Coupled Thermomechanical Contact Problems

Transcription

1 Coupled Thermomechanical Contact Problems Computational Modeling of Solidification Processes C. Agelet de Saracibar, M. Chiumenti, M. Cervera ETS Ingenieros de Caminos, Canales y Puertos, Barcelona, UPC International Center for Numerical Methods in Engineering (CIMNE) COMPLAS Short Course, Barcelona, Spain, 4 September 2007

2 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

3 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

4 Motivation and Goals Truthful coupled thermomechanical simulation of solidification and cooling processes of industrial cast parts (usually meaning complex geometries), in particular for aluminium alloys in permanent moulds. Thermodynamically consistent material model allowing a continuous transition between the different states of the process, from an initial fully liquid state to a final fully solid state. Thermomechanical contact model allowing the simulation of the interaction among all casting tools as consequence of the thermal deformations generated by high temperature gradients and phase transformations during solidification and cooling processes. Suitable stable FE formulation for linear tetrahedral elements, which allow the FE discretization of complex industrial geometries, and for incompressible or quasi-incompressible problems.

5 Motivation and Goals

6 Motivation and Goals

7 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

8 Coupled Thermomechanical Problem Fractional Step Method, Product Formula Algorithm LOOP, TIME Solve the THERMAL PROBLEM at constant configuration Solve the discrete variational form of the energy balance equation C L, K, Q, Q, c Obtain the temperatures map Solve the MECHANICAL PROBLEM at constant temperature Solve the discrete variational form of the momentum balance equation s, u B, u t, u t, u Obtain the displacements map, and then the stresses map END LOOP, TIME Q mc tc

9 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

10 Mechanical Problem Solid and Liquid-like Phases

11 Mechanical Problem Solid and Liquid-like Phases

12 Mechanical Problem Solid and Liquid-like Phases Liquid-like phase Solid phase

13 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

14 Mechanical Problem Solid Phase 20º C T.D. Young Mod. T.D. Viscosity 500º C 700º C T.D. Yield Stress T.D. Hardening

15 Mechanical Problem Solid Phase J2 Elasto-Viscoplastic model, isotropic and kinematic hardening The thermoelastic constitutive behaviour in solid state written as, u p K e p s 2G dev ( S ) can be where the is the mean pressure, is the deviatoric part of the stress tensor, K p is the bulk modulus, G s is the shear modulus e and is the volumetric thermal deformation which takes also into account the thermal shrinkage due to phase-change, e L 1 3 ref 3 S S ref S

16 Mechanical Problem Solid Phase J2 Elasto-Viscoplastic model, isotropic and kinematic hardening The yield function can be written as, ( s, q, q, ) : s q R( q, ) where the yield radius takes the form, 2 R( q, ) 3 0 q

17 Mechanical Problem Solid Phase J2 Elasto-Viscoplastic model, isotropic and kinematic hardening The plastic evolution equations can be written as, p ε ( s, q, q, ) n ( s, q, q, ) 2 3 ξ ( s, q, q, ) n where the plastic parameter takes the form, q q σ 1 ( s, q, q, ) n and the unit normal to the yield surface takes the form, n s q s q

18 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

19 Viscous deviatoric model Mechanical Problem Liquid-like Phase In the liquid state, the thermal deformation is zero and the bulk modulus and shear modulus tends to infinity, characterizing an incompressible rigid-plastic material, such that e G ( L ) 0, K : p e, 0 A purely viscous deviatoric model can be obtained as a particular case of the J2 elasto-viscoplastic model, without considering neither isotropic or kinematic hardening and setting to zero the radius of the yield surface. Then the yield function takes the form, ( s) : s u 0

20 Mechanical Problem Liquid-like Phase Viscous deviatoric model The plastic evolution equation takes the form, p ε () s n 1 () s n s s and the plastic strain evolution takes the simple form, σ where the plastic parameter and unit normal to the yield surface take the form, ε p 1 s

21 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

22 Mechanical Problem Mushy Zone. Liquid-Solid Continuous Transition J2 Elasto-Viscoplastic model, isotropic and kinematic hardening The thermoelastic constitutive behaviour in mushy state can be written as, u p K e p s 2G dev ( ) where the is the mean pressure, is the deviatoric part of the stress tensor, K p is the bulk modulus, G s is the shear modulus e and is the volumetric thermal deformation due to the thermal shrinkage taking place during the liquid-solid phase-change, e V V 0 pc f S S L L S

