large strain computational solid dynamics: an upwind cell centred finite volume method
TRANSCRIPT
Introduction Governing equations Numerical methodology Results Conclusions
Large strain computational solid dynamics:An upwind cell centred Finite Volume Method
Jibran Haider a, b, Chun Hean Lee a, Antonio J. Gil a, Javier Bonet c & Antonio Huerta b
a Zienkiewicz Centre for Computational Engineering (ZCCE),College of Engineering, Swansea University, UK
b Laboratory of Computational Methods and Numerical Analysis (LaCàN),Universitat Politèchnica de Catalunya (UPC BarcelonaTech), Spain
c University of Greenwich, London, UK
World Congress in Computational Mechanics (24th - 29th July 2016)MS 703: Advances in Finite Element Methods for Tetrahedral Mesh Computations
http://www.jibranhaider.weebly.com
Funded by the Erasmus Mundus Programme and International Association for Computational Mechanics
August 2, 2016
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 1
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 2
Introduction Governing equations Numerical methodology Results Conclusions
Fast transient solid dynamics
Displacement based FEM/FVM formulations
• Linear tetrahedral elements suffer from:
× Locking in nearly incompressible materials.
× First order for stresses and strains.
× Poor performance in shock scenarios.
Proposed mixed formulation [Haider et al., 2016]
• First order conservation laws similar to the oneused in CFD community.
• Entitled TOtal Lagrangian Upwind Cell-centredFVM for Hyperbolic conservation laws (TOUCH).
X Programmed in the open-source CFD softwareOpenFOAM.
0 0.5 1
0
0.5
1
1.5
X-Coordinate
Y-C
oord
inate
t=0.03s
-1
-0.5
0
0.5
1x 10
7
-0.5 0 0.5 1 1.5
0
0.5
1
1.5
X-Coordinate
Y-C
oord
inate
t=0.0006s
-5
0
5x 10
9
Q1-P0 FEM
0 0.5 1
0
0.5
1
1.5
X-Coordinate
Y-C
oord
inate
t=0.03s
-1
-0.5
0
0.5
1x 10
7
-0.5 0 0.5 1 1.5
0
0.5
1
1.5
X-Coordinate
Y-C
oord
inate
t=0.0006s
-5
0
5x 10
9
Upwind FVM
Aim is to bridge the gap between CFD and computational solid dynamics.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 3
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 4
Introduction Governing equations Numerical methodology Results Conclusions
Total Lagrangian formulation
Conservation laws
• Linear momentum
∂p∂t
= ∇0 · P(F) + ρ0b; p = ρ0v
• Deformation gradient
∂F∂t
= ∇0 ·(
1ρ0
p⊗ I)
; CURL F = 0
Additional equations
• Total energy
∂E∂t
= ∇0 ·(
1ρ0
PT p− Q)
+ s
An appropriate constitutive model is required to close the system.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 5
Introduction Governing equations Numerical methodology Results Conclusions
Hyperbolic system
First order conservation laws
∂U∂t
= ∇0 ·F(U) + S
U =
p
F
E
; F =
P(F)
1ρ0
p⊗ I1ρ0
(PT p)− Q
; S =
ρ0b
0
s
• Geometry update
∂x∂t
=1ρ0
p; x = X + u
Adapt CFD technology to the proposed formulation.
