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Introduction Interest in the tip region stems not only from a basic quest to
find the correct structure of the solution 共in particular to determine
The problem of a fluid-driven fracture propagating in rock
the unknown lag between the fluid front and the crack tip兲, but
arises in hydraulic fracturing, a technique used widely in the oil
also from the recognition that the strong fluid-solid coupling is
and gas industry to enhance the recovery of hydrocarbons from
mainly confined to a small region near the tip of the advancing
underground reservoirs, as well as in the formation of intrusive
fracture 共small compared to the overall fracture dimension兲, where
dykes in the earth crust and in the transport of magma in the
rapid variation of the fluid pressure is taking place. More impor-
lithosphere by means of fractures. tantly, however, the tip solution holds the key for understanding
The conditions under which fluid-driven fractures propagate in the propagation regime of a fluid-driven fracture. Two limiting
rock vary widely and are usually not well defined. In that respect, regimes exist 共关21–23兴兲: in the viscosity-dominated regime, the
mathematical modeling of the propagation of such fractures be- toughness of the solid is ‘‘small’’ enough that the solution of a
comes an important tool for predicting the evolution of fluid pres- hydraulic fracture can be approximated by the zero toughness so-
sure, fracture opening, and fracture geometry and for understand- lution 共关8,10兴兲; while in the toughness-dominated regime the fluid
ing the dependence of the process on rock properties 共fracture can be assumed to be inviscid as in the solution of Huang et al.
toughness and elastic constants兲, in situ stresses, fracturing fluid 共关24兴兲.
properties 共essentially viscosity兲 and boundary conditions. For a hydraulic fracture propagating in a zero toughness solid
Mathematical modeling of fluid-driven fractures has attracted (K Ic ⫽0, viscosity-dominated solution兲, it was recently recognized
numerous contributions since the 1950s 共see, e.g., 关1–11兴兲. These that the fluid-solid coupling in the near-tip region of the fracture
models require simultaneous consideration of fluid and solid me- actually corresponds to an exact matching singularity between the
chanics: on the one hand, the lubrication equation to characterize lubrication and elasticity equations under the assumptions that the
the flow of fluid in the fracture 共and, in the case of a permeable fluid flows up to the tip of the fracture and that the solid has zero
medium, a time-dependent equation that governs the exchange of toughness 共关7,9,15兴兲. For a Newtonian fluid, this matching singu-
fluid between the fracture and the rock兲; on the other hand, the larity is characterized by a crack opening varying as x 2/3 共where
elasticity equations to describe the deformation and propagation x is distance from the tip兲, and not as x 3/2 as predicted by linear
of the fracture. Such models are notoriously difficult to develop elastic fracture mechanics for the case of zero toughness, and the
because of the strong nonlinear coupling between the lubrication
fluid pressure p as ⫺x ⫺1/3. This singularity is thus associated with
and elasticity equations and the nonlocal character of the elastic
a negative infinite fluid pressure at the tip of the fracture. It should
response of the fracture. Furthermore, constructing the solution
be noted that the singular asymptotes of the fluid pressure and
for the near-tip region represents in itself a formidable challenge
fracture opening near the tip, provide the exact solution for a
which has motivated a series of dedicated research efforts
semi-infinite fluid-driven fracture propagating steadily in imper-
共关9,12–20兴兲. meable elastic solid of zero toughness 共关15兴兲. The new tip singu-
1
larity was used by Carbonell and Detournay 关10兴 and by Savitski
To whom correspondence should be addressed.
and Detournay 关11兴 to construct self-similar solutions for a finite
Contributed by the Applied Mechanics Division of THE AMERICAN SOCIETY OF
MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF APPLIED hydraulic fracture propagating in a zero toughness elastic solid
MECHANICS. Manuscript received by the ASME Applied Mechanics Division, Aug. under plane-strain and axisymmetric conditions, respectively.