23 Mechanical Problem Mushy Zone. Liquid-Solid Continuous Transition J2 Elasto-Viscoplastic model, isotropic and kinematic hardening The yield function can be written as, ( s, q, q, ) : s f q f R( q, ) where the solid fraction satisfies, f f s s The yield function for the solid phase is recovered for f 1 s 0 1 The yield function for the liquid-like phase is recovered for f 0 L S s s s

24 Mechanical Problem Mushy Zone. Liquid-Solid Continuous Transition J2 Elasto-Viscoplastic model, isotropic and kinematic hardening The plastic evolution equations can be written as, p ε ( s, q, q, ) n where the plastic parameter takes the form, ( s, q, q, ) 2 3 f q σ ξ ( s, q, q, ) n f q 1 ( s, q, q, ) n and the unit normal to the yield surface takes the form, f f n s q s q s s s s

25 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

26 Mechanical Problem Incompressibility or Quasi-incompressibility Problem Low order standard finite elements discretizations are very convenient for the numerical simulation of large scale complex industrial casting problems: Relatively easy to generate for real life complex geometries Computational efficiency Well suited for contact problems Low order standard finite elements lock for incompressible or quasiincompressible problems. Mixed u/p finite element formulations may avoid this locking behaviour, but they must satisfy a pressure stability restriction on the interpolation degree for the u/p fields given by the Babuska-Brezzi pressure stability condition. Finite elements based on equal u/p finite element interpolation order do not satisfy the BB stability condition. Standard mixed linear/linear u/p triangles or tetrahedra elements do not satisfy the BB stability condition, exhibiting spurious pressure oscillations.

27 Mechanical Problem Incompressibility or Quasi-incompressibility Problem Pressure stabilization goals To stabilize the pressure while using mixed equal order linear u/p triangles and tetrahedra Stabilization of incompressibility or quasi-incompressibility problems using Orthogonal Subgrid Scale Method, within the framework of Variational Multiscale Methods (Hughes, 1995; Garikipati & Hughes, 1998, 2000; Codina, 2000, 2002; Chiumenti et al. 2002, 2004; Cervera et al. 2003; Agelet de Saracibar et al. 2006)

28 Mechanical Problem Incompressibility or Quasi-incompressibility Problem Pressure map P1 Standard Galerkin linear u element P1/P1 Standard mixed linear/linear u/p element P1/P1 OSGS Stabilized mixed linear u/p element

29 Mechanical Problem Multiscale Stabilization Methods Strong form of the mixed quasi-incompressible problem Let us consider the following infinite-dimensional spaces for the displacements and pressure fields, respectively, 1 2 u H u u : L : on u u Find a displacement field and pressure field such that, s p B 0 in 1 u e p 0 K p Find U : such that, U F in

30 Mechanical Problem Multiscale Stabilization Methods Variational form of the mixed quasi-incompressible problem Let us consider the following infinite-dimensional spaces for the displacements, displacements variations and pressure fields, respectively, u H u u : H : L : on u u Find a displacement field and pressure field such that, s p 1 u Find p s, v, v B, v t, v 0 v in e, q p, q 0 q K U : such that, B U, V L V V : in

31 Mechanical Problem Multiscale Stabilization Methods Multiscale methods. Subgrid multiscale technique Let us consider the following split of the exact solution field, U : U U : h U h h h h where is the exact solution, is the finite element approximated solution (belonging to the finite-dimensional FE solution space) and is the subgrid scale solution, not captured by the finite element mesh, belonging to the infinite-dimensional subgrid scale space U U u uh U, h, p U p U h u 0

32 Mechanical Problem OSGS Stabilization Technique Orthogonal Subgrid Scale (OSGS) technique Within the OSGS technique, the infinite-dimensional subgrid scale space is approximated by a finite-dimensional space choosed to be orthogonal to the FE solution space (Codina, 2000) U h

33 Mechanical Problem OSGS Stabilization Technique Orthogonal Subgrid Scale (OSGS) technique The subgrid scale solution is then approximated, at the element level as, u n1 e, n1 Ph sh, n1 ph, n1 B where where p n1 0 en, 1 2 che en, 1 * * G is a (mesh size dependent) stabilization parameter defined as, 2G is the secant shear modulus.

