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Stress-strain relations
Introductory remarks
From previous considerations, it is clear we need the relations between strains and stresses for
various mechanical states of the continuum:
in elastic range
in elastic-plastic range
in the case of plastic hardening.
1
A
3K
1 2
kk ,
E
where the function i , 1 2G determines the plastic strain advancement. For the
perfect plasticity (without the plastic hardening), the function can be determined from yield
criterion. Multiplying the first equation by itself, we get:
eij eij 2 s ij s ij
3
2
sij sij , i
2
3
eij eij
i
For unloading processes, the elastic formulae are valid:
3
2
i 2 23 i ,
3
2
3
2
eij eij
1 ~
~
sij sij ,
eij eij
2G
where the swung dash means the point from which the unloading process begins.
3
2
sij sij 23 i2 23 02
sij sij
we have:
3 sij e ij 3 W
,
2 02
2 02
is the density of strain power or the power per unit volume.
where W
The equation in the incremental form is:
3s de
deij kl 2 kl sij .
2 0
The elastic strain is neglected, so:
in the volume change low E , it leads to the incompressibility condition,
yield criterion describes the neutral surface in the space of stress,
the neutral surface in the strain space reduces to the point: every movement is active one
the passive processes correspond with the rigid solid behavior.
Mathematically, the two above theories are similar. In the cases of eliminated strain and its
derivatives, the results from both theories are the same.
1
D D
2G
e ij
1
s ij s ij .
2G
3
2
2 sij s ij 0 sij s ij 0
1
s ij s ij sij sij
2G
actually we get:
e ij sij
sij sij
3e ij sij
2 02
The term in the numerator is the density of plastic strain power, because from the
decomposition of strain into elastic and plastic part follows the the second part vanishes:
s ij
p
p
p
e ij s ij s ij e ij e ije s ij e ij s ij
s ij e ij
.
2
G
0
22
3 0
s ij s ij 0 .
Zeroing of the second term is due to: s ij s ij
As before, the time elimination leads to the incremental form of the theory:
3s kl dekl
sij .
2G
2 02
The incremental form of equation for passive processes is:
deij
ds ij 2Gdeij
Jeli rozwizanie problemu z zastosowaniem teorii H-I jest atwiejsze, to takie rozwizanie
moe by sprawdzone poprzez weryfikacj rwna teorii P-R.
1
s ij sij sij sij (P-R)
2G
1
s ij sij (P-R)
2G
1 2G
removal, we get:
s ij 0 or s ij s ij0
The processes where the deviatoric components of the stress and the strain increase
proportionally are called the simple processes. The verification of this condition is
burdensome. It is much easier to check if the loading process is simple, when according to
Ilyushin theorem every loading increases proportionally.
For the simple processes the results from the classical theories are similar.
Plastic potential
The equations of the total strain theory
eij s ij
I 2 s
2 s ij
as:
e p ij
1
s ij
2G
I 2 s
.
2 s ij
aik a jl ij aik a jl
kl
ij kl
ij
is the 2nd order tensor.
We may write the constitutive equations as:
g ij
g ij
p
eij
, and e ij
.
ij
ij
The function g ij is plastic potential. The analogy with the elastic potential is obvious. For
the perfectly plastic materials the plastic potential cannot be expressed in stress but its
existence is not questioned.
In 9-dimensional Pragers space the plastic potential is the vector:
gradg ij , p gradg ij .
Assuming the plastic potential to be zero or some constant value, we determine in the space a
surface perpendicular to the strain or strain rate vector.
d ij
p
d ij
paski
f
ij
gadki
d ij
(a )
ij
(b )
ij
potencja plastyczny
(c )
ij
g ( ij ) f ( ij ) const
ij , ij
(d )
naroe
ij
d ij
p
d ij
In classical flow theory of P-R with the Hubers yield criterion we recognize the associated
flow rule, because:
g ij
1
I 2 s ij f HMH ij ,
2
what it is well confirmed by experiments, especially when the principal directions do not
change.
oct , d oct
1, d 1
dij
dij = sij
ij
sij
f(ij) = k
oct, d oct
0
3, d 3
2, d
paszczyzna dewiatorowa
paszczyzna hydrostatyczna
1, d 1
p
1- 3 = 0
dij
2 - 3 = 0
1 - 2 = 0
A
O
p
2, d 2
2 - 1 = 0
1 - 3 = 0
1 - 2 = 0
3 - 2 = 0
3, d 3
3- 1 = 0
1
d m
d m
A
dm
2
d m
d m
d m
Fi
u i , ij , ij
Ti Ti
Fi F i
u i u i , ij ij , ij ij
We call the material stable in the Druckers sense if the following postulates are valid::
1. The work of the extra loading onto the displacement changing is positive.
2. The work of the extra load during the loading and unloading is non-negative.
It has to be emphasized that the work concerns only the extra load onto the extra
displacement.
In mathematical notation:
Ti u i dA F i u i dV 0 (stability in small)
A
The stability postulates are more restrictive than the thermodynamics principles.
In index notation the work change is:
dW * ij ij( 0) d ijp .
The Druckers postulate is the assumption of non-negative complementary work:
ij ij( 0 ) d ijp 0 .
This is the great Druckers postulate. In the limit, we can write:
d ij d ijp 0 ,
the small Druckers postulate. The small postulate follows from the great, but not vice versa.
The Druckers postulates presentation in 9-dimensional Pragers space is easy to explain.
The limit surface for stable material must be convex. From the small postulate follows that the
vector of plastic strain increase must be perpendicular to the limit surface.
ij
ij
W
ij
ij
ij
ij
O
W=const
przestrze
odkszt.
przestrz.
napr.
const
The direction normal to the flow surface is given by the gradient of the yield criterion:
gradg ij , p gradg ij .
The same form of potential gradient and the yield criterion means that for the unconditionally
stable materials the flow rule is the associated flow rule.
Summing up, from Druckers postulate follow the conclusions:
1. The strain energy and complementary energy exist and are always positively definite, with
agreement with thermodynamical principles
2. The stress (strain) is perpendicular to the surface of constant potential energy
(complementary energy)
3. The surfaces of constant potential energy in the strain space and the complementary energy
in the stress space are convex
4. The stress-strain relations are reversible (reciprocal).
5. For elastic materials both forms of energy are independent of the load path, possess the
total differential and depend on the original and final states only.
Isotropic hardening
~
t
I p dt e e dt
p
ij
p
ij
p p
ij ij
~
ep
deijp deijp
Taylor-Quinney (1931):
i f 2 W p
where the plastic strain work (dissipation energy):
~
ep
~
ep
W W ij d ij de
p
p
ij
p
ij
~
ep
ij
deijp
Kinematic hardening
The yielding surface displaces as rigid solid (in 9-dimensional Pragers space). If the initial
surface is determined by the equation:
F ij C
Prager (1935):
F ij ij C ,
where (Melan 1938) there are two possibilities:
d ij cd ijp , c const
or:
d ij d ij .
Ziegler (1959):
d ij ij ij d
(the shape conserved).