Pergamon

International Journal of Plasticity, Vol. 11, No. 1, pp. 99-118, 1995 Copyright 1995 ElsevierScience Ltd Printed in the USA. All rights reserved 0749-6419/95 $9.50 + .00

0749-6419(94)00040-9

EXACT SOLUTIONS FOR LARGE ELASTOPLASTIC DEFORMATIONS OF A THICK-WALLED TUBE UNDER INTERNAL PRESSURE

ROMAN BONN a n d PETER HAUPT University of Kassel (Communicated by Romesh Batra, Virginia Polytechnic and State University)

A b s t r a c t - A rate-independent plasticity theory based on the concept of dual variables and dual derivatives is utilized to describe finite elastic-plastic deformations including kinematic and isotropic hardening effects. Application of this theory to the problem of the thick-walled tube under internal pressure leads to a system of partial differential equations of hyperbolic type. The existence and uniqueness of the solution of the boundary value problem is guaranteed, as well as the convergence of its numerical approximation. The exact solution of this problem is calculated by means of an extrapolation technique. This integration method turns out to be applicable for rather general hardening models of rate-independent plasticity. On the basis of the computed solutions the influence of the hardening parameters is investigated. As finite deformations are of special interest, this investigation is carried out not only for the partially yielded tube but also for the completely plastified tube. Furthermore, the onset of secondary plastic flow during unloading as well as residual stress distributions are studied.

I. INTRODUCTION

Because of its geometrical and physical nonlinearity, finite elastoplasticity admits only a few exact solutions. Among these are special homogeneous deformations leading to a system of ordinary differential equations, which can be explicitly solved in particular cases. An example is the problem of simple shear, which has been extensively studied in the literature to investigate the properties of objective time derivatives (see e.g. HAUPr & TSAKMAKIS[1986] and the literature cited there). Inhomogeneous deformation processes are governed by nonlinear partial differential equatiLons, and it cannot be expected that an explicit solution will be available. However, there are particular classes of nonlinear partial differential equations, where not only existence and uniqueness of solutions of boundary value problems have been rigorously proved, but also the possibility to calculate these solutions principally with any desired numerical accuracy has been demonstrated. If a special problem of continuum mechanics leads to a boundary value problem of this kind, we call the accurate numerical solution of this problem an exact solution. In this article, the problem of a thick-walled cylindrical tube under internal pressure loading is investigated in the context of large elastic-plastic deformations and general hardening properties of the material. Elastoplastic deformations of thick-walled tubes have been analysed in several papers, which can be divided into two classes. The first is concerned with small deformations: assuming nonhardening material, plane strain, and a yield criterion of Tresca the paper of HILL, LEE, and TOPPER [1947] is one of the
99

100

R. BONN and P. HAUPT

first taking compressibility into account. A review of papers investigating the partially yielded thick-walled tube under internal pressure can be found for example in Snm-Cm CrItr [1972]. The second class of papers investigates finite straining of pressurized tubes. MACGREGOR,COFFIN, and FISHER [1947] derive a solution in integral form on the assumptions of a von Mises yield condition, plane strain, total incompressibility, and isotropic hardening. Incorporating the yield criterion of Tresca, linear isotropic hardening together with elastic compressibility and plane strains, FISCHER[1977] is led to a system of ordinary differential equations, which he has solved for cyclic loading processes. In more recent works of DURBAN [1979, 1988] and DURBAN and KUBI [1992] solutions in the form of quadratures have been developed for the yield criteria of yon Mises and of Tresca considering general isotropic hardening rules based on deformation theory. The exact formulation of the boundary value problem for plane strain, developed in sections III.2 to III.4, leads to a system of quasilinear partial differential equations. This system is of hyperbolic type, and its characteristic directions are known a priori. The existence and uniqueness of the solution was established in HARTMANand WINTNER [1952]. Moreover, SMITFI[1970] and HACKBUSCI-I[1977a] were able to prove that for special classes of finite difference schemes the numerical solution has an asymptotic expansion in terms of powers of the stepsize. These results can be applied to realize a far more accurate calculation of the solution by means of an extrapolation technique. We call this extrapolated solution an exact solution of the problem. While the geometry of the problem is quite special, the constitutive modelling may be very general, however, within the theory of rate-independent plasticity. It turns out that the presented procedure applies to constitutive models incorporating general kinematic and isotropic hardening properties. The applicability of the exact solutions developed in this article is twofold: On the one hand they may be utilized to discuss the physical meaning of advanced constitutive equations of elastoplasticity. On the other hand they may serve as testing examples to evaluate the efficiency of finite element schemes.
II. C O N S T I T U T I V E A S S U M P T I O N S

II. 1. Intermediate configuration The formulation of constitutive assumptions applies the concept of an intermediate configuration, which implies the multiplicative decomposition of the total deformation gradient 17 into an elastic part Fe and a plastic part 17u:
F = FeFo

(1)

(see HAUPT [1985] and the literature cited there). In its physical interpretation the plastic deformation "gradient" Fp is the result of a local unloading process. In view of the polar decomposition

Fp = RpUp

(2)

and the nonuniqueness of the decomposition of F (F = ~'eFp = Fe(~r(~Fp for all orthogonal tensors ~)) it can be argued that only the plastic stretch tensor or, equivalently, the plastic Green strain
1 E p ~ ( FTp F p - 1 )

(3)

Thick-walled tube

101

can be related to the history of the total strain E=(FrF-1) by a constitutive functional Ep(t) = (R [E(r)].
r<t

