Proceedings of the 9th International Conference on Structural Dynamics, EURODYN 2014

Porto, Portugal, 30 June - 2 July 2014

A. Cunha, E. Caetano, P. Ribeiro, G. Müller (eds.)
ISSN: 2311-9020; ISBN: 978-972-752-165-4

Numerical Simulation of Wave Propagation in Fully Saturated Soil Modeled as a

Two-Phase Medium
J. Grabe1, T. Hamann1, A. Chmelnizkij1
1
Institute of Geotechnical Engineering and Construction Management, Hamburg University of Technology, Harburger
Schlossstraße. 20, 21079 Hamburg, Germany
email: grabe@tuhh.de, thorben.hamann@tuhh.de, alexander.chmelnizkij@tuhh.de

ABSTRACT: For many geotechnical problems involving fully saturated soil, the behavior of the soil has to be modeled as a
two-phase material to reproduce the soil behavior realistically. Especially when considering dynamic loading conditions a two-
phase approach is of importance in order to capture effects such as soil liquefaction or time-dependent soil compaction. The
governing equations of a u-p formulation using Darcy’s flow law are derived. The u-p formulation is implemented within a
dynamic total stress analysis using an explicit time integration rule. The approach is applied on the problem of one-dimensional
wave propagation. The influence of different constitutive models for the solid phase as well as the influence of the relative
density and the hydraulic conductivity on the wave propagation is studied. Effects such as the development of shock waves are
investigated. Additionally, the problem of a vibrating foundation on a halfspace of fully saturated soil is investigated. Effects
such as soil liquefaction and time-depended soil compaction can be modeled. In order to evaluate fully saturated soil under
dynamic loading regarding soil liquefaction or soil compaction, the application of a coupled two phase analysis under partially
drained conditions is of importance. Despite the limitations of the application of a u-p formulation in case of dynamic problems,
a u-p formulation is an attractive way to model fully saturated soil under dynamic loading due to the much more simple
formulation.

KEY WORDS: Soil dynamics; Fully saturated soil; u-p formulation; Wave propagation.

1 INTRODUCTION  dilatational waves due to negligence of the acceleration of the

Soil is a porous medium with voids often filled with a fluid,
e.g. water. The behavior of such a two-phase material is
important for many engineering problems. Especially
considering dynamic loading, fully saturated soil can show a
different behavior compared to dry soil or drained conditions
with no development of excess pore pressure. This behavior
can be important for the process of pile driving, analysis of
liquefaction phenomena as well as earthquake loading. The
theory of quasi-static and dynamic behavior of fully saturated
porous media has been firstly presented by Biot [1]-[4]. Two
dilatational waves are described [2]-[3]. The wave of the first
kind, called the undrained wave, is a true wave due to
compression of the fluid saturated porous medium. The solid
phase and the fluid phase move practically with the same
velocity [5]. The wave of the second kind arises due to a
diffusion process of the fluid through the porous medium.
This wave is highly attenuated due to the interaction between
fluid and solid skeleton [2]. Thus, this wave can only be
observed in the near-field of the applied load and can occur in
stiff porous media such as rock [5]. If dissipation of fluid
disappears due to fluid friction or a small permeability, only
marginal relative motion between solid and fluid occurs and
thus, the wave of the second kind disappears. Besides Biot's
theory, different authors rederived the governing equations,
differing from Biot’s theory only by some minor
modifications, and developed discretised forms for use by the
finite element method [6]. A simplified form of the governing
equations is a so-called u-p formulation. By reason of
assumptions and simplifications for derivation of this
formulation, a u-p formulation is not able to capture both
fluid phase relative to the solid skeleton [5]. Only the wave of
the first kind can be modeled. Hence a u-p formulation is only
suitable for modeling of the dynamic behavior of fully
saturated soil if acceleration frequencies are low, e.g.
earthquake loading, and if no high-frequency dynamic
phenomena are considered [7]. One advantage of this
formulation is the reduction in size of the equation set [8],
which makes this formulation attractive for implementation in
the finite element method.
In this paper the governing equations are derived and
assumption and simplifications are outlined. The application
of a u-p formulation implemented in a dynamic analysis
procedure using an explicit time integration rule [9] on the
problem of wave propagation in fully saturated soil is
investigated. The influence of different parameters such as the
relative density and the hydraulic conductivity as well as the
influence of different constitutive models for the solid
skeleton is studied.
2 MATHEMATICAL MODELS 
There exist a variety of approaches to model porous media.
All of them are leading to similar set of governing equations.
These resulting equations can then be adapted to the present
problem. As mentioned before the number of the governing
equations and the variables can be changed by some
assumptions.
The basic idea of deriving the system of equations is to ensure
the conservation of physical quantities, e.g. mass, momentum,
energy for the constituents as well as for their mixture.

