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c
c
+ =
(2)
(i) Isotropic Hardening Rule
For isotropic hardening rule, the yield surface is function of
) , , ( T K F F = (3)
A similar postulation but without thermal effect was proposed by Zienkiewicz et al.[7].
Differentiating F in equation (3) by the chain rule, it can be get:
0 d
) (
) (
=
c
c
+
|
|
\
|
c
c
c
c
+
|
|
\
|
c
c
= dT
T
F
d
k
k
F
F
dF
p
t
p
t
(4)
Where ) , (
) ( p
k f K =
By substituting Eq.(2) into Eq.(4), and rearranged to get:
|
|
\
|
c
c
+
c
c
=
dT
T
F
dT
T
D
dT d D a
d
t
i
)
] [
]( [
1
1
) (
(5)
Where a
k
k
F
a D a i
p
t
|
|
\
|
c
c
c
c
=
) (
] [ ) (
Substitute equation (5) into equation (2), it can be get:
dT
T
F
a D
dT
T
D
dT Dep d Dep d
i
i i i
c
c
c
c
+ =
) (
1
) ( ) ( ) (
] [
)
] [
( ] [ ] [ (6)
Where
) ( ) ( ) (
] [ ] [ ] [
i p i
D D Dep = (7)
] [ ] [
1
] [
) (
) ( ) (
D a a D
D
t
i
i p
=
We will find that equation (6) is identical to what was given in Yamada et al [2] without
the thermal effects. To analyze the constitutive equation (6) with the Von Mises criterion,
firstly the gradient vector a must be found as follows:
yields surface for Von Mises is
y
J F =
2
3
Where
] ) ( ) ( ) [(
6
1
2
1 3
2
3 2
2
2 1 2
J + + =
Thus
M
J
J
F
F
a
a
]. [
1
2
2
=
c
c
c
c
=
c
c
= (8)
Where
42
]
]
]
]
]
]
]
]
]
]
=
3 0 0 0 0 0
0 3 0 0 0 0
0 0 3 0 0 0
0 0 0 1 5 . 0 5 . 0
0 0 0 5 . 0 1 5 . 0
0 0 0 5 . 0 5 . 0 1
] [
a
M
And the value of G a D a
t
3 ] [ = (9)
Now to find
t
p
k
k
F
|
|
\
|
c
c
c
c
) (
We have J F =
2
3
Thus
k
k
F
c
c
=
c
c
(10)
And the work done =
) (
.
p
d dk =
Hence
dk
d
p
1
) (
= (11)
Therefore
H
k
p
p
1
) (
) (
' =
c
c
c
c
=
c
c
Where
) ( p
d
d
H = '
Now the value of
H
G
a
t i
] [
3
) (
'
+ = , it can be proved that
2
] [ M
a
t
= , thus
H G
i
' + = 3
) (
After finding the value of
) (i
the value of
) ( ) (
] [
i p
D is:
t i p
S S
G H
G
D
)) 3 / ( 1 (
3
] [
2
) ( ) (
' +
= (12)
Where
} {
xz yz xy z y x
S S S S =
m m m x x
S = = =
z z y y
S and , S ,
Hence
) ( ) ( ) (
] [ ] [ ] [
i p i
ep
D D D =
Now, equation (6) will be:
) ( ) ( ) ( ) ( ) ( F dm T M i
d d d d d + + + = (13)
Where
d D d
i
ep
M ) ( ) (
] [ =
dT D d
i
ep
T
] [
) ( ) (
=
43
dT
T
D
D d
i
ep
dm
] [
] [
1
) ( ) (
c
c
=
dT
T
F
a D
d
i
F
] [
) (
) (
c
c
=
(ii) Kinematic Hardening Rule
For kinematics hardening rule the yield surface is:
) , , ( T F F =
The total differentiation of F is
0 =
c
c
+
|
\
|
c
c
+
|
|
\
|
c
c
= dT
T
F
d
F
d
F
dF
t
t
(14)
And it can be proved that
F
r
c
c
=
c
c
=
c
c
Where
r
=
From Prager shift [8]
a d C Cd d
p
) (
= =
Where
) , ( H C ' =
Thus equation (14) will be
dT
T
F
C d a dF
t
c
c
+ = ) a d ( (15)
From equations (2) and (15), it can be deduced that
|
|
\
|
c
c
+
c
c
=
dT
T
F
