JLC Plasticity

ELASTO-PLASTICITY
Jean-Louis Chaboche
ONERA, 29 av. de la Division Leclerc
92320 Chtillon, France
Jean-Louis.Chaboche@onera.fr
ATHENS Course MP06
Nonlinear Computational Mechanics
March 16 to 20, 2009
ATHENS Course MP06 16 20 March 2009 Elasto-plasticity 2
Comportements non linaires
moteur
fuse
A 380
essai au sol
de lA 380
moteur
avion civil
Construction
Gnie Civil
Automobile
talus
collecteur
dchappement
arrachement
Pices soumises des sollicitations
thermomcaniques svres
rocket
engine aubes de
turbine
collecteurs
dchappement
chambres de
combustion
GENERAL INTRODUCTION
ELEMENTARY NOTIONS
ELASTIC LIMIT CRITERIA
FORMULATION OF RATE INDEPENDENT PLASTICITY
PRANDT-REUSS INCREMENTAL PLASTICITY
PRAGERS LINEAR KINEMATIC HARDENING
NOTION OF GENERALIZED STANDARD MODELS
NON-LINEAR KINEMATIC HARDENING
Introduction and Elasto-plasticity
ATHENS Course MP06 16 20 March 2009 Elasto-plasticity
Structural analysis with non-linearities
Optimisation (cost, energy)
Quality
Microstructure
Residual stresses
Initial damage - defects
MAAUFAC1URIAC
FORMIAC PROCESSES
SERJICE LIFE 1IME
AAALYSIS
Deformation limits
Service life :
Damage
Crack initiation
Crack propagation
Failure
material and geometrical
non linearities
material
non linearities
Various scales in metallic materials and structures
RJE
1
o
A
.1 m
1 m
1 1 m
1 1 m
1 1 m
1 mm
Molecular
Dynamics
Discrete
Dislocation
Dynamics
precipitates
dislocation
substructures
walls, cells.
inclusions
grains
component
<<

typical dimension
of defects and
discontinuities
averaging
phases, grains,
inclusions,
slip bands,
dislocations,
micro-structures,
cells, cavities,
debondings,
microcracks...
Continuum approximation

+ internal
variables

1
dimension of the
Representative
Jolume Element
dimension of the part
and wave length of
stress fields
<<
L
micro
L
RJE
L
component
ELEMENTARY NOTIONS
Notations
ij

Derivatives :
n .

Contracted
tensorial products :
Second rank tensor :
1ensorial products :
intrinsic : indicial :

Fourth rank tensor :
C
ijkl
C
j ij
n
:
ji ij

kl ijkl
C : C
grad
Unit tensors : 2
nd
rank :
1

= == =
= == =
j i if
j i if 1
ij

4
th
rank :
( (( ( ) )) ) 1 1 1 1 I
2
1
+ ++ + = == = ( (( ( ) )) )
jk il jl ik
2
1
ijkl
C + ++ + = == =
m n a

= == =
j i ij
m n a = == =
b a C = == =
kl ij ijkl
b a C = == =
b a C = == =
jl ik ijkl
b a C = == =
b a C = == =
jk il ijkl
b a C = == =
i ,
i
x

= == =

dt
da
a = == =

Invariants
Invariants homognes :
( (( ( ) )) ) [ [[ [ ] ]] ]
3 / 1
ki jk ij
2
9
3 / 1
3
2
27
III
' ' ' 1 s = == = = == =
1r I
1
= == =
[ [[ [ ] ]] ]
2
1 3
2
3 2
2
2 1
) ( ) ( ) (
2
1
ji ij
2
3
2 II eq
' ' 1 3 ) ( 1 s + ++ + + ++ + = == = = == = = == = = == = = == =
dviateur :
H 33 22 11 kk 1
3 1 : 1r I = == = + ++ + + ++ + = == = = == = = == = = == =
( (( ( ) )) )
ji ij
2
1
2
2
1
2
' ' ' 1r 1 = == = = == =
( (( ( ) )) )
ki jk ij
3
1
3
3
1
3
' ' ' ' 1r 1 = == = = == =
1 ) ( 1r '
3
1
= == =
Invariants des
contraintes :
Invariants de dformation
plastique :
p
33
p
22
p
11
p
kk
p
p
) ( 1r
1
+ ++ + + ++ + = == = = == = = == =
en gnral
) ( 1 p
p
3
2
ji
p
ij
p
3
2

