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3
3. Equilibrium analysis
3.1 Forging
3.2 Sheet and wire drawing
3.3 Rolling – forging analogy
4. Upper bound analysis
4.1 Forging
g g
4.2 Extrusion
4.3 Machining
5. Temperature rise in deformation processing
References
Kalpakjian S., Manufacturing Processes for Engineering Materials, Addison Wesley,
CUED Libraryy JN49
Edwards S.L. and Endean M., Manufacturing with Materials, Butterworths,
CUED Library JA146
Cambridge Engineering Selector (CES EduPack 2011 or 2012)
Web-based resource on Aluminium Technology: AluMATTER
htt //
http://www.aluminium.matter.org.uk
l i i tt k
H.R. Shercliff
October 2012
1
1. Introduction to wrought alloy deformation processes
11 O
1.1 Overview
i off deformation
f i processes
Deformation processing (or forming) is the shaping of material in the solid state:
Machining is also a plastic deformation process, used for refining shape or finish, and adding
features (holes, threads etc.).
Each process class is used for a fairly specific geometric shaping activity, so there is little
direct competition between them. But other processes compete with forming, e.g.
- forging vs.
vs casting vs.
vs powder processing
- extrusion vs. welded assembly of plate
Some disadvantages:
1. High forces and complex control systems are required: can be high capital cost,
with expensive high strength steel tooling.
2. Multiple stages (including machining) often needed due to physical limits on
achievable shape changes and complexity.
3. Metals work-harden with cold deformation and often require intermediate annealing
to enable further deformation.
2
1.2 Deformation mechanisms: hot vs. cold working
Key aspects of understanding how processes work (e.g. to control and model them):
- deformation geometry (plane strain, axisymmetric, 3D)
- tool/workpiece interactions (friction, heat transfer)
- temperature history (governs deformation mechanism)
“Hot” and “cold” refer to whether the material is pre-heated before forming – but all
deformation generates heat, so even a cold-worked part may undergo some heating.
Th average temperature during
The d i forming
f i determines
d i the
h deformation
d f i mechanism.
h i
3
Constitutive behaviour (stress-strain response)
Elastic-plastic stress-strain curves for cold deformation in tension (Materials Databook):
NB. forming processes (hot or cold) are mostly compressive (to avoid the necking instability
in tension),
), allowing
g much larger
g pplastic strains,, typically
yp y 10s to 100s of %.
For processing at high temperatures (hot working), the stress-strain response is typically:
A steady-state (constant) flow stress is a result of a balance between dislocation accumulation
(work-hardening) and dislocation annihilation (by dynamic recovery). This is typical of
aluminium alloys.
Other alloys (steels) undergo dynamic recrystallisation – new grains forming, growing, and
work hardening in a continuous cycle (again reducing the flow stress).
Dynamic recovery and recrystallisation depend on both the strain-rate and the temperature
(i.e. diffusion-controlled thermally activated processes), see figure.
4
Plastic analysis of forming processes
Modelling of forming processes has many potential applications and benefits:
- co-design of components and the forming equipment used to make them
(t give
(to i confidence
fid that
th t the
th process willill work,
k cutting
tti costs
t andd scrap rates)
t )
- offline evaluation of sensitivity to fluctuations in process parameters, in order to determine
optimum set-points for these parameters
(e.g. metal temperature, process speeds, friction conditions)
- prediction of temperature and deformation histories throughout a component, as input to
understanding or modelling the distribution of microstructure and properties.
Most modelling of deformation processes uses advanced numerical methods (finite element
methods, FEM, or computational fluid dynamics, CFD), combining metal flow and heat flow.
This enables detailed prediction of the behaviour of a given design processed in a particular
way (provided the models, input data and implementation are robust!).
Analytical
A l i l methods
h d requirei simplification
i lifi i off the h problem,
bl but
b give
i a quick
i k overall
ll sense off
how the processes work, and the influence of key process variables. They also provide simple
checks on sophisticated numerical analyses.
The simple analytical calculations here predict forces, energy input, and temperature rise
g deformation pprocessing,
during g, usingg two approaches:
pp
• Equilibrium analysis: find a stress field which satisfies equilibrium and produces
yielding (hence flow) at every point.
