Lecture 1

Stress and Small (Infinitesimal) Strain

Finite Element Method
Mohr Circles

Stress
Representation of 9 stress components in a
Cartesian Coordinate

xx xy xz

yx yy yz
zx zy zz

If the body is in equilibrium, then there is only

6 independent stress components

xy yx xy
yz zy yz
zx xz zx

xx xy xz

xy yy yz
xz yz zz

If there is no shear stress on a surface, then the traction vector

be parallel to the unit normal vector n
.

(think of it as a force vector) must

T x , y , z , xy , yz , zx

T T n n where is a scalar multiplier

Rearranging this equation

I n

0 where I is an identity matrix

From linear algebra, the condition for the existence of a unique solution is

det I 0

If we expand the determinant of this equation, we find the characteristic equation (an eigenvalue problem)

3 I 1 2 I 2 I 3 0

xx
xy
xz n1

yy
yz n2 0
xy
xz
n3

yz
zz

If we substitute each of

1, 2 , 3

to replace

2
2
2
n1 n2 n3 1

, we can solve for the corresponding eigenvectors

n1 , n2 , n3

 xx xy xz 8 5 0

xy yy yz 5 6 0
0

0
4
yz
zz

xz

p xx yy p xx yy xy 0
2

1, 2
1, 2

1
1
2
2
xx yy xx yy xy
2
4

1
1

2
8 6 8 6 52
2
4

1
2

1
2

1
2

1
1

1 8 6 8 62 52 12.10 MPa
2
4

1
2

1
1

2 8 6 8 62 52 1.90 MPa
2
4

3 4 MPa

If we substitute

xx 1
xy
xz n x1

yy 1
yz n y1 0
xy
xz
n z1

yz
zz
1

n x1
n y1
n z1

A
A2 B 2 C 2
B
A2 B 2 C 2
C
A2 B 2 C 2

yy 1
yz
A
yz
zz 1
xy
yz
B
zx zz 1
xy yy 1
C
zx
yz

Ax Y

General Equation Constituting an Eigenvalue Problem

If = eigenvalues, then this equation becomes:

Ax x
This equation is known as eigenvector equation and it can be represented by the
following homogeneous equations:

A I x 0
1 0
I identity matrix e.g.
0 1
solution for xare known as eigenvectors

since xis not zero,therefore

A I

A11
A21

A12
A22

.
.

A1n
A2 n

.
An1

.
An 2

.
.

.
Ann

This equation is known as the characteristic equation:

4
A
1
4
1

2
8
2

4 8 2 x1 0
or

12 30 0
2

The eigenvalues or roots are

1 8.449

2 3.551

To determine the eigenvectors, substitute the eigenvalues into the equation:

4 1
1

2 x1
0

8 2 x2

which gives an eigenvector corresponding to eigenvalue 1 of 8.449:

4 8 .449

x1
0

8 8.449 x2
2

x1 0 .45

x2 1

and an eigenvector corresponding to the second eigenvalue 2 of 3.551:

4 3 .551

x1
0

8 3.551 x2
2

x1 1

x 2 0 .225

The matrix A is said to be positive-definite, as both its roots are positive.

