A Constraint Equation Primer:

How to Tie Degrees of Freedom Together

Eric Miller
Co-Owner
Principal, Simulation and
Business Technologies

04/26/2012
PADT, Inc.

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 Agenda
Note: This presentation is being
recorded

Introductions
Theory and Basic Info
The CP and CE Commands
Internal CEs (MPC)
CEs in Workbench

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Introductions

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 Upcoming Webinars
Upcoming Webinars
Feb 9, 2012 - 12:00 MST
Working Directly with Nodes and Elements in ANSYS Mechanical
Feb 23, 2012 - 12:00 MST
Assembly Meshing in ANSYS R14 CANCELED
March 8, 2012 - 12:00 MST
Intro to Workbench Framework Scripting - Controlling projects, materials, and solution execution with python
March 22, 2012 - 12:00 MST
Mastering the Remote Solver Manager (RSM) at R14
April 12, 2012 12:00 MST
A POST26 Primer: Post Processing over Multiple Time/Load Steps in Mechanical APDL
April 27, 2012 12:00 MST
A Constraint Equation Primer: How to Tie Degrees of Freedom Together
May 10, 2012 12:00 MST
Optimization with ANSYS DesignXplorer at R14
May 24, 2012 12:00 MST
Modeling Moisture Diffusion in ANSYS
Summer Break: June & July (maybe August)
Primers are new:
Oriented towards newer users or Workbench users who may not have experience with
some of the fundamentals in the ANSYS Mechanical APDL solver
See upcoming and past webinars at:
padtincevents.webex.com
Click on ANSYS Webinar Series

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 About PADT
PADT is an Engineering Services
Company
Mechanical Engineering
18 Years of Growth and Happy customers
70ish Employees
3 Business Areas
CAE Sales & Services
Consulting, Training, Sales, Support
Product Development
Rapid Prototyping & Manufacturing
Learn More: www.PADTINC.com

We Make Innovation Work

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 Cube HVPC Systems
Balance between speed and cost
Mini-Cluster
96 Cores / 512 GB RAM / 6 TB Disk
Mobile Rack / UPS / Monitor / Keyboard
$34,900
Compute Server
32 Cores / 256 GB RAM / 3 TB Disk
$14,250
Simulation Workstation (Intel)
12 Cores / 96 GB RAM / 3 TB Disk
$11,750
Simulation Workstation (AMD)
12 Cores / 64 GB RAM / 3 TB Disk
$6,300
www.CUBE-HVPC.com

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 PeDAL The APDL Editor
Side-by-side editor and help viewer layout.
Instant help on any documented APDL command by pressing F1.
Full syntax highlighting for ANSYS v12 Mechanical APDL.
Auto-complete drop downs for APDL Commands.
APDL Command argument hints while typing commands.
Search ANSYS help phrases and keywords.
Multiple tabs for the editor and html viewer.
Full capability web browser built in allows for rich web experience and web
searches.

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 Connect with PADT
Facebook: Email Subscriptions:
facebook.com/padtinc www.padtinc.com/epubs

Twitter: Web:
#padtinc www.PADTINC.com

LinkedIn: ANSYS User Blog:

Search on PADT, Inc. padtinc.com/focus

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Theory and Basic
Info

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 What is a Constraint Equation
Remember you are solving a series of linear equations:
Structural: (F) = [K](u)
Every node has a force (F) in each direction and a deflection (u).
You are solving for (F) and (u)
The deflections are called the Degrees of Freedom or DOF
Generalized to solve many types of physics, the meaning of
(F), [K] and (u) change. But (u) is still a DOF
Constraint equations are equations that tie the value of one
DOF to the value of one or more DOFs
Added into set of linear equations before solve

We will call them CEs most of the time

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 There are Really 3 Types
Constraint Equations (CE)
Equations fed to the solver that describe relations between DOFs
(what we will mostly talk about)
Couples (CP)
All DOFs are equal
Multipoint Constraint (MPC)
Actually internal MPC
No equations are written by the users, created at runtime in the matrix

