About Rock Mechanics and Core

Constitutive Law
• Conservation of Energy
• Strain Energy
• Hooke’s Law
1 September 2016 Solid Mechanics | Constitutive Relations 1
Consider a mildsteel coupon under uniaxial
tension. The growth of stress with that of strain is
shown schematically in the figure.
It may be observed that a significant portion is
almost linear (the encircled portion in the figure).
The slope of this linear part of the stress‐strain is
known as Young’s modulus and is generally
denoted by E.
Thus, within linear range we have
σ
This is known as the celebrated Hooke’s Law for
1D problem.
For homogeneous material we assume that E does
not depend on position, or in other words, E is the
same at all points.
Consider a small cube of dimensions
. The coordinate axes are shown in the
figure. Under the action of a uniaxial stress
, the length of the cube along x-direction
becomes 1 .
This strain can be computed as
(by Hooke’s Law)
The other sides of the cube become 1 and
1 along y and z directions, respectively.
Along with the increase in length in x‐direction, the
lengths in the other two directions are decreased.
(Poisson’s observation; SD Poisson, 1828!)
For homogeneous and isotropic material the lateral
strains, i.e, and , maintain constant relationship
with the longitudinal strain and can be written as

where is the so called Poisson’s ratio.
Therefore, from the above we get
Similar results can be obtained for uniaxial tensile stress along y and z direction.
Along y direction:
Along z-direction:
Using method of superposition we get the following relationship for a general situation
0
1 1
1
1
or
1
1
1 1 2
1
For shear part we assume
where G is the shear modulus.
What is G?
Let us consider a situation where 0⇒ 1 0.
Plugging it in the 3D stress-strain relations, we obtain

1
1 1
The situation 0 but 0 is known as plane-stress situation
In order to establish the relations between G and E we shall consider this plane-stress situation
Recall :
cos 2 sin 2θ
2 2
cos 2 sin 2θ
2 2
sin 2 cos 2θ
2
cos 2 sin 2θ
2 2 2
cos 2 sin 2θ
2 2 2
sin 2 cos 2θ
For 0, and 45 , we have
τ
τ
0
Consider simple shearing deformation of a square
block.
The diagonal line segment OP is deformed into OP’
under pure shear. Let the shear strain be . Now
from the geometry, we get
tan (valid for small )
or
PP
The strain in the line segment OP is

1
2 2 2
Similarly, one gets
Now, we shall compare the followings
1
1 1
This gives
2 1
Isotropic and homogeneous material
Compliance Relation
1 0 0 0
1 0 0 0
1 1 0 0 0
0 0 0 2 1 0 0
0 0 0 0 2 1 0
0 0 0 0 0 2 1
3D case
Constitutive Relation
1 0 0 0
1 0 0 0
1 0 0 0
1 2
0 0 0 0 0
2
1 1 2 1 2
0 0 0 0 0
2
1 2
0 0 0 0 0
2
Alternative representation for the constitutive relation
2 0 0 0
2 0 0 0
2 0 0 0
0 0 0 0 0
0 0 0 0 0
3D case 0 0 0 0 0

and : known as Lame elastic constants
Plane stress: 0 but 0

0⇒ 0
2D case Again
0⇒ 1 0⟺ .
Plugging in the 3D constitutive law yields
1 0
1 0
1 1
0 0
2
Compliance relation
1 1 0
1 0
0 0 2 1
z-direction dimension is very small

Load is confined to xy-plane
Example: plate under tensile in-plane load
Plane strain: 0 but 0 z-direction dimension is very large

0⇒ 0 Load is confined to xy-plane
2D case Again Example: Dam
0⇒ 0⟺ .
Plugging in the 3D constitutive law yields
Thus, the compliance relation reads

1 1 0 ∗
1 1 1 0
∗
1 1 0 ∗
1 0
∗
0 0 2 1 0 0 2 1
with
∗ ∗
;
1 1
Compliance relation:
1 1 0 ∗
1 1 1 0
∗
2D case 1 1 0 ∗
1 0
∗
0 0 2 1 0 0 2 1
with
∗ ∗
;
1 1
Constitutive relation:
∗
1 0 1 0
∗ ∗
1 0 1 0
∗ 1
1 ∗ 1 1 1 2
0 0 0 0
2 2
Volumetric strain
Consider a small cube of dimensions .

