (2)6 can be rewritten as

1 n
Xˆ … X ‡ k1 Dln† …3†
1 ‡ k2 Dl

Then, upon exploiting the deviatoric structure of X, (2)1 and (3) are combined, thus leading to
!!
tr k1 tr dev;tr 1 n
b ˆ kb
bk ‡ Dl 2G ‡ n; where b ˆ s ÿ X …4†
1 ‡ k2 Dl 1 ‡ k2 Dl

This relation reveals that b tr and b are coaxial such that the scalar equation
!
tr k1
b k ˆ kb
kb b k ‡ Dl 2G ‡ …5†
1 ‡ k2 Dl

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
748 R. MAHNKEN

is obtained. Inserting this relation into the yield condition (2)3 renders the following algorithmic
consistency condition:
! r
tr k1 2
b k ÿ Dl 2G ‡
f…Dl† ˆ kb ÿ …Y ‡ R…Dl†† ˆ 0 …6†
1 ‡ k2 Dl 3 0

Thus, contrary to the presentation in Reference 5, the discretized rate equations (2) are reduced to
a one-dimensional problem. This non-linear equation is solved with the following Newton
method:

ÿ1
Dl …k‡1† ˆ Dl…k† ÿ F…k† f…Dl…k† ††; k ˆ 0; 1; 2;!. . . …7†
@f 2 0 k ÿ k2 n :n X
Fˆ ˆ ÿ 2G ‡ R ‡ 1
@Dl 3 …1 ‡ k2 Dl†2

where the index k refers to the iteration steps. We remark that, contrary to the representation
in Reference 5, no analytical inversion of second-order tensors is needed in derivation of the
above iteration scheme. Furthermore we refer to a presentation of Hartmann and Haupt,6
where a similar line of arguments reduces the original system of equations to a one-dimensional
equation.

5 ALGORITHMIC TANGENT MODULUS

The algorithmic tangent modulus necessary for applying a Newton method for iterative solution
of the global equilibrium problem requires the derivative of the stresses s de®ned in (2)1 with
respect to the total strains e. Since s is also dependent on the plastic multiplier Dl satisfying the
consistent condition (6), i.e. f(e, Dl(e)) ˆ 0 for the variable e, we can establish the following
dependencies:

 
ds
s @s s @s
s @Dl @Dl @f ÿ1 @f
s ˆ s …e; Dl…e†† ? ˆ ‡
; where ˆÿ …8†
de @e @Dl @e @e @Dl @e

Thus, upon exploiting the result @f/@Dl ˆ F in (7) and determining the partial derivatives

@s
s dev @n @n 2G dev
ˆ K1
1 ‡ 2GI ÿ 2GDl ; where ˆ tr …I ÿ n
n† …9†
@e @e @e kbb k
 
@s
s @n @n k2 n n
ˆ ÿ2G n ‡ Dl ; where ˆ tr … X ÿ …n : X†n† …10†
@Dl @Dl @Dl kb 
b k…1 ‡ k2 Dl†2

@f
ˆ 2Gn …11†
@e

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
 NON-LINEAR ISOTROPIC/KINEMATIC HARDENING 749

the ®nal result for the non-symmetric algorithmic tangent modulus is as follows:

ds
s dev …2G†2 Dl dev
ˆ K1
1 ‡ 2GI ÿ …I ÿ n
n†
de btr k
kb
!
…2G†2 Dlk2 n n
‡ n ‡ tr … X ÿ …n : X†n†
n …12†
F b k…1 ‡ k2 Dl†2
kb

The above result is identical to (77) in Reference 5 obtained by Doghri. This can easily be veri®ed
by rewriting the scalar equation (5) as
!
tr Dl k1
b k ˆ kb
kb b k…1 ‡ g†; where g :ˆ 2G ‡ …13†
kb
bk 1 ‡ k2 Dl

An equivalent result on a somewhat di€erent line of arguments can also be found in Hartmann
and Haupt.6