(4)

(5)

This fanctional is assumed to be rate-independent; it will be defined implicitly in the usual way, i.e. by combination of an elasticity relation with a yield and a loading condition, a flow rule, and hardening models. In the sequel, these ingredients are provided in terms of variables related to the intermediate configuration. The particular choice of strain and stress tensors and their time derivatives follows the concept of dual variables and dual derivatives, developed in HAUPT and TSAKMAKIS[1989]. While the total Green strain tensor E is acting on the reference configuration, the equivalent total strain tensor
~ 17T- 1 l~lT- 1 ~___ 1 ( ~ T ~ e =P ----P --

-pi~r-I-pFl -

(6)

operates on the intermediate configuration. From the definition of 1~ we infer the additive decomposition l~ = l~e + Ap into an elastic Green strain,
E e ---- ~ ( F^ e F^ e 1 T 1) (8)

(7)

and a plastic Almansi strain Ap

:

(1 - 1~r-I !~-~ ,. =p --p

(9)

The corresponding total strain rate is given by

E" = =pr r-ll~r-'==p = !~ + L~I~ + l~Lp,

(10)

where [,p = ~'pFp ~ is the plastic velocity "gradient." The total strain rate decomposes according to

E
with

E e Jr- A p ,

(11)

and
^ ^T^ l)p = A . = ~p + LoAp + A p L p . ~ . <Lp-.[- [Jr).

102

R. BONNand P. HAUPT

In the context of the strain E~ the dual stress is defined by (12) where S = (det F)T is the weighted Cauchy stress tensor, T the Cauchy stress tensor, and T = (det F)F -l TF T-1 the 2nd Piola-Kirchhoff stress tensor. In this context, the corresponding stress rate is given by (13) The strain !~ and the stress S are dual in the sense that the following quantities are invariant with respect to a change of the configuration: Scalar product of stress and strain tensors, stress power, complementary stress power, incremental stress power (see HAUPT a TSAKMAKIS [1989]). I1.2. Constitutive relations Now, the constitutive assumptions are laid down in terms of dual variables and derivatives: Elasticity relation S = g(l~e) = t5 - ~

O(l~e) -

2/~ !~ + 1 - 2-------~

P (tri~e)l) (14)

/~ and u are the shear modulus and Poisson's ratio, respectively, and is the strain energy function. Yield condition f(S,X,s) = 0 (15)

(~D _ x D ) . ( ~ D _ xD) _ 2k2(s ) = 0

is the backstress tensor and s is the plastic arc length; the superscript ( )D denotes the deviatoric part o f the tensoriai quantity () and k ( s ) the uniaxial yield stress. Flow rule l)p = A --~Of _ 3 ~ (~D _ x D ) OS 2 k(s) ~ = ( 2 Dp. ~)p) l/2 (16)

Plastic arc length

(17)

The backstress tensor, modelling kinematic hardening behaviour, can be expressed as a linear and isotropic functional of the plastic strain history (HAuPX, KROZE~r, & TSAK~KIS [1987]). For special choices o f the kernel, the backstress tensor can be split up into a sum ( C r t ~ o c r m [1977]): = ~ X/
i=l

with ~ , = cif)p - b,~)(.

Thick-walledtube

103

In the following, we restrict ourselves to m = 1, i.e. we assume a kinematic hardening rule due to ARUSTRO~rG and Fm~DERICK [1966] with the material parameters c and b"
V

Kinematic hardening lsotropic hardening

X = cf)p - b~X k = ~/k(s)(ko. - k(s))~.

(18) (19)

The isotropic hardening model describes a monotonic increase of the uniaxial yield stress k(s) and includes a saturation property. The maximum value of k is k~ and "r is a material constant. To obtain an explicit form for the constitutive equation of the plastic arc length (17) the consistency condition ( f = 0) has to be evaluated by means of the constitutive relations (14-19): 2 2#(S D - i D) .!~ = ~ k(s) 1V The denominator ~r of eqn (20) is given in this case by 2 [ 2dk(s)]+8 ]Q = -~ k2(s) 2# + c + ~ - ~ s v tr(~ ) 3 k2(s) 2(1 + v --~--)

(20)

_ 2(~D _ ~ D ) . [(~D _ ~D)(~D _ ~D)] _ 2k(s)b(gO _ ~ o ) . i +4(~D_~D)2. ~ v 1 +V t r ( S ) l ) -- 4 k2(s)tr( ~ _ ~ ) . (21)

This constitutive model has the following two properties (see GREEN & NAGHDI [1971], SrDOROFF [1973]): It fulfills the principle of objectivity, It obeys full invariance with respect to arbitrary rotations of the intermediate configuration. This implies that the two functions f and g (or ~b) in eqns (14) and (15) are isotropic tensor functions.

III. THICK-WALLED TUBE UNDER INTERNAL PRESSURE In the following we formulate the boundary value problem for a thick-walled tube under internal pressure considering the condition of plane strain.

III.1. Kinematics According to the cylindrical symmetry of the considered problem, cylindrical coordinates are introduced. The normalized cylindrical base vectors GI, G2, and G3 (radial, circumferential, and axial direction) of the reference configuration form an

104

R. Boron and P. HAUPT

ortho-normal system. It is evident that in this case the components A* of a tensor A m in the representation A = A~Gk G m are physical components. Referring to the material representation, all material derivatives of tensors reduce to partial time derivatives of the physical components. The deformation process is given through a displacement field u representing a radial extension of the tube:
u = u(R,t)G1.

