/*
*Solves for incremental plastic rate of deformation tensor and stress in unrotated frame.
*Input: Strain incrment, 4th order elasticity tensor, stress tensor in previous incrmenent and
*plastic rate of deformation tensor gradient.
*/
void
FiniteStrainPlasticMaterial::solveStressResid(RankTwoTensor sig_old,RankTwoTensor delta_d,RankFourTensor E_ijkl, RankTwoTensor *dp, RankTwoTensor *sig)
{
RankTwoTensor sig_new,delta_dp,dpn;
RankTwoTensor flow_tensor, flow_dirn;
RankTwoTensor resid,ddsig;
RankFourTensor dr_dsig,dr_dsig_inv;
Real /*sig_eqv,*/flow_incr,f,dflow_incr;
Real err1,err2,err3;
unsigned int plastic_flag;
unsigned int iter,maxiter=100;
Real eqvpstrain,eqvpstrain_old,deqvpstrain,fq,rep;
Real yield_stress;
sig_new=sig_old+E_ijkl*delta_d;
eqvpstrain_old=eqvpstrain=_eqv_plastic_strain_old[_qp];
yield_stress=getYieldStress(eqvpstrain);
plastic_flag=isPlastic(sig_new,yield_stress);//Check of plasticity for elastic predictor
if (plastic_flag==1)
{
iter=0;
dflow_incr=0.0;
flow_incr=0.0;
delta_dp.zero();
deqvpstrain=0.0;
sig_new=sig_old+E_ijkl*delta_d;
getFlowTensor(sig_new,&flow_tensor);
flow_dirn=flow_tensor;
resid=flow_dirn*flow_incr-delta_dp;//Residual 1 - refer Hughes Simo
f=getSigEqv(sig_new)-yield_stress;//Residual 2 - f=0
rep=-eqvpstrain+eqvpstrain_old+flow_incr;//Residual 3 rep=0
err1=resid.L2norm();
err2=fabs(f);
err3=fabs(rep);
while ((err1 > _rtol || err2 > _ftol || err3 > _eptol) && iter < maxiter )//Stress update iteration (hardness fixed)
{
iter++;
getJac(sig_new,E_ijkl,flow_incr,&dr_dsig);//Jacobian
dr_dsig_inv=dr_dsig.invSymm();
fq=getdYieldStressdPlasticStrain(eqvpstrain);
dflow_incr=(f-flow_tensor.doubleContraction(dr_dsig_inv*resid)+fq*rep)/(flow_tensor.doubleContraction(dr_dsig_inv*flow_dirn)-fq);
ddsig=dr_dsig_inv*(-resid-flow_dirn*dflow_incr);
flow_incr+=dflow_incr;
delta_dp-=E_ijkl.invSymm()*ddsig;
sig_new+=ddsig;
deqvpstrain=rep+dflow_incr;
eqvpstrain+=deqvpstrain;
getFlowTensor(sig_new,&flow_tensor);
flow_dirn=flow_tensor;
resid=flow_dirn*flow_incr-delta_dp;
f=getSigEqv(sig_new)-yield_stress;
rep=-eqvpstrain+eqvpstrain_old+flow_incr;
err1=resid.L2norm();
err2=fabs(f);
err3=fabs(rep);
}
if (iter>=maxiter)
{
_stress[_qp](2,2)=1e6;
printf("Constitutive Error: Too many iterations %f %f %f \n",err1,err2, err3);//Convergence failure
return;
}
dpn=*dp+delta_dp;
}
*dp=dpn;//Plastic strain in unrotated configuration
*sig=sig_new;
_eqv_plastic_strain[_qp]=eqvpstrain;
}
/**
* Implements the return-map algorithm via a Newton-Raphson process.
* This idea is fully explained in Simo and Hughes "Computational
* Inelasticity" Springer 1997, for instance, as well as many other
* books on plasticity.
* The basic idea is as follows.
* Given: sig_old - the stress at the start of the "time step"
* plastic_strain_old - the plastic strain at the start of the "time step"
* eqvpstrain_old - equivalent plastic strain at the start of the "time step"
* (In general we would be given some number of internal
* parameters that the yield function depends upon.)
