Theories of failure

Over view

Stress- strain curve

Hardening types

Combined stresses

Principal stresses, Hydrostatic, Deviatoric and octahedral

stresses.

Failure theories

Yield function

Flow rule

Various material models

Finite element example

Uniaxial loading

Simple tension

For some materials yield point is so poorly defined that it is taked as

0.2 percent of the permanent strain.
A few materials such as annealed mild steel, exhibit a sharp drop in
yield after the upper yield point B is reached, this is because of the
luder bands.
True stress can be obtained
from
A o L o=
AL the nominal stresses by considering
no volumetric change.

Uniaxial loading

True stress

P
PL
= =
=n (1+n)
A A o Lo
L

True strain

= dl / l= ln (
Lo

L
)
Lo

Hardening Types

Kinematic Hardening: Elastic range remains constant

C =2 o B

Isotropic Hardening: yield in tension is same as yield in compression

C = B

Hardening types

Mixed hardening: Yield in tension and compression are independent

C =o
C =2 o B

Actual

Actual Hardening is above the mixed hardening yield in compression

Stress strain idealized curves

Perfectly linear elastic

Elastic Perfectly plastic

M

=E

< o then =
E

Rigid perfectly plastic

Bilinear hardening material

M

=0 for < o

o
o then = +
E

>0 for > o

Et
E

< o then =
E

o then =

o ( o)
+
E
Et

Emperical equations for stress strain

curves

Ludwick equation

=o +m

Ramberg Osgood equation

= +k ( )
E
E

Tangent modulus
e

d =d + d
e

d =

d =

d
d
p
;d = p
E
E

d d
+ p
E E

d =

d d d
=
+ p
t
E
E
E

1
1 1
=
+ p
t
E E
E

Multi directional loads

P

T
Q

Q
R
P

Unit stress:

T
P

Fi
F
P= lim (
)= lim (
)

A
A0
A 0
j
The unit stress is not normal to the plane. The value of unit stress is
referred to a particular plane.

Stress at a point

Representation of stress at a point

11 12 13
xx xy xz
21 22 23 = yx yy yz =ij
31 32 33
zx zy zz

)(

Stresses on an arbitrary plane

l, m and n be the direction cosines of the normal acting on plane

ABC, then

AoB=m A ; AoC=n A ; BoC=l A

s
n

xdirection , A S X = x . l . A+ m. A xy +n . A zx
S X =l . x +m . xy +n. zx

2i
3i
A

1i

S y =l . xy +m . yy +n . yz

o
C

S z=l . xz +m . yz +n . zz

S j=ij . ni
Cauchy's stress

Stresses on an arbitrary plane

S n =l . S x +m . S y +n . S z

S n =l2 x +m2 y +n2 z +2(lm xy +mn zy +nl zx )

2

S s=S S n

Principal stresses

Consider a plane on which the resultant stress is perpendicular to the

plane
B
Sy
Sx

S X =l . S

S y =m . S
S z=n . S

Sz

C
A

Substituting the above values in the Cauchy's stress equation we get

l . S=l . xx +m . xy + n . zx l.( xx S )+m . xy +n . zx=0
m . S=l . xy +m. yy +n . yz l . xy +m.( yy S )+n . yz =0
n . S=l . xz +m . yz +n . zz l . xz +m. yz +n .( zzS)=0
In indical notation
l i ( ij ij S)=0

Prinicpal stresses and Invariants

For a solution to be non- trivial, determinant of the three equations is

zero

xx S
xy
xz
|ij ij . S|= yx yy S yz =0
zx
zy
zz S
3

S I 1. S + I 2.S I 3 =0

Where
I 1= xx + yy + zz
2

I 2= xy + yz + zx ( x . y + y . z + z . x )
2

I 3= x . y . z +2 xy . yz . zx ( x . yz + y zx + z . xy )

at a point on any plane the values of these invariants doesn't change.

Principal stresses and Invariants

S 3 I 1. S 2 +I 2.S I 3 =0

The cubic equation has three real roots and consequently three
principal stresses 1, 2 and 3 .
From the pricipal stress values we can get the eigen vectors l,m and
n, if in addition l 2 +m 2 +n 2=1
If 1= 2=3 Hydrostatic stress (any three perpendicular
directions are principal)
If

1 23 all principal directions are unique and orthogonal.

If 1= 23 one principal direction will be unique, but the other
two directions can be any two directions orthogonal to first.

