time-multi-scale parameter identification of models ... · g. puel - smip workshop - 2 oct. 2014 -...
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Time-multi-scaleparameter identification
of models describingmaterial fatigue
Guillaume PUELDenis AUBRY
Laboratoire MSSMat Ecole Centrale Paris / CNRS UMR 8579
SMIP workshop
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G. Puel - SMIP workshop - 2 oct. 2014 -
Context
• Rotor blade «Combined Cycle Fatigue» (CCF)
PREdictive MEthods for Combined CYcle fatigue in gas turbines
Loading on the blades:!• aerodynamic forces ↔ high frequency!
• centrifugal force ↔ low frequency
Ratio LF/HF: � � 10�4
2
EU Project (2006-2011)
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G. Puel - SMIP workshop - 2 oct. 2014 -
Context
• Necessity of a specific method!• complex interaction between low- and high-
frequency loads, and dynamic effects➡ classical cumulative laws can be inadequate!
• time-dependent simulations required ➡ need to efficiently describe the `slow’ evolution of a structure withstanding `fast’ loading cycles!
• use of a specific method to reduce the associated huge computation cost
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G. Puel - SMIP workshop - 2 oct. 2014 -
Context
• Process: periodic time homogenization method [Guennouni & Aubry 1986][Guennouni 1988]!
• separation of two time scales!
• asymptotic expansion ➡ time-homogenized problem solved on slow time steps only!
• Similaritieswith periodic space homogenization techniques [Bensoussan et al. 1978, Sanchez-Palencia 1980, ...]
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G. Puel - SMIP workshop - 2 oct. 2014 -
Outline
• Periodic time homogenization!• basic ingredients!
• simple case of study!
• towards industrial problems!
• Time-multi-scale parameter identification!
• Prospects
5
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G. Puel - SMIP workshop - 2 oct. 2014 -
Basic ingredients
• Two independent time scales!• fast time scale!
• slow time scale!
• Total differentiation rule: for!!
• time derivative w.r.t. slow time:!
• time derivative w.r.t. fast time:
� =t
⇥� 1
�(t, ⇥)
6
⇥ =t
�t
dt� = ⇤t� +1⇥⇤��
⇥t� = �
⇥�� = ��
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G. Puel - SMIP workshop - 2 oct. 2014 -
Basic ingredients
• Quasi-periodicity assumption!!
• periodicity w.r.t. the fast period!
• Fast-time average!!
• quasi-periodicity:
�/F
7
< � > (t) = F
� 1F
0�(t, ⇥) d⇥
�(t, ⇥) = �
�t, ⇥ +
1F
⇥�t
�
�(t, ⇥)< � > (t)
� +1F
< �� >= 0
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G. Puel - SMIP workshop - 2 oct. 2014 -
Basic ingredients
• Time homogenization!• directly compute time-homogenized quantities!
!
!
!
• using asymptotic expansions w.r.t.
tt
�(t, ⇥)< � > (t)
� =t
⇥� 1
⇤p(x, t, ⇥) = ⇤p0(x, t, ⇥) + �⇤p
1(x, t, ⇥) + O(�2)
...
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G. Puel - SMIP workshop - 2 oct. 2014 -
Outline
• Periodic time homogenization!• basic ingredients!
• simple case of study!
• towards industrial problems!
• Time-multi-scale parameter identification!
• Prospects
9
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G. Puel - SMIP workshop - 2 oct. 2014 -
Simple case: tensile test on a bar
• Description!• cylindrical bar!
• two-frequency tensile load0.129Hz / 1290Hz = 1st mode amplitudes ratio = 1/4!
• Material: titanium alloy!
• viscoplastic flow rule with two hardenings!
• Rayleigh damping (prop. to stiffness)
slow
fast
10
x = Lx = 0
fs(t, �)
1D
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G. Puel - SMIP workshop - 2 oct. 2014 -
Simple case: tensile test on a bar
• Reference model!• PDEs:!
