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Chapter 1

Introduction to
Explicit Dynamics
ANSYS Explicit Dynamics
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Welcome!
Welcome to the ANSYS Explicit Dynamics introductory training
course!

This training course is intended for all new or occasional ANSYS
Explicit Dynamics users, regardless of the CAD software used.

Course Objectives:
Introduction to Explicit Dynamics Analyses.
General understanding of the Workbench and Explicit
Dynamics (Mechanical) user interface, as related to geometry
import and meshing.
Detailed understanding of how to set up, solve and post-
process Explicit Dynamic analyses.
Utilizing parameters for optimization studies.

Training Courses are also available covering the detailed use of other
Workbench modules (e.g. DesignModeler, Meshing, Advanced
meshing, etc.).
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Course Materials
The Training Manual you have is an exact copy of the
slides.

Workshop descriptions and instructions are included in
the Workshop Supplement.

Copies of the workshop files are available on the ANSYS
Customer Portal (www.ansys.com).

Advanced training courses are available on specific
topics. Schedule available on the ANSYS web page
http://www.ansys.com/ under Solutions> Services and
Support> Training Services.
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A. About ANSYS, Inc.
ANSYS, Inc.
Developer of ANSYS family of products
Global Headquarters in Canonsburg, PA - USA (south of Pittsburgh)
Development and sales offices in U.S. and around the world
Publicly traded on NASDAQ stock exchange under ANSS
For additional company information as well as descriptions and
schedules for other training courses visit www.ansys.com

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Course Overview
Chapter 1: Introduction to Explicit Dynamics
Chapter 2: Introduction to Workbench
Chapter 3: Engineering Data
Chapter 4: Explicit Dynamics Basics
Chapter 5: Results Processing
Chapter 6: Explicit Meshing
Chapter 7: Body Interactions
Chapter 8: Analysis Settings
Chapter 9: Material Models
Chapter 10: Optimization Studies


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Why Use Explicit Dynamics?
Implicit and Explicit refer to two types of time integration
methods used to perform dynamic simulations

Explicit time integration is more accurate and efficient for simulations
involving
Shock wave propagation
Large deformations and strains
Non-linear material behavior
Complex contact
Fragmentation
Non-linear buckling

Typical applications
Drop tests
Impact and Penetration

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Solution Impact Velocity
(m/s)
Strain Rate (/s) Effect
Implicit <10
-5
Static / Creep
< 50

10
-5 -
10
-1
Elastic
50 -1000 10
-1 -
10
1
Elastic-Plastic (material
strength significant)
1000 - 3000 10
5 -
10
6
Primarily Plastic (pressure
equals or exceeds material
strength)
3000 - 12000 10
6 -
10
8
Hydrodynamic (pressure
many times material
strength)
Explicit > 12000 > 10
8
Vaporization of colliding
solids
Impact Response of Materials
Why Use Explicit Dynamics?
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VELOCITY LOW HIGH
Deformation Global

Local
Response Time

ms - s

s - ms
Strain <10%

>50%
Strain Rate < 10 s
-1
> 10000 s
-1
Pressure < Yield Stress

10-100 x Yield Stress

Typical Values for Solid Impacts
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Why Use Explicit Dynamics?
Electronics Applications

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Why Use Explicit Dynamics?
Aerospace Applications

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Why Use Explicit Dynamics?
Applications in Nuclear Power safety

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Why Use Explicit Dynamics?
Applications in Homeland Security

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Why Use Explicit Dynamics?
Sporting Goods Application

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Explicit Solution Strategy
Solution starts with a mesh having assigned material
properties, loads, constraints and initial conditions.

