CH.8.

PLASTICITY
Continuum Mechanics Course (MMC) - ETSECCPB - UPC
 Overview
 Introduction
 Previous Notions
 Principal Stress Space
 Normal and Shear Octahedral Stresses
 Stress Invariants
 Effective Stress
 Principal Stress Space
 Normal and Shear Octahedral Stress
 Stress Invariants
 Projection on the Octahedral Plane
 Rheological Friction Models
 Elastic Element
 Frictional Element
 Elastic-Frictional Model

2
 Overview (cont’d)
 Rheological Friction Models (cont’d)
 Frictional Model with Hardening
 Elastic-Frictional Model with Hardening
 Phenomenological Behaviour
 Notion of Plastic Strain
 Notion of Hardening
 Bauschinger Effect
 Elastoplastic Behaviour
 1D Incremental Theory of Plasticity
 Additive Decomposition of Strain
 Hardening Variable
 Yield Stress, Yield Function and Space of Admissible Stresses
 Constitutive Equation
 Elastoplastic Tangent Modulus
 Uniaxial Stress-Strain Curve
3
 Overview (cont’d)
 3D Incremental Theory of Plasticity
 Additive Decomposition of Strain
 Hardening Variable
 Yield Function
 Loading - Unloading Conditions and Consistency Conditions
 Constitutive Equation
 Elastoplastic Constitutive Tensor
 Yield Surfaces
 Von Mises Criterion
 Tresca Criterion
 Mohr-Coulomb Criterion
 Drucker-Prager Criterion

4
 8.1 Introduction
Ch.8. Plasticity

5
 Introduction
 A material with plastic behavior is characterized by:
 A nonlinear stress-strain relationship.
 The existence of permanent (or plastic) strain during a
loading/unloading cycle.
 Lack of unicity in the stress-strain relationship.

 Plasticity is seen in most materials, after an initial elastic state.

6
 Previous Notions
 PRINCIPAL STRESSES
 Regardless of the state of stress, it is always possible to choose a special
set of axes (principal axes of stress or principal stress directions) so
that the shear stress components vanish when the stress components are
referred to this system.
 The three planes perpendicular to the principle axes are the principal
planes.
 The normal stress components in the principal planes are the principal
stresses.  33
x3  31  32 x3
 x3
 1 0 0  13  23
11 12  21  x1 3
    0  2 0  22
1
 0 0  3  2
x1 x1
1   2   3 x2 x2
x2
7
 Previous Notions
 PRINCIPAL STRESSES
 The Cauchy stress tensor is a symmetric 2nd order tensor so it will diagonalize
in an orthonormal basis and its eigenvalues are real numbers.
 Computing the eigenvalues  and the corresponding eigenvectors v:
  v  v    1  v  0  11    12  13
not
det     1 =    1   12  22    23 0
 13  23  33  
INVARIANTS
 33
 3  I1 2  I 2   I 3  0
characteristic x3  31  32 x3
equation 13 x3
 23
1  1 11 12  21  x1 3
1
22
2   2 1   2   3
3   3 2
x1 x1
x2 x2
x2
8
 Previous Notions
 STRESS INVARIANTS
 Principal stresses are invariants of the stress state.
 They are invariant w.r.t. rotation of the coordinate axes to which the
stresses are referred.
 The principal stresses are combined to form the stress invariants I :
I1  Tr      ii   1   2   3 REMARK
I 2    :   I12     1 2   1 3   2 3 
1 The I invariants are obtained
2 from the characteristic equation
I 3  det    of the eigenvalue problem.
 These invariants are combined, in turn, to obtain the invariants J:
J1  I1   ii REMARK
The J invariants can be
J 2   I12  2 I 2    ij ji    :  
1 1 1
2 2 2 expressed the unified form:
J i  Tr  i 
1
i  1, 2,3
J 3   I13  3I1 I 2  3I 3   Tr          ij jk ki
1 1 1
i
3 3 3
9
 Previous Notions
 SPHERICAL AND DEVIATORIC PARTS OF THE STRESS TENSOR
Given the Cauchy stress tensor  and its principal stresses, the following is
defined:
 Mean stress
1 1 1
 m  Tr     ii  1   2   3 
3 3 3
REMARK
 Mean pressure
In a hydrostatic state of stress, the
1
p   m    1   2   3  stress tensor is isotropic and, thus,
3 its components are the same in
any Cartesian coordinate system.
 A spherical or hydrostatic
As a consequence, any direction
state of stress:  0 0 is a principal direction and the
1   2   3   0  0    1 stress state (traction vector) is the
 0 0   same in any plane.