• Upper bound analysis: find a displacement field which satisfies compatibility and
allows the deformation to occur. Equate internal and external work done.
Numerical methods can handle the complex elastic-plastic stress-strain behaviour (such as strain-
rate and temperature-dependent yielding).
Strain,
5
2. Fundamentals of plasticity (mostly revision of IB Structures)
For any general stress state we can find a set of (yy, xy)
principal
i i l axes. TheTh stress
t tensor
t for
f these
th axes
contains no off-diagonal (shear) terms – only
three principal stresses along the three axes. 2θ
1 2
Mohr’s circle allows rotation of axes in two
dimensions about one principal axis
(xx, -yx)
1 0 0 m 0 0 1 m 0 0
0 2 0 0 m 0 0 2 m 0
0
0 3 0
0 m 0 0 3 m
The yield criterion becomes a condition about the deviatoric stress tensor – i.e. yield
occurs when some function of the deviatoric stress tensor reaches a critical value.
6
Tresca yield criterion
Yi ld occurs when
Yield h theth maximum
i shear
h stress
t reaches
h a critical
iti l value.
l Taking
T ki Y as the
th yield
i ld
stress in uniaxial tension, and using Mohr’s circle, this gives:
max 1 2 , 2 3 , 3 1 Y
Usually p stresses so that 1 2 3 . Hence:
y define the principal
p
1 3 Y
1 2 2 2 3 2 3 1 2 2Y 2
Both criteria can also be written in terms of the Mohr’ss circle for pure shear
Mohr
yield stress in pure shear, k.
k
The principal stresses are then k
1 = + k; 2 = 0 ; 3 = - k k 3 1
Tresca: 1 – 3 = Y = 2k
von Mises: (1 – 2)2 + (2 – 3)2 + (1 – 3)2 = 2Y2 = 6k2
NB. the relationship between Y and k changes: for Tresca, Y = 2k ; for von Mises Y = √3k
It is
i possible
ibl to test experimentally
i ll which
hi h criterion
i i is i better,
b by
b measuring
i Y and
d k on the
h same
sample of material (and under combined tension and shear). The differences between the two
criteria are relatively small (at most 15%).
7
2.3 Plastic strain and flow rule
Once the yield criterion is satisfied we need a flow rule to relate the plastic strain to the
stress. In an isotropic material the principal axes of stress and strain-rate coincide.
The Levy-Mises flow rule states that the plastic strain increment in each principal direction is
proportional to the deviatoric stress component in that direction i.e.
d1 d 2 d 3
This can be written as:
1 m 2 m 3 m
So for plane strain, the two yield criteria are the same, in terms of the pure shear yield stress k.
Using the uniaxial yield stress Y, they differ by about 15%. The higher value governing yield
by the von Mises criterion, 2Y/√3 , is sometimes called the “plane strain yield stress”.
8
3 Equilibrium analysis
g g
3.1 Forging
Open die forging
F y
p(x)
τ(x) z x
p(x)
The stress state is non-uniform – consider
τ(x)
the vertical mid-plane: this must be
loaded in compression, to balance the
inward friction forces on the top and dx
bottom of each half of the billet.
2h σx (σx + dσx)
Hence we must consider the equilibrium
of an element of width dx, height 2h
τ(x) p(x)
( )
9
Equilibrium in the x-direction: x d x . 2h x . 2h 2 . dx 0
d x
dx h
Principal directions:
At the element centre, there is no shear (due to symmetry): x and y are principal stresses.
At the element surface, there is shear stress due to friction – but consider the Mohr’s circle for
a moderate value of :
Hence to a good approximation,
x and y (= p) are also principal
stresses at the surface.
Yield criteria:
dp d x
Fi t consider
First id Tresca:
T p x Y 0
dx dx
dp
Hence:
dx h
Hence: dp p
dx h
dp μ
Separate variables and integrate: dx ln (p) x C
p h h
Boundary conditions:
At x = w, x = 0. Combining this with the yield criterion p – x = Y gives at x = w, p = Y.