Integration in time, produces motion at the mesh nodes

Motion of the nodes produces deformation of the elements

Element deformation results in a change in volume and density
of the material in each element

Deformation rate is used to derive strain rates (using various
element formulations)

Constitutive laws derive resultant stresses from strain rates

Stresses are transformed back into nodal forces (using various
element formulations)

External nodal forces are computed from boundary conditions,
loads and contact

Total nodal forces are divided by nodal mass to produce nodal
accelerations

Accelerations are integrated Explicitly in time to produce new
nodal velocities

Nodal velocities are integrated Explicitly in time to produce new
nodal positions

The solution process (Cycle) is repeated until the calculation
end time is reached
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Basic Formulation Implicit Dynamics
The basic equation of motion solved by an implicit transient dynamic analysis is




where m is the mass matrix, c is the damping matrix, k is the stiffness matrix
and F(t) is the load vector

At any given time, t, this equation can be thought of as a set of "static" equilibrium equations that also take
into account inertia forces and damping forces. The Newmark or HHT method is used to solve these
equations at discrete time points. The time increment between successive time points is called the
integration time step

For linear problems:
Implicit time integration is unconditionally stable for certain integration parameters.
The time step will vary only to satisfy accuracy requirements.

For nonlinear problems:
The solution is obtained using a series of linear approximations (Newton-Raphson method), so each
time step may have many equilibrium iterations.
The solution requires inversion of the nonlinear dynamic equivalent stiffness matrix.
Small, iterative time steps may be required to achieve convergence.
Convergence tools are provided, but convergence is not guaranteed for highly nonlinear problems.
) (t F kx x c x m = + +

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Basic Formulation Explicit Dynamics
The basic equations solved by an Explicit Dynamic analysis express the conservation of mass, momentum
and energy in Lagrange coordinates. These, together with a material model and a set of initial and
boundary conditions, define the complete solution of the problem.
For Lagrange formulations, the mesh moves and distorts with the material it models, so conservation of
mass is automatically satisfied. The density at any time can be determined from the current volume of the
zone and its initial mass:


The partial differential equations which express the conservation of momentum relate the acceleration to
the stress tensor oij:








Conservation of energy is expressed via:


For each time step, these equations are solved explicitly for each element in the model, based on input
values at the end of the previous time step
Only mass and momentum conservation is enforced. However, in well posed explicit simulations, mass,
momentum and energy should be conserved. Energy conservation is constantly monitored for feedback on
the quality of the solution (as opposed to convergent tolerances in implicit transient dynamics)

V
m
V
V
=
0 0

z y x
b z
z y x
b y
z y x
b x
zz
zy
zx
z
yz yy yx
y
xz
xy
xx
x
c
c
+
c
c
+
c
c
+ =
c
c
+
c
c
+
c
c
+ =
c
c
+
c
c
+
c
c
+ =
o
o
o

o o o

o
o
o

( )
zx zx yz yz xy xy zz zz yy yy xx xx
e c o c o c o c o c o c o

2 2 2
1
+ + + + + =
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Basic Formulation Explicit Dynamics
The Explicit Dynamics solver uses a central difference time integration scheme (Leapfrog
method). After forces have been computed at the nodes (resulting from internal stress,
contact, or boundary conditions), the nodal accelerations are derived by dividing force by
mass:


where x
i
are the components of nodal acceleration (i=1,2,3), F
i
are the forces acting on the nodes, b
i
are
the components of body acceleration and m is the mass of the node

With the accelerations at time n - determined, the velocities at time n + are found from



Finally the positions are updated to time n+1 by integrating the velocities



Advantages of using this method for time integration for nonlinear problems are:

The equations become uncoupled and can be solved directly (explicitly). There is no requirement for
iteration during time integration
No convergence checks are needed since the equations are uncoupled
No inversion of the stiffness matrix is required. All nonlinearities (including contact) are included in the
internal force vector
i
i
i
b
m
F
x + =
n
n
i
n
i
n
i
t x x x A + =
+

2 1 2 1
2 1
2 1 1
+
+ +
A + =
n
n
i
n
i
n
i
t x x x
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Stability Time Step
To ensure stability and accuracy of the solution, the size of the time step used in Explicit time
integration is limited by the CFL (Courant-Friedrichs-Levy[1]) condition. This condition implies that the
time step be limited such that a disturbance (stress wave) cannot travel further than the smallest
characteristic element dimension in the mesh, in a single time step. Thus the time step criteria for
solution stability is







where t is the time increment, f is the stability time step factor (= 0.9 by default), h is the characteristic
dimension of an element and c is the local material sound speed in an element