For nth order matrix, it would involve polynomial of the nth degree

First Invariant (independent of coordinate system) of Stress Tensor

I1 x y z
Second Invariant of Stress Tensor

1 2
2
2
2
I 2 x y z x y z xy2 yz2 zx2
2

2
Third Invariant of Stress Tensor

I 3 x y z 2 xy yz zx x yz2 y xz2 z xy2

Second Invariant of Deviatoric Stress Tensor

1
1
2
2
2
J 2 s x2 s y2 s z2 xy2 yz2 zx2 x y y z x z xy2 yz2 zx2
2
6

Third Invariant of Deviatoric Stress Tensor

J 3 s x s y s z 2 xy yz zx s x yz2 s y xz2 s z xy2

1
where si i I1
3

0
m 0
I1

m 0 m 0
3
0
0 m
xx m
xy
xz

yy m
yz
xy
xz
yz
zz m

Hydrostatic Stress

Deviator Stress

Stress Vector

T x , y , z , xy , yz , zx

Deviatoric Stress Vector

Vector Equivalent of the
Kronecker Delta

Displacement Vector
Strain Vector
Volumetric Strain

mI1
s
3
mT 1,1,1,0,0,0

T x , y , z , xy , yz , zx

vol x y z

Deviatoric Strain Vector

Octahedral Normal Stress

Octahedral Shear Stress

m vol
e
3
oct
oct

I1

2
J2

Differential Equation of Equilibrium in Cartesian Coordinate

xx xy zx

X 0

y
z
x
xy yy yz

Y 0
x
y
z
zx yz zz

Z 0
y
z
x

Small Strain
Representation of 9 strain components in a
Cartesian Coordinate

u x
x

u y

u
x
u
z
x

u x
y
u y
y
u z
y

For symmetry reasons, then there is only 6

independent strain components

u x
z

u y xx
yx

u z zx

xy xz

yy yz
zy zz

Normal Strain

1 u x u y Shear Strain
xy yx

2 y
x
1 u y u z xy 1 xy
yz zy

2
2 z
y
1 u

zx xz z x
2 x
z
2
2 xy
2 xx yy

2
2
2
y
x
xy

2 yz 2 zx 2 xy
2 xx

2
yz
x
xy xz

2 yy

2 yy

z 2

yz
2 zz

2
2
y
yz
2

2 xz
2 zz 2 xx
2

2
2
z
xz
x

2
2
2 zx xy yz

2
zx
y
yz yx

2 xy 2 yz 2 zx
2 zz

2
xy
z
zx zy

Compatibility of Strain to ensure

that a single valued displacement
can be found from integrating the
strain

 v xx yy zz
v

xx 3

dev xy

zx

xy
yy
yz

Volumetric Strain

yz

zz v
3

zx

v
3

Deviator Strain

Stress-Strain Relationship

D
Elasticity Matrix

xx
(1 )


yy

zz
E (1 ) (1 )

xy (1 )(1 2 ) 0

yz

0
zx

Shear Modulus

Lames Constant

(1 )
1

(1 )

(1 )

(1 )

(1 2 )
2(1 )

(1 2 )
2(1 )

E Youngs Modulus
G
2(1 ) Poissons ratio

E
2G

(1 2 ) (1 )(1 2 )

0 xx

yy
0

zz

0 xy

yz
0 zx

(1 2 )

2(1 )
0

Isotropic Material

 S
Elastic Modulus

xx
1

yy

zz 1

xy E 0
yz
0

0
zx

0
0
0

0
0
0

xx

yy
zz

2(1 )
0
0 xy
0
2(1 )
0 yz

0
0
2(1 ) zx
0
0
0

0
0
0

0
0
0

Transverse Isotropic Material E.g., Shale

1

xx
1

yy
2

zz 1
0
xy E1
0
yz

zx
0

1
1

2
2
E1
E2
0

0
0

0
0

2(1 1 )
0

0
E1
G2

xx
0 yy

zz

0
xy
0
yz
E1 zx

G2
0
0

n(1 n 2 2 ) n( 1 n 2 2 ) n 2 2 (1 1 )
xx

2

n(1 n 2 ) n 2 2 (1 1 )

yy
2

(1 1 )
zz
E2

0
0
0

n
(
1
)(
1
2
)
1
1
2
xy

yz

0
0
0

zx
0
0
0

E1 Properties in the plane of isotropy

E2 Properties normal to the plane of isotropy

E1
n
E2
G2
m
E2

xx
0
0
0
yy

0
0
0
zz
1
2
xy
n(1 1 2n 2 )
0
0
2

2
yz
0
m(1 1 )(1 1 2n 2 )
0
2
0
0
m(1 1 )(1 1 2n 2 ) zx
0

Plane Stress Problem: Thin Plate

xx xy
yx yy
0
0

0
0
0

xx
E

yy
2
1
xy

1
xx E

yy
E
xy 0

E
1
E

0

x
0 y

1 xy
G

Plane Strain Problem: Tunnel, Retaining Wall

1
1

0 0

xx
0 yy
1
xy

xx
yx
0

xx

E


1
yy

1
1
2

0
xy
0

zz xx yy

1
xx xx yy
2G
1
yy
yy xx yy
2G

xy xy
2G

xx

xy 0
yy 0
0

0 xx

0 yy
1 2
xy

Principal Stress Space and Yield Criterion

cos 0

1
3

All principal stresses are the same (isotropic stress)

