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fem, solver: thermal strain in nonlinear static steps

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Temperatures now strain the material in nonlinear steps instead of being
refused. At finite strain the deformation gradient splits multiplicatively,
F = F_m F_theta with F_theta = diag(1 + alpha_i dT) at each point: the material
sees F_m and the loops run on the thermally expanded volume J_theta dV0 (mixed
elements project det F_m), so the tangent stays consistent. At small strain the
split is additive, and elements on their linear stiffness take the equivalent
nodal forces as a dead load. The step's temperatures are its temperature loads,
or the steady conduction of its temperature conditions and heat loads (one-way
coupling, as the linear coupled step); both at once are refused. They ramp with
the load factor from each material's reference temperature. Johnson-Cook
plasticity softens at the point's temperature. Verified: free expansion and a
fully constrained neo-Hookean block at 20 % thermal stretch, full and hybrid
(exact); a bar held at its ends heated past yield (exact); the linear limit and
the conducted temperatures against the linear solvers; tangents by central
differences with a temperature field.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01NmAttHhUZTokgPeEJia8sm
This commit is contained in:
jyvikoandClaude Opus 5.5 authored and Irakli Kourtis committed 2026-10-14 07:23:06 -04:00
1 parent 53adab54c2
commit 3f9e9e30d8
8 files changed
+492 -94
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crates/fem/src/finite.rs
+218 -56
View File
@@ -29,6 +29,17 @@
//! elements of an elastic material are refused in nonlinear steps; J2 plasticity has it exactly
//! (the return is deviatoric, the volume Hencky's K/2 (ln J)², [`crate::elastoplastic`]).
//!
//! **Thermal strain** ([`Temperature`]): at finite strain the multiplicative split F = F_m F_θ
//! with the thermal stretches F_θ = diag(1 + αᵢ (T − T_ref)) at each point (T interpolated from
//! the nodes; V. A. Lubarda, *Constitutive theories based on the multiplicative decomposition of
//! deformation gradient: thermoelasticity, elastoplasticity, and biomechanics*, Appl. Mech. Rev.
//! 57(2):95–108, 2004): the material sees
//! F_m, the stress per reference volume is J_θ τ_m(F_m), and since F_θ is fixed over an
//! iteration the spatial tangent is J_θ c_m, so the loops run unchanged on the thermally
//! expanded volume J_θ dV₀ (the mixed elements project det F_m on it). The linear stretch
//! 1 + α ΔT is the engineering definition of α, so a free body grows by exactly α ΔT. At small
//! strain the split is additive, ε_m = ε − α ΔT. Reported strains are the total ones.
//!
//! **Small strain** ([`Kinematics::Small`], a step without nonlinear geometry with an inelastic
//! material): the same loops on the linear kinematics, ε = sym ∇u with the reference gradients,
//! f = ∫ Bᵀ σ dV₀ and K = ∫ Bᵀ 𝔻 B dV₀ with the material's consistent tangent 𝔻, and no
@@ -73,14 +84,76 @@ pub enum Kinematics {
Small,
}
/// The temperatures of an element in a nonlinear step: the linear expansion coefficients along
/// X, Y, Z (zero for a material that does not expand), the reference temperature at which the
/// thermal strain is zero, and the temperature at each node.
#[derive(Debug, Clone, PartialEq)]
pub struct Temperature {
pub alpha: [f64; 3],
pub reference: f64,
pub nodal: Vec<f64>,
}
impl Temperature {
fn check(&self, nodes: usize) -> Result<()> {
if self.nodal.len() != nodes {
return Err(Error::Invalid(format!("{} temperatures for a {nodes}-node element", self.nodal.len())));
}
if self.alpha.iter().chain(&self.nodal).chain([&self.reference]).any(|v| !v.is_finite()) {
return Err(Error::Invalid("temperatures and expansion coefficients must be finite".into()));
}
Ok(())
}
}
/// The temperature at a point and its thermal stretches ϑᵢ = 1 + αᵢ (T − T_ref).
#[derive(Debug, Clone, Copy)]
struct Heat {
temperature: Option<f64>,
stretch: [f64; 3],
}
impl Heat {
/// At a point of shape function values `n`.
fn at(t: Option<&Temperature>, n: &[f64]) -> Result<Heat> {
let Some(t) = t else { return Ok(Heat { temperature: None, stretch: [1.0; 3] }) };
let temperature: f64 = t.nodal.iter().zip(n).map(|(a, b)| a * b).sum();
let stretch = t.alpha.map(|a| 1.0 + a * (temperature - t.reference));
if !stretch.iter().all(|v| *v > 0.0 && v.is_finite()) {
return Err(Error::Degenerate(format!("the thermal stretches {stretch:?} at T = {temperature} are not positive")));
}
Ok(Heat { temperature: Some(temperature), stretch })
}
/// J_θ = ϑ₁ ϑ₂ ϑ₃.
fn volume(&self) -> f64 {
self.stretch.iter().product()
}
/// The mechanical part F_m = F F_θ⁻¹ of a deformation gradient.
fn mechanical(&self, f: &Mat3) -> Mat3 {
std::array::from_fn(|i| std::array::from_fn(|j| f[i][j] / self.stretch[j]))
}
/// The mechanical part ε − α (T − T_ref) of a small strain.
fn mechanical_strain(&self, e: &[f64; 6]) -> [f64; 6] {
std::array::from_fn(|k| if k < 3 { e[k] - (self.stretch[k] - 1.0) } else { e[k] })
}
}
/// What one integration point gives the element.
struct PointKinematics {
/// The point's share of the reference volume (of the thermally expanded volume J_θ dV₀ at
/// finite strain).
weight: f64,
/// The deformation gradient, and its mechanical part F_m = F F_θ⁻¹ the material sees.
total: Mat3,
f: Mat3,
/// det F, or the dilatation 1 + tr ε of small strain (what a mixed element projects).
/// det F_m, or the dilatation 1 + tr ε_m of small strain (what a mixed element projects).
j: f64,
/// The small strain ε = sym ∇u (engineering shears); zero at finite strain.
/// The mechanical small strain ε − ε_th (engineering shears); zero at finite strain.
strain: [f64; 6],
temperature: Option<f64>,
/// ∇ₓN of every node (∇₀N at small strain).
gradients: Vec<[f64; 3]>,
/// Reference position.
@@ -100,8 +173,8 @@ fn small_strain(f: &Mat3) -> [f64; 6] {
/// The response of one point's material with its history slices.
fn point_response(m: &MaterialModel, kin: Kinematics, p: &PointKinematics, committed: &[f64], updated: &mut [f64]) -> Result<Response> {
match kin {
Kinematics::Finite => m.response(&p.f, None, committed, updated),
Kinematics::Small => m.small_strain(&p.strain, None, committed, updated, true),
Kinematics::Finite => m.response(&p.f, p.temperature, committed, updated),
Kinematics::Small => m.small_strain(&p.strain, p.temperature, committed, updated, true),
}
}
@@ -182,43 +255,52 @@ impl Solid<'_> {
/// F, J and the gradients at every stiffness point: the current ones at finite strain, the
/// reference ones at small strain.
