Chapter 2. 1D Plasticity Algorithms v1.0

Computational Solid Mechanics
Computational Plasticity
Chapter 2. 1D Plasticity Algorithms

C. Agelet de Saracibar
ETS Ingenieros de Caminos, Canales y Puertos, Universidad Politcnica de Catalua (UPC), Barcelona, Spain
International Center for Numerical Methods in Engineering (CIMNE), Barcelona, Spain
1D Plasticity Algorithms > Contents
Contents
Contents
1. Introduction
2. 1D Rate independent plasticity models
1.
2.
3.
4.
Return mapping algorithm

Consistent elastoplastic tangent modulus
Step by step algorithm
Nonlinear isotropic hardening
3. 1D Rate dependent plasticity models

1.
2.
3.
4.

4. 1D Computational plasticity assignment

April 1, 2015
Carlos Agelet de Saracibar
Contents
Contents
1. Introduction
1.
2.
3.
4.


1.
2.
3.
4.


April 1, 2015
1D Plasticity Algorithms > Introduction
Time integration algorithm
En+1
Enp
April 1, 2015
Time integration
algorithm
p
En+
1
Contents
Contents
1. Introduction
1.
2.
3.
4.


1.
2.
3.
4.


April 1, 2015
1D Plasticity Algorithms > Rate Independent Plasticity Models
1D Rate independent plasticity model

1. Additive split of strains
E := Ee + E p, E :=
{ , 0, 0} ,
E p :=
p
e
,
E
{
} :=
{ , , }
2. Constitutive equations
S=
Ee (Ee ) =
C Ee , S :=
{ , q, q }, C := diag {E , K , H }
3. Associative plastic flow rule
p= f (S )
E
S
4. Yield function
f (S ) = q Y + q
5. Kuhn-Tucker loading/unloading conditions
0,
April 1, 2015
f (S) 0, f (S) =
0

Associative plastic flow rule: plastic strains at time n+1
p= f (S )
E
S
Using a Backward-Euler (BE) time integration scheme yields,
Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )

np+1 =
np + n +1 sgn ( n +1 qn +1 )
n + n +1
n +=
1
n n +1 sgn ( n +1 qn +1 )
n +1 =
April 1, 2015

Constitutive equations: stress state at time n+1
Ee (Ee ) =
S=
C Ee =
C (E E p ) , C := diag { E , K , H }
The time-discrete constituve equation at time n+1 takes the

form,
=
Sn +1 C=
Een +1 C (En +1 Enp+1 )
Substituting the plastic strain variables at time n+1 yields,
(
C (E
p
S=
C
E
E
n +1
n +1
n n +1 Sn+1 f (Sn +1 )
April 1, 2015
E
n +1
n ) n +1C Sn+1 f (Sn +1 )

Trial state at time n+1
The trial state at time n+1 is defined by freezing the plastic
behaviour at the time step, yielding
p
:
Enp+,trial
=
E
1
n
trial
p ,trial
:
Een,+=
E
E
1
n +1
n +1
e ,trial
p ,trial
p
:
Strial
=
C
E
=
C
E
E
=
C
E
E
( n+1 n+1 ) ( n+1 n )
n +1
n +1
trial
f ntrial
f
:
=
S
( n+1 )
+1
April 1, 2015

The return mapping algorithm takes the form,
Sn +1 =Strial
n +1 n +1 C Sn+1 f (Sn +1 )
n +1 =
ntrial
+1 n +1 E sgn ( n +1 qn +1 )
trial
=
q
q
:
n +1
n +1 n +1 K
trial
=
q
q
:
n +1 + n +1 H sgn ( n +1 qn +1 )
n +1
April 1, 2015
10

1. Additive split of strains at time n+1
e
p
E=
:
E
+
E
n +1
n +1
n +1
2. Stresses at time n+1. Return mapping algorithm
Sn +1 = Strial
n +1 n +1C Sn+1 f (Sn +1 )
3. Plastic internal variables at time n+1
Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )
4. Yield function at time n+1
f n +1 := f (Sn +1 ) = n +1 qn +1 Y + qn +1
5. Kuhn-Tucker loading/unloading conditions at time n+1
n +1 0,
April 1, 2015
f n +1 0, n +1 f n +1 =
0
11