Principal stresses are not the same (general condition)

plane

Three orthogonal Unit vector along the stress path

n D , n F , n E

1
1
n D
1
3
1

0
1
n E
1
2
1

2
1
n F
1
6
1

Along diagonal

on plane

on plane

The components of stresses in the D, E and F directions are given by

the inner products of stresses with the three unit vectors:

1
1 2 3 3 p
3

1
2 3
2

1
2 1 2 3
6

By Pythagorean Theorem,

Or the deviatoric stress q is

2
E

Mean stress

1
2 2

I1
3

2 2

1 2 2 3 2 1 2 2 3 3 1
3

q 1 2 3 1 2 2 3 3 1
2

1
2

1
q
( 1 2) 2 ( 2 3) 2 ( 3 1) 2
2

q I1 3 I 2
2

1
2

tan

F 2 1 2 3

E
3 3 2

Lode Angle

1
2

1
2

2
q
3

Yield Criterion for Metal (Tresca in 1864)

1 3 T

(tensile stress at failure for metal )

E 3 F 2 1 3 2 T

Yield Criterion for Metal (Von Mises in 1913)

2 Y 1 2 2 3 3 1
2

Y Axial Yield stress

Equation of a circle

Mohr Coulomb Yield Criterion (1773)

Triaxial Compression
Test

Triaxial Extension
Test

For 1 2 3
1
1 3 cos
2
1
1
1 3 1 3 sin
2
2

Looking at the plane

Irregular Hexagonal Shape
Perspective View

1
2
1 D F
3
3
1
1
1
2 D E F
3
2
6

1 1 sin 3 1 sin 2c cos

1
1
1
D E F
3
2
6

For 1 2 3 3 E 1 sin F 3 sin 2 6c cos 2 2 Dsin

The size of the yield surface depends upon

D and mean stress p

Normally, Mohr-Coulomb Yield Criterion is expressed

in 3-D stress space as:

sin sin
sin
F I1
cos
J 2 c cos 0
3
3

=Lode Angle

sin 3 J 3

3 3
2J

3
2
2

with 6

Lode Angle

tan

F 2 1 2 3

E
3 3 2

Drucker-Prager Yield Criterion (1952)

1. Modify Von Mises Yield Criterion so that

q
Difficult representation
in Sharp Corner

6 sin
6c cos
p
3 sin
3 sin

Normally, Drucker-Prager Yield Criterion is

expressed in 3-D stress space as:

F J 2 I1 k 0

relates to frictional component of shearing resistance

relates to cohesion component of shearing resistance

2. Modify Mohr Coulomb Yield Criterion by Lade and Duncan (1975) for cohesionless soil (c=0)

1 2 3 p where is a material constant

3

12 sin 2
16 sin 3
where 1

(3 sin ) 2 (3 sin ) 3

3 D( E F ) 2 F(3 E F ) 2(1 ) D
2

3. Modify Mohr Coulomb Yield Criterion by Matsuoka and Nakai (1974) for cohesionless soil (c=0)

1 2 3 p( 1 2 2 3 3 1) where is a material constant

3(1 sin sin 2 sin 3 )
where
9 9 sin sin 2 sin 3

2 F 6 E F2 2 (1 3 ) D 3 2 (1 ) D( E F ) 0
3

Normally, Matsuoka and Nakai Yield Criterion

is expressed in 3-D stress space as:

F I 2 K 0
1

I3

Concept of Stress and Strain in

Plasticity

Radial Force on side 3

( r ) 3 r3 d ( r r ) 3 d
Normal Force on side 4
d
d
( ) 4 (r1 r3 ) sin( ) ( ) 4 dr ( )
2
2

Shear Force on side 2

( r ) 4 dr

Normal Force on side 2

d
d
( ) 2 (r1 r3 ) sin( ) ( ) 2 dr ( )
2
2

Shear Force on side 4

( r ) 2 dr

Radial Force on side 1

( r )1 r1d ( r r )1 d

R body force component per unit volume (in radial direction)

