Rhe Ology

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Mechanical tests Rheological models Plasticity criterion 3D plasticity
Rheology
Georges Cailletaud
Centre des Matriaux
MINES ParisTech/CNRS
WEMESURF contact course, Paris 21-25 juin
Georges Cailletaud | Rheology
1/80
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Contents
1
Mechanical tests
Tests on everything
Results on material elements
Rheological models
Building bricks
Plasticity
Plasticity criterion
Multiaxial stress states
Plasticity mechanisms
Models insensitive to hydrostatic pressure
Models sensitive to hydrostatic pressure
Synthesis on the criteria
3D plasticity
The ingredients of a 3D plasticity model
Plastic flow
Evaluation of the flow directions
Perfectly plastic model
2/80
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Contents
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Mechanical tests
Tests on everything
Rheological models
Building bricks
Plasticity
3D plasticity
Plastic flow
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Tests on a civil plane
www.mts.com
4/80
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Biological structures (1/2)
www.mts.com
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Biological structures (2/2)
www.mts.com
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Food industry
www.mts.com
7/80
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Testing machines
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8/80
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Tension test on a metallic specimen
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9/80
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Mechanical tests
Basic tests
Time independent plasticity
Tension test, or hardening test
Cyclic load, or fatigue test
Time dependent plasticity

Test at constant stress, or creep test
Test at constant strain, or relaxation test
Other tests
Multiaxial load
Tensiontorsion
Internal pressure
Bending tests
Crack propagation tests
10/80
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Plasticity
3D plasticity
Plastic flow
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Typical result on an aluminium alloy
For a stress 0.2 , it remains 0.2% residual strain after unloading

Stress to failure, u
600
500
(MPa)
400
300
200
Tension curve
Elastic slope
0.2% residual strain
100
0
0
0.01
0.02
0.03
0.04
(mm/mm)
E=78000 MPa, 0.2 =430 MPa, u =520 MPa
Doc. Mines Paris-CDM, Evry
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Typical result on an austenitic steel
Material exhibiting an important hardening : the yield stress increases

during plastic flow
600
500
(MPa)
400
300
200
Tension curve
Elastic slope
0.2% residual strain
100
0
0
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

(mm/mm)
E=210000 MPa, 0.2 =180 MPa, u =660 MPa
Doc. ONERA-DMSE, Chllon
13/80
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Pushpull test on an aluminium alloy

Test under strain control 0.3%
Positive residual strain at zero stress
Negative stress at zero strain
300
200
(MPa)
100
0
-100
-200
-300
-0.005
-0.003
-0.001
0.001
0.003
0.005
(mm/mm)
Doc. Mines Paris-CDM, Evry
14/80
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Schematic models for the preceding results
ET
a. Elasticperfectly plastic
b. Elasticplastic (linear)
Elastoplastic modulus, ET = d /d .
ET = 0 : elastic-perfectly plastic material
ET constant : linear plastic hardening
ET strain dependent in the general case
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How does a plasticity model work ?
Elastic regime
OA, OB
Plastic flow
AB
Residual strain
OO
Strain decomposition, = e + p
Yield domain, defined by a load function f
Hardening, defined by means of hardening variables,
AI .
16/80
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Contents
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Mechanical tests
Tests on everything
Rheological models
Building bricks
Plasticity
3D plasticity
Plastic flow
17/80
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Contents
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Tests on everything
Rheological models
Building bricks
Plasticity
3D plasticity
Plastic flow
18/80
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Building bricks for the material models
19/80
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Various types of rheologies
= e + p
d p = f (...)d
Elasto-viscoplasticity
= e + p
d p = f (...)dt
Viscoelasticity
, ) = 0
F (, ,
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Plasticity
3D plasticity
Plastic flow
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Elasticperfectly plastic model