!
!
!
!
!
• BCs:!
!
• zero initial values
11
⇥x � (0, L)�t, �
�|x=L = fs
u|x=0 = 0�t, �
� = E (⇤xu� ⇥p)
dtp =�
|� �X|�R� k
K
⇥n
+
dt⇥p = dtp sign(� �X)
dtX =23Cdt⇥
p � �0dtp X
dtR = b(Q�R)dtp
dt⇥p = a(�)⇔
⇤x⇥ + cKdt⇤x⇥ = �d2t u
[Lemaître &Chaboche 1990]
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G. Puel - SMIP workshop - 2 oct. 2014 -
• Evolution equation:!• asymptotic expansion:!
!
!
• order -1:
• order 0:
zeroth-ordertime-homogenized pb.
12
only�p0(x, t)⇒ < �p
0 >= �p0⇒
dt⇥p = a(�)
1�⇥p0
� = 0
⇥p0 + ⇥p
1� = a(�0)
1�⇤p0
� + (⇤p0 + ⇤p
1�) + � (⇤p
1 + ⇤p2
�) + O(�2)
= a(⇥0) + �⇥1D�a(⇥0) + O(�2)
➡ viscoplasticity is a slow-evolving phenomenon< �p
1� >= 0avrg. ⇒
⇒ ⇥p0 =
�a(�0)
⇥
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G. Puel - SMIP workshop - 2 oct. 2014 -
zeroth-ordertime-homogenized pb.
• Equilibrium equation:!• asymptotic expansion:!
!
• order -2:!
• order -1:
⇤x⇥ + cKdt⇤x⇥ = �d2t u
d2tu =1
⇠2u000 +
1
⇠(2u0
0 + u001) + (u0 + 2u0
1 + u002) +O(⇠)
u000 = 0
13
u001 = 0
u0(x, t) only⇒
u1(x, t) only⇒
➡ the two time scales are not separable!
...
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G. Puel - SMIP workshop - 2 oct. 2014 -
zeroth-ordertime-homogenized pb.
• Equilibrium equation:!• assumption: with!
• equivalent physical criterion: with , wavelengths of propagating waves with frequency and respectively
⇤x⇥ + cKdt⇤x⇥ = �d2t u
⇤L2F 2
E= �⇥2 � � O(1)
➡ ⇤d2t u =
�E
L2F 2u��
0 + ⇥�E
L2F 2(2u�
0 + u��1) + O(⇥2)
L
�F=
p�⇠
F
14
�F/⇠�F
L
�F/⇠=
p�
F
⇠
or
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G. Puel - SMIP workshop - 2 oct. 2014 -
zeroth-ordertime-homogenized pb.
15
t
< � >Slow elasto-viscoplastic q.s. pb.
⇥x < �0 >= 0< �0 > = E (⇤x < u0 > � ⇥p
0)< u0 >|x=0 = 0
< �0 >|x=L = < fs >
�
�(t, ⇥)< � > (t)
� +1F
⇥p0 =
�a(�0)
⇥
�0(x, t, ⇥) =< �0 > (x, t) + ��0(x, t, ⇥) � =< � > +��
��Fast elastic damped dyn. pb.
��0 = E⇥xu�0u�0 |x=0 = 0��
0 |x=L = f�s
@x
�⇤0 +
�
F@x
�⇤00 =
�E
L2F 2u⇤000
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G. Puel - SMIP workshop - 2 oct. 2014 -
Validation of the method
• Plastic strain:!• comparison for the first slow cycle of �p
0
impact of inertial terms
16
x=0reference
homogenizedx=L
[Puel & Aubry EJCM 2012]
slowfast
x=0 x=L
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G. Puel - SMIP workshop - 2 oct. 2014 -
Validation of the method
• Simulation for a 1-hour time interval!• 180 slow cycles / 1 800 000 fast cycles
time-homogenized:!90 000 time steps
only
x400
classical condition:!36 000 000 time stepsx=L
x=0
17
0,05Hz / 500Hz
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G. Puel - SMIP workshop - 2 oct. 2014 -
Outline
• Periodic time homogenization!• basic ingredients!
