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MCEN90029

Advanced Mechanics of Solids

Lecture L29
Creep2

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 1

Summary
In this lecture we will investigate stress
relaxation, i.e., time-dependent decrease in
stress at constant strain. We will also investigate
a couple of mathematical models of creep used
in analysis of material creep behaviour.

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 2

Stress relaxation
Defined as a decrease in stress, with time, at constant
strain
Stress relaxation commonly occurs in tightened bolts at
high temperatures
Stress relaxation curves typically mirror image creep-strain
time curves

Hysteresis including
stress relaxation

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 3

Stress relaxation
Procedure for relaxation testing:
Load specimen to an initial stress to generated some specified
strain, e.g., 0.15%.
Stress is then adjusted with time so that the specified strain is
maintained

Relaxation of
stress with time at
constant strain and
temperature

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 4

Stress relaxation
Consider a bolted flanged joint at high temperature

The bolt is initially tightened to a stress 0. This


produces an elastic strain of 0
After time t, the creep induces plastic
deformation which allows relaxation of stress,
and elastic strain
The total strain must remain constant if the
flange is rigid; therefore,

0 = c +
E
Differentiating with respect to time

OR

0=

d c 1 d
+
dt E dt

c =

1 d
E dt

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 5

Stress relaxation
The creep rate, in terms of stress, is modelled as

c = B n , thus

1 d
B =
E dt
n

Therefore

dt =

1 d
EB n

The time for relaxation of stress, from 0 to t at time t, is then


obtained by integration:

1 t d
t=

EB 0 n
Therefore

1 t d
t=

EB 0 n

MCEN90029 Advanced Mechanics of Solids

thus,

1
1 $ 1
1 '
t=

&
)
EB (n 1) % tn 1 on 1 (

(1)
Lecture L29 - 6

Stress relaxation (example)


The bolts holding a flanged joint in steam piping are
tightened to an initial stress of 400 MN/m2. Determine the
relaxed stress after 10,000 hours. E = 200 GN/m2, n = 3, and
B = 4.8 10-34 m2/h.N
From equation (1),

1
1 $ 1
1 '
t=

&
)
EB (n 1) % tn 1 on 1 (

%
(
1
1
1
*
10,000 = 9
'

2
2
34
6
*
100 10 48 10 2 ' (t 10 6 )
400

10
(
)
&
)
1
1
19.2 10 7 = 2
t 400 2

t = 349.8 MN /m 2
MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 7

Creep during variable load or temperature


Many engineering applications require changing loading
conditions, resulting in different creep rates for each loading
sequence
Two hypotheses for predicting creep
strain with changes in load are timehardening and strain-hardening
Time hardening

c = f ( ,t )

MCEN90029 Advanced Mechanics of Solids

Strain hardening

c = g( , c )

Lecture L29 - 8

Creep behaviour of plastics


Recall that for viscoelastic material, stress is a function of strain and time
Polymer creep behaviour is different to
metals (polymers have the ability to
recover strain!)
Apply a const load to polymer
Immediate elastic strain
Strain increases slowly (molecular
realignment)
A back-stress builds up due to
deformation (eventually halts strain)

Remove load on polymer


Initial elastic recovery (short time)
Molecules continue to recover former
orientation (under influence of back
stress)
Strain returns to zero
MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 9

Creep behaviour of plastics


Elastomer is composed of molecular chains that are highly
twisted, kinked and coiled
Applied tension partially uncoils and straightens the chains,
resulting in elongation. Unloading causes chains to spring
back to pre-stressed state

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 10

Creep behaviour of plastics


Analytical models of viscoelastic materials are developed
to:
1. Analyse behaviour of plastic materials
2. Assist in extrapolating data
3. Reduce the need for expensive and time consuming
creep experiments
The most successful models have been based on spring
and damper systems. We will investigate three of the most
important models

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 11

The Maxwell model


The Maxwell model consists of a
spring and a damper in series
The spring is the elastic component:

1 = 1

(1)

The damper is the viscous component:

2 = 2

(2)

For equilibrium of forces, assuming constant area:

Applied stress = 1 = 2
Total strain = 1 + 2

(3)

Thus, using equations (1-3)

1
1
= 1 + 2

OR

MCEN90029 Advanced Mechanics of Solids

1
1
= +

(4)

Governing Equation

Now, lets look at the


response of this model
Lecture L29 - 12

The Maxwell model


(i) Creep

Creep

If a constant stress, 0, is
applied, then equation (4)
becomes, after integration:
1
1
= +

(t) =

0 0
+ t

(5)

Thus, the creep modulus is:

E(t) =

=
(t) + t

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 13

The Maxwell model


(ii) Relaxation

Relaxation

If strain is held constant, then


equation (4) becomes:
1
1
= +

1
1
0 = +

(6)

This is a homogeneous first


order
ODE. Its solution is,

assuming =0 at t = t0:

(t) = 0e
(t) = 0e

t
TR

MCEN90029 Advanced Mechanics of Solids

Relaxation

time constant TR =

Lecture L29 - 14

The Maxwell model


(iii) Recovery

Recovery

When the stress is removed,


there is an instantaneous
recovery of elastic strain.
The strain rate becomes zero,
and there is no further
recovery of strain, according
to equation (4):

1
1
= + = 0

CONCLUSION

Relaxation prediction adequate,


but creep and recovery
behaviour prediction poor
MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 15

The Kelvin model


The Kelvin model consists of a spring
and a damper in parallel
The spring is the elastic component:

1 = 1

(7)

The damper is the viscous component:

2 = 1

(8)

For equilibrium of forces, assuming constant area:

Applied stress = 1 + 2

(9)

Total strain = 1 = 2
Thus, using equations (7-9)

= 1 + 2

OR

MCEN90029 Advanced Mechanics of Solids

= +

(10)

Governing Equation

Now, lets look at the


response of this model
Lecture L29 - 16

The Kelvin model


(i) Creep

Creep

If a constant stress, 0, is
applied, then equation (10)
becomes

0 = +

This non-homogeneous
second order ODE can be
solved to give:

t*
0 '
(t) = )1 e ,
(
+

(11)

Thus, the creep modulus is:

t ) 1
&

0
E(t) =
= (1 e T R +
(t)
('
+*

Retardation time constant

TR =

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 17

The Kelvin model


Relaxation

(ii) Relaxation
If the strain is held constant,
then equation (10) becomes

0 = +
=

(12)

That is, the stress is constant


and supported by the spring

element so that the predicted


response is that of an elastic
material (i.e., no relaxation)

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 18

The Kelvin model


(iii) Recovery

Recovery

If the stress is removed, then


equation (10) becomes

0 = +

Solving this homogeneous first


order ODE with the initial
condition that = at the time
of stress removal gives:

(t) = #e

i.e., an exponential
recovery of strain which is
the reversal of the predicted
creep
MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 19

The Maxwell and Kelvin models


The Maxwell model accounts for relaxation, but
was poor in relation to creep and recovery
The Kelvin model gives good first approximation
of creep and recovery behaviour (does not
account for relaxation)
Some compromise may be achieved by
combining the models:

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 20

The Maxwell and Kelvin models


Combined Maxwell and Kelvin Models
Strain response of
Kelvin model
Total strain

= 1 + 2 + k

Combining equation (5) [Maxwell model]


and equation (11) [Kelvin model]:

t
2 *
0 0t 0 '
(t) =
+
+ )1 e 2 ,
1 1 2 )(
,+

From this, the strain rate may be defined as:


t

0 0 22
=
+ e
1 2

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 21

Combined Maxwell and Kelvin models


A reasonable approximation of creep, relaxation and recovery behaviour

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 22

Creep behaviour of plastics


Most experimental creep data is obtained from sets of
graphs of creep strain against log time
Isometric curve: from a constant strain section taken
through curves (good approximation of stress relaxation
behaviour)
Isochronous curve:
from a constant
time section taken
through curves (a
more simple
representation)

MCEN90029 Advanced Mechanics of Solids

4
5

Lecture L29 - 23

Creep behaviour of plastics


Long-term creep behaviour can be represented on a curve
of modulus vs time
Curves are obtained by taking a constant strain section
through a family of creep curves, and dividing the stress
values by strain
Plot is equivalent to relaxation
moduli vs time

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 24

Example
A solid circular horizontal
rod, 0.15 m in length, is
clamped at one and, with
the other end subject to a
vertical load of 25 N.
Determine a suitable
diameter for the rod for a
limiting creep strain of
2% in one year.

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 25

ANSWER

Using the given creep curves, determine the maximum


allowable stress at the 2% strain limit. To do this, plot stress vs
strain (constant time) or plot stress vs time (constant strain i.e.,
2% )
From chart, max allowable stress is:
17.1 MN/m2
Maximum bending moment is:

#d&
M% (
My
$2'
=
=
# d 4 &
I
%
(
$ 64 '
32 3.75
d3 =
17.1 10 6
d = 0.013107m = 13.07mm
MCEN90029 Advanced Mechanics of Solids

Stress

F r = 25(0.15) = 3.75Nm

Lecture L29 - 26

Maximum deflection at the free end of the beam is given by

WL3
=
3EI
The appropriate value of the modulus may be obtained from
the isochronous curve at 2% strain; hence,

17.1
E(t) =
= 855 MN /m 2
0.02
Therefore,

25 0.15 3 64 10 3
=
= 23 mm
3 855 10 6 0.01307 4
Alternatively, one could obtain the design stress from a plot of a
2% isometric curve - reading off the stress at 1 year

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 27

Lecture summary
In this lecture we investigated stress
relaxation. We also looked at the creep in
plastics, and various mathematical models of
this material behaviour

MCEN90029 Advanced Mechanics of Solids

Lecture L29 - 28

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