(22)

Here, t is time and R the distance of a material point from the rotational axis in the reference configuration. From (22) we derive the matrix representation of the deformation gradient,

F ~

l 0il
/3 0 /3=

(23)

where the following definitions have been used:

o(1

=~,

1+

=~.

(24)

The variable r represents in this context the distance of a material point from the rotational axis in the current configuration. Due to the symmetry of the problem we find the matrix representation of the plastic and elastic deformation "gradients" to be

Otp

a__ oLp

o
0

~p
0

o
1

ten

--

(25)

e,p~p

It is well known (KOITER [1953]) that the application of a Tresca yield condition implies also a plane plastic strain field. In contrary to this, a v o n Mises yield condition in combination with the associated flow rule leads to a nonvanishing plastic strain rate component in direction o f the symmetry axis, i.e.
~3

This is satisfied by eqns (25) if B p . 1/o~p.

Thick-walled tube

105

111.2. Equations of equilibrium and compatibility In the following we consider only quasistatic processes and neglect body forces. Then, the condition of equilibrium reduces in terms of physical components of the Cauchy stress tensor T to
!0T~ + 1.2_.( TI T 2) = 0. (26)

Or

Because all constitutive relations are formulated with respect to the intermediate configuration, eqn (26) should be transformed into a relation between the physical components of S:
2

--

OR

a OR

otp OR

= 0.

(27)

The components or, n of the deformation gradient must satisfy the compatibility condition
an ~ - n
-

aR

(28)

Inserting the relation of elasticity (14) into (27), one is led to the equilibrium condition

.rip ~

= 2/z ~

~np

aR

[ 1-v a SI]&~ 2~ + ~2# i - - 2 ~ (~--zp+ ~ j O R + 1 - 2 .

n on nz OR

(29)

+ ~

2lz

UOtpn - (1 - p) z

- 2

OlpJOR'

which will be used in the sequel together with eqn (28). III.3. Constitutive equations Incorporating the kinematic assumptions of the deformation process (eqns (22-25)) into the constitutive equations (eqns (15-19)) leads to evolution equations for the plastic art: length, the plastic strain components, and the hardening components, which are summarized below:

= i k(s) -E

(~'~ - ~'~)~ + ~

- ~'~)~

(30)

~p_3
~p

1 (~n_Xn)Is
2 k(s)

(31)

106

R . BONN a n d P. HAUPT

f3p 3p

3 -- 1 (~ 2 k(s)

- ~'o)~

(32)

)~'I =

k - ~ (;~O _ ~.-O)l (C + 2)~'I ) -- b-~'l

(~D _ f(O)2(C + 2.1~-2) _ b)~-2 S

] 1

(33)

(34)

(c + 2.,X']) - b ) ( ] ] $
[c = 3'k(s)(ko. - k(s))~.

(35) (36)

Furthermore, we find the denominator ~r in eqn (30) to have the form

-3 - --~s
3

J + 2 Iz - - + Iza232 + .f(l
o~2

[(~n

,e~O)l]2

+2

2 2 #-g-~ +Izap3~,+ 2 ~

3p

[(~

2)~12
__

2 + 4(/~p3~2 + )~-3) [(,~O

__

~-D)I (~O

~-O)Z].

(37)

In view of a mathematical discussion of the constitutive equations (eqns (30-36)) each of these equations can be expressed in the symbolic notation ~,, Akin(Y) ~
m=l 9

Oym

= 0,

(k = 3,4 . . . . . 9),

(38)

where y is the vector of the dependent variables:

y = (o,,tLo,,,,~p,S,k,~l,Yc~,,k~)

(39)

This mathematical structure of eqns (38) is due to the rate-independence of the constitutive model; it is not affected by the special choice of hardening models Thus, even more sophisticated models of finite elastoplasticity, which are formulated as rateindependent evolution equations, can be expressed within the structure of eqns (38) and therefore solved with the integration technique proposed in section IV.2. Furthermore, as a consequence of the rate-independence, the time t as independent variable can be replaced in eqns (30-36) by any monotonic function z,;~(t) > 0. In the sequel, three different functions z will be used as substitutes for time t, namely: the internal pressure p ( t ) , the radius C ( t ) of the cylindrical surface, which separates elastic from plastic domains, and the plastic arc length s ( t ) . Together with the equation of equilibrium (29) and the compatibility relation (28), having the structure

Thick-walled tube

107

~a Akin(Y)
m=l

COy m

OR

= Bk(y,R)

(k = 1,2),

(40)

eqns (38) form a system of partial differential equations determining all unknown variables. This system has to be completed by appropriate boundary conditions. III.4. Boundary value problem For the pressurized thick-walled tube, boundary conditions are prescribed on the inner surface of the tube Ri as well as on the outer surface Ro. These are formulated with respect to the Cauchy stresses,

T1 (Ri,t) = - p ( t )

and

T l ( R o , t ) = O,

(41)

where p ( t ) is the applied internal pressure and TI the radial stress component. In 1Lhecase of purely elastic loading and unloading processes, eqns (28) and (29), together with (41), determine the complete boundary value problem. This two-point boundary value problem can be solved by standard methods of integration (see for example PRESS et al. [1988]). If elastic-plastic deformations take place, two different situations may occur, namely the partially yielded tube and the completely plastified tube. For the partially yielded tube (see HILI. [1950]) two regions of different material behaviour exist: An inner ring of elastic-plastic material behaviour is separated by a cylindrical surface with radius C ( t ) (with respect to the reference configuration) from a purely elastic outer ring. Boundary conditions for the elastic domain are given at the outer radius Ro and at the radius C(t) of the separating surface; these are the vanishing outer pressure and the yield condition, respectively:

Sl(Ro,t) = 0

and

f ( S ( C ( t ) ) , X ( C ( t ) ) , s ( C ( t ) ) ) = O.

