MODULE TITLE : ENGINEERING DYNAMICS AND THE ANALYSIS OF MATERIALS TOPIC TITLE : AXI-SYMMETRIC PROBLEMS LESSON 2 : THICK CYLINDERS EDAM -2-2 © Copyright University of Sunderland and Middlesbrough Borough Council 2002Published jointly by COLU and University of Sunderland. coLU University of Sunderland Holmwood Langham Tower 23 Orchard Road Ryhope Road Linthorpe Sunderland Middlesbrough SR2 7EE 135 5PN Telephone : (01642) 850007 Telephone : (0191) 5152000 All rights reserved. No part ofthis publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, ‘Photocopying, recording or otherwise without the prior permission of the Copyright owner. (© Copyright University of Sunderland and Midalesbrough Borough Council ‘This book is sold subject to the condition that it shall not, by way of trade or ‘otherwise, be lent, re-Sold, hired out or otherwise circulated without the publisher's ‘prior consent in any form of binding or cover other than that in which it is published and without a similar condition including this condition being imposed on the subsequent purchaser. \ | |INTRODUCTION In the case of thin walled cylinders, it was assumed that the radial stresses in the wall thickness were zero (or much smaller than the other stresses) and that the hoop stresses ¢, were uniform through the wall thickness. The hoop and longitudinal stresses were much greater than the internal pressure. We can conclude from this that thin cylinders are used when the internal pressures are relatively low. However, there are many applications where pressure vessels, pipe lines, hydraulic actuators, etc., are required to withstand much higher pressures requiring a substantial wall thickness. As the cylinder wall thickness increases in relation to the other dimensions there will come a point when ‘the variation of the stress with radius can no longer be ignored. In this lesson we will study the case of a thick walled cylinder subjected to a uniform internal or external pressure. We will develop the equations that Will describe how the radial and hoop stresses vary through the wall thickness. We will also apply these equations to engineering problems, see how the stresses vary through the wall thickness and compare the results obtained from using the thin cylinder theory to the thick cylinder theory. YOUR AIMS On completion of this lesson, you should be able to: + develop the equations which describe the distribution of the stresses in a thick walled cylinder subjected to internal and/or external pressure + use these equations to quantify the magnitude of the hoop stress and longitudinal stress in thick walled pressure vessels subjected to a pressure loadingfind the position and magnitude of the maximum and minimum stresses in a thick cylinder when subjected to internal and/or external pressure quantify the magnitude of the deformation in thick walled pressure vessels subjected to a pressure loading.THEORY We will start by making the following assumptions: + the material is elastic and homogeneous + the elastic constants are the same in tension and compression + plane sections remain plane after straining. (This implies that the strain in the z direction €, is constant.) —— Unloaded line - Loaded line Figure 1 If we consider a cylinder that is subjected to an internal pressure we would expect that the deformation would be of the form shown in Figure 1. ‘We would not expect any bulges in the wall thickness. The deformation would be symmetrical about the longitudinal axis (Z-axis). Since the deformation is symmetrical then the displacement would be a function of the radius r and not a function of the angle @, To maintain this symmetry of displacement then the shearing stresses associated with r and @ must be zero since the shear strain must also be zero. Therefore, the radial stress o, the hoop or circumferential stress g, and the longitudinal stresses ¢, shown in Figure 2 are all principal stresses.We will consider an element in the cylinder wall which subtends an angle 5, at the centre of the cylinder, and having a radial thickness 6, and an axial thickness 6, Figure 2 Where c, = the radial stress Gj = the hoop or circumferential stress g, = the longitudinal stresses. j The free body diagram of the element is shown in Figure 3. The inner