μ p μ
Hence: ln(Y ) w C and thus: exp w x ( x 0)
h Y h
When x < 0 the direction of friction is reversed, and the solution becomes:
p μ
exp w x x 0
Y h
NB: if we had used the von Mises criterion, p x 2Y / 3 , the expressions for p/Y
would be increased by the factor of 2/√3.
10
‘friction hill’ w = 4h w = 2h
50
5.0 50
5.0
μ = 0.4
4.0 4.0
3.0 3.0
p/Y
p/Y
2.0 2.0
10
1.0 10
1.0
μ = 0.1
0.0 0.0
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
x/w x/w
To calculate the total forging load F, integrate p(x) over the die surface (depth D into page):
w 2DhY w
F D p( x) dx exp 1 ( 2/√3 using von Mises)
w h
Note that the target result – the load required to yield the slab – depends on a combination of:
- material parameters: yield stress, Y
- process operating conditions: friction between die and workpiece,
- design parameters: the geometry of the slab – depth D, height h, width w
Recall that by the Tresca criterion, p = Y = 2k , where k is the shear yield stress.
Furthermore, by the von Mises criterion, p = (2/√3) Y = (2/√3) k/√3 = 2k .
So the pressure on the dies in plane strain compression with frictionless dies is 2k (whichever
criterion is used). This geometry can therefore be used in a compression test to measure 2k
for the material directly.
The conversion to uniaxial yield stress Y depends on whether the material response is closer
to Tresca or von Mises.
11
Summary of the equilibrium method for finding forming pressures/loads:
1. Assume a set of (approximate) principal directions.
2. Assume a friction law. The usual choices are : Frictionless (τ = 0), Coulomb
friction (τ =μp), or sticking friction (τ = k, where k is the shear yield stress.)
3. If the stress state is not uniform, consider the equilibrium of an element to get a
differential equation relating stresses in the direction of variation.
4 Assume a flow rule and yield criterion.
4. criterion (N.B.
(N B the difference between von Mises and
Tresca amounts to only 15% difference in the predicted stresses for plane strain).
5. Use the flow rule and yield criterion to relate the principal stresses.
6. Decide which principal stress is required for the problem in hand – e.g. for the vertical
forging load we needed p(x). Thus we eliminated the other unknown stress x to
give
i a differential
diff ti l equation
ti ini the
th required
i d stress,
t p.
7. Solve for the variation of this stress in the x direction by integrating subject to
appropriate boundary conditions.
8. For loads on the tooling, integrate the pressure over the tool area.
The resulting pressure distribution p(r) is again integrated to find the forging load:
h 2
1 2 Y R h
2 R
F 2 Y exp
2 2
h
Note the similarities to the plane strain case – the forging load depends on Y, , h and R,
and is particularly sensitive to the thickness to diameter ratio, h/2R.
12
3.2 Sheet and wire drawing
To reduce the thickness of a long product requires a continuous process, in which the material is
forced through shaped tooling . In sheet drawing, a flat strip is pulled through a profiled die with
the die exit determining the final dimensions; the axisymmetric equivalent is wire drawing.
C id the
Consider th plane
l strain
t i drawing
d i off a wide
id sheet
h t between
b t frictionless
f i ti l dies:
di
w 3
ho 1
2
hi σdraw
Depth D into the page is large, so plane strain conditions apply, with d2=0.
p
dh
p
zoom in on detail…. 2 sin
dh
1 d 1 1 p
2 tan
dh
2 dh
p
2
dh
3 2 tan
Equilibrium: hdh h dh
Resolve horizontally. 1 d 1 1 p 0
2 2 2
h d 1 1 d h pdh 0
dh dh
Resolve vertically. 3 p 3 p
2 tan 2 tan
Yield criterion: no flow in the 2 direction so 2 is intermediate; the Tresca criterion gives:
3 1 Y hence p 1 Y
NB: In this case we want the stress in the x-direction (at exit), rather than the distribution of p
with x, so we don’t switch to a differential in p, but eliminate p leaving a differential in 1.