Theorem 1. Elastic step/plastic step
If the yield function is convex and the constitutive matrix is
definite-positive, the following condition holds,
f (Strial
n +1 ) f (Sn +1 )
and Kuhn-Tucker loading/unloading conditions can be decided

just in terms of the trial yield function according to,
f (Strial
0 Elastic step
n +1 =
n +1 ) < 0
trial
f
S
n +1 > 0 Plastic step
(
n +1 ) > 0
April 1, 2015
12

Proof 1. Convexity of the yield function yields,
trial
f (Strial
f
S
S
( n+1 ) ( n+1 Sn+1 ) Sn+1 f (Sn+1 )
n +1 )
Using the return mapping equation, yields,
Sn +1 = Strial
n +1 n +1C Sn+1 f (Sn +1 )
f (Strial
n +1 ) f (Sn +1 ) n +1Sn+1 f (Sn +1 ) C Sn+1 f (Sn +1 )
Definite-positiveness of the constitutive matrix yields,
f (Strial
n +1 ) f (Sn +1 ) n +1Sn+1 f (Sn +1 ) C Sn+1 f (Sn +1 ) 0
f (Strial
n +1 ) f (Sn +1 )
April 1, 2015
13

Proof 2. The trial yield function at time n+1 determines the
discrete plastic loading/elastic unloading conditions according to,
if
then
f (Strial
n +1 ) < 0
f (Sn +1 ) f (Strial
n +1 ) < 0
0 n +1 =
0 Elastic step
n +1 f (Sn +1 ) =
else if
then
f (Strial
n +1 ) 0
Sn +1 = Strial
n +1 n +1C Sn+1 f (Sn +1 )
0 f (Sn +1 ) =
0 Plastic step
n +1 > 0, n +1 f (Sn +1 ) =
end if
April 1, 2015
14

Theorem 2. Closest-point-projection
The stress state at time n+1 is the closest-point-projection (cpp)
of the trial stress state at n+1 onto the space of admissible
stresses, measured in the complementary energy norm,
trial
S
=
arg
min
S
( n+1 S) S E
n +1
where the complementary energy is given by,
(S
trial
n +1
S
=
)
1
2
trial
n +1
2
C 1
1
trial
1
trial
=
S
S
C
S
) ( n+1 S)
n +1
2(
April 1, 2015
15

Proof 1. The stress state at time n+1, the closest-point-projection
of the trial stress state at n+1 onto the space of admissible
stresses, is the solution of the following constrained
minimization problem,
trial
S
=
arg
min
S
( n+1 S) S E
n +1
Using the Lagrange multipliers method, the constrained

minimization problem can be transformed into an unconstrained
minimization problem defined as,
Sn +1
L
April 1, 2015
arg min L
trial
S
( n+1 ,S; n+1 ) S
trial
trial
S
,
S;
:
=
S
( n+1
) ( n+1 S) + f (S)
16

The optimality conditions of the unconstrained minimization
problem read,
S L
n +1
(S
trial
n +1
S Strial
Sn +1 + n +1 S f (Sn +1 )
, Sn +1 ; n +1 :=
n +1
n +1
n +1
C 1 Strial
Sn +1 + n +1 S f (Sn +1 ) =
:=
0
n +1
n +1 0,
n +1
f (Sn +1 ) 0, n +1 f (Sn +1 ) =
0
The return mapping algorithm arises as the solution of the

unconstrained minimization problem yielding,
Sn +1 =Strial
n +1 n +1 C Sn+1 f (Sn +1 )
April 1, 2015
17

Sn +1 =Strial
n +1 n +1 C Sn+1 f (Sn +1 )
n +1 =
ntrial
+1 n +1 E sgn ( n +1 qn +1 )
trial
=
q
q
:
n +1
n +1 n +1 K
trial
=
q
q
:
n +1 + n +1 H sgn ( n +1 qn +1 )
n +1
April 1, 2015
18

The solution for the return mapping algorithm yields,
trial
n +1 qn +1 = ntrial
q
+1
n +1 n +1 ( E + H ) sgn ( n +1 qn +1 )
trial
trial
trial
sgn
n +1 qn +1 sgn ( n +1 qn +1 ) = ntrial
q
( n+1 n+1 )
n +1
+1
n +1 ( E + H ) sgn ( n +1 qn +1 )
n +1
qn +1 + n +1 ( E + H ) ) sgn ( n +1 qn +1 ) =
trial
trial
trial
=
ntrial
q
sgn
q
(
+1
n +1
n +1
n +1 )
trial
n +1 qn +1 + n +1 ( E + H ) = ntrial
q
+1
n +1
trial
trial
sgn ( n +1 qn=
sgn
q
( n+1 n+1 )
+1 )
April 1, 2015
19

