Cambridge University Press 0521818303 - Plasticity and Geomechanics R. O. Davis and A. P. S.

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PLASTICITY AND GEOMECHANICS

Plasticity theory is widely used to describe the behaviour of soil and rock in many engineering situations. Plasticity and Geomechanics presents a concise introduction to the general subject of plasticity with a particular emphasis on applications in geomechanics. Metal plasticity is described and elementary theories are discussed before attention is focused specically on geomaterials. The greater part of the book is devoted to the classical aspects of plasticity, particularly the use of upper and lower bound theorems and slip line theory. Critical state theory is introduced and Cam Clay is described in detail. Derived from the authors own lecture notes, this book is written with students rmly in mind; the main body of the work is concerned with applications, while the more theoretical aspects such as proofs of theorems are placed in appendices. Excessive use of mathematical methods is avoided in the main body of the text and, where possible, physical interpretations are given for important concepts. In this way the authors present a clear introduction to the complex ideas and concepts of plasticity as well as demonstrating how this developing subject is of critical importance to geomechanics and geotechnical engineering. Although entirely self-contained, this book constitutes a companion volume to the acclaimed Elasticity and Geomechanics by the same authors, and will appeal to students and researchers in the elds of civil, mechanical, material and geological engineering. It may be used as a text for senior-level undergraduate and graduate courses in soil mechanics, foundation engineering and geomechanics. r. o. davis is Professor of Civil Engineering at the University of Canterbury. a. p. s. selvadurai is Professor of Civil Engineering and Applied Mechanics at McGill University. Both authors are dedicated educators and researchers in the elds of geotechnical engineering and geomechanics with a combined experience exceeding 50 years. They are joint authors of the well-received Elasticity and Geomechanics published in 1996 by Cambridge University Press, and Professor Selvadurai is also the author of the two-volume monograph Partial Differential Equations in Mechanics (2000).

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Cambridge University Press 0521818303 - Plasticity and Geomechanics R. O. Davis and A. P. S. Selvadurai Frontmatter More information

PLASTICITY AND GEOMECHANICS

R. O. DAVIS
University of Canterbury

A. P. S. SELVADURAI
McGill University

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Cambridge University Press 0521818303 - Plasticity and Geomechanics R. O. Davis and A. P. S. Selvadurai Frontmatter More information

published by the press syndicate of the university of cambridge The Pitt Building, Trumpington Street, Cambridge, United Kingdom cambridge university press The Edinburgh Building, Cambridge CB2 2RU, UK 40 West 20th Street, New York, NY 10011-4211, USA 477 Williamstown Road, Port Melbourne, VIC 3207, Australia Ruiz de Alarc on 13, 28014 Madrid, Spain Dock House, The Waterfront, Cape Town 8001, South Africa http://www.cambridge.org
C

R. O. Davis & A. P. S. Selvadurai 2002

This book is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University Press. First published 2002 Printed in the United Kingdom at the University Press, Cambridge Typeface Times 10/13 pt
AT X 2 [TB] System L E

A catalogue record for this book is available from the British Library Library of Congress Cataloguing in Publication data ISBN 0 521 81830 3 hardback

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Cambridge University Press 0521818303 - Plasticity and Geomechanics R. O. Davis and A. P. S. Selvadurai Frontmatter More information

Contents

Preface 1 Stress and strain 1.1 Introduction 1.2 Soil mechanics and continuum mechanics 1.3 Sign conventions 1.4 Deformation and strain 1.5 Strain compatibility 1.6 Forces and tractions 1.7 The stress matrix 1.8 Principal stresses 1.9 Mohr circles 1.10 The effective stress principle 1.11 Equilibrium Further reading Exercises 2 Elastic and inelastic material behaviour 2.1 Introduction 2.2 Hookes law 2.3 Values for elastic constants 2.4 Solution of problems in elasticity 2.5 Plane elasticity 2.6 Indications of inelastic behaviour 2.7 The oedometer test 2.8 The triaxial test Further reading Exercises v
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Contents 52 52 53 58 60 65 68 72 75 79 80 83 83 84 90 92 94 95 97 99 106 107 109 109 110 112 116 120 127 133 137 141 144 148 149 152 152 153

