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Yielding
O B
F
A
C
A
L0
Elastic
behaviour
L
L0
sp ~Y (logscale
Y
Yield point, the stress
cannot be higher than
this value
Plastic behaviour:
unrestricted plastic
flow takes place at
this stress level.
Elastic
behaviour
= e+ p
L
L0
Rigid Perfectly
Plastic
Elasto-plastic
perfect plasticity
Elasto-plastic
hardening
d = d e + d p
{ { {
to ta l
e la s tic
Yield limit
depends on
(effective)
stresses
p la s tic
Elasto-plastic
softening
On softening models
Y0 = yield stress
YF = failure stress
Stresses ()
Total stresses = Effective stresses + Pore Pressures
Elasto-Plastic Models
An elastic law
Stress
Ideal plastic
Stress
Strain hardening
Yield Surface
1
PLASTIC
On the surface
It is a
generalization of
the 1D case
Yield limit (1-D)
Yield surface (2D3D)
ELASTIC
Inside yield
surface
IMPOSSIBLE
STATE
Outside
F ( ij , )=0
i) = 0
F(,h
i
Yield Surface
F({ },h ) = 0
F({ }+ {d },h + dh ) = 0
Yield Surface
Fixed yield surface F (ij) = 0
Perfect plasticity
Expanding yield surface F(ij,hi) = 0
Hardening plasticity
Contractive yield surface F(ij,hi) = 0
Softening plasticity
The expansion or contraction of the YS is controlled by the hardening (or
softening) parameters hi
The stress state must be either inside the surface or on the surface (stress
states outside the surface are not allowed).
Stress inside the surface F(ij,hi) < 0 elastic strain only
Stress on the surface F(ij,hi) = 0 elastic and plastic strain
Yield Surface
The YS is often expressed in term of the stresses or stress invariants.
p',q are typical stress variables used to describe soil behaviour and, also, to
define the YS
Therefore typical expression of the YS are as follows:
f ( ij , h ) = 0
where
p0
f ( p, q, p0 ) = 0
Flow Rule
In one-dimensional problem, it is
clear that plastic strains take place
along the direction of applied stress
In 2D or 3D we need to make a
hypothesis regarding the direction
of plastic flow (relative magnitude of
plastic strain increments)
1, 1p
p
3, 3p
g ( ij' , ) = 0
where
g ( p, q, ) = 0
g
d = d
;
p
p
p
g
d = d
q
p
q
g
d = d
ij
p
ij
g ( p, q, ) = 0
So, we know the plastic-strain direction, but how we can determine the
magnitude?
Hardening rule
It is necessary to provide a description of the variation of the size and/or
position of the yield surface during plastic deformations (i.e. how the YS
evolve during yielding)
q
p0 = p0 ( pp , qp )
YS
p0
p0
p
dp0 = p d p + p d qp
p
q
po
p'
Consistency condition
The plastic state is reached when the stress state is on the surface:
f ( p, q, p0 ) = 0
It is assumed that once yield occurs (i.e. f = 0), the stresses must remain on the
yield surface during plastic deformation.
This constraint is enforced by the consistency condition as follows:
df = 0
Consistency condition
f
f
f
df =
dp + dq +
dp0
p
q
p0
dp0 =
p0
p0
p0
g p0
g
p
p
d p + p d q = p d
+ p d
p
p q
q
p
q
p
f
f
f
df =
dp + dq +
p
q
p0
f ( p, q, p0 ) = 0
g
d = d
{ '}
p
Now we can
determine the
magnitude of the
plastic strain
p0
g p0
g
+ p d = 0
p d
p q
q
p
14444244443
dp0
f
f
dp + dq
p
q
d =
f p0 g p0 g
+ p
p
p0 p p q q
Plastics Deformations
f
f
f
f
dp + dq
dp + dq
g
g
p
q
p
q
d pp =
d qp =
f p0 g p0 g p
f p0 g p0 g q
+ p
+ p
p
p0 p p q q
p0 p p q q
f g
p p
d pp
1
p =
d q f p0 g p0 g f g
+ p
p
p q
q
q
0 p
f g
q p dp
f g dq
q q
Plastic modulus, H
H = 0 perfect plasticity and Eq. above not valid!
H > 0 plasticity with hardening
H < 0 plasticity with softening
Theory of Plasticity
1.