For the non-trivial case (plastic loading), using the discrete KuhnTucker loading/unloading conditions, the discrete plastic
multiplier (or discrete plastic consistency parameter) reads,
f ( n +1 , qn +1 , qn +1 ) 0, n +1 f ( n +1 , qn +1 , qn +1 ) =
0
n +1 0,
if
n +1 > 0 then
f ( n +1 , qn +1 , qn +1 ) =
0
f ( n +1 , qn +1 , qn +1 ) = n +1 qn +1 Y + qn +1
trial
trial
= ntrial
+
+
+
q
E
K
H
q
) Y n+1
+1
n +1
n +1 (
trial
trial
= f ( ntrial
,
q
,
q
0
+1
+1 ( E + K + H )
n +1
n +1 ) n=
trial
trial
n +1 = ( E + K + H ) f ( ntrial
,
q
,
q
+1
n +1
n +1 ) > 0
1
April 1, 2015
20

n +1 =
ntrial
+1 n +1 E sgn ( n +1 qn +1 )
trial
=
q
q
:
n +1
n +1 n +1 K
trial
=
q
q
:
n +1 + n +1 H sgn ( n +1 qn +1 )
n +1
1
trial
trial
trial
trial
trial
n +1= ntrial
,
,
sgn
E
K
H
f
q
q
E
+
+
(
)
(
)
(
+1
n +1
n +1
n +1
n +1
n +1 )
trial
trial
trial
trial
:
,
,
q
q
E
K
H
f
q
q
=
+
+
(
)
( n+1 n+1 n+1 ) K
n +1
n +1
1
trial
trial
trial
trial
trial
trial
:
,
,
sgn
q
q
E
K
H
f
q
q
H
q
=
+
+
+
(
) ( n+1 n+1 n+1 )
n +1
( n+1 n+1 )
n +1
April 1, 2015
21

The update of the plastic internal variables takes the form,
np+1 =
np + n +1 sgn ( n +1 qn +1 )
n + n +1
n +=
1
n n +1 sgn ( n +1 qn +1 )
n +1 =
trial
trial
trial
trial
np+1 = np + ( E + K + H )1 f ( ntrial
q
q
q
,
,
sgn
)
(
+1
n +1
n +1
n +1
n +1 )
trial
trial
trial
=
+
+
+
E
K
H
f
q
q
,
,
(
)
( n+1 n+1 n+1 )
n +1
n
1
trial
trial
trial
trial
trial
=
+
+
E
K
H
f
q
q
q
,
,
sgn
(
) ( n+1 n+1 n+1 ) ( n+1 n+1 )
n +1
n
April 1, 2015
22

The consistent elastoplastic tangent modulus is computed taking
the variation of the stress at time n+1, yielding,
n +1=
trial
n +1
d n=
d
+1
trial
trial
( E + K + H ) f ntrial
q
sgn
( n+1 n+1 )
+1
trial
n +1
trial
trial
( E + K + H ) df ntrial
E
sgn
q
( n+1 n+1 )
+1
1
where
e ,trial
p
d ntrial
Ed
E
d
E d n +1
=
=
=
(
+1
n +1
n +1
n )
trial
trial
trial
trial
trial
trial
sgn
df ntrial
d
q
d
q
=
( n+1 n+1 ) ( n+1 n+1 )

+1
n +1
n +1
trial
trial
trial
trial
sgn ( ntrial
sgn
q
d
q
=
( n+1 n+1 ) E d n+1