fn kinematics(&self, u: &[[f64; 3]], kin: Kinematics) -> Result<Vec<PointKinematics>> {
fn kinematics(&self, u: &[[f64; 3]], kin: Kinematics, thermal: Option<&Temperature>) -> Result<Vec<PointKinematics>> {
let n = self.ty.nodes;
if let Some(t) = thermal {
t.check(n)?;
}
let mut out = Vec::new();
for p in self.rule().points() {
let g = self.gradients(p.xi)?;
let reference = g.dx.get(..n).unwrap_or_default();
let f = crate::constitutive::deformation_gradient(u, reference);
let total = crate::constitutive::deformation_gradient(u, reference);
let (weight, x0) = (g.det * p.weight, self.position_of(g.shape.values()));
let heat = Heat::at(thermal, g.shape.values())?;
if kin == Kinematics::Small {
let strain = small_strain(&f);
let strain = heat.mechanical_strain(&small_strain(&total));
let j = 1.0 + strain[0] + strain[1] + strain[2];
out.push(PointKinematics { weight, f, j, strain, gradients: reference.to_vec(), x0 });
let gradients = reference.to_vec();
out.push(PointKinematics { weight, total, f: total, j, strain, temperature: heat.temperature, gradients, x0 });
continue;
}
let (inv, j) = inverse3(&f).ok_or_else(|| inverted(self.ty.kind.name(), 0.0))?;
if !(j > 0.0 && j.is_finite()) {
return Err(inverted(self.ty.kind.name(), j));
let (inv, det) = inverse3(&total).ok_or_else(|| inverted(self.ty.kind.name(), 0.0))?;
let j = det / heat.volume();
if !(det > 0.0 && j.is_finite()) {
return Err(inverted(self.ty.kind.name(), det));
}
let gradients = reference.iter().map(|d| std::array::from_fn(|i| (0..3).map(|jj| d[jj] * inv[jj][i]).sum())).collect();
out.push(PointKinematics { weight, f, j, strain: [0.0; 6], gradients, x0 });
let f = heat.mechanical(&total);
out.push(PointKinematics { weight: weight * heat.volume(), total, f, j, strain: [0.0; 6], temperature: heat.temperature, gradients, x0 });
}
Ok(out)
}
/// The effective response (Kirchhoff stress and tangent, or the stress of small strain) at
/// every point, the forces, and the tangent when `tangent`.
#[allow(clippy::too_many_arguments)]
fn nonlinear_points(
&self,
m: &MaterialModel,
u: &[[f64; 3]],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
updated: &mut [f64],
tangent: bool,
) -> Result<(Finite, Vec<(PointKinematics, Response)>)> {
self.check_nonlinear(m, u, kin)?;
let points = self.kinematics(u, kin)?;
let points = self.kinematics(u, kin, thermal)?;
let len = check_history(m, points.len(), committed, updated)?;
let ndof = 3 * self.ty.nodes;
let mut force = vec![0.0; ndof];
@@ -287,11 +369,11 @@ impl Solid<'_> {
let pr: f64 = (0..np).map(|a| nb[a] * pressure[a]).sum();
let (c, u) = (point_history(committed, len, i), updated.get_mut(i * len..(i + 1) * len).unwrap_or_default());
out.push(if small {
let mut r = m.small_strain(&p.strain, None, c, u, false)?;
let mut r = m.small_strain(&p.strain, p.temperature, c, u, false)?;
r.stress.iter_mut().take(3).for_each(|s| *s += pr);
r
} else {
add_pressure(&m.isochoric(&p.f, None, c, u)?, p.j, pr, 0.0)
add_pressure(&m.isochoric(&p.f, p.temperature, c, u)?, p.j, pr, 0.0)
});
}
if let Some(k) = k {
@@ -331,48 +413,57 @@ impl Solid<'_> {
/// with the material history `committed` at the start of the increment (points × the
/// material's history length) written, updated, to `updated`.
pub fn finite_strain(&self, m: &MaterialModel, u: &[[f64; 3]], committed: &[f64], updated: &mut [f64], tangent: bool) -> Result<Finite> {
Ok(self.nonlinear_points(m, u, Kinematics::Finite, committed, updated, tangent)?.0)
Ok(self.nonlinear_points(m, u, Kinematics::Finite, None, committed, updated, tangent)?.0)
}
/// As [`Self::finite_strain`] with either kinematics; with small strain an inelastic
/// material on the linear kinematics, f = ∫ Bᵀ σ dV and K = ∫ Bᵀ 𝔻 B dV with the
/// material's consistent tangent 𝔻.
/// As [`Self::finite_strain`] with either kinematics and the element's temperatures when
/// it has some; with small strain an inelastic material on the linear kinematics,
/// f = ∫ Bᵀ σ dV and K = ∫ Bᵀ 𝔻 B dV with the material's consistent tangent 𝔻.
#[allow(clippy::too_many_arguments)]
pub fn nonlinear(
&self,
m: &MaterialModel,
u: &[[f64; 3]],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
updated: &mut [f64],
tangent: bool,
) -> Result<Finite> {
Ok(self.nonlinear_points(m, u, kin, committed, updated, tangent)?.0)
Ok(self.nonlinear_points(m, u, kin, thermal, committed, updated, tangent)?.0)
}
/// The Cauchy stress and the strain (logarithmic at finite strain, ε at small strain) at
/// every integration point (at its reference position).
pub fn nonlinear_stresses(&self, m: &MaterialModel, u: &[[f64; 3]], kin: Kinematics, committed: &[f64]) -> Result<Vec<PointStress>> {
/// The Cauchy stress and the total strain (logarithmic at finite strain, ε at small strain)
/// at every integration point (at its reference position).
pub fn nonlinear_stresses(
&self,
m: &MaterialModel,
u: &[[f64; 3]],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
) -> Result<Vec<PointStress>> {
let mut scratch = committed.to_vec();
let (_, points) = self.nonlinear_points(m, u, kin, committed, &mut scratch, false)?;
let (_, points) = self.nonlinear_points(m, u, kin, thermal, committed, &mut scratch, false)?;
points
.iter()
.map(|(p, r)| {
if kin == Kinematics::Small {
return Ok(PointStress { xyz: p.x0, strain: p.strain, stress: r.stress });
return Ok(PointStress { xyz: p.x0, strain: small_strain(&p.total), stress: r.stress });
}
let strain = logarithmic_strain(&p.f).ok_or_else(|| inverted(self.ty.kind.name(), p.j))?;
let strain = logarithmic_strain(&p.total).ok_or_else(|| inverted(self.ty.kind.name(), p.j))?;
Ok(PointStress { xyz: p.x0, strain, stress: r.stress.map(|v| v / p.j) })
})
.collect()
}
}
/// One integration point of a 2D element in a nonlinear step.
/// One integration point of a 2D element in a nonlinear step: the total deformation gradient,
/// det F_m, the reference position and the response.
struct PlanePoint {
f: Mat3,
j: f64,
x: [f64; 3],
strain: [f64; 6],
response: Response,
}
@@ -399,17 +490,22 @@ impl Plane<'_> {
/// Per point: F, J, the reference position, the small strain and the response; the forces
/// and the tangent.