(42)

This boundary value problem of the purely elastic domain will be solved as mentioned above. For the inner elastic-plastic region, the complete set of partial differential equations (eqns (28-36)) has to be solved. As will be shown in section IV. l, this system has a unique solution, so that the boundary value problem can be replaced by an equivalent initial value problem. The initial data are prescribed on the separating surface. For the first loading process, the plastic variables have the following values:

X( C) = O,

s( C) = O,

k( C) = ko,

otp(C) = 13p(C) = I.

(43)

On the other hand, the components of the total deformation gradient (o~,/~) follow from the solution within the outer elastic ring calculated at C. The radius C(t) of the separating: surface cannot explicitly be given as a function of time t or internal pressure p. Therefore, to avoid an iterative calculation of C(t), an inverse technique (see e.g. SHmCHI CI-rO [1972]) is applied. The idea thereby is to make use of the rate-independence in the sense that in the system of partial differential equations (eqns (30-36)) time t is replaced by the radius C ( t ) . Due to this change of the integration variable, the domain of solution changes to a square (see Fig. 1), where the upper triangle represents the elasticplastic region. Thus, the separating surface is now a straight line and known a priori.

108

R.

B N and ON

P. H U T A P

C p(t)
I I I I_ I~ - elastic/ - plastic / ....
L I iJ'i

ao
p(t) -Ri_ Rol- =" R

IIIl_
elastic## ---~-Pl~asttcj~ I

J "" Cit)
--elastic

C(t) /
/

/
I Ri

I f --elastic -llll

/
I Ri

IIII
Rolm R

Fig. 1. Change of domain of solution after change of integration variable.

If the cylinder is completely plastified, elastic-plastic deformations take place throughout the tube. In this case the complete set of constitutive equations has to be solved in the whole region. However, up to now no formulation of an equivalent initial boundary value problem has been proposed in the literature. Some authors reduce the boundary value problem to a system of two ordinary differential equations on the basis of a more special choice of constitutive models, like DUI~AN [1988] (deformation theory, von Mises yield condition, and general isotropic hardening) and FISCHER [1977] (Tresca yield condition and linear isotropic hardening). In the following we propose a procedure to define an equivalent initial boundary value problem for constitutive equations in the form of eqns (38). Fig. 2 illustrates the domain o f solution and the curves at which data have to be prescribed. On the ordinate axis, the radius C of the separating surface is replaced by the plastic arc length So = s (Ro, t ) , which starts with So = 0 and develops monotonically. On the curve CA boundary values at the outer radius Ro have to be given, and on the curve CB at the value So = 0 o f the plastic arc length initial data must be prescribed across the wall-thickness. The latter data follow from the solution of the partially yielded tube at that instant where yielding happens to commence at the outer radius. To obtain a set of appropriate boundary values, we again change the independent variable: We now replace the time t by the plastic arc length So = S ( R o , t ) . As a consequence, all time derivatives in eqns (30-36) are replaced by derivatives with respect to So. Rewriting eqns (30-36) in this way, we obtain a set of ordinary differential equations at the fixed radius Ro, valid for So > 0:

s I 0
IR i

I elasticI I
plastic

~,CA

I I I \ CB
Ro I R

Fig. 2. Initial conditions for completelyplastified thick-walledtube.

Thick-walledtube

109

d~p dso

3 __ (~, _/:t,)] 2 k(so)

d/~p = 3 {3p (,~D_ ~D)~ dso 2 k(so) dk - - = 7k(so)(k~ - k(So)) dso

(44)

a21 [3 1
dso 2 k(so)
_ _ _

(~D _ X o ) [ ( c + 2P~'l) - b~'l]

(,~o _/(o)~(c

2/'2) - b.~"2]

dso

k(so)

d/./~ = [ (~o _/.o)l + (~o _/-o)~

dso

] k(so)

(c + 2 ~ ) - b/'~].

By combination of the boundary condition ,S~(Ro, t) = 0 with eqn (30) a further differential equation da fi/ 2#(sD--)(D)2 I 1 - v ot2 ]

dso = M

~
2/z(S D - ) ( ) i [ ~2

,,

o,~
}

4~

(S D-/~')~
(45)

can be deduced, where N is given by (37) and M is defined as

M = 2 k(so)2#[(~ D 3 2o)I

2]~.

(46)

Integrating eqns (44) and (45) along CA (see Fig. 2) leads to the complete set of boundary values for R = Ro.

