CONSTITUTIVE LAWS FOR ENGINEERING MATERIALS With Emphasis on Geologic Materials (CHANDRAKANT S. DESAI | DDepariment of Ci Engineering and Engineering Mechanics ‘Unversity of Arizona, Tecson,arona EMA J, SIRIWARDANE: Department of Cbs Engineering West Vigicia University, Morgantown, West Virginia Prentice-Hall. nc, Englewood Cis, i 07632© 14 sPmtie ne. Rgnend Ca New ney OE ‘Ate sre No ef bck at aR ses icra in wing at ep: Tsay LIL, Pa at fe Sm a re Se ‘CHAPTER 2 CHAPTER 3 CONTENTS Protace “ Introduction ql Detniion, + ‘Statements of Axioms of Continuum Mechanice 11 ‘Strain, Components of San, and Stain Tensor 15 (One-Dimensiona seatzatn, 15 Twee-Densional Case, 18 Invanante of Stam Tensor, 19 Decomposition of Stain Tensor, 22 Principal Stains, 25 ‘States of Stan or Various Modes of Detonation, 31 Problema, 33HAPTER 4 ‘CHAPTER 6 ‘CHAPTER 7 ‘Stross, Compononts of Stress, and Stoss Tensor 35, Ivanants of Sess Tensor, 26 Decomposton of Stross Tensor, 38 Principal Stresses, 44 Staos of Stress for Various Modes of ‘etormation, 81 Problem, 52 Nonlinear Behavior, Importance of Tein, and TestDate 2 Nonlinear Behavior, 59 General Statement of Constitutive Laws, 55 ‘Stops n Developnent ofa Constitute La, 87 Determination of Constitutive Parameters 87 Laboratory Test Devices, 58 Testing Program, €2 "Standard Test Osta, 70 Elastic: First and Second-Order Models ® testo Materia 83 Cauchy Elastic Models, 85 Green laste Models, 95 Higher Order Mode's, 101 Determination of Material Parameters, 110 Ineomental Stress Sram Relaorsh (Cauchy Elastic Materia 177 ‘Procedure for Evaluation of Parametors, 116 Inccomental Sress- Sra Relaonsh ‘Green Elastic Matra, 120, ‘Applications, 128 Problems, 122 Hyposlatcty 138 oneral Equations, 138, ‘Models of Vaious Overs. 137 Implementation, 145 ‘Applcanens, 165 ‘rolems 167 HAPTER 9 CHAPTER 10 HAPTER 12 uestineer Models 108 ‘asic Equation. 169 Vanaoie Paramsetr or Varabe Modul Models, 172 Unloading ana Hyeteretc Behavior, 189 ‘Applications, 197 Plast: An Introduction 208 ‘evi, 205 Vets Cetera, 206 ‘Some Yield Cresta Used In Metal Pasty, 219 ‘Post Yield Behavior. Plast Stress Stan ‘Rolaions, 278 Ganevalzes Plastic Srese- Strain Relations, 227 Posty Models | 240 Monr-Covlom® Faire Criterion, 241 Dnicker-Prager Modal. 244 Derivaton of neremerial Equations. 246 Determination of Parameters, 255, ‘Applications, 258 Prosiem, 278, Platety Modes: mea (Cam Clay Models Basod on tho Crvea Sato ‘Concept, 252 ap Models, 285 Evan of Paramore, 208 Computer Procedure for Finding Parameters, $28 ‘Aoplcatons, 529 Problems, 247 ‘Recent Developments aa 'sotropic ana Anisotropic Meterias and Haraeing, 44 Kinematic Hardening os, 347 Nested Surfaces Models, 949 Bouncing Surface Models, 364APPENDIX APPENDIX [APPENDIX ‘Some Generalizations and Special Forms, 370 Hypodlastoty ana Pras, 998. ‘Bret Rete of Other Recent Dovolopmens, 403 Review of indicia and Tensor Notation Cayloy-Hamilon Theorem and Invariants ol Teneors Leaet Squares-t Program ‘Computer Code for Parameters of Cap Medel teen as ‘28 ar as PREFACE CConsitive or srees-srin lane or mols of engineering materi plas figicant role in providing able els com ay solution procedure. The nportncr has bee ebaced sgalcanly th the great ness in Jeeop- ‘heat and applisnin of masy meer computer Dsed cgi sich a the fstesament, ite Gierene and boundary iatgtal equation woebods. hasbeen realized thatthe avanves and sophistication i the solution tech igus have fr exceodd oor Knowledge f the bahavor of material dina by conus Laws AS @consquence, very often els fom numedeal Drocedre that may have used lest appropiate consitave laws aa be of Timited oe douba aii “Te foreving veaton has spured active research and interes inthe ‘horetcal formalin of cose lavs abd determination of tet pare ter. The former involve ae of he principles of mateatis and continu ech, ween Sh ater hing on acatte dentition and determine tion of parameter that afin tho consittive model, The objective ofthis text fo presen « Spied Weaunent of the theory and mathematics of ‘aris comltte le opts wih the nportaot aspects ofthe Sterna ‘on of constitutive parameters, the erfenion, nd implementation. The er asp have not Doe coveted adequately n previous essen The smplestcnsitive iw aed in enlaces are inca sch the ookes im. Thess laws ate vied only for vey limied les of ata, ecase moet engnerng ses re none nd complet The infuence of ‘onliner reponse besomer more prominea inthe case of mate that artinucoed by factors sch a tate of ste, resid rina str, ome thangs der shear, seas history of ses pals inherent and inde Snorop, change othe physical ata and i i he pores ‘Althoagh the main aim of the ext is o cove various recent model for ‘complex (gol) mates as inuenced by the factors noted above eviews tnd desenptions of coventonal models are also itcuded for Ihe she af ‘completeness and to tee historial developments. Hence the text can be ‘fal for the sndyof models fora wider ang of nginosing materi Tensor aoa is used in he test however, al many locations ei leat statements in marx notation are presented. Since most ender ofthe text Wil be familiar with mate sotaton, this approach shuld be wef 'A special feature ofthe Dok the ue of «numberof laboratory es ata for various (gclopc) material, Here te inprtance of laberston test fata is emphasued, and brief descriptions of various Iaberatory devices, ‘oclug fecently developed truly Waka! cr ueedimensonal dvi, are Included Compebensve sees of tt resus for various aerial ae ase ‘lone the determination of maternal parameters for eoasive mevels dsb in various capt. Most of the laboratory test data are dered ‘vom eet resus obaind by the autos andthe aod using advanced test dees “Another important feat isthe discussion as to how to implement the modes in solution (numeric) techniques. Here the results ae often cas incremental matic olan for thee-dimensionl and vious two-dnen- ‘Sonal (lane strain, ausymmete)ealizations. This wil how the ear the ‘ofthe rosa i specie olution preadure A number f applicitins ae psented, Here numeral predictions with various eonrtuive models are empared with closed frm solstions aad/or laboratory and eld obser CChaper {preven an introduction to the text, incoding 2. simple repreeision of comtituve lave Brit sttenents of the axioms of cn "inv mechan are given in Chaper 2 simply to make the reader aware that the conittive ls ae Served auch that the axioms and natura piles te satis. ‘Chapters 3 and 4 preset reviews of scin aod tres and definitions of ‘hei invariants as used inthis text. Reasons for the study of ndvnced ortativeln,thirle in nplemenation (numerical) solrion schemes, ‘he importance o laboratory esting with brie deverptons of tet devices, and etal lnboratory tes results fran atic so obtained by wing te tly ‘wana device are ncaded in Chapter 5. These test data are usd in sbse- {ent chapters to lla the determination of parsmetrs for varios mo oe Higher-order elasticity (hypercasticiy) and hypolatty are the topics in Chapters and 7, wher deutled dsepions ar given for modes upto the second ode. Detemistion of partes for various models based on Inbocalry otra for thai sal ee Caper 3a wel fo aan ci ene yg pon te a Appendix 3: Chap 8 coves & umber of guuaca o pero neat models. s ‘Chops 911 cover deta ofthe pasty model, Invoducton © he te af plastic tpt with canal mods uch as thse of Teen ad vom Mie repent Chupe9, whle Cape’ WO ever thr modes Such