Introduction to MPC Equations and Rigid Elements

Glenn Grassi, MSC Software May 2010

Agenda
MSC.Nastran Set Definitions

What are MPC Equations

Forming and using MPC Equations Rigid Elements in MSC.Nastran

Q&A
Special thanks to Lance Proctor Jim Swan Jack Castro for their contributions to this presentation.

MSC/MD Nastran Set Definitions

Each degree of freedom of an MSC/MD Nastran analysis model is defined as being a member of a user-set

These set notations, such a G-set, M-set, S-set, etc are identifications and classifications of how each degree of freedom (dof) in the analysis participates in the solution sequence

MSC/MD Nastran Set Definitions

When a GRID entry is place in the bulk data section there are (6) dofs added into the model

Other entries such as SPOINT or EPOINT, for example, will add (1) dof in the model
The collection of all dofs that are entered into the model will initially be label as belonging to the G-set

MD Nastran Set Definitions

The dofs that are developed are initially placed into the G-set (Global set) in numerical order according to their ID number If the follow bulk data entries were defined the G-set would be defined as containing 13 dofs
GRID,1,,0.,0.,0. GRID,20,,1.,0.,0. SPOINT,2

MD Nastran Set Definitions

As the solution proceeds these dofs may be relabeled and transferred to other sets.

If dofs are constrained using multipoint constraint (MPC) entries or rigid elements (RBAR, RBE2, RBE3, etc) then some dofs are relabeled as now belonging to the M-set (Dependent Set)

MD Nastran Set Definitions

The remaining dofs that are not defined in the M-set would then be relabeled as belonging to the N-set (Independent Set)

Once a dof is labeled a belong to the M-set it cannot be relabeled again. This is know as a mutually exclusive set definition. In this example dofs 7 and 9 belong to the M-set and cannot be redefined.
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MD Nastran Set Definitions

The dofs in the N-set can be further reduced by adding single point constraints (SPC, AUTOSPC, PS) into the model.

Dofs 3 and 8 now joint dofs 7 and 9 as being mutually exclusive

MD Nastran Set Definitions

If a dof was incorrectly specified in the M-set and the S-set then a Fatal Message (2101) would occur.

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MD Nastran Set Definitions

The dofs that are not constrained will be relabeled as belonging to the F-set (Free).

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MD Nastran Set Definitions

As the analysis progresses, further set reductions and relabeling are possible

The original 13 dof problem has been trimmed down to a 5 dof problem

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MD Nastran Set Definitions

A complete description of user sets can be found in the MSC/MD Nastran Reference Manual and Dynamic User Guide.

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MD Nastran Set Definitions

A printout of the user set definitions can be obtained by including PARAM,USETPRT,2 in the analysis.

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MPC Equations
A MultiplePointConstraint Equation (MPC) is a linear relationship between two or more degrees of freedom that are expressed in the form j Rj uj = 0 Where uj = any degree of freedom defined by a grid point or an spoint Rj = user-defined scale factor

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MPC Equations
Multipoint constraints have many important practical applications and can be used to Tie GRIDs together
Determine relative motion between GRIDs Maintain separation between GRIDs Determine average motion between GRIDs Model bell-crank or control system

Units conversion
UY6 = UY7

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MPC Equations
j Rj uj = 0

+
M-set

N-set

+
17

= 0

MPC Equations
Simple example of an MPC Equation.

Y6 = Y7

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MPC Equations
Y6 = Y7 0 = Y7 - Y6
or

0 = - Y6 + Y7

Independent dof Dependent dof (first one listed)

Add coefficients
0 = 1.0 * Y7 1.0 * Y6

MPC

1.0

-1.0

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MPC Equations

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MPC Equations

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MPC Equations
By including MPCFORCE=ALL the MPC forces acting on the grids can be printed.

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MPC Equations

Angle ?