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A nice way to derive the u-p and u-U formulation from the u- The reason for different formulations is, to reduce
w-p formulation has been shown in [11]. The u-p-w computational effort by decreasing the number of variables
formulation consists of the following equations, which and equations but at the same time to take into account the
ensures mass and momentum conservation: necessary terms.
One problem occurs if using lumped mass matrices for the
explicit time integration after the spatial discretization is done
  0 by the Finite Element Method. The consistent mass matrices
in the u-p and u-p-w formulation are singular with zero rows.
0 Therefore the integration of the system, which usually inverts
(1) the lumped mass matrix, can`t be done straightforward and
special techniques have to be applied.
αmε 0 One possibility is to perform the time integration for the
mixture only and afterwards to split in the constituents in each
Where is a differential Operator which is used to compute time increment.
the strain increments from the displacement increments. For
the two dimensional case the Operator is defined as
3 NUMERICAL MODELS 
0 The u-p formulation derived above, is applied on the problem
. of one-dimensional wave propagation in a fully saturated sand
0 column. Therefore the governing equations are implemented
in the framework of the finite element code Abaqus/Explicit
Furthermore the following notation has been used in [10].
(Equation 1),
3.1 Analysis procedure Abaqus/Explicit 
displacement of the solid The dynamic analysis procedure Abaqus/Explicit solves the
matrix equation of motion at each node of the finite element model
averaged velocity of the fluid [10]. An explicit central-difference time integration rule is
effective pressure used to integrate the equation of motion explicitly through
total stress tensor with as time. The solution at the end of a time increment can be
m the effective stress and as advanced using known values of nodal acceleration, velocity
the Biot’s stress coefficient and displacement at the beginning of a time increment. No
iteration is necessary. The use of a lumped mass matrix makes
porosity
the analysis procedure very inexpensive, since no
density of the total
simultaneous equations have to be solved. The explicit
composite with the sub-
  1    equation solver is conditionally stable, if the time increments
scripts , for the solid and
are less than a critical time increment Δtcrit. The critical time
fluid phase
increment ensures, that a dilatational wave cannot transit an
ε strain of the solid skeleton
element within a single time increment. The critical time
body force per unit mass increment depends on the characteristic element length Lchar
viscous drag force and the dilatational wave speed cd and is defined as:

For the remaining notations the reader is referred to [11]. The
three quantities (u,w,p) mentioned above are the main
variables of this system.
Under the assumption of constant densities and vanishingly
small fluid-acceleration as well as the convective product
w it is possible to eliminate the variable . Furthermore
for this purpose all thermal influences have to be neglected
and the Darcy`s seepage law has to be assumed for R.
Afterwards we obtain the u-p formulation consisting of the
following equations:
0 models. Within the user-subroutine the effective stress state is
αm
Where now the only variables are u and p. In Equation 2 the
acceleration of the solid phase is renamed as and the
Darcy’s law is used.
∆   (3)
3.2 u‐p formulation 
A coupled pore fluid and stress analysis under dynamic
loading is not supported by Abaqus. To extend the dynamic
analysis procedure of Abaqus/Explicit for a u-p formulation,
the approach proposed by Hamann and Grabe [9] is applied. A
total stress analysis is carried out, solving the equation of
motion for the mixture of solid and fluid. The behavior of the
fully saturated soil, described by the u-p formulation, is
implemented by use of a user-subroutine for constitutive
(2) calculated applying a constitutive model for the solid
0 skeleton: linear elastic behavior or hypoplasticity. For
calculation of the pore pressure pw a mass balance equation of
the water phase is implemented (Equation 4). The fluid flow
through the soil is modeled by Darcy's flow law. Calling the
user-subroutine the current strain increments are passed into
and the updated total stress state is returned.

