Geotechnical Numerical Analysis

Using Rocscience Software

Dr. Thamer Yacoub, P.Eng.
President, Rocscience Inc., Canada
Course Objectives
• Use Numerical Methods (Finite Element Methods) to analyze 2D and 3D
tunnelling problems
• Focus on using RS2 and RS3 software to predict and calibrate stresses
and deformations in mining related problems
• Tips and pitfalls
• Examples
 Course Agenda
• Introduction to the Finite Element Method for geotechnical problems
• Model development
• Material models and constitutive relations using RocData
• Effect of model size and geometry
• Boundary conditions
• Mesh effect on results accuracy

• Analysis of underground excavations using a two-dimensional approach

• Support types (bolts, liner, structural elements)
• Model development
• Interpretation of results
Course Agenda
Support design for underground excavations using 3D FE tools
• Model development in 3D
• Sequence design
• 3D support elements (forepoles, liners, bolts, structural elements)
• Interpretation of results
 Module 1:
Introduction to
Finite Element Method (FEM)
Introduction
• FEM - based on idea of building complicated object from simple,
interconnected blocks/elements
Finite Element Method (FEM)
• Most widely applied numerical technique in engineering
• Handles wide range of problems
• Extensively covered in literature
• Several existing commercial and free packages
Finite Element Analysis
Applied in problems without analytical solutions – involving
complicated…
• Geometries
• Loadings
• Material properties
• Boundary conditions
Analytical vs. Numerical Methods
Analytical solution
• Mathematical expression that gives values of desired quantities
at any location in body
• Derived from solving ordinary and partial differential equations
Numerical method
• ‘Acceptable’ solution to complex problems
• Divides continuum into equivalent system of smaller,
interconnected bodies (elements)
• Generates system of simultaneous algebraic equations
• Yields approximate values
Overview of FEM
• Displacement field

u(x)

Deformed Configuration
Original Configuration

• Displacement vector u(x) specifies motion of point at position x in

undeformed solid
• Objective: Find u(x) strain, stress fields
Overview of FEM
Fundamental concepts of FEM
• Equation representing static equilibrium (matrix form)

Ku = F
K – property
u – behaviour (response)
F – action
Steps of FEM Modelling
Define geometry of problem
• Specify:
• Material behavior
• Loads (includes support)
• Boundary conditions
• Select element type
• Divide domain into elements – discretize
• Solve model
• Interpret results
Challenge of Discretization
Appropriate balance between accuracy and cost-effectiveness
• Elements must be small enough to give usable results and yet
large enough to reduce computational effort
• Apply small elements (or higher-order elements) in areas where
results change rapidly
• Use larger elements where results are relatively constant
Challenge of Discretization
Ensure proper aspect ratios
Aspect ratio: ratio of longest element side to shortest side
• Compact shaped elements yield best results
• Poor-shaped element promote poor results
Challenge of Discretization
• If only few poor elements then results only poor near these elements
• TIP: Use MESH Quality tool in RS2 and RS3
Properly Discretized Model
Results Interpretation
• Analyze results for use in the design/analysis process
• Identify areas in which deformations are excessively large or failure
occurs
• Make design/analysis decisions
Advantages of FEM
• Models complicated geometries (irregularly shaped domains)
• Readily handles general loading conditions
• Models problems involving multiple materials
• Handles non-linear material behaviour
Advantages of FEM
• Can model excavation sequence
• Load path (manner in which slope was created) can matter
• Example – simulation of mining history
Overview of FEM
Geometry: Mesh
Two-Dimensional Approximations
Two-dimensional meshes
• Plane stress
• Plane strain
• Axisymmetric
Element Formulations
Solid element (plane strain)
• Long structure with uniform cross section and
transverse loading along length
• Realistic assumption for long bodies (e.g. tunnel)
with constant cross-section subjected to loads
that remain constant along long axis