IV. NUMERICAL INTEGRATION AND RESULTS

IV. 1. Existence and uniqueness o f the solution As ,;hown in section III.3, the considered problem of a thick-walled tube under internal pressure leads to a system of first-order partial differential equations (eqns (28-36)). This system is a special case of the more general system
N
m=l

Oyra Akm(Y,R, t) ~ = Bk(y,R, t)

(k = 1. . . . . n)

m ay m ~_~Akm(Y,R,t) =Bk(y,R,t) m=l OR

(47)
(k=n+ 1. . . . . N),

110

R. BONNand P. HAUPT

where the coefficient functions Akin as well as the right hand sides Bk are continuous functions of the solution vector y = (y~ . . . . . YN) and of the independent variables R and t. If for all y, R, and t
d e t Akin =/: 0

(48)

holds, and if all Zkm and Bk possess continuous first- and second-order derivatives with respect to all arguments, the system (47) is of hyperbolic type. Furthermore, it can be proven ( H ~ WINTr~R [1952], SMm~ [1970]) that a unique solution exists for system (47). IV.2. Extrapolation to the limit In order to obtain a numerical approximation of the exact solution of the system (47), which is as close as possible, we apply a special integration technique, which goes back to RICHARDSON [1911]. The mathematical correctness of this method has been established by S m r a [1970] and HACrBUSCH [1977a, 1977b] for partial differential equations and by GP,Aoo [1965] and HAmER and LUmCH [1984] for ordinary differential equations. The Richardson-extrapolation or extrapolation to the limit is based on certain finitedifference integration schemes. According to SMITH [1970] and HACKBUSCH [1977a], it is necessary that the discretisation error can be expressed as a power series of the discretisation stepsize h. This is equivalent to an asymptotic expansion of the solution Ydis of the discretised system, valid for all points in the space of independent variables R, t:
Ydis(R,t;h) = Yexact(R,t) + e p ( R , t ) h p + e q ( R , t ) h q + . . . + E ( R , t ; h ) hz+l.

(49)

Here, q , p . . . . . z are positive numbers with q < p < . . . < z, Yexactis the exact solution of system (47) and eq . . . . . e z depend only on the independent variables. The error term E is bounded. For simplicity, we restrict our consideration to one special finite-difference scheme, namely the method of characteristics, which is convergent o f first order. In this case, we obtain the following system of difference equations:
N ~_aAkm(R,t-h)
m=l

ym(R,t) -ym(R,t-h)
h

=bk(R,t-h)

k=l,...,n

(50)
N m=l Akm(R + h,t) ym(R,t) -ym(R + h,t) h = -bk(R + h,t) k = n + l . . . . . N.

For convenience, time t has been scaled, so that the stepsize 4 t in time is equal to the stepsize AR o f the spatial coordinate:
At=AR=h.

It has been proven by Sm'rt-i [1970] that the solution of system (50) possesses the required asymptotic expansion (49). For all points ( R , t ) we have
Ydis(R,t;h) = Yexact(R,t) + e l ( R , t ) h l + e 2 ( R , t ) h 2 + . . . + E ( R , t ; h ) h z+l.

(51)

Thick-walled tube

111

In order to improve the order of convergence, i.e. to calculate an extrapolated solution Y~xp with a leading error term higher than h ~, solutions of the discretised system (50) are calculated with different stepsizes hk. These stepsizes hk are given as decreasing parts ,of a basic stepsize H,
hk = H / k ,

where k are positive numbers, for example k E {1,2,3,4,5 . . . . ] (see D E U I ~ [1983]). The walues of the solutions (51) corresponding to stepsizes hk are denoted as
T k(]) = Ydis

(R, t; hk).

(52)

These values T k(]) can be used as starting values of a polynomial extrapolation inserted into tile Aitken-Neville algorithm (see HAn~R, N~RSErr, ~ WANNER [1987]). Then, the diagonal term T~ k) of the Aitken-Neville table is a k-th order approximation of the exact solution Yexactin terms of the basic stepsize H: yexp(R, t) = T~ k) = Yex~ct(R,t) + gk(R, t ) H k + G(R, t ; H ) H k+l. (53)

Enlarging k reduces the discretisation error and in the limit of k approaching infinity (53) converges to the exact solution. In this sense, the solution (53) is called the exact solution of system (47). Of course, the attainable accuracy of (53) is restricted because round-off errors occur and the machine precision is limited. To illustrate the efficiency of the proposed numerical method, Fig. 3 shows the inter-

3.00

- - - - h = 1.e-2
.~w h = 1.e-2, e x t r a p o l a t e d h : 5e-3 h = 2.5e-3 : 2.e-4 i
. : .

2.80
o. 2.60 J} u} O.

.... ........ ~ h

.f" ...........
2.40

.-~

........

. .............

:. . . . .

E
r-

2.20

ko/2 ~. = k/2p. = 4.24e-3 ~, 5000/21~, v O.3 c/2rt = 0.0, b=O.O

2.00 0.0005

i
0.001

I
0.0015

I
0.002

i
0.0025

I
0.003 0.0035

Radial d i s p l a c e m e n t

U(Ro)/R

Fig. 3. Internal pressure versus displacement at the outer radius.