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 Defined In Terms of a Sum

Constant = =1( )
N = number of terms in the equation
U(I) = the DOF solution for term I

You write equations that relate one or more DOF in linear

way:
After a solve, the sum of the user defined coefficients times their
deflection equals some constant

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 Example: Beam to Plane Stress Elements
(from MAPDL help)
If you have a beam attached to a block, the ROTZ DOF is
free, and it can spin like a hinge
So, we know for small deflections and a rigid connection,
that ROTZ in radians is equal to the distance from the
connection to the corner nodes times the rotation in radians.
So if it was one node, it would be a multiplier of 5, but because there
are two sharing the deflection, one up and one down, it is 10 and the
coefficients on the UY direction are 1 and -1.
2 = 31 10
0 = UY3 UY1 10*ROTZ2

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 Example: Cyclic Symmetry
Assumption when a disk shape is made up of a repeated
chunk of geometry.
The DOF solution at the boundary of the repeatable chunk
are identical
Enforced with CEs
In a cylindrical coordinate system
Uaxial129 = -1*Uaxial363
Uhoop129 = -1*Uhoop363
Uradial129 = -1*Uradial363
0.0 = Uaxial129 + Uaxial363
0.0 = Uhoop129 + Uhoop363
0.0 = Uradial129 + Uradial363

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 All Sorts of Uses
There are many situations where you want to relate DOFs:
Coupling: Setting one DOF equal to Another
Cyclic Symmetry: forcing cyclic (and anti-cyclic) behavior at the
repeatable boundary
Contact: contacts are CEs that turn on and off based on proximity
Joints: Constrain some DOFs and leave other free
Pin type stuff that NASTRAN users do all the time
Gears and linkages: relate rotational DOFs or rotation to displacment
Connect mesh regions with more DOFs to regions with less
Connect Dissimilar Meshes
Represent behavior of rigid elements

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 DOF Elimination
One of the DOFs in the equation needs to be set free and
solved for: eliminated from the equation
It can not have any DOF value imposed on it with a
displacement, master DOF, or couples.

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 Coordinate Systems
The DOFs on a node are defined in that nodes coordinate
system
Each node in an ANSYS model has a unique rotation defined relative
to the global coordinate system
Make sure that when you define a CP or CE that the nodes
are all rotated in the same Cartesian, radial, or spherical
coordinate system
Very important if you are using Mechanical, you may not know what
coordinate system nodes are in.
Critical for cyclic symmetry

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 Creation
MAPDL
Several commands to define by hand you enter the equation
More commands to automatically generate between specified nodes
Automatically created as part of contacts
Mechanical
Created automatically with contacts
Created automatically with remote points
Created automatically as part of repeatable boundary
Defined by hand between points

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 Viewing
Using the /PBC,ce,1
command turn on CEs
Any plots show the
CEs
Little arrows show DOF
at each node
Way to check the
nodal rotation
Lines connect all the
DOFs in a CE
Unselected nodes are
not shown
If Mechanical is making
CEs, put a CE plot into
your snippets to check
them.

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The CP and CE
Commands

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 Some Background
Most CE related commands start with CE
Each CE in a model has a unique number
You define the number when you create the CE
You refer to the CE number when you want to look at it, modify it,
delete it, add to it
All Holds true for CPs as well