10
 Previous Notions
 SPHERICAL AND DEVIATORIC PARTS OF THE STRESS TENSOR
The Cauchy stress tensor  can be split into:    sph   
 The spherical stress tensor:
 Also named mean hydrostatic stress tensor or volumetric stress tensor or
mean normal stress tensor.
 Is an isotropic tensor and defines a hydrostatic state of stress.
 Tends to change the volume of the stressed body
1 1
 sph :  m 1  Tr   1   ii 1
3 3
 The stress deviatoric tensor:
 Is an indicator of how far from a hydrostatic state of stress the state is.
 Tends to distort the volume of the stressed body
   dev      m 1

11
 Previous Notions
 STRESS INVARIANTS OF THE STRESS DEVIATORIC TENSOR
 The stress invariants of the stress deviatoric tensor:
I1  Tr     0
1

I 2   :   I12
2

   ij jk ki 
1
I 3  det      11  22
  33
  2 12  23
  13   122 33
   23
2 11   132 22
3

 These correspond exactly with the invariants J of the same stress

deviator tensor:

J1  I1  0

J 2 
1 2
2
  1
I1  2 I 2  I 2    :  
2

J 3 
3
 
I1  3I1I 2  3I 3  I 3  Tr          ij jk ki 
1 3 1
3
1
3

12
 Previous Notions
 EFFECTIVE STRESS
 The effective stress or equivalent uniaxial stress  is the scalar:

3 3
  3J 2'  ij ij  ´: ´
2 2

 It is an invariant value which measures the “intensity” of a 3D stress state

in a terms of an (equivalent) 1D tensile stress state.
 It should be “consistent”: when applied to a real 1D tensile stress, should
return the intensity of this stress.

13
 Example
Calculate the value of the equivalent uniaxial stress for an uniaxial state of
stress defined by:
E, G
y
 u  0x0
x
   0 0 0 
u u
 0 0 0 
x

14
  u 0 0
   0 0 0 
Example - Solution  0 0 0 

1 u  u 
Mean stress:  m  Tr (   0 0
3 3 3 
 m 0 0  
0   0  
Spherical and deviatoric parts    0  
u
0
sph m
3 
 0 0  m   
of the stress tensor: 0  u 
0
 3 
2 
3 u  0 0 
 u   m 0 0   
     sph   0 0    0 0 
1
 m  u
 3 
 0 0  m   
 0 1
0  u 
 3 
3 3 2 4 1 1 32
 ij ij  u (   )  u   u
2 2 9 9 9 23

15
 8.2 Principal Stress Space
Ch.8. Plasticity

16
 Principal Stress Space
 The principal stress space or Haigh–Westergaard stress space is
the space defined by a system of Cartesian axes where the three
spatial axes represent the three principal stresses for a body
subject to stress:
1   2   3

17
 Octahedral plane
 Any of the planes perpendicular to the hydrostatic stress axis is a
octahedral plane. 1
1  
 Its unit normal is n  1 .
3 
1 1   2   3

18
 Normal and Shear Octahedral Stresses
 Consider the principal stress space:
 The normal octahedral stress is defined as:

1/ 3 
 
3 oct  OA  OP  n   1 ,  2 ,  3  1/ 3  
 
1/ 3 
3
  1   2   3   3  m
3

I1
 oct  m 
3
19
 Normal and Shear Octahedral Stresses
 Consider the principal stress space:
 The shear or tangential octahedral
stress is defined as:
3 oct  AP