S body force component per unit volume (in tangential direction)

force in radial direction

Equation of Equilibrium

d
d
( ) 4 dr

( r r )1 d ( r r )3 d ( ) 2 dr
2
2
r 2 r 4 dr Rrddr 0
Divide both sides by drd

r 2 r 4
( r r )1 ( r r ) 3 1
( ) 2 ( ) 4
Rr 0
dr
2
d

Area gets smaller

to the limit

( r r )
r

r
d

 r 2 r 4
( r r )1 ( r r ) 3 1
( ) 2 ( ) 4
Rr 0
dr
2
d
( r r ) r ( r ) r r r r

r
r
r
r
r
r
r r
Rr 0
r
d
r
Divide the equation by r

r 1 r r

R0
r r
r
Similarly the equation of equilibrium in the tangential direction

1 r 2 r

S 0
r
r
r

Expand by product rule

Differential equation of equilibrium in Polar Coordinate

Differential equation of equilibrium in Cartesian Coordinate

r 1 r r

R0
r r
r

x xy

X 0
x
y

1 r 2 r

S 0
r
r
r

y
y

xy
x

Y 0

Make use of Airy stress function to find the elastic stress distribution of a circular hole in an
infinite medium under isotropic stress condition

Internal Pressure Pi
External Pressure Po

Differential equation of equilibrium in Cartesian Coordinate

x xy

X 0
x
y

For no horizontal acceleration, X=0

Body force is simply the weight of the body

y
y

x xy

0
x
y

xy
x
xy
x

Y 0
g

g 0

Also need the Compatibility Equations in terms of Stresses

Components of Strain

u
x
x

Differentiate twice w.r.t. y

v
y
y

xy

u v

y x

Differentiate twice w.r.t. x

Differentiate w.r.t. x and then y

Arrive the Compatibility Equation in terms of Strain

2 y

2 xy

x
2
2
y
x
xy
2

Use Hooks Law to transform into Compatibility Equation in terms of Stress

For Plane Stress Condition:

1
1
x ( x y) y ( y x)
E
E

xy

1
2(1 )
xy
xy
G
E

Substitute into the compatibility equation, we get:

2 ( x y )
y

2 ( y x )
x

2(1 )

2 xy
xy

Next, to differentiate the equilibrium equation

x xy

0
x
y
y xy

g 0
y
x

Differentiate w.r.t. x

Differentiate w.r.t. y and then add the

two equations and it becomes:

2 xy

2 y

x
2
2
xy
x
y 2
2

The Compatibility Equation in terms of Stresses is obtained by substituting

2 xy

2 y

x
2
2
xy
x
y 2
back into

2 ( x y )
y

2 ( x y )

2 ( y x )
x

2 ( y x )

2(1 )

2 xy
xy

2
2 x y
)
(1 ) ( 2
2
x
y

x 2
y
2
2
2
2
2
2

x
y
y
x

(1 ) ( 2
)
2
2
2
2
2
y
y
x
x
x
y
2

2
2
2
2
2 x y y 2 x
2 x y 2 x y

2
2
2
2
2
2
y
y
x
x
x
y
x
y 2

 2 y

2 y

x
x

0
2
2
2
2
y
x
y
x
2

2
2
2 2 x y 0
x y

The Compatibility Equation in terms of Stresses

For Plane Stress Condition:

The Compatibility Equation in terms of Stresses for Plane Stress Condition

including body forces are similarly derived and given as follows:

2
X Y
2
2 2 x y 1

x y
x y

For Plane Strain Condition:

1
x 1 2 x 1 y
E
1
y 1 2 y 1 x
E
2
2
2 2 x y 0
x y

xy

1
2(1 )
xy
xy
G
E

The Compatibility Equation in terms of Stresses

For Plane Stress Condition also the same for
Plane Strain Condition

The Compatibility Equation in terms of Stresses for any general case with
body forces are similarly derived as follows:

2
2
1
2 2 x y
1
x y

X Y

x y

The usual method of solving both the equilibrium and compatibility

equations is to introduce a new stress function (introduced by
Airy in 1862, that is why call Airy Stress Function)

x xy

0
For the equilibrium equations
x
y

y
y

xy
x

g 0

to be satisfied, it has been shown that the new stress function

must also satisfy the following expressions for the stress
components:

2
x 2 gy
y

y 2 gy
x
2

xy

xy

Substitute these expressions

into the Compatibility equation

2
x 2 gy
y

2
y 2 gy
x

2
2
2 2 x y 0
x y

The stress function must also satisfy the following expressions:

4
4
4
2 2 2 4 0
4
y
x
x y
If this stress function can be satisfied, then the equilibrium
equation and compatibility equation will also be satisfied.
Thus, the solution of many 2D problems (including body
forces) can be derived by finding a solution which satisfy the
stress function incorporating the boundary conditions.

xy

xy

The stress function (without body force) in polar coordinates

must also satisfy the following expressions for the stress
components:

1 1 2
r
2
r r r 2

2
2
r

1
1 1 2
2

r r r
r r

The Compatibility Equation in terms of Stresses in polar coordinates is:

2 1 1 2 2 1 1 2
2
2
0
2
2
2
2
r r r r
r r r
r

Stress Distribution Symmetrical about an Axis

The Compatibility Equation in terms of Stresses in polar coordinates, when the Stress Function depends on r only, is:

2 1 1 2 2 1 1 2
2
2
0
2
2
2
2
r r r r
r r r
r
d 2 1 d d 2 1 d d 4 2 d 3 1 d 2 1 d
2
2
4
2 2 3
0
3
r dr dr
r dr dr
r dr
r dr
r dr
dr
Which is an ordinary differential equation, which can be reduced to a linear differential equation with constant
coefficients by introducing a new variable t such that

r et
The solution has four constants of integration, which must be determined from the boundary conditions.

Assume the stress function to be in the form as:

A log r Br 2 log r Cr 2 D
The corresponding stress function without body force is obtained:

1 1 2
r
2
r r r 2

2
2
r

1 A
r
2 B(1 2 log r ) 2C
r r r
A
2 B(3 2 log r ) 2C
r

r r
For B 0

r 0
The solution becomes

A
A

2C

2
C

2
2
r
r

which may be used to represent the stress

distribution in a hollow cylinder subjected to
uniform pressure on the inner and outer surfaces

Apply the boundary conditions:

r r a pi r r b po

r
From which,

A
2C pi
2
a

a 2b 2 po pi
A
b2 a 2

A
2C
2
r

A
2C po
2
b

pi a 2 pob 2
2C
b2 a 2

A
A

2C
and substitute back into the equation r 2 2C

2
r
r

a 2b 2 po pi 1 pi a 2 po a 2

r
2
2
2
b a
r
b2 a2
a 2b 2 po pi 1 pi a 2 po a 2

2
2
2
b a
r
b2 a 2
To find the radial displacement, use

u
or u r
r
E r

For Plane Stress Condition

d 4 2 d 3 1 d 2 1 d
2 2 3
0
check 4
3
dr
r dr
r dr
r dr

A log r Br 2 log r Cr 2 D
A log r Cr 2 D
d
1
A 2Cr
dr
r

d 2
1
A 2 2C
2
dr
r

1
d 3
2A 3
3
dr
r

1
d 4
6 A 4
4
dr
r

1
1
1 2
1
1
1
6 A 4 2 A 3 2 ( A 2 2C ) 3 ( A 2Cr ) 0
r
r
r
r r
r
r
1
1
1
1
1 1
6 A 4 4 A 4 A 4 2 2C A 4 2C 2 0
r
r
r
r
r
r
1
1
6A 4 6A 4 0
r
r

Derivation of Elasto-Plastic Solution to compute radial crown displacement of a tunnel under plane
strain, homogeneous, isotropic stress condition for c and material

po

re

pi

po

re
rr po po re
r

ur 1
re

po re
r
E
r

which is the radial

stress in the elastic
zone
2

which is the elastic radial displacement

For the stresses in the plastic zone, needs to use the Mohr-Coulomb failure criterion

r
rr
a

r
rr
a

( Nr 1)

( Nr 1)

2cr Nr 2cr Nr
pi

( Nr 1) Nr 1

pi cr cot r cr cot r

Nr

1 sin r
1 sin r

which is the radial stresses

in the plastic zone

which is the radial stresses

in the plastic zone

 1 sin

re 1 sin po c cos
1 sin
re 1 sin po c cos
which is the radial stress at

the elastic-plastic boundary

re ae

(1sin ) po c cos cr cot r

ln

pi cr cot r

Nr 1

picrit (1 sin ) po c cos

Plastic radius

which is the critical internal

support pressure

Concept of Stress and Strain in Finite Element Formulation

Plasticity is concerned with predicting the maximum loading which can be

applied to a body without causing:
Excessive Yield
Flow
Fracture
Plasticity Rule is based on 3 assumptions:
1.