dT
T
D
dT a
d
t
i
)
] [
[D](d
1
1
) (
(16)
Where
) ] ([
) (
a C a D a
t k
+ =
Substitute equation (16) into equation (2), gives:
dT
T
F
a
D
dT
T
D
dT D d D d
k
k k
ep
k
ep
k
c
c
c
c
+ =
) (
) (
1
) ( ) ( ) (
] [
)
] [
( ] [ ] [ (17)
Where
) ( ) ( ) (
] [ ] [ ] [
k p k
ep
D D D = (18)
]) [ ] ([
1
] [
) ( ) ( ) ( ) (
D a a D
D
k t k k p
=
And
k
) (
=
To analyze equation (17), firstly find
) (k
a , similar as in equation (8), hence,
) (
) (
) (
] [
1
k
a
k
k
M
a =
44
Where
) (k
is the effective stress of
) (k
and the terms (
) (
) . (
k t
a a will be
) (
2
2 2 2
) (( 3
1
2
3
) . (
k
zx yz xy t
a a
]
]
]
]
+ +
+ =
Hence
) (
2
2 2 2
) (
) (( 3
1
2
3
3
k
zx yz xy k
C
G
]
]
]
]
+ +
+ + =
After finding the value of
) (k
the value of
) ( ) (
] [
k p
D is
) (
2
) ( ) (
) ( ) (
) (
3 1
] [
k t
k k
k p
S S
D
|
\
|
=
Hence
) ( ) ( ) (
] [ ] [ ] [
k p k
ep
D D D = , Eq.(17) will be
) ( ) ( ) ( ) ( ) ( F dm T M k
d d d d d + + + = (19)
Where
d D d
k
ep
M ) ( ) (
] [ =
dT D d
k
ep
T
] [
) ( ) (
=
dT
T
D
D d
k
ep
dm
] [
] [
(k)
1
) ( ) (
c
c
=
dT
T
F
a D
d
k
k
F
] [
) (
) (
) (
c
c
=
(iii) Mixed Hardening Rule
The yield surface for mixed hardening rule is
) , , , (
) (
T F F
p
= and the loading criterion may be written:
) ( ) , , (
) ( ) ( p i
h T F f =
Where,
) (i
h is a function which governs the isotropic expansion or contraction of the yield
surface. Hence the rate of plastic strain is now simply split into two components as [3].
) )( ( ) )( ( ) ( i p k p p
d d d + = (21)
Where
) ( ) )( ( p k p
Md d = (22)
And
) ( ) )( (
) 1 (
p i p
d M d = (23)
Where M<1
Now, the total differentiation of equation (20), gives
0
) (
) (
) (
=
c
c
+
|
|
\
|
c
c
+
|
|
\
|
c
c
=
p
p
i
t t
d
d
dh
dT
T
F
d
F
d
F
df (24)
We have
) ( ) (
) 1 ( ) 1 (
k i p
a d M C d M C d = =
Hence equation (24) will be:
45
0 ) 1 (
) (
) (
) (
) ( ) ( ) (
=
c
c
+ = dT
T
F
d
d
dh
a d a M C d a df
p
p
i
k k t k t
(25)
Substitute equation (2) into equation (25), it can be get:
|
|
\
|
c
c
+
c
c
=
) (
) (
) (
) (
1
) (
) (
)
] [
]( [
1
p
p
i
k k t
m
d
d
dh
dT
T
F
dT
T
D
dT d D a
d (26)
Where
) ) 1 ( ] [
) ( ) ( ) ( ) ( ) ( k k t k k t m
a a M C a D a + =
Substitute equation (26) into equation (2) it can be get
) (
) (
) (
) (
) (
) (
) (
1
) ( ) ( ) (
] [ ] [
)
] [
( ] [ ] [
p
p
i
m
k
k
k m
ep
m
ep
m
d
d
dh a D
dT
T
F
a
D
dT
T
D
dT D d D d
+
c
c
c
c
+ =
(27)
Where
) ( ) ( ) (
] [ ] [ ] [
m p m
ep
D D D = (28)
And
]) [ ] ([
1
] [
) ( ) (
) (
) ( ) (
D a a D
D
k t k
m
m p
=
We will find that equation (27) is identical to what was found in Axelsson [3] without the
thermal effects. Hence, to analyze equation (27), we have:
) ( ) ( k p
a d d =
5 . 0
) ( ) ( ) (
. ) (
3
2
|
\
|
=
p t p p
d d d
) ( ) )( (
.