#[allow(clippy::too_many_arguments)]
fn nonlinear_points(
&self,
m: &MaterialModel,
u: &[[f64; 2]],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
updated: &mut [f64],
tangent: bool,
) -> Result<(Finite, Vec<PlanePoint>)> {
self.check_nonlinear(u, kin)?;
let n = self.ty.nodes;
if let Some(t) = thermal {
t.check(n)?;
}
let rule = self.rule().points();
let len = check_history(m, rule.len(), committed, updated)?;
let ndof = 2 * n;
@@ -433,10 +529,11 @@ impl Plane<'_> {
}
}
let updated_point = updated.get_mut(i * len..(i + 1) * len).unwrap_or_default();
let (j, strain, current, r) = if small {
let strain = small_strain(&f);
let r = m.small_strain(&strain, None, point_history(committed, len, i), updated_point, true)?;
(1.0 + strain[0] + strain[1] + strain[2], strain, cols.to_vec(), r)
let heat = Heat::at(thermal, at.shape.values())?;
let (j, dv, current, r) = if small {
let strain = heat.mechanical_strain(&small_strain(&f));
let r = m.small_strain(&strain, heat.temperature, point_history(committed, len, i), updated_point, true)?;
(1.0, at.dv, cols.to_vec(), r)
} else {
let det2 = f[0][0] * f[1][1] - f[0][1] * f[1][0];
let j = det2 * f[2][2];
@@ -446,32 +543,32 @@ impl Plane<'_> {
let inv = [[f[1][1] / det2, -f[0][1] / det2], [-f[1][0] / det2, f[0][0] / det2]];
let current: Vec<[f64; 3]> =
cols.iter().map(|g| [g[0] * inv[0][0] + g[1] * inv[1][0], g[0] * inv[0][1] + g[1] * inv[1][1], g[2] / f[2][2]]).collect();
let r = m.response(&f, None, point_history(committed, len, i), updated_point)?;
(j, [0.0; 6], current, r)
let r = m.response(&heat.mechanical(&f), heat.temperature, point_history(committed, len, i), updated_point)?;
(j / heat.volume(), at.dv * heat.volume(), current, r)
};
let tau = [r.stress[0], r.stress[1], r.stress[2], r.stress[3]];
for (a, g) in current.iter().enumerate() {
if let Some(x) = force.get_mut(2 * a) {
*x += at.dv * (g[0] * tau[0] + g[2] * tau[2] + g[1] * tau[3]);
*x += dv * (g[0] * tau[0] + g[2] * tau[2] + g[1] * tau[3]);
}
if let Some(x) = force.get_mut(2 * a + 1) {
*x += at.dv * (g[1] * tau[1] + g[0] * tau[3]);
*x += dv * (g[1] * tau[1] + g[0] * tau[3]);
}
}
if let Some(k) = k.as_mut() {
let c4: [[f64; 4]; 4] = std::array::from_fn(|a| std::array::from_fn(|b| r.tangent[a][b]));
crate::plane::accumulate(&mut k.data, &current, &c4, at.dv);
crate::plane::accumulate(&mut k.data, &current, &c4, dv);
if !small {
for (a, ga) in current.iter().enumerate() {
for (b, gb) in current.iter().enumerate() {
let s = ga[0] * gb[0] * tau[0] + ga[1] * gb[1] * tau[1] + (ga[0] * gb[1] + ga[1] * gb[0]) * tau[3];
k.add(2 * a, 2 * b, at.dv * (s + tau[2] * ga[2] * gb[2]));
k.add(2 * a + 1, 2 * b + 1, at.dv * s);
k.add(2 * a, 2 * b, dv * (s + tau[2] * ga[2] * gb[2]));
k.add(2 * a + 1, 2 * b + 1, dv * s);
}
}
}
}
out.push(PlanePoint { f, j, x: at.x, strain, response: r });
out.push(PlanePoint { f, j, x: at.x, response: r });
}
Ok((Finite { force, tangent: k }, out))
}
@@ -479,32 +576,41 @@ impl Plane<'_> {
/// Internal forces (u, v per node) and (with `tangent`) the tangent stiffness at nodal
/// displacements `u`, as for [`Solid::finite_strain`].
pub fn finite_strain(&self, m: &MaterialModel, u: &[[f64; 2]], committed: &[f64], updated: &mut [f64], tangent: bool) -> Result<Finite> {
Ok(self.nonlinear_points(m, u, Kinematics::Finite, committed, updated, tangent)?.0)
Ok(self.nonlinear_points(m, u, Kinematics::Finite, None, committed, updated, tangent)?.0)
}
/// As [`Solid::nonlinear`], on the 2D element.
#[allow(clippy::too_many_arguments)]
pub fn nonlinear(
&self,
m: &MaterialModel,
u: &[[f64; 2]],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
updated: &mut [f64],
tangent: bool,
) -> Result<Finite> {
Ok(self.nonlinear_points(m, u, kin, committed, updated, tangent)?.0)
Ok(self.nonlinear_points(m, u, kin, thermal, committed, updated, tangent)?.0)
}
/// The Cauchy stress and the strain at every integration point, as the solid elements'
/// 6-vectors (axisymmetric: rr, axial, hoop, r-axial).
pub fn nonlinear_stresses(&self, m: &MaterialModel, u: &[[f64; 2]], kin: Kinematics, committed: &[f64]) -> Result<Vec<PointStress>> {
/// The Cauchy stress and the total strain at every integration point, as the solid
/// elements' 6-vectors (axisymmetric: rr, axial, hoop, r-axial).
pub fn nonlinear_stresses(
&self,
m: &MaterialModel,
u: &[[f64; 2]],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
) -> Result<Vec<PointStress>> {
let mut scratch = committed.to_vec();
let (_, points) = self.nonlinear_points(m, u, kin, committed, &mut scratch, false)?;
let (_, points) = self.nonlinear_points(m, u, kin, thermal, committed, &mut scratch, false)?;
points
.iter()
.map(|p| {
if kin == Kinematics::Small {
return Ok(PointStress { xyz: p.x, strain: p.strain, stress: p.response.stress });
return Ok(PointStress { xyz: p.x, strain: small_strain(&p.f), stress: p.response.stress });
}
let strain = logarithmic_strain(&p.f).ok_or_else(|| inverted(&format!("2D {}", self.ty.kind.name()), p.j))?;
Ok(PointStress { xyz: p.x, strain, stress: p.response.stress.map(|v| v / p.j) })
@@ -552,7 +658,7 @@ mod tests {
/// The same from a committed history, with either kinematics.
fn check_tangent_from(solid: &Solid, m: &MaterialModel, u: &[[f64; 3]], kin: Kinematics, committed: &[f64], tol: f64) {
let mut scratch = committed.to_vec();
let k = solid.nonlinear_points(m, u, kin, committed, &mut scratch, true).unwrap().0.tangent.unwrap();
let k = solid.nonlinear_points(m, u, kin, None, committed, &mut scratch, true).unwrap().0.tangent.unwrap();
let scale = k.data.iter().fold(0.0f64, |a, v| a.max(v.abs()));
let n = 3 * u.len();
let h = if kin == Kinematics::Small { 1e-9 } else { 1e-6 };
@@ -560,7 +666,7 @@ mod tests {
let shifted = |s: f64| {
let mut v = u.to_vec();
v[j / 3][j % 3] += s;
solid.nonlinear_points(m, &v, kin, committed, &mut committed.to_vec(), false).unwrap().0.force
solid.nonlinear_points(m, &v, kin, None, committed, &mut committed.to_vec(), false).unwrap().0.force
};
let (p, q) = (shifted(h), shifted(-h));
for i in 0..n {
@@ -658,7 +764,7 @@ mod tests {
// A first increment from the virgin state, committed, then a second from it.
let mut committed = vec![0.0; points * HISTORY];
let first = displacement(x.len(), 0.5 * scale);
solid.nonlinear_points(&m, &first, kin, &vec![0.0; points * HISTORY], &mut committed, false).unwrap();
solid.nonlinear_points(&m, &first, kin, None, &vec![0.0; points * HISTORY], &mut committed, false).unwrap();
assert!((0..points).all(|p| committed[p * HISTORY + PLASTIC_STRAIN] > 0.0), "{kind:?} {f:?} {kin:?} yields everywhere");
check_tangent_from(&solid, &m, &displacement(x.len(), scale), kin, &committed, 1e-6);
}
@@ -666,7 +772,7 @@ mod tests {
// Incompatible modes have no inelastic form.