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MPC Equations

SPOINT SPOINT SPOINT

100 200 401 300 THRU 430

SPOINT has an ID for a single dof ID must be unique (cannot conflict with grids, epoints, etc) There are no directions associated with the SPOINT
dof 0 is usually used in MPC equations dof 1 can also be used (cannot use 2 thru 6)

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MPC Equations
Calculate the relative angle in radians between GRID 6 and GRID 7 by introducing an SPOINT 100
Calculate the relative angle in degrees between GRID 6 and GRID 7 by introducing an SPOINT 200 MPC equation: SPOINT100 = RZ7 - RZ6 {SPOINT100 MPC equation: SPOINT200 = SPOINT100 x 57.2958
{SPOINT200 - SPOINT100 x 57.2958 = 0 } RZ7 + RZ6 = 0

MPC + MPC

100 6 200

0 6 0

1.0 1.0 1.0

-1.0

100

-57.2958

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MPC Equations

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MPC Equations
SPOINT 100 = 7.238917E-03 (radians) SPOINT 200 = 4.147595E-01 (degrees)

How to enforce a 5.0 degree angle

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MPC Equations
MPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0-------

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 100 0 -57.2958 200 0 1.0 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 100 0 -57.2958 200 0 1.0 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 7 6 -1.0 100 0 1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 7 6 -1.0 100 0 1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 7 6 -1.0 100 0 1.0 + 6 6 1.0 MPC 1 100 0 -57.2958 200 0 1.0 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations
MPC = 1 SPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 7 6 -1.0 100 0 1.0 + 6 6 1.0 MPC 1 100 0 -57.2958 200 0 1.0 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPC 1 200 0 5.0

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MPC Equations

Enforced a 5.0 degree angle

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MPC Equations
MPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0-------

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MPC Equations
MPC = 400 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPCADD 400 1 2 3 MPC 1 7 2 1. 6 2 -1. MPC 2 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 3 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0-------

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MPC Equations
Dependent DOF coefficient = -1.0 (pre-defined in MSC.Patran) 0 = 1.0 * Y7 - 1.0 * Y6 ( original ) 0 = -1.0 * Y7 + 1.0 * Y6 ( modified

x -1.0)

Y6 = Y7

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MPC Equations
MSC.Patran does not define SPOINTs Use Create/Node/Edit

Constrain all dofs except the dof = 1

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MPC Equations
MPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------SPOINT 100 200 MPC 1 7 2 1. 6 2 -1. MPC 1 100 0 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 0 1.0 100 0 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0------MPC = 1 Begin Bulk $-------2-------3-------4-------5-------6-------7-------8-------9-------0------GRID 100 23456 GRID 200 23456 MPC 1 7 2 1. 6 2 -1. MPC 1 100 1 1.0 7 6 -1.0 + 6 6 1.0 MPC 1 200 1 1.0 100 1 -57.2958 $-------2-------3-------4-------5-------6-------7-------8-------9-------0-------

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MPC Equations

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MPC Equations
2

Use of MPC to tie GRIDs together

1

0 = -UX2 + UX1 0 = -UY2 + UY2 0 = -UZ2 + UZ2 0 = 0 = 0 = X2 Y2 Z2

+ + +

X1 Y1 Z1

MPC, 535, MPC, 535, MPC, 535, MPC, 535,

2, 1, -1.0, 2, 2, -1.0, 2, 3, -1.0, 2, 4, -1.0,

1, 1, +1.0 1, 2, +1.0 1, 3, +1.0 1, 4, +1.0

MPC, 535, 2, 5, -1.0, 1, 5, +1.0 MPC, 535, 2, 6, -1.0, 1, 6, +1.0

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MPC Equations
MPC used to Maintain Separation
Enforce a separation between GRIDs
Similar to using a gap Changes which DOF are dependent/independent Example:

Initially 1 apart Keep separation = 0.25

1 1.0 0.25 2

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MPC used to Maintain Separation

