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EXACT SOLUTION
By Zdenek P. Baiant,' F. ASCE and Ted B. Belytschko; M. ASCE
x + L) / x - L)
~x
u = -c
/
\t - -v- + c \t + -v- (for t:;:; 2~) .............. (3)
b)
U r-~---::::::o-------"""":==------' ~
in which the symbol ( ) is defined as (A) = A if A > 0 and (A) = 0 if
t < L/v A :;:; 0, and v = wave velocity. The strain is
E
E =:: =; [H(t _x : L) + H(t + x : L)] ....................... (4)
--~--
displacement at the interface, and E+, E- = strains just to the right and
E I =-j - u - - - '---E--., to the left of the interface. Differe.ntiating, we get th~ material velocities
(material derivatives of u) Ii + = U - V E + and Ii - = U - V E - just to the
132
right and to the left of the interface. The equation of motion of the small
element h, fixed within the material, may be stated as follows: the rate
x<O of the linear momentum of element h equals the total force applied on
e)
I. this element. Thus, we have
FIG. 2.-(8) Bar Analyzed; (b) Elastic Solution; (c, d, and e) Solution with Strain ~ [(t p(U _ VE-)dx + Jh p(U - VE+)dX] = a+ - a- .............. (5)
Softening
~ 1 w
from which we get the jump relation, relating the jumps in stress and
increases beyond this maximum, the (virgin) strain-softening diagram is strain:
followed. a+ - a- = pV 2 (E+ - E-) ......................................... (6)
Now consider again the whole bar and assume that Ep/2 < c/v < Ep.
SOLUTION
Then the waves are elastic until they meet at time t1 = L/v. Strain soft-
Suppose first that strains exceeding Ep are never produced, i.e., the ening begins immediately at time t1 at x = 0 (midpoint). Due to sym-
bar remains linearly elastic. The differential equation of motion is hy- metry, a centrally located strain-softening segment of length 2s with ini-
perbolic and reads tial value s = 0 is created in the middle of the bar at t = t1 [Fig. 2(d)].
383 384
It might be of interest to mention what happens if the step waves are Suppose that the interface moves to the left. Then the material points
considered as the limiting cases of strain waves with a wave-front that are entering the strain-softening regime as the interface moves through
rises very sharply but continuously. Then the stress at x = 0 would rise them. Therefore, cr- on the left of the interface must be equal to the
to cr = f; before strain softening begins, and so an elastic stress wave of strength f; . From this we know that cr - ~ cr +. At the same time, E. + >
magnitude f: - clv, superimposed on the incoming wave of magnitude e - because the strain must be larger than ep inside the strain-softening
clv, would pass through the midpoint (x = 0) from right to left. How- segment, and must not be larger than ep outside it. Thus, we see from
ever, this passing elastic wave would become in the limit a finite mag- Eq. 6 that V 2 < 0 if the interface moves. This, however, is impossible,
nitude stress pulse of an infinitely short duration, because the strain since V must not be imaginary. The only remaining possibility is that
softening is reached instantly in the limit. The strain-energy of such a the interface does not move (V = 0) and s remains infinitesimal.
pulse is zero; thus it can have no effect on the bar and need not be Therefore, according to Eq. 6
considered in our solution.
The differential equation of motion within the strain-softening seg-
cr+ = cr- (at x = s) ........................................... (12)
ment 2s has the form acrlax = pa 2ujat 2. Since acrjax = (acrlae)ae/ax = i.e., the stress must be continuous at x = s (strain-softening boundary)
F' (e)a 2ulax2, we have for t > tl + slv, although the strain is discontinuous. It follows that Ee-
= F(e+). Substituting Eq. 10 here and calculating e+ from Eq. 8 as aul
2a 2u a2u _ . 2 _ -F'(e)
a. - 2 + - 2 - 0, WIth a. - - - ............................. (7) ax, we get (for t > tl + slv):
ax at p
E
Because F' (e) < 0, this equation is elliptic, which means that interaction -[c+f'(~d]=F(e+), e+=a(t-td+ep ........................ (13)
over finite distances is immediate; however, that need not be a problem v
as long as s remains infinitely small. Eliminating a from Eqs. 11 and 13, we find
One possible solution of Eq. 7 is
u = [a(t - t1 ) + ep]x (for -s:s x:s s, t> td ............. ....... (8) e+ =; [C(~l + ~) - f(~d] ..................................... (14)
in which a is some constant. This solution, implying a uniform strain
distribution, can adequately describe the strain-softening segment as long Now, since the strain-softening segment must remain infinitely short,
as s is infinitely small. Note that Eq. 8 satisfies the symmetry condition, i.e., s ~ 0, we have e+ ~ 00, and consequently F(e+) ~ O. Therefore, c
and also the condition aulax = ep at t = t 1 • + f' (~l) = 0, i.e., f(~l) = -C~l or fW = -c~. Hence
L - x)
Check that, for -v(t - td :s x < -s (i.e., outside segment s, on its
left), Eq. 2 is solved by the following expression: f(~) = -c / \t - -v- .......................................... (15)
e = au =
ax
!v [c + f' (~)] for -v(t - ~)
v
< x < -s .................. (10) and E. =; H(t _x: L) _; H(t _L: x) ...................... (17)
in whichf'(~) = df(~)ld~. For the right half of the bar, x > 0, a symmetric solution applies. For x
~ 0- the displacements are u = -2c(t - Llv), and for x ~ 0+ they are
Now we must set up the interface conditions for displacements and
stresses at x = -so Continuity of displacement requires, for t > (L + s)1 u = 2c(t - Llv). So, after time tl = Llv, the displacements develop a
v, that discontinuity at x = 0, with a jump of magnitude 4c(t - Llv). Therefore,
the strain near x = 0 is E. = 4c(t - Llv)8(x) in which 8(x) = Dirac's delta
f(~d - c( ~l + ~) = -[a(t - td + ep]s, ~l = t- L: s............. (11)
function. This expression for e satisfies the condition that f~sedx =
4c(t - Llv) for s ~ O.