 Where the AP is calculated from:

 AP  OP  OA   12   22   32  
2 2 2
3 2
oct
1
  1   2   3   2 J 2'
2

3 Alternative forms of  oct :

1/2
1  2 1 2
 oct     2
  2
       
3  
1 2 3 1 2 3
3
2
 J 2       
1  2 1/2

 oct
2 2

12
 oct            
3 3  
1 2 2 3 1 3
3
20
 Normal and Shear Octahedral Stresses
 In a pure spherical stress state:

   sph   m 1      esf  0 J 2  0

A pure spherical stress state is

 oct  0 located on the hydrostatic stress axis.

 In a pure deviator stress state:

    m  Tr ()  Tr ()  0  oct  0

A pure deviator stress state is located on the octahedral

plane containing the origin of the principal stress space

21
 Stress Invariants
 Any point in space is unambiguously defined by the three
invariants:
 The first stress invariant I1 characterizes the distance from the origin to
the octahedral plane containing the point.

 The second deviator stress invariant J 2 characterizes the radius of the

cylinder containing the point and with the hydrostatic stress axis as axis.

 The third deviator stress invariant J 3

characterizes the position of the point on
the circle obtained from the intersection
of the octahedral plane and the
cylinder. It defines an angle   J 3  .

22
 Projection on the Octahedral Plane
 The projection of the principal stress space on the octahedral
plane results in the division of the plane into six “sectors”:
 These are characterized by the different principal stress orders.

Election of a criterion, FEASIBLE

e.g.:  1   2   3 WORK SPACE

23
 Example
Determine the shape of the surface in the principal stress space
corresponding to a function defined as,

aI12  bJ 2  c a, b, c  0

24
 Example - Solution
The relationship between the I1 and J 2 invariants, and the  oct
and  oct stresses is given by,
I1  Tr  3 m  3 oct  3  3 oct 
3 2 1
 
2
J 2   oct  3 oct
2 2

Substituting these expressions into the yield function reads,

  b
 
2 2
3a 3 oct  3 oct  c
2

25
 Example - Solution
And dividing by c the yield function takes the form,

   
2 2
3 oct 3 oct
1
c 2c
3a b

which corresponds to an axisymmetric ellipsoid with axis the

hydrostatic stress axis and semi-axis:

c 3a , 2c b

26
 8.4 Phenomenological Behaviour
Ch.8. Plasticity

38
 Notion of Plastic Strain
PLASTIC STRAIN

   e p

elastic limit:  e

LINEAR ELASTIC
BEHAVIOUR
  Ee

39
 Bauschinger Effect
 Also known as kinematic hardening.

f

e

 e

41
 Elastoplastic Behaviour
 Considering the phenomenological behaviour observed,
elastoplastic materials are characterized by:

 Lack of unicity in the stress-strain relationship.

 The stress value depends on the actual strain and the previous loading
history.

 A nonlinear stress-strain relationship.

 There may be certain phases in the deformation process with
incremental linearity.

 The existence of permanent (or plastic) strain during a loading /

unloading cycle.

42
 8.5 1D Incremental Plasticity Theory
Ch.8. Plasticity

43
 Introduction
 The incremental plasticity theory is a mathematical model used
to represent the evolution of the stress-strain curve in an
elastoplastic material.
 Developed for 1D but it can be generalized for 3D problems.

REMARK
This theory is
developed under
the hypothesis of
infinitesimal strains.

44
 Additive Decomposition
of Strain
 Total strain can be split into an elastic (recoverable) part,  e
,
and an inelastic (unrecoverable) one,  :
p


   
e p
where  e

E elastic modulus or
Young modulus

 Also,
d
d  d  d
e p
where d e

45
 Hardening Variable
 The hardening variable,  , is defined as: REMARK
The sign    function is:
d  sign   d  p

Such that d  0 and   p  0  0.