The element characteristic dimension, h, is calculated as follows:











[1] R. Courant, K. Friedrichs and H. Lewy, "On the partial difference equations of mathematical physics",
IBM Journal, March 1967, pp. 215-234
min
(

- s A
c
h
f t
Hexahedral /Pentahedral The volume of the element divided by the square of the longest diagonal and
scaled by 2/3
Tetrahedral The minimum distance of any element node to its opposing element face
Quad Shell The square root of the shell area
Tri Shell The minimum distance of any element node to its opposing element edge
Beam The length of the element
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Stability Time Step
The time steps used for explicit time
integration will generally be much smaller
than those used for implicit time integration

e.g. for a mesh with a characteristic
dimension of 1 mm and a material sound
speed of 5000 m/s. The resulting stability
time step would be 0.18 -seconds. To solve
this simulation to a termination time of 0.1
seconds will require 555,556 time steps

The minimum value of h/c for all elements
in a model is used to calculate the time
step. This implies that the number of time
steps required to solve the simulation is
dictated by the smallest element in the
model.

Take care when generating meshes for
Explicit Dynamics simulations to ensure that
one or two very small elements do not
control the time step
h
min
(

- s A
c
h
f t
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Stability Time Step and Mass Scaling
The maximum time step that can be used in explicit time integration is inversely proportional
to the sound speed of the material and therefore directionally proportional to the square root
of the mass of material in an element







where C
ij
is the material stiffness (i=1,2,3), is the material density, m is the material mass
and V is the element volume

Artificially increasing the mass of an element can increase the maximum allowable stability
time step, and reduce the number of time increments required to complete a solution

Mass scaling is applied only to those elements which have a stability time step less than a
specified value. If a model contains relatively few small elements, this can be a useful
mechanism for reducing the number of time steps required to complete an Explicit simulation

Mass scaling changes the inertial properties of the portions of the mesh to which scaling is
applied. Be careful to ensuring that the model remains representative for the physical
problem being solved
ii
ii
VC
m
C
c
t = = A

1 1
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Wave Propagation
Explicit Dynamics computes wave propagation in solids and liquids
Average Velocity
Velocity at Gauge 1
Constant pressure applied to left surface for 1 ms
Rarefaction
Shock
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Elastic Waves

Different types of elastic waves can propagate in solids depending on how the motion of points in the solid
material is related to the direction of propagation of the waves [Meyers].

The primary elastic wave is the longitudinal wave. Under uniaxial stress conditions (i.e. an elastic wave
travelling down a long slender rod), the longitudinal wave speed is given by:




For the three-dimensional case, additional components of stress lead to a more general expression for the
longitudinal elastic wave speed




The secondary elastic wave is the distortional or shear wave and its speed can be calculated as




Other forms of elastic waves include surface (Rayleigh) waves, Interfacial waves and bending (or flexural)
waves in bars/plates [Meyers]

Meyers M A, (1994) Dynamic behaviour of Materials, John Wiley & Sons, ISBN 0-471-58262-X

E
c =
0

G K
c
P
3
4
+
=

G
c
S
=
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Plastic Waves
Plastic (inelastic) deformation takes place in a ductile metal when the stress in the material exceeds the
elastic limit. Under dynamic loading conditions the resulting wave propagation can be decomposed into
elastic and plastic regions [Meyer]. Under uniaxial strain conditions, the elastic portion of the wave travels
at the primary longitudinal wave speed whilst the plastic wave front travels at a local velocity






For an elastic perfectly plastic material, it can be shown [Zukas] that the plastic wave travels at a slower
velocity than the primary elastic wave, so an elastic precursor of low amplitude often precedes the stronger
plastic wave





