professor fabrice pierron lmpf research group, ensam châlons en champagne, france the virtual...
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Professor Fabrice PIERRON
LMPF Research Group, ENSAM Châlons en Champagne, France
THE VIRTUAL FIELDS METHOD
Introduction and Overview
Paris
Châlons en Champagne
A bit of history
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A bit of history1989 – First paper in “Comptes rendus de l’académie des sciences” (principle)1990 – PhD thesis of Michel GRÉDIAC (thin anisotropic plates, including experiments)1994 – First collaboration between FP & MG (anisotropic in-plane properties, shear)1996 – 98: First application in dynamics (vibration of thin plates, exp. & num.)1998 – 2000: Series of work on in-plane elastic stiffnesses of composites (exp. & num.)2001: first attempt at a non-linear law (anisotropic)2002 – 04: Significant progress on virtual fields selection in elasticity (special virtual fields, minimization of noise effects)
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A bit of history2003: First application in vibration with damping (thin plates)
2005 – 06: Convincing experimental results (in-plane anisotropic composite stiffnesses)
2006 – First application to elasto-plasticity
2006: Theoretical framework in elasticity (relation between FEMU and VFM)
2006: Optimisation of test configuration (with Airbus UK)
2006: First application on heterogeneous materials – stiffness contrast in impacted composite plates (with Bristol Univ.)
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A bit of history2007: Application to elastography (MRI)
2007: First application to viscoplasticity (coll. M.A. Sutton)
2007: First application to heterogeneous plasticity (FSW joints)
OngoingApplication to 3D bulk measurements (composites, biomechanics), project with Loughborough university (Prof. J.M. Huntley, Dr P.D. Ruiz)
Optimisation of virtual fields in plasticity
Friction Stir Welds (collaboration with ONERA, France)
Development of a user-oriented software: CAMFIT
The principle of virtual work
V
*ii
V
*ii
V
*ijij 0dVufdSuTdV
or
Equilibrium equations (static)
0fij,ij + boundary conditions strong (local)
weak (global)
Valid for any KA virtual fields
Illustration of the PVW
01n
Section SF
e1
e2
l
L0
221
112
2221
1211211 dx.edx.e
0
1dx.e.TF
Over element 1
1
F1
211edx
221edx
1
2
3
0
1n
Local equilibrium: 0xx 2
12
1
11
21
Forces exerted by 2 over 1
)xL.(FM
F
0F
10e
12
12
3
F
e1
e2 Section S
L0-x1
Resultant of internal forces
2/l
2/l 2211e
12
2/l
2/l 221
2/l
2/l 211
12
dxxeM
dxe
dxeF
3
1
F1
211edx
221edx
21 F
e1
e2 Section S
L0-x1
Equilibrium
)xL(Fdxxe
Fdxe
0dx
10
2/l
2/l 2211
2/l
2/l 221
2/l
2/l 211
)xL.(FM
F
0F
10e
12
12
3
2/l
2/l 2211e
12
2/l
2/l 221
2/l
2/l 211
12
dxxeM
dxe
dxeF
3
Valid over any section S of the beam: integration over x1
)xL(Fdxxe
Fdxe
0dx
10
2/l
2/l 2211
2/l
2/l 221
2/l
2/l 211
2
FLdxdxxe
FLdxdxe
0dxdx
20
L
0
2/l
2/l 21211
0
L
0
2/l
2/l 2121
L
0
2/l
2/l 2111
0
0
0
Eq. 1
Eq. 2
Eq. 3
Principle of virtual work (static, no volume forces)
0dSu.TdVfV
*ii
V
*ijij
Let us write a virtual field:
0u
xu*2
1*1
e1
Fe2
L0
l
0
0
1
*12
*22
*11
0dSu.TdVfV
*ii
V
*ijij
0L
0
2/l
2/l 2111
V
*1111 dxdxedV 0
0dxdx0L
0
2/l
2/l 2111 Eq. 1
e1
Fe2
L0
l
Let us write another virtual field:
1*2
*1
xu
0u
2/1
0
0
*12
*22
*11
F
e1
e2
L0
l
0dSu.TdVfV
*ii
V
*ijij
0L
0
2/l
2/l 2112
V
*1212 dxdxedV2 0L.F
0
L
0
2/l
2/l 2112 FLdxdxe0 Eq. 2
F
e1
e2
L0
l
F
e1
e2
L0
l
Let us write a 3rd field: virtual bending
2
xu
xxu21*
2
21*1
0
0
x
*12
*22
2*11
0dSu.TdVfV
*ii
V
*ijij
0L
0
2/l
2/l 21211
V
*1111 dxdxxedV 2
L.F 20
2
FLdxdxxe
20
L
0
2/l
2/l 21211
0 Eq. 3
F
e1
e2
L0
l
The Virtual Fields Method
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Basic equations
V
*ii
V
*ii
V
*ijij 0dVufdSuTdV
or
I Equilibrium equations (static)
0fij,ij + boundary conditions strong (local)
weak (global)
II Constitutive equations (elasticity)
klijklij C
III Kinematic equations (small strains/displacements)
)uu(21
i,jj,iij
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The Virtual Fields Method (VFM) Basic idea
0dSuTdVV
*ii
V
*ijij
Eq. I (weak form, static)
Substitute stress from Eq. II
klijklij C
0dSuTdVCV
*ii
V
*ijklijkl
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The Virtual Fields Method (VFM)
0dSuTdVCV
*ii
V
*ijklijkl
valid for any kinematically admissible virtual fields
For each choice of virtual field: 1 equation
Choice of as many VF as unknowns: linear system
Inversion: unknown stiffnesses
Elasticity: direct solution to inverse problem !