 Note that  is always positive and:

d  d  sign   d  p d  d  p
 
1
Then, for a monotonously increasing plastic strain process, both
variables coincide:
p p
d p  0    d p   d p   p
0 0

46
 Yield Stress and Hardening Law
 Stress value,  f , threshold for the material exhibiting plastic
behaviour after elastic unloading + elastic loading
 It is considered a material property.
 For  p    0  f  e HARDENING LAW
 f   e  H 
   f ( )

d f  H d
   f ( )

 H  is the hardening modulus

47
 Yield Function
 The yield function, F  ,   , characterizes the state of the material:

F   ,       f  

F  ,    0 F  ,    0
Space of
admissible
stresses
ELASTIC STATE ELASTO-PLASTIC STATE


E :   R F  ,    0  
E :   R F  ,    0 
ELASTIC DOMAIN YIELD SURFACE
INITIAL ELASTIC
DOMAIN: E  :
0
  R F  , 0      e 0 
48
 Space of Admissible Stresses
 Any admissible stress state must belong to the space of
admissible stresses, E (postulate):
E  E  E 
   R F  ,    0

F  ,       f  

Space of
admissible
stresses
REMARK

E    f ( ),  f ( ) 

49
 Constitutive Equation
 The following situations are defined:
 ELASTIC REGIME

  E d  E d 

 ELASTOPLASTIC REGIME – UNLOADING

  E
d  E d 
dF  ,    0

 ELASTOPLASTIC REGIME – PLASTIC LOADING

REMARK
  E The situation
  E
d  E ep d  dF ( ,  )  0
dF  ,    0
is not possible because, by
Elastoplastic
definition, on the yield
tangent modulus
surface F  ,    0 .
50
 Elastoplastic Tangent Modulus
 Consider the elastoplastic regime in plastic loading,
  E
F  ,       f    0 dF  ,    0

dF  ,    d   f   d  0

 
 sign ( ) H 
1
d  sign   d
H
 Since the hardening variable is defined as:
d  sign   d  p
d f  H d
1
d 
p
d for   E HARDENING LAW
H
51
 Elastoplastic Tangent Modulus
1
Elastic strain d e  d
E
1
Plastic strain d p  d
H
Additive strain decomposition :
1 1
d   d   d   (  ) d
e p

E H
1 EH 
d  d  d
1 1
 E  H

E H E ep
ELASTOPLASTIC EH 
d  E d ep E 
ep
TANGENT MODULUS E  H
52
 Uniaxial Stress-Strain Curve
 Following the constitutive equation defined

ELASTOPLASTIC
REGIME
d  E ep d 

ELASTIC
REGIME
d  E d 

REMARK
Plastic strain is generated only
during the plastic loading process.

53
 Role of the Hardening Modulus
 The value of the hardening modulus, H , determines the following
situations:
EH 
E 
ep

E  H

H  0
Linear elasticity Plasticity with
strain hardening H  0
Plasticity with
strain softening

Perfect plasticity

55
 Plasticity in Real Materials
 In real materials, the stress-strain curve shows a combination of
the three types of hardening modulus.

H  0
H  0 H  0

56
 8.6 3D Incremental Theory
Ch.8. Plasticity

57
 Introduction
 The 1D incremental plasticity theory can be generalized to a
multiaxial stress state in 3D.

The same concepts are used:

 Additive decomposition of strain
 Hardening variable
 Yield function

Plus, additional ones are added:

 Loading - unloading conditions
 Consistency conditions

58
    e   p
Additive Decomposition 
1D   e 
  E
of Strain
 Total strain can be split into an elastic (recoverable) part,  e
,
and an inelastic (unrecoverable) one,  :
p

  e  p where  e  C 1 : 

constitutive elastic
(constant) tensor
 Also,

d  d  d
e p
where d  e  C 1 : d 

59
  sign  
1D  d  p  
Hardening Variable d 

 The hardening variable,   f  ,  p  , is a scalar:

d   with    0,  

Where  is known as the plastic multiplier.