If

1, 2 and 3 are the co-ordinate axes then

I 1= 1 + 2 + 3 ; I 2=( 1. 2 + 2. 3 +3. 1); I 3=1. 2. 3

Octahedral shear stresses

l=m=n=

1
(3)

1
S n =l x +m y + n z + 2(lm xy + mn zy + nl zx )= (1 + 2 + 3 )
3
2

1 2 2 2 1
1
2
2
2
2
2
S s= (1 +2 +3 ) (1 + 2 +3 ) = (( 12 ) +(2 3) +( 3 1) )
3
9
9
2 1
2
2
2
S s= (( 1m ) +( 2m ) +( 3m ) )
3
1
( )
1
2
2
2
oct =
(( 1 m ) +( 2 m ) +(3 m ) ) 2
(3)

oct

1
( )
(2) 2

=
(I +3 I ) 2

Hydrostatic and deviatoric stress

tensor

Stress tensor can be divided in to hydrostatic part and deviatoric part.

m 0 0
pij =m ij 0 m 0
0 0 m

where m=

( x + y + z ) ( 1 + 2 + 3)
=
3
3

The value of hydrostatic tensor is same for any streess state at a

point

xx m
xy
xz
S ij =ij P ij = yx
yy m yz
zx
zy
zz m

principal deviatoric stresses can be found out similarly like the

previous one

Pricipal deviatoric stresses

S 3 J 1. S2 + J 2.S J 3=0

Where

J 1=0

1
1 2
2
2
2
2
2
2
J 2= [( x y ) +( y z ) +( z x ) ]+( xy + yz + xz )= (I 1 +3 I 2)
6
3
J 3 =(1 m)( 2 m )( 3 m)=

1
(3 I 31 +9 I 1 I 2+27 I 3)
27

in terms of pricipal deviatoric stresses

J 2=( S1 S 2 + S 2 S3 + S 3 S 1)

J 3 =S 1 S 2 S 3

Haigh-Westergaard Stress Space

How to geomertrically represent a stress state?

a) Considering six indepenedent stresses as six components of
positional coordinates.
b) Use the pricipal stresses.

Haigh-Westergaard Stress Space

|ON|=OP . n=( 1, 2, 3).(
2

NP =OP ON
2

I
1 1 1
1
,
,
)= ( 1 + 2 + 3 )= 1
3 3 3 3
3

ne
a
l
p
oric = 3
t
a
i
dev + 2+ 3
1
)
3

2,
,
1

P(
s 3)
,
s
2
( s 1,

1 + 2 + 3 3 m
(( 1 m )2+(1 m)2 +( 1m )2 )

s 21+ s 22 + s23 =2 J 2

p
N(

,p

)
,p

The deviatoric plane passing through the origin is called plane

axis
c
i
t
sta

o
hydr 2= 3
=

Haigh-Westergaard Stress Space

1
NQ = cos =NP . e =(s1 , s 2 , s 3).
(2,1,1)
(6)

cos =

1
(2 s1s 2s 3)
(6)

We know that s 1 + s2 + s 3=0

cos =

1
1

(3) s
2

1 cos =

( 3) .
2

s1
(J 2 )

3
1

(s s1 J 2

cos 3 =4 cos 3 cos

(3)

cos 3 =3
J

3
cos = ( ) s 1
2

1
e1=
( 2,1,1)
(6 )

Using the trigonometric

identity
1
( )
2
2

( 3)

)=3
J
2.

/J

3
( )
2
2

1
2

13

Haigh-Westergaard Stress Space

2
. (J 2)cos
(3)
2
s 2=
. (J 2)cos(2. )
3
(3)
s 1=

s3 =

2
. (J 2)cos(2. +)
3
(3)

These relations are satisfied only if the angle lies in the range for ( 1 2 3)
0
3

In view of above relations the three pricipal stresses can be written as

cos
cos
)
)
1 p
2
1
2
cos(2
cos(2
. (J 2 )
=
2 = p +
+ ( ).
3
3
3
(3)

3 p (3)
cos(2 +)
cos(2 +)
3
3

( )()

( )

()

( )

Yield criteria independent of hydrostatic pressure

The yield criteria defines the elastic limits of a material under

combined state of stress. The elastic limit for a simple tension test is
yield stress, while in the simple shear shear test it is shear yield.
In general the elastic limit or yield stress is a function of the state of
stress . Hence the yield condition can generally expressed as

f ( ij , k 1, k 2, , , , , ,)=0

For isotropic materials, the orientation of the pricipal stresses is

immaterial and the values of the three pricipal stresses is sufficient to
describe the state of stress.

f ( 1 , 2 , 3 , k 1, k 2, , , , , ,)=0 Or f ( 1 , J 2 , J 3 , k 1, k 2, , , , , ,)=0

In terms of Haigh- Westergaard stress space.

f ( , , , k 1, k 2, , , , , ,)=0
For pressure independent f (, , k 1, k 2, , ,,)=f (J 2 , J 3 , k 1, k 2, , ,)=0