the Matr-Coulomb nd Drecker-Pagr tia ste an cap ‘nodl we diosa io Chae ‘A numberof example robles rsd in ea of Chapters 31. “These the determination of pau for vases meh for various tater, predeto of umerad mehods ung te moda and cere protien fo stdens pete ih pr sas. ‘Chapter 2 vss comprohenae recy of cet developments inc ing Kgmute hardening, Mnemate nd fotopehardesne enc sae tops reine nomubsave modes pai and ueaype mel inoting combination of hypocaty ao eal ate. rie Tever of sone eet Seton nding vps tnd codaccon del ad trove fr ce Tog tad ffs ae presented athe ead ts om Append and reven of tenor olin vais of tensor aad te Caley-Hanton orem. Comput cae for tsquse tad {or computer evaluation for artes of the xp nel we ined fpendis 3 nd spec Tris expected hu the render has a et a bach mst’ dese in caging with ackpond in he renga masta sad an ined ont the thee of att and ply caren ee nd a thoares of ont ms can be hell background in matin ls ‘eyed. A background in tenor anys wl be ge we though he Slane ofthe notadon wel a thi text sa fe ndsod by thing Append 1 Many prsetay pisos are ive in vekng me sig ams TsRece the Bok can be wc to thems Spica ‘ech sti is ander wry many Sade nts toward develo teat aod apleaton of cout av. The Wok ca be wc 10 ch vcr ‘With the grosing need for advanced comsitetve laws in ecu, teaching, and applications, new cous ate expected to he developed onthe inbjet. 1 may be need tha courses on the torts aspect of consis Taw are already taught in many eniacesng (mechanic) curl. Ths book ‘woud fil de need in bring the hore enceps to implementation, thus Providing a tdge between theory and appition, The senior author hat Succesily aught sucha couse forthe la sevel yuFaly, ho Book endevors wo present a comprehensive treatment of sarious onaiativ laws By consdeting the elon ve Rept 1. Mathemtial formalaton 2 Lenieton of material parameters 5, Daermiaticn of mail parameters 4 Vesfcaton with cespect 1 laboratory test data under various sie pats an physical eaitons 5, Vercaton aod evasion wih reget to boundary vale problems ‘Me wish 10 expres dep apprasation Dr. R. 0. Davi Univers of ‘Canterbury, New Zealand, Dt. Y. F. Daiias, University of Califor at Davis and Dr. D. DaDeppo and Me: M. O. Faruque, Univer of Azra, for reading pace ofthe manuserpt and fr providing Useful comments end ‘sggeons A number of yaduste stent have contd rectly or inet trad schon of yor ofthe examples a toward th aborstory {ex dat edt fica wot them al here. We expres cur spec thanks to thm, We apreiate the pence and encouragement of our mies, Paria and Rajni. ‘Complete aprisiaton of conan may not be posi ‘be without many concep fam physics and mathematics, Physics provide the fandamental base and mathematics «concise 3) 10 igrss the phys phenomena. Most base conaeps governing psicl phenomena ean be esenilly simple, and they can be Undertoo through simple explanation. Our endeavor has bea 10 sonk toward ths pal CS Disw HL Smwraoue 1 INTRODUCTION ‘Tings that we can peredve, se, hear, of build can be explained. by sing cet principls and las of ature: conservation f mas, ney, nea and Sngelar momen, the avs of ecomagneti fs, and the concept of er ‘Syramic every. Taso are among the fundamental pinples on which the subject of mackie ig Bad. One of the fist aoable succes of ‘mechan was is appa i the study of plaatary motion ofthe solar ‘aterm, which nas indeed a mysterious problem in ancient ines! "he subject of consouum mechani is based onthe forgoing governing principe, wich are independent of the iteaalconstution materi However, tho response of stem or 2 redium subjected wo external frees ‘not be determined uniquely only wih the govern eld equations eves from the base