 The flow rule is defined as:

G  ,  
d  
p



Where G  ,   is the plastic potential function

60
 1D  F  ,       f  
Yield Function
 The yield function, F  ,   , is a scalar defined as:
Equivalent
F  ,          f    uniaxial stress

Yield stress

F  ,    0 F  ,    0
ELASTIC STATE ELASTOPLASTIC STATE


E :  F  ,    0  
E :  F  ,    0 
ELASTIC DOMAIN YIELD SURFACE
Space of
INITIAL ELASTIC
DOMAIN: E  :
0
 F  , 0   0 admissible E  E  E
stresses
61
 Loading-Unloading Conditions and
Consistency Condition
 Loading/unloading conditions (also known as Karush-Kuhn-
Tucker conditions):
0 ; F  ,    0 ;  F  ,    0

 Consistency conditions:
For F  ,    0   dF  ,    0

G ,  ELASTIC
F  0; dF  0   0; d  
p
0 LOADING/UNLOADING

 G ,  ELASTOPLASTIC
  0; d   0
p

 NEUTRAL LOADING
F  0; dF  0 
  0; d p   G ,   0 ELASTOPLASTIC
  LOADING
F  0; dF  0 IMPOSSIBLE
62
 Constitutive Equation
 The following situations are defined:
 ELASTIC REGIME ( F  0)

  E d  C : d 

 ELASTOPLASTIC REGIME – ELASTIC UNLOADING( F  0 and dF  ,    0)

  E
d  C : d 
dF  ,    0

 ELASTOPLASTIC REGIME – PLASTIC LOADING ( F  0 and dF  ,    0)

  E
d  C ep : d 
dF  ,    0
ELASTOPLASTIC
CONSTITUTIVE TENSOR

63 MMC - ETSECCPB - UPC 04/12/2015

 Elastoplastic Constitutive Tensor
 The elastoplastic constitutive tensor is written as:
REMARK
G F When the plastic potential function
C:  :C
C ep      C    and the yield function coincide, it is
F G said that there is associated flow:
H :C:
  G  ,    F  ,  

G F
Cijpq C rskl
 pq  rs
ep
Cijkl  Cijkl  i, j , k , l , p, q, r , s  1, 2,3
F G
H C pqrs
 pq  rs

64
 8.7 Failure Criteria: Yield Surfaces
Ch.8. Plasticity

65
 Introduction
 The initial yield surface, E0 , is the external boundary of the initial
0
elastic domain E for the virgin material
 The state of stress inside the yield surface is elastic for the virgin material.
 When in a deformation process, the stress state reaches the yield surface, the
virgin material looses elasticity for the first time: this is considered as a failure
criterion for design. Subsequent stages in the deformation process are not
considered.

66 MMC - ETSECCPB - UPC 04/12/2015

 Yield (Failure) Criteria
 The yield surface is usually expressed in terms of the following
invariants to make it independent of the reference system (in the
principal stress space):
F     F  I1 , J 2 , J 3    e  0
  with  1   2   3
  
REMARK
 Where:
Due to the adopted principal stress
I1  Tr      ii   1   2   3 criteria, the definition of yield
surface only affects the first sector
1 2
J 2 
2
  1
I1  2 I 2  I 2    :  
2
of the principal stress space.


J3 
1 3
3
     
1
3
  
1
3

I1  3I1 I 2  3I 3  I 3  Tr          ij jk ki
 
 The elastoplastic behavior will be isotropic.

67
 F          e  0
Von Mises Criterion
 The yield surface is defined as: REMARK
The Von Mises criterion
F     ( )   e  0 depends solely on the
second deviator stress
 Where     3J 2 is the effective stress. invariant.
(often termed the Von-Mises stress)
2
The shear octahedral stress is, by definition,  oct   2 .