• simple case of study!
• towards industrial problems!
• Time-multi-scale parameter identification!
• Prospects
18
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G. Puel - SMIP workshop - 2 oct. 2014 -
Other material laws
• Material fatigue simulation: CCF!
• viscoplasticity + damage / dynamic case
x=L
x=0
x=L
x=0
Lemaître-Chaboche viscoplasticity model
Lemaître isotropic damage model
slowfast
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G. Puel - SMIP workshop - 2 oct. 2014 -
Back to context
• PREMECCY tests
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G. Puel - SMIP workshop - 2 oct. 2014 -
Back to context
• Blade-shaped specimen:!• CCF testing: 0.14Hz / 1400Hz
slow
fast
21
100 slow cycles!1 000 000 fast cycles
longitudinal plastic strain
mode @ 1400Hz (bending II)
[Puel & Aubry IJMCE 2014]
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G. Puel - SMIP workshop - 2 oct. 2014 -
Outline
• Periodic time homogenization!
• Time-multi-scale parameter identification!• generic framework!
• application to a simple case!
• Prospects
22
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G. Puel - SMIP workshop - 2 oct. 2014 -
Generic nonlinear model
• Time-dependent forward state equation:
• = an ODE with initial conditions!!
• Model with scalar parameters :!!
• of size N = number of DOFs (FE discretization)➡ forward state
p
F (u(t),v(t),a(t),p, t) = 0
u(0) = U0
u(t;p)
v(t) =dudt
(t)
u
23
v(0) = V0
a(t) =d2udt2
(t)
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G. Puel - SMIP workshop - 2 oct. 2014 -
Experimental data
• Measurements:!• associated with some given points only!
• assumption: with linear operator!
• Matching DOFs:!
• Misfit function:!• discrepancy between model and experiments
AAuexp(t)
Au(t;p)
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G. Puel - SMIP workshop - 2 oct. 2014 -
Inverse problem
• Misfit function:!!
!
• Constrained minimization:!• equivalent to the stationarity of the Lagrangian:
➡ Tikhonovregularization
J (p) =12
� T
0|A(u(t;p)� uexp(t))|2 dt +
�
2|p� p0|2
➡independent variables
L(u,p, z) =12
� T
0|A(u(t)� uexp(t))|2 dt +
�
2|p� p0|2
�� T
0F (u(t),v(t),a(t),p, t)T z(t) dt
�(u(0)�U0)Tz(0)� (v(0)�V0)Tdzdt
(0)25
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G. Puel - SMIP workshop - 2 oct. 2014 -
Adjoint state
• Stationarity of with respect to :!
!
!
!!
• = adjoint state!
• , and directional derivatives (↔differentiated forward equation)
L u⇤ T
0�u(t)T
�ATA(u(t)� uexp(t))
⇥dt
�⇤ T
0
�⇥uF�u(t) +⇥vF�v(t) +⇥aF�a(t)
⇥Tz(t) dt
��u(0)Tz(0)� �v(0)Tdzdt
(0) = 0
�uF �vF �aF
z
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G. Puel - SMIP workshop - 2 oct. 2014 -
Adjoint state
• Adjoint state problem:!
!
• time-backward ODEwith two final conditions:!
!
!
• solved with a change in variables
⇥uFTz� ddt
�⇥vFTz
⇥+
d2
dt2�⇥aFTz
⇥= ATA(u� uexp)
�aFTz|t=T = 0
⇥vFTz|t=T �ddt
�⇥aFTz
⇥|t=T
= 0
� = T � t
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G. Puel - SMIP workshop - 2 oct. 2014 -
Optimality conditions
• Misfit function’s gradient:!
!
!
• Solving the problem:!• gradient-based
minimization algorithm !