The coordinate axes are shown in the figure.
Under the action of a hydrostatic state of stress,
the length of the cube along x-direction becomes
1 . The other sides of the cube become
1 and 1 along y and z directions,
respectively.
The deformed volume reads

1 1 1
1
Thus, the volumetric strain is calculated as
change in volume
original volume
Hydrostatic and deviatoric split of stresses
2
3
1 0 0 2
0 1 0
3 3
0 0 1
2
Responsible for volume change 3
or
Responsible for shape change
2
3
1 0 0 2
0 1 0
0 0 1 3
2
3
where is the hydrostatic pressure.
From the 3D constitutive law we have
2 2 2
3 2 3 2
or
3 2
3 3
Thus one identifies the bulk modulus as
pressure 2
volumetric strain compression 3
Shape change is the measure of distortion.
One may observe that the stresses associated with distortion is given by
2
3
2
3
2
3
The constitutive relation for reads
2
3
2 2 2 2
3
2 2 2
2 2 2 ; with
3 3 3
Similarly one obtains
2
2 ; with
3
2
2 ; with
3
The constitutive relation for in compact form is written as
Dilatational and distortional split of strain
1 0 0
0 1 0
0 0 1
where is the mean strain and is the volumetric strain.
NOTE: The second part in the above slit of strains is the measure of distortion ( shape change) as the volumetric strain
associated with the second part is zero, i.e., 0.
The constitutive relation
1 1
1 1
1 1
2
0 0
0 0
0 0
Strain direction || stress direction !!

NOTE: The above representation makes it clear that the principal stresses are developed
along the direction of principal strains.
0⇒ 0 SEE NEXT SLIDE FOR 2nd PROOF
Total strain energy density is calculated as

1
2
Along the principal direction it takes the following form
2
2
3D constitutive law
2 0 0 0
2 0 0 0
2 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
Let be unit vector along the principal strain . This implies
· ⇒
Let us check ·
2 2
Thus , we get · , i.e., is the direction associated with principal stress .

The energy density associated with the volume change is calculated as
3 3
2 2 18 18
The energy density associated with the shape change/distortion is calculated as
1
2
2 2 2
4
6 6 6
12
Along the principal directions, we have , , and

Thus, we write
4 12
For 1D case we have
Failure theories
• Maximum Principal Stress Criterion
• Maximum Principal Strain Criterion
• Strain Energy Density Criterion
• Maximum Shear Stress (Tresca) Criterion
• Distortional Energy Density (von Mises) Criterion
Consider a mildsteel coupon under uniaxial
tension. The growth of stress with that of strain is
shown schematically in the figure.
The stress at A is known as the Yield stress.
If we start unloading the coupon from any point
beyond A (say B), then it would follow a path
shown using red line (BO1). After the coupon is
unloaded from B, a permanent deformation of the
coupon occurs (OO1) .
In design of structural members whenever the
developed stress exceeds the yield stress or
permanent deformation occurs, it is assumed to
have failed. It would not serve the purpose for
which it has been designed.
In the failure theory, the challenge is to identify
the state of stress for both brittle and ductile
materials which causes permanent deformation or
material yielding. This can be easily achieved in 1D
elements.
How to identify the critical state of stress in 2D or
3D situation?
Usually this is done by comparing the critical value
of (1) stress component, (2) strain component, (3)
total or partial strain energies.
In the subsequent discussion, we shall assume the followings
• In 1D case, we assume only one stress component for direct stress or for shear stress.
• In 2D case, we use , for the two nonvanishing principal stresses and shall assume 0.
• In 3D case, we use , and for the principal stresses
Unless otherwise mentioned we assume that the maximum allowable direct stress is and
maximum allowable shear stress is .
Further, we assume that is measured from uniaxial coupon test.
Maximum Principal Stress Criterion
Let ≔ max , , be the effective stress.
With respect to this criterion, it is assumed that failure

has occurred at a point in a member if reaches a
value equal to the tensile (or compressive) yield stress
.
Here is the yield stress and can be measured from
uniaxial coupon test.
2D case:
• If , we have
⇒ or
• If , we have
⇒ or
The above inequalities define the failure region in the
principal stress space. The area outside the square of
side length including the boundary represent the
failure zone. (see the right-side Figure)
Maximum Principal Stress Criterion
3D case:
• If , , we have
⇒ or
• If , , we have
⇒ or
• If , , we have
⇒ or
The above inequalities define the failure region in the
principal stress space. This consists of two parts, i.e., (1)
the outer region and (2) the bounding surface of a cube
of edge length .
Under hydrostatic state of stress permanent volume

change does not occur in many of the materials (e.g.,
crystalline or amorphous materials).
However, due to simplicity this theory is used for brittle

materials.
Maximum Principal Strain Criterion
The effective strain to be used here is defined as
max , ,
It states that failure begins when the effective
strain at a point in a member reaches a value
equal to . The critical strain is calculated as
where is the measured elastic limit stress
in a member under uniaxial tensile test.
2D case(plane stress with , ≫ )
If , then implies

If , then implies

The above inequalities define a domain which consists of (1) the outside
including the boundary of a square of length in the principal strain
space. (See the right-side figure)
However, with the aid of compliance relation the inequalities can be 1 1
expressed in terms of principal stresses as 1
max , 1
In 2D, this set defines the outer region of a rhombus in the principal stress space.
2D Case: and
Maximum Principal Strain Criterion
3D case
If , , then implies