The yield criterion (F), represented by a surface in the stress space,

at which plastic deformation may develop

2.

The hardening law (h being a hardening parameter), that governs the

possible changes in shape, size and position of the yield surface with
an increase in plastic strains

3.

The plastic flow rule governing the increment of the plastic strains

For elasto-plastic materials undergoing infinitesimal deformation,

Total strain increment = Elastic strain increment + Plastic strain increment

d d d
el

pl

Plastic strains are irreversible

The elastic strain component can be represented using the generalized Hooke's law:

d Dd el D d d pl

D = Elastic Constitutive Modulus

1st assumption in Plasticity Rule:

The yield criterion (F), represented by a surface in the stress space, at
which plastic deformation may develop

F F ,h

pl

h is the vector of the hardening parameters governing the changes of the yield surface with
increasing plastic strains
If F < 0 , material is elastic (stress state within the yield surface)
If F = 0, material is in plastic equilibrium (stress state fulfills the yield criterion or stress
state at the yield surface)
F > 0 Not Admissible (stress state cannot be outside the yield surface)

2nd and 3rd assumptions in Plasticity Rule:

2.

The hardening law (h being a hardening parameter), that governs the

possible changes in shape, size and position of the yield surface with
an increase in plastic strains

3.

The plastic flow rule governing the increment of the plastic strains

Plastic Flow Rule states that during the plastic strain increment along the
yield surface, the plastic strain increment is proportional to the
gradient of the Plastic Potential

Q
d d

pl
Plastic Potential Q Q , h
pl

Plastic Multiplier Increment

This means that the vector representing the plastic strain increment is directed as the
outward normal vector at the point that corresponds to the current stress state.

In the superimposed space of stresses and strains:

The flow rule is called Associated Flow Rule if the yield surface is coincided
with the plastic potential

The flow rule is called Non-Associated Flow Rule if the yield surface is not
coincided with the plastic potential

Associated Flow Rule

Non-Associated Flow Rule

Forming of Elasto-Plastic Constitutive Matrix for Finite Element Analysis

During plastic strain increment, if the stress points remain on the yield surface, then the
following consistency condition is assumed:

F h pl
F
dF
pl d 0
d
h

T

By substituting the equations relating stress increment to total strain increment and the flow rule,
the following equation is obtained:
el
pl

d Dd D d d

d pl d

F h pl
F
dF
d

pl d 0

h

T

T
T
T

F
F
Q

h Q

d 0

pl

Dd
D

h

Re-arranging this equation so that the plastic multiplier is a function of the total
strain as follows:

F
Dd

d
H e H p
T

F Q
He
D

where

F h Q
H p
pl

h
T

= so called Hardening Modulus

Finally, substitute the equation describing the plastic multiplier into stress versus strain equation,
the elasto-plastic constitutive matrix governing the incremental direct stress versus strain
relationship in the non-linear range is given below:

d D ep d

 Q F
D D

ep
D
He H p
T

The matrix is symmetrical if F=Q (Associated Flow Rule)

For Strain Hardening Material, Hp>0
For Perfectly Plastic Material, Hp=0
For Strain Softening Material, Hp < 0

Finite Element Method

In the FEM, a complex region defining a continuum is discretized into simple
geometric shapes called elements.
The properties and the governing relationships are assumed over these elements
and expressed mathematically in terms of unknown values at specific points in the
elements called nodes.
An assembly process is used to link the individual elements to the given system.
When the effects of loads and boundary conditions are considered, a set of linear or
nonlinear algebraic equations is usually obtained.
Solution of these equations gives the approximate behavior of the continuum or
system.
The continuum has an infinite number of degrees-of-freedom (DOF), while the
discretized model has a finite number of DOF. This is the origin of the name, finite
element method.