1
total shrink = 2.0 x -0.375 = -0.75 Relative motion: U1000 = U1 U2

1.00

0.25 desired initial 2

U1 = U2 + (desired initial) 0 = -U1 + U2 + U1000

SPOINT,1000 MPC, 535, 1, 2, -1.0, +, , 1000, 1, +1.0 SPC, 2002, 1000, 1, -0.75

2, 2, +1.0

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MPC Equations Use of MPCs for AVERAGE Motion

Determine average motion of DOFs

5
3 6 2 1

U1000 = (U1+ U2 + U3 + U4 +U5 +U6)/6 0 = -6*U1000 + U1+ U2 + U3 + U4 +U5 +U6

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MPC Equations
MPCs as Bell-crank or Control System
Output of 1 DOF scales another
1

MPC MPC

1.65

U2 = U1/1.65 0 = -1.65*U2 + U1

SID 535

G1 2

C1 1

A1 -1.65

G2 1

C2 1

A2 +1.0
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Rigid Elements
The multipoint constraint, or MPC entry, provides the capability to model rigid bodies and to represent other relationships which can be treated as rigid constraints. The MPC entry provides considerable generality but lacks user convenience since the user must supply all of the coefficients in the equations of constraint

To enhance user convenience, nine rigid body elements (R-Type) are available in MSC.Nastran.
These elements require only the specification of the degrees-of-freedom that are involved in the equations of constraint. All coefficients in these equations of constraint are calculated internally in MSC.Nastran.

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Rigid Elements

Not Exactly Rigid - Averaging element

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RBEs and MPCs

Not necessarily rigid elements

Working Definition:

The motion of a DOF is dependent on the motion of at least one other DOF

Motion at one GRID drives another

Simple Translation

X motion of Green Grid drives X motion of Red Grid

Motion at one GRID drives another

Simple Rotation

Rotation of Green Grid drives X translation and Z rotation of Red Grid

Linear RBEs and MPCs

The motion of a DOF is dependent on the motion of at least one other DOF
Displacement, not elastic relationship Not dictated by stiffness, mass, or force Linear relationship Small displacement theory Dependent v. Independent DOFs Stiffness/mass/loads at dependent DOF transferred to independent DOF(s)

Small Displacement Theory & Rotations

Small displacement theory:
sin( ) tan( ) cos( ) 1
TxB
B

For Rz @ A
RzB = RzA= TxB = ( )*LAB TyB = 0

Commonly used Rigid Elements in MSC.Nastran

Geometry-based
RBAR RBE2 RBE3

Really-rigid rigid elements

Geometry- & User-input based User-input based

MPC Less Common Rigid elements (not covered today)
RBAR1, RJOINT, RROD, RTRPLT, RTRPLT1, RBE1, RSSCON, RSPLINE

Common Geometry-Based Rigid Elements

RBAR
Rigid Bar with six DOF at each end
RBE2

Rigid body with independent DOF at one GRID, and dependent DOF at an arbitrary number of GRIDs.

The RBAR
The RBAR is a rigid link between two GRID points Proper rigid body motion is preserved

The RBAR B
Most common to have all the dependent DOFs at one GRID, and all the independent DOFs at the other

Can mix/match dependent DOF between the GRIDs, but this is rare The independent DOFs must be capable of describing the rigid body motion of the element

RBAR

EID

GA

GB

CNA

CNB

CMA

CMB

RBAR

535

123456

123456

RBAR Example: Fastener

Use of RBAR to weld two parts of a model together:
RBAR EID GA GB CNA CNB CMA CMB

RBAR

535
B

123456

123456

RBAR Example: Pin-Joint

Use of RBAR to form pin-jointed attachment

RBAR

EID

GA

GB

CNA

CNB

CMA

CMB

RBAR

535
B

123456

123

RBAR definition in Patran

The RBE2
One independent GRID (all 6 DOF)

Multiple dependent GRID/DOFs

RBE2 Example
Rigidly weld multiple GRIDs to one other GRID: RBE2 RBE2 EID 99 GN CM GM1 GM2 GM3 GM4 GM5 101 123456 1 2 3 4
3 4 1 2

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RBE2 Example
RBE2 RBE2 EID 99 GN CM GM1 GM2 GM3 GM4 GM5 101 123456 1 2 3 4

Note: No relative motion between GRIDs 1-4 !