 y   yz   xy  0
• Typical example : Long tunnel
Element Formulations
Solid element (Axisymmetric)
• Solid with rotational symmetry
• Axisymmetric loading
• Realistic assumption for shafts, circular pits
• Typical example : Long drift, shaft
Special Elements
Bar (truss) element
• Axial member
Beam element
• Flexural member
Joint element
• Can simulate fill stiffness
• Interface between materials
Boundary Conditions
• Required to make a problem solvable
• Example: kinematic constraints on model may be:
• Real – e.g. free surface, weight of dump
• Artificial – fixed edges of model
Mesh Generation
3D finite element modelling
• Very complicated
• Still challenging for mining applications
Mesh Generation
2D mesh generation
• Common in FEM
• Can be used with little user intervention
Basic Element Formulations
Interpolations scheme
• Linear element (Linear displacement, constant strain and stress)

3-noded triangle 4-noded quadrilateral 4-noded Tetrahedron

• Quadratic element (Quadratic displacement, linear strain and stress)

6-noded triangle 8-noded quadrilateral 10-noded Tetrahedron

Rock Strength; Failure Criteria
• Limits to strength
• Typical failed rock core samples
Rock Strength; Failure Criteria
Tensile failure
Rock Strength; Failure Criteria
Shear failure
Rock Strength; Failure Criteria
Mine pillar shear
failure
Rock Strength; Failure Criteria
Mine pillar shear failure
(along discontinuity)
Strength and Failure Criteria
• Often expressed in terms of principal stresses or normal and shear
stresses
Mohr-Coulomb
2c cos 1 sin 
1   3
1 sin  1 sin 

Generalized Hoek-Brown
Stress-Strain Behaviour of Rocks
Stress-Strain Behaviour of Rocks
Stress-Strain Behaviour of Rocks
Triaxial Stress-Strain Behaviour
• Triaxial test
Triaxial Stress-Strain Behaviour
Triaxial stress-strain curves
Triaxial Stress-Strain Behaviour
Triaxial stress-strain curves

Brittle-ductile transition
Triaxial Stress-Strain Curve
Idealized curves
Idealized Rock Stress-Strain Behaviour
Described with constitutive laws
• Strength
• Stress-strain relationship
• Flow rule
Post-Peak Strength Guidelines
The guidelines are based on the rock type from massive brittle rocks
of high GSI value through to very weak rock of low GSI.

1. Massive Brittle Rocks (70 < GSI < 90)

• High stress resulting in intact rock failure
• All strength lost at failure
• sr = 0, mr = 1, and dilation = 0

2. Jointed Strong Rocks (50 < GSI < 65)

• Moderate stress levels resulting in failure of joint systems
• Rock fails to a ‘gravel’
• sr = 0, mr = 15, and dilation = 0.3(mr)
Post-Peak Strength Guidelines

3. Jointed Intermediate Rocks (40 < GSI < 50)

• Weathered granite, schist, sandstone
• Assume strain softening, loss of tensile strength, retains shear strength
• sr = 0, mr = 0.5(mb), and dilation is small

4. Very Weak Rock (GSI < 30)

• Severe tectonic shearing/folding (flysch, phyllite)
• Elastic-perfectly plastic behaviour, no dilation – i.e. already at residual
• sr = s, mr = mb, and dilation = 0
Material Properties
General
• Choose simplest constitutive law capable of
reproducing essentials of material behaviour
• Specify stiffness parameters
• Specify strength parameters
m, s
UCS
Material Models and Properties
Elastic material
• Strength parameters do not affect results
Plastic material
• Strength parameters define yield surface
• Mohr-Coulomb
• Hoek-Brown,
• Generalized Hoek- Brown
• Anisotropic material
• Cam-Clay, Modified Cam-Clay
• Drucker-Prager
• Hardening and softening material
Elastic Material
• Procedure (Compute engine) for
calculating stresses and
displacements does not consider
strength factor (SF) – calculated in
Interpreter
Maximum allowable strength
SF 
Calculated stress
Plastic Material
• Procedure (Compute engine) for
calculating stresses and
displacements considers material
strength SF cannot be smaller
than 1
Elastic vs. Plastic Material
Loads/Loadings
• Field stress
• Constant
• Gravity
• Custom
• Tractions
• Distributed/line loads
• Seismic
General FEM Procedure
• Divide problem into elements (and nodes)
• Describe behaviour of each element
• Assemble system of equations
• Solve system of equations and calculate unknowns at nodes
• Calculate desired quantities at other locations
More Complex Problem
Physical problem
FEM Idealization
Discretize (divide) regions into elements
 Elements of
Geotechnical Modeling
Objectives
• Construction of model geometry
• Material relationships/laws
• Mesh generation and boundary conditions
• Loads
• Support systems
Construction of Model Geometry
Creation of model geometry
• Excavations boundaries and external boundary