The elastic/plastic regime is defined by means of
a load function f (from stress space into R)
f () = || y
Elasticity domain
if f < 0
E
= e = /
Elastic unloading
if f = 0 and f < 0
E
= e = /
Plastic flow
if f = 0 and f = 0
= p
The condition f = 0 is the consistency condition
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Prager model
Loading function with two variables, and X
with X = H p
f (, X ) = | X | y
Plastic flow if both conditions are verified f = 0 and f = 0.
f
f
+
X =0
X
sign( X ) sign( X ) X = 0
thus : = X
Plastic strain rate as a function of the stress rate
H
p = /
Plastic strain rate as a function of the total strain rate (once an elastic
strain is added)
E
p
E +H
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Equation of onedimensional elastoplasticity
Elasticity domain
if f (, Ai ) < 0
E
= /
Elastic unloading
if f (, Ai ) = 0 and f (, Ai ) < 0
E
= /
Plastic flow
if f (, Ai ) = 0 and f (, Ai ) = 0
E + p
= /
The consistency condition writes :

f (, Ai ) = 0
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Illustration of the two hardening types
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Isotropic hardening model

Loading function with two variables, and R
f (, R ) = || R y
R depends on p, accumulated plastic strain : p = | p |
dR /dp = H
thus R = H p
Plastic flow iff f = 0 and f = 0
f
f
R=0
+
R
sign() R = 0
thus sign() H p
Plastic strain rate as a function of the stress rate
H
p = sign() /
H
thus p = /
Classical models
Ramberg-Osgood : = y + Kpm
Exponential rule : = u + (y u ) exp(bp)
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Mechanical tests
Tests on everything
Rheological models
Building bricks
Plasticity
3D plasticity
Plastic flow
28/80
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Contents
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Mechanical tests
Tests on everything
Rheological models
Building bricks
Plasticity
3D plasticity
Plastic flow
29/80
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Biaxial loading path
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Shear
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Tensiontorsion tests on tubes

For a tube of length L, diameter
2R and width e :
Strain measured by a strain
gauge, or use of the relation
between the angle () and
the strain () :
L
R
Relation between the

moment (M) and the shear
() :
M = 2eR 2
Tensiontorsion specimen
0
0
0
0
0
z
zz (r z )
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Biaxial tests
Biaxial test on a cruciform specimen vinylesterglas fiber
More on the website

Sciences de lIngnieur, ENS Cachan
33/80
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Shear test
Double shear
(rubber)
Arcan
specimen
Doc. Centre des Matriaux, MINES ParisTech
34/80
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Search of the yield surface in tensionshear
PhD Rousset, ENS Cachan
35/80
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Yield surface
Initial and after the first compression
PhD Rousset, ENS Cachan
36/80
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Shear on basalt
37/80
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Mechanical tests
Tests on everything
Rheological models
Building bricks
Plasticity
3D plasticity
Plastic flow
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Summary of the experimental observations
Crystalline material, where deformation comes from shear (alloys, rocks)
Crystal network
No volume change
Powders, geomaterials, damaged materials
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Crystal network
No volume change
39/80
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Crystal network
No volume change
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Critical variable ?
Crystal network
No volume change
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Critical variable ?
Shear
Deviator
Crystal network
No volume change
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Critical variable ?
Shear
Deviator
Crystal network
No volume change

Deviator
+ spherical
part
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Slip systems in a single crystal
PhD F. Hanriot (ENSMP-CDM, Evry)
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Slip systems in a polycrystal
Clavel (ECP, Chtenay)
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Rupture under dynamic loading
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Schmid law
The deformation comes from slip on systems s defined by a plane of

normal ns , and a shear direction l s , iff the resolved shear stress, s
reaches a critical value c
Projection of the stress vector on the slip direction. For a single crystal
submitted to
s = (
.ns ).l s
There is as many criteria linear in stress as the number of slip systems

f (
) = |s | c
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Polycrystalline aggregate yield surfaces