14, 1998; final revision, June 22, 1999. Associate Technical Editor: W. J. Drugan. For a hydraulic fracture propagating in a solid with toughness
Discussion on the paper should be addressed to the Technical Editor, Professor
Lewis T. Wheeler, Department of Mechanical Engineering, University of Houston,
K Ic ⬎0, it can readily be shown that a lag is required between
Houston, TX 77204-4792, and will be accepted until four months after final publi- the fluid front and the crack tip to ensure coherence of the math-
cation of the paper itself in the ASME JOURNAL OF APPLIED MECHANICS. ematical solution 共关22兴兲. Indeed, under the condition of ⫽0 共no
Journal of Applied Mechanics Copyright © 2000 by ASME MARCH 2000, Vol. 67 Õ 183
rive the explicit dependence of this asymptotic solution on .
Finally, relevant results are presented and discussed, including the
universal relationship between the scaled fluid lag ⌳ and the
toughness .
Governing Equations
The flow of a viscous incompressible fluid in the crack is de-
scribed by the equations of lubrication theory 共关25兴兲; i.e., the con-
tinuity equation
w q
⫹ ⫽0 (1)
t X
Fig. 1 Semi-infinite fluid driven crack with the lag zone adja-
cent to the tip and Poiseuille law
w3 p
q⫽⫺ (2)
12 X
lag兲, combination of the lubrication equation with the linear elas-
tic fracture mechanics asymptotic fracture opening w⬃x 1/2 im- where p is the fluid pressure, w the crack opening, and q the fluid
plies that the fluid pressure has a logarithmic singularity, p flow rate per unit width of the crack. These field quantities are
⬃ln x, which is mathematically inconsistent with the assumed function of both the spatial coordinate X 共with the fixed reference
eigensolution. Hence, the presence of the lag removes the singu- X-axis chosen to be parallel to the fracture兲, and the time t.
larity in the fluid pressure, and at the same time enables the clas- The other equation relating the net loading on the crack defined
sical square root stress singularity of linear elastic fracture me- as p⫺ o and the crack-opening w is given by elasticity theory
chanics to take place. It could also be argued that a lag also 共e.g., 关26兴兲
冕
necessarily forms even if K Ic ⫽0, since the fluid cannot sustain an E⬘ X tip w 共 s,t 兲 ds
arbitrary large negative pressure. 共Such an argument is obviously p 共 X,t 兲 ⫺ o ⫽ (3)
akin to the question of the existence of a process zone or a plastic 4 ⫺⬁ s X⫺s
zone to ensure finiteness of the stress at the crack tip.兲 Although
where the integral is taken in the sense of a Cauchy principal
the assumption of zero lag does not lead to any mathematical
value. In 共3兲, X tip⫽Vt denotes the tip position.
inconsistency for K Ic ⫽0 共contrary to the case K Ic ⬎0), a lag must
After performing the transformation from a fixed to moving
necessarily exist if the supplementary condition of a minimum
with the crack-tip coordinate system x⫽X tip⫺X⫽Vt⫺X, making
fluid pressure 共here taken to be zero兲 is introduced. In which case,
use of the condition of steady propagation and upon integrating
the solution for K Ic ⬎0 can be expected to be continued in the
the continuity Eq. 共1兲, the lubrication equations reduce to 共关15兴兲,
limit K Ic ⫽0, but this then raises the question of the meaning of
the zero toughness singular solution. dp
In this paper, we construct the solution of the near-tip region for w 2共 x 兲 ⫽12 V for x苸],⬁ 关 . (4)
dx
the case of arbitrary toughness 共including the limit K Ic ⫽0), by
analyzing the problem of a semi-infinite hydraulic crack propagat- In the lag region, the condition on p is simply
ing at constant velocity V in an impermeable linear elastic me-
p⫽0 for x苸 关 0, 兴 . (5)
dium 共see Fig. 1兲. The elastic solid is characterized by the plane-
strain modulus E ⬘ ⫽E/(1⫺ 2 ), where E is the Young’s modulus Also the elasticity Eq. 共3兲 transforms as
冕
and the Poisson’s ratio, and the material toughness K Ic ; and the E⬘ ⬁ dw 共 s 兲 ds
Newtonian fluid 共assumed to be incompressible兲 by the viscosity p共 x 兲⫺ o⫽ . (6)
. There is a far-field confining stress o acting perpendicular to 4 0 ds x⫺s
the fracture.