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 Couples
A constraint equation, but not treated as one
DOF1 = DOF2
Can be a CE: 0 = DOF1 DOF2
But more efficient to substitute DOF2 every place DOF1 was used
Command:
CP, NSET, Lab, NODE1, NODE2, NODE3, NODE4, NODE5, NODE6, NODE7,
NODE8, NODE9, NODE10, NODE11, NODE12, NODE13, NODE14, NODE15,
NODE16, NODE17
Every node in the list will have the same value for whatever DOF you specify in Lab
Repeat with same NSET to add even more nodes
Supports picking (NODE1= p) and components
Use NODEx to remove a node from the set
Valid Lab:
Structural labels: UX, UY, or UZ (displacements); ROTX, ROTY, or ROTZ (rotations) (in radians); HDSP (hydrostatic
pressure).
Thermal labels: TEMP, TBOT, TE2, TE3, . . ., TTOP (temperature).
Fluid labels: PRES (pressure); VX, VY, or VZ (velocities).
Electric labels: VOLT (voltage); EMF (electromotive force drop); CURR (current).
Magnetic labels: MAG (scalar magnetic potential); AX, AY, or AZ (vector magnetic potentials); CURR (current).
Diffusion label: CONC (concentration).
Explicit analysis labels: UX, UY, or UZ (displacements).

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 Couple Related Commands
CPDELE, NSET1, NSET2, NINC, Nsel
Delete a CP set
If Nsel = ALL, only delete if all nodes are selected
CPINTF, Lab, TOLER
Puts all the nodes below a certain distance (Toler) from each other in a CP set with
DOF = LAB
Best used for coincident, or very close to coincident nodes
CPLGEN, NSETF, Lab1, Lab2, Lab3, Lab4, Lab5
Makes copies of an existing couple set (NSETF) using 1 or more new DOF labels
CPLIST, NSET1, NSET2, NINC, Nsel
Lists out coupled sets
Use this in a Mechanical APDL snippet to set what CPs were made by workbench
CPNGEN, NSET, Lab, NODE1, NODE2, NINC
Like CP but uses node range to specify nodes
CPSGEN, ITIME, INC, NSET1, NSET2, NINC
Makes ITIME copies of existing CP sets, incrementing the nodes by INC

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 Couple Issues
Only the first DOF value in the set is used in the matrix, all
others are replaced by it
Called the prime DOF
Dont put displacements (D) on DOFs that are coupled out
CPs on Non coincident nodes, or nodes who do not lie on
the DOF that is coupled, will induce moments.
A DOF should never appear in more than one CP
The set number in the CP command can be:
n: the set number
HIGH: use the highest number currently defined
NEXT: use the highest number + 1 (new)
NOTE: The default is not NEXT!, it is HIGH.

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 Making CEs: The CE Command
CE, NEQN, CONST, NODE1, Lab1, C1, NODE2, Lab2, C2,
NODE3, Lab3, C3
NEQN can be: n, HIGH, or NEXT (HIGH is default!)
CONST = the constant for the equation
NODEn,Labn,C1 = the node, the DOF, and the multiplier.
So, our early example:
2 = 31 10 0 = UY3 UY1 10*ROTZ2
CE, next, 0, 3,uy,1, 1,uy,-1, 2,rotz,10

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 Making CEs: The CE Command
Most hand CEs are pretty simple
Often an anti-symmetry
Connecting a remote mass point to your model
Doing your own cyclicsymmetry constraints
Connecting rotation DOFs to axial based on distances
Defining a joint or gear
Use APDL macro to generate
Or use Excel for fancy ones (make sure your math is right)
These days, they are almost always made for you

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 Making Cyclic Symmetry Boundaries
Back in the day you had to make your own CEs for this
Kids today have it too easy
CECYC, Lowname, Highname, Nsector, HIndex, Tolerance, Kmove,
Kpairs
Lowname, Highname are the component names of each side of your wedge
Nsector is the number of times the sector gets repeated
Hindex is the harmonic index no time to explain
Tolerance specifies how close in the axial/radial/tangential+sector angle
nodes need to be to be coupled
Kmove = 1 says you can move the high nodes to match the low (dont use!)
Kpairs = 1 prints out a list of pairs when it executes
It rotates the nodes into CSYS = 1 !!!!!!!!!!
This may not be the same axis as your model, check
Do your won CEs if that is true