12
 J
3
Thus, the effective stress is rewritten:
3 3
    3  oct 
3
 J 2    oct  oct
12

2 2 2

3
 And the yield surface is given by: F ( )   oct   e  0
2

68
 3
Von Mises Criterion F ( ) 
2
 oct   e  0

 The octahedral stresses characterizes the radius of the cylinder

containing the point and with the hydrostatic stress axis as axis.
2 2
 oct   e  3 oct   e
3 3

F     F  J 2    e

REMARK
The Von Mises Criterion is adequate for metals, where
hydrostatic stress states have an elastic behavior and
failure is typically due to deviatoric stress components.

69
 Example
Consider a beam under a composed flexure state such that for a beam section
the stress state takes the form,

 x  xy 0 

    xy 0 x 0
x
 0 0 0 

Obtain the expression for Von Mises criterion.

70
 Example - Solution
The mean stress is: 1 x
 m  Tr    
3 3
The deviator part of the stress tensor is:

 x   m  xy 0   23  x  xy 0 
 
     esf    xy  m 0     xy  13  x 0 
 0 0  m   0 0  13  x 

The second deviator stress invariant is given by,

1 14 2 1 2 1 2 2 2  1 2 2
J 2    :      x   x   x   xy   xy    x   xy
2 29 9 9  3

71
 Example - Solution
The uniaxial effective stress is:
    3J 2   x2  3 xy2

Finally, the Von Mises yield surface is given by the expression:

F ()  3J 2   e  0  x2  3 xy2  e

co
(comparison stress)

(Criterion in design codes for metal beams)

72
 F       e  0
Tresca Criterion
 Also known as the maximum shear stress criterion, it establishes
that the elastic domain ends when:
  
 max  1 3  e F     1   3    e  0
2 2
Plane parallel to axis  2

 It can be written univocally in terms of invariants J 2 and J 3 :

F ( )   1   3    e  F  J 2 , J 3    e

73
 Tresca Criterion F     1   3    e  0

F     F  J 2 , J 3    e  0

REMARK
The Tresca yield surface is appropriate for metals, which have an elastic behavior under
hydrostatic stress states and basically have the same traction/compression behavior.

74
 Von Mises and Tresca Criteria

75
 Example
Obtain the expression of the Tresca criterion for an uniaxial state of stress
defined by:
E, G
y
 u 0 0
   0
0x 0 x
 u u
 0 0 0 
x

76
  u 0 0
   0 0 0 
Example - Solution  0 0 0 

Consider:

1   u
u  0 F    ( 1   3 )   e   u   e   u   e
3  0 
u

1  0
u  0 F    ( 1   3 )   e   u   e   u   e
3  u 
u

The Tresca criterion is expressed as:

Note that it coincides with
F ( )     e  0 u  e the Von Mises criterion for an
uniaxial state of stress.

77
 Example
Consider a beam under a composed flexure state such that for a beam section
the stress state takes the form,

 x  xy 0 

    xy 0 x 0
x
 0 0 0 

Obtain the expression for Tresca yield surface.

78
 Example - Solution
The principal stresses are:
1 1 2 2 1 1 2 2
 1   x   x   xy ,  3   x   x   xy
2 4 2 4

Taking the definition of the Tresca yield surface,

F      1   3    e  0
1 1 2 2  1 1 2 2 
 e   1   3    x   x   xy     x   x   xy 
2 4  2 4 
 x2  4 xy2  e

sco
(comparison stress)
79
 Mohr-Coulomb Criterion
 It is a generalization of the Tresca criterion, by including the
influence of the first stress invariant.
 In the Mohr circle’s plane, the Mohr-Coulomb yield function takes
the form, cohesion internal friction angle
  c   tan 
REMARK
The yield line cuts the
normal stress axis at a
positive value, limiting the
materials tensile strength.

80
 Mohr-Coulomb Criterion
 Consider the stress state for which the yield point is reached:

 A  R cos 
1   3
A   R sin 
2

1   3 1   3 1   3 
 A   A tg   c  0 cos     sin   tg   c  0
2  2 2 
1   3   1   3  sin   2c cos   0 REMARK
For  0 and c  e / 2 ,
F     1   3    1   3  sin   2c cos   0 the Tresca criterion is
recovered.