Develop an efficient low order numerical scheme for transient solid dynamics.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 6
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodologySpatial discretisationFlux computationInvolutionsEvolution
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 7
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodologySpatial discretisationFlux computationInvolutionsEvolution
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 8
Introduction Governing equations Numerical methodology Results Conclusions
Spatial discretisation
Conservation equations for an arbitrary element
dU e
dt=
1Ωe
0
∫Ωe
0
∂F I
∂XIdΩ0 −→ ∀ I = 1, 2, 3;
=1
Ωe0
∫∂Ωe
0
F INI︸ ︷︷ ︸FN
dA (Gauss Divergence theorem)
≈1
Ωe0
∑f∈Λf
e
FCNef‖Cef ‖
e FCNe f
‖Ce f‖ Ωe0
Traditional cell centred Finite Volume Method
dU e
dt=
1Ωe
0
∑f∈Λf
e
FCNef‖Cef ‖
; FCNef
=
tC
1ρ0
pC ⊗ N1ρ0
tC · pC
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 9
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodologySpatial discretisationFlux computationInvolutionsEvolution
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 10
Introduction Governing equations Numerical methodology Results Conclusions
Lagrangian contact dynamics
Rankine-Hugoniot jump conditions
c JU K = JF K N
where JK = + −−wc J p K = J t K
c J F K =1ρ0
J p K⊗ N
c J E K =1ρ0
J PT p K · N
X, x
Y, y
Z, z
Ω+0
Ω−0
N+
N−
n−
n+
Ω+(t)
Ω−(t)
φ+
φ−
n−
n+
c−sc+s
c+pc−p
Time t = 0
Time t
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 11
Introduction Governing equations Numerical methodology Results Conclusions
Acoustic Riemann solver
Jump condition for linear momentum
cJpK = JtK
Normal jump→ cpJpnK = JtnKTangential jump→ csJptK = JttK
p+n , t+np−
n , t−n
c+pc−ppC
n , tCn
x
t
Normal jump
p+t , t+tp−
t , t−t
c+sc−s pCt , tC
t
x
t
Tangential jump
Upwinding numerical stabilisation
pC=
[c−p p−n + c+p p+n
c−p + c+p
]+
[c−s p−t + c+s p+t
c−s + c+s
]︸ ︷︷ ︸
pCAve
+
[t+n − t−nc−p + c+p
]+
[t+t − t−tc−s + c+s
]︸ ︷︷ ︸
pCStab
tC =
[c+p t−n + c−p t+n
c−p + c+p
]+
[c+s t−t + c−s t+t
c−s + c+s
]︸ ︷︷ ︸
tCAve
+
[c−p c+p (p+n − p−n )
c−p + c+p
]+
[c−s c+s (p+t − p−t )
c−s + c+s
]︸ ︷︷ ︸
tCStab
Linear reconstruction procedure + limiter (monotonicity) for U−,+.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 12
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodologySpatial discretisationFlux computationInvolutionsEvolution
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 13
Introduction Governing equations Numerical methodology Results Conclusions
Godunov-type FVM
Standard FV update (CURL F 6= 0)
dFe
dt=
1Ωe
0
∑f∈Λ
fe
pCf
ρ0⊗ Cef X
Constrained FV update (CURL F = 0)[Dedner et al., 2002; Lee et al., 2013]
dFe
dt=
1Ωe
0
∑f∈Λ
fe
pCf
ρ0⊗ Cef X
• Algorithm is entitled ’C-TOUCH’.
pe
pCf −→
pe
Ge
ypC
f
←−
pa
Constrained transport schemes are widely used in Magnetohydrodynamics (MHD).
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 14
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodologySpatial discretisationFlux computationInvolutionsEvolution
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 15
Introduction Governing equations Numerical methodology Results Conclusions
Time integration
Two stage Runge-Kutta time integration
1st RK stage −→ U∗e = Une + ∆t Un
e(Une , t
n)
2nd RK stage −→ U∗∗e = U∗e + ∆t U∗e (U∗e , tn+1)
Un+1e =
12
(Une + U∗∗e )
with stability constraint:
∆t = αCFLhmin
cp,max; cp,max = max
a(ca
p)
X An explicit Total Variation Diminishing Runge-Kutta time integration scheme.
X Monolithic time update for geometry.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 16
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. ResultsMesh convergenceHighly non-linear problemVon-Mises plasticityContact problems
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 17
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. ResultsMesh convergenceHighly non-linear problemVon-Mises plasticityContact problems
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 18
Introduction Governing equations Numerical methodology Results Conclusions
Low dispersion cube
X, x
Y, y
Z, z
(0, 0, 0)
(1, 1, 1)
Displacements scaled 300 times
t = 0 s t = 2 ms t = 4 ms t = 6 ms
Pressure (Pa)
Boundary conditions
1. Symmetric at:
X = 0, Y = 0, Z = 0
2. Skew-symmetric at:
X = 1, Y = 1, Z = 1
Analytical solution
u(X, t) = U0 cos
(√3
2cdπt
)A sin
(πX1
2
)cos(πX2
2
)cos(πX3
2
)B cos
(πX1
2
)sin(πX2
2
)cos(πX3
2
)C cos
(πX1
2
)cos(πX2
2
)sin(πX3
2
)
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 19
Problem description: Unit side cube, linear elastic material, ρ0 = 1100 kg/m3, E = 17 MPa, ν = 0.3and αCFL = 0.3.