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 Join Interfaces with CEINTF
Use this to tie two meshes together at an interface
Uses weighted averages of distance to smear the constraint equations
Connects the nodes on the first surface to all the nodes on the surface
elements on the second surface
CEINTF, TOLER, DOF1, DOF2, DOF3, DOF4, DOF5, DOF6, MoveTol
Toler: fraction of element size, find all nodes within that fraction from element
DOF1 DOF6: DOFs to write CEs for
MoveTo1: if not 0, move the nodes onto the surface of the elements if they
dont sit exactly on. Value is fraction of element size
Hints
Use components to set up
Nodes should be smaller and denser of the two sides
Dont use to attach 6DOF elements to 3DOF elements
Use CPEINTF if the nodes line up

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 CEINTF Example: Joining Two Blocks
finish
/clear
/prep7
blc4,-1,-1,2,2,2
vatt,2
blc4,-3,-2,6,4,-2
et,1,185

esize,.9
vmesh,all
vsel,s,,,1
nslv,s,1
nsel,r,loc,z,0

vsel,s,,,2
nslv,s,1
nsel,r,loc,z,0
esln,s

allsel
/pnum,mat,1
/number,1
/view,1,1,1,1
/vup,1,z
/triad,lbot,1
eplot

ceintf,5,ux,uy,uz

nsle,a
/pbc,ce,1
eplot

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 Looking at one CE in our CEITNF
CONSTRAINT EQUATION NO. 1 HAS 5 TERMS.
CONSTANT= 0.000000
NODE= 2 DIR= UX COEFFICIENT= -1.000000
NODE= 141 DIR= UX COEFFICIENT= 0.5000000
NODE= 145 DIR= UX COEFFICIENT= 0.2500000
NODE= 146 DIR= UX COEFFICIENT= 0.8333333E-01
NODE= 142 DIR= UX COEFFICIENT= 0.1666667

Connects node 2 to
all the corner nodes
of the element it sits
on.
Coefficients are
distance to node 2
divided by sum of all
the distances.

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 Create Rigid Regions CERIG
Make a bunch of nodes all have the same DOF response for
connecting 6DOF nodes
CERIG, MASTE, SLAVE, Ldof, Ldof2, Ldof3, Ldof4, Ldof5
MASTE is the node that drives the motion. All nodes will move like
MASTE
SLAVE is the node(s) that will be linked to MASTE.
Use ALL to slave all selected nodes
LDOF-LDOF5 are the degrees of freedom to fix
ALL, UXYZ, RXYZ, UX,UY,UZ,ROTX,ROTY,ROTZ
Assumes that the master node is a 6DOF node
Otherwise, just use a CP
No CE number, it assigns the next number
Mostly replaced by contact elements

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 CERIG Example
nsel,s,,,1000
cmsel,a,nb1
cerig,1000,all,uz

CONSTRAINT EQUATION NO. 1 HAS 4 TERMS. CONSTANT=

0.000000
NODE= 113 DIR= UZ COEFFICIENT= 1.000000
NODE= 1000 DIR= UZ COEFFICIENT= -1.000000
NODE= 1000 DIR= ROTX COEFFICIENT= 2.000000
NODE= 1000 DIR= ROTY COEFFICIENT= -3.000000

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 NASTRAN Connections: RBE3
Added for NASTRAN users who wanted their RBE3
The motion of the master is the average of the motion of the
slaves
RBE3, Master, DOF, Slaves, Wtfact
Master is your 6 DOF node
DOF is what DOFs you want to connect (usually all)
Slaves is ALL or an array with node numbers (?!?!)
Wtfact is a weighting factor you can apply to any slave node to
lesson the effect of that node.
Does average (1/num_nodes) for translational
Does distance average for rotational (distn/total_dist)
Not rigid. Distributes forces and moments

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 RBE3 Example
Connect a beam to 4 nodes LIST ALL SETS FOR CONSTRAINT EQUATIONS WITH ANY
NODES SELECTED

CONSTRAINT EQUATION NO. 1 HAS 5 TERMS.