External
boundary
Excavation
boundary
Construction of Model Geometry
Special entities
• Stage and material
boundaries

Material
boundary

Stage
boundary
Mesh Generation
Parameters of mesh generation
 Mesh Generation
Mesh Types: Graded vs. Uniform

Elements nodes

Graded 2097 1139

Uniform 4504 2351

Mesh Generation
2D - Element types:
• 3-noded triangle (T3), 6-noded triangle (T6)
• 4-noded quadrilateral (Q4), 8-noded quadrilateral (Q8)

3D - Element types:
• 4-noded tetrahedron (Tet4), 10- tetrahedron (Tet6)

Constant strain elements (CST): T3 and Q4, Tet 4

• Use in areas with small strain gradients
• Do not use in areas of stress concentration (corners, hole edges, etc.)
• Use for quick and/or preliminary analysis

Linear strain elements (LST): T6 & Q8, Tet 10

• Use in all other cases
Mesh Generation
Constant strain elements vs. Linear strain elements
5.0

4.5

4.0
CST
3.5 LST
3.0

Radial Stress
2.5

2.0
Closed-form Solution
1.5

1.0

0.5

0.0
0 0.2 0.4 0.6 0.8 1
Distance from surface
Loadings
Field stress
• Constant
• Gravity
• Custom
Tractions
• Distributed/line loads
Seismic
Special Elements
Bar (truss) element
• Axial member
Beam element
• Flexural member
Joint element
• Can simulate fill stiffness
• Interface between materials
Support Systems
Fully-bonded bolts
• Tensile failure, residual capacity
End-anchored bolts
• Tensile failure, residual capacity
Plain strand cables
• Tensile failure, grout interface failure
Swellex/split sets
• Tensile failure, shear failure (slippage)
Support Systems
Liners
• Flexural – Shotcrete, beams, concrete liners, etc.
• Axial – Trusses, struts, etc.
• Single liner
• Composite (multilayered) liner
• Structural element – liner with interfaces
 Field Stress Definition
• The Constant field stress option
is used to define an in-situ stress
field (prior to excavation) which
does not vary with position or
depth.
• The Gravity field stress option is
used to define an in-situ stress
field which varies linearly with
depth. Gravity field stress is
typically used for surface or near
surface excavations.
Stress Transform Tool in 2D
Converts a 3D stress field to a
2D plane stress field given the
orientation of the tunnel axis.

Sigma 1
y
Trend
z Angle

x
Sigma 3 Sigma 2

Trend Angle of 0 deg

Field Stress Definition in 3D
 RS :
2

Organization and
Features
Objectives
Overview of RS2
• Features of:
• Modeller
• Compute Engine
• Interpreter

