constitutive relations in solids elasticity h. garmestani, professor school of materials science and...
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Constitutive Relations in SolidsElasticity
H. Garmestani, ProfessorSchool of Materials Science and Engineering
Georgia Institute of Technology
• Outline: • Materials Behavior
Tensile behavior…
The Elastic Solid and Elastic Boundary Value Problems
• Constitutive equation is the relation between kinetics (stress, stress-rate) quantities and kinematics (strain, strain-rate) quantities for a specific material. It is a mathematical description of the actual behavior of a material. The same material may exhibit different behavior at different temperatures, rates of loading and duration of loading time.). Though researchers always attempt to widen the range of temperature, strain rate and time, every model has a given range of applicability.
• Constitutive equations distinguish between solids and liquids; and between different solids.
• In solids, we have: Metals, polymers, wood, ceramics, composites, concrete, soils…
• In fluids we have: Water, oil air, reactive and inert gases
The Elastic Solid and Elastic Boundary Value Problems (cont.)
a
d
d
a
AP
ll
Ratio sPoisson'
stress/
strain diametral
strain axial/
0
Load-displacement response
axis)cylinder thealongmoment torsionala r to radius ofsection
corsscircular ofbar lcylindrica a(for modulusshear
material) elastican (for dilatation is modulus,bulk is
)elasticity of modulus(or modulus sYoung' is
p
t
Ya
Y
I
lM
eke
k
EE
Uniaxial loading-unloading stress-strain curves for(a) linear elastic;(b) nonlinear elastic; and(c) inelastic behavior.
Examples of Materials Behavior
Constitutive Equations: Elastic
• Elastic behavior is characterized by the following two conditions:
• (1) where the stress in a material () is a unique function of the strain (),
• (2) where the material has the property for complete recovery to a “natural” shape upon removal of the applied forces
• Elastic behavior may be Linear or non-linear
Constitutive Equation
• The constitutive equation for elastic behavior in its most general form as
Cwhere
C is a symmetric tensor-valued function and is a strain tensor we introduced earlier.
Linear elastic CNonlinear-elastic C(
Equations of Infinitesimal Theory of Elasticity
Boundary Value Problems we assume that the strain is small and there is no rigid body rotation. Further we assume that the material is governed by linear elastic isotropic material model. Field Equations
(1)
(2) Stress Strain Relations
(3)Cauchy Traction Conditions (Cauchy Formula)
(4)
)1(2
1., ijjiij uuE
ij E kkij 2E ij (2)
ti jin j
ji, j X j 0
ji, j Bi 0 For Statics
ji, j Bi ai For Dynamics
Equations of the Infinitesimal Theory of Elasticity (Cont'd)
In general, We know that
For small displacement
Thus
ij
x j
Bi ai
Bi is the body force/mass
Bi is the body force/volume X i
ai is the acceleration
ii Xx
j
ij
x
iii x
uv
t
u
Dt
Dxv
i
fixed
Equations of the Infinitesimal Theory of Elasticity (Cont'd)
Assume v << 1, then
For small displacement,
Thus for small displacement/rotation problem
okk
kkokk
kko
iii
x
ii
E
EE
EdVdV
t
u
t
va
t
uv
i
1
11
1
1 Since
01
2
2
fixed
o
ij
x j
Bi 2ui
t 2
Equations of the Infinitesimal Theory of Elasticity (Cont'd)
Consider a Hookean elastic solid, then
Thus, equation of equilibrium becomes
ij Ekkij 2E ij
uk,kij ui, j u j ,i ij , j uk,kjij ui,ij u j ,ij
ji
i
i
kkio
io xx
u
x
EB
t
u
2
2
2
Equations of the Infinitesimal Theory of Elasticity (Cont'd)
For static Equilibrium Then
The above equations are called Navier's equations of motion.In terms of displacement components
02
2
t
ui
0
0
0
3323
2
22
2
21
2
3
2223
2
22
2
21
2
2
1123
2
22
2
21
2
1
Buxxxx
E
Buxxxx
E
Buxxxx
E
okk
okk
okk
2
2
1t
uBudivE ookk
Plane Elasticity
In a number of engineering applications, the geometry of
the body and loading allow us to model the problem using
2-D approximation. Such a study is called ''Plane
elasticity''. There are two categories of plane elasticity,
plane stress and plane strain. After these, we will study
two special case: simple extension and torsion of a circular
cylinder.