The complete strain field for x :s 0 and 0 :s t :s 2Llv is
The interface stresses must satisfy the jump condition in Eq. 6. The
interface at the left end of segment s can be either stationary (constant X L L X
s, s ~ 0) or it can move to the left at velocity V = S. It cannot move to e=;[H(t_ : ) _H(t_ : ) +4(vt-L)8(X)] ............. (18)
the right since the softening segment would not then exist, and there
would be no strain softening. This solution is sketched in Fig. 2(d) and Fig. 2(e). It may be checked
385 386
that no unloading occurs within the strain-softened material (at x = 0)
as supposed. This conclusion agrees with that drawn in 19~6 on the basis of static
A subtle question remains in regard to the possibility of unloading stability analysis of strain localization (1-3) .. To Circumvent the phenom-
(i.e., strain reversal). We tacitly implied no unloading and showed that enon of localization into a single cross-sectional pl~ne, one w~)Uld have
a solution exists. Can we find another solution if unloading is assumed to postulate some special type of continuum in whIch the ~trams cannot
to occur after the start of strain softening? Apparently we cannot. In- localize into a single cross-sectional plane (a nonlocal continuum can do
deed, for unloading, the tangent modulus becomes positive; thus the that). d. .
equation of motion in segment 2s becomes hyperbolic, which means that We should observe, too, that strain softening consu~es?r Isslpat~s
the wave arriving from the right is transmitted to the left across the no energy because the volume of the s~ain-softe~9 r~gt~n IS ze~o ~J:ile
midpoint. But then the superposition of the converging waves yields an the energy density in the strain-softemng domam IS fimte, not mfm~te.
increase of strain, which contradicts the assumption of unloading. Thus, This IS· a Iso confirmed by the fact that, for t > L/v, the1.present
. .. 11 solution
. th
our solution for c < vEp/2 (Eq. 16) appears to be unique. is the same as the elastic solution for a bar ~hat is sp It mltIa y: m e
middle into two bars, for which the mechamcal energy (potentIal plus
PROPERTIES OF SOLUTION kinetic) must be conserved. .
Finally, we should note that strain softening. can be produced m the
Some properties of the solution are rather interesting. It does not de- interior of a body, and not just at t~e bo.u~danes, as has been recently
pend on the shape of the strain-softening diagram; the result is the same suggested. To produce strain softenmg, It IS also ~ot necessary to have
for strain-softening stress-strain diagrams of very mild slope or very steep a s mmetric problem, e.g., we may enforce velOCIty c = Cl. = -0.6E /V
f
slope, and even for a vertical stress drop in the (J"-E diagram. The latter at the left end, and C = C2 = 0.9E p /V at the right end, and stram softenmg
case is equivalent to having a bar that splits in the middle at time t = would again be produced at x = o.
L/v, with each half having a free end at x = 0; indeed, this behavior
leads to the same solution.
CONCLUSION
Consider the dependence of the solution on the boundary conditions.
When C is just slightly smaller than vEp/2, the solution is given by Eq. Strain softening in a classical (local) continu~m is .n?t. a mathematically
3, and when C is just slightly larger than vE p /2, the solution is given by meaningless concept. A solution exists for gIVen mlti~l and bounda~
Eq. 16, which differs from Eq. 3 by a finite amount for t > L/v. Thus, conditions. However, the hypothesis that strai~ softenmg may o.ccur m
an infinitely small change in the boundary condition can lead to a finite a classical (local) continuum is not representatIve o~ kno~n s~am-so~t
change in the response. Hence, the solution of the dynamic problem for ening materials (concrete, geomaterials, som~ compo~ltes), I~ whIch s~~m
a strain-softening material does not depend continuously on the bound- softening consumes finite energy and stram-softenmg regtons of fimte
ary conditions, i.e., the response may be termed unstable (for c = VEp/ size are observed experimentally.
2).
The solution also exhibits a discontinuous dependence on the param- ACKNOWLEDGMENT
eters of the stress-strain diagram. Compare the solutions for stress-strain
diagram OPS in Fig. I, for which the magnitude of the downward slope Financial support under DNA Grant No. 00183C0243 to Northwestern
PS is as small as desired but nonzero, and for the stress-strain diagram University is gratefully acknowledged.
OPY in Fig. I, for which the straight line PY is horizontal and represents
plastic yielding. For the former, the present solution applies. For the ApPENDIX.-REFERENCES
latter, plastic case, Eq. 9 also applies but must be subjected to the bound-
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c Z In~SEl
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