112

R. BONN and P. HAUPT

nal pressure as a function of the displacement at the outer radius up to the value where the tube becomes completely plastified. The numerical solutions have been calculated for different decreasing stepsizes h. Extrapolation has been applied to the results of the calculations with h = 1-10 -2, 5.10 -3, 2.5-10 -3. The extrapolated solution (the T3 ~3) term of the corresponding Aitken-Neville table) coincides with the solution due to the stepsize h = 2.10 -4. As the number of points P forming the finite-difference mesh increases with decreasing stepsize ( P - h - 2 / 2 ) the number of numerical operations needed to calculate the extrapolated solution is more than 100 times less than the number of operations to obtain the solution for h = 2.10 -4. In comparison to standard first- and second-order finite-difference schemes, use of the extrapolation technique leads to significant savings in computing time. Furthermore, it is clear that fewer numerical operations imply a reduction of the influence of round-off errors. All these effects can be improved further, if instead of the method of characteristics a second-order finite-difference scheme is utilized as a basis for the extrapolation (see SMITH [1970] and HACKBUSCH [1977a1). IV.3. Loading and unloading processes The following discussions refer to the exact solutions of eqns (28-36) for the thickwalled tube subjected to internal pressure. Although the proposed integration technique enables us to compare a variety of models of rate-independent plasticity, we restrict ourselves throughout this article to the material behaviour according to eqns (18). Therein included are the special cases of linear kinematic hardening as well as perfectly plastic material behaviour. Our calculations will outline several effects which have been first noticed for perfectly plastic materials. Among those are the following: (i) There exists a critical displacement u(Ro) of the outer surface beyond which a decrease of the internal pressure can be observed (see PRAGER & HODGE [1951], CROSSLAND & BONES [1958], FISCHER [1977]). (ii) For rather thick-walled tubes (Ro/Ri > 2) the circumferential stress may change from tension to compression (see MACGREC,OR, CoffiN, & FISrmR [1948], Bourn [1992]) even for partially yielded tubes. (iii) During unloading secondary plastic flow may occur (see PRATER & HOD~E [1951], BONN [1992]). Furthermore, we discuss the influence of the hardening parameters on load-displacement relations, the stress distributions, and the distribution of residual stresses after unloading. In Figs. 4 and 5 the calculated stress-strain curves are plotted for a thickwalled tube (Ro/Ri = 5). At the inner radius strains o f about 257o correspond to the value of the nondimensionalized displacement Uo = u(Ro)/Ro = 0.01 at the outer radius. The vertical line at the displacement

flo =

ko 2(1 _--_v)_ ~1/2 l + 2# ~/l ~ u + v2 ] --1

(54)

(see Bo~r~ [1992]) indicates that the tube is just completely plastified. In case of ideal plasticity the limit pressure is reached at this stage of loading. If hardening with saturation property is incorporated, this limit pressure still exists; however, it has significantly higher values and is reached at much higher strains.

Thick-walled tube

113

7.0 ko/21~ = 2.0e-3 6.0 b=10

Ro/R i = 5
v=0.3 I b =0.0, k / 2 ~ = 10e-3

--.. 5.0 t"t. -~

t,t.~ t,t,b

2~ 7 = 5 0 0 0

4.0

~2.,o

. ~

.......

=6o

E~
-E~ 3.0
,...,

E Cp
2.0

_ci

~~']"
1.0 0.0

............... .......... ::~:o ....... . ...... o,~,=oo

-- - c/2p. = 0.1

u
o 0.002

I
0.004 0.006 0.008

ic/2~ - 0.2
0.01 0.012

Radial displacement

U(Ro)/R

Fig. 4. Internal pressure versus displacement of external radius.

2.5 2.0

k0/2~ = 2.0e-3 Ro/R i = 5 v=0.3 21~ =5000 f , .7

..-/ """ b = 10

trv "~ ~1--

1.5
1.0

L'

--/- ....

,..

.~

". b = 0,0, k /21~= 10e-3

...

.......

C/2p = 0.0 C/2p = 0.1

"'....

=
'~

05

L-~

-- ~ 2 , - , , . , .
b=20 --.-...,,,. "~-:.,...

~2~=02

oo

.... : . , ~ . 2 . ~ ~ . - - -

.............. ~.=oo

""
-1.0 I b= 6o

-1.5
0

J I
0.002 0.004

I
0.006

I
0,008

I
0.01 0.012

Radial displacement

U(Ro)/R

Fig. 5. Circumferential stress at inner radius.

114

R. BONN and P. HAUPT

Material parameters of kinematic hardening influence the pressure in the following ways: (i) An increase of c (linear kinematic hardening parameter) leads to an increase of the slope of the pressure curve at the beginning of plastic flow. (ii) The consequence of an increase in the value of the saturation parameter b is a decrease in the limit pressure. For b --- 0 no limit pressure exists. This principal behaviour is well known from one dimensional homogeneous deformations. On the other side isotropic hardening causes a further increase of the limit pressure. A combination of both hardening models leads to a representation of one and the same pressure curve on the basis of different, i.e. not uniquely defined, sets of material parameters. Of course these sets lead to distributions o f the two other stress components, which show significant differences. Fig. 5 shows e.g. the circumferential stress at the inner radius. Not only for the partially yielded tube but also for the completely plastified tube a very strong influence of the material parameters is observed. It turns out that in general the axial and circumferential stresses are more sensitive to changes o f the hardening parameters than the radial stress is. This can also be illustrated in Fig. 6, which shows the circumferential stress distribution across the wall thickness for a tube which is just completely plastified. At the inner radius, where large plastic deformations occur, the influence on the material behaviour due to the material parameters is most obvious. In the case of ideal plasticity and for a high value o f the saturation parameter b the circumferential stress changes from tension at the outer radius to compression at the inner radius. Besides the investigation o f the limit pressure, two other questions concerning the

3.0
- . b=0.0

2.5 ....... b=10 b=60 .... !

" ~ . 2.0
tO

1.5 .~ 1.0 0.5

"':3 . . . . . . . . . . . . . . . . . . . .
. .~ c/2p = 0.2 :

e
',,-

o t3

E '-I

o.o
I" ~
-0.5 -1.0 0.2 .\ . . . . . . . . . . . .
c/2p = 0.0

v = 0.3 ko/2 p = k/2p =2.0e-3 ......

0,3

0.4

0.5

0.6

0.7
0

0.8

0.9

Radius R/R

Fig. 6. Circumferential stress distribution.