radius of the element is r. The stresses acting on each face of the element are also shown.Let thickness of element = §z Figure 3 The force on each face of the element is determined by multiplying the direct stress by the area of the face. ose (©, +86,) (r+51)805z Figure 4 Forces acting on the element Since we are looking at a problem in static equilibrium then the sum of the forces in the radial direction EF, = 0. We will need to resolve these forces in the radial direction: a, + 80,\(r + 61)60b2 - 0.16062 - 20,6662sin®2 = 0 (0, + 60,)(r + 51)6662 - 016662 ~ 204 5Expanding and neglecting second order terms and cancelling 6@ and 52, and since sin 8 = % we have: 0,5 + rc, - og6r = 0 bo, o, + 1Be- 6, 6c, _ do, inthelimit 630 then Se, 20, a dr do, o,- 9, +19 =0..... ' = 16.667 x 108 + 0 sles ajo These two equations describe how the radial and hoop stress vary through the wall thickness. A table of results is given overleaf for various radii, 13,Radius | a, o, m_— | MN/m?| MN/m? 0.080 | 2833 | -250.0 | 0.100 | 1127 | -79.3 0.120 83.3 | -500 0.160 54.2 ~20.8 0.200 40.7 -7.3 0.240 33.3 0.0 | Table 1 | This is shown graphically in Figure 6 below. 300.0 \ 200.0 \ % 100.0 + 2 g [++ 00. =| é Le ——F 8 100.0: + -200.0. [ -300.0 : 0.0 005 (On 015 (02 (0.25 Radius (m) © Hoop stress (65) = Radial stress (6,) Figure 6 14We can see that the maximum stresses for both the radial and the hoop stress occur at the inner radius (at the bore of the cylinder). AXIAL STRESS We will now consider the axial stress which could be induced in the wall thickness due to the applied pressure, If we return to equation (8): 1 che ' 2 (6, + 0) = constant Ele + from which (a+ 344-2) = constant tals or > u ta). (2A) = constant tals We can see that the axial stress a, is constant, but its nature and magnitude will depend on the design on the ends of the cylinder. We will now look at two types of ends: open and closed ends. 15OPEN ENDS There is no connection between the end cap and the cylinder. End cap Cylinder = Internal pressure (p) No axial force is transferred from the end cap to the cylinder. o, = 0. Figure 7 CLOSED ENDS Cylinder =e. tT, i; Internal pressure (p}) _ =F. Figure 8 ThereforeFor equilibrium par? = o,(nr It can be shown that g, is equal to the constant A This approach assumes that the restraint imposed by the end plate is negligible. In practice, this is not the case but the above analysis can be used with confidence for the part of the cylinder which is sufficiently away from the end effects of the end plate. Example A steel cylinder is of 480 mm outside diameter and 120 mm inside diameter and can be considered as having closed ends. Determine the value of the axial stress in the thickness of the pipe when the internal pressure is increased to 250 MN/m?. Solution a 0 0.062 of —_9.98%__ 2 = 250 x 10 (aoe = va) 9 “ 16.7 x 108 N/m? = Note that this is equal to the value of the constant A, previously calculated on page 13 of this lesson. WwMAXIMUM SHEAR STRESS We now have been able to determine the radial stress o,, the hoop or circumferential stress o,, and the longitudinal stresses o,, The distribution for these three stresses in a closed cylinder with an internal pressure is shown below. Tensile +ve Stress Figure 9 We can see the maximum direct stress is that of the hoop stress at the bore of the cylinder. 18If this exercise was repeated for an external pressure only, it can be shown that the maximum direct stress is that of the hoop stress again at the bore of the cylinder (try Self-Assessment Question 2). The maximum value of the hoop stress will always occur at the bore. The maximum radial stress will occur where the maximum of the internal or external pressure occurs. Since there are no shear stresses in the radial or circumferential directions then the radial stress ¢,, the hoop or circumferential stress oy, and the longitudinal stresses o, are all principal stresses. The maximum shear stress at any radius is therefore given by: Example A steel cylinder has an outside diameter of 480 mm and an inside diameter of 120 mm and can be considered as having closed ends. Determine the maximum shear stress in the thickness of the cylinder when the internal pressure is increased to 250 MN/m?. 19 | | |Solution Figure 10 At the