CONSTANT= 0.000000
NODE= 1000 DIR= UX COEFFICIENT= 1.000000
NODE= 146 DIR= UX COEFFICIENT=-0.2500000
NODE= 147 DIR= UX COEFFICIENT=-0.2500000
nsel,s,,,1000 NODE=
NODE=
150 DIR=
151 DIR=
UX
UX
COEFFICIENT=-0.2500000
COEFFICIENT=-0.2500000

cmsel,a,nn1 CONSTRAINT EQUATION NO. 2 HAS 5 TERMS.

CONSTANT= 0.000000
rbe3,1000,all,all NODE=
NODE=
1000 DIR=
146 DIR=
UY
UY
COEFFICIENT= 1.000000
COEFFICIENT=-0.2500000
NODE= 147 DIR= UY COEFFICIENT=-0.2500000
NODE= 150 DIR= UY COEFFICIENT=-0.2500000
NODE= 151 DIR= UY COEFFICIENT=-0.2500000

CONSTRAINT EQUATION NO. 3 HAS 5 TERMS.

CONSTANT= 0.000000
NODE= 1000 DIR= UZ COEFFICIENT= 1.000000
NODE= 146 DIR= UZ COEFFICIENT=-0.2500000
NODE= 147 DIR= UZ COEFFICIENT=-0.2500000
NODE= 150 DIR= UZ COEFFICIENT=-0.2500000
NODE= 151 DIR= UZ COEFFICIENT=-0.2500000

CONSTRAINT EQUATION NO. 4 HAS 5 TERMS.

CONSTANT= 0.000000
NODE= 1000 DIR= ROTX COEFFICIENT= 1.000000
NODE= 146 DIR= UZ COEFFICIENT= 0.6250000
NODE= 147 DIR= UZ COEFFICIENT=-0.6250000
NODE= 150 DIR= UZ COEFFICIENT= 0.6250000
NODE= 151 DIR= UZ COEFFICIENT=-0.6250000

CONSTRAINT EQUATION NO. 5 HAS 5 TERMS.

CONSTANT= 0.000000
NODE= 1000 DIR= ROTY COEFFICIENT= 1.000000
NODE= 146 DIR= UZ COEFFICIENT=-0.5833333
NODE= 147 DIR= UZ COEFFICIENT=-0.5833333
NODE= 150 DIR= UZ COEFFICIENT= 0.5833333
NODE= 151 DIR= UZ COEFFICIENT= 0.5833333

CONSTRAINT EQUATION NO. 6 HAS 9 TERMS.

CONSTANT= 0.000000
NODE= 1000 DIR= ROTZ COEFFICIENT= 1.000000
NODE= 146 DIR= UX COEFFICIENT=-0.2909739
NODE= 146 DIR= UY COEFFICIENT= 0.3117577
NODE= 147 DIR= UX COEFFICIENT= 0.2909739
NODE= 147 DIR= UY COEFFICIENT= 0.3117577
NODE= 150 DIR= UX COEFFICIENT=-0.2909739
NODE= 150 DIR= UY COEFFICIENT=-0.3117577
NODE= 151 DIR= UX COEFFICIENT= 0.2909739
NODE= 151 DIR= UY COEFFICIENT=-0.3117577
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MAXIMUM CONSTRAINT EQUATION NUMBER= 6 34
 CE Utility Commands
CELIST, NEQN1, NEQN2, NINC, Option
Lists the CEs
Option is:
ANY list if any of the nodes in the CE are selected
ALL list of all of the nodes in the CE are selected
INTE List internal CEs created as MPCs (solu only)
CONV conert internal to external (solu only)
CEDELE, NEQN1, NEQN2, NINC, Nsel
Deletes CEs
Nsel is ANY or ALL
CESGEN, ITIME, INC, NSET1, NSET2, NINC
Generates CEs from a previous set
Increments node numbers
(used before automatic meshing)

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Internal CEs:
MPCs

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 Bonded Contact
Use with CONTA171/172/173/174/175/176/177
Advantages
No elimination of DOFs
Works with large deflection
Automatically generates equations at solve
Does force distribution based on shape functions, more accurate
Uses less memory than CEs
Does Rigid or Force Distributed