= == = = == =
d ) ( p p
t
} }} }
= == =

noter la diffrence
entre et
II
p
e p
) ( 1 ' ' e
p
3
2
ij
p
ij
p
3
2
p
II
= == = = == =
Characteristic tests in tension
Hardening :

Creep :
Relaxation :

t
t
t
t
t

creep
unloading

relaxation
h
a
r
d
e
n
i
n
g
Multiaxial tests
| || |
| || |
| || |
| || |
. .. .
| || |

\ \\ \
| || |
= == =
0 0 0
0 0
0
1
C
1
C
S
F

principal
stresses
C
F
p
F

1 11 1

2 22 2
| || |
| || |
| || |
| || |
| || |
| || |
. .. .
| || |

\ \\ \
| || |
+ ++ +
= == =
S
F
e
pR
e
pR
p
0 0
0 0
0 0
2

traction
compression
internal
pressure
traction
compression
torsion
Notion of plastic strain
p e
+ ++ + = == =
strain partition
( small strains ) :
irreversible or residual strain

e

p

p

e

E

p e
+ ++ + = == =
small strains :
initial
o
C
C
actual
relaxed
(unloaded)
e
F
F
p
F
p
C
p e
F F F = == =
Finite strains :
e

p

e

p

Notion of plastic strain
Notion of hardening
hardening

Perfectly Plastic
Material
initial
elastic
limit
new elastic
limit
Bauschinger effects
Bauschinger effect

initial
elastic
domain
new elastic limit
in tension
t
e
n
s
i
l
e
c
u
r
v
e
e
l
a
s
t
i
c
d
o
m
a
i
n
new elastic limit
in compression
Rheological elementary models
E = == =

= == =
A
1

= == =
s s

spring
linear
dashpot
non linear
dashpot
slider
Parallel and series assemblies
s

s

E
e p
+ ++ + = == =
p

e

H
s

p
H
s
+ ++ + = == =

H
s

s

s


H
s

E

E
H
s

viscoelastic - plastic :
lasto - viscoplastic
(generalised
Bingham model) :

E
H
s

rate-independant
plasticity :
hardening
Viscosity effects
ELEMENTARY NOTIONS
in stress space
Isotropic medium : 3 invariants
f < << <
f = == =
f > >> >
( (( ( ) )) )
j
A , f f = == =
variables to
describe
the surface
elastic
plastic
von Mises and 1resca : independant of hydrostatic pressure
(...) k f
eq
= == =
von Mises :
' : '
2
3
1 3 ) ( 1
2 eq
= == = = == = = == = 1r
3
1
H
= == =
( (( ( ) )) )
3 / 1
3
2
27
III
1 s = == =
Elastic limit criterion = yield criterion
( (( ( ) )) ) ( (( ( ) )) )
3
3
' 1r
3
1
' : ' '.
3
1
1 = == = = == =
(...) k f
eq
= == =
von Mises :
deviatoric
plane
von Mises
1resca
3

1

2

0
von Mises and Tresca
(...) k Sup f
j i
= == =
1resca :
= == = j , i
3 , 2 , 1
f = == =
( (( ( ) )) ) k k
4
27
s
2
2 2
eq
2
III
eq
= == =
( (( ( ) )) ) (...) k s , f
III eq
= == =
Drucker, 1949 :
between von Mises and 1resca
deviatoric
plane
von Mises
1resca
3

1

2

0
von Mises, Tresca and Edelman-Drucker
( (( ( ) )) ) k k
4
27
k s c k f
2
2 2
eq
2
III

eq

( (( (

( (( (

+ ++ + = == =
Edelman - Drucker, 1949 :
material parameter
c von Mises c 1 1resca
( (( ( ) )) ) (...) k s , f
III eq
= == =
Edelman-Drucker
material parameter
c von Mises
c 1 1resca
195 aluminium alloy
24 S-T4 aluminium alloy
( (( ( ) )) ) k k
4
27
k s c k f
2
2 2
eq
2
III

eq

( (( (

( (( (

+ ++ + = == =
depending on
hydrostatic pressure
(...) k ) ( 1r f
eq
+ ++ + = == =
Drucker - Prager :
) ( 1r
eq