+1
n +1 )
n +1
April 1, 2015
23

The consistent elastoplastic tangent modulus takes the form,
d n=
d
+1
trial
n +1
trial
trial
( E + K + H ) df ntrial
q
sgn
( n+1 n+1 )
+1
1
d n +1 = E d n +1
trial
trial
trial
sgn
( E + K + H ) sgn ( ntrial
q
E
d
q
( n+1 n+1 )
+1
n +1 )
n +1
1
d n +1 = E 1 E ( E + K + H )
) d
n +1
d n +1 = E d n +1 , E := E 1 E ( E + K + H )
ep
April 1, 2015
ep
)
24
1D Plasticity algorithm
Step 1. Given the strain at time n+1 (strain driven problem), and
the stored plastic internal variables at time n (plastic internal
variables database)
Step 2. Compute the trial state at time n+1
p
:
=
Enp+,trial
E
1
n
trial
p ,trial
:
Een,+=
E
E
1
n +1
n +1
e ,trial
p ,trial
p
:
Strial
=
C
E
=
C
E
E
=
C
E
E
( n+1 n+1 ) ( n+1 n )
n +1
n +1
trial
trial
trial
f ntrial
q
:
=
+
+1
n +1
n +1
Y
n +1
April 1, 2015
25
Step 3. Check the trial yield function at time n+1
if f
trial
n +1
0 then set
( )n+1 =
( )n+1 ,
trial
E ep =
E and exit
Step 4. Compute discrete plastic multiplier at time n+1
n +1 = ( E + K + H ) f ntrial
+1
1
April 1, 2015
26
Step 5. Return mapping algorithm (closest-point-projection)
trial
Sn +1 =Strial
f
( n+1 )
n +1
n +1
Strial
n+1
1
trial
trial
trial
n +1= ntrial
+
+
E
K
H
f
E
sgn
q
(
)
(
+1
n +1
n +1
n +1 )
trial
trial
q
=
q
E
+
K
+
H
f
:
(
)
n +1
n +1
n +1 K
1
trial
trial
trial
trial
q
=
q
+
E
+
K
+
H
f
H
q
:
sgn
(
) n+1
( n+1 n+1 )
n +1
n +1
April 1, 2015
27
Step 6. Update plastic internal variables database at time n+1
Enp+1 =Enp + n +1 Strial f (Strial

n +1 )
n+1
trial
trial
np+1 = np + ( E + K + H )1 f ntrial
q
sgn
(
+1
n +1
n +1 )
trial
=
+
+
+
E
K
H
f
(
) n+1
n +1
n
1
trial
trial
trial
=
+
+
E
K
H
f
q
sgn
)
(
( n+1 n+1 )
n +1
n
n +1
Step 7. Compute the consistent elastoplastic tangent modulus
E := E 1 E ( E + K + H )
ep
April 1, 2015
28

q := = ( ) = ( )
Exponential saturation law + linear hardening
( ) = ( Y ) (1 exp ( ) ) + K
q := := ( Y ) (1 exp ( ) ) K
April 1, 2015
29

Time discrete nonlinear isotropic hardening
qn +1 := ( n +1 ) = ( n + n +1 )
trial
qntrial
=
:
( n+1 ) = (n ) = qn
+1
trial
q=
q
:
n +1
n +1 ( n + n +1 ) + ( n )
April 1, 2015
30

Plastic loading: Yield function at time n+1
n )) 0
=
f n +1 f ntrial
+1 n +1 ( E + H ) ( ( n + n +1 ) ( =
Nonlinear residual scalar equation on the plastic multiplier at

time n+1
g=
f=
0
n +1 : g ( n=
+1 )
n +1
trial
n )) 0
g=
:
f
n +1
n +1 n +1 ( E + H ) ( ( n + n +1 ) ( =
April 1, 2015
31

Newton-Raphson iterative solution algorithm
Step 1. Initialize iteration counter and plastic multiplier
=
k 0,=
nk+1 0
Step 2. Compute the residual g at time n+1, iteration k

Step 3. While the absolute value of the current residual at time
n+1, iteration k, is greater than a tolerance
Step 4. Solve the linarized equation
g nk+1 + Dg nk+1 nk+1 =

0
Step 5. Update the plastic multiplier at time n+1, iteration k+1

+1
k
k
nk=
+1
n +1
n +1
Step 6. Compute the residual g at time n+1, iteration k+1

Step 7. Increment iteration counter k=k+1 and go to Step 3
April 1, 2015
32

g nk+1 + Dg nk+1 nk+1 =

0
k
trial
k
k
g=
:
f
E
H
)
( n n+1 ) (n )
n +1
n +1
n +1 (
Dg nk+1 nk+1 := ( E + H ) nk+1 ( n + nk+1 ) nk+1
:= E + ( n + nk+1 ) + H nk+1
nk+1 := nk++11 nk+1
April 1, 2015
33

trial
trial
n +1 =
ntrial
E
sgn
q
( n+1 n+1 )
+1
n +1
trial
trial
d n +1 =
d ntrial
q
sgn
( n+1 n+1 )
+1
n +1
where the variations of the trial stress tensor, and plastic