To be complete, the system of Eqs. 共4兲–共6兲 has to be supple-
We assume that a fluid lag exists adjacent to the crack tip. Since
mented by the criterion for crack propagation
the crack propagation is stationary, the fluid front propagates with
the same velocity as the crack tip V. The length of the tip cavity K I ⫽K Ic (7)
is thus constant, but is unknown and is part of the solution. This
tip cavity is filled by evaporated fracturing fluid under a constant where K I is the stress intensity factor of the crack and K Ic is the
pressure which is assumed, however, to be negligibly small com- material toughness. Noting the asymptotic expression for opening
pared to the far-field stress o and is therefore set equal to zero. w close to the crack tip 共linear elastic fracture mechanics singular
But for the presence of the unknown lag and the pressure region兲 in terms of K I 共e.g., 关26兴兲 and using 共7兲 we write
boundary condition p⫽0, the problem considered here is identical
to the one treated by Desroches et al. 关15兴 for the zero toughness
case.
w⫽
E⬘ 冉 冊
4K Ic 2x 1/2
⫹O 共 x 3/2兲 . (8)
The paper is organized as follows. First, we formulate the gov- Henceforth, we will use 共8兲, which also prescribes the asymptotic
erning equations and derive a dimensionless form of these equa- behavior of w, rather than 共7兲 for the condition of crack
tions which only depends on one number , having the meaning propagation.
of a dimensionless toughness. The asymptotic forms of the solu-
tion near and away from the tip are then discussed. It is shown
Scaling and Dimensionless Formulation
that the solution is not only consistent with linear elastic fracture
mechanics at the tip, but that its asymptotic behavior at infinity is The problem depends on five dimensional parameters , V,
actually given by the zero toughness singular solution of a semi- o , E ⬘ , and K Ic . First, we define two lengthscales L and L ,
infinite hydraulic fracture obtained by Desroches et al. 关15兴. The and a small parameter ⑀
冉 冊
intermediate part of the solution 共in the region where the solution
12 VE ⬘ 2 8 K Ic 2
o
evolves from the near tip to the far from the tip asymptote兲 of the L ⫽ , L ⫽ , ⑀⫽ (9)
problem is obtained numerically. We also formulate the 3o o E⬘
asymptotic solution for large dimensionless toughness , and de-
⌸共 兲⫽
1
4 冕 0
⬁
⍀ ⬘共 兲
d
⫺
(13)
where
⍀ 共 兲 ⫽ 1/2⫹⍀ ⌳ 共 兲 ⫹⍀ r 共 兲 (21)
⍀ 共 兲 ⫽ ⫹O 共 3/2兲
1/2
where 共12兲 specifies the pressure in the lag region. In the above, ⌳
(14) ⍀ ⌳共 兲 ⫽
4
冉
2 冑⌳ ⫹ 共 ⫺⌳ 兲 ln 1/2
⫺⌳ 1/2
冏
1/2⫹⌳ 1/2
, 冏冊 (22)
and denote the dimensionless coordinate of the fluid front and
the dimensionless toughness, respectively, defined as ⍀ r共 兲 ⫽
4
冕⌳
⬁
K共 , 兲⌸共 兲d
⌳⫽
, ⫽2 冉 冊
L 1/2
. (15) with the kernel K共,兲 in 共22兲 given by
冏 冏 冉冊
L L
1/2⫹ 1/2 1/2
Thus, 共11兲–共14兲 completely defines the crack-opening ⍀共;兲 K 共 , 兲 ⫽ln 1/2 ⫺2 . (23)
⫺
1/2
and the net pressure ⌸共;兲 for the semi-infinite fracture 共0⭐
