Constitutive models

Part 2
Elastoplastic
Elastoplastic material models
Elastoplastic materials are assumed to
behave elastically up to a certain stress limit
after which combined elastic and plastic
behaviour occurs.
Plasticity is path dependent the changes in
the material structure are irreversible


Stress-strain curve of a hypothetical material
Idealized results of one-dimensional tension test
Engineering stress
Engineering strain
Yield point
Yield stress
area initial force/ = o
l
l
0
A
= c
Johnsons limit 50% of Young modulus value
Real life 1D tensile test, cyclic loading
Hysteresis loops move
to the right - racheting
Where is the yield point?
Conventional yield point
Lin. elast. limit
Mild carbon steel
before and after heat treatment
Conventional yield point 0.2%
The plasticity theory covers the
following fundamental points
Yield criteria to define specific stress
combinations that will initiate the non-elastic
response to define initial yield surface
Flow rule to relate the plastic strain increments to
the current stress level and stress increments
Hardening rule to define the evolution of the
yield surface. This depends on stress, strain and
other parameters


Yield surface, function
Yield surface, defined in stress space separates stress states
that give rise to elastic and plastic (irrecoverable) states
For initially isotropic materials yield function depends on
the yield stress limit and on invariant combinations of
stress components
As a simple example Von Mises
Yield function, say F, is designed in such a way that

plasticity analytical for le inadmissib outside, 0
surface the on 0
surface the within state stress 0
>
=
<
F
F
F
0
yield effective
= o o F
0 ...) , , (
P
= K F
ij ij
c o
Three kinematic conditions are to be
distinguished
Small displacements, small strains
material nonlinearity only (MNO)
Large displacements and rotations, small strains
TL formulation, MNO analysis
2PK stress and GL strain substituted for engineering
stress and strain
Large displacements and rotations, large strains
TL or UL formulation
Complicated constitutive models

Rheology models for plasticity
Ideal or perfect plasticity, no hardening
Loading, unloading, reloading and cyclic loading in 1D
s
t
r
e
s
s
strain
+

n
e
w

y
i
e
l
d


s
t
r
e
s
s

1

-

n
e
w

y
i
e
l
d

s
t
r
e
s
s

1
i
n
i
t
i
a
l

y
i
e
l
d

s
t
r
e
s
s
Isotropic hardening
n
e
w

y
i
e
l
d

s
t
r
e
s
s

2 loading
unloading
reloading
Isotropic hardening in principal stress space
3 2 1 Y 3 1
, 0 ) (
tension in stress yield 1D and stresses principal by expressed Tresca
o o o o o o > > = F
0 2 ] ) ( ) ( ) [(
tension in stress yield 1D and stresses principal by expressed Mises von
2
Y
2
1 3
2
3 2
2
2 1
= + + o o o o o o o F
t - plane
arccos (2/sqrt(3))
s
t
r
e
s
s
strain
+

n
e
w

y
i
e
l
d


s
t
r
e
s
s

1
i
n
i
t
i
a
l

y
i
e
l
d

s
t
r
e
s
s
Kinematic hardening
loading
unloading
reloading
Loading, unloading, reloading and cyclic loading in 1D
Kinematic hardening in principal stress space
constant ... , where , 0 ) ( take we
hardening) isotropic of case in (as 0 ) ( of instead
P
c c F
F
ij ij ij ij
ij
c o o o
o
= =
=
Von Mises yield condition, four hardening models
1. Perfect plasticity no hardening
2. Isotropic hardening
3. Kinematic hardening
4. Isotropic-kinematic
Different types of yield functions
) , , (
have could we all, at general not is which Generally,
invariant. an usually , of function scalar a is ) ( e wher
hardening isotropic ) , (
way different a in of component every on depends hardening
hardening isotropic - non ) , (
constant. a is and e wher
hardening kinematic ) (
. strain plastic permanent the on depends h whic
flow) (free ns dislocatio of motion the blocking on depends hardening the Generally,
... ns dislocatio of nition Defi
ns. dislocatio of motion by caused is flow material tic Plas
region. plasticity the around
exists which structure material healthy' ' by the stabilized is it practice It
forever. so do to inclided is and flow to starts material hardening, no means
plasticity perfect ) (
P
P P
P
P
P
K F F
K K
K F F
F F
c c
F F
F F
ij ij
ij ij
ij
ij
ij ij
ij ij
ij ij
ij
ij
c o
c c
o
c
c o
c o
o o
c
o
=
=
=
=
=
=
=

Plasticity models physical relevance

Von Mises
- no need to analyze the state of stress
- a smooth yield sufrace
- good agreement with experiments
Tresca
- simple relations for decisions (advantage for hand calculations)
- yield surface is not smooth (disadvantage for programming,
the normal to yield surface at corners is not uniquely defined)
Drucker Prager
a more general model
1D example, bilinear characteristics
P E T
d d d c c c + =
o d
o
plastic elastic
|
strain
stress
total
P T
d d d
E E E
o o o
+ =
EP T
d d d c c c = =
E = o tan
T
tan E = |
Strain hardening parameter
Y
o
H
E E
E
E E
E E
E
'
=