34 Mechanical Problem OSGS Stabilization Technique Orthogonal Subgrid Scale (OSGS) technique Using a linear interpolation for displacements (triangles/tetrahedra) and assuming that body forces belong to the FE space, the subgrid scale solution is then approximated, at the element level as, where where u p n1 e, n1 h h, n1 n1 0 P p en, 1 2 che en, 1 * * G is a (mesh size dependent) stabilization parameter defined as, 2G is the secant shear modulus.

35 Mechanical Problem OSGS Stabilization Technique Discrete OSGS stabilized variational form Find U h h B such that, for any V 0, h U, V L V V, stab h h stab h h h where the stabilized variational forms can be written as, n elem U V U V, 1, 1 B, B, P p, q stab h h h h e1 e n h h n h L h V LV stab h h e

36 Mechanical Problem OSGS Stabilization Technique Discrete OSGS stabilized variational form : P p Let h, n1 h h, n1 the projection of the discrete pressure gradient onto the FE solution space and H 1, the pressure h gradient projection and FE associated spaces, respectively. Then the orthogonal projection of the discrete pressure gradient onto the FE soluctiuon space takes the form, P p p h h, n1 h, n1 h, n1

37 Mechanical Problem OSGS Stabilization Technique Discrete OSGS stabilized variational form Find u h, n1 h, n1 h, n1 h h h, p, such that, s s h, n1 n1 vh ph, n1 n1 vh B vh t vh 1 n elem u K,,,, 0, q p, q p, q 0 n1 h, n1 h h, n1 h e1 e, n1 n1 h, n1 h, n1 n1 h p, 0 n1 h, n1 h, n1 h e for any v h, qh, h h,0 h h,0

38 Mechanical Problem OSGS Stabilization Technique Strong form of the stabilized mixed quasi-incompressible problem Let us consider the following infinite-dimensional spaces for the displacements, pressure and pressure gradient projection fields, respectively, 1 2 u H u u : L : on u u p s p B p p u 0 in K p 0 Find a displacement field, a pressure field and a pressure gradient projection such that, 1 H

39 Mechanical Problem OSGS Stabilization Technique Staggered solution procedure. Problem 1 Given find h, n h uh, n1, ph, n1 h h such that, s s h, n1 n1 vh ph, n1 n1 vh B vh t vh,,,, 0 1 n elem 1 u, 1, 1,, 1,, q p, q p, q 0 n h n h K h n h e1 e n n h n h n n h e for any v,,0 q h h h h

40 Mechanical Problem OSGS Stabilization Technique Staggered solution procedure. Problem 2 Given u h, n1, ph, n1 h h find h, n1 h such that, for any n h h,0 elem e1 p, 0 e, n1 n1 h, n1 h, n1 h e

41 Mechanical Problem OSGS Stabilization Technique Matrix form of the staggered solution procedure Problem 1. Solve the algebraic system of equations to compute the incremental discrete displacements and pressures unknowns ( i) ( i) ( i) ( i) ( i) T n 1 n 1 n 1 u, n 1 n1 ( i) T ( i) ( i) ( i) n1 n1 p, n n1 p, n1 Problem 2. Compute the discrete continuous pressure gradient projections unknowns 1 ΠI n 1, n 1, n 1 n 1

42 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

43 Thermal Problem Variational enthalpy form of energy balance,,,, H K Q Q c where the enthalpy rate is given by, H C L where the latent heat release is given by, where the solid fraction satisfies, Energy Balance dfs dfl L L L d d f f s s 0 1 L S Q tc

44 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

45 Nonlinear Contact Kinematics Reference Configurations t 0 (2) (2) (1) (1) Master Body (2) X (2) N (1) X Slave Body (1) N (2) t (1) t Current Configurations t (2) (2) (1) n (1) (1) (2) x (2) n (1) x (2) (1), t ARGMIN t t x (2) X (1), t (2) (2) t X X X X X (2) (1) (1) (1) (2) (2) X (2) (2) 16/12/