picpls. The datenal consuton of menial plays an ‘mora ein ho sbjet of continuum mechanics. "A numberof eowepts lang to const ans are disused inthis caper na spiel muse. For atonal eading on thse concep the ‘ener nny consalt many formative works (1-6. A schematic agra show {ng the importance and pace of consiuive ws in comnuum mechan is tren in ig DEFINTION ‘A conse low ce madel represents a mathematical model that describes ‘ur ideas ofthe bebuvioe of materia Ia ober word, a oastuie law2 rvs cmp. sce gee ea thin ir on. simiats physical fehaior that has esa. ercived ments: The main ae “antgeofesublshing a mathematical model i to apply the es for song (Comple) ernts quantitatively. Theseloe the power ofa conve mse ‘ependson tne extent o which the physical phenomenon hasbeen understand ‘nd simulated. ‘Study ofthe response of bstance or hoy under exe exstation| onsiuts the major endeavor in enpneesog and xicnces. "The inert ingredient involved in such dy are (a extra excitation, () earl arstaton of the meu, and (2) the response “The exeral excation can be any seas by which the environment of Ue substance changed. Assn example, cons: an application of fwd 0a ‘certain mem, Tit oad, which ean extralexcaton testo det he objet Appiation of a diferent uid reste (ea) ang fa Aid (water or im a porous medium is anther example of an extemal feeittion. Wil teo objets made of ferent material but wih Mental [rometry respond ine sinlar minnir tothe sme extemal eetton The Iiswer to ths quesbon rege knowledge of the internal conan of the raters ‘Genally, has been observed that mates withthe sme geatry tut with diferent intemal camsation repent in illeren wap to ths same ‘rer o1Garnre Eton 2 ‘extemal excitation. Therefore, in the sty of response Beavirin mature, he Internal constiuto of matali ef wines importance. The primary gol of this boo to ntedute te base concepts of cousituive Iw that describe the response ofthe Rody and presenta dete desertion of widely used “onsite lan in engineering procice an tha appleations. To engineering Spplestons, the response behavior can be sotied at's macroscopic Lvl Sstovt considering omic nd molecalarsrucare The sijet of stadsing Iter Behavior the mtcroncpi eve i he called conse mans a2. '8 solution to boundary valve problem in continuum mechanics = quires conatuveequtions ia edon tothe governing eld equstions. The ‘esc pinciles governing Newtonian mechaic ar (4 conservation of ss (@conservauon of momenta, conserstion of moment of omentum or fngular momenta, (2) concevaion of energy, and) ws of thermody ‘ais thse pines are considered to be vad forall mates respecte ‘fh teen coasion I-4). Therefore, awique soliton to a Boundary “alu problem in continuum mechanics cannot be obtained nly with the pplctoa of governing fed equations. Hence nique determination of the ‘sponse seques addionl consierntions that account fr the ature of ‘ieent materia. The equations that rode! the behavior of a mater are ‘ele “consult equations” of “constaive avs” or“constiuive model.” ‘Consider the behavior of to bodies bith the same geometry. AS a2 xample, cemider two bel, on made of ruber and tho othe of sa but ‘nt te same geometry. Whe an extemal exstan sapped o these tvo Toi the rber brie wil deform more than the std. The ad-deeertion ‘ehavor or in general the cower elation is depeadeat om how the matters constituted, The intemal consti of mater affects the deforms- ton Beker ofthe body. ‘As another example, consider a pool of water and a poo of ie: The chemical and sfonde structure of hese oo bode ae the same. AS we cA Sex wate and ice wil espond or beta two diferenc ways unde the sane ‘tema lous. Although the cbemial and tenis stratus are the sme, ‘he lnteaal