deviatoric
plane
v
o
n
M
i
s
e
s
3

1

2

0
Drucker Prager
) ( 1r
Zircalloy - 2(1)
recristalised
35C
1
-1
-1
1
s
2

s 1

von Mises
Hill
tension and
compression tests
at , 45 et 9
Hill's criterion :
(...) k : H : f = == =
H 4 rank tensor
defined in the material
principal directions
Anisotropic criteria
orthotropic
Hill, 1951
d d
I : H : I H = == =
isovolumic case
d
I
deviatoric projector :
kl ij jk il jl ik
d
ijkl
3
1
) (
2
1
I + ++ + = == =
Drucker (1949) :
( (( ( ) )) ) ( (( ( ) )) ) 0
2
3
3
2
= == = (...) k 1 c 1 f
Barlat-Cazacu (23) :
( (( ( ) )) ) 0
3
2
3
2
= == = (...) k 1 c 1 f
An isotropic non-symmetric criterion
symmetric
disymmetric

3
= == =
2

1

-300
-200
-100
0
100
200
300
-300 -200 -100 0 100 200 300
Barlat-Cazacu
Drucker
von Mises
ELEMENTARY NOTIONS
elastic limit criterion
loading-unloading condition
normality rule
hardening rule
consistency condition
Rate-independent incremental plasticity theory
Context of theory:
Main ingredients :
rate effects neglected
time effects neglected
low and moderate temperatures
Hardening
hardening

Perfectly Plastic
Material
initial
elastic
limit
new elastic
limit
initial
actual
in the
stress space :
d
combination of :
isotropic hardening
kinematic hardening
others
initial
R
k
3

1
2

) p ( R R = == =
Isotropic hardening
P
P
M
M
p
OP
p
PM
p
P'M'
O

p

p
3
2
C X = == =
Prager, 1949
Kinematic hardening (linear)
X
initial
k
3

1
2

0

p

X
k
k
k
f < << <
f = == =
elastic
not allowed in rate independent plasticity

= == =
f
n
:
f
< << <

elastic

f < << <

or
:
f

and
f = == =
plastic flow
f > >> >
loading
unloading
Loading-unloading condition
1he power of the actual stress tensor associated with the actual
plastic strain increment is larger than the power computed
with any other admissible stress tensor
:
p

f = == =
p

Principle of maximal plastic work

Consistent with the Maximum Dissipation Principle
n
f
p

= == =

= == =
Implies the criterion convexity
Implies an incompressible plastic strain if the criterion is
independent of the hydrostatic pressure :
plastic
multiplier
Concequency : Normality rule
1
1r
1
1r
3 2
= == =
| || |
| || |
. .. .
| || |

\ \\ \
| || |

= == =
| || |
| || |
. .. .
| || |

\ \\ \
| || |

f < << <
f = == =
elastic

= == =
f
n

associated with the hardening rule, determines the plastic multiplier
A :
A
f
:
f
f
j
j
= == =

+ ++ +

= == =

f = == =
Consistency condition
f < << <
elastic

d
( (( ( ) )) ) A , f
j
= == =
( (( ( ) )) ) dA A , d f
j j
= == = + ++ + + ++ +
Combination of the different rules
normality :
n
f
p

= == =

= == =
hardening :
( (( ( ) )) )
j k k
J , H J

= == =
consistency :

J
f
H : n J
J
f
:
f
f
k
k k
k
= == =

+ ++ + = == =

+ ++ +

= == =

: n
h
1
J
f
H
:
f
p
k
k
= == =

= == =
k
p
J
f
k
H h

= == =
load-unload condition and normality :
n : n ) f ( H
h
1
p
p

= == =
no hardening without plastic flow

< << <

= == =
f if
f if 1
) f ( H
) x ( H x x = == =
hardening plastic modulus
f = == =

= == =
f
n

f < << <
elastic
f = == =

= == =
g
m

f < << <
elastic
g = == =
n
p

= == =
m
g
p

= == =

= == =
Associated plasticity : Non-Associated plasticity :
Non-associated plasticity : example of soils mechanics
Drucker-Prager
criterion
( (( ( ) )) ) J , f
k

