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TRANSIENT THERMAL CONTACT PROBLEM FOR AXIAL
CRACK IN A HOLLOW CIRCULAR CYLINDER
CHAO-KUANG CHEN and BOR-LIH KU0
Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.
Abstract-The transient behavior of an axial-cracked hollow circular cylinder subjected to a sudden
heating is investigated. It is shown that surface heating may induce compressive thermal stress near the
inner surface of the cylinder which in turn may force the cracked surfaces to close together. Assuming
that the existence of the crack does not alter the temperature distribution, this problem can be divided
into two parts and solved by the principle of superposition. First, the temperature and transient thermal
stress distributions along the axisymmetric surface of the imaginary cylinder without a crack are obtained
by finite element/implicit time integration method. The calculated temperature and thermal stress
distributions are in good agreement with the values predicted by the analytical method. Secondly, the
opposite senses of the stress distributions along the cracked surfaces, which are obtained previously,
are treated as the traction boundary conditions, and the contact length and contact pressure of the
real cracked cylinder are obtained by a modified elimination finite element scheme. In this scheme, the
concepts of contact-node-pairs penetration, contact-double-forces and compliance matrix are introduced.
The calculated results indicate that the contact length ratio becomes smaller when the crack length ratio
increases, and becomes larger as the radius ratio increases. Finally, the normal&d stress intensity factor
for the crack tip of the cylinder is obtained. It is shown that the larger the crack length ratio the higher
the stress intensity factor.
INTRODUCTION
FOR AN axial-cracked hollow cylinder subjected to thermal loading, two possible conditions may
occur: the crack either opens wider or progressively closes together. When the inner surface of the
cylinder is subjected to sudden cooling, it could result in very high tensile thermal stresses near the
inner surface which tend to open the crack wider. Several authors [6-141 have solved crack opening
problems. Nied and Erdogan [6] analyzed the transient thermal stress problem for a circumferential
cracked hollow cylinder by the concept of superposition. Later on, Nied [A also solved the problem
of thermal shock fracture in an edge-cracked plate by the same techniques. Noda and Sumi [8]
obtained a transient solution for the problem of a Griffth crack in a thick plate by the finite
difference method. Delale and Kolluri [9] treated the thermal shock fracture problem for a
thick-walled cylinder with a radially embedded or edge crack. Noda et al. [I O] treated the thermal
shock problem in a finite elastic body with an external crack. Kokini [l l] solved the thermal shock
problem in a cracked strip by the finite element method. Oliveira and Wu [12] calculated the stress
intensity factors for internal and external axial cracks in hollow cylinders subjected to thermal
shock by using a closed-form weight function formula. Chen and Weng [14] obtained coupled
transient thermoelastic response in an edge-cracked plate by the finite element/Laplace transform
method. When the surface of the strip is subjected to heating, the surface experiences compressive
thermal stresses which cause the opposing faces of the crack to come into contact. Nied [15]
analyzed this kind of problem for an infinite edge-cracked strip by using a singular integral
formulation.
In the present study, the internal axisymmetric edge crack problem in a long hollow circular
cylinder is depicted as shown in Fig. 1. The elastic hollow cylinder with an internal axial crack
is initially at temperature T,,, and suddenly heated on the inner surface of the cylinder at the
ambient temperature T,. It is assumed that the existence of the crack does not alter the temperature
distribution, and the problem can be separated into the following two parts and solved by
the principle of superposition, which has been widely used by many investigators. First, the
temperature and stress distributions in the imaginary body without a crack are calculated by finite
element/implicit time integration method. Secondly, the opposite senses of the stress distributions
along the crack surface, which are obtained previously, are treated as the traction boundary
conditions, and the contact length and stress intensity factor of the real cracked body are obtained
by a modified elimination finite element scheme.
931
932 CHAO-KUANG CHEN and BOR-LIH KU0
Fig. 1. A cracked hollow cylinder initially at temperature T, heated by ambient
inner surface.
temperature T, on the
FORMULATION OF THE PROBLEM
1. The thermal stress distribution in the untracked hollow cylinder
The basic equations of classical coupled thermoelasticity theory are summarized herein.