p i p
d M d = , equation (26) will be
5 . 0 ) ( ) (
) )( (
) ( ) ( ) ( ) (
1
) (
)
3
2
( ) ) 1 ( ] [
) (
] [
]( [
k k t
i p
k k t k k t
k t
a a
d
dh
M a a M C a D a
dT
T
F
dT k
T
D
dT d D a
d
+ +
c
c
+
c
c
=
(29)
If we defined the abdomen of equation (29) as Y instead of
) (m
as in equation (26), it can
be get
5 . 0 ) ( ) (
) )( (
) ( ) ( ) ( ) (
)
3
2
( ) ) 1 ( ] [
k k t
i p
k k t k k t
a a
d
dh
M a a M C a D a Y + + =
Simplified the above equation, it can be get
5 . 0
) (
2
) ( 2 2 2
) (
2
2 2 2
) (( 3
1 2
) (( 3
1
2
) 1 ( 3
3
]
]
]
]
+ +
+ ' +
]
]
]
]
+ +
+
+ =
k
k
zx yz xy
r
k
zx yz xy
H M
M C
G Y
Where
H
d
d
d
dh
r
i p
r
r
i p
' = = 2 2
) )( ( ) )( (
46
And
) (
k
r
= =
Hence
) (
2
) (
) ( ) (
) . (
3 1
] [
k t
k
m p
S S
G
Y
D
|
\
|
=
And
) ( ) ( ) (
] [ ] [ ] [
m p m
ep
D D D =
It can be get
) ( ) ( ) ( ) ( ) ( F dm T M m
d d d d d + + + = (30)
Where:
d D d
m
ep
M ) ( ) (
] [ =
dT D d
m
ep
T
] [
) ( ) (
=
dT
T
D
D d
m
ep
dm
] [
] [
(k)
1
) ( ) (
c
c
=
dT
T
F
Y
a D
d
k
F
] [
) (
) (
c
c
=
3. Finite Element Analysis
A finite element algorithm is developed to implement the constitutive equation derived in
the previous section Adopting, the displacement approach [9], the general equilibrium
equation is
=
v
t
B R dv ] [ (31)
Where R is the rate of the nodal force vectors and [B] is the strain - displacement matrix
[10] , if is the nodal displacement vector then
B ]. [ = (32)
It should be mentioned that for simplicity, we have applied the integration
v
)dv ( over the
whole region. In practice the integration is carried out element by element using the
standard assembly rule [11]. Substitute the constitutive equation (13, 19, or 30 for
isotropic, kinematics, or mixed hardening rule respectively).into equation (31), it can be
get:
F K
ep
= ] [ (33)
Where
=
v
ep
t
ep
dv B D B K ] ][ [ ] [ ] [ (34)
T
F R F + = (35)
m
f R =
And
|
|
\
|
c
c
+
c
c
+ =
v
ep
ep
t
T
dv T
T
F
a D D
T
T
D
T D B F
] [ ] [
] [
] [ ] [
1
1
47
4. FEM Solution Procedure
(1) Select thermal and mechanical load increments.
(2) Perform thermal analysis following Ref[12] and calculate nodal temperature, T(t)
at time t
(3) Select material properties based on the average element temperature = (T
1
+T
2
+T
3
+ +T
20
)/20
(4) Determine H' for isotropic hardening rule and C for Kinematic hardening rule and
H' and, C for mixed hardening rule
Where
) / ( 1
'
E E
E
H
t
t
=
And
) , ( ' H C =
Where
Et from [13] as follow
n n
n
k
n
k
E E E
E
E
E
E E Et
E
E
Et
/ ) 1 (
1
)) / ' ( 1 (
1
' )) / ( 1 (
1
+
+
]
]
]
' +
+
'
]
]
]
+
+
=
G E 3 = and
|
\
|
'
'
= '
E
E
E
E
) 2 1 (
3
3
And is determined for each load increment
(5) Compute [B], following [10]
(6) Form the elasto -plastic matrix [D
ep
] and from equation (7) or (18) or (28) for
isotropic, kinematics or mixed hardening rule respectively.
(7) Evaluated the element stiffness matrix [K
ep
] equation (34)
(8) Evaluated the element force matrix according to equation (35)
(9) Assemble the overall stiffness matrix [Kg] and construct the overall structural
equilibrium equations F Kg = ] [
(10) Modify F for applicable boundary condition
(11) Adjust [Kg] corresponding to step (10)
(12) Solve for by skyline solver and therefore the total displacement components
by + =
(13) Compute from equation (32)
(14) Compute from equation (13), (19) or (30) for isotropic, kinematics or mixed
hardening rule respectively.
(15) Compute the total element stresses and strains by + = and + =
(16) Check for convergence, the error in displacement increment is used to check the
accuracy
0001 . 0
.
.
< =
Er
t
t
(17)After checking, updating the stresses, strains, displacements, then go to the next load
increment step (1).
48
5. Numerical Examples
Two problems are selected for the study of the model, the numerical solution presented
the three dimensional elasto-plastic and thermo- elasto plastic problems using Von Mises
yield criterion and isotropic hardening rule.