Elastic domain :
influence of I
1
on plastic flow
( (( ( ) )) ) 1r
p
= == =
Observations for soils :

but :
p

2
1
1r I
1
= == =
k
f

g
Plastic flow potential : ( (( ( ) )) ) J , g
k
= == =

= == = = == =
g
n
p

f = == =
:
f

if and
p
= == =
f < << <

:
f
< << <

if or
Hardening rules :
complex behaviours . . .
. . . J
k
= == =

Elasto-plastic tangent operator (non-associated flow)
flow direction :
normal to the elastic domain :
( (( ( ) )) )
p
: = == =
Hooke's law :

: : m
h
1
= == = = == =
n : : m h h
p
+ ++ + = == =
symmetric for
associated plasticity :
n : m
h
1
p
p

= == =
hardening modulus

= == =
f
m

= == =
g
n
( (( ( ) )) ) = == = = == =

+ ++ +

= == =

p
p
k
k
h : : m
J
f
H :
f
f
h n : : m : : m
p
= == = = == =

Consistency :
( (( ( ) )) ) ( (( ( ) )) )

: L : m n : L
h
1
: n : : :
p
= == = = == = = == =
( (( ( ) )) )

: : m n :
h
1
: = == =

:
t
= == =
( (( ( ) )) ) = == = : m n :
h
1
t
n m = == =
normality :
consistency :
elasticity

: n
3
2
= == =
kl kl kl ijkl ij
n 2 n

= == =
Perfectly plastic behavior (associated plasticity)
n
f
p

= == =

= == =
: n :
f
f = == = = == =

= == =

During plastic Ilow, the current point representing stress state

can only Iollow the elastic domain
The plastic multiplier cannot be determined using stress rate
n : : n : : n ) ( : : n : n
p
= == = = == = = == =

isotropic elasticity and von Mises criterion :
) (
jk il jl ik kl ij ijkl
+ ++ + + ++ + = == =
3 n n
kl ijkl ij
= == =
n : : n
: : n

= == =

eq
ij
ij
s
2
3
n

= == =
y
) ( 1 f = == =
(no hardening)
| || |
| || |
| || |
. .. .
| || |

\ \\ \
| || |

= == =
2 1
2 1
1
3
2
s

Flow direction associated with von Mises criterion

= == =

= == =
s
:
s
f
n
eq
= == =
eq
eq
ij
ij
s
2
3
n

= == =
y eq
f = == =
ij
kl
kl
eq
ij
s
s
n

= == =
( (( ( ) )) )
kl ij jk il jl ik
d
ijkl
ij
kl
3
1
2
1
I
s

+ ++ + + ++ + = == = = == =

eq
s
2
3
n

= == =
pure tension along direction 1 :
) (
2 1
2 1
1
n sign
| || |
| || |
| || |
. .. .
| || |

\ \\ \
| || |

= == =
ELEMENTARY NOTIONS
initial
R
k
3

1
2

) p ( R R = == =
Isotropic hardening
P
P
M
M
p
OP
p
PM
p
P'M'
O

p

Incremental Prandtl-Reuss plasticity
von Mises + isotropic hardening + associated plasticity
) p ( R R = == =
accumulated plastic strain :
) 1 ( k R f
eq
= == =
consistency :
1 ) 1 ( ' k p ) p ( ' R : n f = == = = == =

eq
eq
s
2
3 f
n

= == =

= == =

= == =
n 1 ) 1 ( ' k : n ) f ( H
) p ( ' R
1
p

= == =
temperature
dependency

= == = = == =
p p
:
3
2
p
1 ) 1 ( ' k : n ) f ( H
) p ( ' R
1

= == =
p e

+ ++ + = == =
1 ) ( 1r
E E
1
e

+ ++ +
= == =
k
) p ( R R = == =
eq

p
) p ( ' R h
p
= == =
11
= == =
p
11
= == =
Ramberg-Osgood or Hollomon equation of tensile curve
during plastic flow :
) 1 ( k R f
eq
= == = = == =
m 1
eq
p K k + ++ + = == =
m 1
p
K k + ++ + = == =
= == = = == = = == =

m
m 1
p
p
m
K
) p ( ' R h
m 1
eq
K
k
m
K

| || |
| || |
. .. .
| || |

\ \\ \
| || |
= == =

plastic hardening modulus :