Assuming uniform elasticity
Directionally
solidified
material
Polycrystal
Compute yield surfaces
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Yield surfaces in tensionshear
200
12
100
-100
-200
001
-200
-100
0
11
100
200
One cubic grain oriented along (001) axes
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200
12
100
-100
-200
001
234
-200
-100
0
11
100
200
One grain oriented along (234)
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200
12
100
-100
-200
001
234
2g
-200
-100
0
11
100
200
One grain (001) and one grain (234)
45/80
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200
12
100
-100
001
234
2g
10g
-200
-200
-100
0
11
100
200
Ten randomly oriented grains
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200
12
100
-100
001
234
2g
10g
100g
-200
-200
-100
0
11
100
200
Hundred randomly oriented grains
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200
12
100
-100
001
234
2g
10g
100g
Tresca
-200
-200
-100
0
11
100
200
211 + 4212 = 2y , Tresca criterion
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Characterization of the maximum shear
1
Stress tensor in the eigendirections := 0
0
0
Stress vector for a normal n in the plan (x1 x2 ) (with = angle(x1 , n) :

Tn = 1 cos2 + 2 sin2 =
|Tt | = T 2 Tn2
1/2
1 + 2
2
1 2
2
|1 2 |
2
cos 2
sin 2
Mohr circles :

Tn
1 + 2
2
2
+ Tt2
Max shear
|Ttmax | =

=
1 2
2
|1 2 |
2
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Tresca criterion
Tt
Tmax
Tn
The maximum shear remains smaller than a critical value

Maxi ,j |i j | y = 0
y is the elastic limit in tension

WIKI
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Model ingredients for an isotropic material

- Invariants of the stress tensor :
I1 = trace(
)
= ii
I2 = (1/2) trace(
) = (1/2) ij ji
I3 = (1/3) trace(
)3 = (1/3) ij jk ki
- Invariants of the deviator (s

=
(I1 /3) I ) :
J1 = trace(s )
=0
J2 = (1/2) trace(s ) = (1/2) sij sji

2
J3 = (1/3) trace(s )3 = (1/3) sij sjk ski

- One notes :
J = ((3/2)sij sji )
0,5
= (1/2) (1 2 )2 + (2 3 )2 + (3 1 )2
0,5
= ||
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Physical meaning of J
Sphere in the space of the deviatoric stresses

Octahedral shear stress :
on a facet of normal (1,1,1), the normal component of the stress vector
is oct and the tangential component is oct :
oct = (1/3) I1 ;
oct = ( 2/3) J
The elastic distorsional energy (associated to the deviatoric part of
and ).
1
1 2
Wed = s : e
=
J
2
6
Von Mises criterion
f (
) = J y
Note : formulated by Maxwell in 1865, and Huber in 1904 (WIKI)
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Von Mises criterion in the deviatoric plane
3
TS
CS
CS
CI
TS
1
TS
TS stands for the points that are equivalent to simple tension, CS those that are
equivalent to simple compression (for
instance a biaxial load, since a stress
state like 1 = 2 = is equivalent to
3 = ), CI corresponds to shear
CS
f (
) = J y
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Tresca versus von Mises

In the tensionshear plane
von Mises :
Tresca :
f (, ) = 2 + 32
2
f (, ) = + 4
0,5

2 0,5
y
y
In the plane of eigenstresses (1 , 2 )
0,5
von Mises :
f (1 , 2 ) = 21 + 22 1 2
Tresca :
f (1 , 2 ) =
2 y
if 0 6 1 6 2
f (1 , 2 ) =
1 y
if 0 6 2 6 1
f (1 , 2 ) =
(symmetry
1 2 y
if 2 6 0 6 1
with respect to axis 1 = 2 )
In the deviatoric plane, von Mises = circle, Tresca = hexagon