Elastic Strain
2.
Yield surface
3.
Plastic Potential
4.
Flow rule
d ep 1 K
0 d p
e =
d q
0
1
3
G
q
f ( p , q , p 0 ) = 0
g ( p, q, ) = 0
d pp = d
g
g
; d qp = d
p
q
Theory of Plasticity
Summary
5.
Hardening law
p0 = p0 ( pp , qp )
dp0 =
6.
p0
p0
p
p
d
+
p
q
pp
qp
Plastic deformations
f g
p p
d pp
1
f g
p =
f p0 g p0 g
q
+ p
p q
q
q
0 p
7.
Total deformations
f g
q p dp
f g dq
q q
d p d ep d pp
d = e + p
q d q d q
Elastoplastic Matrix
{d } = [D ]ep {d }
[D ]
ep
= [D ]
e
{b}f {b}g
T
= H + {a }Tf [D ]e {a }g
F
H =
h
{a}g
{a }g
{ }
g
=
;
{ '}
{a}f
f
=
{ '}
= [D ] {a }f
e
Elastoplastic Matrix
1. is a scalar quantity, for perfect plasticity
F
=0
h
H=0>
= {a} [D ] {a}q
T
f
[K ] = [B ]T [D ] ep [B ]dV
Mohr--Coulomb Idealisation of
Mohr
Geomaterials
1 3
2=3
3
m = c+ n tan = f
where c and are strength parameters.
f( )= - n tan c= 0
Failure criterion
n
1 > 2 > 3
= c + n ta n
f
D
3
A
90
nf
n
45 2
45 2
1 > 3
3
FAILURE
PLANES
F = ( 1 3 ) ( 1 + 3 ) sin 2 c cos = 0 1
1=2= 3
rp
tan
Yield function
Plastic potential
function
const.= 0
3
n
1 > 2 > 3
, d
F=0
G=0
n ,n&,np dn p
= + i
The apparent externally mobilized angle of friction on horizontal planes () is larger
than the angle of friction resisting sliding on the inclined planes (i)
'3 = '1 q
( '
3
1 +2 '3 )
q = '1 '3
6 p' + q
3
3 p ' + 2q
3
3 p' q
3
3 sin
3 sin
F = q p c = 0
MC - Model formulated
in p' - q
p
'
K
'
0
v
=
e
q 0 3G ' q
F ( p, q) = q p c* = 0
F
F
condition
dp + dq = 0 : consistency
consistency
condition
p
q
Hooks law
dq = 3G ( d q d qp )
F
d = d
: flow rule
p
p
v
F
d = d
q
p
q
F
F
F F
F
F
Kd v
Kd
+
3Gd q
3Gd
=0
p
p
p Q
q
q
F F K
F
F
,
Kd v +
3Gd q
0
q
p
Q
d =
=
F F F
F
K
+
3G
p p q
q
F F K
p , q 0
0 d v
3G d q
F
0 p
3G F
q
F
= 1,
q
p
v
d = d ,
dp K
=
dq 0
=
3G
K
0
3G
K + 3G
d = d
3G d
0
d =
p
q
K
0
Kd v + 3Gd q
d
d
{}
{}
d
d
d
d
p
v
p
q
F = q p c* = 0
{}
{}
d
3G
3G
[ K
2
{}
3G ] d
K + 3G
3G
0
3G
K
K + 3G
3GK
K + 3G
2
1
2
K + 3G
K
2
3G
K
+ 3G
3GK
2
1
2
K + 3G
9G
3G
K + 3G
9G
3 GK
3G
{}
d
{}
3 GK d
2
{}
3 G d
ep
2K 2
K 2 K + 3G
=
3GK
2 K + 3G
det D ep = 0
9G 2
3G 2
K + 3G
3GK
2 K + 3G
perfect plasticity
In general form :
F
D D
=
%T
F
%
e
D ep
F
eT
D
%
e F
D
Drawbacks of MC
Mohr-Coulomb failure criterion is well proven through
experiments for most geomaterials, but data for clays is still
contradictory!
An associated flow rule implies continuous dilation at a
constant rate upon shearing; this is unrealistic and leads to
negative pore pressures in undrained conditions. In an nonassociated flow rule with < , the rate of dilation is less, but
it is still constant. If = 0 then the rate of dilation is zero.