=
/ 1
T
T
T
T
P
means total or elastoplastic
elastic modulus
tangent modulus
Strain hardening parameter again
Elastic strains removed
Initial yield
Upon unloading and reloading the effective stress must exceed
Geometrical meaning of the strain hardening parameter is
the slope of the stress vs. plastic strain plot
How to remove elastic part
T
T
P
E E
E E
E

=
1D example, bar (rod) element
elastic and tangent stiffness
L
o
A
F F
Y
o o s
Y
o o >
L
EA F
k = =
o
E
( ) L
A E
L
A F
k
P E
P P
T
T
d d
d
d
d
d
d
c c
c
c
o
o +
= = =
|
|
.
|

\
|
+
=
+
=
P
P
P
P P
T
1
/ d / d
/E d
E E
E
L
EA
E E L
A E
k
o o
o
Elastic stiffness
Tangent stiffness
Results of 1D experiments must
be correlated to theories capable
to describe full 3D behaviour of
materials
Incremental theories relate stress increments to strain increments

Deformation theories relate total stress to total strain
Relations for incremental theories
isotropic hardening example 1/9
o
o

=

t
t
d
d
lim : rates and increments between Relation
0
surface yield back to go 0
0 that means it - neutral 0 and 0
tic elastoplas 0 and 0
elastic 0 and 0
elastic 0 if
and on depends n deformatio of increment
0 ) , ( is surface yield Let the
P
eff
eff
eff
eff
P
>
= = =
> =
< =
<
=
F
F
F
F
F
F
F
ij
ij ij
c o
o
o
o
c o

Parameter only
Relations for incremental theories
isotropic hardening example 2/9
Eq. (i) increment of plastic deformation has a direction
normal to F while its magnitude (length of vector) is not yet known
defines outer normal to F
in six dimensional stress space
0 d so ns, deformatio plastic during zero be must which
d d d
al differenti total a as expressed be can
} {
and scalar unknown far so is where
1947) (Drucker, form in the assumed is rule Flow
P
P
P
P
T
31 11
P
=
c
c
+
c
c
=
c
c
+
c
c
=
c
c
c
c
=
=
c
c
=
F
F F F F
F
F
F F
F
ij
ij
ij
ij
ij
ij
ij
ij
ij
ij
c
c
o
o
c
c
o
o
o o

o
c

q
q
Relations for incremental theories
isotropic hardening example 3/9
elastic total plastic deformations
matrix of elastic moduli
(iii) eq. ) (
are increments stress
(ii) eq. 0 d d
form the in expressed be can 0 d condition the
} { Denoting
P E
P T T P T T
T
P
31
P
11
E E
p q p q
p

= =
= =
=
c
c
c
c
=
o o
c c
F
F F
Relations for incremental theories
isotropic hardening example 4/9
q E q q p
E q
T T
T
get we (iii) increments stress for and (ii) 0 d
(i), rule flow for relations the Combining
+
=
c

F
=
Dot product and quadratic form scalar
Row vector
Column vector
Lambda is the scalar quantity determining the magnitude
of plastic strain increment in the flow rule
Still to be determined
Relations for incremental theories
isotropic hardening example 5/9
= = =
P P E
with ) (
write can we increment stress for the Now,
E E
q
determined be to has still where
) (
with
form the in increment strain total of function a as
increment stress get the we for ng Substituti
T T
T
EP
EP
p
Eq q q p
Eq Eq
E E
E
+
=
=

equal to zero for perfect plasticity

diadic product
Relations for incremental theories
isotropic hardening example 6/9
ij
ij
t
t
ij ij
t
t
t
t
ij
t
ij
ij
ij ij
t
W F
A
W
W
W
F
W W f
f
F
s s J
J F
F F
o
c
o
o
o o
o
o
c
o
o c
c o o
c o
c
o
c c
=
c
c
=
c
c
=
c
c
=
c
c
c
c
c
c
=
c
c
= =
=
c
c
=
=
c
c
c
c
=
}
P
P
Y 3
2
Y
P
Y
Y 3
2
P
ij
P
P
Y
Y
P
ij
P
ij
P P
Y
P
Y
P
2
1
D2
2
Y 3
1
D2
T
P
31
P
11
and using
F
rule Chain
increments plastic by done work d ), (
at suggest th s Experiment
) ( need we evaluate to
invariant deviatoric second the is where
0 condition yield Mises von Assume
} { of ion Determinat

p
A new constant defined
At time t
Relations for incremental theories
isotropic hardening example 7/9
c
P
c
E
P
E
T
E
Y
0
o
Y
o
t
P 0
c
P
c
t
P
W
T
31 22 11
T
T
P
Y
P
Y
P
Y
Y
P
2
Y
0 2
Y
P
P
P P
Y
0
Y
t
P
Y
0
Y 2
1
P
} { finaly so
3
2
3
2
3
2
) (
2
1
) ( stics characteri bilinear 1D
) ( done work elastic the 1D in
o o o
o
o
o
o
o o
c o o
c o o
A
E E
EE
E
E
A
E
W
E
W
E
W
t
t
t
t
t
t
t t
=