multiplier, at time n+1, have to be computed.
April 1, 2015
34

The variation of the plastic multiplier at time n+1 is computed
setting the variation of the residual at time n+1 equal to zero,
trial
n) 0
g=
f
:
n +1
n +1 n +1 ( E + H ) ( n + n +1 ) ( =
trial
=
dg
df
:
n +1
n +1 d n +1 ( E + H ) ( n + n +1 ) d n +1
=: df ntrial
H 0
+1 d n +1 E + ( n + n +1 ) +=
d n +=
1
April 1, 2015
E + ( n + n +1 ) + H
df ntrial
+1
35

Substituting the variations shown before, the following discrete
tangent constitutive equation is obtained,
d n +1 = Enep+1d n +1
where the consistent elastoplastic tangent modulus at time n+1
is given by
E= E 1 E E + ( n + n +1 ) + H
ep
n +1
April 1, 2015
36
Contents
Contents
1. Introduction
1.
2.
3.
4.


1.
2.
3.
4.


April 1, 2015
37
1D Plasticity Algorithms > Rate Dependent Plasticity Models
1D Rate dependent plasticity model

1. Additive split of strains
E := Ee + E p, E :=
{ , 0, 0} ,
E p :=
p
e
,
E
{
} :=
{ , , }
2. Constitutive equations
S=
Ee (Ee ) =
C Ee , S :=
{ , q, q }, C := diag {E , K , H }
3. Associative plastic flow rule
p= f (S )
E
S
4. Yield function
f (S ) = q Y + q
5. Plastic multiplier
April 1, 2015
f (S ) 0
38

Associative plastic flow rule: plastic strains at time n+1
p= f (S )
E
S
Using a Backward-Euler (BE) time integration scheme yields,

p
Enp+=
E
1
n + n +1 t Sn+1 f (Sn +1 )
April 1, 2015
39

Constitutive equations: stress state at time n+1
Ee (Ee ) =
S=
C Ee =
C (E E p ) , C := diag { E , K , H }
The time-discrete constituve equation at time n+1 takes the

form,
=
Sn +1 C=
Een +1 C (En +1 Enp+1 )
Substituting the plastic strains at time n+1 yields,
(
C (E
=
Sn +1 C En +1 Enp n +1 t Sn+1 f (Sn +1 )
=
April 1, 2015
E
n +1
n ) n +1t C Sn+1 f (Sn +1 )
40

Trial state at time n+1
The trial state at time n+1 is defined by freezing the plastic
behaviour at the time step, yielding
p
Enp+,trial
:
=
E
1
n
trial
p ,trial
Een,+=
:
E
E
1
n +1
n +1
e ,trial
p ,trial
p
Strial
:
=
C
E
=
C
E
E
=
C
E
E
( n+1 n+1 ) ( n+1 n )
n +1
n +1
trial
f nrial
f
:
=
S
( n+1 )
+1
April 1, 2015
41

trial
Sn +=
S
1
n +1 n +1 t C Sn+1 f (Sn +1 )
n +1 = ntrial
+1 n +1 t E sgn ( n +1 qn +1 )
trial
q
:
q
=
n +1
n +1 n +1 t K
trial
q
:
q
=
n +1 + n +1 t H sgn ( n +1 qn +1 )
n +1
April 1, 2015
42

1. Additive split of strains at time n+1
e
p
E=
:
E
+
E
n +1
n +1
n +1
2. Stresses at time n+1. Return mapping algorithm
trial
Sn +=
S
1
n +1 n +1t C Sn+1 f (Sn +1 )
3. Plastic internal variables at time n+1
p
Enp+=
E
1
n + n +1 t Sn+1 f (Sn +1 )
4. Yield function at time n+1
f n +1 := f (Sn +1 ) = n +1 qn +1 Y + qn +1
5. Plastic multiplier at time n+1
=
n +1
April 1, 2015
f (Sn +1 ) 0
43

trial
Sn +=
S
1
n +1 n +1 t C Sn+1 f (Sn +1 )
n +1 = ntrial
+1 n +1 t E sgn ( n +1 qn +1 )
trial
q
:
q
=
n +1
n +1 n +1 t K
trial
q
:
q
=
n +1 + n +1 t H sgn ( n +1 qn +1 )
n +1
April 1, 2015
44