No deformation of element(s) between these GRIDs
3 4 1 2

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Common RBE2/RBAR Uses

RBE2 or RBAR between 2 GRIDs Weld 2 different parts together 6DOF connection Bolt 2 different parts together 3DOF connection RBE2 Spider or wagon wheel connections Large mass/base-drive connection

RBE2 definition in Patran

RBE3 Elements

Motion at a dependent GRID is the weighted average of the motion(s) at a set of master (independent) GRIDs
NOT a rigid element IS an interpolation element Does not add stiffness to the structure (if used
correctly)

RBE3 Description

RBE3 Description
By default, the reference grid DOF will be the dependent DOF Number of dependent DOF is equal to the number of DOF on the REFC field

Dependent DOF cannot be SPCd, OMITted, SUPORTed or be dependent on other RBE/MPC elements
PARAM,AUTOMSET,YES can resolve conflicts

RBE3 Is Not Rigid!

RBE3 vs. RBE2
RBE3 allows warping and 3D effects In this example, RBE2 enforces beam theory (plane sections remain planar)

RBE3

RBE2

RBE3: How it Works? Applied Forces

Forces/moments applied at reference grid are

distributed to the master grids in same manner as classical bolt pattern analysis
Step 1: Applied loads are transferred to the CG of the
weighted grid group using an equivalent Force/Moment

Step 2: Applied loads at CG transferred to master grids

according to each grids weighting factor

RBE3: How it Works? Applied Forces

Step 1: Transform force/moment at reference

grid to equivalent force/moment at the weighted CG of master grids.
FA
CG

Reference Grid

FCG

MA

CG

MCG

FCG=FA MCG=MA+FA*e

RBE3: How it Works? Applied Forces

Step 2: Move loads at CG to master grids

according to their weighting values. Force at CG divided amongst master grids according
to weighting factors Wi Moment at CG mapped as equivalent force couples on master grids according to weighting factors Wi

RBE3: How it Works? Applied Forces

Step 2: Continued
FCG
F1m

CG

MCG

F2m

F3m

Total force at each master node is sum of... Forces derived from force at CG: Fif = FCG{Wi/ Wi} Plus Forces derived from moment at CG: Fim = {McgWiri/(W1r12+W2r22+W3r32)}

RBE3: How it Works? Mass Distribution

Masses smeared to the master grids similar to

forces distribution
Mass is distributed to the master grids with weighting factors Rotational inertia is transferred to master grids Reference node inertial force is distributed in same manner as when
static force is applied to the reference grid.

Example 1

RBE3 distribution of loads when force at reference grid at

CG passes through CG of master grids

Example 1: Force Through CG

Simply supported beam 10 elements, 11 nodes numbered 1 through 11 100 LB. Force in negative Y on reference grid 99

Example 1: Force Through CG

Load through CG with uniform weighting factors results in

uniform load distribution

Example 1: Force Through CG

Comments
RBE3 Require 6 RBMODES
x rotation DOF is added to satisfy equilibrium

Example 2

Force does not pass thru CG of master grids

Example 2: Load not through CG

The resulting force distribution is not intuitively
obvious Note forces in the opposite direction on the left side of the beam.

Upward loads on left side of beam result from moment caused by movement of applied load to the CG of master grids.

Example 3

Use of weighting factors to generate realistic

load distribution: 100 LB. transverse load on 3D beam.

Example 3: Transverse Load on Beam

If uniform weighting
factors are used, the load is equally distributed to all grids.

Example 3: Transverse Load on Beam

The uniform load distribution results in too much
transverse load in flanges causing them to droop.

Displacement Contour

Example 3: Transverse Load on Beam

Assume quadratic distribution of
load in web

Assume thin flanges carry zero

transverse load

Master DOF 1235. DOF 5 added to

make RY rigid body motion determinate

Example 3: Transverse Load on Beam

Displacements with quadratic weighting factors

virtually equivalent to those from RBE2 (Beam Theory), but do not impose plane sections remain planar as does RBE2.