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αm 0 (4) the surface load over time follows half of a sine curve (load
case 1) or has a stepwise progression (load case 2) as
displayed in Figure 1.
with:
(5)

1 (6)

where kf is the hydraulic conductivity, ρw is the density of

water, b is a body force per unit mass (gravity), as is the
current acceleration of the solid skeleton,  is the Biot’s
constant, m is the second order unit tensor, s is the current
strain rate of the solid skeleton, Q is the bulk modulus of the
mixture of soil and water, n is the porosity, Kw is the bulk
modulus of water, Ks is the bulk modulus of the solid grains, E
is the Young’s modulus of the solid skeleton and ν is the
Poisson’s ratio.
Figure 1. Geometry of the soil column considered for one-
3.3 Hypoplastic constitutive model  dimensional wave propagation.
Linear elastic material behavior is only valid for a small strain
range. In order to reproduce the inelastic and non-linear
behavior a dependency of the stiffness on the stress state and Table 1. Linear elastic parameters of the sand (ID=0.5).
void ratio is necessary. In the following a hypoplastic Parameter Sand Description
constitutive model according to Gudehus [12] and von E 3.0e+4 Young’s modulus
Wolffersdorff [13] is used. The hypoplastic constitutive model [kN/m²]
is suitable to model the non-linear and inelastic behavior of ν 0.3 Poisson’s ratio [-]
granular materials realistically, e.g. sand. Specific properties Ks 3.7e+7 Bulk modulus solid
like dilatancy, contractancy, different stiffness for loading and [kN/m²]
unloading as well as a dependency of the stiffness on the Kw 2.1e+6 Bulk modulus water
stress state and void ratio can be described. Taking account of [kN/m²]
accumulation effects and hysteretic material behavior in case ρs 2.65 density of solid particles
of cyclic loading as well as small strain behavior of soils, an [t/m²]
extension of intergranular strain was proposed for the ρw 1.0 density of water [t/m²]
hypoplastic model by Niemunis and Herle [14]. The n 0.41 porosity [-] (ID=0.5)
constitutive model is rate independent in a rate-type kf 1e-4 hydraulic conductivity
formulation defined by the tensorial Equation (7): [m/s]

, , : (7)
Table 2. Hypoplastic parameters of Karlsruher Sand.
where T is the objective Jaumann stress rate, M is a fourth Parameter Karlsruher
order tensor, T is the current Cauchy stress, e is the void ratio, Sand
 is the intergranular strain and D is the strain rate. c 30
hs 5.8e+6
n 0.28
4 PROBLEM OF ONE‐DIMENSIONAL WAVE PORPAGATION  ed0 0.53
4.1 Finite element model  ei0 0.84
ec0 1.00
The problem of one-dimensional wave propagation is  0.13
investigated on a fully saturated sand column of a height of
 1.05
100 m, as depicted in Figure 1. An axisymmetric analysis is
R 0.0001
carried out. For the behavior of the solid skeleton a linear
elastic and a hypoplastic constitutive model is used. The
mR 2.0
material parameters are given in Table 1 and Table 2. The
bottom and the sideways boundary are fixed in normal
mT 5.0
direction for the solid phase and are defined to be
impermeable. The water level is specified at the upper
R 0.5
permeable boundary of the model. Further, a surface load is
applied on the upper surface of the model. The evolution of  6.0
Ks 3.7e+7
Description
critical state friction angle [°]
granular hardness [kN/m²]
exponent
minimum void ratio
critical void ratio
maximum void ratio
exponent
exponent
maximum value of inter-
granular strain
stiffness ration at a change of
load direction of 180°
stiffness ration at a change of
load direction of 90°
exponent
exponent
Bulk modulus solid [kN/m²]