Balance equations
(a) Mass conservation
;=l+uk,&.
(b) Momentum
or,, i + Pb, = Pii 1
trii = aji .
(c) Energy (heat conduction)
where
PV = -4k.k + Q,
p. is the mass density in reference configuration
p is the mass density in current configuration
u, is the displacement vector
eij is the stress tensor
6, is the body force vector
T is the absolute temperature
q is the entropy density
q, is the heat flux vector
Q is heat source.
(1)
(2)
(3)
A superposed dot () is used to denote material time differentiation and a comma (J) to denote
partial time differentiation with respect to coordinate xj (j = 1,2,3).
Generalized constitutive equations
tt = rl0 + c.0 + f B,jc,,9
(4)
933 Transient thermal contact problem
where
C,,, is the tensor of elastic moduli
cij is the strain tensor
Kij is the termal conductivity tensor
C, is the specific heat
T,,, is the maximum temperature difference between the applied temperature on the plate and T,
8 is the dimensionless temperature, 8 = (T - TJT,,,.
Substituting eq. (4) into eq. (2) and eq. (3), we have the resulting field equations in terms of
displacements and temperature as follows:
P& + (B, Tm 0 - C,,UU~, I I,,= phi (5)
&ed + BijT4sjlTm - (Kje,,), I = Q/T,, (6)
where flljTti,j/Tm is called the thermoelastic coupling term. The nonlinear energy balance
equation (6) can be linearized to the following form if the reference temperature To is chosen such
that (T - TJT, 4 1:
PC,~ + BilTo&.llTm - (K,e.j), i= QlTm. (7)
In comparing eq. (6) with eq. (7), it is clear that the influence of the coupling term on solutions
will be always higher than that predicted by eq. (7). If the material is assumed to be homogeneous
and isotropic, eqs (5) and (7) become
~Uk,ki+CL(Ui,kk+Uk,%)-a,T,(3~+2~)e,,-pPiii+pbi=O
(8)
I @,,= (31 + 2p)a,T&/T,,, + pC,d - Q/T,,,,
(9)
where I and ~1 are Lames elastic constants [A = vE/(l + v)( 1 - 2v), p = E/2( 1 + v)], a, is the linear
thermal expansion coefficient, E is the modulus of elasticity, and v is Poissons ratio.
Finite element formation
Spatial discretization. In the finite element method, the variation within any element is
described in terms of the nodal values by means of the shape functions. Thus, we introduce two
sets of shape functions of the displacement and temperature field as follows:
{u} = {:] = [N]{u}
I
n
8 = c N;e, = [w]{eq.
i= I
By substituting into the integro-differential equations of
from eqs (8) and (9) with eqs (10) and (1 l), we obtain
i.e.
(10)
(11)
variational form, which are derived
[KY)] ; [G)j
+
. . . . . . . . . . . . . . . . . . . . .
0
i [@I
Pfl{& + [Cl@) + PWI = {FL (12)
934 CHAO-KUANG CHEN and BOR-LIH KU0
in which
[AC] =
s
p[N]qN] du
[W] =
s
u /I $ [iv]T[B2] dv + j ~[Nl~Nl{P}[~,I do
m
[P] =
J
pC,[N]qN] du
[WI =
s
P, IVW, 1 do
n n
[lv$-).j =
J
K[M]qM] do + h[N]tN] d.s
J
s
1
ah:
aN
- 0 T 0 ..-$o
ar
[B,]= ;
w
aN
aZ 0 2.. 0;
I
- 0 3 0.3 0
r r r
1
aN, aN, alv, alv, aN* alv,
---- --
aZ i?r aZ ar . aZ ar
[B,]= !%+:
[
2 z++ ?,I!$..!?$?+~ z
1
{zP} is the nodal point displacement vector
{P} is the nodal point temperature vector.