* delta_d - the prescribed strain increment for this "time step"
* we want to determine the following parameters at the end of this "time step":
* sig - the stress
* plastic_strain - the plastic strain
* eqvpstrain - the equivalent plastic strain (again, in general, we would
* have an arbitrary number of internal parameters).
*
* To determine these parameters, introduce
* the "yield function", f
* the "consistency parameter", flow_incr
* the "flow potential", flow_dirn_ij
* the "internal potential", internalPotential (in general there are as many internalPotential
* functions as there are internal parameters).
* All three of f, flow_dirn_ij, and internalPotential, are functions of
* sig and eqvpstrain.
* To find sig, plastic_strain and eqvpstrain, we need to solve the following
* resid_ij = 0
* f = 0
* rep = 0
* This is done by using Newton-Raphson.
* There are 8 equations here: six from resid_ij=0 (more generally there are nine
* but in this case resid is symmetric); one from f=0; one from rep=0 (more generally, for N
* internal parameters there are N of these equations).
*
* resid_ij = flow_incr*flow_dirn_ij - (plastic_strain - plastic_strain_old)_ij
* = flow_incr*flow_dirn_ij - (E^{-1}(trial_stress - sig))_ij
* Here trial_stress = E*(strain - plastic_strain_old)
* sig = E*(strain - plastic_strain)
* Note: flow_dirn_ij is evaluated at sig and eqvpstrain (not the old values).
*
* f is the yield function, evaluated at sig and eqvpstrain
*
* rep = -flow_incr*internalPotential - (eqvpstrain - eqvpstrain_old)
* Here internalPotential are evaluated at sig and eqvpstrain (not the old values).
*
* The Newton-Raphson procedure has sig, flow_incr, and eqvpstrain as its
* variables. Therefore we need the derivatives of resid_ij, f, and rep
* with respect to these parameters
*
* In this associative J2 with isotropic hardening, things are a little more specialised.
* (1) f = sqrt(3*s_ij*s_ij/2) - K(eqvpstrain) (this is called "isotropic hardening")
* (2) associativity means that flow_dirn_ij = df/d(sig_ij) = s_ij*sqrt(3/2/(s_ij*s_ij)), and
* this means that flow_dirn_ij*flow_dirn_ij = 3/2, so when resid_ij=0, we get
* (plastic_strain_dot)_ij*(plastic_strain_dot)_ij = (3/2)*flow_incr^2, where
* plastic_strain_dot = plastic_strain - plastic_strain_old
* (3) The definition of equivalent plastic strain is through
* eqvpstrain_dot = sqrt(2*plastic_strain_dot_ij*plastic_strain_dot_ij/3), so
* using (2), we obtain eqvpstrain_dot = flow_incr, and this yields
* internalPotential = -1 in the "rep" equation.
*/
void
FiniteStrainPlasticMaterial::returnMap(const RankTwoTensor & sig_old,
const Real eqvpstrain_old,
const RankTwoTensor & plastic_strain_old,
const RankTwoTensor & delta_d,
const RankFourTensor & E_ijkl,
RankTwoTensor & sig,
Real & eqvpstrain,
RankTwoTensor & plastic_strain)
{
// the yield function, must be non-positive
// Newton-Raphson sets this to zero if trial stress enters inadmissible region
Real f;
// the consistency parameter, must be non-negative
// change in plastic strain in this timestep = flow_incr*flow_potential
Real flow_incr = 0.0;
// direction of flow defined by the potential
RankTwoTensor flow_dirn;
// Newton-Raphson sets this zero
// resid_ij = flow_incr*flow_dirn_ij - (plastic_strain - plastic_strain_old)
RankTwoTensor resid;
// Newton-Raphson sets this zero
// rep = -flow_incr*internalPotential - (eqvpstrain - eqvpstrain_old)
Real rep;
// change in the stress (sig) in a Newton-Raphson iteration
RankTwoTensor ddsig;
// change in the consistency parameter in a Newton-Raphson iteration
Real dflow_incr = 0.0;
// change in equivalent plastic strain in one Newton-Raphson iteration
Real deqvpstrain = 0.0;
// convenience variable that holds the change in plastic strain incurred during the return
// delta_dp = plastic_strain - plastic_strain_old
// delta_dp = E^{-1}*(trial_stress - sig), where trial_stress = E*(strain - plastic_strain_old)
RankTwoTensor delta_dp;
// d(yieldFunction)/d(stress)
RankTwoTensor df_dsig;
// d(resid_ij)/d(sigma_kl)
RankFourTensor dr_dsig;
// dr_dsig_inv_ijkl*dr_dsig_klmn = 0.5*(de_ij de_jn + de_ij + de_jm), where de_ij = 1 if i=j, but
// zero otherwise
RankFourTensor dr_dsig_inv;
// d(yieldFunction)/d(eqvpstrain)
Real fq;
// yield stress at the start of this "time step" (ie, evaluated with
// eqvpstrain_old). It is held fixed during the Newton-Raphson return,
// even if eqvpstrain != eqvpstrain_old.