Example 3: Transverse Load on Beam

RBE3 Displacement Contour Max Y disp=.00685

Example 3: Transverse Load on Beam

RBE2 Displacement contour Max Y disp=.00685

Example 4
Use RBE3 to get
unconstrained motion

Cylinder under pressure Which Grid(s) do you

pick to constrain out Rigid body motion, but still allow for free expansion due to pressure?

Example 4: Use RBE3 for Unconstrained Motion

Solution:
Use RBE3 Move dependent DOF from reference grid to selected master
grids with UM option on RBE3 (otherwise, reference grid cannot be SPCd) Apply SPC to reference grid

Example 4: Use RBE3 for Unconstrained Motion

Since reference grid has 6 DOF, we must assign

6 UM DOF to a set of master grids Pick 3 points, forming a nice triangle for best numerical
conditioning Select a total of 6 DOF over the three UM grids to determine the 6 rigid body motions of the RBE3 Note: M is the NASTRAN DOF set name for dependent DOF

How Do I create UM set in Patran?

Reassign Dependant terms

UX, UY, UZ only
Uy, Uz in cyl coord sys is determinate

Pick 3 nodes @ approx 120

Example 4: Use RBE3 for Unconstrained Motion

For circular geometry, its convenient to use a cylindrical coordinate system for the master grids.
Put THETA and Z DOF in UM set for each of the three UM grids
to determine RBE3 rigid body motion

What is the UM?

UM fields can be used to move the
dependent DOF away from the reference grid For Example (in 1-D):

2 99 1 2

3 99

Equation (consider avg x disp of grid 99) Avg motion: U99x = (U1x + U2x + U3x) / 3 Default MPC: -3.*U99x + U1x + U2x + U3x =0 Rearrange UM: U1 + U2 + U3 - 3 * U99 =0

First term in MPC equation is dependent; Same equation, different order

Example 4: Use RBE3 for Unconstrained Motion

UM Grids

Example 4: Use RBE3 for Unconstrained Motion

Result is free expansion due to internal pressure.

(note: poisson effect causes shortening)

Example 4: Use RBE3 for Unconstrained Motion

Resulting MPC Forces are numeric zeroes verifying that no stiffness has been added.

PARAM,AUTOMSET,YES can also be used in many instances instead of UM

RBE3 Non Uniform Distribution CHEXA(8)

Coefficients 1.0, 0.5 and 0.25

Coefficients all 1.0

RBE3 Non Uniform Distribution CHEXA(8)

Stress and Deflection

Coefficients 1.0, 0.5 and 0.25 Correct Stress = 2,500 Correct Disp = 2.5e-3

Max Stress 5,830 Max Disp = 2.86e-3

Coefficients all 1.0

RBE3 Non Uniform Distribution CHEXA(20)

Coefficients:

1.0

-2.0

0.5

-1.0

0.25

Coefficients all 1.0

RBE3 Non Uniform Distribution CHEXA(20)

Stress and Deflection

Correct Stress = 2,500 Correct Disp = 2.5e-3

Coefficients: 1.0 -2.0 0.5 -1.0 0.25

Coefficients all 1.0

Max Stress 11,600 Max Disp = 3.21e-3

RBE3: Additional Reading

Recommended TANs
TAN#: 2402 TAN#: 3280 TAN#: 4155 TAN#: 4494 TAN#: 4497 MODELS RBE3 - The Interpolation Element. RBE3 ELEMENT CHANGES IN VERSION 70.5, improved diagnostics RBE3 ELEMENT CHANGES IN VERSION 70.7 Mathematical Specification of the Modern RBE3 Element AN ECONOMICAL METHOD TO EVALUATE RBE3 ELEMENTS IN LARGE-SIZE

Visit SimCompanion

http://simcompanion.mscsoftware.com)

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