46 Nonlinear Contact Kinematics Closest-Point-Projection onto the Master Surface, t argmin t t X X X X (2) (1) (1) (1) (2) (2) X (2) (2) (1) X (2) X (2) x, t, t t x X X X (2) (1) (2) (2) (1)... Coordinates of the slave particle at reference configuration... Coordinates of the master particle at reference configuration, defined as the closest-point-projection of the slave particle onto the master surface at the current configuration... Coordinates of the closest-point-projection of the slave particle onto the master surface at current configuration 16/12/

47 Nonlinear Contact Kinematics Normal Gap Function (1) (1) (1) (2) (2) (1) X, X X X, g t t N t t (2) (2) n x X (1), t, t g N... Normal gap on current configuration g N gn Contact constraint is violated... Contact constraint is satisfied... Outward unit normal at the closest-point-projection on the master surface at current configuration 16/12/

48 Nominal Contact Traction, Nominal Contact Pressure The nominal contact traction vector is defined as,, t, t T X P X N X (1) (1) (1) (1) (1) (1), t t,, N t t T X X n X (1) (1) (1) (1) (1) where the nominal contact pressure is defined as, t (1), (1) (1), (1) (1), N X t T X t n X t (1) (1) (2) (2) (1) Setting n X, t n X X, t, t (1) (1) (1) T X, N X, t t t (1) (1) (1) (2) (2) (1) (1) (1) tn X t T X t n X X t T X t,,,, 16/12/

49 Contact Kinematic/Pressure Constraints Kühn-Tucker contact/separation optimality conditions If (1) (1) (1) (1) X X X X t, t 0, g, t 0, t, t g, t 0 N N N N Contact consistency or persistency condition gn X (1), t 0 then (1) (1) (1) (1) X X X X t, t 0, g, t 0, t, t g, t 0 N N N N 16/12/

50 Penalty Regularized Contact Constraints The penalty regularization of the Kühn-Tucker contact/separation optimality conditions and contact persistency condition takes the form where N (1) (1) X, X, t t g t N N N is the contact penalty parameter. The penalty regularized contact constraints provides a constitutive-like equation for the nominal contact pressure as a function of the normal gap, allowing a displacement-driven formulation of the contact problem. 16/12/

51 Augmented Lagrangian Regularized Contact Constraints The augmented Lagrangian regularization of the Kühn-Tucker contact/ separation optimality conditions and contact persistency condition take the form N X (1), X (1), t t g t N N N N where is the contact penalty parameter and is the lagrange multiplier subjected to the following Kühn-Tucker optimality constraints N 0, g 0, g 0 N N N N 16/12/

52 Variational Contact Form Variational Contact Form The contact variational contribution to the variational form of the momentum balance equation takes the form,, 0 (1) G t g d c t N N c 16/12/

53 Mechanical Contact Problem Block-iterative Solution Scheme Arrow-shape block system. Block-iterative solution scheme Within the framework of penalty/augmented lagrangian methods, in order to get a better conditioned numerical problem, the resulting system of equations is arranged collecting cast, mould and interface variables, leading to a block arrow-shape system of equations of the form, cast 0 c, cast cast cast 0 mold c, mold mold mold c, cast c, mold c c c

54 Mechanical Contact Problem Block-iterative Solution Scheme Arrow-shape block system. Block-iterative solution scheme The arrow-shape block system of equations can be solved using a blockiterative solution scheme given by, ( i1) ( i) cast cast cast c, cast c ( i1) ( i) mold mold mold c, mold c ( i1) ( i1) ( i1) c c c c, cast cast c, mold mold

55 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

56 Thermal Contact Problem Heat Conduction Heat conduction flux is given by, q h cond cond c m where the heat conduction coefficient is considered to be a function of the contact pressure t N, thermal resistance by conduction R cond, Vickers hardness and an exponent coefficient, and is given by, H e h cond t N 1 t N Rcond He n n

57 Thermal Contact Problem Heat Conduction Thermal resistance by conduction depends on the air trapped between cast and mould due to the surfaces roughness and on the mould coating, and is given by, where by, k a R z R cond R 2k R cond z a c k is the mean peak-to-valley heights of rough surfaces, given R R R 2 2 z z, cast z, mould and is the thermal conductivity of the air trapped between the cast and mould surfaces roughness, is the coating thickness and is c kc the thermal conductivity of the coating c

