Continuum mechanics

VI. Typical problems of elasto-statics

ij
= F
i
ie. div = F in
Constitutive law: Hookes law,
ij
= E
ijk
e
k
, e.g.
= 2e + tr(e) Id where = K
2
3
Kinematic equation: Cauchy strain tensor e:
e
k
=
1
2
[
k
u

u
k
] ie. e =
1
2
_
u + (u)
T
_
in
Boundary conditions
u = u on
D
(Dirichlet-type),
n = g on
N
= \
D
(Neumann-type).
Ales Janka VI. Problems of elasto-statics
1.1. Weak formulation of elasto-statics: howto
a) Non-homogenous Dirichlet condition homogeneous:
Instead of nding u [H
1
()]
3
with u = u on
D
, let us oset u
by the known u (extended somehow onto the whole ).
u = u + u in , with u = 0 on
D
Dene the appropriate functional subspace of [H
1
()]
3
by
V
0
= {w [H
1
()]
3
: w = 0 on
D
}.
Instead of nding u, nd u V
0
, u = u + u and
b) Multiply force equilibria by any test function v V
0
to get
force equilibria in weak form

div v dx =
_

F v dx v V
0
.
ie. (component-wise)
_

ij
v
i
dx =
_

F
i
v
i
dx v V
0
.
Ales Janka VI. Problems of elasto-statics
1.1. Weak formulation of elasto-statics: howto
c) Apply Greens Theorem (integration by parts)
_

ij

j
v
i
dx
_

ij
n
j
v
i
d =
_

F
i
v
i
dx v V
0
d) Split
_

to
_

D
and
_

N
and apply boundary conditions:
v = 0 on
D
,

ij
n
j
= g
i
on
N
.
to get
_

ij

j
v
i
dx =
_

F
i
v
i
dx +
_

N
g
i
v
i
d.
e) Use symmetry of
ij
=
1
2
_

ij
+
ji
_
to get
_

ij
(u)
j
v
i
dx =
1
2
_

ij
(u)
j
v
i
dx +
1
2
_

ji
(u)
j
v
i
. .

ij
(u)
i
v
j
dx
=
_

ij
(u)
1
2
(
j
v
i
+
i
v
j
)
. .
e
ij
(v)
dx
Ales Janka VI. Problems of elasto-statics
1.1. Weak formulation of elasto-statics: howto
f) Use constitutive law to express :
nd u V
0
, so that u = u + u and
_

E
ijk
e
k
(u) e
ij
(v) dx =
_

F
i
v
i
dx +
_

N
g
i
v
i
d, v V
0
g) Use linearity of e(u) to separate u from the unknown u:
nd u V
0
so that
_

E
ijk
e
k
(u) e
ij
(v) dx =
_

F
i
v
i
dx+
_

N
g
i
v
i
d
_

E
ijk
e
k
( u) e
ij
(v) dx v V
0
Ales Janka VI. Problems of elasto-statics
2. Nonlinear elasto-statics: classication
Origins of nonlinearity of elasticity problems:
Geometrical nonlinearity: also called kinematic
nonlinearity for large displacements and/or large deformations
Material nonlineraity: also called physical nonlinearity due
to constitutive laws (nonlinear materials).
Classication:
Material nonlinearity + geometrical linearity: use small
deformations theory, iterate on material nonlinearity
Large displacements + small deformations: big shifts and
rotations as a rigid body, but small deformations. Use
nonlinear kinematics (Green or Almansi strain). Linear
constitutive law (e.g. Hookes law) can be used.
Large displacements + large deformations: need nonlinear
kinematics (Green or Almansi strain) and nonlinear
constitutive law (non-linear material).
Ales Janka VI. Problems of elasto-statics
2. Nonlinear elasto-statics (Lagrange formulation)
Force equilibria:

_
T
j
_

j
u
k
+
k
j
__
= F
k
0
in
0
Kinematic equation: Green strain

ij
(u) =
1
2
_

j
u
i
+
i
u
j
+
i
u
k

j
u
k
_
Nonlinear constitutive law: nonlinear material
T
ij
=
W

ij
= T
ij
()
Boundary conditions
u = u on
D

0
(Dirichlet-type),
_
Id +u
_
T n
0
= n
0
= g on
N
=
0
\
D
(Neumann-type).
Ales Janka VI. Problems of elasto-statics
2.1 Weak formulation of elasto-statics (Lagrange formul.)
Same steps as in Section 1.1.:
a)-b) nd u V
0
s.t. u = u + u and
_

_
T
j
_

j
u
k
+
k
j
__
v
k
dx =
_

0
F
k
0
v
k
dx , v V
0
.
c) Apply Greens Theorem (integration by parts):
_

0
T
j
_

j
u
k
+
k
j
_

v
k
dx
_

0
T
j
_

j
u
k
+
k
j
_
n
0

v
k
d =
_

0
F
k
0
v
k
dx
d) Split
_

0
to
_

D
and
_

N
, apply boundary conditions v V
0
on
D
and n
0
= g on
N
to get
_

0
T
j
_

j
u
k
+
k
j
_

v
k
dx =
_

0
F
k
0
v
k
dx+
_

N
g
k
v
k
d v V
0
Ales Janka VI. Problems of elasto-statics
2.1 Weak formulation of elasto-statics (Lagrange formul.)
e) Use symmetry of T
j
=
1
2
_
T
j
+ T
j
_
_

0
T
j
_

j
u
k
+
k
j
_

v
k
dx =
_

0
T
j

j
u
k

v
k
dx +
_

0
T
k

v
k
dx
=
_

0
T
j

j
u
k

v
k
+
j
v
k

u
k
2
dx +
_

0
T
k

v
k
+
k
v

2
dx
=
_

0
T
ij

i
v
j
+
j
v
i
+
i
u
k

j
v
k
+
j
u
k

i
v
k
2
. .
D
ij
(u,v)
dx
Here, we have introduced
D
ij
(u, v) =
1
2
_

i
v
j
+
j
v
i
+
i
u
k

j
v
k
+
j
u
k

i
v
k
_
How does it relate to
ij
(u)?
Ales Janka VI. Problems of elasto-statics
2.1 Weak formulation of elasto-statics (Lagrange formul.)
f) Use constitutive law to express T
ij
: T
ij
=
(u)

ij
nd u V
0
so that u = u + u and
_

0
(u)

ij
D
ij
(u, v) dx =
_

0
F
k
0
v
k
dx +
_

N
g
k
v
k
d
f) D
ij
(u, v) to
ij
(u): directional (Gateaux) derivative: What is
the variation of
ij
(u+v), seen as a function of IR? Get the
slope at u, ie. at = 0:
d
d
[
ij
(u+v)]
0
=
=
d
d
_

_
1
2
_
_
_

i
(u
j
+v
j
) +
j
(u
i
+v
i
) +
i
(u
k
+v
k
)
j
(u
k
+v
k
)
. .

i
u
k

j
u
k
+(
j
u
k

i
v
k
+
i
u
k

j
v
k
)+
2

j
v
k

i
v
k
_
_
_
_

_
0
=
1
2
_

i
v
j
+
j
v
i
+
i
u
k

j
v
k
+
j
u
k

i
v
k
_
= D
ij
(u, v)
Ales Janka VI. Problems of elasto-statics
2.1 Weak formulation of elasto-statics (Lagrange formul.)
f) Directional derivative D(u, v) of (u) at u along the
direction v: use chain rule to dierentiate ((u)):
d
d
[(u+v)]
0
=
(u)

ij
. .
T
ij
D
ij
(u, v)
f

) Introduce the total potential energy:

0
(u) dx
. .
strain energy

__

0
F
k
0
u
k
dx +
_

N
g
k
u
k
d
_
. .
work by external forces
Ales Janka VI. Problems of elasto-statics
2.1 Weak formulation of elasto-statics (Lagrange formul.)
Weak formulation and its equivalent minimization problem:
The weak formulation: nd u u + V
0
such that
_