eoeatittonof mate foe waters oe ia iene. This cont ‘ion of mater gover the Neavior ofthe bods. The flacnship between ‘aut and effect an Be elle the comtutes lw ofthe mate for 3 ie ‘enor ‘THEORY OF CONSTITUTIVE EQUATIONS. ‘A constuve equation sx maha model that can permit reproduction ‘the obered response of a continous median. Tt ot ear to vise ack {general consate [forall mates, ever foe single at of mata,A ovaeton Chap. this cam bes dita wk! Because, fr instance, tehivior of the same ‘mater unde diferent etiations may or may not be related As an example, oder the response of a pie of sel tat is saberied to a voltage gradient. ‘The tof caret in ths medium an be esumad to be governed y ld law such as Oia’ lav. There may ext © certain conncton between the lead-delormation properties and elec! proper howcer this may ot alwaysbe the case, that the electrical properties arent alays related the ‘sfomation characteristics. Furterot, tse elaonships may be diet for diferent ans of loads ad vlage applied. Thus it beeres dificult o fstublsh a general coasttutve equation fr a mate to cove all pssible ‘anges and odes of exciton and behavior. Hence it wil be ncesry 10 anf the considerations to ranges of speci interests. Establsiment of constitute equation can be based onthe experimental hserstins ata macrosopic lee of from physical tenner of molecular thao. The second approach, which coasies the properties a the micro- seopic level can be gute complex. On he ther hard the establishment of Cnttuve equations based on observations made at the macroscopic level an impart phycal signifance fe engnsring and physical ences. Te ‘entation ofthe relevant costae variables for a ceriain mater ical task, The selection of pertinent properties often may have 1 Be done fied by experienc and nites ‘Once the pertinent constiative variables or parameters ae ienifditis ecesary to know the reationshipe among thoe variables. When thee re ‘many independent variables the tak of being the functional elon: ‘an bcerne complicated. However, wth mer thers of consti quae ‘on, ertaia rections cane imposed the general fanconal lations (U2) Thee esictons will certainly rece the igor invade generat. foncona forms On the other hand, this redces the elfen roguied in experimental explorstons of mate chritetic,a¢ well at pling ‘eran imitions on ther applica. Further dicasions of such ree ‘os re given in subquent chapter. SIMPLE EXPLANATION “The important question isthe determination of forma, lew, o device tht eine the behar ox mites. For tbe riter imple problem voting the ‘extension of (ines) spring which odes sail (Fi 12), the quan / ‘piven by fonu oy Hers debs (niet) the constiuion ofthe spring. Although / does ot inlog a exist desertion ofthe psa consttin ofthe pig t Sirol eration . esi ply. Because if we know f he reponse w canbe found foe 8 piven excitation or bad @. ow éo we ind /? The usual procedure iso conduct atest in which a known vane of @ tapped tothe spring and the rapens is measured ‘Then for linear material the ratio 4/Q gies the val off. Fora simple sping, thi rather an my ak Yor multidimensonal problems however, may 80 longer be possible 10 ‘write such simple expresons connecting the load and the displacement. As indicated in Pip 1-210), fads Q, can cause responses (formation) i all three dretions Moremes, in contrast 10 the singledlement materi inthe spring (Fig. 1-0), » body or sabsance (Fig. 1-209 is composed of oatinuum made up of interconnected partes, Hence, in adton 10 the fect of the fad i one direction, here exist coupled elects that consist of fesponss in the thee major dictions. Here it becomes dificult to write explit elationssoch ns that in Fa (1) inthe individual direction,