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Simple example
Fuuny shaped disc in diametric compressionIsotropic material
-F/2
F
y
x
-F/2
Eps y Eps x Eps s
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0dSuTdVV
*ii
V
*klij
1st virtual field: virtual compression field
yu ; 0u *y
*x
0 ; 1 ; 0 *s
*y
*x
V
y
V
*yy
V
*klij dVdVdV
-F/2
F
y
x
-F/2
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xxyyxxy QQ
V
xxyyxx
V
y dV)QQ(dV
s
y
x
xyxx
xxxy
xyxx
s
y
x
2/)QQ(00
0QQ
0QQ
-F/2
F
y
x
-F/2
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V
xxyyxx dV)QQ(
Homogeneous material
V V
xxyyxx dVQdVQ
Assumption: strain field uniform through the thickness
S S
xxyyxx dxdyeQdxdyeQ
Measurement: uniform strain over a « pixel » (N « pixels »)
S
N
1i
iiyy sdxdy
S
N
1i
iixx sdxdy
-F/2
F
y
x
-F/2
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yd
N
1i
iy
dN
1i
iiy S
N
Ss
« Pixels » are of same area:
N
Sss di
N
1i
iyy N
1Average strain
Finally:
xxyyxxd
V
*klij QQeSdV
-F/2
F
y
x
-F/2
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Virtual work of external forces
)C(u)C(T
)B(u)B(T)A(u)A(TdSuT*
**
V
*ii
Contribution of point A
Coordinates of A:
00A
yu ; 0u *y
*x
00Au*
F
0AT 0)A(u)A(T *
-F/2
F
y
x
-F/2
A
B C
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Contribution of point B
Coordinates of B:
LhB
yu ; 0u *y
*x
L0Bu*
2/F
0BT2
FL)B(u)B(T *
Finally FLdSuTV
*ii
2
FL)C(u)C(T *
-F/2
F
y
x
-F/2
A
B C
Lh
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1st virtual field: uniform diametric compression
dxxyyxx eS
FLQQ
2nd virtual field: transverse swelling
0u ; xu *y
*x
0 ; 0 ; 1 *s
*y
*x
0QQ yxyxxx
-F/2
F
y
x
-F/2
A
B C
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Finally
dxy
xx
xy
yx
eS
FL0
)(eS
FLQ
)(eS
FLQ
2x
2yd
xxy
2x
2yd
yxx
-F/2
F
y
x
-F/2
Direct solution To inverse problem !!!
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Principal advantagesIndependent from stress distribution
Independent from geometry
Direct identification (no updating)
LimitationsKinematic assumption through the thickness (plane stress, plane strain, bending...)
y
F
-F
x
A
B
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Anisotropic elasticityExample 2
Orthotropic material
s
y
x
2sss
yyxy
xyxx
s
y
x
KQ00
0QQ
0QQ
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Choice of the virtual fields
1. Measurement on S2 only (optical system)
0 ; 0 ; 0 *s
*y
*x Over S1 and S3: (rigid body)
2. A priori choice:
over S1: 0u ; 0u *y
*x
0dSuT1S
*ii
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Unknown force distributionover S1 and S3. Resultant P measured
3. Over S3 (rigid body) : 2 possibilities
0u ; 0u *y
*x 0dSuT
3S
*ii 3.1
3.2
red
*yy
blue
*xx
S
*ii dxutdxutedxdzuT
3
tyi
txi
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tyi
txi
No information on tx
0u*x
rouge
*yy
rouge
*xx
S
*ii dxutdxutedxdzuT
3
Distribution ty unknown ku*y
kPdxtkkdxtdxutred
y
red
y
red
*yy
Filtering capacityof the VF
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4. Continuity of the virtual fieldsConditions over S2
Virtual strain field discontinuous
0uu *y
*x ku ; 0u *
y*x
Choice of 4 virtual fields at least: example
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xu ; 0u *y
*x
Over S2
1 ; 0 ; 0 *s
*y
*x
Over S3 k = -L
Uniform virtual shear
y
x
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V
sdV
Plane stress
S
sdSe
0dSTudVV
*
V
*ijij
s
y
x
ss
yyxy
xyxx
s
y
x
Q00
0QQ
0QQ
Plane orthotropic elasticity
S
sss dSQe
PL
Homogeneousmaterial
S
sss dSeQ
ePLdxdyQ
2S
sss
0dSTudVV
*
V
*ijij
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ePLdxdy)x2L(y6Qdxdy)x2L(y6Q
3
S
yxy
S
xxx
22
y
x
Field n°2: Bernoulli bending
)L3x2(xu
)xL(xy6u2*
y
*x
Sur S2
0 ; 0
)x2L(y6*s
*y
*x
Sur S3 k = -L3
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0dxdy)Lx2(yQ
dxdy)Lx(xQdxdy)Lx(xQ
2
22
S
sss
S
xxy
S
yyy
Field n°3: Global compression
)Lx(xyu ; 0u *y
*x
Over S2
)Lx2(y
)Lx(x
0
*s
*y
*x
Sur S3 k = 0
y
x
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Field n°4: Local compression)3/Lx(xyu ; 0u *
y*x