let im = Solid::new(ElementKind::Hex8, &x8, Formulation::IncompatibleModes).unwrap();
assert!(matches!(
im.nonlinear(&m, &displacement(8, 0.0), Kinematics::Small, &[0.0; 8 * HISTORY], &mut [0.0; 8 * HISTORY], true),
im.nonlinear(&m, &displacement(8, 0.0), Kinematics::Small, None, &[0.0; 8 * HISTORY], &mut [0.0; 8 * HISTORY], true),
Err(Error::NotSupported(_))
));
}
@@ -699,17 +805,17 @@ mod tests {
for kin in [Kinematics::Finite, Kinematics::Small] {
let u = |scale: f64| -> Vec<[f64; 2]> { displacement(x.len(), scale).iter().map(|v| [v[0], v[1]]).collect() };
let mut committed = vec![0.0; points * HISTORY];
plane.nonlinear_points(&m, &u(0.03), kin, &vec![0.0; points * HISTORY], &mut committed, false).unwrap();
plane.nonlinear_points(&m, &u(0.03), kin, None, &vec![0.0; points * HISTORY], &mut committed, false).unwrap();
assert!((0..points).all(|p| committed[p * HISTORY + PLASTIC_STRAIN] > 0.0), "{theory:?} {kind:?} {kin:?}");
let at = u(0.06);
let k = plane.nonlinear_points(&m, &at, kin, &committed, &mut committed.clone(), true).unwrap().0.tangent.unwrap();
let k = plane.nonlinear_points(&m, &at, kin, None, &committed, &mut committed.clone(), true).unwrap().0.tangent.unwrap();
let scale = k.data.iter().fold(0.0f64, |a, v| a.max(v.abs()));
let h = 1e-8;
for j in 0..2 * x.len() {
let shifted = |s: f64| {
let mut v = at.clone();
v[j / 2][j % 2] += s;
plane.nonlinear_points(&m, &v, kin, &committed, &mut committed.clone(), false).unwrap().0.force
plane.nonlinear_points(&m, &v, kin, None, &committed, &mut committed.clone(), false).unwrap().0.force
};
let (p, q) = (shifted(h), shifted(-h));
for i in 0..2 * x.len() {
@@ -726,11 +832,67 @@ mod tests {
}
let stress = Plane::new(ElementKind::Quad4, &quad8[..4], Formulation::Full, Theory::PlaneStress { thickness: 1.0 }).unwrap();
assert!(matches!(
stress.nonlinear(&m, &[[0.0; 2]; 4], Kinematics::Small, &[0.0; 4 * HISTORY], &mut [0.0; 4 * HISTORY], true),
stress.nonlinear(&m, &[[0.0; 2]; 4], Kinematics::Small, None, &[0.0; 4 * HISTORY], &mut [0.0; 4 * HISTORY], true),
Err(Error::NotSupported(_))
));
}
/// A temperature field: the tangent is the derivative of the forces (finite and small strain,
/// full and hybrid, elastic and plastic), and a free expansion u = (F_θ − I) X of a uniform
/// temperature stresses nothing.
#[test]
fn thermal_tangents_and_free_expansion() {
use crate::elastoplastic::HISTORY;
use fieldcraft_model::{Elastic, Hardening, Plastic};
let j2 = crate::plasticity::J2::from_model(
&Elastic::Isotropic { young: 1000.0, poisson: 0.3 },
Some(&Plastic::Bilinear { yield_stress: 5.0, hardening_modulus: 50.0, hardening: Hardening::Isotropic }),
None,
)
.unwrap();
let plastic = MaterialModel::Plastic(std::sync::Arc::new(j2));
let neo = MaterialModel::NeoHookean { shear: 300.0, bulk: 3000.0 };
let x20 = hex20();
let field = |n: usize| Temperature {
alpha: [1e-3, 2e-3, 1.5e-3],
reference: 20.0,
nodal: (0..n).map(|i| 20.0 + 40.0 * (i as f64 * 0.37).sin()).collect(),
};
for f in [Formulation::Full, Formulation::Hybrid { pressures: 4 }] {
let solid = Solid::new(ElementKind::Hex20, &x20, f).unwrap();
let points = solid.rule().points().len();
let t = field(20);
for (m, kin, len) in [(&neo, Kinematics::Finite, 0), (&plastic, Kinematics::Finite, HISTORY), (&plastic, Kinematics::Small, HISTORY)] {
let u = displacement(20, 0.03);
let committed = vec![0.0; points * len];
let k = solid.nonlinear(m, &u, kin, Some(&t), &committed, &mut committed.clone(), true).unwrap().tangent.unwrap();
let scale = k.data.iter().fold(0.0f64, |a, v| a.max(v.abs()));
let h = if kin == Kinematics::Small { 1e-9 } else { 1e-7 };
for j in 0..60 {
let shifted = |s: f64| {
let mut v = u.clone();
v[j / 3][j % 3] += s;
solid.nonlinear(m, &v, kin, Some(&t), &committed, &mut committed.clone(), false).unwrap().force
};
let (p, q) = (shifted(h), shifted(-h));
for i in 0..60 {
let numeric = (p[i] - q[i]) / (2.0 * h);
assert!((numeric - k.get(i, j)).abs() < 1e-6 * scale, "{f:?} {} {kin:?} {i} {j}: {numeric} vs {}", m.name(), k.get(i, j));
}
}
}
// Free expansion by a uniform 150 degrees: no force, no stress.
let uniform = Temperature { alpha: [1e-3, 2e-3, 1.5e-3], reference: 20.0, nodal: vec![170.0; 20] };
let stretch = uniform.alpha.map(|a| 1.0 + 150.0 * a);
let u: Vec<[f64; 3]> = x20.iter().map(|x| std::array::from_fn(|k| (stretch[k] - 1.0) * x[k])).collect();
let r = solid.nonlinear(&neo, &u, Kinematics::Finite, Some(&uniform), &[], &mut [], false).unwrap();
assert!(r.force.iter().all(|v| v.abs() < 1e-10 * 3000.0), "{f:?}: {:?}", r.force);
let s = solid.nonlinear_stresses(&neo, &u, Kinematics::Finite, Some(&uniform), &[]).unwrap();
assert!(s.iter().all(|p| p.stress.iter().all(|v| v.abs() < 1e-10 * 3000.0)), "{f:?}");
assert!((s[0].strain[1] - stretch[1].ln()).abs() < 1e-12, "total logarithmic strain: {:?}", s[0].strain);
}
}
#[test]
fn rigid_rotation_strains_and_stresses_nothing() {
let x20 = hex20();
@@ -739,7 +901,7 @@ mod tests {
let neo = MaterialModel::NeoHookean { shear: 300.0, bulk: 3000.0 };
for f in [Formulation::Full, Formulation::Hybrid { pressures: 4 }] {
let solid = Solid::new(ElementKind::Hex20, &x20, f).unwrap();
let s = solid.nonlinear_stresses(&neo, &u, Kinematics::Finite, &[]).unwrap();
let s = solid.nonlinear_stresses(&neo, &u, Kinematics::Finite, None, &[]).unwrap();
assert!(s.iter().all(|p| p.stress.iter().chain(&p.strain).all(|v| v.abs() < 1e-12 * 3000.0)), "{f:?}: {:?}", s[0]);
let r = solid.finite_strain(&neo, &u, &[], &mut [], false).unwrap();
assert!(r.force.iter().all(|v| v.abs() < 1e-11 * 3000.0));
crates/fem/src/plasticity.rs
+5
View File
@@ -229,6 +229,11 @@ impl J2 {
Ok(J2 { shear, bulk, flow, damage, heating })
}
/// Whether the flow stress depends on the temperature (Johnson–Cook softening).
pub fn is_temperature_dependent(&self) -> bool {
matches!(self.flow, Some(Flow::JohnsonCook { .. }))
}
/// The temperature a point starts at.
pub fn initial_temperature(&self) -> f64 {
match self.flow {
crates/solver/src/analysis.rs
+3 -3
View File
@@ -353,9 +353,9 @@ pub fn solve_static(model: &Model, step: Option<&str>, limits: &Limits) -> Resul
// loads.