3 Yield 3.1 Introduction 3.2 Principal stress space 3.3 Yield surfaces for metals 3.4 The Coulomb yield criterion 3.5 Modications to Coulombs criterion 3.6 The Cambridge models 3.7 Two-dimensional yield loci 3.8 Example plane strain Further reading Exercises 4 Plastic ow 4.1 Introduction 4.2 Normality 4.3 Associated ow rules 4.4 Example plane strain 4.5 Non-associated ow 4.6 A loading criterion 4.7 A complete stressstrain relationship 4.8 The pressuremeter problem Further reading Exercises 5 Collapse load theorems 5.1 Introduction 5.2 The theorems 5.3 Discontinuities of stress and deformation 5.4 A vertical cut 5.5 Shallow foundation lower bound 5.6 Shallow foundation upper bound 5.7 Shallow foundation discussion 5.8 Retaining walls 5.9 Arching 5.10 Non-associated ow and the upper bound theorem Further reading Exercises 6 Slip line analysis 6.1 Introduction 6.2 Two-dimensional stress states

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Contents 6.3 6.4 6.5 6.6 6.7 6.8 Slip lines Slip line geometries Some simple problems Frictional materials Effects of gravity The velocity eld Further reading Exercises

vii 155 157 160 169 175 177 182 183 185 185 187 190 201 211 212 213 215 215 228 241 246 255 259 263 269 277 279

7 Work hardening and modern theories for soil behaviour 7.1 Introduction 7.2 Work hardening for metals 7.3 Cam Clay 7.4 Beyond Cam Clay 7.5 Last words Further reading Exercises Appendices A Non-Cartesian coordinate systems B Mohr circles C Principles of virtual work D Extremum principles E Druckers stability postulate F The associated ow rule G A uniqueness theorem for elasticplastic deformation H Theorems of limit analysis I Limit analysis and limiting equilibrium Index

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Cambridge University Press 0521818303 - Plasticity and Geomechanics R. O. Davis and A. P. S. Selvadurai Frontmatter More information

Preface

Plasticity and Geomechanics follows on from our earlier book Elasticity and Geomechanics. Like the earlier book, this one is very much a textbook rather than a treatise or reference book. It has grown from lecture notes and is written with students rmly in mind. Hopefully it will provide an easy, accessible introduction to a subject which, while being widely used in engineering practice, is often difcult for students to assimilate. The plasticity of metals is itself a subject of some complexity. When, instead of metals, the material we are concerned with is either soil or rock, the level of complexity is increased signicantly. We have attempted here to untangle the ideas and concepts, and to lay out as clear a picture as possible of a subject area that is still in a state of development and discovery. The book is organised as follows. Chapters 1 and 2 review some of the basic elements of stress and strain as well as the fundamentals of elasticity. Chapter 2 also presents a general discussion of inelastic response in soil, emphasising the dening characteristics of yield under isotropic compression and dilatancy as a result of shearing. Chapters 3 and 4 set out the fundamental ideas of yield surface and ow rules. The geometry of principal stress space is developed in detail. Yield loci for metals, for Coulomb materials and for some modications of Coulomb materials are all presented. The Cam Clay and Modied Cam Clay surfaces are summarised. Chapter 4 develops the basic ideas of normality and the associated ow rule as well as non-associated ow. The concepts of perfect plasticity and work hardening are introduced and a complete stressstrain relationship for a general material with non-associated ow is derived. Whenever possible, important concepts such as normality are demonstrated by simple examples. A more complex but practically important example involving cavity expansion is also considered. Chapter 5 introduces the collapse load theorems and limit analysis. This is the longest chapter. In it we attempt to provide a clear introduction to what might be termed the art of nding useful stress (lower ix
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Preface