= = = =
c
c
=
+ =
+ =
p
W
Relations for incremental theories
isotropic hardening example 8/9
E
bb
E E
b q Eq q Eq b q p
p
q
s



EP
T
EP
T T T
T
31 23 12 33 22 11
T
T
T
31 23 12 33 22 11
T
31 23 12 m 33 m 22 m 11
T
31 23 12 33 22 11
33 22 11 3
1
m
Y
, ,
} {
3
2
} 2 2 2 {
} { } {
) (
follows as compute can we and and given For Summary.
=
+
=
= = = =
=

=
=
= =
+ + =
c a
c a
A
E E
EE
A
s s s s s s
s s s s s s
ij ij
o o o o o o
o o o o o o o o o
o o o o
o o
J2 theory, perfect plasticity 1/6
alternative notation example of numerical treatment
) 2 , 2 , 2 , 1 , 1 , 1 ( diag ] [ with }, ]{ [ } { or
) 2 2 2 (
deviator stress of invariant second
} { } {
deviator stress
stress mean ) (
} { } {
} { } {
law s Hooke' }... ]{ [ } {
T
2
1
2
2 2 2 2 2 2
2
1
2 D2
T
m m m
3
1
m
T
T
= =
+ + + + + = =
=
+ + =
=
=
=
M s M s J
s s s s s s J J
s
E
zx yz xy zz yy xx
zx yz xy zz yy xx
zz yy xx
zx yz xy zz yy xx
zx yz xy zz yy xx
t t t o o o o o o
o o o o
c c c c
t t t o o o o
c o
J2 theory, numerical treatment 2/6
Y eff
T
2 eff
T T
behaviour plastic perfectly for criterion yield
2 / } ]{ [ } { 3 3 stress effective Mises von
) 1 /( with }, { 2 } ]{ ][ [ also and
0 since }, ]{ [ } { } ]{ [ } {
that prove can one
o o
o

o
=
= =
+ = =
= + + =
s M s J
E G s G s M E
s s s s M s M s
zz yy xx
J2 theory, numerical treatment 3/6
endif
0 else
, 0 then if
by expressed be can region elastic in n deformatio plastic no
increment , derivative time its ... } { 2 } ]{ [ } ]{ [ } ]{ [ } {
law s Hooke' ... } ]{ [ } ]{ [ } {
parameter unknown far so is ... } ]{ [
} {
} {
hypothesis Reuss - Prandtl to according rule Flow
Y eff
P
P E
T
>
= <
= =
= =
=
c
c
=

o o
c c c o
c c c o

o
c
s G E E E
E E
s M
F

Six nonlinear differential equations + one algebraic constraint (inequality)

There is exact analytical solution to this. In practice we proceed numerically
J2 theory, numerical treatment 4/6
T
2
Y
EP EP
2
Y
T
2
Y
T
2
Y
2
eff 2
T
T T
T T
eff
T
T
eff
eff
Y eff
3
with
finally
2
3
4
3
get we
3 / 4 3 / 4 4 2
that realizing and
2
for ng Substituti
0 also and 0
0
2
3
condition plasticity ating Differenti
ss E E E
s ME s
Ms s
Ms s ME s

M s Ms s
Ms s
s
s
o
o o

o o

o
o
o
o o
G
G
G G J G G
G
= =
= =
= = =
=
= =
= =
c
c
=
=

System of six nonlinear
differential equations
to be integrated
J2 theory, numerical treatment 5/6
predictor-corrector method, first part: predictor
1. known stress
2. test stress (elastic shot)
3a. elastic part of increment
T
) 1 ( s A r
T
s A r
3b. plastic part of increment
T c
. 4 s s s A + = r
t
t

) 2 /( ) 1 ( 3 . 5
2
Y
T
c
o s A = A r
E A + = A + =
t t T T
c T
'
2 . 6 s A =
A +
G
t t
J2 theory, numerical treatment 6/6
predictor-corrector method, second part: corrector
' '
' '
'
eff
Y
Y
'
eff
Y
'
eff
Y eff
'
) 1 (
have we ions considerat plasticity into enter not does
tensor stress the of part spherical the since and
) 1 (
) (
) (
) (
) (
a way that such in find For
Correction
t t t t t t
t t t t t t
t t
t t
t t
t t
t t t t
A + A + A +
A + A + A +
A +
A +
A +
A +
A + A +
=
=
=
=
=
=
=
s
s s s
s
s
s
s
s s
|
|
o
o
|
o o |
o | o
o o
| |
Secant stiffness method and the method of radial return