Meyers M A, (1994) Dynamic behaviour of Materials, John Wiley & Sons, ISBN 0-471-58262-X
Zukas J A, (1990) High velocity impact dynamics, John Whiley, ISBN 0-471-51444-6

c
o
d
d
c
plastic
=

K
c
plastic
=
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Shock Waves

Typical stress strain curves for a ductile metal













Uniaxial Stress Uniaxial Strain


Under uniaxial stress conditions, the tangent modulus of the stress strain curve decreases with strain. The
plastic wave speed therefore decreases as the applied jump in stress associated with the stress wave
increases shock waves are unlikely to form under these conditions

Under uniaxial strain conditions the plastic modulus (AB) increases with the magnitude of the applied jump
in stress. If the stress jump associated with the wave is greater than the gradient (OZ), the plastic wave will
travel at a higher speed than the elastic wave. Since the plastic deformation must be preceded by the
elastic deformation, the elastic and plastic waves coalesce and propagate as a single plastic shock wave
c
x

o
o
c
x

z
o
A
B
C
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Shock Waves
A shock wave is a discontinuity in material state (density (), energy (e), stress (), particle velocity
(u) ) which propagates through a medium at a velocity equal to the shock velocity (U
s
)








Relationships between the material state across a shock discontinuity can be derived using the
principals of conservation of mass, momentum and energy The resulting Hugoniot equations are
given by:

1

e
1
o
1

u
1

0

e
0
o
0

u
0


U
s

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Shock and Rarefaction Waves
Rarefaction
Shock
Elastic precursor
Shock (compression) and
rarefaction (expansion) waves
generated by a pressure
discontinuity
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Spatial Discretization

Geometries (bodies) are meshed into a (large) number of smaller elements
All elements use in Explicit Dynamics have Lagrange formulations
i.e. elements follow the deformation of the bodies









Advanced Explicit Dynamics (AUTODYN) allows other formulations to be
used
Euler (Multi-material, Blast)
Particle free (SPH)
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Element formulations for Explicit Dynamics

Solid elements

Hexahedral
Exact volume integration
Approximate Gauss volume integration

Pentahedral
Automatically converted to a degenerate hex

Tetrahedral

SCP (Standard Constant Pressure)

ANP (Average Nodal Pressure)


Shell elements

Quadrilateral
Triangular

Beam (Line) element


Element Formulations

1
2
3
4
1
2
3

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Hexahedral Solid Elements

Two Formulations:

8 node, exact volume integration, constant
strain element

Single quadrature point with hourglass
stabilization

8 node, approximate Gauss volume
integration element

LS-DYNA formulation (Hallquist)

Some accuracy is lost for faster
computation

Single quadrature point with hourglass
stabilization


Element Formulations

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Element Formulations
Tetrahedral Solid Elements

Two formulations:

SCP (Standard Constant Pressure)

Textbook 4 noded iso-parametric tet
element

Designed as filler element for hex-
dominant meshes

Exhibits volume locking if over constrained
or during plastic flow

ANP (Average Nodal Pressure)

Enhanced 4 noded iso-parametric tet
element (Burton, 1996)

Overcomes volume locking problems

Can be used as a majority mesh element

SCP Tet
ANP Tet
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Element Formulations
Tetrahedral Solid Elements

Pull-out test simulated using both
hexahedral elements (top) and ANP
tetrahedral elements (bottom).
Similar plastic strains and material
fracture are predicted for both element
formulations used.
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Shell Elements

Quadrilateral shell element

Belytschko-Tsay, with Chang-Wong correction

Co-rotational formulation, bi-linear, 4 noded

Single quadrature point with hourglass stabilization

Isotropic and layered orthotropic formulations

Number of through thickness integration points can be specified

Triangular shell element

C0 Triangular Plate Element (Belytscho, Stolarski and Carpenter
1984)

Should be used in quad-dominant meshes

Thickness is a parameter (not modelled geometrically)
Actual thickness can be rendered
Time step is controlled by the element length, not by thickness