Thick-walled tube

115

unloading process of a pressurized tube have been discussed in the literature, namely whether secondary plastic flow occurs and how the residual stresses look like. Assuming ideal plasticity P~OER and HODOE [1951] pointed out that secondary plastic flow starts only for tubes with a ratio Ro/Rt > 2.22. From Fig. 7 it can be seen that for linear isotropic hardening only tubes with ratios Ro/Ri > 2.5 show an onset of secondary plastic: flow. For kinematic hardening the opposite tendency can be seen. For comparison with the results obtained by FIscrmR [1977] we have chosen the same linear isotropic hardening rule for the calculations presented in Fig. 7:

k(s) =/Co + o~s.

(55)

Fig. 7 illustrates the pressure p for which during unloading the yield condition is fulfilled :for the first time at the radius R. One result is that secondary plastic flow starts at the inner radius. The radius R/Ro at which the pressure is equal to zero represents the position of the separating surface, i.e. an elastic-plastic domain has spread out during unloading up to the radius R/Ro. Another interpretation of this effect is that for tubes with ratio RJRo larger than the ratio of the radius R/Ro no secondary plastic flow happens. For ideal plasticity, the critical ratio Ri/Ro is 0.45, which is exactly the value given by PRAGERand HODG~ [1951] in the context of small deformations. The evolution of an elastic-plastic domain during unloading can also be inferred from a study of the residual stress distributions. In this case, a jump in the slope of the circumferential stress at the radius of the separating surface occurs (see Fig. 8). Further-

1.0 . . . . . . . r.J2p. = 0.0, ~ - c/2p. = 0.2, .... c/2p. = 0.2, ~ c/2p. = 0.0, - - - c/21~ = 0.2, \ .... b b b b b = = = = = 0.0, 0.0, 60, 0.0, 60, (z/2p. = 5 . 0 e - 2 0./21~ = 5 . 0 e - 2 ct/2p. = 5 . 0 e - 2 oJ21~ = 0 . 0 cz/2p. = 0 . 0

\
\
~,::>

0.5

(/}

t/} Q.
0.0

. x ~

x x

,
......

ko/2P. = 4 . 2 4 e - 3

"..- ' -'-......~ ; k(s) = k o + 1/2 ~t s

-0.5

0.2

0.3

0.4

0.5

0.6
Radius R/R o

0.7

0.8

0.9

Fig. 7. Pressure for which yielding starts at the radius R during unloading.

116

R. BONN and P. HAUPT

o
..Q "O N

- Radial stress 0.5 -Circumferential stress ....... Axial stress 0~,:.......iiii:i..iii .... _,...,......,,.

m
-

"~ t-"
(D

i ' " ' i i i ..........

:::. . . . . . . . .

E V, e-"
O C O'} ID 09

-0.5-

i
" /

..~...-

.........- -

-1

ko/2p,=4.24e-3
koo/21~ = 6.0e-3

t~

-1.5

7 = 5000/2rt Smax(Ro) = 2.5e-3 0.2 0.3

rr

-2

0.4

0.5

0.6 Radius R/R

o

0.7

0.8

0.9

Fig. 8. Residual stress distribution.

more, the residual stresses may be larger than the initial yield stress k0. The radial stress turns out to be negative (compression) with its maximum value near the separating surface. Both axial and circumferential stresses may change from compression at the inner radius to tension at the outer radius. For a tube, which has been loaded up to the point where it is just completely plastified, the residual circumferential stress distribution is shown in Fig. 9. The jump in the slope indicates how far the zone of secondary plastic flow has spread out across the wall thickness. As mentioned above, kinematic hardening leads to larger plastic deformations compared to ideal plasticity. For isotropic hardening the opposite statement is true.

V. CONCLUSIONS The behaviour of a thick-walled cylindrical tube has been investigated under the assumption of a rather general constitutive model o f rate-independent finite elastoplasticity. The boundary value problem leads to a system of hyperbolic partial differential equations. The existence and uniqueness of the solution o f these equations is known from the literature. Using a convergent finite-difference method in combination with an extrapolation technique, an approximation of the exact solution is calculated. The investigations show a strong dependence of the stress distribution and the load-displacement behaviour on the material parameters and in particular on the kinematic hardening model. The presented method may be applied to explore physical implications of special constitutive theories and to validate a finite element code.

Thick-walled tube

117

R/Ri = 5
v=o.3
. . . . .

.==
t'xL q

0.5

k^/2p. = 2.0e-3
_

,~,~.r....~ i" I

F-

t/}

-0.5 E

/"

....

/,..:.:"

. . . . .

. . . . . . . . .

.............

-1-

//

~-~2~=

0.2, b---60, ko = k

o
cD -1.5

//

- ...... c/2p. = 0.1, b=60, k o = k

c/2~ = o, b=0. k = 2 k0

-2 0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

RadiusR/R O
Fig. 9. Circumferential residual stresses.

Acknowledgement-This work was supported by the Deutsche Forschungsgemeinschaft (DFG) as a project

within the research group "Ingenieurwissenschaftliche und Mathematische Analyse Bruchmechanischer und Inelastischer Probleme."