let (field, temperature) = match step.procedure {
Procedure::CoupledTemperatureDisplacement {} => {
let (labels, t) = crate::heat::temperatures(model, &resolved, step, limits)?;
let at = |l: &u32| labels.binary_search(l).ok().and_then(|i| t.get(i)).copied();
(Some(mesh.labels.iter().map(at).collect::<Vec<_>>()), Some(mesh.labels.iter().map(|l| at(l).unwrap_or(0.0)).collect()))
let field = crate::heat::temperatures_at(model, &resolved, step, limits, &mesh.labels)?;
let temperature = field.iter().map(|t| t.unwrap_or(0.0)).collect();
(Some(field), Some(temperature))
}
_ => (temperature_loads(model, &resolved, &mesh, step)?, None),
};
crates/solver/src/heat.rs
+7
View File
@@ -414,6 +414,13 @@ pub(crate) fn temperatures(model: &Model, resolved: &Resolved, step: &Step, limi
Ok((s.mesh.labels, t))
}
/// The steady temperatures of a step's thermal conditions at the nodes `labels` (sorted), `None`
/// at the nodes conduction does not reach.
pub(crate) fn temperatures_at(model: &Model, resolved: &Resolved, step: &Step, limits: &Limits, labels: &[u32]) -> Result<Vec<Option<f64>>> {
let (solved, t) = temperatures(model, resolved, step, limits)?;
Ok(labels.iter().map(|l| solved.binary_search(l).ok().and_then(|i| t.get(i)).copied()).collect())
}
/// Solve a heat transfer step: the step named `step`, or the model's only one.
pub fn solve_heat(model: &Model, step: Option<&str>, limits: &Limits) -> Result<HeatResult> {
let resolved = model.resolve()?;
crates/solver/src/nonlinear.rs
+77 -19
View File
@@ -55,8 +55,18 @@
//! ([`fieldcraft_fem::finite`]); without nonlinear geometry an element of a plastic material
//! takes the same loops with small strain, and an elastic one its linear stiffness (K u).
//! Springs act along their fixed directions. Trusses, shells and beams (large rotations), plane
//! stress, incompatible modes (with nonlinear geometry, or with an inelastic material),
//! temperature and centrifugal loads are refused by name.
//! stress, incompatible modes (with nonlinear geometry, or with an inelastic material) and
//! centrifugal loads are refused by name.
//!
//! **Thermal strain.** The step's temperatures are its temperature loads, or, when it has
//! temperature boundary conditions or heat loads, their steady conduction solved first (one-way
//! coupling, as the linear coupled temperature–displacement step). They ramp with the load
//! factor from each material's reference temperature, ΔT(λ) = λ (T − T_ref). With nonlinear
//! geometry the deformation gradient splits multiplicatively, F = F_m F_θ with
//! F_θ = diag(1 + αᵢ ΔT), the material sees F_m and the stress is J_θ τ_m per reference volume
//! (fem's `Temperature`); with small strain the split is additive, ε_m = ε − α ΔT; elements on
//! their linear stiffness take the equivalent nodal forces, a dead load. A Johnson–Cook material
//! softens at the point's temperature.
//!
//! **Plasticity** (`Material::plastic`, J2 with the radial return explicit dynamics uses,
//! [`fieldcraft_fem::elastoplastic`]): Simo's exponential return map at finite strain, the
@@ -75,11 +85,11 @@
use fieldcraft_fem::constitutive::MaterialModel;
use fieldcraft_fem::dense::Matrix;
use fieldcraft_fem::element::{Extrapolation, extrapolation};
use fieldcraft_fem::finite::Kinematics;
use fieldcraft_fem::finite::{Kinematics, Temperature};
use fieldcraft_fem::plane::Theory;
use fieldcraft_fem::quadrature::Rule;
use fieldcraft_fem::{DofKind, DofSet, ElementType, PointStress, face, von_mises};
use fieldcraft_model::{Extent, Hardening, Load, Model, NonlinearStatic, Plastic, Procedure, SectionKind, Step};
use fieldcraft_model::{BoundaryCondition, Extent, Hardening, Load, Model, NonlinearStatic, Plastic, Procedure, SectionKind, Step};
use fieldcraft_parallel as parallel;
use serde::Serialize;
@@ -90,7 +100,7 @@ use crate::analysis::{
use crate::cholesky::FactorError;
use crate::constraints::Reduction;
use crate::sparse::{Csr, add_block};
use crate::system::{Mesh, loads, translations};
use crate::system::{Mesh, add_element_thermal_loads, loads, temperature_loads, translations};
use crate::{Error, Limits, Result};
/// One Newton iteration of an increment.
@@ -194,6 +204,9 @@ struct Problem<'a> {
element_kinds: Vec<DofSet>,
/// Each element's material model.
materials: Vec<MaterialModel>,
/// The step's temperature field at λ = 1, per mesh node (`None` where the field leaves a
/// node at its material's reference temperature); `None` without one.
field: Option<Vec<Option<f64>>>,
/// The tangent's pattern, zero.
pattern: Csr,
}
@@ -257,9 +270,27 @@ impl Problem<'_> {
if self.finite { Some(Kinematics::Finite) } else { self.materials.get(e).filter(|m| m.is_path_dependent()).map(|_| Kinematics::Small) }
}
/// The temperatures of element `e` at load factor λ, which ramps them from the reference
/// temperature to the field's (J2 Johnson–Cook softening and thermal strain): the
/// material's expansion and reference temperature, or no expansion from the Johnson–Cook
/// room temperature; `None` without a field or for a material neither affects.
fn temperature(&self, e: usize, lambda: f64) -> Option<Temperature> {
let field = self.field.as_ref()?;
let el = self.mesh.elements.get(e)?;
let softens = el.plastic.as_ref().is_some_and(|j2| j2.is_temperature_dependent());
let (alpha, reference) = match el.expansion {
Some(x) => x,
None if softens => ([0.0; 3], el.plastic.as_ref().map_or(0.0, |j2| j2.initial_temperature())),
None => return None,
};
let nodal: Vec<f64> =
el.nodes.iter().map(|n| field.get(*n).copied().flatten().map_or(reference, |t| reference + lambda * (t - reference))).collect();
(softens || nodal.iter().any(|t| *t != reference)).then_some(Temperature { alpha, reference, nodal })
}
/// Internal forces and the tangent of element `e` at displacements `u` (all degrees of
/// freedom).
fn element(&self, e: usize, u: &[f64], tangent: bool, committed: &[f64]) -> Result<(Vec<f64>, Option<Matrix>, Vec<f64>)> {
/// freedom) and load factor λ.