⬍⬁兲, as well as the position of the fluid front ⌳共兲. Note that, the It follows from the above considerations that the solution is
normalized system of equations and boundary conditions 共11兲– now reduced to finding the lag ⌳共兲, the net pressure ⌸共;兲 and
共14兲 depends on one number 共and not on two numbers, accord- the crack-opening ⍀共;兲 along the semi-infinite interval
ing to dimensional analysis considerations only兲. 苸关⌳,⬁关. The solution must satisfy 共11兲 and 共21兲–共23兲 with the
boundary conditions
⌸ 共 ⌳ 兲 ⫽⫺1, ⌸ 共 ⬁ 兲 ⫽0. (24)
Elastic Expression for the Crack Opening It is worth noting that the paradoxical property of this solution,
Equation 共13兲 expresses the net loading ⌸( ) as a convolution namely that the crack-opening ⍀ is positive while the net pressure
integral of the dislocation density ⍀ ⬘ ( ) with the singular Cauchy ⌸ is everywhere negative, is a direct consequence of the semi-
kernel. The Cauchy convolution integral on the semi-infinite in- infinite length of the crack. The classical elastic eigensolution ⍀
terval 苸关0,⬁关 has the inverse given by ⬃ 1/2 corresponding to ⌸⫽0 for a semi-infinite crack is of a
冕冉 冊
similar nature.
C 4 ⬁ 1/2
⌸共 兲
⍀ ⬘共 兲 ⫽ ⫺ d (16)
2 1/2 0 ⫺
Near-Tip and Far-Field Asymptotic Behavior
where C is an arbitrary constant and the integral in 共16兲 is taken in
the sense of a Cauchy principal value. Details of the derivation of Near-Tip Asymptote. The near-tip asymptote of the crack-
the inverse 共16兲 are given in Appendix A. Note that this inversion opening ⍀共;兲 is given by 共14兲 for the case of nonzero toughness.
formula is different from the classical form used for semi-infinite One can actually assign a region adjacent to the tip of the crack,
crack in linear elastic fracture mechanics 共e.g., 关26兴兲 which re- 苸 关 0, o ( ; ⑀ ) 兴 , where 共14兲 holds to a certain specified degree of
quires ⌸共兲 to vanish at infinity as ⫺ ␣ with ␣⬎1/2 in order for it accuracy ⑀; in other words 兩 ⍀/ 1/2⫺1 兩 ⭐ ⑀ for 苸 关 0, o ( ; ⑀ ) 兴 .
to converge, whereas the inversion formula 共16兲 has the more This region is said to be dominated by the linear elastic fracture
relaxed requirement ␣⬎0 for ⌸共兲. mechanics 1/2 behavior. The upper limit o of this region is ex-
Since, the net loading is known along the lag zone 共12兲, we can pected to be an increasing function of the dimensionless tough-
split the integral in 共16兲 in two integrals on the intervals 共0,⌳兲 and ness . Accordingly, the linear elastic fracture mechanics region
共⌳,⬁兲, respectively, should lie inside the lag entirely for small enough values of the
toughness, while this region should extend beyond the fluid lag
C for large enough toughness. In the latter case, o ( )⬎⌳( ), and,
⍀ ⬘共 兲 ⫽ ⬘ 共 兲 ⫹⍀ r⬘ 共 兲
⫹⍀ ⌳ (17)
2 1/2 consequently, from 共14兲 and the lubrication Eq. 共11兲, we derive
冏 冏 冕冉 冊
the following logarithmic distribution for the fluid pressure:
4 1/2⫹⌳ 1/2 4 ⬁ 1/2
⌸共 兲
⬘ 共 兲⫽
⍀⌳ ln , ⍀ r⬘ 共 兲 ⫽⫺ d 1
1/2⫺⌳ 1/2 ⌳ ⫺ ⌸ 共 ; 兲 ⯝⌸ o 共 ; 兲 ⫽⫺1⫹ 苸 关 ⌳ 共 兲 , o 共 兲兴 .