(1) Thick Circular Aluminum Ring
The first example is the thick circular aluminum ring. Six element with 20-node
hexahedral is used. Because of the symmetry of the problem numerical computation is
confined to one quarter (Fig(1)). Fig(2) shows the variation of radial displacement of
internal surface with increasing load. A good agreement between the present finite
element method and the experimental results obtained by Ref[14] are evident. The
material properties are as follows:
E = 85917.232 MPa
323 . 0 =
96 . 188 =
y
MPa
H' =3158.6 MPa
internal pressure (P) = 3.4, 6.8, 10.3, 13.7, 20.6, 27.5, 31 MPa
(2) A gear Tooth
Fig(3) shows a gear tooth that is subjected to a line load bx acting in the x-direction at its
upper edge and to thermal load h
1
and h
2
(convective heat transfer coefficient). This
problem is symmetric with respect to the x-z plane, and the tooth is assumed to be fixed
at its base Half of the problem is discretized into a network of four hexahedral 20-node
element ,as shown in figure (4), [9],[12].
Figure (3) Gear tooth subjected to Figure (4) FE-mesh for the half
Thermo-mechanical load gear shown in Figure (3)
49
Values of structural parameters are as follows:
k= 51.9 W/(m.K), Cp= 468.89 J/(Kg.K),
3
/ 35 . 7887 m Kg =
Table (1): Properties of material [4]
T (K) E (MPa) E' (MPa)
) (k
(MPa)
n
294 199955 4137 310275 10
477 180649 2183.64 258562.5 10
588 177891 1637.56 241325 10
Figure (5) show the elasto- plastic zone for a gear tooth due to the applying of the thermal
and mechanical load.
Figure (5): Elasto-plastic zone in a gear tooth due to thermo-mechanical load
CONCLUSION
This paper has demonstrated an efficient computational model for thermo-elasto-plastic
analysis of three dimensional problems. This model introduced the general constitutive
relation which can be applied to a particular real material, and it sensitive to the
temperature history. A finite element concept for thermo-elasto plastic analysis has been
suggested and used to study the three dimensional problems of a Von Mises material and
obeying the present stress-strain relations. A computer program has been written to test
the theory, the efficiency of the program could be improved by adoption of the skyline
solution and published results give a reasonable agreement with the obtained results.
REFERENCE
(1) S. P. Timoshenko and J. N. Goodier, Theory of elasticity", 3
rd
edn, McGraw-Hill,
1970.
(2) Y. Yamada, N. Yoshimura & T. Sakurai "Plastic stress -strain matrix and its
application for the solution of elastic plastic problem by FEM", Int. J. Mech. Sci. (10),
343-354,1968
(3) K. Axelsson and A. Samnelsson, Finite element analysis of elastic-plastic
material displaying mixed hardening", Int. J. Num. Eng., Vol (14), 211-225, 1979
(4) T. R. Hsu, "The finite element method in thermo-mechanics, Boston, Allen &
Unwin, 1986
(5) C. S. Desai & J.F. Abel, Introduction to the finite element method", Van
Nostrand, Reinhold, NewYork, 1972
(6) O. C. Zienkiewicz, "The finite element method in engineering science, Mc
Graw-Hill, New York, l
st
edn,1967
(7) O. C. Zienkiewicz, S. Valliappan and I .P. King, Elasto-plastic solutions of
engineering problems 'initial stress', finite element approach", Int. J. for Num. Meth. Eng.
50
Vol.(1),75-100,1969
(8) H. Ziegler, A modification of Pragers hardening rule", Quar. of App. Math.
Vol.(17) ,55-65,1959
(9) H. A. Ameen, FEM for elasto-plastic stress analysis of two dimensional
problems. M. Sc. thesis, Al-Nahreen university, 1994
(10) H. A. Ameen Derivation of lagrangian shape functions for hexahedral element.
IeJAAEM, Vol 1, Jan, 2011. (http://www.ieems.org)
(11) S. S. Rao, The finite element method in engineering, 2 edn, pergamon press,
1989
(12) H.Tawfiq and H.A.Ameen, Three dimensional heat transfer finite element
analysis with steady state, transient and phase change, Engineering and Technology
Journal, Vol.19, No.5, 2000
(13) R. M. Richard & J. R. Blacklock, " Finite element analysis of inelastic structures
AIAA. J. (7) (3), pp.432-438,1969
(14) D.R.J. Owen and E.S.Salonen "Three-dimensional elasto-plastic finite element
Analysis", Int. J. for .Num. Meth. Eng., Vol (9), 209-218, 1975.