fn element(&self, e: usize, u: &[f64], lambda: f64, tangent: bool, committed: &[f64]) -> Result<(Vec<f64>, Option<Matrix>, Vec<f64>)> {
let el = self.mesh.elements.get(e).ok_or_else(|| Error::Internal("element index".into()))?;
let at = |err| Error::element(el.label, err);
let ue = self.element_vector(e, u);
@@ -271,7 +302,7 @@ impl Problem<'_> {
};
let material = self.materials.get(e).ok_or_else(|| Error::Internal("element material".into()))?;
let mut updated = committed.to_vec();
let r = kernel.nonlinear(material, &ue, kin, committed, &mut updated, tangent).map_err(at)?;
let r = kernel.nonlinear(material, &ue, kin, self.temperature(e, lambda).as_ref(), committed, &mut updated, tangent).map_err(at)?;
Ok((r.force, r.tangent, updated))
}
@@ -305,7 +336,7 @@ impl Problem<'_> {
for round in parallel::blocks(self.mesh.elements.len(), ROUND) {
let start = round.start;
let computed = parallel::map_grained(round.len(), GRAIN, |i| {
self.element(start + i, u, tangent, committed.get(start + i).map(Vec::as_slice).unwrap_or_default())
self.element(start + i, u, lambda, tangent, committed.get(start + i).map(Vec::as_slice).unwrap_or_default())
});
for (i, c) in computed.into_iter().enumerate() {
let (f, ke, updated) = c?;
@@ -647,12 +678,8 @@ fn check_supported(model: &Model, mesh: &Mesh, step: &Step, settings: &Nonlinear
return Err(at(format!("a hyperelastic material without nonlinear geometry (element {})", e.label)));
}
}
for name in &step.loads {
match model.load(name) {
Some(Load::Temperature { .. }) => return Err(at(format!("temperature loads (load `{name}`): thermal strain"))),
Some(Load::Centrifugal { .. }) => return Err(at(format!("centrifugal loads (load `{name}`), which depend on the deformed position"))),
_ => {}
}
if let Some(name) = step.loads.iter().find(|n| matches!(model.load(n), Some(Load::Centrifugal { .. }))) {
return Err(at(format!("centrifugal loads (load `{name}`), which depend on the deformed position")));
}
plasticity(model, step, settings, warnings)?;
if settings.nonlinear_geometry
@@ -704,6 +731,23 @@ fn plasticity(model: &Model, step: &Step, settings: &NonlinearStatic, warnings:
Ok(())
}
/// The step's temperature field per mesh node: the steady heat solution of its temperature
/// boundary conditions and heat loads when it has some (one-way coupling, as the coupled
/// temperature–displacement step of the linear solver), or its temperature loads.
fn temperatures(model: &Model, resolved: &fieldcraft_model::Resolved, mesh: &Mesh, step: &Step, limits: &Limits) -> Result<Option<Vec<Option<f64>>>> {
let conducts = step.boundary_conditions.iter().any(|b| model.boundary_conditions().get(b).is_some_and(BoundaryCondition::is_thermal))
|| step.loads.iter().any(|l| model.load(l).is_some_and(Load::is_thermal));
let loads = temperature_loads(model, resolved, mesh, step)?;
match (conducts, loads) {
(true, Some(_)) => Err(Error::Invalid(format!(
"step `{}` gives temperatures both by temperature loads and by heat conditions (temperature boundary conditions, heat loads); use one",
step.name
))),
(true, None) => Ok(Some(crate::heat::temperatures_at(model, resolved, step, limits, &mesh.labels)?)),
(false, field) => Ok(field),
}
}
/// The follower pressures of a step (with nonlinear geometry), and the step without them for
/// the dead loads.
fn followers(model: &Model, resolved: &fieldcraft_model::Resolved, mesh: &Mesh, step: &Step) -> Result<(Vec<Follower>, Step)> {
@@ -769,6 +813,7 @@ pub fn solve_nonlinear(model: &Model, step: Option<&str>, limits: &Limits) -> Re
let (follower_loads, dead_step) =
if settings.nonlinear_geometry { followers(model, &resolved, &mesh, step)? } else { (Vec::new(), step.clone()) };
let dead = loads(model, &resolved, &mesh, &dead_step, &red.active)?;
let field = temperatures(model, &resolved, &mesh, step, limits)?;
let springs = if mesh.discrete.springs.iter().any(|s| !s.dashpot) {
let mut s = graph.zero_matrix(&mesh.layout);
mesh.discrete.add_stiffness(&mut s)?;
@@ -785,7 +830,7 @@ pub fn solve_nonlinear(model: &Model, step: Option<&str>, limits: &Limits) -> Re
mesh.layout.element_dofs(&e.nodes, *kinds).ok_or_else(|| Error::Internal(format!("element {} degrees of freedom", e.label)))
})
.collect::<Result<Vec<_>>>()?;
let problem = Problem {
let mut problem = Problem {
mesh: &mesh,
red: &red,
dead,
@@ -802,8 +847,16 @@ pub fn solve_nonlinear(model: &Model, step: Option<&str>, limits: &Limits) -> Re
None => MaterialModel::from_elasticity(&e.d, e.hyperelastic.as_ref()),
})
.collect(),
field,
pattern: graph.zero_matrix(&mesh.layout),
};
// Elements on their linear stiffness take the thermal strain as the equivalent nodal
// forces, a dead load proportional to the load factor like the temperatures.
if let Some(field) = problem.field.take() {
let linear: Vec<bool> = (0..mesh.elements.len()).map(|i| problem.kinematics(i).is_none()).collect();
add_element_thermal_loads(&mut problem.dead, &mesh, &field, |i| linear.get(i).copied().unwrap_or(false))?;
problem.field = Some(field);
}
let (lo, hi) = mesh.xyz.iter().fold(([f64::INFINITY; 3], [f64::NEG_INFINITY; 3]), |(lo, hi), p| {
(std::array::from_fn(|k| lo[k].min(p[k])), std::array::from_fn(|k| hi[k].max(p[k])))
});
@@ -939,7 +992,7 @@ pub fn solve_nonlinear(model: &Model, step: Option<&str>, limits: &Limits) -> Re
"follower pressure: the skew part of its load stiffness ({a:.1e} of it, over the free degrees of freedom) is left out of the tangent; the solution is exact, Newton may converge more slowly"
));
}
finish(&mesh, step, &red, &problem, u, evaluation, &run.committed, history, run.factor_entries, warnings)
finish(&mesh, step, &red, &problem, u, lambda, evaluation, &run.committed, history, run.factor_entries, warnings)
}
/// The final state as a static result: displacements, reactions, Cauchy stresses and
@@ -951,6 +1004,7 @@ fn finish(
red: &Reduction,
problem: &Problem,
u: Vec<f64>,
lambda: f64,
e: Evaluation,
committed: &[Vec<f64>],
history: History,
@@ -984,10 +1038,14 @@ fn finish(
let history = committed.get(i).map(Vec::as_slice).unwrap_or_default();
let material = problem.materials.get(i).ok_or_else(|| Error::Internal("element material".into()))?;
let points = match problem.kinematics(i) {
Some(kin) => kernel.nonlinear_stresses(material, &ue, kin, history),
Some(kin) => kernel.nonlinear_stresses(material, &ue, kin, problem.temperature(i, lambda).as_ref(), history),
None => {
let per_node: Vec<[f64; 3]> = el.nodes.iter().map(|n| displacement.get(*n).copied().unwrap_or_default()).collect();
kernel.stresses_with(&el.d, &per_node, None)
let thermal = problem.field.as_deref().and_then(|f| el.thermal_strain(f)).map(|mut t| {
t.delta.iter_mut().for_each(|d| *d *= lambda);
t
});
kernel.stresses_with(&el.d, &per_node, thermal.as_ref())
}
}
.map_err(at)?;
crates/solver/src/system.rs
+29 -13
View File
@@ -11,7 +11,7 @@ use fieldcraft_fem::beam::{Beam, BeamSection};
use fieldcraft_fem::constitutive::MaterialModel;
use fieldcraft_fem::dense::Matrix;
use fieldcraft_fem::element::{Formulation, Solid, ThermalStrain};
use fieldcraft_fem::finite::Kinematics;
use fieldcraft_fem::finite::{Kinematics, Temperature};
use fieldcraft_fem::plane::{Plane, Theory};
use fieldcraft_fem::plasticity::J2;
use fieldcraft_fem::shell::{Shell, ShellSection};
@@ -122,27 +122,36 @@ impl Kernel<'_> {
/// Nonlinear internal forces and tangent ([`fieldcraft_fem::finite`]) for the element's
/// displacements `u` (its degrees of freedom in order: 3 per node, or 2 for 2D elements),
/// total Lagrangian or with small strain.