2 ln , (25)
(18) ⌳
where ⍀ ⌳ and ⍀ r are the contributions of the net loading in the The asymptotic expression 共25兲 is strictly valid only for large
lag and in the rest of the crack to the crack-opening ⍀, respec- enough values of toughness and small enough values of fluid lag
tively. The unknown constant C is peculiar to the semi-infinite ⌳. It can indeed be shown that 共25兲 holds provided that 2 /a⌳
crack and is part of the solution of the problem. However, it is Ⰷ1, where a is the coefficient of the next order term in 共14兲, i.e.,
completely defined by the near-tip crack-opening asymptote 共14兲. ⍀⯝ 1/2⫹a 3/2. As we will see further, the fluid lag decreases
Indeed, with the help of 共14兲 the dimensionless toughness can be exponentially with 2 ; thus the ratio ⌳/ 2 is negligibly small for
expressed as ⬃1, causing the linear elastic fracture mechanics region to ex-
tend beyond the fluid lag and therefore ensuring the validity of
⫽C⫺ ⌳ ⫺ r 共25兲.
再冕 冎
⫺7
冕
lo ⬁
⫽10 MPa•s 共100 cp), o ⫽10 MPa, and V⫽1 m/s. Then, the
4 characteristic length L ⫽1.08 m and o ⯝0.39 m. The fluid lag
⍀̃r 共˜ 兲 ⫽ K 共˜ , ˜ 兲 ⌸̃o 共 ˜ 兲 d ˜ ⫹ K 共˜ , ˜ 兲 ⌸̃共 ˜ 兲 d ˜
0 lo reduces to ⯝0.27 m for a toughness K Ic ⫽1 MPa•m1/2, accord-
ing to Fig. 3 共⌳⯝0.25 for ⫽0.31兲.
where Recently published results of laboratory scale hydraulic fractur-
˜ ing experiments carried out at the Delft University of Technology
⌸̃⯝⌸̃o 共˜ 兲 ⫽ln and ⍀̃共˜ 兲 ⯝˜ 1/2, ˜ 苸 关 0,l o 兴 (38) 共关27兴兲 also provide an opportunity to test the theoretical prediction
⌳ of the fluid lag size. In an experiment involving the propagation of
*
a penny-shaped hydraulic fracture in a cement block, the position
⌸̃共˜ 兲 ⫽⌸ ⬁ 共˜ 兲 and ⍀̃共˜ 兲 ⫽⍀ ⬁ 共˜ 兲 , ˜ →⬁. (39) of both the fracture tip and the fluid front position were measured
In the above equations l o is an arbitrary number smaller than or continuously by ultrasonic diffraction. For example, these mea-
surements give a fracture radius R⬇0.1 m, and a fluid lag length
equal to ˜ o 共to be prescribed in the numerical solution of 共36兲–
共39兲兲, that provides a ‘‘safe’’ bound to the near-tip region where ⬇10⫺3 m at a particular time t, and a fracture propagation ve-
the asymptotic behavior is given by 共38兲. locity V⬇4•10⫺6 m/s 共estimated from the evolution of R with
The scaled contribution from the loading on the lag to the open- time t兲. Given V and the following set of parameters E ⬘
ing is ⫽1.92•104 MPa, K Ic ⫽0.5 MPa•m1/2, ⫽5•10⫺4 MPa•s and o
⫽8 MPa, the predicted fluid lag is ⬇0.8•10⫺3 m which is in
16 relatively good agreement with the experimental value. We should
⍀̃⌳ 共˜ 兲 ⬅ ⫺4 ⍀ ⌳ 共 ; 兲 ⫽ ⫺4 共 ⌳ 兲 1/2⭐ 2 e ⫺ /2,
2
Fig. 7 The opening ⍀ along the crack in near tip region for
varying from Ä0 „⌳¶0.3574… to Ä4.1 „⌳Ä10À6 …, „see Table
1…. The dashed line corresponds to ⍀ ⴥ „ ….