bore of the cylinder we have the following principal stresses: o, = -250MN/m?, o, = 283.3MN/nié and o, = 16.7 MN/m? Fromwhich Ong, = 283.3 MN/mt u and Spin = ~250 MN/m? = 266.7 MN/m? 20RADIAL DISPLACEMENT OF A CYLINDER We will now determine the radial displacement of the cylinder due to the applied pressures, We have previously defined the hoop strain as: Oo _y¥ au | > Flt o)as - We have a three-dimensional element 0 with three principal stresses. Then P the radial displacement is: % ov 6, ue AF - Ele, + ,) Example A steel cylinder has an outside diameter of 480 mm and and inside diameter of 120 mm and can be considered as having closed ends. Determine the increase in the external diameter of the cylinder when the internal pressure is increased to 250 MN/m?. For steel E= 210GN/m? v= 03 21 |Solution We have already determined that at oo the external diameter of the cylinder | the principal stresses are: o, es o,=0 or 05 = 33.3MN/m? 3, = 1667 MN/m? -{%- Lo, +2,) 0.24 Raw 3 x 108 - 0.3(0 + 16.67 x 10°)} 3.23 x 10-8 m | The change in diameter is therefore 6.46 x 10° m. - A SOLID SHAFT Let us investigate the use of the Lame equations for a solid shaft subjected to an external pressure p. External pressure Figure 11 22Let us approach this by considering a cylinder subjected to an external pressure p. External pressure P <> Figure 12 §, = internal radius f, = external radius B FAtS B %=A-S 23From which we get: As the hole gets smaller and smaller (i.e. r, -> 0) then A ~p and B~ 0. This gives the solution that: 0, = S= -P which means that the o, and g, are constant for all values of r. This is termed as being a hydrostatic state of stress. 24NOTES 28SELF-ASSESSMENT QUESTIONS Forsteel, 2 = 210 x10° N/m? Poisson's ratio v = 0.3 1. A thick steel cylinder of 60 mm bore with an external diameter of 240 mm is subjected to an internal pressure p. Determine the values of the pressure p which will produce: (@) maximum hoop stress of 225 MN/m? {b) maximum shear stress of 150 MN/m?. 2. A steel cylinder of 480 mm outside diameter and 120 mm inside diameter is subjected to an external pressure. Determine the intensities of the radial stress and hoop stress at all points in the thickness of the pipe when the external pressure is increased to 100 MN/m?. Show your results graphically. 3. Accylinder having an internal diameter of 300 mm and a wall thickness of 20 mm is subjected to an internal pressure of 150 bar. Determine the maximum direct and shear stress in the cylinder wall based on: (@) thin cylinder theory (b) thick cylinder theory. Comment on the differences. 4, A cylinder of 120 mm internal diameter is to withstand an internal pressure of 49 MN/m? and an external pressure of.5 MN/m? acting together. Determine the minimum thickness of the cylinder if the maximum direct stress in the material is not to exceed 75 MN/m?. Draw to scale a graph showing the variation of radial and hoop stresses across the section. 26@ Establish an expression giving the circumferential stress at any radius r in a thick cylinder of inner radius R, and outer radius R, when subjected to an extemal pressure p, and an internal pressure p,interms of R,, R, p, and p, ‘The Lame equations: o, = A+ 2 and o, = A- = may be assumed, fe 7 A thick cylinder of outer radius 120 mm is subjected to internal fluid pressure of 18 MN/m? when the maximum circumferential stress induced in the wall thickness is 25 MN/m?. Determine: (i) _ the inner diameter of the cylinder (ii) the minimum circumferential stress in the wall thickness. 27ANSWERS TO SELF-ASSESSMENT QUESTIONS 1. The boundary conditions for our problem are: at r= 003m o,=-P The solutions to the above simultaneous equations are: A= 0081p and B= -96x 104p from which we have: 9.6 x 104p = = 0.0667p - —-— + R a re 9.6 x 10 0, = A~ | = 00867p + AE (@) The maximum hoop stress occurs at the inner radius r= 0.03 m. B 9.6 x 10-4p =A-—=0: = 1.133, o,=A z 0.0667 p + 0032 1.133p For og = 225MN/m? . p = 198.5 MN/m? 28,(>) The maximum shear stress occurs at the inner radius ¢ = 0.03 m. o, po, = 1133p Depending on the end conditions g, will have a value between Oand 52.7 MN/m?, tea = 5 ze 1.0665 150 MN/m? x 4 140.6 MN/m? p= The internal pressure = 0 MN/m? The external pressure u 100 MN/m? 29The boundary conditions for