81
 Mohr-Coulomb Criterion

F     F  I1 , J 2 , J 3   0

REMARK
The Mohr-Coulomb yield surface is appropriate for frictional cohesive
materials, such as concrete, soils or rocks which have considerably
different tensile and compressive values for the uniaxial elastic limit.

82
 Drucker-Prager Criterion
 It is a generalization of the Von Mises criterion, by including the
influence of the first stress invariant.
 The yield surface is given by the expression: REMARK
For  0 and c  e / 2 ,
F    3 m   J 2     0
1/2
the Von Mises criterion
is recovered.
Where:

2sin  6c cos  1   2   3 I1
 ;  ; m  
3  3  sin   3  3  sin   3 3

 It can be rewritten as:

3
F     I1   J 2     3 oct   oct     I1, J 2 
1/2

83
 Drucker-Prager Criterion

F     F  I1 , J 2 

REMARK
The Drucker-Prager yield surface, like the Mohr-Coulomb one, is appropriate for
frictional cohesive materials, such as concrete, soils or rocks which have
considerably different tensile and compressive values for the uniaxial elastic limit.

84
 Mohr-Coulomb and
Drucker-Prager Criteria

85
 Summary
Ch.8. Plasticity

86
 Summary
 The principal stress directions correspond to the set of axes that make
the shear stress components vanish when the stress components are
referred to this system.  33
 The normal stress components in the x3  31  32 x3
 x3
principal planes are the principal stresses. 13  23
 1 0 0  1   2   3 11 12  21  x1 3
    0  2 0  1
22

2
 0 0  3  x1 x1
x2 x2
x2
1 1 1
 Mean stress:  m  Tr     ii   1   2   3 
3 3 3

 Mean pressure: p   m

 A spherical or hydrostatic state of stress:  1   2   3  1

87
 Summary (cont’d)
 The Cauchy stress tensor can be split into:
spherical stress tensor:  sph :  m 1
   sph   
stress deviator tensor:    dev      m 1

 Stress invariants: J1  I1   ii
I1  Tr      ii   1   2   3
J2  
1 2
I1  2 I 2    ij ji    :  
1 1
I 2    :   I12     1 2   1 3   2 3 
1 2 2 2
2
I 3  det    J3 
3

1 3
I1  3I1 I 2  3I 3   Tr          ij jk ki
1
3
1
3
J1  I1  0
I1  Tr     0
1

I 2   :   I12  J 2 
2

1 2
 1
I1  2 I 2  I 2    :  
2
2
I 3  det      ij jk ki 
 
1
I1  3I1I 2  3I 3  I 3  Tr          ij jk ki 
1 3 1 1
3 J 3 
3 3 3
88
 Summary (cont’d)
 Effective stress:
3 3
  3J 2'  ij ij  ´: ´
2 2
Principal stress space or
Haigh–Westergaard stress space:
1   2   3

 Normal octahedral stress:

I1
 oct   m 
3

 Shear octahedral stress:

1
n 1, 1, ,1
T
2
 oct   J 2 
12
3
3

89
 Summary (cont’d)
 Any point in space is unambiguously defined by the three invariants:

The projection of the principal

stress space on the octahedral
plane results in the division of
the plane into six spaces:

FEASIBLE
WORK SPACE

90
 Summary (cont’d)
 Phenomenological behaviour:
 Plastic strain
 Hardening
Perfectly Plastic
 Bauschinger Effect Material

 Elastoplastic materials are

characterized by:
 Lack of unicity in the stress-strain relationship.
 A nonlinear stress-strain relationship.
 The existence of permanent (or plastic) strain during a loading / unloading
cycle.
94
 Summary (cont’d)
 1D Incremental Theory:

 Additive decomposition of strain:    
e p
where  
e

E
 Hardening variable: d  sign   d  p such that d  0 and   p  0  0

Yield stress,  f : HARDENING LAW

  f   e  H 
d f  H d

hardening
parameter

 Yield function:
F  ,    0 ELASTIC STATE
F  ,       f  
F  ,    0 ELASTOPLASTIC STATE

95
 Summary (cont’d)
 1D Incremental Theory (cont’d):
 Space of admissible stresses

E  E  E 
   R F  ,    0
Space of
admissible
 Constitutive Equation: stresses
 ELASTIC REGIME: F  ,    0
  E d  E d 

 ELASTOPLASTIC REGIME: F  ,    0 – UNLOADING

Elastoplastic
  E ; dF  ,    0 d  E d 
tangent modulus
 ELASTOPLASTIC REGIME: F  ,    0 – PLASTIC LOADING EH 
E 
ep

  E ; dF  ,    0 d  E d 
ep
E  H

96
 Summary (cont’d)
 1D Incremental Theory (cont’d):
 Uniaxial Stress-Strain Curve
ELASTOPLASTIC
REGIME
d  E ep d 

ELASTIC
REGIME
d  E d 

97
 Summary (cont’d)
 1D Incremental Theory (cont’d):
 Role of the hardening parameter

Perfect plasticity

Lineal elasticity
Plasticity with
Plasticity with strain strain softening
hardening

Perfect plasticity

98
 Summary (cont’d)
 3D Incremental Theory: generalization of the 1D incremental theory.
The same concepts are used:
 Additive decomposition of strain:   e  p where  e  C 1 : 
 Hardening variable: d   with    0,  
FLOW RULE: plastic potential
function
G  ,  
d  
p

 plastic
multiplier
 Yield function: equivalent
uniaxial  
F  ,         f   stress

F  ,    0 ELASTIC STATE
0
F  ,    0 ELASTOPLASTIC STATE
99
 Summary (cont’d)
 3D Incremental Theory (cont’d):
Plus, additional ones are added:
 Loading - unloading conditions (Kuhn-Tucker conditions):
0  0 F 0
F  ,    0
 F  ,    0 F 0  0

 Consistency conditions:
If F  ,    0 , then  F  ,    0
F  0; dF  0  0 LOADING
F  0; dF  0   0;  p  0 PLASTIC LOADING
F  0; dF  0 impossible

100
 Summary (cont’d)
 3D Incremental Theory (cont’d):
 Constitutive Equation:
 ELASTIC REGIME: F  ,    0
  E d  C : d 
 ELASTOPLASTIC REGIME: F  ,    0 – UNLOADING
  E ; dF  ,    0 d  C : d 
 ELASTOPLASTIC REGIME: F  ,    0 – PLASTIC LOADING
  E ; dF  ,    0 d  C ep : d  Elastoplastic constitutive
tangent tensor
G F
C:  :C
C ep      C   
F G
H :C:
 

101
 Summary (cont’d)
 The yield surface is the external boundary of the elastic domain.

F     F  I1 , J 2 , J 3 
with  1   2   3

I1  Tr      ii   1   2   3

J 2 
2

1 2
 1
I1  2 I 2  I 2    :  
2

J 3 
3

1 3
 1
3
1

I1  3I1I 2  3I 3  I 3  Tr          ij jk ki
3


102
 Summary (cont’d)
 Yield criteria:
3
 Von Mises Criterion F    3 J 2   e  0 e   oct F     F  J 2 
2
 Tresca Criterion F     1   3    e  0 F ( )  F  J 2 , J 3 

103
 Summary (cont’d)
internal
 Yield criteria: friction angle
 Mohr-Coulomb Criterion F     1   3    1   3  sin   2c cos   0
F     F  I1 , J 2 , J 3  cohesion
Drucker-Prager Criterion F    3 m   J 2     0
1/ 2


F     F  I1 , J 2  2sin  6c cos  1   2   3 I1
 ;  ; m  
3  3  sin   3  3  sin   3 3

3 c cotan
104