Examples of Perfectly Plastic Material

Drucker-Prager Yield Criterion

F J 2 I1 k 0

relates to frictional component of shearing resistance

relates to cohesion component of shearing resistance

Von Mises Yield Criterion

Mohr-Coulomb Yield Criterion

F I1

sin
sin sin
cos
J 2 c cos 0
3
3

=Lode Angle

Tresca Yield Criterion

sin 3 J 3

3 3
2J

3
2
2

with 6

For the particular case of a triaxial compression test, 2=3, the

equation becomes:

1 3 1 3 sin 2c cos
Discontinuities in the yield
surface gradient in MohrCoulomb Material : Numerical
difficulties
Matsuoka and Nakai Yield Criterion eliminates
this drawback

I
F I 2 K 0

I3

Stress-Strain Constitutive Relationship

For Elastic and Isotropic Material expressed Strain in terms
of Stress (plane stress case)

1
x E

y
E
xy 0

E 1 0

E
1
E
0

0

x x0
0 y y 0

1 xy xy 0
G

0 initial strain
E Young ' s Modulus
Poisson ' s ratio
G Shear Modulus
E

2 1

Stress-Strain Constitutive Relationship

For Elastic and Isotropic Material expressed Stress in terms of Strains
(plane stress case)

x x0
x

1
0

1
0 y y 0
y
2
1 0 0 1
xy xy 0

xy
2

E 0
0 initial stress

For Elastic and Isotropic Material expressed Stress in terms of Strains

(plane strain case)

E


1
y
1 1 2 0
0

xy

0 x x 0

0 y y 0
1 2
xy xy 0
2

Strain and Displacement Relationships (for small strains and small rotations)

u
u v
v
x , y , xy
y
y x
x
In Matrix Form

xy

u
v

or

Du

Equilibrium Equations (in elastic theory, stresses must satisfy the following
equilibrium equations)

x xy

fx 0
x
y

xy
x

y
y

f x and f x are body forces

fy 0

Boundary Conditions
The boundary S of the body can be divided
into two parts:
Su (displacement condition) and
St (traction condition) and is described as:

u u known value , v v known value on S u

_

tx t

known value , t y t y known value on S t

x

All types of loads (distributed surface loads, body forces, concentrated

forces and moments) are converted to point forces acting at the nodes

General Formulation of the Finite Element Stiffness Matrix

Displacement (u, v) inside a plane element are interpolated from nodal
displacement (ui, vi) using shape functions Ni as follows:

N1
u

v
0

N1

N shape function matrix

u displacement vector
d nodal displacement vector

0
N

u1
v
1
u 2
...
v 2 or u N d

...
.

.
.

From the strain-displacement relationship, the strain vector is:

Du DN d , or B d
where B DN
is the strain displaceme nt matrix
The strain energy stored in an element is:

1
1
T
U dV x x y y xy xy dV
2 vol
2 vol
1
1
T
U E dV T E dV
2 vol
2 vol
1 T
1 T
T
U d B EBdV d d kd
2 vol
2

The Element Stiffness Matrix k is:

EBdV

vol

Given the material property E, the behavior of k depends on the B

matrix only, which in turn depends on the shape functions N.
Thus the quality of the finite element analysis is also determined by
the choice of the shape functions.

Constant Strain Triangle (CST)

Using the strain-displacement relationship, the strain within the element is

related to the displacement at the nodes:

69

Other types of elements

Assemble Global Stiffness Matrix

EBdV

vol

Du
N1
u

v

0

Du DN d , or B d
where B DN
is the strain displaceme nt matrix

0
N1

N2
0

0
N2

u1
v
1
u
... 2
v or u N d
... 2
.

.
.

Stress Calculation

E


1
y
1 1 2 0
0

xy

0 x x 0

0 y y 0
1 2
xy xy 0
2

x
x


y E y EBd


xy
xy
For linear elastic material, solution is direct and converge at each load step

For non-linear elastic material and material behaves as elasto-plastic, iterative

method is required because the stiffness matrix is non-symmetrical

vol

ep

E BdV

Mohr-Coulomb Yield Criterion (Elasto-Plastic Model)

For non-associated flow rule,

replace internal friction angle by
dilution angle

Sandip Shah,
Ph.D. Thesis,
Department of
Civil
Engineering,
University of
Toronto

For Hoek- Brown Yield Criterion (Elasto-Plastic Model)

Carranza-Torresa, C. and Fairhurst, C. 1999. The elasto-plastic response
of underground excavations in rock masses that satisfy the Hoek-Brown
failure criterion. International Journal of Rock Mechanics and Mining
Sciences, vol. 36, pp. 777-809.

Mohr Circles