Motivation Idea Nitsche Numerical illustrations

Nitsche’s method for patch coupling

in isogeometric analysis

Qingyuan HU DUT ,UL ,

Supervisor: Stéphane BORDAS UL

DUT Dalian University of Technology

P.R. China
UL University of Luxembourg
Luxembourg

June 6, 2017

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 1 / 23

Motivation Idea Nitsche Numerical illustrations

Why do we need patch coupling

Model complex structures

Figure: Connecting rod Figure: Intersecting tubular shell

[V .P.Nguyen et.al. 2013]
[Y .Guo et.al. 2017]

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 2 / 23

Motivation Idea Nitsche Numerical illustrations

Why do we need patch coupling

Model complex structures

Assign various materials to sub-structures

Figure: iPHONE 6S Figure: Seat frames

[www.visualcapitalist.com] [aeplus.com]

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 3 / 23

Motivation Idea Nitsche Numerical illustrations

Why do we need patch coupling

Model complex structures

Assign various materials to sub-structures
Calculate using suitable elements (dimensions)

Figure: Mixed-dimensional coupling Figure: Simulation of metal forming

[Y .Guo and M.Ruess 2015] [D.J.Benson et.al. 2012]

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 4 / 23

Motivation Idea Nitsche Numerical illustrations

Why do we need patch coupling

Model complex structures

Assign various materials to sub-structures
Choose reasonable element types (dimensions)
Discrete model into elements of sufficient numbers

Figure: A truck door, left: commercial software results Figure: Saint Venant’s Principle
[Marco Brino 2015] [V .P.Nguyen et.al. 2014]

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 5 / 23

Motivation Idea Nitsche Numerical illustrations

Why do we need patch coupling: from FEM to IGA

IGA use NURBS (non-uniform rational B-spline) instead of polynomials

Figure: Lagrange basis functions in FEM Figure: NURBS basis functions in IGA

Non-interpolatory control points

Mesh
1x4

Mesh
1x6

Figure: Meshes and nodes in FEM Figure: Control meshes and control Figure: NURBS curve
points in IGA

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 6 / 23

Motivation Idea Nitsche Numerical illustrations

Stitching two fabrics together

Figure: Stitching fabrics [bigbgsd.blogspot.com]

Where there are displacement gaps,

there should be some kind of forces to prevent the two fabrics from separation,
and additional work to be done to stitching them together.

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 7 / 23

Motivation Idea Nitsche Numerical illustrations

Analogy

fix

Ω1

ΓC
F1
u1
F2

u2

Figure: Stitching fabrics

Ω2

displacement gap = u1 − u2 F
average force = 0.5(F1 + F2 ) pull
Figure: Patch coupling

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 8 / 23

Motivation Idea Nitsche Numerical illustrations

Constraints and additional work

fix Constraints on interface ΓC

Ω1 u1 = u2 on ΓC (1a)
F1 = F2 on ΓC (1b)
ΓC
F1 Define jump and average operators
u1
F2 JuK := u1 − u2
u2 1 (2)
hF i := (F1 + F2 )
2
Ω2
Additional work to be done
displacement gap = u1 − u2 F
average force = 0.5(F1 + F2 ) pull Wadd = hF iJuK (3)
Figure: Patch coupling

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 9 / 23

Motivation Idea Nitsche Numerical illustrations

Problem setup

n2
t1
1
Γ
N

Ω1 ΓC Ω2 Γ 2D
u2 u1 = u2 on ΓC (4a)
n1
σ 1 · N 1 = −σ 2 · N 2 on ΓC (4b)

Figure: Couple two patches

The jump and average operators are defined as

JuK := u 1 − u 2
1 (5)
hσNi := (σ 1 N + σ 2 N)
2
here N is chosen to be N 1 .

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 10 / 23

Motivation Idea Nitsche Numerical illustrations

Different from fabrics stretching

Instead of scalar u, use vector u for generalized cases, e.g. u = (u, v )T in 2D
Instead of forces F, use traction σ(u)N,
where the stress comes from displacement field
σ(u) = Dε(u) = D∇u (6)
and N is the transformation matrix to collect area contribution.