1
2
3
E
1
2
3
4
E
Element Formulations
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Element Formulations
Hourglass Control (Damping) for Hexahedral Solid and Quad Shell Elements

For the hexahedral and quad element formulations, the expressions for strain rates and forces involve only
differences in velocities and / or coordinates of diagonally opposite corners of the element
If an element distorts such that these differences remain unchanged there is no strain increase in the element and
therefore no resistance to this distortion
On the left, the two diagonals remain the same length even though the element distorts. If such distortions occur
in a region of several elements, a pattern such as that shown on the right occurs and the reason for the name
hourglass instability is easily understood









In order to avoid such hourglass instabilities, a set of corrective forces are added to the solution
Two formulations are available for hexahedral solid elements
AD standard (default)
Most efficient option in terms of memory and speed
Flanagan-Belytschko
Invariant under rotation
Improved results for large rigid body rotations
2 1
3 4
2 1
3 4

2D 3D
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Element Formulations
Beam (Line) Elements


2 noded Belytschko-Schwer resultant
beam formulation

Extended to allow large axial strains

Resultant plasticity implemented for
range of cross section types

Cross-section is a parameter (not
modelled geometrically)

Actual cross section can be rendered

Time step is controlled by the element
length, not by dimensions of cross-
section
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X
Y
Z
11
22
33
Node #1
Node #2
22
Local 11-Direction
Always defined from node #1 to node#2
Local 22-Direction
Defined by user for Rectangul ar, I-Beam and
General Sections
User defi nes initial unit vector 22 at cycle
zero. This should lie in plane 11-22
Local 33-Direction
Orthogonal to Local directions 11 and 22
Rin
Rout
a
a
A
A
a
b
A
B
22
a
A
B
22
tw
tf
22
33
Element Formulations
Beam cross-sections
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Element Usage
What is required for meshing Explicit Applications?

Uniform element size (in finest zoned regions).

Smallest element size controls the time step used to advance the solution in time.
Explicit analyses compute dynamic stress waves that need to be accurately modeled as they
propagate through the entire mesh.

Element size controlled by the user throughout the mesh.

Not automatically dependent on geometry.

Implicit analyses usually have static region of stress concentration where mesh is refined
(strongly dependent on geometry).

In explicit analyses, the location of regions of high stress constantly change as stress waves
propagate through the mesh.

Mesh refinement is usually used to improve efficiency.

Mesh transitions should be smooth for maximum accuracy.

Hex-dominant meshing preferred.
More efficient.
Sometimes more accurate for slower transients.

Chapter 6 will cover Explicit Meshing in more detail
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Material Modeling
Class of Material Material Effects
Metals Elasticity
Plasticity
Isotropic Strain Hardening
Kinematic Strain Hardening
Isotropic Strain Rate Hardening
Isotropic Thermal Softening
Ductile Fracture
Brittle Fracture (Fracture Energy based)
Dynamic Failure (Spall)
Concrete / Rock Elasticity
Porous Compaction
Plasticity
Strain Hardening
Strain Rate Hardening in Compression
Strain Rate Hardening in Tension
Pressure Dependent Plasticity
Lode Angle Dependent Plasticity
Shear Damage / Fracture
Tensile Damage / Fracture
Soil / Sand Elasticity
Porous Compaction
Plasticity
Pressure Dependent Plasticity
Shear Damage / Fracture
Tensile Damage / Fracture
Rubbers / Polymers Elasticity
Viscoelasticity
Hyperelasticity
Orthotropic Orthotropic Elasticity
In general, materials have a complex
response to dynamic loading,
particularly when the loading is rapid,
intense and distructive

The Material models available for
Explicit Dynamics simulations facilitate
the modeling of a wide range of
materials and material behaviors, as
shown in the table

Chapter 3 will explain how material
data can be created or retrieved from
libraries using Engineering Data

The actual material models available
for Explicit Dynamics analyses are
presented at length in Chapter 6
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Basic Formulation
Models available for
Explicit Dynamics

Chapter 9 will
cover these
material models in
more detail