Care must be taken in applying the model for undrained
loading. This will be discussed further as part of lecture on
Drained and Undrained Analysis.
Drawbacks of MC
Soils on shearing exhibit variable volume change
characteristics depending on pre-consolidation pressure
which cannot be accounted for with MC
In soft soils volumetric plastic strains on shearing are
compressive (negative dilation) whilst Mohr-Coulomb model
will predict continuous dilation
unlimited dilation
isotropy
elastic response far from the limit state
Stress invariants
Mean effective stress
1
1
= ( 1 + 2 + 3 ) = ( x + y + z )
3
3
=
J2 =
J2
[
[
1
( 1 2 )2 + ( 2 3 )2 + ( 3 1 )2 =
6
1
( 1 M )2 + ( 2 M )2 + ( 3 M )2
2
J 3 = ( 1 M )( 2 M )( 3 M )
Lode angle
1
1 3 3 J 3
= sin
3
3
2
-30< < 30
ON =
3 M
PN
= OP ON
= ( 1 M ) + ( 2 M ) + ( 3 M ) =
2
= 2J 2
PN =
2 J2 =
Von Mises
F =
3 Y0 = 0
r =
m space
2
Y0
3
Von Mises in 3D
F =
3 Y0 = 0
Tresca
F = 1 3 Y0 = 0
in invariant formulation
F = 2 cos Y0 = 0
> dependent on Lode angle
Tresca in 3D
F = 2 cos Y0 = 0
Y0 = 2 c u
No volume change > = 0.5 (for numerical reasons 0.49)
Plastic volumetric strains ?
assume Lode angle = 0
F = 2 2 cu = 0
Assume associated flow rule
F
d MP = d
=0
F
= d
= 2d
P
vol
= d
P
M
=0
P
vol
= d
P
M
=0
MC Invariant formulation
F = M
1
sin + cos
sin sin c cos = 0
3
Drucker-Prager
Drucker-Prager vs MC
Outline
Local level
- nodes
- stress points or integration points
- elastic point, plastic point, apex point, tension point
- constitutive stress and equilibrium stress
- local error
Global level
- initial stress method
- extrapolation
- arc-length control
- global error
Load advancement
- ultimate level
- number of steps
Calculation
Basic Concepts and Algorithms
Local Level
Global Level
Load Advancement
Calculation
Initial situation
Calculation
Calculation phases
Calculation types
Plastic
Consolidation
Phi-c reduction (limit state analysis)
Calculation (continues)
Calculation phases (continues)
Loading input
Staged construction
Calculation (continues)
Output
Displacements, stresses, forces etc. per
step/phase
Displacements and pore pressures are nodal
values
Stresses, strains and state variables are Gauss
point level values
Load-displacement curves
Basic Concepts
PHASE
Find equilibrium in final
situation
Subdivide in load steps
LOAD STEP
Find equilibrium for load
increment
u = K-1 P
2. Total increments
u = u +u
3. Strain increment
= Bu
4. Determine stresses
c = 0 + De( p)
5. Internal reaction
P in =Bt c dV
6. Equilibrium??
P in P ex
u = K-1 (P ex - P in)
Local Level
Nodes and Stress Points
6-node triangle
15-node triangle
Plane strain
Working load
Failure loads
Phi-c reduction
Axisymmetry
dp=0
33
11
Plastic point f = 0
dp 0
Local Error
Constitutive stress c:
Stress that follows from the constitutive
model (e.g. Mohr Coulomb)
Inaccurate point:
Local Error =
c eq
c
Standard setting:
Tolerated error = 0.01
Local Error
For MC model
Local Error =
e c =
e
x
Tmax = max
) (
2
) (
) (
c eq
) (
2
Tmax
) (
2
Input load
Load multipliers
Loads (continues)
Most calculations: Staged construction
Total load in last calculation step
Nonlinear Analysis
Global Error
Global Error =
unbalance
load
Unbalance = q e q c
Convergence requirement:
Global error Tolerated error
Standard setting:
qe= external load (including gravity loads)
qc= internal reaction forces (integral of c)
Convergence Requirements
Accuracy reached if:
1.
2.
3.
empirical
Global Error =
unbalance
load
Local Error =
c eq
c
u
Reaching prescribed
ultimate level
u
Failure before reaching
prescribed ultimate level