our problem are: at r= 006m 0, = 0N/m? at r=0.24m a, ~100 x 108 N/m? Substituting these boundary conditions into the equation for radial stress we get: B eo B -100 x 10° = A+ 100 x 108 = A+ oS ‘The solutions to the above simultaneous equations are: A = -106.67 x 10° and B = 384000 from which wehave: o, = A+ % = ~106.47 x 108 + 84000 P r B 384 000 oo A- = = -10667 x 10° 2 * r These two equations describe how the radial and hoop stresses vary through the wall thickness. A table of results is given for various radii. Radius} 9, o, m | MN/m? | MN/m? 0.080 | -2133 00 0.00 | -1451 | 683 0120 | -1333 | -800 160 | 1217 | -917 200 | -u63 | -97.1 e240 | -1133 | -1000 Table 2 30Stress (MN/m*) Radius (m) 0.0 0.05 01 0.15 0.2 0.25 0.0 ~50.0 1000 4] -150.0 -200.0 4 ¢ -250.0 © Hoop stress (6) @ Radial stress (0,) Figure 13 We can see that the maximum hoop stress occurs at the inner radius (at the bore of the cylinder). The maximum radial stress occurs at the outer radius. (a) Thin cylinder theory. Mean radius = eae = 160mm p= 180bar = 150 x (1x 108)N/m? = 15 MN/m? 6 5, = PB 2 X10 OG gg anne 2 2% 0.02 _ PR _ 15 x 108 x 0.16 _ h 2 Go = PR = RX TAOUS = 120 MN/mi 31(b) Thick cylinder theory. The boundary conditions for our problem are: at or " 015m — g, = -15 x 108 N/m? fate 0 oiTm 6, " ON/m? Substituting these boundary conditions into the equation for radial stress we get: B 4 ie —s 15 x 10 = A + oe B OnAt oie ‘The solutions to the above simultaneous equations are: A = 52.73 x 108 and B= 1.524 x 108 from which we have: 6 9, = A+ Bx 5273 x 10 - BAX r r re 6 o,=A- B _ 52.73 x 108 + AXIO F F Og = A = 52.73 x 10 N/m? At the bore we have: -15MN/m?2, o, = 120.5 MN/m? and, = 52.7 MN/m? _ 2205 - (-18) = 67.7 MN/m? Trax 32If we assume that the thick cylinder gives the correct values, the errors arising from the use of the thin cylinder theory are: maximurn direct stress (Pa x 100 = 0.41% 120.5 maximum shear stress (2 i 7 =<) «100 = 11.4% Note that this is for the case where the ratio ——thickness_ internal diameter The boundary conditions for our problem are: at f= 006m a, = -40 x 10°N/m? 4 0 a or=5 o, = -8 x 18 N/m? ‘The maximum direct stress is the hoop stress which occurs at the inner radius, ie. atr = 0.06m, o, = 75 x 10°N/m*. Substituting these boundary conditions into: B = A-S B B = 40 x 108 b= A-— ‘we have: 40 x 10% post KW A- Oo The solutions to these two simultaneous equations are: A= 175x108 and B= -207000 a, = -5 x 108 N/m? 207 000 @ -5 x 108 = 17.5 x 108 ~ f, = 0.0950m, The wall thickness = (0.0959m ~ 0.06 m) = 0.0359m 33‘Stress (MIN/m*) 80 60 40 oo |__| 10 20 30 40 50 60 70 80 90 100 Radius (m) Figure 14 34The internal pressure = p, The external pressure = p, The boundary conditions for this problem are: a ora =A pte tc -Po Substituting these boundary conditions into the equation for radial stress we get: B B “Ra At Ret The solutions to the above simultaneous equations are: 35from which we have: (b} The boundary conditions for our problem are: at 5 = 006m _—p, = 18N/m? atthe outer radius r, = 0.12m —p, = O0N/mé (i) The maximum hoop stress induced occurs at the inner radius r, where o, = 25 x 10°N/m*. eae gene) = 25 x 10 ete age = 18 x 10° - 0)( 0.1225? Be ee i We = F 25 x 108 x (8.12% - 52) = 18 x 108 x 4? + 18 x 108 x 0.122 From which 0.0484 m (ii) The minimum hoop stress occurs at the outer radius which isr = 012m (* x 10® x 0.04842 - 0 x oe) 6, =| 0.122 — 0.0484? , (8 x 108 - 0 (a x al 0.122 0.122 - 0.0484? Og = TMN/m? 36SUMMARY In this lesson we have: developed the Lame equations 0, = A+ 5 7 B O,=A- a which describes the distribution of the stresses in a thick walled cylinder subjected to internal and/or external pressure been able to determine the magnitude of the radial and hoop stresses in the cylinder when subjected to internal and/or external pressure been able to determine the magnitude of longitudinal stress in open and closed ended cylinders when subjected to internal and/or external pressure seen that the maximum direct stress is the hoop stress which is a maximum at the bore of the cylinder when subjected to internal and/or external pressure seen that there is a large difference in the variation of the level of stress in the wall of a thick cylinder When subjected to an internal or external pressure, aT