If , , then implies

If , , then implies

The above inequalities define a domain which consists of (1) the outside including
the bounding surface of a cube of edge length in the principal strain space. (See
the right-side figure)
Again, with the aid of compliance relation the inequalities can be expressed in terms
of principal stresses as
max , ,
In 2D, this set defines the outer region of a parallelepiped in the principal stress
1 1
space. 1
3D Case: , and 1
Maximum Shear Stress (Tresca) criterion
This is also known as Coulomb’s criterion or Guest’s law. Here we
consider the maximum shear stress as the effective stress and can
be defined as
≔ max , ,
2 2 2
This criterion states that failure begins when the effective stress at
a point in a member reaches a value equal to where is
the
Let measured
, and limiting elastic stress
be the principal in a member under uniaxial
stresses.
tensile
For 2D test.
plane stress ( 0) case we have the following
• When and are of opposite sign then this criterion reads
which implies
for 0 and 0
and
for 0 and 0
• When and are of same sign then this criterion reads
⇒ and for
and
⇒ and for
Maximum Shear Stress (Tresca) criterion
The above set of inequalities define a domain

which consists the outside including the
boundary of a hexagon and is shown in the right
side figure (previous slide).
In 3D it becomes the outside including the lateral

bounding surface of a regular hexagonal prism
whose axis is aligned along the hydrostatic axis
Maximum Distortion Energy (von Mises) Criterion
In von Mieses-Huber-Henkey criteria we compare the distortion

energy. The maximum allowable distortion energy is set as the
distortion energy corresponding to obtained from uniaxial
tension coupon test, i.e., , .
This criterion states that failure begins when the distortion energy
corresponding to a state os stress at a point in a material
reaches , .
In 3D, the distortion energy is defined as
6
12
Thus, inequality , is written as

6 2
In terms of the principal stresses
2
Maximum Distortion Energy (von Mises) Criterion
In 2D plane stress ( 0) case we have the reduced

inequality

This defines the outer part of an ellipse in the
principal stress space.
For 3D, the failure zone is the outer region of a

cylinder whose axis is aligned to the hydrostatic
axis.
Problem: Determine the strains for the following displacements
, , 0, , , 0, , , 10 3 4 /5
• Find the principal strains and the corresponding directions
• Find the principal stresses.
Answer:
Principal strains
Principal directions (not normalized)
Problem: A thin‐walled cylindrical tube is subjected to internal pressure. The wall thickness of the tube is t and the radius of
the tube is R. The state of stress on a point in the lateral surface is given by

; and 0
Calculate the critical pressure such that failure begins according to
1. Tresca criterion
2. von‐Mises criterion
Assume 100 mm, 2 mm and 250 MPa
The given stress condition corresponds to a two‐dimensional state of stress where the shear stresses are zero.
Hence, the given stress components are the principal stresses.

Given data: ; and 0
The principal stress criteria suggests the followings

• If , we have
⇒ or
• If , we have
⇒ or
250 2
⇒ MPa 2.5 MPa
200

Given data: ; and 0
The principal strain criteria suggests the followings

• If , we have
⇒ or
• If , we have
⇒ or

1 0.85
2
1
0.20
2
250 2
0.85 ⇒ MPa 2.94 MPa
0.85 170

Given data: ; and 0
The Tresca criteria suggests the followings

For 2D plane stress ( 0) case we have the following
• When and are of same sign then this criterion reads
⇒ and for
and
⇒ and for
250 2
⇒ MPa 2.5 MPa
200

Given data: ; and 0
The von Mises/Huber/Maximum octahedral shear stress criteria suggests the followings
For 2D plane stress ( 0) case we have the following
•
1 3
2 2 2
3 2 250 4
⇒ MPa 2.89 MPa
2 3 3 200

About Rock Mechanics and Core

Caricato da

Informazioni sul documento

Titolo originale

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

About Rock Mechanics and Core

Caricato da

Copyright:

Formati disponibili

Constitutive Law

For shear part we assume

where G is the shear modulus.

Plugging it in the 3D stress-strain relations, we obtain

The situation 0 but 0 is known as plane-stress situation

The strain in the line segment OP is

Alternative representation for the constitutive relation

Plane stress: 0 but 0

z-direction dimension is very small

Plane strain: 0 but 0 z-direction dimension is very large

Thus, the compliance relation reads

Consider a small cube of dimensions .

The deformed volume reads

where is the hydrostatic pressure.

Dilatational and distortional split of strain

where is the mean strain and is the volumetric strain.

Strain direction || stress direction !!

Total strain energy density is calculated as

Let be unit vector along the principal strain . This implies

Thus , we get · , i.e., is the direction associated with principal stress .

Along the principal directions, we have , , and

For 1D case we have

With respect to this criterion, it is assumed that failure

Under hydrostatic state of stress permanent volume

However, due to simplicity this theory is used for brittle

The above set of inequalities define a domain

In 3D it becomes the outside including the lateral

In von Mieses-Huber-Henkey criteria we compare the distortion

Thus, inequality , is written as

In 2D plane stress ( 0) case we have the reduced

For 3D, the failure zone is the outer region of a

The principal stress criteria suggests the followings

The principal strain criteria suggests the followings

The Tresca criteria suggests the followings

Potrebbero piacerti anche