Real yield_stress;
// measures of whether the Newton-Raphson process has converged
Real err1, err2, err3;
// number of Newton-Raphson iterations performed
unsigned int iter = 0;
// maximum number of Newton-Raphson iterations allowed
unsigned int maxiter = 100;
// plastic loading occurs if yieldFunction > toly
Real toly = 1.0e-8;
// Assume this strain increment does not induce any plasticity
// This is the elastic-predictor
sig = sig_old + E_ijkl * delta_d; // the trial stress
eqvpstrain = eqvpstrain_old;
plastic_strain = plastic_strain_old;
yield_stress = getYieldStress(eqvpstrain); // yield stress at this equivalent plastic strain
if (yieldFunction(sig, yield_stress) > toly)
{
// the sig just calculated is inadmissable. We must return to the yield surface.
// This is done iteratively, using a Newton-Raphson process.
delta_dp.zero();
sig = sig_old + E_ijkl * delta_d; // this is the elastic predictor
flow_dirn = flowPotential(sig);
resid = flow_dirn * flow_incr - delta_dp; // Residual 1 - refer Hughes Simo
f = yieldFunction(sig, yield_stress);
rep = -eqvpstrain + eqvpstrain_old - flow_incr * internalPotential(); // Residual 3 rep=0
err1 = resid.L2norm();
err2 = std::abs(f);
err3 = std::abs(rep);
while ((err1 > _rtol || err2 > _ftol || err3 > _eptol) &&
iter < maxiter) // Stress update iteration (hardness fixed)
{
iter++;
df_dsig = dyieldFunction_dstress(sig);
getJac(sig, E_ijkl, flow_incr, dr_dsig); // gets dr_dsig = d(resid_ij)/d(sig_kl)
fq = dyieldFunction_dinternal(eqvpstrain); // d(f)/d(eqvpstrain)
/**
* The linear system is
* ( dr_dsig flow_dirn 0 )( ddsig ) ( - resid )
* ( df_dsig 0 fq )( dflow_incr ) = ( - f )
* ( 0 1 -1 )( deqvpstrain ) ( - rep )
* The zeroes are: d(resid_ij)/d(eqvpstrain) = flow_dirn*d(df/d(sig_ij))/d(eqvpstrain) = 0
* and df/d(flow_dirn) = 0 (this is always true, even for general hardening and
* non-associative)
* and d(rep)/d(sig_ij) = -flow_incr*d(internalPotential)/d(sig_ij) = 0
*/
dr_dsig_inv = dr_dsig.invSymm();
/**
* Because of the zeroes and ones, the linear system is not impossible to
* solve by hand.
* NOTE: andy believes there was originally a sign-error in the next line. The
* next line is unchanged, however andy's definition of fq is negative of
* the original definition of fq. andy can't see any difference in any tests!