toughness when the crack tip is ‘‘blunt’’ (⍀⬃ 1/2). Figure 6 pro-
vides transparent evidence that the solution 共in terms of ⍀兲 be-
haves as 1/2 共or as ⍀ o ( ), classical linear elastic fracture me-
chanics type, but as 3/2 for ⫽0兲 in the region immediately
adjacent to the tip and as 2/3 共or as ⍀ ⬁ ( )) further away from the
tip. There is a transition zone between these two types of behav-
ior, which can be identified as 苸 关 o ( ), ⬁ ( ) 兴 , where o and
⬁ are the bounds 共introduced earlier兲 of the regions dominated by
the corresponding asymptote.
Appendix A
Inversion Formulae on a Semi-Infinite Interval
1 Introduction. This Appendix is concerned with the inver-
sion of
⌸共 兲⫽
1
4 冕 ⬁
0
⍀ ⬘共 兲
d
⫺
(A1)
⍀ ⬘ 共 兲 ⫽⫺
4
冕冉 冊
⬁
0
1/2
⌸共 兲
⫺
d. (A2)
冏 冏
⌸ 1/2⫽0.
The inversion formula 共A2兲 is thus not applicable to the prob- 8 4 1⫹ 1/2
⍀ ⬘共 兲 ⫽ 1/2⫺ ln (A8)
lem considered in this paper, since the expected behavior for ⌸ at 1⫺ 1/2
infinity is characterized by ␣⫽1/3. In this Appendix, we derive and 共A6兲 yields
inversion formulae applicable to that problem. First, we show that
there is a family of inversion formulae that are equivalent to the
conventional inversion formula, whenever the latter exists. Next,
we prove that the new formulae are also applicable when ⌸共兲
⍀ ⬘共 兲 ⫽
C
2 1/2⫺ ln 冏
4 1⫹ 1/2
1⫺ 1/2
冏 (A9)
behaving at infinity as ⫺ ␣ with ␣⬎0, although the conventional with C⫽16/ according to 共A7兲. The two inversion formulas 共A2兲
formula 共A2兲 exists only for ␣⬎1/2. and 共A6兲 give therefore identical results.
2 Alternative Inversion Formulae. To construct an inversion 3 General Case of ⌸()⬃⫺␣ at Large , with 0⬍␣
with relaxed requirements on ⌸共兲 at infinity, we start by simul- ⬍1/2. The inversion formula 共A5兲 was derived from the conven-
taneously adding to and substracting from the right-hand side of tional 共A2兲 and, therefore, at this stage is proven to be the valid
共A2兲 the term C/2 1/2, where C is for the time being an arbitrary inverse of 共A1兲 under the same conditions imposed on the loading
constant which we choose to express as at infinity as for the conventional one. Actually, as proven next,
共A5兲 or 共A6兲 gives the inverse of 共A1兲 for any ⌸共兲 behaving at
C⫽
8
冕 0
⬁ 1/2⌸ 共 兲
f 共兲
d. (A3)
infinity as ⫺ ␣ with ␣⬎0. However, in that case, C becomes an
arbitrary constant which cannot be determined by 共A3兲 or 共A7兲
anymore since the integral in these equations does not exist.