Introduction Governing equations Numerical methodology Results Conclusions
Low dispersion cube: Mesh convergence
Velocity at t = 0.004 s
10−2
10−1
100
10−7
10−6
10−5
10−4
Grid Size (m)
L2
No
rm E
rro
r
vx
vy
vZ
Slope = 2
Stress at t = 0.004 s
10−2
10−1
100
10−7
10−6
10−5
10−4
Grid Size (m)
L2
No
rm E
rro
r
Pxx
Pyy
Pzz
Slope = 2
X Demonstrates second order convergence for velocities and stresses.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 20
Problem description: Unit side cube, linear elastic material, ρ0 = 1100 kg/m3, E = 17 MPa, ν = 0.3and αCFL = 0.3.
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. ResultsMesh convergenceHighly non-linear problemVon-Mises plasticityContact problems
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 21
Introduction Governing equations Numerical methodology Results Conclusions
Twisting column
X, x
Y, y
(−0.5, 0, 0.5)
(0.5, 6,−0.5)
Z, z
ω0 = [0, Ω sin(πY/2L), 0]T
L
[Twisting column]
Mesh refinement at t = 0.1 s
(a) 4 × 24 × 4 (b) 8 × 48 × 8 (c) 40 × 240 × 40
(a) 4 × 24 × 4
(b) 8 × 48 × 8
(c) 40 × 240 × 40
Pressure (Pa)
X Demonstrates the robustness of the numerical scheme
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 22
Problem description: Nearly incompressible neo-Hookean material, ρ0 = 1100 kg/m3, E = 17 MPa,ν = 0.45, αCFL = 0.3 and Ω = 105 rad/s.
Introduction Governing equations Numerical methodology Results Conclusions
Comparison of various alternative numerical schemes
t = 0.1 s
C-TOUCH P-TOUCH B-bar Taylor Hood PG-FEM Hu-Washizu JST-SPH SUPG-SPH
Pressure (Pa)
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 23
Problem description: Nearly incompressible hyperelastic neo-Hookean material, ρ0 = 1100 kg/m3,E = 17 MPa, ν = 0.495, αCFL = 0.3 and Ω = 105 rad/s.
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. ResultsMesh convergenceHighly non-linear problemVon-Mises plasticityContact problems
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 24
Introduction Governing equations Numerical methodology Results Conclusions
Taylor impact
X, x
Y, y
v0
(−0.0032, 0, 0)
(0.0032, 0.0324, 0)
Z, z
r0
[Taylor impact]
Evolution of pressure wave
t = 0.1µs t = 0.2µs t = 0.3µs t = 0.4µs t = 0.5µs t = 0.6µs
Pressure (Pa)
X Demonstrates the ability of the algorithm to simulate plastic behaviour.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 25
Problem description: Hyperelastic-plastic material, ρ0 = 8930 kg/m3, E = 117 GPa, ν = 0.35,αCFL = 0.3, τ 0
y = 0.4 GPa, H = 0.1 GPa and v0 = −227 m/s.
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. ResultsMesh convergenceHighly non-linear problemVon-Mises plasticityContact problems
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 26
Introduction Governing equations Numerical methodology Results Conclusions
Bar rebound
X, x
Y, y
v0
(−0.0032, 0, 0)
(0.0032, 0.0324, 0)
Z, z
r0
0.004
[Bar rebound]
t = 3 ms t = 6 ms t = 12 ms t = 18 ms t = 27 ms
Pressure (Pa)
X Demonstrates the ability of the algorithm to simulate contact problems.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 27
Problem description: Nearly incompressible neo-Hookean material, ρ0 = 8930 kg/m3, E = 585 MPa,[Lahiri et al., 2010] ν = 0.45, αCFL = 0.3 and v0 = −150 m/s.