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Proceedings of the 9th International Conference on Structural Dynamics, EURODYN 2014

Kw 2.1e+6 Bulk modulus water [kN/m²] Describing the behavior of the sand by use of a hypoplastic
ρs 2.65 density of solid particles [t/m²] constitutive model more realistically (Figure 3), the effect of
ρw 1.0 density of water [t/m²] the development of shock waves with a steep front and a flat
e 0.685 void ration [-] (ID=0.5) back side can be observed in case of fully drained conditions
kf 1e-4 hydraulic conductivity [m/s] [15],[16]. The compression wave consists of three parts: first a
flat increase due to the small strain behavior (elastic strain
range) followed by a shock front and a flat back side. Due to
4.2 Comparison of fully and partially drained conditions  the dependency of the stiffness of the solid skeleton on the
The distribution of the excess pore pressure and the effective stress state, the stiffness of the sand and thus the wave speed
vertical stress at different times is depicted in Figure 2 (linear increases temporarily while the compression wave is moving
elastic material behavior) and in Figure 3 (hypoplastic through the sand column. Due to the increase of the stiffness,
material behavior). Considering linear elastic material the rear part of the wave is faster, catches up with the front
behavior in case of fully drained conditions, no excess pore part of the wave and is reflected at the front of the wave.
pressure arises and the external load is carried by the solid Thus, the front of the wave becomes steeper. The magnitude
skeleton completely, as expected. The shape of the curve of the wave decreases with ongoing propagation due to the
equals the applied external sinusoidal surface load. permanent reflection at the shock front.

Figure 2. Distribution of excess pore pressure (left) and

change of effective vertical stress (right) over the depth at Figure 3. Distribution of excess pore pressure (left) and
different times, linear elastic material behavior, sinusoidal change of effective vertical stress (right) over the depth at
loading. different times, hypoplastic material behavior, sinusoidal
loading, relative density ID=0.5.
In case of partially drained conditions, the pore water bears
the main part of the external load due to the higher stiffness
In case of partially drained conditions, the main part of the
compared to the solid skeleton. Furthermore, the influence of
external load is carried by the water phase again. Due to the
dissipation can be observed, since the magnitude of the
stiffness dependency of the solid skeleton on the stress state,
compression wave in the water phase decreases with ongoing
the stiffness of the sand increases over the depth due to its
propagation. The shape of the curve equals the applied
self-weight. Thus, the relation of the stiffness of the water and
external surface load, again. Since the relative acceleration of
the solid phase changes over the depth and the load is
the water phase relative to the solid phase is neglected, the
transferred continuously from the water to the solid phase.
wave speed within the water and the solid phase is equal. Due
Hence, the decrease of the magnitude of the compression
to the higher stiffness of the fully saturated sand in case of
wave in the water phase over the depth is more distinct
partially drained conditions, a higher wave speed (v=1548
compared to the linear elastic case. The development of a
m/s) compared to fully drained conditions (v=174 m/s) can be
shock wave, as observed in case of fully drained conditions,
found.
can not be found. This is caused by the strong coupling of
both phases, such that the wave moves with the same velocity

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and the same shape within both phases. The shape of the wave the loading on the water and solid phase. Increasing the
is dominated by the water phase due to its higher stiffness. relative density, the stiffness and thus the wave speed
The solid phase, which would form a shock wave, has only increase. The wave speed increases from v=1533 m/s in case
less influence on the shape of the wave. Similar to the case of of very loose sand (ID=0.0) to v=1679 m/s (+9.5 %) in case of
linear elastic material behavior, the wave speed is higher in very dense sand (ID=1.0), see Table 4. Furthermore, the
case of partially drained conditions (t=0.02 s: v=1638 m/s) stiffness relation between the water and the solid phase
compared to fully drained conditions (t=0.02 s: v=213 m/s). changes. Increasing the relative density, a higher part of the
Due to stiffness dependency of the solid skeleton on the stress loading is transferred to the solid phase.
state, the wave speed increases over the depth. The wave
speed increases from v=1556 m/s at a time of 0.01 s to v=1632
m/s (+4.8%) at a time of 0.04 s, see Table 3. The stiffness
dependency of the solid skeleton on the stress state and thus,
the load transfer from the water to the solid phase becomes
more distinctly, when applying a stepwise surface load, see
Figure 4. The increase of the magnitude of the compression
wave in the solid phase over depth can be observed within the
shape of the wave clearly.