bound) and deformation (upper bound) elds for practical problems. Chapter 6 presents an introduction to slip line elds. In the interest of simplicity, the topic is developed initially for purely cohesive materials. Frictional materials are introduced as an embellishment of the purely cohesive case and complicated mathematics is avoided wherever possible. Finally, in Chapter 7, work hardening and critical state soil mechanics are described. As in the preceding chapters we try to avoid excessive detail, but endeavour to demonstrate important concepts by appealing to examples. The fundamentals of critical state theory are developed using Cam Clay together with a simple example problem. A micromechanical theory for normal or virgin compression of an idealised soil is also presented in this chapter. Throughout the book our choice of material is guided by a belief in the importance of simplicity and a desire to make fundamental ideas accessible to students. Each chapter is followed by a short reading list detailing original sources for the material presented, complemented by references to additional reading of a more general nature. Also, following each chapter is a selection of problems that may be used to help develop the readers understanding and skill. The book concludes with a collection of appendices. These expand or elaborate on topics that do not t easily with the ow of writing in the main text. Most aspects of a more mathematical nature are placed here. In particular, proofs associated with the important theorems of limit analysis as well as a complete development of Mohrs circle, virtual work and uniqueness of solutions are given. The appendices provide rigour for those readers who wish it without interrupting the more physical development in the chapters. The bulk of the book is devoted to perfectly plastic materials. This may seem odd in light of the current interest in critical state theories for soils, but in our view it is essential knowledge. A rm understanding of basic principles is the foundation for expertise in any subject, and plasticity is no exception. We share in a growing concern that the demands on engineering curricula in current times are such that many students have had little opportunity to gain an adequate background in what might be termed the more classical aspects of plasticity theory. This occurs because of two recent developments. The rst is critical state soil mechanics. Critical state theory has become the new paradigm for the analysis of geotechnical problems. This is quite proper but, as with any rapidly developing paradigm, there is a tendency for a gold-rush attitude to inltrate and subvert the normal course of study. The second development is the advent of computer methods in engineering. The widespread availability of powerful, inexpensive computers together with commercial software has revolutionised all aspects of engineering design over the last 20 years. This all too often creates a culture of uninspired thought, sometimes lacking in

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judgement. Numerical solutions now proliferate where once thoughtful, critical analysis was the only game in town. Of course, there is no doubt that both critical state soil mechanics and numerical solutions are positive developments, but, to use them safely and efciently, these advances must be underpinned by a well-developed understanding of both basic plasticity and elements of continuum mechanics. Our purpose here is to provide an introduction to the basic concepts in as painless a way as possible. There are of course many excellent books on the theory of plasticity. For beginning students, Calladines monograph Engineering Plasticity (full citation given at the end of Chapter 4) is a superb introduction to aspects of metal plasticity. Nadais treatise, Theory of Flow and Fracture in Solids (cited in Chapter 6), is not only a reference work of great depth and scope but is also notable for taking pains to develop a variety of ideas in the context of modern soil mechanics, together with strong links to continuum mechanics. In the realm of geotechnical literature, nearly all modern textbooks contain varying amounts of material related to both the theory and the application of plasticity. A number of books more or less devoted to critical state theory have appeared since the seminal work Critical State Soil Mechanics by Schoeld and Wroth (cited in Chapter 3). Our book in no way competes with any of these. Indeed, the exact opposite is true. We delve into critical state theory but only in the most elementary way and only after we have dealt with the classical topics of limit analysis and slip line theory. We merely wish to expose the reader to the potential of critical state analysis in the hope of encouraging further study. Among the more specialised geotechnical literature, two books deserve special mention. Chens Limit Analysis and Soil Plasticity (cited in Chapter 5) contains a wealth of solutions in limit analysis covering many topics of practical interest to geotechnical engineering, and Sokolovskis Statics of Soil Media (cited in Chapter 6) presents the most thorough development of slip line analysis. Both books are dedicated to specic aspects of plasticity and could be regarded as required reading for research students. Neither, however, would be especially suitable as an introductory text. Our aim in this book is to ll the gap between elementary soil mechanics and more specialised books such as those by Chen or Sokolovski, as well as the books devoted to critical state theory. Finally, there are several individuals and organisations to whom we express thanks for their assistance in preparing this book. We are indebted to the Institut A f ur Mechanik, University of Stuttgart, Germany and Ecole National des Ponts et Chauss ees in Paris, where parts of the work were researched and written. One of us (APSS) thanks the University of Canterbury for the award of a Visiting Erskine Fellowship and the Canadian Council for the Arts for the award of a Killam Research Fellowship. The libraries of Cambridge University were a

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great help in obtaining original references, both early and modern. Professor Malcolm Bolton of Cambridge University rst showed us how simply the Cam Clay model can be developed in the context of simple shearing. His development is reiterated in Chapter 7. Dr Glenn McDowell of the University of Nottingham and Professor Jim Hill of the University of Wollongong reviewed parts of the manuscript and made many constructive comments. Much of the writing was done in a Hertfordshire cottage belonging to Mr and Mrs K.A. Maclean. Their hospitality is acknowledged with gratitude. The friendship and encouragement of Mr Norman Travis is also acknowledged with special thanks. Finally, we thank Anne and Sally for their patience and understanding throughout the trials and tribulations of lost les, crashing hard disks, jammed printers, headaches, backaches and all the other joys of writing, and Sally is specially thanked for compiling the index for this volume. R. O. Davis Christchurch June 2002 A. P. S. Selvadurai Montreal June 2002

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