0 hi h
dh
d 1 Y draw Y ln i 13
-draw ho h ho
Notes:
1. This analysis used the Tresca criterion – using von Mises instead, replace Y with 2Y/3
(as plane strain)
2. Note that σdraw may not exceed the yield stress Y (or the material fails in tension at the
exit). This gives a maximum draw ratio:
h h h h
Y ln i Y ln i 1 i e 2.718 i.e. o 37% (for von Mises: 43%)
ho ho ho max hi
3. A back tension σback may also be applied at the inlet. This has no effect on the initial
analysis but changes one of the boundary conditions: at the inlet, h=hi , σ1 = -σback . Hence:
h
draw back Y ln i
ho
So the draw stress is increased by the back tension, reducing the maximum draw ratio.
But increased tension along the strip reduces the pressure needed to reach yield – hence
back tension reduces wear of the die.
4. The same analysis can be applied to plane strain extrusion, simply by another change in
boundary conditions: at the inlet, σ = + σext (compression), and at the outlet σ = 0.
The inlet material must then be enclosed, but the compressive stress is not limited by the
yield stress – so greater reductions in section are possible.
5. The analysis can readily be extended to include the effect of friction on the die (giving
additional terms in the equilibrium equations).
Wire drawing
Wire drawing may be modelled using an equivalent axisymmetric analysis to sheet drawing.
The resulting expression for the draw stress, for the case of Coulomb friction on the die wall, is:
cot
1 A 2
draw Y 1 1
cot A1
Note that the observations above on the maximum draw ratio and the effect of back tension
apply equally to wire drawing,
drawing and a change in boundary conditions to an inlet compression
switches the analysis to extrusion of a solid cylinder.
14
3.3 Rolling
Rolling is a steady-state, continuous process for forming long prismatic shapes.
Cast Ingot
"Bloom“ or "Slab"
hi
vo
τ F
Note that the friction direction reverses in the roll bite at the neutral plane, i.e. the point where
the local speed of the strip = the peripheral roll speed, v = R .
The roll bite is therefore directly analogous to the geometry used for analysis of plane strain
forging, assuming the neutral plane falls on the plane of symmetry.
Hence the rolling pressure distribution will be a friction hill, as in forging, and we can estimate
the rolling load directly using the result for plane strain forging (assuming the Tresca criterion):
2 DhY w
F exp 1
h
Provided the friction coefficient is reasonably low, we can assume w/h << 1. This allows the use
of the approximation exp(w/h) 1 + w/h+ (w/h)2/2 , giving:
2DhY w 1 w
2
F
h 2 h
It is more convenient to express the rolling force in terms of the roll radius R and heights hi and
ho. Consider the contact geometry:
2
2w R hi ho R2
2
R 2
hi ho hi ho
Typically R giving
2w 2 2
2w R hi ho
R (hi ho )
F D Y R (hi ho )
hi ho
As before, this result combines parameters of the material, process and the geometry of the strip.
Note that small radius rolls will bend, so larger backing rolls
are used to reinforce the work rolls in a cluster mill design.
design
Hydraulic jacks apply loads, continuously adjusted, to the roll
stack. This ensures that a uniform material thickness (or
gauge) is produced, both across and along the strip.
Cluster mill
Effects of tension at the inlet (back tension) and outlet (front tension)
Front and/or back tension are used in rolling, and have the effect of:
- reducing the pressure needed to cause yielding (as in sheet/wire drawing)
- reducing the magnitude of the friction hill (and shifting the neutral plane)
- reducing the rolling load, torque and power
The analysis with forward/back tension follows the forging analogy, but with a change in
boundary conditions at entry and exit.
b f
Notes:
1. If a sufficiently large back tension is applied, the neutral point can be shifted to the outlet,
and the rolls begin to slip. This can be used experimentally to estimate the friction coefficient .
2. In multi-stand tandem rolling, the forward tension on one stand = the back tension on the
next. Why must this tension be carefully controlled?
17
4 Upper bound analysis
Upper bound theorem: Propose any mechanism of plastic collapse of a body and estimate the
load required by equating the internal rate of energy dissipation to the rate at which the external
l d do
loads d work;k the
h estimated
i d load
l d will
ill then
h beb above
b or equall to the
h correct value
l (i.e.