Special capabilities of RS2

Structure of RS2
• Finite element program
• Three modules: Modeler

Compute

Interpret
Modeler
Modeler
Creation of models
• Geometry tools

• Special entities: stages, joints, material, water table

Meshing tools

Boundary conditions/constraints
Modeler
Material properties

Applied loads

Support systems
Stress Compute Engine
Features
• Elastic and plastic analysis
• Plane strain, axisymetric analysis
• Solid elements
• 3- and 6-noded triangular elements
• 4- and 8-noded quadrilateral elements
• Structural elements (bolts, liners), joint elements,
infinite elements
• Static and seismic loads
Stress Compute Engine
• Number of iterations
• Tolerance
• Load steps
• (Matrix) Solver types
• Units of measurement
Stress Compute Engine
Groundwater Compute Engine
Features
• Steady-state seepage analysis
• 3- and 6-noded triangular elements
• 4- and 8-noded quadrilateral elements
• Discharge sections
Groundwater Compute Engine
• Maximum number of iterations
• Tolerance
• Groundwater analysis option
Groundwater Compute Engine
Interpreter
Viewing results
• Default computed values

• User-defined values
Interpreter
• Query of results
• Plots of queries
• Failure zone

• Support results
• Axial forces
• Shear
• Moments
Special Capabilities
• Variety of support systems
• Aids for generating reports

• Creation of animated files (.avi)

 Circular Excavation Example
p
u ur

Kirsch Solution (1898)  

 rr
 r
p  a  2
 2
a  4 
 rr  1 K 1 2   1 K 1 4 2  3 4  cos2 
a r

2  r   r r  

Kp Kp
p  a2   a4  
  1 K 1 2   1 K 1 3 4  cos2 
2  r   r  
2a
p  a2 a4  
 r  1 K 1 2 2  3 4  sin 2 
2  r r  
p
Circular Excavation Example
P

• 3D geometry
• 2D approximation

KP
RS2 model

Circular
Shaft

External
boundary
 9.370

Stress Distribution for K = 1

9.339

9.257

9.175

9.092
User Data
Sigma YY 9.010
1.700
2.550 8.920
3.400
4.250
8.705
5.100
5.950
6.800 8.391
7.650
8.500 8.077
9.350
10.200 7.589
11.050
11.900
6.910
12.750
13.600
14.450 5.712
15.300
16.150 3.780
17.000
17.850 1.909
18.700

18.675

16.016

13.944

12.692

12.116

11.642

11.363

11.084

10.805

10.661

10.574

10.483

10.389

10.296

10.213

10.183

10.150

10.117

10.086

10.066

10.046

10.026
Stress Distribution for K = 1
Stress Distribution for K = 2
Stress Distribution for K = 4
Deformation Vector

K=1

K=2 K=4
 RS3:
Organization and
Features
Objectives
• Overview of RS3
• Features of
• Modeller
• Compute Engine
• Interpreter
• Special capabilities of RS3
Structure of RS3
• Similar to the RS2 Finite element program
• Three modules:
Modeller

Compute

Interpret
Structure of RS3
The three modules Modeller, Computer and Interpret
can be easily accessed in one window using our
Workflow Tabs:

Modeller Compute and

Interpret
Interface Workflow Tabs Viewport

Visibility Pane

Properties Pane
Project Settings
File > Project Settings
Set units, staging, analysis options, etc
Geometry
Creation of models, Geometry tools:

Import
& Copy Excavation Polylines/Shapes Boolean Operations

Extrude/Sweep/L Transform
oft Tools
Support
Support Systems:

Liners Liner Layers Bolts Beams Piles

Groundwater
Groundwater Settings:

Water PWP Properties Boundary Conditions

Loads & Restraints
Applied Loads: Restraints:

Auto
Loading Restrain
Displacements & Restraints
Mesh
Meshing tools:

Creating & Editing Mesh Viewing Mesh Planes

Stress Compute Engine
Compute > Compute
Features
• Elastic and plastic analysis
• Uncoupled and coupled analysis
• Solid elements
• 4- and 10-noded tetrahedron elements

• Structural elements (bolts, liners), joint elements

• Static and seismic loads
Stress Compute Engine
• Number of iterations
• Tolerance
• Load steps
• (Matrix) Solver types
Stress Compute Engine
Groundwater Compute Engine
Features
• Steady-state seepage analysis
• 4 and 10-noded tetrahedron elements
• Discharge sections
Groundwater Compute Engine
• Maximum number of iterations
• Tolerance
• Groundwater analysis option
Groundwater Compute Engine
Results
Results
Viewing results
• Default computed value • User-defined values
Results
Viewing results
• Change between element types
Results