Temporal discretization. In this paper, we use implicit one-step time integration method for
solving the time dependent problem. It is assumed that the physical values vary linearly in a discrete
time integral At, from t,, to tn+ , , where tn+ , =t, +At
{d}n+a = a(d),+, +(1 - a){d},
{d},+, ={dlniai{dl =(dj.+iL id},
(13)
where (d} is the vector of physical values (including the displacement and temperature vector);
t
n+a
=t, +a At; and CY is a parameter, taken to be in the interval [0, 11. Some well-known
integration methods are identified in Table 1.
Table 1
a
$2
213
1
Method
Forward Euler (explicit)
Central difference
Galerkin scheme
Backward Euler
Transient thermal contact problem 935
By neglecting the dynamic effect and the thermoelastic coupling term, and using the Galerkin
scheme (i.e. a = 2/3), eq. (12) becomes
i.e.
Nln+Mn+a = {O,C (14)
An eight-node isoparametric quadrilateral element is used for both displacement and
temperature calculations [3-51. The finite element mesh used for simulation is shown in Fig. 2a.
The problem of this paper is axisymmetric about the z-axis, and therefore only one quarter of the
hollow circular cylinder needs to be modeled. With the temperature distribution in the untracked
cylinder now known, it is easy to determine the transient thermal stress by the classical finite
element formulation.
2. The contact problem in an isothermal cracked hollow cylinder
When the inner surface of a hollow cylinder with an internal axial crack is subjected to heating,
it may induce very high compressive thermal stresses near the inner surface of the cylinder
(4
transition element
quarter point element
Fig. 2. (a) Finite element mesh used for simulation of part 1 uncraclced cylinder (99 elements, 338 nodes).
(b) Finite element mesh used for simulation of part 2 cracked cylinder (150 elements, 503 nodes).
936 CHAO-KUANG CHEN and BOR-LIH KU0
(4
(c)
Fig. 3. (a) Cracked hollow cylinder suddenly heated on the inner surface with crack contact length c.
(b) The concept of contact double force. (c) Determination of compliance matrix C,, for contact pairs.
0.0 0. 2 0. 4 0. 6 0. 8 1. 0
R
Fig. 4. Transient temperature distributions as a function of R* for Biot number /I = a, and Ri/Ro = 0.3
[T* = (T(R*, t*) - TO)/(T, - T,), R* = (R - Ri)/(Ro - Ri), f* = tct/pC,Rz, j? = ~L/K].
0. 6
G
0. 4
Fig. 5. Thermal stress distributions as a function of RR for fi = m and Ri/Ro = 0.3
[o& = (1 -v). a$#*, 1*)/5x,. (T, - To), R* = (R - Ri)/(Ro - Ri)].
Transient thermal contact problem 937
Fig. 6. Ttmsicn t temperature dis~butio~ as a function of R+ for B = m and RijRo =0.5
(T, =(T(R*, t*) - T,)/(T, - T,), R* =(R - Ri)/(Ro - Ri), t* =xf/pC,Rz].
which force the crack surface together over a contact length, and a region of tensile stress near
the tip of the crack which tends to open the crack as shown in Fig. 3s. However, the crack contact
length E in Fig. 3a is an unknown. Therefore, we introduced a modified elimination finite element
method [13 to solve this contact problem, as follows.
The contact forces and area are determined iteratively by eliminating the nodes having tensile
normal contact forces and imposing the compatibility conditions along the contact surface.
The concepts of contact-node-pairs relative displacement or penetration, contact double force
and compliance matrix are introduced in this scheme. The compliance matrix is defined as the
relative displacement induced by two unit contact forces, i.e. unit double force. In Fig. 3b, along
the crack contact area, the forces and displ~ments at node pair i are denoted by pi and 6,.
As the configuration reaches an equilibrium state, the relations between contact forces and
displacements will be
Fig. 7. Thermal stress distributions as a function of R* for fl= co and Ri/Ro -0.5
[u& =(1 - v) - u&(R*, I *)/I &, . (T, - T,), R* =(R - Ri)/(Ro - Ri)l.