Introduction Governing equations Numerical methodology Results Conclusions
Bar rebound
X, x
Y, y
v0
(−0.0032, 0, 0)
(0.0032, 0.0324, 0)
Z, z
r0
0.004
y Displacement of the points X = [0, 0.0324, 0]T and X = [0, 0, 0]T
0 0.5 1 1.5 2 2.5 3
x 10−4
−20
−16
−12
−8
−4
0
4
8x 10
−3
Time (sec)
y D
isp
acem
ent
(m)
Top (2880 cells)Top (23040 cells)Bottom (2880 cells)Bottom (23040 cells)
X Demonstrates the ability of the algorithm to simulate contact problems.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 28
Problem description: Nearly incompressible neo-Hookean material, ρ0 = 8930 kg/m3, E = 585 MPa,[Lahiri et al., 2010] ν = 0.45, αCFL = 0.3 and v0 = −150 m/s.
Introduction Governing equations Numerical methodology Results Conclusions
Torus impact
[Torus impact]
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 29
Problem description: Neo-Hookean material, ρ0 = 1000 kg/m3, E = 1 MPa, ν = 0.4, αCFL = 0.3 andv0 = −3 m/s.
Introduction Governing equations Numerical methodology Results Conclusions
Scheme of presentation
1. Introduction
2. Governing equations
3. Numerical methodology
4. Results
5. Conclusions
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 30
Introduction Governing equations Numerical methodology Results Conclusions
Conclusions and further research
Conclusions
• Upwind CC-FVM is presented for fast solid dynamic simulations within the OpenFOAMenvironment.
• Linear elements can be used without usual locking.
• Velocities and stresses display the same rate of convergence.
On-going work
• Investigation into an advanced Roe’s Riemann solver with robust shock capturing algorithm.
• Extension to multiple body and self contact.
• Ability to handle tetrahedral elements.
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 31
Introduction Governing equations Numerical methodology Results Conclusions
References
Published / accepted• J. Haider, C. H. Lee, A. J. Gil and J. Bonet. "A first order hyperbolic framework for large strain computational solid
dynamics: An upwind cell centred Total Lagrangian scheme", IJNME (2016), DOI: 10.1002/nme.5293.
• A. J. Gil, C. H. Lee, J. Bonet and R. Ortigosa. "A first order hyperbolic framework for large strain computational soliddynamics. Part II: Total Lagrangian compressible, nearly incompressible and truly incompressible elasticity",CMAME (2016); 300: 146-181.
• J. Bonet, A. J. Gil, C. H. Lee, M. Aguirre and R. Ortigosa. "A first order hyperbolic framework for large straincomputational solid dynamics. Part I: Total Lagrangian isothermal elasticity", CMAME (2015); 283: 689-732.
• M. Aguirre, A. J. Gil, J. Bonet and C. H. Lee. "An upwind vertex centred Finite Volume solver for Lagrangian soliddynamics", JCP (2015); 300: 387-422.
• C. H. Lee, A. J. Gil and J. Bonet. "Development of a cell centred upwind finite volume algorithm for a newconservation law formulation in structural dynamics", Computers and Structures (2013); 118: 13-38.
Under review• C. H. Lee, A. J. Gil, G. Greto, S. Kulasegaram and J. Bonet. "A new Jameson-Schmidt-Turkel Smooth Particle
Hydrodynamics algorithm for large strain explicit fast dynamics, CMAME .
• C. H. Lee, A. J. Gil, J. Bonet and S. Kulasegaram. "An efficient Streamline Upwind Petrov-Galerkin Smooth ParticleHydrodynamics algorithm for large strain explicit fast dynamics, CMAME .
In preparation• J. Haider, C. H. Lee, A. J. Gil, A. Huerta and J. Bonet. "Contact dynamics in OpenFOAM, JCP.
• J. Bonet, A. J. Gil, C. H. Lee, A. Huerta and J. Haider. "Adapted Roe’s Riemann solver in explicit fast soliddynamics, JCP.
http://www.jibranhaider.weebly.com/research
Jibran Haider (Swansea University, UK & UPC, Spain) WCCM XII & APCOM VI (Seoul, Korea) 32