15
3
25
1
2
.5
1.5
1.
p

MPa
) p ( R R = == =
k
test
31L - 2C
calculated :
MPa 138 k = == =
55 . 4 m = == =
MPa 435 K = == =
Isotropic hardening and cyclic loading

prescribed stress
prescribed strain
monotonic
tensile curve
perfectly
plastic
prescribed stress :
non-saturating
monotonic tensile curve :
immediate
elastic adaptation
stabilisation by
elastic adaptation
saturating
monotonic tensile curve :
stabilisation by a
perfectly plastic
cyclic response
prescribed strain :
Prandtl-Reuss plasticity at variable temperature

Example : constant stress and increasing temperature :
) 1 ( k
k
elastic
1
) 1 ( k
eq
= == =
plastic
R
R ) 1 ( k + ++ +
) 1 ( k R f
eq
= == =
n 1 ) 1 ( ' k : n ) f ( H
) p ( ' R
1
p

= == =
temperature
dependency
loading
factor
ELEMENTARY NOTIONS
p
3
2
C X = == =
Prager, 1949
Kinematic hardening (linear)
X
initial
k
3

1
2

0

p

X
k
k
k
2 MPa
2

1

2 MPa
prior
loading
initial
2

1

1 MPa
1
2
3
prior loadings
initial
J Mo Cr 1
4
1
2
1

Mo 1 Cr 2
4
1

Tension-compression - internal & external pressure Moreton et al., 1984
Example of kinematic hardening in some stainless steels
Incremental plasticity with Linear Kinematic Hardening
von Mises + kinematic hardening + associated plasticity
p
C
3
2
X = == =
accumulated plastic strain :
) 1 ( k ) X ( 1 f = == =
consistency :
1 ) 1 ( ' k C
3
2
: n f
p
= == = = == =

) X ( 1
' X s
2
3 f
n

= == =

= == =

n 1 ) 1 ( ' k : n ) f ( H
C
1
p

= == =
temperature
dependency
1 ) 1 ( ' k : n ) f ( H
C
1

= == =
p n
p

= == =
k
11

p
11

k
p
11 11
3
2
C X X = == = = == =

= == = = == =
p p
:
3
2
p
ELEMENTARY NOTIONS
Thermodynamic approach Internal variables
I I
e
I
I
e
e
A : :

+ ++ + = == =

+ ++ +

= == =
notion of state variables (observable, internal) that play in free energy
(specific free energv, state potential)
the definition of internal variables follows from the extension of notion
of elastic potential
) , (
I
e
= == =
variation of indicates the stored energy during the deformation process :

I
I
e
A

= == =

= == =
we assume that these state variables are sufficient to represent the
whole past history
Definition of intrinsic dissipation
( (( ( ) )) ) ( (( ( ) )) )
I I
e p e
A : : : :

+ ++ + + ++ + = == = = == =
( (( ( ) )) ) ( (( ( ) )) )
I
p
I
, z A , Z = == = = == =
Intrinsiuc dissipation is the difference between the introduced mechanical
energy and the temporarly stored energy
It is dissipated as heat (internal sources)
Obviously there is no dissipation in case of elastic behaviour
1he Ceneralized Standard Model uses generalised stresses and strains :
unit of is Pa, or 1m
-3
; unity of z is s
-1
then, unit of is 1m
-3
s
-1
or Wm
-3
Z

z Z A :
I I
p

= == = = == =
Recall: maximal plastic work for a perfectly plastic material :
Hill : need to realise the maximum of
maximising under the constraint
Plastic flow Generalised normality
p
:

= == =
z Z A :
I I
p

= == = = == =
Extension of maximum dissipation principle ; instead of plastic power,
we try to maximise the intrinsic dissipation :
We have to maximise under the constraint ; we assume :
n
f
p

= == =

= == =
Z
f
z

= == =
z Z

vanishing and
F
p
:

I
A F
( (( ( ) )) ) ( (( ( ) )) )
I I I
p
I
A , f A : A , F

= == =
) A , ( f
I

) A , ( f
I

soit
I
I
A
f

= == =

Aormality for plastic flow and for hardening evolution :

Example : linear kinematic hardening in 1D
2
p
2
e p e
H
2
1
E
2
1
) , ( + ++ + = == =
plastic criterion writes
dissipation is the result of friction on the slider as, with
state variables are and the strain in spring (H)
intrinsic dissipation introduced energy - stored energy :
e

X ) X , ( f
s
= == = = == =
) X ( p
p
= == = sgn

p

( (( ( ) )) ) ( (( ( ) )) )
p p p e p e
X X

= == = + ++ + + ++ + = == = = == =
( (( ( ) )) ) p p X X
s
p

= == = = == = = == =
Stored energy is released with reverse plastic flow
2
p
H 5 .