938 CHAO-KUANG CHEN and BOR-LIH KU0
0.6
T
0. 4
.I 3
Fig. 8. Transient temperature distributions as a function of R* for /I = co and Ri/Ro =0.7
[T* = (T(R*, t*) - T,)/(T, - T,), R* =(R - Ri)/(Ro - Ri), t* =u/pC,Ra].
where 112 is the total number of contact node pairs, {s;} is the vector of the total penetration at
the pair i due to external load, [Cij] is the compliance matrix, and (p;} is the vector of contact
forces. The compliance coefficient C, represents the relative displacement of node pair i produced
by a unit contact double force acting at node pair j as shown in Fig. 3c. Because the contact area
is not known in advance, the iterative procedure has to be used in the finite element scheme.
A procedure of the computer implementation is presented in Table 2. By using this scheme, we
could obtain the contact length and the contact pressure Pj along the contact surface which is
expressed as follows:
where pj is the contact force in node pair j, and Aj is the sum of the areas of the surface elements
surrounding the pair j.
The problem of an isothermal cracked elastic body may be conducted using the stresses
obtained in part 1. These stresses, with opposite sign, become the crack surface tractions in the
boundary value problem and can be solved by finite element method with a triangular quarter
point isoparametric singular element [5]. The finite element mesh is adopted as shown in Fig. 2b.
The first and second modes of stress intensity factors can be expressed as follows:
K, =
[4(* - d) - (C - e )I
Table 2. The steps of modified FEM for solving the contact pressure
1. Establish a set of contact nodal points.
2. Assume that contact will not take place, then calculate the relative displacement or penetration
along a possible contact area.
3. Form the compliance matrix [C,,] which is defined as in the text.
4. Delete all the separated node pairs (i.e. S, > 0) and the corresponding columns and rows in the
compliance matrix.
5. Referring to eq. (17), calculate the contact double forces needed to cancel the penetration.
6. Delete all the node pairs where the contact forces are in tension (i.e. p, > 0), and delete the
corresponding columns and rows in the compliance matrix.
7. Repeat procedures 5 and 6 until all the contact forces are. in compression (i.e. p, c 0).
8. Calculate the normal contact pressure along the contact surface.
(17)
Transient thermal contact problem
939
0.8
0.6
Fig. 9. Thermal stress distributions as a function of R* for /3 = co and Ri/Ro =0.7
[a& =(1 - v) . a$(R*, P)/Ea, . (To - Z,), R* =(R - Ri)/(Ro - Ri)].
where rc = 3 - 4v for the plane strain problem; ub, uC, u,, u, and trb, v,, u,+ v, are nodal displacements
in tangential and normal directions with respect to the crack surface, respectively; G is the shear
modulus, and 1, is the element length of the triangular element. Since the accuracy of the stress
intensity factor is strongly influenced by the element length of the triangular singular element,
a transition element between regular and singular elements is also adopted to smooth the change
of nodal displacements.
RESULTS
For the thermal shock problems, it is convenient to specify results in terms of the following
dimensionless variables:
R* =(R - Ri)/(Ro - Ri), t* =Kt/pC,Rf, T* =(T(R*, t*) - T,)/(T, - TO),
a&=(1 -v).t~&(R*,t*)/Ea;(T,- To).
Ri/Ro=O.J
-1
Fig. 10. The ratio of the crack surface contact length to the overall crack length as a function of 1* for
ji = co and Ri/Ro =0.3 (t* =~r/pC,Ra).
940 CHAO-KUANG CHEN and BOR-LIH KU0
Rn/ Ro=OS
Fig. 11. The ratio of the crack surface contact length to the overall crack length as a function of t * for
B = co and RilRo = 0.5 (I* = rct/pC,R:).
The numerical results detailing the transient temperature and thermal stress in the untracked
hollow circular cylinder have been obtained for the radius ratios of Ri/Ro =0.3,0.5, and 0.7, and
are shown in Figs 4-9; the results are in good agreement with the analytical solutions for the crack
opening case [6,9].