In the eigenstress space, cylinders of axis (1,1,1)
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Comparisons of Tresca and von Mises criteria
12
m
t
-
y
y
11
- t
- m
a. In tensionshear (von Mises :
m = y / 3, Tresca : t = y /2)
b. In biaxial tension
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An anisotropic criterion : Hill
0,5
f (
) = ((3/2) Hijkl sij skl )
(or Hijkl ij kl )
Hills criterion
In the orthotropy axes :
) =(F (11 22 )2 + G(22 33 )2 + H (33 11 )2

f (
+ 2 L212 + 2 M 223 + 2 N 213 )0,5 y

Transverse, 3 independent coefficients
Cubic symmetry, one coefficient only
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DruckerPrager criterion
Linear combination of the first and second invariant (with 0 < < 0.5)
f (
) = (1 )J + I1 y
Elastic yield in tension (t ) and in compression (c )
t = y
c = y /(1 2 )
J
2
1
y
1
y /
I1
In the eigenstress space

In the plane I1 J
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MohrCoulomb criterion
Combination of the tangential and normal stresses in the Mohr plane
|Tt | < tan() Tn + C

Could also be expressed as the combination of the sum and the
difference of the extremal stresses (3 6 2 6 1 )
f (
) = 1 3 + (1 + 3 ) sin 2C cos
Tt
f<0
C cohesion, internal friction of

the material
If C is zero and non zero,

powder material
Tn
If is zero and C non zero,

coherent material
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Representation of Mohr-Coulombs criterion

In the deviatoric plane, one et a regular
hexagon
TS = 2
CS = 2
6(C cos p sin )/(3 + sin )
6(C cos + p sin )/(3 sin )
As a function of Kp and of the elasticity

limit in compression, Rp :
f (
) = Kp 1 3 Rp
Kp =
1 + sin
1 sin
= tan2
Rp =
2 cos C
1 sin
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Closed criteria
The material cannot be infinitely strong in compression
Cap model, closes by one ellipse DruckerPragers criterion

Camclay model has its limit curve defined by two ellipses in the plane
(I1 J)
J
critical
line
I1
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Criteria, synthesis
The boundary of the initial elasticity domain is defined by a function from

the stress space in R, that can be
Piecewise linear (Schmid, Tresca)
Quadratic, or more
The elastic domain is convex

The criter can depend or not from the hydrostatic pressure
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Criteria, synthesis

Quadratic, or more

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Criteria, synthesis

Quadratic, or more

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Criteria, synthesis

Quadratic, or more

61/80
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Criteria, synthesis

Quadratic, or more

61/80
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Tests on everything
Rheological models
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Plasticity
3D plasticity
Plastic flow
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Plastic flow
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From elastic to plastic behaviour
22
12
11
Tresca
11
von Mises
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22
12
11
Tresca
11
von Mises
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22
12
11
11
von Mises
Elastic domain
Von Mises criterion
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22
12
11
11
Elastic regime
von Mises
Elastic domain
Von Mises criterion
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22
12
11
11
Elastic regime
von Mises
Elastic domain
Von Mises criterion
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22
12
11
11
Elastic regime
von Mises
Elastic domain
Von Mises criterion
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22
12
11
11
Plasticity
von Mises
Elastic domain
Von Mises criterion
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3D plasticity
Strain decomposition
= e + th + p + vp
Criterion
defined by the function f (
, AI )
Flow rules
p = ...
Hardening rules
A I = ...
later
? Today, model without hardening, e.g. :

f (
) = J (
) y
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Principle of maximal power

Formulation due to Hill (1951) :
The power of the real stress tensor
associated to real
viscoplastic strain rate p is larger than the power computed with

(id est that does not
any other admissible stress tensor
p
overcome f = 0) associated with
) : p > 0
The form F is generated to combine the function that must be

maximized and the constraint by means of a plastic multiplyier
(non linear optimization problem)
F(
)=
: p f (
)
Its derivative with respect to

must be zero to reach an
extremum. The extremum is a max iff the function f is convex
f
p =
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associated to real

p
) : p > 0
The solution of the plastic flow problem maximizes the plastic

power
: p

F(
)=
: p f (
)


f
p =
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associated to real

p
) : p > 0
The solution of the plastic flow problem maximizes the plastic

power
: p

One has to develop a maximization under constraint, since one
must have also f (
)60