#[allow(clippy::too_many_arguments)]
pub fn nonlinear(
&self,
m: &MaterialModel,
u: &[f64],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
updated: &mut [f64],
tangent: bool,
) -> fieldcraft_fem::Result<fieldcraft_fem::finite::Finite> {
match self {
Kernel::Solid(s) => s.nonlinear(m, u.as_chunks::<3>().0, kin, committed, updated, tangent),
Kernel::Plane(p) => p.nonlinear(m, u.as_chunks::<2>().0, kin, committed, updated, tangent),
Kernel::Solid(s) => s.nonlinear(m, u.as_chunks::<3>().0, kin, thermal, committed, updated, tangent),
Kernel::Plane(p) => p.nonlinear(m, u.as_chunks::<2>().0, kin, thermal, committed, updated, tangent),
}
}
/// Cauchy stress and strain (logarithmic at finite strain) at the integration points, as
/// [`Self::nonlinear`].
pub fn nonlinear_stresses(&self, m: &MaterialModel, u: &[f64], kin: Kinematics, committed: &[f64]) -> fieldcraft_fem::Result<Vec<PointStress>> {
pub fn nonlinear_stresses(
&self,
m: &MaterialModel,
u: &[f64],
kin: Kinematics,
thermal: Option<&Temperature>,
committed: &[f64],
) -> fieldcraft_fem::Result<Vec<PointStress>> {
match self {
Kernel::Solid(s) => s.nonlinear_stresses(m, u.as_chunks::<3>().0, kin, committed),
Kernel::Plane(p) => p.nonlinear_stresses(m, u.as_chunks::<2>().0, kin, committed),
Kernel::Solid(s) => s.nonlinear_stresses(m, u.as_chunks::<3>().0, kin, thermal, committed),
Kernel::Plane(p) => p.nonlinear_stresses(m, u.as_chunks::<2>().0, kin, thermal, committed),
}
}
@@ -936,13 +945,7 @@ pub(crate) fn hold(slot: Option<&mut Option<f64>>, value: f64, conflict: impl Fn
/// Add the equivalent nodal forces of the thermal strains of a temperature field.
pub fn add_thermal_loads(f: &mut [f64], mesh: &Mesh, field: &[Option<f64>]) -> Result<()> {
for e in &mesh.elements {
let Some(th) = e.thermal_strain(field) else { continue };
let forces = e.kernel()?.thermal_load(&e.d, &th).map_err(|err| Error::element(e.label, err))?;
for (node, v) in e.nodes.iter().zip(forces) {
add(f, &translations(mesh, *node)?, v);
}
}
add_element_thermal_loads(f, mesh, field, |_| true)?;
for t in &mesh.trusses {
let Some(th) = t.thermal_strain(field) else { continue };
let forces = t.truss()?.thermal_load(t.young, t.area, &th).map_err(|err| Error::element(t.label, err))?;
@@ -953,6 +956,19 @@ pub fn add_thermal_loads(f: &mut [f64], mesh: &Mesh, field: &[Option<f64>]) -> R
Ok(())
}
/// Add the equivalent nodal forces of the thermal strains of the solid and 2D elements whose
/// index `keep` accepts.
pub fn add_element_thermal_loads(f: &mut [f64], mesh: &Mesh, field: &[Option<f64>], keep: impl Fn(usize) -> bool) -> Result<()> {
for (_, e) in mesh.elements.iter().enumerate().filter(|(i, _)| keep(*i)) {
let Some(th) = e.thermal_strain(field) else { continue };
let forces = e.kernel()?.thermal_load(&e.d, &th).map_err(|err| Error::element(e.label, err))?;
for (node, v) in e.nodes.iter().zip(forces) {
add(f, &translations(mesh, *node)?, v);
}
}
Ok(())
}
/// The uniform force per volume a step's gravity and body forces put on each shell and beam
/// element ([`Mesh::structural`] order): beam end forces are recovered with it.
pub fn structural_body_forces(model: &Model, resolved: &Resolved, mesh: &Mesh, step: &Step) -> Result<Vec<[f64; 3]>> {
crates/solver/tests/nonlinear.rs
+6 -3
View File
@@ -387,7 +387,7 @@ fn nonlinear_steps_fail_cleanly() {
step.set_procedure(Procedure::NonlinearStatic(bad.clone()));
assert!(capped.model.replace_step(step).is_err(), "{bad:?}");
}
// Refused by name: incompatible modes, a hybrid St Venant–Kirchhoff element, temperature.
// Refused by name: incompatible modes, a hybrid St Venant–Kirchhoff element, centrifugal loads.
let mut im = grid([2, 1, 1], ElementKind::Hex8, |q| q);
im.define(iso(100.0, 0.3), None, incompatible(), nonlinear());
im.fixed("root", |q| near(q[0], 0.0));
@@ -402,10 +402,13 @@ fn nonlinear_steps_fail_cleanly() {
hy.load("p", Load::Pressure { set: "end".into(), magnitude: 1.0 });
let err = solve_nonlinear(&hy.model, None, &Limits::default()).unwrap_err().to_string();
assert!(err.contains("hybrid elements of a St Venant–Kirchhoff material"), "{err}");
hy.load("hot", Load::Temperature { target: Target::Set("root".into()), value: 50.0 });
hy.load("spin", Load::Centrifugal { angular_velocity: 10.0, point: [0.0; 3], axis: [0.0, 0.0, 1.0], set: None });
neo_hookean(&mut hy, 100.0, 0.3);
let mut m = hy.model.material("Mat").unwrap().clone();
m.density = Some(1.0);
hy.model.replace_material("Mat", m).unwrap();
let err = solve_nonlinear(&hy.model, None, &Limits::default()).unwrap_err().to_string();
assert!(err.contains("temperature loads"), "{err}");
assert!(err.contains("centrifugal loads"), "{err}");
// A model that can move freely: the first tangent is singular, named like the linear solver.
let mut free = grid([2, 1, 1], ElementKind::Hex8, |q| q);
free.define(iso(100.0, 0.3), None, full(), nonlinear());
crates/solver/tests/nonlinear_thermal.rs
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//! Thermal strain in nonlinear static steps against closed forms: free expansion and a fully
//! constrained heated block at finite strain (the multiplicative split F = F_m F_θ), a heated
//! bar held at its ends past yield at small strain (the additive split), the linear limit
//! against the linear solver, and a step's own heat conduction feeding its temperatures.
mod common;
use common::*;
use fieldcraft_model::*;
use fieldcraft_solver::{Limits, StaticResult, solve_nonlinear, solve_static};
fn expanding(g: &mut Grid, e: f64, nu: f64, alpha: f64, hyperelastic: Option<Hyperelastic>, plastic: Option<Plastic>) {
let thermal = Thermal {
expansion: Some(Directional::Isotropic(alpha)),
reference_temperature: 20.0,
conductivity: Some(Directional::Isotropic(45.0)),
..Thermal::default()
};
let m = Material { elastic: Some(iso(e, nu)), hyperelastic, plastic, thermal: Some(thermal), ..Material::default() };
g.model.replace_material("Mat", m).unwrap();
}
fn heat_all(g: &mut Grid, value: f64) {
g.node_set("everything", |_| true);
g.load("heat", Load::Temperature { target: Target::Set("everything".into()), value });
}
fn solve(g: &Grid) -> StaticResult {
solve_nonlinear(&g.model, Some("Step"), &Limits::default()).unwrap()
}
fn symmetric(g: &mut Grid) {
g.symmetry("x0", Symmetry::X, |x| near(x[0], 0.0));
g.symmetry("y0", Symmetry::Y, |x| near(x[1], 0.0));
g.symmetry("z0", Symmetry::Z, |x| near(x[2], 0.0));
}
/// A free neo-Hookean cube heated by 200 with α = 10⁻³ grows by the thermal stretch 1.2 along
/// every edge, stress-free; held on all six faces it takes the pressure of the mechanical
/// volume ratio ϑ⁻³: σ = κ (ϑ⁻³ − 1), full and hybrid elements.