• optimal computational cost and accuracy
⇥pJ (p) = ⇥pL(u(t; p),p, z(t))
= �(p� p0)�� T
0⇥pFTz(t) dt
28
u(t;pk) z(t) �pJ (pk)
�pk
1 ODE 1 ODE integrations➡ ➡
P
➡
� = T � t
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G. Puel - SMIP workshop - 2 oct. 2014 -
Outline
• Periodic time homogenization!
• Time-multi-scale parameter identification!• generic framework!
• application to a simple case!
• Prospects
29
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G. Puel - SMIP workshop - 2 oct. 2014 -
Synthetic data
• Description:!• cylindrical bar!
• two-frequency tensile load (0.05Hz / 500Hz) amplitudes ratio = 1/4!
• quasistatic calculation!
• Material: steel wih Norton’s law!
• parameters:!
• ‘Experimental’ data:
slow
fast
30
(E,K, n)
uexp(t) = usynth(L, t;E,K, n)
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G. Puel - SMIP workshop - 2 oct. 2014 -
misfit function: 1st choice
• Homogenized misfit function: !
!
• Experimental data:!• for the homogenized model:
only known on ‘macro’ time steps!
• definition of a homogenized experimental quantity: for each
31
tk
tk
J 0(E,K, n) =12
� T
0| < u0 > (L, t;E,K, n) � < uexp > (t)|2 dt
< u0 >
< u0 >
< uexp > (tk) =F
�
� tk+ �F
tk
uexp(t) dt
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G. Puel - SMIP workshop - 2 oct. 2014 -
misfit function: 1st choice
• Associated adjoint state: !!
!
• solved on ‘macro’ time steps only!
• Misfit function gradient:!• integrals computed on ‘macro’ time steps
32
z0(T ) = 0
⇥pJ (p) = �� T
0⇥pFTz(t) dt
dz0
dt(t) = (< u0 > (L, t;E,K, n) � < uexp > (t))L
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G. Puel - SMIP workshop - 2 oct. 2014 -
misfit function: 2nd choice
• ‘Instantaneous’ misfit function: !• using with!
!
• Evaluation:!• should be at the fast time scale!
• really necessary?(quasi-periodicity)
33
J 0�(E,K, n) =12
� T
0| < u0 > (L, t;E,K, n) +
f�s (t/�)L
E� uexp(t)|2 dt
u�0(L, t, � ;E) ⇥ = t/�
�⇥ +
�
F
�(t, ⇥)< � > (t)
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G. Puel - SMIP workshop - 2 oct. 2014 -
misfit function: 2nd choice
• Associated adjoint state: !
!
• should be solved at the fast time scale!
• Time-homogenized version:!• in order to use ‘macro’ time steps only identical to the first choice!
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z0�0 (T ) = 0
z0�(T ) = 0
dz0�
dt(t) =
�< u0 > (L, t;E,K, n) +
f�s (t/�)L
E� uexp(t)
⇥L
z0�0 (t) = (< u0 > (L, t;E,K, n) � < uexp > (t))L
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G. Puel - SMIP workshop - 2 oct. 2014 -
Time-homogenized inverse problem
• Solving the id. problem: (for the two choices)!
• using the general strategy presented before!
• identical adjoint states eventually: adjoint state of homogenized inverse problem =homogenized adjoint state of original inv. pb.!
• similar to optimal control problems with space periodic homogenization [Kesavan & Saint Jean Paulin 1997], [Mahadevan & Muthukumar 2009]
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G. Puel - SMIP workshop - 2 oct. 2014 -
Identification results
• Parameter identification: (for the two choices)!• no regularization, ~20 iterations for each optim.
exp. init. id.
E (GPa) 200 220 200K (MPa) 100 110 97.6
n 10 11 10.2
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exp. init. id.