REFERENCES

1911 1947 1947 1948 1950 1951 1952 1953 1958 1965 1966 1970

RIChaRDSON,L.F., "The Approximate Arithmetical Solution by Finite Differences of Physical Problems Including Differential Equations, With Application to the Stresses in a Masonary Dam," Phil. Trans. Roy. Soc. Lond., A, 210, 307. HILL,R., LEE, E.H., and TUPPER, S.J., "The Theory of Combined Plastic and Elastic Deformation With Particular Reference to a Thick Tube Under Internal Pressure," Proc. Roy. Soc. Lond., 191, No. A102, 278. MACGR~.GOR, C.W., COFFIZ%L.F., JR., and FISHER, J.C., "The Plastic Flow of Thick-Walled Tubes With Large Strains," J. Appl. Phys., 19, 291. MAcG~C,OR, C.W., Comz% L.E, JR., and FISI-I~R, J.C., "Partially Plastic Thick-Walled Tubes," J. Franklin Inst., 2.45, 135. H~L, R., "The mathematical Theory of Plasticity," Clarendon Press, Oxford. PSA~ER,W., and H o ~ E , P.G., "Theory of Perfectly Plastic Solids," John Wiley & Sons, New York. HARTM-~q,P., and Wn~Tt4ER, A., "On Hyperbolic Partial Differential Equations," Am. J. Math., 74, 834. KOITER,W.T., "On Partially Plastic Thick-Walled Tubes," Anniversary Volume on Applied Mechanics, De Technische Uitgerverij H. Stare; Harlem, Antwerpen, Djakarta; pp. 232-251. CROSSLAI, B., and Bo~Es, J.A., "Behaviour of Thick-Walled Steel Cylinders Subjected to InterrD, nal Pressure," Proc. Inst. Mech. Eng., 172, 777. GI~.AC,~, W.B., "On Extrapolation Algorithms for Ordinary Initial Value Problems," J. SIAM Num. Anal., Set. B, 2, 384. ARMSTRONG,P.J., and F~DERICK, C.O., "A Mathematical Representation of the Multiaxial Bauschinger Effect," General Electricity Generating Board, Report No. RD/B/N731. SMrrn, R.R., "Extrapolation Applied to the Numerical Solution of Hyperbolic Partial Differential Equations," PhD Thesis, University of California, San Diego.

118

R. BONNand P. HAUPT

1971 1972 1973 1977 1977 1977a 1977b 1979 1983 1984 1985 1986 1987 1987 1988 1988 1989 1992 1992

GREEN, A.E., and NAGHDI,P.M., "Some Remarks on Elastic-Plastic Deformation at Finite Strain," Int. J. Eng. Sci., 9, 1219. Smn-Cm, Criv, "A More Rational Approach to the Problem of an Elastoplastic Thick-Walled Cylinder," J. Franklin Inst., 294, 57. SIDOROFF,F., "The Geometrical Concept of Intermediate Configuration and Elastic-Plastic Finite Strain," Arch. Mech., 25, 299. CrtASOCHE, J.L., "Viscoplastic Constitutive Equations for the Description of Cyclic and Anisotropic Behaviour of Metals," Bull. Acad. Polonaise Sci., 25, 33. FISCHER, B., "Zur Zyklischen, Elastoplastischen Beanspruchung Eines Dickwandigen Zylinders bei Endlichen Verzerrungen," PhD Thesis, University of the Ruhr Bochum. HACKBUSCn,W., "Extrapolation Applied to Certain Discretisation Methods Solving the Initial Value Problem for Hyperbolic Differential Equations," Num. Math., 28, 121. HACKBVSCn,W., "Extrapolation to the Limit for Numerical Solution of Hyperbolic Systems," Num. Math., 28,455. DORBAN,D., "Large Strain Solution for Pressurized Elasto/Plastic Tubes," J. Appl. Mech., 46, 228. DEUFELHARD,P., "Order and Stepsize Control in Extrapolation Methods," Num. Math., 41, 399. HAIRER, E., and LunIcH, C., "Asymptotic Expansions of the Global Error of Fixed-Stepsize Methods," Num. Math., 45, 345. HAUPT, P., "On the Concept of an Intermediate Configuration and its Application to a Representation of Viscoelastic-Plastic Material Behavior," Int. J. Plasticity, 1, 303. HAUPT, P., and TSAKMAKIS,Ca., "On Kinematic Hardening and Large Plastic Deformations," Int. J. Plasticity, 2, 279. HAIRER, E., NORSETT,S.P., and WANNER,G., "Solving Ordinary Differential Equations I, Nonstiff Problems," Springer Series in Computational Mathematics, 8, Springer Verlag. HAUPT, P., KROZEN, M., and TSAKMAKIS,CH., "Ober Verfestigungsmodelle der Plastizit/itstheorie in Funktionaler Darstellung," Zeitschrift ffir Angewandte Mathematik und Mechanik, 67, T193. DURnAN, D., "Finite Straining of Pressurized Compressible Elasto-Plastic Tubes," Int. J. Eng. Sci., 26, 939. PRESS, W., FLANNERY,B.P., TEUKOLSKY,S.A., and VETTERLING,W.T., Numerical Recipes in Fortran, Cambridge University Press, New York. HAUPT, P., and TSAK~IS, CH., "On the Application of Dual Variables in Continuum Mechanics," Cont. Mech. Therm., 1, 165. BONN, R., "Rotationssymmetrische Inhomogene Deformationen in der Finiten Plastizit~itstheorie unter Einbeziehung von Verfestigungsmodellen," Dissertation, University of Kassel. DURBAN, D., and Kum, M., "A General Solution for the Pressurized Elastoplastic Tube," J. Appl. Mech., 59, 20.

Institut fiir Mechanik University of Kassel M6nchebergstr. 7 D-34109 Kassel, Germany

(Received in final revised form 24 April 1994)