#[test]
fn finite_strain_free_and_constrained_expansion() {
let (e, nu, alpha) = (10.0, 0.3, 1e-3);
let kappa = e / (3.0 * (1.0 - 2.0 * nu));
let theta: f64 = 1.0 + alpha * 200.0;
for formulation in [Formulation::default(), Formulation { hybrid: true, ..Formulation::default() }] {
let mut g = grid([2, 2, 2], ElementKind::Hex20, |x| x);
g.define(iso(e, nu), None, formulation, Procedure::NonlinearStatic(NonlinearStatic::default()));
expanding(&mut g, e, nu, alpha, Some(Hyperelastic::NeoHookean {}), None);
symmetric(&mut g);
heat_all(&mut g, 220.0);
let r = solve(&g);
for (label, u) in r.nodes.iter().zip(&r.displacement) {
let x = g.model.node(*label).unwrap().xyz;
assert!((0..3).all(|k| (u[k] - (theta - 1.0) * x[k]).abs() < 1e-9), "{formulation:?} node {label}: {u:?}");
}
assert!(r.stress.iter().flatten().all(|s| s.abs() < 1e-9 * kappa), "{formulation:?}: {:?}", r.stress[0]);
assert!((r.elements[0].points[0].strain[0] - theta.ln()).abs() < 1e-9, "the total logarithmic strain");
g.symmetry("x1", Symmetry::X, |x| near(x[0], 1.0));
g.symmetry("y1", Symmetry::Y, |x| near(x[1], 1.0));
g.symmetry("z1", Symmetry::Z, |x| near(x[2], 1.0));
let r = solve(&g);
let want = kappa * (theta.powi(-3) - 1.0);
for s in &r.stress {
assert!((0..3).all(|k| (s[k] - want).abs() < 1e-9 * kappa) && s[3].abs() < 1e-9 * kappa, "{formulation:?}: {s:?} vs {want}");
}
eprintln!("{formulation:?}: constrained σ = {:.9} (closed form {want:.9})", r.stress[0][0]);
}
}
/// A steel bar held axially at both ends (lateral faces free) and heated at small strain: the
/// mechanical strain is −αΔT, so the stress is −EαΔT until it yields, then
/// −(σ_y + E_t (αΔT − σ_y/E)) with linear hardening.
#[test]
fn small_strain_heated_bar_held_at_its_ends_yields() {
let (e, nu, alpha, y0, h) = (200_000.0, 0.3, 1.2e-5, 250.0, 2000.0);
let small = NonlinearStatic { nonlinear_geometry: false, ..NonlinearStatic::default() };
let plastic = Plastic::Bilinear { yield_stress: y0, hardening_modulus: h, hardening: Hardening::Isotropic };
let et = e * h / (e + h);
for (dt, want) in [(80.0, -e * alpha * 80.0), (300.0, -(y0 + et * (alpha * 300.0 - y0 / e)))] {
let mut g = grid([4, 1, 1], ElementKind::Hex8, |x| [4.0 * x[0], x[1], x[2]]);
g.define(iso(e, nu), None, Formulation::default(), Procedure::NonlinearStatic(small.clone()));
expanding(&mut g, e, nu, alpha, None, Some(plastic.clone()));
symmetric(&mut g);
g.symmetry("x1", Symmetry::X, |x| near(x[0], 1.0));
heat_all(&mut g, 20.0 + dt);
let r = solve(&g);
for s in &r.stress {
assert!((s[0] - want).abs() < 1e-8 * want.abs() && s[1].abs() < 1e-8 * want.abs(), "ΔT = {dt}: {s:?} vs {want}");
}
eprintln!("ΔT = {dt}: σ = {:.6} (closed form {want:.6})", r.stress[0][0]);
}
}
/// Without nonlinear geometry an elastic model is the linear solution, thermal strain
/// included; a step's own temperature boundary conditions give its temperatures by conduction,
/// as in the linear coupled step.
#[test]
fn thermal_linear_limit_and_conducted_temperatures() {
let (e, nu, alpha) = (200_000.0, 0.3, 1.2e-5);
let build = |procedure: Procedure, plastic: Option<Plastic>, conducted: bool| {
let mut g = grid([6, 1, 2], ElementKind::Hex20, |q| [6.0 * q[0], q[1], q[2]]);
g.define(iso(e, nu), None, Formulation::default(), procedure);
expanding(&mut g, e, nu, alpha, None, plastic);
g.fixed("root", |q| near(q[0], 0.0));
if conducted {
g.node_set("cold", |q| near(q[0], 0.0));
g.bc("cold_t", BoundaryCondition::Temperature { target: Target::Set("cold".into()), value: 20.0 });
g.node_set("hot", |q| near(q[0], 1.0));
g.bc("hot_t", BoundaryCondition::Temperature { target: Target::Set("hot".into()), value: 320.0 });
} else {
// Hot on top, cold below: the bar bends.
g.node_set("top", |q| near(q[2], 1.0));
g.load("hot", Load::Temperature { target: Target::Set("top".into()), value: 120.0 });
}
g
};
let small = Procedure::NonlinearStatic(NonlinearStatic { nonlinear_geometry: false, ..NonlinearStatic::default() });
let linear = solve_static(&build(Procedure::Static {}, None, false).model, None, &Limits::default()).unwrap();
let r = solve(&build(small.clone(), None, false));
let scale = linear.displacement.iter().flatten().fold(0.0f64, |m, v| m.max(v.abs()));
for (a, b) in r.displacement.iter().zip(&linear.displacement) {
assert!((0..3).all(|k| (a[k] - b[k]).abs() < 1e-9 * scale), "{a:?} vs {b:?}");
}
for (a, b) in r.stress.iter().zip(&linear.stress) {
assert!((0..6).all(|k| (a[k] - b[k]).abs() < 1e-6 * e * alpha * 100.0), "{a:?} vs {b:?}");
}
// Conducted: T linear in x from 20 to 320 over a bar fixed at its cold end; the step's
// temperature conditions are solved first, as the coupled linear step does, and a plastic
// material that stays below yield gives that step's solution.
let plastic = Plastic::Bilinear { yield_stress: 250.0, hardening_modulus: 0.0, hardening: Hardening::Isotropic };
let r = solve(&build(small, Some(plastic), true));
let coupled = solve_static(&build(Procedure::CoupledTemperatureDisplacement {}, None, true).model, None, &Limits::default()).unwrap();
let largest = coupled.von_mises.iter().fold(0.0f64, |m, v| m.max(*v));
assert!(largest < 250.0 && largest > 1.0, "{largest}");
let scale = coupled.displacement.iter().flatten().fold(0.0f64, |m, v| m.max(v.abs()));
for (a, b) in r.displacement.iter().zip(&coupled.displacement) {
assert!((0..3).all(|k| (a[k] - b[k]).abs() < 1e-8 * scale), "{a:?} vs {b:?}");
}
assert!(r.elements.iter().flat_map(|e| &e.plastic_strain).all(|p| *p == 0.0));
// Both ways of giving temperatures at once is refused.
let mut both = build(Procedure::NonlinearStatic(NonlinearStatic::default()), None, true);
heat_all(&mut both, 50.0);
let err = solve_nonlinear(&both.model, None, &Limits::default()).unwrap_err().to_string();
assert!(err.contains("both by temperature loads and by heat conditions"), "{err}");
}