The solution for the return mapping algorithm yields,
trial
n +1 qn +1 = ntrial
q
+1
n +1 n +1t ( E + H ) sgn ( n +1 qn +1 )
trial
trial
trial
n +1 qn +1 sgn ( n +1 qn +1 ) = ntrial
q
sgn
q
( n+1 n+1 )
+1
n +1
n +1t ( E + H ) sgn ( n +1 qn +1 )
n +1
qn +1 + n +1t ( E + H ) ) sgn ( n +1 qn +1 ) =
trial
trial
trial
=
ntrial
q
sgn
q
(
+1
n +1
n +1
n +1 )
trial
n +1 qn +1 + n +1t ( E + H )= ntrial
q
+1
n +1
trial
trial
sgn ( n +1 qn=
sgn
q
( n+1 n+1 )
+1 )
April 1, 2015
45

For the non-trivial case (plastic loading), the yield function and
the discrete plastic multiplier are greater than zero, and the
following expressions hold,
if
n +1 > 0 then
f ( n +1 , qn +1 , qn +1 ) =
n +1 > 0
f ( n +1 , qn +1 , qn +1 ) = n +1 qn +1 Y + qn +1
trial
trial
q
t
E
K
H
q
= ntrial
+
+
+
(
)
n +1
n +1
Y
n +1
+1
trial
trial
,
,
q
q
n +1
= f ( ntrial
n +1
n +1 ) =
n +1t ( E+K +H )
+1
trial
trial
,
,
n +1t= E + K + H + f ( ntrial
q
q
n +1
n +1 ) > 0
+1
t
April 1, 2015
46

n +1 = ntrial
+1 n +1 t E sgn ( n +1 qn +1 )
trial
:
q
=
q
n +1
n +1 n +1 t K
trial
:
q
q
=
n +1 + n +1 t H sgn ( n +1 qn +1 )
n +1
1
trial
trial
trial
n +1= ntrial
sgn
E
K
H
t
f
E
+
+
+
(
)
(
n +1
n +1
n +1 )
+1
trial
trial
q
:
q
E
K
H
t
f
=
+
+
+
(
) n+1 K
n +1
n +1
1
trial
trial
trial
trial
q
:
q
E
K
H
t
f
H
sgn
q
=
+
+
+
+
(
)
( n+1 n+1 )
n +1
n +1
n +1
April 1, 2015
47

The update of the plastic internal variables takes the form,
np+1 = np + n +1t sgn ( n +1 qn +1 )
n +1 := n + n +1t
n +1 := n n +1t sgn ( n +1 qn +1 )
trial
trial
np+1 = np + ( E + K + H + t )1 f ntrial
sgn
q
(
+1
n +1
n +1 )
trial
=
+
+
+
+
E
K
H
t
f
:
(
)
n +1
n
n +1
1
trial
trial
trial
=
+
+
+
:
E
K
H
t
f
sgn
q
(
)
(
n +1
n
n +1
n +1
n +1 )
April 1, 2015
48

trial
trial
trial
+
+
+
n +1= ntrial
E
K
H
t
f
E
sgn
q
(
)
(
+1
n +1
n +1
n +1 )
1
d n=
d
+1
trial
n +1
trial
trial
( E + K + H + t ) df ntrial
E
sgn
q
(
+1
n +1
n +1 )
1
where
e ,trial
p
d ntrial
=
Ed
=
E
d
=
( n+1 n ) E d n+1
+1
n +1
trial
trial
trial
trial
trial
trial
sgn
df ntrial
=
d
q
=
q
d
q
( n+1 n+1 ) ( n+1 n+1 )
+1
n +1
n +1
trial
trial
trial
trial
sgn ( ntrial
sgn
=
q
d
q
)
(
+1
n +1
n +1
n +1
n +1 ) E d n +1
April 1, 2015
49