E
H
s

Example : linear isotropic hardening in 1D
2
p
2
e p e
H
2
1
E
2
1
) , ( + ++ + = == = Free energy writes
Intrinsic dissipation introduced energy - stored energy :
( (( ( ) )) ) p p R p R
s
e

= == = = == = = == = = == =
e
e
E

= == =

= == =
1he internal variable is , its associated force is
R
I
p
I
A
Yield criterion writes
X ) X , ( f
s
= == = = == =
Stored energy cannot be released as is monotonically increasing
2
p H 5 .
p
p H
p
R = == =

= == =

Hardening state variables consistent with GSM
Yield criterion with combined kinematic + isotropic hardening
and are state variables associated with and
R X ) R , X , ( f
s
= == = = == =
R r
p
f
X
f

= == =

= == =

= == =
Kinematic hardening :
Isotropic hardening :
pertinent variables for kinematic hardening are respectively (or ) and
p
R
f
r

= == = = == =

= == =
p

X
p
ELEMENTARY NOTIONS
Non-Linear Kinematic Hardening
: C
3
1
p
= == =
k
k
X

p

correct
concavity
p D
p

= == =

C
3
2
X
p
= == =

= == =
necessarily quadratic :
incorrect concavity

p

( (( ( ) )) )
n
p
: C = == =
X
one-to-one relation
Armstrong-Frederick, 19
p X D C X
p
3
2

= == =
hardening
(Prager)
dynamic
recovery
tension-compression closed form integration :
p p
X D C X

= == =
( (( ( ) )) ) ( (( ( ) )) )
p
o
p
D exp
D
C
X
D
C
X
o
| || |
. .. .
| || |

\ \\ \
| || |
+ ++ + = == =
p p
:
3
2
p

= == =
k
k
X

p

C/D
stabilised cycle :
( (( ( ) )) ) ( (( ( ) )) )
p
o
p
D exp
D
C
X
D
C
X
o
| || |
. .. .
| || |

\ \\ \
| || |
+ ++ + = == =
| || |
| || |
. .. .
| || |

\ \\ \
| || |

= == =
2
D 1anh
D
C
X
p
o

k
2
X
2
+ ++ + = == =

amplitudes :
k
k
X

p

C/D
X
o

(") 2 /
p

2

AIMOAIC 9
1AJ
JO 795 Cobalt
Acier
35 ACD 1
Cyclic curves : Non-Linear Kinematic Hardening
| || |
. .. .
| || |

\ \\ \
| || |
= == =

p
2
1
e 1 4 X

| || |
. .. .
| || |

\ \\ \
| || |
= == =

p
2
2
e 1 1 X

X
3
25

p
X

X
1
+
X
2
+
X
3
k 1

1
3
2
2
p

125 E
o
t
= == =
E
t
25

= == =
i
i
X X
p X D C X
i
i i
3
2
i
p

= == =
Multi - Kinematic Hardening
Chaboche - Rousselier, 1981
General anisotropic hardening
( (( ( ) )) ) ( (( ( ) )) ) ) 1 ( k R X : M : X f = == = X
Isotropic hardening :
(dilatation)
R
Kinematic hardening :
(translation)
Anisotropic hardening :
(rotation)
Distorsional hardening . . .
(
th
rank tensor)
X
M
M X
R
anisotropic : rotation
kinematic
isotropic
distorsional
'
11

'
33

'
22

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ELASTO-PLASTICITY

ATHENS Course MP06 16 20 March 2009 Elasto-plasticity 11

f < << <

Observations for soils :

f < << <

ATHENS Course MP06 16 20 March 2009 Elasto-plasticity 41

During plastic Ilow, the current point representing stress state

Aormality for plastic flow and for hardening evolution :

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