Refresh Displaying Results Other Results

&
Options
 Shaft Model
Using RS2 and
RS3
2D and 3D Tunnel Modelling
Tunnel model using a 2D plane strain model and a full 3D model

Tunnel
Model
Typical tunnel model is constructed in RS2 and RS3

10 m 10m
Model
Large external boundary to prevent boundary effects to tunnel.
90 m 10 m

10m

Thin slice model that allows movement in

the XY plane on the tunnel faces
Major Principal Stress (Sigma 1)

RS2 RS3
Total Displacement

RS2 RS3
Elastic-Plastic analysis
Generalized Hoek Brown Failure Criterion
• Elasto-plastic
Parameter Value
model: Peak and
residual strength Intact Uniaxial Comp. Strength, σci 50 MPa
properties are the GSI 50
same mi 10
mb 1.677
s 0.00387
a 0.506
Young’s Modulus of Rock Mass, 6144 MPa
ERM
Poisson’s Ratio, ν 0.3
Intact Uniaxial Comp. Strength, σci 50 MPa
 Field Stress

Field Stress y
Field Stress Value

Sigma 1 30 MPa z

Sigma 3 15 MPa x

Sigma Z 25 MPa
15 MPa
Sigma 1 Angle from Horizontal 0 deg

30 MPa

25 MPa
 Axisymmetric
Analyses in RS2
Axisymmetric Analysis
• The Axisymmetric option allows you to
analyze a 3-dimensional excavation
which is rotationally symmetric about
an axis.
• The Axisymmetric option allows you to
analyze a 3-dimensional excavation
which is rotationally symmetric about
an axis.
• To form a closed excavation, one edge
of your mesh must be coincident with
the X = 0 (vertical) axis. If this is not the
case, the excavation will be "open-
ended".
Modeling a Vertical Shaft
• A shaft is modeled by excavating down
from the top of the model along the left
edge as shown. This will simulate the
drilling of a circular hole centered about
the left edge of the model.
• For an axisymmetric model, with left
boundary at x=0, the left edge should be
fixed in the x-direction, and free to move
in the y-direction.
• The bottom is usually fixed in x and y.
The top will be free if you are excavating
down from the ground surface and fixed
in the y direction if you are starting from
some deeper location.
Applying Liner Support

• You should enter the same

area and moment of inertia
that you would for a plane
strain analysis.
• In a plane strain analysis, the
liner forces are given per unit
length in the third dimension.
In an axisymmetric analysis,
the liner forces are per unit arc
length of rotation.
Maximum Compressive Stress (Sigma1)
• The maximum and minimum
compressive stresses (Sigma1 and
Sigma3) are calculated from the
stresses in the observed plane.
• In an axisymmetric analysis of a
vertical shaft, the x-axis of the
observed plane is in the radial
direction and the y-axis is in the
vertical direction. The values
calculated for Sigma1 and Sigma3 do
not consider the circumferential stress
acting into the page.
• To observe the circumferential stress,
you need to plot SigmaZ.
 Example:
Comparison
between RS2 and
RS3 Models
(Adapted from RS2 Tutorial 6)
RS2 and RS3 Models
Total Displacement
Total Displacement Comparison
Total Displacement vs Distance Along Query
0.003

0.0025

0.002
Total Displacement (m)

0.0015
RS2
RS3

0.001

0.0005

0
0 5 10 15 20 25 30
Distance (m)
Total Displacement Comparison (Finer
RS3 Mesh) Total Displacement vs Distance
0.003

0.0025

0.002
Total Displacement (m)

0.0015
RS2
RS3

0.001

0.0005

0
0 5 10 15 20 25 30
Distance (m)
End of Module