F(
)=
: p f (
)

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associated to real

p
) : p > 0

F(
)=
: p f (
)

f
p =
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associated to real

p
) : p > 0

F(
)=
: p f (
)

f
p =
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Geometrical aspects of Hills principle
) : p > 0
on the yield surface, in the domain, p = 0
Normality rule, by working in the tangent plane, (

on the surface),
k t : p > 0
and k t : p > 0
so that
t : p = 0
on the
Sign of the multiplyier, by working on the interior normal, (
) = k n colinear to n (k>0), and :

surface), (
n>0
k
n:
thus
> 0
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Convexity of the yield surface
.p
~
f<0
n
~
*
~
n
~
a. Illustration of the normality rule
b. Convexity of f
Hills principle (f convex and normality of the flow)
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NOTE : computation of J /
J
to compute
n
The derivative s with respect to

,
writes
with index notation :
One will have to express
Jijkl =
1
2
(ik jl + il jk ) ij kl
3
since :
s=J :
Derivative of J with respect to

:
J
J s
((3/2)s : s )1/2
3 s
3 s
=
:
=
: J =
: J =
s
s
2J
2J
Other solution :
J2 =
3
2
sij sij
thus
J
3 sij
=
ij
2 J
2 J dJ = 3sij dsij = 3sij d ij
J
3s
=
2J
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J
to compute
n

,
writes
Jijkl =
1
2
3
since :
s=J :

:
J
J s
((3/2)s : s )1/2
3 s
3 s
=
:
=
: J =
: J =
s
s
2J
2J
Other solution :
J2 =
3
2
sij sij
thus
J
3 sij
=
ij
2 J
J
3s
=
2J
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J
to compute
n

,
writes
Jijkl =
1
2
3
since :
s=J :

:
J
J s
((3/2)s : s )1/2
3 s
3 s
=
:
=
: J =
: J =
s
s
2J
2J
Other solution :
J2 =
3
2
sij sij
thus
J
3 sij
=
ij
2 J
J
3s
=
2J
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J
to compute
n

,
writes
Jijkl =
1
2
3
since :
s=J :

:
J
J s
((3/2)s : s )1/2
3 s
3 s
=
:
=
: J =
: J =
s
s
2J
2J
Other solution :
J2 =
3
2
sij sij
thus
J
3 sij
=
ij
2 J
J
3s
=
2J
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Flow direction ssociated to von Mises criterion

Perfectly plastic model f (
) = J (
) y
pij = nij
nij =
p = n
J
3 sij
=
ij
2 J
n=
J
3 s
=
2J
One denotes by accumulated plastic strain, p, the length of the path

representing plastic flow in the plastic strain space. At time t,
Z
p(t ) =
p ()d
p =
2
3
pij pij
1/2

=
1/2
With von Misess criterion

p =
2 3 s 3 s
:
3 2J
2J
!1/2
=
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Von Mises model
Only one stress component is non zero
0 0
= 0
0
0
0
0
1
2
0
s
=
3
0
0
1/2
0
0
1/2
Computation of the normal, with J = ||
1
0
n
=
=
2J
0
3 s
0
1/2
0
0
sign()
0
1/2
Components of the plastic strain rate
p11 = sign() = p sign()
p22 = p33 = p11
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Flow direction associated to Trescas criterion
Si 1 > 2 > 3 : f (
) = 1 3 y , there is a plastic flow in pure
p
shear, with 22 = 0
1 0
0
p = 0 0 0
0 0 1
For simple tension , for example with 1 > 2 = 3 = 0 :
f (
) = 1 2 y or f (
) = 1 3 y
1
p = 0
0
0
0
0
0
1
0 + 0
1
0
0
1
0
0
0
0
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Flow direction associated to Trescas criterion
Si 1 > 2 > 3 : f (
) = 1 3 y , there is a plastic flow in pure
p
shear, with 22 = 0
1 0
0
p = 0 0 0
0 0 1
For simple tension , for example with 1 > 2 = 3 = 0 :
f (
) = 1 2 y or f (
) = 1 3 y
1
p = 0
0
0
0
0
0
1
0 + 0
1
0
0
1
0
0
0
0
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Flow direction associated to DruckerPrager