E (GPa) 200 220 200K (MPa) 100 110 97.9
n 10 11 10.1
J 0 J 0�
8 000 time steps for:!•each ODE solution!•each integral evaluation
8 000 time steps for:!•each ODE solution!•each integral evaluation
• 8 000 time steps for each ODE!• 800 000 time steps for each integral
➡ use of the ‘macro’ time steps instead
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G. Puel - SMIP workshop - 2 oct. 2014 -
Identification results
• Parameter identification: (for the two choices)!• no regularization, ~20 iterations
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G. Puel - SMIP workshop - 2 oct. 2014 -
Less-separated scales
• What if a bigger ?!• ex. with : need of an additional order!
• with order 1 verifying:
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�
⇠ = 1/5
@⌧u1(L, t, ⌧)
L=
✓|fs(t, ⌧)|
K
◆n�⇤8t 2 [0;T ]
u1(L, 0, 0) = 0
< u0 > (L, t) + u⇤0(L, t, ⌧) + u1(L, t, ⌧)
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G. Puel - SMIP workshop - 2 oct. 2014 -
Less-separated scales
• Associated parameter identification!• misfit function
• additional adjoint state to be usedalong with for the gradient estimates
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J1(E,K, n) =1
2
ZT
0
��� < u0 > (L, t;E,K, n) +f⇤s (t/⇠)L
E
+⇠u1(L, t, t/⇠;E,K, n)� uexp
(t)���2dt
z1(t)
z0 ⇤0 (t)
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G. Puel - SMIP workshop - 2 oct. 2014 -
Identification results
• Multi-order parameter identification:!
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G. Puel - SMIP workshop - 2 oct. 2014 -
Summary
• Time homog. for material fatigue simulation!• reduced cost for high numbers of cycles!
• various possible material laws!
• complex loading history taken into account!
• Parameter identification of homog. models!• based on a robust strategy!
• first encouraging methods
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G. Puel - SMIP workshop - 2 oct. 2014 -
Prospects
• Fatigue life estimation:!• predictions using the identified model
0.0 0.2 0.4 0.6 0.8 1.0 1.2 1.40.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
D0°
slow stress
fast stress
contour plots oflimit damage
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Goodman diagramsfor CCF tests
(N cycles)
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G. Puel - SMIP workshop - 2 oct. 2014 -
Prospects
• Use of a 3rd time scale:!• to further speed up the calculations!
• ‘meso’ time scale θ!
!
• periodicity w.r.t. fast time τ and ‘meso’ time θ (CCF loading)!
• starting point: initial time-homogenized model
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⇥ =�
⇤� 1 � =
t
⇥� 1
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G. Puel - SMIP workshop - 2 oct. 2014 -
Prospects
• Validation: for 3 time scales!• comparison for a 1-day sim.
�p0
2 time scales~200 000 time steps
3 time scales~500 time steps
reference ~109 time steps
~4 000 slow cycles~40 000 000 fast cycles
0.05Hz / 500Hz
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slowfast
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G. Puel - SMIP workshop - 2 oct. 2014 -
Prospects
• Towards predictive maintenance!• for structures in operation!
• no periodicity assumption!
• use alternate frameworks e. g. stochastic homogenization ➡ in time!
!
• associated identification process
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[Sab 1992]
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G. Puel - SMIP workshop - 2 oct. 2014 -
References
• A. Devulder, D. Aubry and G. Puel : Two-time scale fatigue modelling: application to damage. Computational Mechanics, 45:6, pp. 637–646, 2010. !
• G. Puel and D. Aubry : Material fatigue simulation using a periodic time homogenization method. European Journal of Computational Mechanics, 21:3-6, pp. 312–324, 2012. !
• G. Puel and D. Aubry : Efficient fatigue simulation using periodic homogenization with multiple time scales. International Journal for Multiscale Computational Engineering, 12:4, pp. 291–318, 2014.
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Time-multi-scaleparameter identification
of models describingmaterial fatigue
Guillaume PUELDenis AUBRY
Laboratoire MSSMat Ecole Centrale Paris / CNRS UMR 8579
SMIP workshop