Theories of failure

Tresca theory: Maximum shearing stress at a point reachs critical

value k.
1
1
1
Max ( |(1 2)| , |(2 3)| , |( 31 )|)=k
2
2
2

k = 0 /2

For uniaxial case

Yielding will occur

1 2=0
2 3 = 0
31 = 0

For the biaxial case with 3=0

1 2=0

if 1 >0, 2 <0

1 2=0
2= 0

if 1 <0, 2 >0
if 2 > 1 >0

1= 0 if 1 > 2 >0
1= 0 if 1 < 2 <0
2= 0 if 2 < 1 <0

Tresca theory

0
C

A 0

0
E

1
1
2
o
( 1 3)=
. (J 2 )[ cos cos ( + . )], for (060 )
2
3
(3)

f (J 2, )=2 (J 2)sin(+ ) 0= (2) sin(+ )0 =0

3
3

11

0 F

+
3

A
2 +
1=
Y

Y
=
1

1
2

2 +3 =Y

3 + 2=Y

E
+

=Y

+
1

Y
=

13

Vonmises theory

Maximum shearing stress criteria does not reflect any influence of the
intermediate pricipal stress.
Von-mises criterion suggests that yielding begins when the octahedral
shearing stress reaches a critical value k

2
2
oct = ( . J 2 )= ( ) . k
3
3

Which reduces to simple form

In terms of pricipal stresses

f ( J 2 )=J 2k

( 1 2 )2+( 2 3) 2+( 3 1)2=6 k 2

For uniaxial case, k becomes 0 / (3)

For von-mises criteria for a biaxial state of stress is represented by the
intersection of the circular cylinder with the co-ordinate plane
21 1. 2 + 22=20

Vonmises stress

11
A
B

1
2

E
D

13

Pressure dependent theories

The behavior of many non-metallic materials, such as soils, rocks and

concrete is characterized by its hydrostatic dependence.
The general shape of a failure surface in a three dimensional stress
space can be described by its cross sectional shapes in the deviatoric
plane and meridians in the meridian plane.

Rankine criteria

Used for brittle materials. Failure occurs when the maximum pricipal
stress at a point equals to the tensile strength of the material. The
equations for the failure surface are

1= 0 , 2= 0 , 3=0 ,
1

Hydrostatic axis

0
0
3

Deviatoric plane

Rankie criteria

f ( I 1, J 2, )=2 (3 J 2)cos + I 13 0 =0

f ( , , )= (2) cos + (3) 0=0

3
t 0 = ( ) 0
2

=0 o

= (3) 0

c 0= (6) 0

=60

Mohr columb criteria

Mohr's failure criterion considers the limiting shear stress in a plane to be a
function of the normal stress in the same plane at a point.
|( )|=f ()
The simplest form of the Mohr envelope f( ) is a straight line and the equation is
called columb's equation. |( )|=C tan
Where C is the coheshion and is the angle of internal friction; both are material
constants derived from experiments

|( )|=

tan

( 13 )
2

( 1 + 3)
2

C cos

C
C

Mohr columb criteria

2
( 1 3)
(1 3) ( 1 3)
cos =C [
+
sin ]tan
2
2
2.
Solving the above equation
1.

0
C

(1+sin )
(1sin )
3.
=1
(2Ccos )
(2C cos )

ft

fc

D
1

=1 or m 1 3 = f c for 1 23
1

Where
(2Ccos )
(2Ccos )
f =
, f 1t =
(1sin )
(1+ sin )
1
c

A 0

0
E

and

f c (1+ sin )
m= 1 =
f t (1sin )

0 F

Mohr columb criteria

I1
(J 2)

f (I 1, J 2, )= sin + (J 2)sin(+ )+
cos(+ )sin C cos =0
3
3 (3)
3

f ( , , )= (2) sin + (3)sin(+ )+cos(+ )sin (6)C cos=0

3
3

(2 (6)C.cos ) ( (6) f c (1sin ))

t0=
=
(3+ sin )
(3+ sin )

=0

(3)C cot

t0

1
c

(2sqrt(6)C.cos ) ( (6) f (1sin ))

c0 =
=
(3sin )
(3sin )

c0

t0 (3sin )
c0 = (3+ sin )
=60 o

Mohr columb criteria

11

1/ f c
A

c0

60

t0

12

3
plane

30

2/ f c

0
0

0
=

D
Deviatoric plane

13 / f 1c

Drucker prager
f (I 1, J 2 )= I 1+ ( J 2 )k =0

f ( ,)= (6)+ (2)k =0

( 2 sin )
=
( (3) .(3+ sin ))

k=

(6 c cos )
( ( 3) .(3sin ))