If the inner surface of the hollow cylinder is suddenly exposed to a heat source, it may
induce high compressive thermal stress near the inner surface which in turn may force the cracked
surfaces to close together. The crack surface contact length and normal pressure can be determined
from eqs (15) and (16) by using a modified elimination finite element scheme. Figures lo-12
show the ratio of the crack surface contact length L to the overall crack length a, as a function
of non-dimensional time t* for various crack length ratios a/(Ro - Ri) and the radius ratios
Ri/Ro =0.3,0.5, and 0.7. It can be seen that the larger the crack length ratio the smaller the contact
length ratio ~/a, and the larger the radius ratio the larger the contact length ratio. Figures 13-15,
respectively, show the contact pressure distribution with a/(Ro - Ri) =0.4, 0.5, and 0.6. In these
figures, the dimensionless contact pressure, P*, is defined as (1 - v)P/Ecr,(T, - To). The contact
pressure distributions for Ri/Ro =0.5 and 0.7 are similar to Figs 13-15. The normalized stress
intensity factors, obtained from eq. (17), are plotted in Figs 16-18. It can be seen that the larger
the crack length ratio, the higher the stress intensity factor.
0.6
E/O
0.4
Ri / Ro=0. 7
:-
:-
_ 0.6 : -
Fig. 12. The ratio of the crack surface contact length to the overall crack length as a function of r* for
1 = cc and RilRo = 0.7 (t * = ~t/pC, Ra).
Transient thermal contact problem
0. 6
P
0. 4
0. 0
0. 0 0. 2 0. 4 0. 6 0. 8 1
R
Fig. 13. Normal&d contact pressure distributions along contact surface as a function of R* for the crack
length ratio a/(Ro - Ri) =0.4 and Ri/Ro =0.3 [P* =(1 - v)P/Ea,(T, - TO), P = tcf/pC,R$ fl =001.
0. 8
0. 6
P
0. 4
0. 2
0. 0
0. 0 0. 2 0. 4 0. 6 0. 8 1
R*
941
Fig. 14. Normalized contact pressure distributions along contact surface as a function of R* for the crack
length ratio o/(Ro - Ri) =0.5 and Ri/Ro =0.3 [P* =(I - v)P/Ea,(T, - T,), t* =~r/pC,Rt, /I =co].
0.8
0. 6
P'
0. 4
0. 2
0. 0
0. 0 0. 2 0. 4 0. 6 0. 6 1
Fig. 15. Normali& contact pressure distributions along contact surface as a function of R* for the crack
length ratio a/(Ro - Ri) =0.6 and Ri/Ro =0.3 [P =(1 - v)P/Ea,(T, - T,), I l =~f /pc ,R$, 1 = c o] .
942 CHAD-KUANG CHEN and BOR-LIH KU0
Ri/Ro-0.3
0.05
Fig. 16. Transient &rem intensity factor at the crack tip of cylinder for b = a3 and Ri/Ro =0.3
[K* = (1 - v) . K,/&ka, * (T. - T,), I * =xr/pC,R:].
Ri/Ro=O.S
0.05
0.04
0.03
K
0.02
0.01
0.00
- o/(Ro-Ri)
:-
Ri/Ro=0.7
Fig. 17. Transient stress intensity factor at the crack tip of cylinder for /I = Q) and Ri/Ro =0.5
[KS =(1 - v) * K,/,/& a, * (T, - To), r * = rct/pC,R:].
Fig. 18. Tmuien t StrsU iDuty factor at the cmck tip of cylinder for j = Q) and Ri/Ro =0.7
[K+ - (1 - v) . K, /,/i i & ~, * (T,, - To), t + = u/pC,R;].
Transient thermal contact problem 943
CONCLUSIONS
In the present paper, a powerful numerical analysis which is called implicit finite element
method is employed to analyze the transient thermal stress problem of an internal axial-cracked
hollow circular cylinder subjected to heating. The calculated temperature and thermal stress
distributions are in good agreement with the values predicted by the analytical method. A simple
numerical procedure is used to analyze the cracked surface contact problem by using the concepts
of contact node pairs and contact double forces. The numerical results of the contact length and
the normal contact pressure are obtained. The larger the crack length ratio the smaller the contact
length ratio, and the larger the radius ratio the larger the contact length ratio. Finally, we also
obtain the normalized stress intensity factor for the crack tip of the cylinder, and it is shown that
the larger the crack length ratio, the higher the stress intensity factor.
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(Received 25 J anuary 1993)