Plane Strain &Plane StressFor plane stress,
(a) Thus equilibrium equation reduces to
(b) Strain-displacement relations are
(c) With the compatibility conditions,
2,1,, 21 jixxijij
0
0
0
332313
22,221,21
12,121,11
b
b
1,22,1122,2221,111 2 uuEuEuE
21
122
12
222
22
112
12,1211,2222,11 2
xx
E
x
E
x
E
EEE
Plane Strain &Plane Stress(d) Constitutive law becomes, Inverting the left relations,
Thus the equations in the matrix form become:
(e) In terms of displacements (Navier's equation)
2211221133
12121212
112222
221111
1 that Note
21
1
1
EEv
v
E
vE
GGE
vE
vE
E
vE
E
Y
Y
Y
Y
12121212
1122222
2211211
121
1
1
Gv
EE
v
E
vEEv
E
vEEv
E
YY
Y
Y
12
22
11
2
12
22
11
100
01
01
1E
E
E
v
v
v
v
EY
2,1,01212 ,,
jibuv
Eu
v
Eijii
Yjji
Y
Plane Strain (b) (Cont'd)(b) Inverting the relations, can be written as:
GE
vE
vvE
vE
vvE
vE
Y
Y
Y
22
12
11
11
121212
112222
221111
(c) Navier's equation for displacement can be written as:
2,1,0211212 ,,
jibu
vv
Eu
v
Eijij
Yjji
Y
The Elastic Solid and Elastic Boundary Value Problems
Relationship between kinetics (stress, stress rate) and kinematics (strain, strain-rate) determines constitutive properties of materials.Internal constitution describes the material's response to external thermo-mechanical conditions. This is what distinguishes between fluids and solids, and between solids wood from platinum and plastics from ceramics.
Elastic solid Uniaxial test: The test often used to get the mechanical properties
PA0
engineering stress
l
l0
engineering strain
E
Linear Elastic Solid
If is Cauchy tensor and is small strain tensor, then in general,
ij ijE
ij Cijkl Ekl
where is a fourth order tensor, since T and E are second order tensors. is called elasticity tensor. The values of these components with respect to the primed basis ei’ and the unprimed basis ei are related by the transformation law
ijklC
mnrsslrknimiijkl CQQQQC
However, we know that and then lkkl EE
ij ji
We have symmetric matrix with 36 constants, If elasticity is a unique scalar function of stress and strain, strain energy is given by
iklkjiklijkl CCC 44C
dU ijdEkl or U ij E ij
Then ij UE ij
Cijkl Cklij
Number of independent constants 21
ijklC
Show that if for a linearly elastic solid, then
Solution:
Since for linearly elastic solid , therefore
Thus from , we have
Now, since
Therefore,
Linear Elastic Solid
ij U
E ijklijijkl CC
ij Cijkl Ekl
ij
E rs
Cijrs
ij U
E ij ijrsijrs EE
UC
2
rsijijrs EE
U
EE
U
22
klijijkl CC
Linear Elastic Solid (cont.)
Now consider that there is one plane of symmetry (monoclinic) material, then One plane of symmetry => 13
If there are 3 planes of symmetry, it is called an ORTHOTROPIC material, then orthortropy => 3 planes of symmetry => 9
Where there is isotropy in a single plane, then Planar isotropy => 5
When the material is completely isotropic (no dependence on orientation) Isotropic => 2
Linear Elastic Solid (cont.)
Crystal structure Rotational symmetry
Number of independent
elastic constants
Triclinic Monoclinic Orthorhombic Tetragonal Hexagonal Cubic Isotropic
None 1 twofold rotation 2 perpendicular twofold rotations 1 fourfold rotation 1 six fold rotation 4 threefold rotations
21 13 9 6 5 3 2
Linear Isotropic Solid A material is isotropic if its mechanical properties are independent of direction
Isotropy means
Note that the isotropy of a tensor is equivalent to the isotropy of a material defined by the tensor.
Most general form of (Fourth order) is a function
ijklC
jkiljlikklij
ijklijklijklijkl HBAC
ij Cijkl E kl
ij C ijkl E kl
Cijkl C ijkl
• Thus for isotropic material
• and are called Lame's constants. • is also the shear modulus of the material (sometimes designated as G).
Linear Isotropic Solid
ij Cijkl Ekl
(ijkl ik jl il jk )Ekl
ijkl Ekl ik jl Ekl il jk Ekl
ij Ekk E ij E ji
ije ( )E ij
eij 2E ij
when i j ij 2E ij
when i j ij e 2E ij
eI 2E
Relationship between Youngs Modulus EY,
Poisson's Ratio Shear modulus =G and Bulk Modulus k
We know that
So we have
Also, we have
ij eij 2E ij
kk 3 2 e or e 1
3 2 kk
E ij 1
2 ij
3 2
kkij
Relationship between EY, =G
and k (Cont'd)
vE
vvv
vkEvEE
kE
E
v
v
v
Ek
v
vk
v
Ev
kv
E
E
v
v
vv
vEvkEvvE
Y
YYY
Y
YY
Y
Y
YY
YY
122
2131223
33213
12
2133
212
213
12
1
3
3
2
21
2
211
,,,,,
Note: Lame’s constants, the Young’s modulus, the shear modulus, the Poisson’s ratio and the bulk modulus are all interrelated. Only two of them are independent for a linear, elastic isotropic materials,