Table 3. Wave speed at different times after beginning of load

application, hypoplastic material behavior, sinusoidal loading,
relative density ID=0.5, hydraulic conductivity kf=10-4 m/s.
t Wave speed Deviation from
[s] v [m/s] t=0.01 s [%] Figure 5. Distribution of excess pore pressure (left) and
0.01 1533 0.0 change of effective vertical stress (right) over the depth for
0.02 1554 2.5 different relative density ID, hypoplastic material behavior,
0.03 1576 3.7 sinusoidal loading, hydraulic conductivity kf=10-4 m/s.
0.04 1604 4.8

Table 4. Wave speed for different relative densities ID at a

time of 0.02 s after beginning of load application, hypoplastic
material behavior, sinusoidal loading, hydraulic conductivity
kf=10-4 m/s.
ID Wave speed Deviation from
[-] v [m/s] ID=0.0 [%]
0.0 1533 0.0
0.2 1554 1.3
0.4 1576 2.8
0.6 1604 4.6
0.8 1638 6.9
1.0 1679 9.5

4.4 Influence  of  the  hydraulic  conductivity  on  the  wave 

Figure 4. Distribution of excess pore pressure (left) and propagation 
change of effective vertical stress (right) over the depth at
different times, hypoplastic material behavior, stepwise The influence of the hydraulic conductivity kf on the wave
loading, relative density ID=0.5, hydraulic conductivity kf=10-4 propagation is shown in Figure 6. Considering a hydraulic
m/s. conductivity of 10-4 m/s ≤ kf ≤ 10-7 m/s, approx. no influence
on the shape of the wave and on the wave speed as well as on
the magnitude of the wave can be observed. Within this range
4.3 Influence  of  the  relative  density  on  the  wave  of hydraulic conductivity, the soil shows a kind of undrained
propagation  behavior, since dissipation is much slower compared to the
wave speed. Considering a hydraulic conductivity of kf=10-3
Since the stiffness of the sand depends on the void ratio, the m/s, the influence of dissipation becomes obvious. The shape
relative density of the sand influences the propagation of the of the wave becomes longer and the magnitude decreases.
wave additionally. In Figure 5 the relative density ID is varied
and the wave propagation is displayed 0.02 s after beginning
of load application. The relative density of the sand has a
distinct influence on the wave speed and the distribution of

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Proceedings of the 9th International Conference on Structural Dynamics, EURODYN 2014