Very detailed info in

Mechanical APDL // Contact Technology Guide // 9. Multipoint
Constraints and Assemblies

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 Just Like any Contact Definition
First, you tell it your want MPC: KEYOPT(2) = 2
Usually you also want bonded always: KEYOPT(12) = 5
But works with no separation (4) or bonded, initial contact (6)
So much more flexible then CEs
Use KEYOPT(4) to control what DOFs to use
0 is typical, all that make sense
1 is no rotational
2 is all 6 DOFs
Handles connecting Beams/Shells/Solids to each other

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 Example: Block on Block

et,11,170
et,12,175
r,11
real,11

keyopt,12,2,2 ! MPC
keyopt,12,12,5 ! Bonded

cmsel,s,nb1
type,11
esln,s,0
Esurf

cmsel,s,nt1
type,12
esln,s,0
Esurf

allsel

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 CELIST,all,,,conv

LIST ALL SETS FOR CONSTRAINT EQUATIONS WITH ANY NODES SELECTED

CONSTRAINT EQUATION NO. 1 HAS 5 TERMS. CONSTANT= 0.000000

NODE= 1 DIR= UX COEFFICIENT= 1.000000
NODE= 463 DIR= UX COEFFICIENT=-0.1666667
NODE= 467 DIR= UX COEFFICIENT=-0.8333333E-01
NODE= 468 DIR= UX COEFFICIENT=-0.2500000
NODE= 464 DIR= UX COEFFICIENT=-0.5000000

CONSTRAINT EQUATION NO. 2 HAS 5 TERMS. CONSTANT= 0.000000

NODE= 1 DIR= UY COEFFICIENT= 1.000000
NODE= 463 DIR= UY COEFFICIENT=-0.1666667
NODE= 467 DIR= UY COEFFICIENT=-0.8333333E-01
NODE= 468 DIR= UY COEFFICIENT=-0.2500000
NODE= 464 DIR= UY COEFFICIENT=-0.5000000

CONSTRAINT EQUATION NO. 3 HAS 5 TERMS. CONSTANT= 0.000000

NODE= 1 DIR= UZ COEFFICIENT= 1.000000
NODE= 463 DIR= UZ COEFFICIENT=-0.1666667
NODE= 467 DIR= UZ COEFFICIENT=-0.8333333E-01
NODE= 468 DIR= UZ COEFFICIENT=-0.2500000
NODE= 464 DIR= UZ COEFFICIENT=-0.5000000

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 Why Use CEs?
For most cases where you are gluing meshes together, use
MPCs
Use CEs:
If you need to control the equations
Joints, gears, symmetry, etc
You want to view the connections
Where nodal rotations play a role
You are working with DOFs other than UXYZ/ROTXYZ

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CEs In Workbench

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 Mostly Hidden from User
When you make MPC bonded contact, it does internal CEs
Some commands make CEs or CPs
View the *.inp file to see what it does
But dominant method is with MPCs

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 Two Ways to Make Your Own
APDL Commands in Code Snippet
Use named selections to grab the nodes you need
You need to know how CEs work and the APDL commands
Insert into your model tree
Considered Loads
CPs only available in modal analysis
Between geometry
CEs available between remote points and/or joints

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 CEs in Workbench
First, make your remote points
Then RMB on environment object and select Constraint
Equation
You get a Worksheet
Define your constant
Then add lines for each remote point in the equation

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 Displaying CEs in Workbench
After you solve you can see an CEs you made, or that
Workbench made
Click on the Solution Information Object
Set the FE Connection Visibility to show CEs
Also shows beams and springs

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Thoughts

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 Understand CEs
As time goes by, the need to create your own CEs goes
down
That is good
But you need to understand what the program is doing
Under/over constraint can screw things up
As always, read the help!
If you need to do your own, crawl, walk, run
Do a single CE, then move up to the whole model.

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 Thank You
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Please consider us as your partner
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Help us by letting us Help you

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