(i it
i will
ill
represent an upper bound).
Any compatible mechanism of deformation may be chosen, but we can consider limiting cases in
which all the deformation occurs in narrow shear bands, with the solid divided into rigid blocks
sliding over each other, and the shear yield stress k acting at their interfaces.
The upper bound method with sliding blocks is highly effective for three reasons:
(a) we do not have to satisfy equilibrium equations.
(b) the upper bound loads are often surprisingly close to the correct collapse loads.
(c) the load estimate is often insensitive to the exact choice of mechanism.
The method applies to 2-dimensional plane-strain problems only.
4.1 Forging
Consider again plane strain forging of a long square block between frictionless dies:
v F
Depth D into page
A
A
B
B
C D h C D
E E
O (fixed) O (fixed)
F
h
Equate external rate of work with internal rate of energy dissipation:
External power = F . v
Internal power =
Interface area shear yield stress k relative sliding velocity at interface
all interfaces
18
To find the relative sliding velocity of the blocks, construct a velocity diagram (hodograph):
Interface length velocity internal power
o,e bc h / 2 v / 2 khDv / 2
bd h / 2 v / 2 khDv / 2
ce h / 2
v / 2
khDv / 2
ed h / 2 v / 2 khDv / 2
c v
d Total 2khDv
Equate external and internal power :
F .v 2 k h D v F 2k h D
a,b
So pressure on die p = F/hD = 2k
It is efficient to use the symmetry of the problem to reduce the number of shear planes to be
considered, e.g. in the forging problem, take two mirror planes to split the problem vertically
and horizontally – and consider the horizontal mirror plane to be stationary.
v/2 F
c o
A
B
v/2
O h √2 (v/2)
fixed C D
E
O
a, b
v/2 F
External power = 2 F . v/2 = F . v
Internal power = 4 (k D). b = 4 (k D) . √2 (h/2) . √2 (v/2)
D) BC . Vbc
=2kDhv
A: h >> b
B: h > b
h/2
p
2.83
2k
p 3b 7 h
2k 2 h 18 b
C: h ≈ b D: h << b
p 1b h p
1
2k 2 h b 2k
3.5
3
Pressure p/2k
A
2.5
B
2
1.5
C
1
D
0.5
0 2 4 6 8 10
h/b
20
4.2 Extrusion
Extrusion uses compressive loading to
force a billet ((usually
y hot)) through
g a die
to make a shaped, prismatic section.
With soft metals (e.g. hot aluminium)
very large reductions in area can be made
in a single step.
Die design
For solid cylinders, square or angled dies may be used. With a square die, a dead metal zone
forms, leading to intense shearing (and heating).
The design of dies for complex hollow sections is considered in a later case study.
For upper bound analysis, we consider plane strain extrusion of a flat strip.
Die O
F/2 C
h External power = F.v/2
A
Ram B
v
D 2v h
centre line
l h
21
Velocity diagram:
o,c
v a v d Internal
Interface g /h
length velocity
y /v power /(hDkv)
p ( )
OA l/h (oa) 1 l/h
AB 2 (ab) 1 2
BC 2 (bc) 2 2
BD 2 (bd) 2 2
b
Total l/h + 6
O, moving Die
die O
C fi d die
fixed di
F/2
A
Ram B
v
D 2v h
l h
The analysis is identical, except that O now moves with A so no shear work is done on
interface oa.
Hence: F 2 D k 6h
4.3 Machining
Machining processes use a hard tool to selectively remove a softer material. Most components
g some machining.
undergo g Numericallyy controlled machines ggive highg reproducibility
p y and
accuracy.
There is a wide range of machining processes: turning, shaping, milling, drilling, tapping, grinding.
The underlying mechanism is largely the same: plastic deformation of a thin surface layer or
groove of material.
g shear strains are imposed
Large p g ((103 s-1) – this can cause
on the chipp and strain-rates are high
temperature rises of the order of 1000C in steels.