2
( 1 + 2)+ ( ( 21 1. 2+ 22 ))=k
3

(13 2)(21 + 22)(1+ 6 2 ) 1. 2+ 6k ( 1+ 2)3 K 2 =0

Mohr columb and Drucker prager

Subsequent yield surfaces loading

and unloading

Criteria for loading and unloading

loading
d ij , loading

ij
unloading

d ij , unloading

ij

Elastic
f ( ij )< k
f ( ij )=k

yield surface

Criterial for loading and unloading

Condition for neutral loading
f ( ij , k)=0 , f =

( f )
. d ij =0
( ij )

Condition for unloading

( f )
f ( ij , k )=0 , f =
. d ij < 0
( ij )

Condition for loading

f ( ij , k )=0 , f =

( f )
. d ij > 0
( ij )

Condition for elastic

f ( ij )< k

Criterial for loading and unloading

Condition for neutral loading
f ( ij , k)=0 , f =

( f )
. d ij =0
( ij )

Condition for unloading

( f )
f ( ij , k )=0 , f =
. d ij < 0
( ij )

Condition for loading

f ( ij , k )=0 , f =

( f )
. d ij > 0
( ij )

Condition for elastic

f ( ij )< k

Plastic potential and flow rule

Flow rule is the necessary kinematic assumption postulated for

plastic deformation and plastic flow.
It gives the ratio or the relative magnitudes of the components of the
strain increment tensor.

The elastic strain can be derived directly by differentiating the elastic

poetential function or complementary energy density function with
respect to stress
Von mises proposed the similar concept of plastic poetential function
which is a scalar function of stresses, g( ij )
ijp = .

( g)
( ij )

Plastic potential and flow rule

Flow rule is the necessary kinematic assumption postulated for

plastic deformation and plastic flow.
It gives the ratio or the relative magnitudes of the components of the
strain increment tensor.

The elastic strain can be derived directly by differentiating the elastic

poetential function or complementary energy density function with
respect to stress
Von mises proposed the similar concept of plastic poetential function
which is a scalar function of stresses, g( ij )
ijp = .

( g)
( ij )

Plastic potential and flow rule

The simplest case is when the yield function and the plastic potential
function coincide, f = g, thus
p

ij = .

( f )
( ij )

this is called associated flow rule.

The associated flow rule is valid for irreversible plastic materials

where work expended on plastic deformation cannot be reclaimed.
The stress- strain law of a material based on the associated flow rule
will result in a unique solution of a boundary value problem.

Flow rule associated with von-mises yield

function

The von Mises yield function can be written as

2

f ( ij )=J 2k =0

Then the flow rule can be written as

ijp = .

( f )
=Sij
( ij )

where d is a proportionality constant and will take the values

d =0 where ever J 2< k 2 or J 2=k 2 ,but dJ 2< 0
d > 0

2
where ever J 2> k and dJ 2=0

above equation can be written interms of stain increments and stress

p
p
p
p
p
p
(d x ) (d y ) (d z ) (d xy) (d y z) (d xz )
=
=
=
=
=
=
sx
sy
sz
s xy
s yz
s xz

Flow rule associated with von-mises yield function

(d px ) (d py ) (d pz ) (d xyp ) (d yp z) (d pxz )
=
=
=
=
=
=d
sx
sy
sz
s xy
s yz
s xz
p

(d 1 d 2 ) (d 2 d 3 ) (d 3 d 1 )
=
=
=d
( s1 s2 )
( s 2s3 )
( s 3s1 )

Writing the equations separtely

2
p
d x = . d [ x ( y + z )]
3
2
p
d y = . d [ y ( x + z )]
3
2
p
d z = . d [ z ( y + x )]
3
p
d xy =d xy
p

d yz =d yz
p

d zx =d zx

Flow rule associated with von-mises yield function

If we know d then we have desired stress strain relations
p

p 2

p 2

p 2

p 2

p 2

p 2

(d x d y ) + (d y d z ) + (d z d x ) + 6(d xy ) + 6(d yz ) + 6(d zx ) =(d ) (( x y ) + ( y z ) + ( z x ) + 6( xy ) + 6( yz ) + 6( zx ) )

p

( d 0 )
3 (d 0 )
d = oct = ( ) .
2
J2
1

( )
1
3
e=
[( x y )2 + ( x y )2 + ( x y )2+ 6 ( 2xy + 2xy + 2xy )] 2 =
oct= (3J 2)
(2)
(
2)

d p

( )
(2)

p
p 2
p
p 2
p
p 2
p 2
p 2
p 2 2
p
=
.[(d d ) + (d d ) + (d d ) + 6 (d ) + 6(d ) + 6(d ) ] = (2)d

xy

For uniaxial case

e = x

d p =d px

The constant d can therefore be written as

d =

3 (d p )
2 e

yz

zx

Flow rule associated with von-mises yield

function
oct

11

d ij

d ij =d s ij

ij
0

oct

13