58 Thermal Contact Problem Heat Convection Heat convection flux is given by, q h conv conv c m where the heat convection coefficient is considered to be a function of the contact gap g N, the mean peak-to-valley heights of rough surfaces R z, the thermal conductivity of the air trapped between the cast and mould surfaces roughness ka, the coating thickness c and the thermal conductivity of the coating, and is given by, h conv g N k c 1 max g, R k k N z a c c

59 Thermal Contact Problem Heat Radiation Heat radiation flux is given by, where, a c m c m q rad Boltzman constant cast temperature mould temperature cast emissivity mould emissivity c m 4 4 a c m 1 1 1

60 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

61 1. Computational Simulation Aluminum (AlSi7Mg) Part in a Steel (X40CrMoV5) Mould Mesh of cast, cooling system and mould: 380,000 tetrahedra

62 1. Computational Simulation Temperature

63 1. Computational Simulation Solid Fraction

64 1. Computational Simulation Temperature and Solid Fraction at Section 1

65 1. Computational Simulation Pressure and J2 von Mises Effective Stress at Section 1

66 1. Computational Simulation Convergence Behaviour at a Typical Step Penalty E E E E E E E-2 Augmented Lagrangian E E E E-3 5A E E-3 7A E-3 Block-iterative Penalty E E E E E E-3

67 2. Computational Simulation Cast Iron Part in a Sand Mould

68 2. Computational Simulation Cast Iron Part in a Sand Mould

69 2. Computational Simulation Solid Fraction at t=500 s.

70 2. Computational Simulation Temperature at t=1100 s.

71 2. Computational Simulation J2 von Mises Effective Stress at Section 1

72 2. Computational Simulation J2 von Mises Effective Stress at Section 2

73 2. Computational Simulation J2 von Mises Effective Stress at Section 3

74 3. Computational Simulation Geometry of the Core, Chiller and Part

75 3. Computational Simulation Geometry of the Core and Chiller

76 3. Computational Simulation Geometry of the Part

77 3. Computational Simulation Filling Process

78 3. Computational Simulation Temperature Map Evolution

79 3. Computational Simulation Temperature Map Evolution at Section A-B

80 3. Computational Simulation Solidification Time and Solid Fraction Map Evolution

81 3. Computational Simulation Temperature vs Time at Different Points

82 4. Computational Simulation Geometry of the Part

83 4. Computational Simulation Filling of the Part

84 4. Computational Simulation Temperature Map Evolution

85 4. Computational Simulation Solidification Times and Solid Fraction Evolution

86 4. Computational Simulation Temperature vs Time at Different Points

87 4. Computational Simulation Deformation of the Part

88 4. Computational Simulation Displacements maps

89 4. Computational Simulation Von Mises Residual Stresses

90 5. Computational Simulation Geometry of a Motor Block

91 5. Computational Simulation Temperature Distribution

92 5. Computational Simulation Equivalent Plastic Strain

93 5. Computational Simulation J2 Effectiove Stress

94 Outline Motivation and Goals Coupled Thermomechanical Problem Mechanical Problem Solid Phase Liquid Phase Mushy Zone. Liquid-Solid Continuous Transition Multigrid Scale Pressure Stabilization Thermal Problem Mechanical Contact Problem Thermal Contact Problem Computational Simulations Concluding Remarks

95 Concluding Remarks A suitable coupled thermomechanical model allowing the simulation of complex industrial casting processes has been introduced. A thermomechanical J2 viscoplastic material model allowing a continuous transition from an initial liquid-like state to a final solid state has been introduced. The thermomechanical J2 viscoplastic model reduces to a purely deviatoric viscous model for the liquid-like phase. An OSGS stabilized mixed formulation for tetrahedral elements has been used to avoid locking and spurious pressure oscillations due to the quasiincompressibility constraints arising in J2 viscoplasticity models. A thermomechanical contact model has been introduced. Ill conditioning induced by the penalty method used in the mechanical contact formulation has been smoothed introducing a block-iterative algorithm. The formulation developed has been implemented in the FE software VULCAN and a number of computational simulations have been shown.