Figure 6. Distribution of excess pore pressure (left) and
change of effective vertical stress (right) over the depth for
different hydraulic conductivity kf, hypoplastic material
behavior, sinusoidal loading, relative density ID=0.5.
5 VIBRATING FOUNDATION ON A HALFSPACE 
5.1 Finite element model  liquefaction occurs with vanishing effective stresses and
The problem of two-dimensional wave propagation is
investigated on the example of a circular vibrating foundation
on a halfspace, see Figure 7. The foundation has a diameter of
1 m. An axisymmetric analysis is carried. The behavior of the
solid skeleton is described with the hypoplastic constitutive
model. The hypoplastic parameters of the investigated
Karlsruher sand (ID=0.5) are given in Table 2. The bottom and
sideways boundary are assumed to be permeable and fixed in
normal direction. The upper boundary is permeable and the
pore pressure is set to zero. The vibrating foundation is
simplified by applying a surface load with a sinusoidal
evolution over time. Thus, a lift off of the foundation is not
possible. A vibrating frequency of f=50 Hz and a dynamic
surface load of 10 kN/m² are applied. To prevent the
development of tension stress below the area of load
application, the surface of the model is loaded with a static
load of 15 kN/m² additionally.
5.2 Results 
The distribution of the effective vertical stress, the excess pore
pressure and the void ratio after 4 s of vibration for the case of
partially drained and fully drained conditions are depicted in
Figure 8 and Figure 9. The distribution of the state variables
on the axis of symmetry is shown in Figure 10. When starting
the vibration, the sand is compacted due to cyclic loading as it
can be observed in Figure 9 (fully drained conditions). In case
fully drained conditions, the area of soil compaction reaches a
depth of approx. 1 m, see Figure 10. The effective stress state
changes such that areas of an increase as well as areas of a
decrease of the initial stress state occur.
Considering partially drained conditions, the pore water has
to flow out of the voids of the solid skeleton, before the sand
can be compacted. Due to the flow resistance caused by the
solid skeleton, excess pore pressure develop during vibration
due to the constraint contractant behavior of the sand, see
Figure 8 (top, right). As a result of the excess pore pressure
the effective stress state becomes reduced (Figure 8, top, left).
Down to a depth of 0.5 m below the foundation, soil
excess pore pressure up to 20 kN/m², see Figure 10. Only
slight soil compaction right below the foundation can be
observed (Figure 9 and 10), due to the resistance of the pore
water. Considering partially drained conditions, soil
compaction depends on the hydraulic conductivity of the soil.
In order to evaluate fully saturated soil under dynamic loading
regarding soil liquefaction or soil compaction, the application
of a coupled two phase analysis under partially drained
conditions is of importance.

Figure 8. Distribution of the effective vertical stress (left) and

the excess pore pressure (right) after 4 s of vibration; top:
partially drained conditions, bottom: drained conditions.
Figure 7. Geometry of FE-modell of the vibrating foundation
on a halfspace.

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 Proceedings of the 9th International Conference on Structural Dynamics, EURODYN 2014
Figure 9. Distribution of the void ratio after 4 s of vibration;
left: partially drained conditions, right: drained conditions.
Figure 10. Distribution of the effective vertical stress (left),
the excess pore pressure (center) and the void ratio (right) on
the axis of symmetry after 4 s of vibration.
6 CONCLUSION  Methods in Geomechanics 10, 461-482, 1986.
The governing equations of a u-p formulation using Darcy’s
flow law are derived. The u-p formulation is implemented
within a dynamic total stress analysis using an explicit time
integration rule. The approach is applied on the problem of
one-dimensional wave propagation in a fully saturated sand
column. The difference between fully drained and partially
drained conditions is shown, such that the wave speed
increases and the solid skeleton is less loaded by the wave in
case of partially drained conditions. Effects such as the
development of shock waves cannot be observed in case of
partially drained conditions. Studying the influence of the
hydraulic conductivity of the sand, an undrained soil behavior
can be found in case of a hydraulic conductivity of kf≤10-4
m/s. When applying a hypoplastic constitutive model, a
stiffness dependency of the solid skeleton on the stress state
and the void ratio can be accounted for. The relative density
of the sand has a distinct influence on the wave speed as well
as on the distribution of the external load on the water and
solid phase, since the stiffness of the solid phase increases
with increasing relative density.
Investigating the problem of a vibrating foundation on a
halfspace of fully saturated soil, effects such as soil
liquefaction and time-depended soil compaction can be
modeled. In order to evaluate fully saturated soil under
dynamic loading regarding soil liquefaction or soil
compaction, the application of a coupled two phase analysis
under partially drained conditions is of importance. Despite
the limitations of the application of a u-p formulation in case
of dynamic problems, a u-p formulation is an attractive way to
model fully saturated soil under dynamic loading due to the
much more simple formulation.
ACKNOWLEDGMENTS 
The present research work on modelling of soil as a two-phase
material is funded by the German Research Foundation (DFG)
within the framework of the research training group GRK
1096 “Ports for Container Ships of Future Generations”. The
funding is greatly acknowledged.
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