0
(u)

ij
D
ij
(u, v) dx =
_

0
F
k
0
v
k
dx+
_

N
g
k
v
k
d v V
0
simplies to nding u u + V
0
such that
D(u, v) = 0 v V
0
This is in fact the optimality condition for an equivalent
minimization problem: nd u u + V
0
such that
(u) min .
Ales Janka VI. Problems of elasto-statics
2.1 Weak formulation of elasto-statics (Lagrange formul.)
g) Linearize around the known state u, express the problem
in the unknown u V
0
: nd u u + V
0
such that
_

0
(u)

ij
D
ij
(u, v) dx =
_

0
F
k
0
v
k
dx+
_

N
g
k
v
k
d v V
0
with limited Taylor expansion around u:
(u)

ij
=
( u)

ij
. .
T
ij
( u)
+

2
( u)

ij

k
. .
E
ijk
( u)
D
k
( u, u) + o(u).
and
D
ij
(u, v) = D
ij
( u, v) + D
2

ij
( u, v, u) + o(u)
where
D
2

ij
( u, v, u) =
d
d
[D
ij
( u + u, v)]
0
=
1
2
_

i
u
k

j
v
k
+
j
u
k

i
v
k
_
Ales Janka VI. Problems of elasto-statics
2.1 Weak formulation of elasto-statics (Lagrange formul.)
g) Linearize around the known state u, express the problem
in the unknown u V
0
: nd u V
0
such that
_

0
_
T
ij
( u)+E
ijk
( u) D
k
( u, u)
_

_
D
ij
( u, v)+D
2

ij
( u, v, u)
_
dx
=
_

0
F
k
0
v
k
dx +
_

N
g
k
v
k
d + o(u). v V
0
Collect known terms onto the right-hand side, neglect o(u) terms:
Linearized problem for u (one iteration of Newtons method):
Given initial guess u, nd a correction u V
0
for which
_

0
_
E
ijk
( u) D
k
( u, u) D
ij
( u, v)+T
ij
( u) D
2

ij
( u, v, u)

dx
=
_

0
F
k
0
v
k
dx +
_

N
g
k
v
k
d
_

0
T
ij
( u)D
ij
( u, v)
. .
R( u,v)...nonlinear residual
v V
0
.
Ales Janka VI. Problems of elasto-statics
3. Incompressible linear elasto-statics
So far, we have treated compressible materials,
ie. bulk modulus K < , Poissons ratio [1, 0.5).
Consider now an incompressible linear material, ie. K = ,
= 0.5.
The compressible formulation of Section 1. does not have a
sense, because = in Hookes law. We need to reformulate the
elasticity problem!
Ales Janka VI. Problems of elasto-statics
3.1. Incompressible linear elasto-statics
Hookes law written in deviators: hydrostatic pressure p:

im
= 2 e
im
p = s = K e

= (3 + 2 ) e =
E
1 2
e
Cauchy stress:

ij
=
ij
+ s
ij
=
ij
p
ij
Mixed formulation: 2 equations for 2 unknowns (u, p):
force equilibria and volume/pressure relation:

y
j
_

ij
p
ij

+ f
i
= 0
e

+
p
K
= 0
This form is meaningful even if K (incompressible limit)!
Ales Janka VI. Problems of elasto-statics
3.1. Incompressible linear elasto-statics
Mixed formulation: nd (u, p) such that

y
j
_
2
_
e
ij

1
3
e

ij
_
p
ij
_
= f
i
e

+
p
K
= 0 in
+ boundary conditions on .
In global notation: Stokes problem: nd (u, p) such that
div
_
2 e
2
3
tr(e)Id
_
. .

+p = F
div(u) +
p
K
= 0 in ,
u = u on
D
,
_
p Id
_
n = g on
N
= \
D
.
Ales Janka VI. Problems of elasto-statics