6. COMPACT TENSION SPECIMEN

In this Section a compact tension with geometry in Figure 1 is considered. The spatial discretiza-
tion, the boundary conditions and the applied load at the centre of the hole of the sample is
shown in Figure 2(a). A plane strain state is assumed in the numerical simulation and the
following material parameters as proposed by Doghri5 were used: E ˆ 210000 MPa,  ˆ 0.3,
b ˆ 0.26, c ˆ 2000 MPa, k1 ˆ 17000 MPa, k2 ˆ 21 MPa. Fifteen cycles according to the
loading diagram of Figure 2 (bottom) with maximum load Fmax ˆ 120 KN were investigated in
the numerical simulation. Isoparametric quadratic 9-node elements were used in the ®nite-
element formulation.
For solution of the resulting non-linear equation on the Gaussian point level of the ®nite
element structure the algorithm of Section 4 is applied. In Table I the 2-norm of the ®nite-
element residual vector as a consequence of the algorithmic tangent modulus of Section 5 for
three di€erent load steps is given. A quadratic convergence behaviour can be observed, thus
demonstrating the correctness of the linearization procedure.
p
In Figure 3(a) contours of the von Mises stress sv ˆ …3=2†ks s devk near the notch region
after the ®rst load peak in Figure 2(b) and at the end of the 15th cycle are shown. Figure 4(a)

Table I. Compact tension specimen: norm of the ®nite-element

residual vector for three di€erent cycles. k is the iteration index of (7)

k 1 8 15
1 4.4159 4.4159 4.4159
2 5.6553 2.3398 2.3322
3 3.1637 6.7453 6.4596  10 ÿ1
4 7.5875  10 ÿ1 8.8890  10 ÿ3 8.6376  10 ÿ3
5 4.6497  10 ÿ3 3.7374  10 ÿ6 3.9283  10 ÿ6
6 1.5168  10 ÿ7 1.2430  10 ÿ11 1.4893  10 ÿ11
7 1.3650  10 ÿ11 ± ±

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
750 R. MAHNKEN

Figure 1. Compact tension specimen: geometry of the sample

depicts the evolution of the vertical stress sy vs. the vertical strain ey and Figure 4(b) the evolution
of the back stress Xy vs. total load in the vicinity of the notch. It can be seen that a stabilization
has been obtained due to the second term of the evolution term (1)6 . Finally, in Figure 5 the
residual stress distribution in the cross-section A-A of Figure 1 for sy at the end of the 15th cycle
is shown.

7. CONCLUSION
In this work an ecient algorithm for implementation of von Mises plasticity with combined
non-linear isotropic and kinematic hardening is presented, where the latter is formulated with
Armstrong-Frederick terms. The basic idea consists in the reduction of the discretized constitu-
tive equations into one scalar equation, in which only the plastic multiplier appears as an
unknown. Straightforward di€erentiation of this non-linear equation yields the linearized
equation for the iteration scheme, where no analytical inversion of second-order tensors becomes
necessary. Based on this result, the algorithmic tangent modulus has been derived. The numerical
example illustrates the correctness of the proposed procedure.

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
 NON-LINEAR ISOTROPIC/KINEMATIC HARDENING 751

Figure 2. Compact tension specimen: (a) discretization, boundary conditions and load at the centre of the hole; (b)
loading program for the ®rst six cycles

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
752 R. MAHNKEN

Figure 3. Compact tension specimen: (a) contours of the von Mises stress near the notch region at the ®rst load peak
and (b) at the end of the 15th cycle with units in KN/cm2

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
 NON-LINEAR ISOTROPIC/KINEMATIC HARDENING 753

Figure 4. Compact tension specimen: (a) vertical stress sy vs. vertical strain ey ; (b) back stress Xy vs. total load in the
vicinity of the notch

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)
754 R. MAHNKEN

Figure 5. Compact tension specimen: residual stress sy at the end of the 15th cycle in cross-section A-A of Figure 1

REFERENCES

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3. J. Lemaitre and J. L. Chaboche, Mechanics of Solid Materials, Cambridge University Press, Cambridge,
1990.
4. P. J. Armstrong and C. O. Frederick, `A mathematical representation of the multiaxial Bauschinger
e€ect', C.E.G.B. Report RD/B/N 731, 1966.
5. I. Doghri, `Fully implicit integration and consistent tangent modulus in elasto-plasticity', Int. J. Numer.
Methods Eng., 36, 3915±3932 (1993).
6. S. Hartmann and P. Haupt, `Stress computation and consistent tangent operator using non-linear
kinematic hardening models', Int. J. Numer. Methods Eng., 36, 3801±3813 (1993).
7. G. LuÈhrs, S. Hartmann and P. Haupt, `On the numerical treatment of ®nite deformations in elasto-
viscoplasticity', Comput. Methods Appl. Mech. Eng., 144, 1±21 (1997).

Copyright # 1999 John Wiley & Sons, Ltd. Commun. Numer. Meth. Engng, 15, 745±754 (1999)