The consistent elastoplastic tangent modulus takes the form,
d n=
d
+1
trial
n +1
trial
trial
sgn
E
q
( E + K + H + t ) df ntrial
( n+1 n+1 )
+1
1
d n +1 = E d n +1
trial
q
( E + K + H + t ) sgn 2 ( ntrial
n +1 ) E E d n +1
+1
1
d n +1 = E 1 E ( E + K + H + t )
) d
n +1
d n +1 = E ep d n +1 , E ep := E 1 E ( E + K + H + t )
April 1, 2015
)
50
Step 1. Given the strain at time n+1 (strain driven problem), and
the stored plastic internal variables at time n (plastic internal
variables database)
Step 2. Compute the trial state at time n+1
p
:
=
Enp+,trial
E
1
n
trial
p ,trial
:
Een,+=
E
E
1
n +1
n +1
e ,trial
p ,trial
p
:
Strial
=
C
E
=
C
E
E
=
C
E
E
(
)
(
n +1
n +1
n +1
n +1
n +1
n )
trial
trial
trial
f ntrial
q
:
=
+
+1
n +1
n +1
Y
n +1
April 1, 2015
51
Step 3. Check the trial yield function at time n+1
if f
trial
n +1
0 then set
( )n+1 =
( )n+1 ,
E ep =
E and exit
trial
Step 4. Compute discrete plastic multipliet at time n+1
n +1 = ( E + K + H + t ) f ntrial
+1
1
April 1, 2015
52
Step 5. Return mapping algorithm (closest-point-projection)
trial
Sn +1 =Strial
C
S
f
(
n +1
n +1
n +1 )
Strial
n+1
1
trial
trial
trial
n +1= ntrial
+
+
+
E
K
H
t
f
E
sgn
q
(
) n+1
(
+1
n +1
n +1 )
trial
trial
=
+
+
+
q
:
q
E
K
H
t
f
(
)
n +1
n +1
n +1 K
1
trial
trial
trial
trial
=
+
+
+
+
q
:
q
E
K
H
t
f
H
sgn
q
(
) n+1
( n+1 n+1 )
n +1
n +1
April 1, 2015
53
Step 6. Update plastic internal variables database at time n+1
Enp+1 =Enp + n +1 Strial f (Strial

n +1 )
n+1
trial
trial
np+1 = np + ( E + K + H + t )1 f ntrial
sgn
q
(
n +1
n +1 )
+1
trial
E
K
H
t
f
=
+
+
+
+
(
) n+1
n +1
n
1
trial
trial
trial
E
K
H
t
f
sgn
q
=
+
+
+
(
)
( n+1 n+1 )
n +1
n
n +1
Step 7. Compute the consistent elastoplastic tangent modulus
E := E 1 E ( E + K + H + t )
ep
April 1, 2015
54

q := = ( ) = ( )
Exponential saturation law + linear hardening
( ) = ( Y ) (1 exp ( ) ) + K
q := := ( Y ) (1 exp ( ) ) K
April 1, 2015
55

Time discrete nonlinear isotropic hardening
qn +1 := ( n +1 ) = ( n + n +1t )
trial
:
qntrial
( n+1 ) = (n ) = qn
+1
trial
:
q=
q
n +1
n +1 ( n + n +1t ) + ( n )
April 1, 2015
56

Plastic loading: Yield function at time n+1
n ) ) n +1 > 0
=
f n +1 f ntrial
+1 n +1t ( E + H ) ( ( n + n +1t ) ( =
Nonlinear residual scalar equation on the plastic multiplier at
time n+1
g n +1 :=g ( n +1 ) =f n +1 n +1 =0
g=
f
n +1 :
trial
n +1
April 1, 2015
n +1t E + H + ( ( n + n +1t ) (=
0
n ))
t
57

Step 1. Initialize iteration counter and plastic multiplier
=
k 0,=
nk+1 0
Step 2. Compute the residual g at time n+1, iteration k

Step 3. While the absolute value of the current residual at time
n+1, iteration k, is greater than a tolerance
Step 4. Solve the linarized equation
g nk+1 + Dg nk+1 nk+1 =

0
Step 5. Update the plastic multiplier at time n+1, iteration k+1

+1
k
k
nk=
+1
n +1
n +1
Step 6. Compute the residual g at time n+1, iteration k+1