criterion
Expression of the criterion

f (
) = (1 ) J (
) + trace(
) y
The normal contains the identity tensor

n=
3
2
(1 ) + I
J
Volume increase for any applied load :
trace n = 3
trace( p ) =
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criterion

f (
) = (1 ) J (
) + trace(
) y

n=
3
2
(1 ) + I
J
trace n = 3
trace( p ) =
75/80
Plan

criterion

f (
) = (1 ) J (
) + trace(
) y

n=
3
2
(1 ) + I
J
trace n = 3
trace( p ) =
75/80
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Contents
1
Mechanical tests
Tests on everything
Rheological models
Building bricks
Plasticity
3D plasticity
Plastic flow
76/80
Plan
Flow to determine from f (

) = 0 and f (
)=0
f
p =
= n
Consistency condition written on f (

) = J y
f =
f
:
= n :
=0
During plastic flow, the current stress point can only stay around the
yield surface. The plastic multiplyier cannot be determined in terms of
stress rate.
77/80
Plan

) = 0 and f (
)=0
f
p =
= n

) = J y
f =
f
:
= n :
=0
stress rate.
77/80
Plan

) = 0 and f (
)=0
f
p =
= n

) = J y
f =
f
:
= n :
=0
stress rate.
77/80
Plan
Perfectly plastic behaviour, strain control
Elasticity
=
: ( p )
n:
=0
and
Projection on the normal to the surface

n:
= n : : ( p ) = n : : n : : n
Expression of the plastic multiplyier as a function of the strain rate

n : :
=
n::n

Expression of the plastic strain rate
n : :
p = n = n
n::n

78/80
Plan
ep
The elastoplastic tensor L
Stress rate
= : ( p )
By replacing the plastic strain rate
=
:
:
n : :
n::
n

n
Since ijkl npq pqrs rs nkl = ijkl nkl npq pqrs rs , it comes
= Lep , with
Lep =
(
: n) (n :
)

n::
n
Formally, this is an elastic type rule, but expressed in terms of rate
79/80
Plan
Isotropic elasticity and of von Mises criterion
Possible simplifications
ijkl = ij kl + (ik jl + il jk ) ;
nij ijkl = 2 nkl
nij ijkl nkl = 3
nij =
3 sij
2 J
nij ijkl kl = 2 nkl kl
2
= n :
3
Case of the onedimensional loading : during plastic flow, the plastic

strain rate is equal to the total strain rate, the normal is then the diagonal
(1, 1/2, 1/2) sign(
) . The total strain rate is the diagonal
p11 , p11 /2, p11 /2 , so that one get :
= p11 sign()
80/80

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Mechanical tests Rheological models Plasticity criterion 3D plasticity

WEMESURF contact course, Paris 21-25 juin

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Tests on a civil plane

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Biological structures (1/2)

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Biological structures (2/2)

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Tension test on a metallic specimen

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Time dependent plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Typical result on an aluminium alloy

For a stress 0.2 , it remains 0.2% residual strain after unloading

E=78000 MPa, 0.2 =430 MPa, u =520 MPa

Georges Cailletaud | Rheology

Doc. Mines Paris-CDM, Evry

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Typical result on an austenitic steel

Material exhibiting an important hardening : the yield stress increases

0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

E=210000 MPa, 0.2 =180 MPa, u =660 MPa

Georges Cailletaud | Rheology

Doc. ONERA-DMSE, Chllon

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Pushpull test on an aluminium alloy

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Schematic models for the preceding results

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

How does a plasticity model work ?

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Building bricks for the material models

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Various types of rheologies

Time independent plasticity

Georges Cailletaud | Rheology

Mechanical tests Rheological models Plasticity criterion 3D plasticity

Georges Cailletaud | Rheology