σy

τyx

τxy
n = (nx , ny )T
 
y, v σx nx 0 ny
N=
0 ny nx

x, u
Figure: u, n and σ

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 11 / 23

Motivation Idea Nitsche Numerical illustrations

Nitsche formulation

Start from the classical weak form

a(u, w ) = L(w ) (7)

and introduce Nitsche contribution into the weak form

Z Z Z
a(u, w ) − hσ(u)NiJw KdΓ − JuKhσ(w )NidΓ + α JuKJw KdΓ = L(w ) (8)
ΓC ΓC ΓC

Note
Two Nitsche terms are introduced to keep the stiffness matrix symmetric
Additional stabilisation parameter α to guarantee coercive (positive definite)
Boundary integrations are performed along slave boundary
The Nitsche contributions are made by work–conjugate pairs:
for membrane element they are displacement and traction force,
for thin bending plate they are rotation and bending moment

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 12 / 23

Motivation Idea Nitsche Numerical illustrations

Penalty and Lagrange multiplier

Penalty method: Z
α
a(u, w ) + JuKJw KdΓ = L(w ) (9)
2 ΓC

where α is the penalty parameter.

Lagrange multiplier method:

Z Z
a(u, w ) + λJw KdΓ + δλJuKdΓ = L(w ) (10)
ΓC ΓC

where λ is the vector of Lagrange multiplier.

Methods Pros Cons

No increased DOFs Depends on penalty parameter
Penalty
Easy and straightforward sometimes ill-conditioned
λ means traction Increase DOFs
Lagrange multiplier
Stable when satisfies LBB Not positive define
No increased DOFs Not parameter-free
Nitsche
Positive define, robust Involve constitutive equation

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 13 / 23

Motivation Idea Nitsche Numerical illustrations

How do they work

Penalty method: Z
α
a(u, w ) + JuKJw KdΓ = L(w ) (11)
2 ΓC

Lagrange multiplier method:

Z Z
a(u, w ) + λJw KdΓ + δλJuKdΓ = L(w ) (12)
ΓC ΓC

Nitsche’s method:
Z Z Z
a(u, w ) − hσ(u)NiJw KdΓ − JuKhσ(w )NidΓ + α JuKJw KdΓ = L(w ) (13)
ΓC ΓC ΓC

α λ σ

Figure: α is spring stiffness Figure: λ is external traction Figure: σ is from slave boundary

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 14 / 23

Motivation Idea Nitsche Numerical illustrations

Slave boundary to perform boundary integration

Choose slave boundary that has more elements

Ω2 ΓC Ω1

Choose slave boundary that has shorter edge

Figure: 2D Figure: 3D
[V .P.Nguyen et.al. 2013] [V .P.Nguyen et.al. 2013]

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 15 / 23

Motivation Idea Nitsche Numerical illustrations

Stiffness matrix illustration

3
5

Nitsche
1 Calculate stiffness matrix
for slave
P and master
P
4
K = Ks + Km
2 2 Calculate Nitsche contribution
along coupled
P boundary
K+= KN

2 2
3 3

4 4
5 5

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 16 / 23

Motivation Idea Nitsche Numerical illustrations

Stabilisation parameter α

3
5

Nitsche
1 Solve generalized eigenvalues λ
along coupled boundary
K N u c = λK u c
4
2 α = 2max(λ)
2
ref A.Apostolatos et.al. IJNME. 2013

2 2
3 3
uC λ uC
4 4
5 5

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 17 / 23

Motivation Idea Nitsche Numerical illustrations

Bending plate

orted sim
y supp
simpl ply
P su
y pp L=1
or h = 10-3
te
d P = 10-2
E = 200•109 w
A x 0.0000
sim ν = 0.3
p ly -0.7918
su -1.5835
pp z
or ed -2.3753
te
d pport
ly su -3.1671
simp -3.9588
-4.7506
-5.5423
Figure: Bending plate -6.3341

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 18 / 23

Motivation Idea Nitsche Numerical illustrations

Vibration square plate

y a
simply supported simply supported
simply supported

a=1
b=1
b h = 10-1
E = 200•109
ν = 0.3
ρ = 7850

x
simply supported

Figure: Square plate

Figure: Meshes

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 19 / 23

Motivation Idea Nitsche Numerical illustrations

Vibration square plate

W
1.0

0.5

-0.5

-1.0

W
1.0

0.5

-0.5

-1.0

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 20 / 23

Motivation Idea Nitsche Numerical illustrations

Clamped plate and errors [X.Du et.al. 2015]

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 21 / 23

Motivation Idea Nitsche Numerical illustrations

Connecting rod [V.P.Nguyen et.al. 2014]

Qingyuan HU (University of Luxembourg) Nitsche IGA June 6, 2017 22 / 23

Motivation Idea Nitsche Numerical illustrations

Intersecting tubular shell [Y.Guo et.al. 2017]

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