22
Machining – upper bound analysis
Consider the idealised machining geometry below – orthogonal machining – with in-plane
deformation, and a depth into the page which is larger then the chip thickness (i.e. plane strain).
First, neglect friction on the tool face – giving a single primary shear zone.
C Velocity diagram:
T
α ( ) ( )
2 2
Rake angle
d φ c
vcw
α
v
F t π/2-α v φ w
W
v vcw v cos
vcw
sin / 2 ( ) sin / 2 ) cos( )
d d v cos F k d cos
F .v D . vcw . k D k i.e.
sin sin cos( ) D sin cos( )
The optimal solution will be the minimum value of F/D which is when f sin cos( )
is a maximum with respect to :
f
cos cos( ) sin sin( ) cos( ) cos(2 ) 0
In practical machining, there is a secondary shear zone associated with friction on the rake face
of tool (neglected above). This can be included by adding a term for the power dissipation on
the tool, e.g. assuming sticking friction over the length of the tool face, with a relative velocity
given by the chip exit velocity.
velocity
23
5. Temperature rise in deformation processing
Effect of temperature rise during deformation processing
All of the plastic work is dissipated as heat. The workpiece temperature depends on:
- thermal
th l properties
ti off the
th metal
t l andd tooling;
t li
- component geometry;
- heat transfer conditions (to the tooling, coolant or atmosphere).
To assess whether there is time for temperature gradients to even out, we compare the speed of the
material with the speed of heat conduction.
To do this, estimate the thickness of the deformation zone, d , and an interaction time, t (the time
that
h material
i l takes
k to pass through
h h the
h deformation
d f i zone).) The
Th distance
di that
h heat
h could ld travell in
i this
hi
time is approximately a t , where a is the thermal diffusivity. If d >> a t , temperature
gradients will remain.
24
6. Microstructure Evolution in Wrought Alloy Processing
25
Grain size control by recrystallisation
Recrystallisation requires a minimum strain level (typically 5% for cold deformation).
Further strain leads to a decrease in recrystallised grain size (the number of nuclei
increases). Similarly, there is a minimum temperature needed to trigger
recrystallisation. This also falls with increasing strain, as it gets easier to start the
process as the stored energy increases (LH figure below).
The recrystallised grain size has a complex dependence on:
plastic strain (RH figure below)
deformation strain-rate and temperature
annealing temperature (for static recrystallisation)
26
Heat-treatable Al alloys – age hardening
Aluminium dissolves up to 10% of Mg, Cu, Zn, Si, Li. Typical heat-treatable
alloys contain at least two major alloy additions. The steps in age hardening are:
(i) Solution heat treat, in the single phase region of the phase diagram.
(ii) Quench to achieve a supersaturated solid solution.
(iii) Age at room temperature (natural ageing) or at a temperature in
o
the 150–250 C range (artificial ageing).
Solution treat
Quench
Quench Age
Age
27
6.2 Case Study: Extrusion of heat-treatable Al alloys
Hollow sections are made by building a mandrel into the die (held from behind by
radial supports). The metal flow splits round the radial supports, then is forced
together in a longitudinal friction weld beyond the mandrel, leaving an internal
channel the same shape as the mandrel.
Multi-channel sections require many mandrels mounted sequentially along the die,
generating complex 3D flow to produce the prismatic shape. Such dies can be very
expensive (£100k).
28
Temperature history and microstructural control in extrusion
T (oC) HOMOGENISATION
EXTRUSION
QUENCH
PREHEAT
DIRECT AGE
CHILL
CAST
INGOT
TIME
Microstructural evolution: key ideas
- deformation and thermal histories are closely coupled
- shaping and microstructure control are achieved simultaneously
- the deformation/ageing stages inherit microstructure from upstream processes
(e.g. casting and homogenisation)
- deformation processing must leave the material with good properties for
downstream processing (e.g. heat treatment and welding), and for the
product’s performance in service
29
T HARDNESS
T6 peak
TE aged
hardness
Alloy 1
Alloy 2
log(TIME) 1 2 5 10 20 50
o
log(COOLING RATE) ( C/s)
30