Step 7. Increment iteration counter k=k+1 and go to Step 3
April 1, 2015
58

g nk+1 + Dg nk+1 nk+1 =

0

t E + H + ( n + nk+1t ) ( n )
g=: f
t
k
k
E + H + n +1t ( n + nk+1t ) nk+1t
Dg n +1 n +1 :=
t
k
:= E + ( n + n +1t ) + H + n +1t
t
nk+1 := nk++11 nk+1

k
n +1
April 1, 2015
trial
n +1
k
n +1
59

trial
trial
sgn
n +1 = ntrial
t
E
q
( n+1 n+1 )
n +1
+1
trial
trial
sgn
d n +1 = d ntrial
d
t
E
( n+1 n+1 )
+1
n +1
where the variations of the trial stress tensor, and plastic

multiplier, at time n+1, have to be computed.
April 1, 2015
60

The variation of the plastic multiplier at time n+1 is computed
setting the variation of the residual at time n+1 equal to zero,
g=
f
n +1 :
trial
n +1
=
dg
n +1 : df
n +1t E + H + ( n + n +1t ) (=
0
n)
t
trial
n +1
=: df ntrial
+1
d n +1t E + H + ( n + n +1t ) d n +1t

t
d n +1t E + ( n + n +1t ) + H + =
0
t
d n +1=
t E + ( n + n +1t ) + H + df ntrial
+1
April 1, 2015
61

Substituting the variations shown before, the following discrete
tangent constitutive equation is obtained,
d n +1 = Enep+1d n +1
where the consistent elastoplastic tangent modulus at time n+1
is given by
1
ep
E=
E 1 E E + ( n + n +1t ) + H +
n +1
April 1, 2015
62
Contents
Contents
1. Introduction
1.
2.
3.
4.


1.
2.
3.
4.


April 1, 2015
63
1D Plasticity Algorithms > 1D Computational Plasticity Assignment
1D Computational plasticity assignment

Implement in MATLAB the BE time-stepping algorithm for 1D
rate-independent/rate-dependent hardening plasticity
models, including linear and nonlinear isotropic hardening,
and linear kinematic hardening
Perform the numerical simulation of uniaxial cyclic plastic
loading/elastic unloading examples for the following cases:
o Rate-independent/rate-dependent perfect plasticity
o Rate-independent/rate-dependent linear isotropic hardening plasticity
o Rate-independent/rate-dependent nonlinear isotropic hardening
plasticity, considering an exponential saturation law
o Rate-independent/rate-dependent linear kinematic hardening
plasticity
o Rate-independent/rate-dependent nonlinear isotropic and linear
kinematic hardening plasticity
April 1, 2015
64

For the perfect plasticity models, plot the stress-strain curves
For the linear isotropic/linear kinematic hardening models,
plot the stress-strain curves showing the influence of the
isotropic/kinematic hardening parameters
For the nonlinear isotropic hardening model, plot the stressstrain curves showing the influence of the exponential
coefficient of the exponential saturation law on the stressstrain curves
For the rate-dependent plasticity models, plot the stressstrain, and the stress-time curves showing the influence of the
viscosity parameter and the loading rate.
Show that the rate-independent response can be recovered
from the rate-dependent results using very small values for
the viscosity or the loading
rate
April 1, 2015
65

Write a comprehensive deliverable report (10 pages)
providing the data of the cyclic loading and material
properties considered, the stress-strain curves, and the
stress-time curves for the rate-dependent plasticity examples.
Add suitable comments on the results, comparing the
influence of the different material parameters and loading
conditions.
Add a printed copy of the subroutines as an Appendix
April 1, 2015
66

Chapter 2. 1D Plasticity Algorithms v1.0

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Computational Solid Mechanics

Chapter 2. 1D Plasticity Algorithms

1D Plasticity Algorithms > Contents

Return mapping algorithm

3. 1D Rate dependent plasticity models

Return mapping algorithm

4. 1D Computational plasticity assignment

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Contents

Return mapping algorithm

3. 1D Rate dependent plasticity models

Return mapping algorithm

4. 1D Computational plasticity assignment

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Introduction

Time integration algorithm

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Contents

Return mapping algorithm

3. 1D Rate dependent plasticity models

Return mapping algorithm

4. 1D Computational plasticity assignment

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

1D Rate independent plasticity model

3. Associative plastic flow rule

5. Kuhn-Tucker loading/unloading conditions

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Using a Backward-Euler (BE) time integration scheme yields,

Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

The time-discrete constituve equation at time n+1 takes the

Substituting the plastic strain variables at time n+1 yields,

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

2. Stresses at time n+1. Return mapping algorithm

3. Plastic internal variables at time n+1

Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )

4. Yield function at time n+1

5. Kuhn-Tucker loading/unloading conditions at time n+1

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

and Kuhn-Tucker loading/unloading conditions can be decided

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Using the return mapping equation, yields,

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Carlos Agelet de Saracibar

1D Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

where the complementary energy is given by,