Over A1
)3/Lx2(y
)3/Lx(x
0
*s
*y
*x
Over S3 k = 0
y
x
)3/L2x)(Lx(yu ; 0u *y
*x Over A2
)3/L5x2(y
)3/Lx)(Lx(
0
*s
*y
*x
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0dxdy)3/L5x2(ydxdy)3/Lx2(yQ
dxdy)3/Lx)(Lx(dxdy)Lx(xQ
dxdy)3/Lx)(Lx(dxdy)Lx(xQ
21
21
21
A
s
A
sss
A
x
A
xxy
A
y
A
yyy
Field n°4: Local compression
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Final system
0
0
ePL
ePL
Q
Q
Q
Q
dS)3L5x2(y
dS)3Lx2(y
dS)3L2x)(Lx(
dS)3Lx(x
dS)3L2x)(Lx(
dS)3Lx(x
0
dS)Lx2(ydS)Lx(xdS)Lx(x0
0dS)x2L(y60dS)x2L(y6
dS000
3
ss
xy
yy
xx
A
s
A
s
A
x
A
x
A
y
A
y
S
s
S
x
S
y
S
y
S
x
s
2
1
2
1
2
1
222
22
AQ = B Q = A-1B If VF independent !!
Pierron F. et Grédiac M., Identification of the through-thickness moduli of thick composites from whole-field measurements using the Iosipescu fixture : theory and simulations,Composites Part A, vol. 31, pp. 309-318, 2000.
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Experimental examples in linear elasticity
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Unnotched Iosipescu test
Material: 0° glass-epoxy (2.1 mm thick)
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Polynomial fitting Noise filtering, extrapolation of missing data
Displacements in the undeformed configuration
Raw data Polynomial fitting Residual
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Strain fields Smooth fields
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
x 10-3
-7
-6
-5
-4
-3
-2
-1
0x 10
-3
-25
-20
-15
-10
-5
0
5
x 10-4
loca
l dif
fere
ntia
tion
FE
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Identification: stiffness
6 specimens
P = 600 N
xxQ yyQ xyQ 0ssQ
Reference (GPa) 44.9 12.2 3.683.86
Coeff. var (%) 0.7 2.8 7.32.4
Identified (GPa) 39.7
6.6
10.4
23
3.65
2.4
3.03
13Coeff. var (%)
Predicted by VFM routine
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Through thickness stiffnesses of thick UD glass/epoxy composite tubes
Optimized positionof measurement area
R. MoulartMaster thesisRef. 10
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Deformation maps
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Strain mapsPolynomial fit, degree 3, transform to cylindrical and analytical differentiation
r
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Strain maps
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Strain maps
s
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rrQ Q rQ ssQ
Reference* (GPa) 10 40 43
Identification results
Identified (GPa) 11.4 44.4 6.83.87Coeff. var (%) – 5 tests 87 66 6959
Problem: not an in-plane test !!!
* Typical values
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Problem with thick ring compression test
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Problem with thick ring compression test
Solution: back to back cameras-0.018
-0.016
-0.014
-0.012
-0.01
-0.008
-0.006
-0.004
-0.002
0
0.002
-20 -18 -16 -14 -12 -10 -8 -6 -4 -2 0
Load (kN)
Str
ain
(%
)
Front 1
Back 1
Front 2
Back 2
average 1
average 2
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Set-up with two cameras
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Results
rrQ Q rQ ssQ
Reference* (GPa) 10 40 43
Identified (GPa) 11.4 45.4 6.782.62Coeff. var (%) – 9 tests 29 10 429
Moulart R., Avril S., Pierron F., Identification of the through-thickness rigidities of a thick laminated composite tube, Composites Part A: Applied Science and Manufacturing, vol. 37, n° 2, pp. 326-336, 2006.
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ACKNOWLEDGEMENTSProfessor Michel GREDIACBlaise Pascal University, France
Colleagues and students from my research group:Dr Stéphane Avril, Dr Alain Giraudeau, Dr René RotinatDr Hocine Chalal, Mr Baoqiao Guo, Dr Yannick Pannier, Mr Raphaël Moulart
French CNRS network (GDR): « full-field measurements and identification in solid mechanics »
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ACKNOWLEDGEMENTSFunding
French Ministry for Research
French National Research Agency (ANR)
Champagne Ardenne Regional Council
Engineering and Physical Sciences Research Council (UK)
Airbus UK