*/
dflow_incr = (f - df_dsig.doubleContraction(dr_dsig_inv * resid) + fq * rep) /
(df_dsig.doubleContraction(dr_dsig_inv * flow_dirn) - fq);
ddsig =
dr_dsig_inv *
(-resid -
flow_dirn * dflow_incr); // from solving the top row of linear system, given dflow_incr
deqvpstrain =
rep + dflow_incr; // from solving the bottom row of linear system, given dflow_incr
// update the variables
flow_incr += dflow_incr;
delta_dp -= E_ijkl.invSymm() * ddsig;
sig += ddsig;
eqvpstrain += deqvpstrain;
// evaluate the RHS equations ready for next Newton-Raphson iteration
flow_dirn = flowPotential(sig);
resid = flow_dirn * flow_incr - delta_dp;
f = yieldFunction(sig, yield_stress);
rep = -eqvpstrain + eqvpstrain_old - flow_incr * internalPotential();
err1 = resid.L2norm();
err2 = std::abs(f);
err3 = std::abs(rep);
}
if (iter >= maxiter)
mooseError("Constitutive failure");
plastic_strain += delta_dp;
}
}
/*
*Solves for incremental plastic rate of deformation tensor and stress in unrotated frame.
*Input: Strain incrment, 4th order elasticity tensor, stress tensor in previous incrmenent and
*plastic rate of deformation tensor.
*/
void
FiniteStrainRatePlasticMaterial::returnMap(const RankTwoTensor & sig_old, const RankTwoTensor & delta_d, const RankFourTensor & E_ijkl, RankTwoTensor & dp, RankTwoTensor & sig)
{
RankTwoTensor sig_new, delta_dp, dpn;
RankTwoTensor flow_tensor, flow_dirn;
RankTwoTensor resid,ddsig;
RankFourTensor dr_dsig, dr_dsig_inv;
Real flow_incr, flow_incr_tmp;
Real err1, err3, tol1, tol3;
unsigned int iterisohard, iter, maxiterisohard = 20, maxiter = 50;
Real eqvpstrain;
Real yield_stress, yield_stress_prev;
tol1 = 1e-10;
tol3 = 1e-6;
iterisohard = 0;
eqvpstrain = std::pow(2.0/3.0,0.5) * dp.L2norm();
yield_stress = getYieldStress(eqvpstrain);
err3 = 1.1 * tol3;
while (err3 > tol3 && iterisohard < maxiterisohard) //Hardness update iteration
{
iterisohard++;
iter = 0;
delta_dp.zero();
sig_new = sig_old + E_ijkl * delta_d;
flow_incr=_ref_pe_rate*_dt * std::pow(macaulayBracket(getSigEqv(sig_new) / yield_stress - 1.0), _exponent);
getFlowTensor(sig_new, yield_stress, flow_tensor);
flow_dirn = flow_tensor;
resid = flow_dirn * flow_incr - delta_dp;
err1 = resid.L2norm();
while (err1 > tol1 && iter < maxiter) //Stress update iteration (hardness fixed)
{
iter++;
getJac(sig_new, E_ijkl, flow_incr, yield_stress, dr_dsig); //Jacobian
dr_dsig_inv = dr_dsig.invSymm();
ddsig = -dr_dsig_inv * resid;
sig_new += ddsig; //Update stress
delta_dp -= E_ijkl.invSymm() * ddsig; //Update plastic rate of deformation tensor
flow_incr_tmp = _ref_pe_rate * _dt * std::pow(macaulayBracket(getSigEqv(sig_new) / yield_stress - 1.0), _exponent);
if (flow_incr_tmp < 0.0) //negative flow increment not allowed
mooseError("Constitutive Error-Negative flow increment: Reduce time increment.");
flow_incr = flow_incr_tmp;
getFlowTensor(sig_new, yield_stress, flow_tensor);
flow_dirn = flow_tensor;
resid = flow_dirn * flow_incr - delta_dp; //Residual
err1=resid.L2norm();
}
if (iter>=maxiter)//Convergence failure
mooseError("Constitutive Error-Too many iterations: Reduce time increment.\n"); //Convergence failure
dpn = dp + delta_dp;
eqvpstrain = std::pow(2.0/3.0, 0.5) * dpn.L2norm();
yield_stress_prev = yield_stress;
yield_stress = getYieldStress(eqvpstrain);
err3 = std::abs(yield_stress-yield_stress_prev);
}
if (iterisohard>=maxiterisohard)
mooseError("Constitutive Error-Too many iterations in Hardness Update:Reduce time increment.\n"); //Convergence failure
dp = dpn; //Plastic rate of deformation tensor in unrotated configuration
sig = sig_new;
}