The function f ( ) in 共A3兲 is presently restricted to behave in such Consider first the particular loading ⌸ ␣ ( )⫽⫺ ⫺ ␣ /(4 tan ␣)
a way that the constant C is bounded. The inversion formula 共A2兲 for 苸关0,⬁关. The corresponding dislocation density integral
then becomes ⍀ ␣⬘ ( ) is given by 共A5兲
⍀ ⬘共 兲 ⫽
C
⫺
2 1/2
4
冕冉 冊
0
⬁
1/2
关 ⫺ ⫹ f 共 兲兴 ⌸ 共 兲
共⫺兲 f 共兲
d. (A4) ⍀ ␣⬘ 共 兲 ⫽
C⫺2csc共 ␣ 兲 D 1/2⫺ ␣
2 1/2
⫹ ⫺␣. (A10)
⍀ ⬘共 兲 ⫽
C
2 1/2⫺
4
冕冉 冊 冉 冊
⬁
1/2
⫹D ⌸ 共 兲
⫹D ⫺
d (A5)
In the problem of interest, the loading ⌸共兲 can be expressed as
n
兺 A⌸
0
⌸共 兲⫽ i ␣ i 共 兲 ⫹⌸ r 共 兲 (A11)
and the integral in 共A5兲 exists if ⌸共兲 behaves at infinity as ⫺ ␣ i⫽1
with ␣⬎0 共actually with ␣⬎⫺1/2, but as discussed below the case where 0⬍ ␣ i ⭐1/2 and ⌸ r ( )⬃ ⫺  with ⬎1/2 at infinity. Ap-
⫺1/2⬍␣⭐0 is of no interest since 共A1兲 does not exist then兲. Note plying 共A5兲 to the loading ⌸共兲 specified by 共A11兲, we obtain the
that this inversion formula with D⫽1/2 is quoted by Srivastava corresponding ⍀⬘共兲
and Buschman 关29兴.
n
Although D can be chosen arbitrarily, we will use the particular
value D⫽0. Hence 共A5兲 becomes ⍀ ⬘共 兲 ⫽ 兺 A ⍀ ⬘ 共 兲 ⫹⍀ ⬘共 兲
i⫽1
i ␣i r (A12)
⍀ ⬘共 兲 ⫽
C0
2 1/2⫺
4
冕冉 冊
0
⬁
1/2
⌸共 兲
⫺
d (A6) where ⍀ r⬘ ( ) is the result of 共A5兲 applied to ⌸ r ( ). Since each
pair (⌸ ␣ i ( ),⍀ ␣⬘ i ( )) and (⌸ r ( ),⍀ r⬘ ( )) satisfy 共A1兲 identi-
cally and due to linearity of 共A1兲, ⌸共兲 and ⍀⬘共兲 given by 共A11兲
with
and 共A12兲, respectively, satisfy 共A1兲 identically. Therefore, for-
C 0⫽
8
冕 0
⬁ ⌸共 兲
1/2
d. (A7)
mula 共A5兲 gives the exact inverse of 共A1兲 for any loading ⌸共兲
behaving at infinity as ⫺ ␣ with ␣⬎0.
Note finally that the inversion 共A6兲 corresponding to D⫽0 is
used in this paper.
Obviously C is bounded if ⌸共兲 behaves at infinity as ⫺ ␣ with
␣⬎1/2. Actually, the constant C 0 is the scaled stress intensity Appendix B
factor and it can readily be recognized that 共A7兲 is the classical
expression for the stress intensity factor as an integral of the net Asymptotic Behavior at Infinity. In this Appendix, we
loading over the semi-infinite crack 共e.g., 关26兴兲. It can also be prove that the zero toughness singular solution 共26兲 gives the
proven that there is no contribution to the term ⫺1/2 of ⍀⬘共兲 asymptotic behavior of the solution of 共11兲–共14兲 at infinity, see
from the integral in 共A6兲. 共There is a contribution to that term 共27兲. To prove 共27兲, we start by assuming that the asymptotic
from the integral in 共A5兲 if D⫽0; however, the combination of behavior of ⌸ at infinity is indeed given by 共26兲
冕冉冊
4 ⬁ 1/2
⌸共 兲 given by 共26兲.
I 1 共 兲 ⫽⫺ d
⌳ ⫺
(B3)
冕冉 冊
Appendix C
4 ⬁ 1/2
⌸共 兲
I 2 共 兲 ⫽⫺ d.
⬁ ⫺ Numerical Scheme. This Appendix outlines the numerical
scheme used to solve the system 共11兲, 共21兲–共23兲 on the semi-
Consider first the asymptotic behavior of I 1 ( ) as →⬁. Behav- infinite interval 苸关⌳,⬁关 with the boundary condition 共24兲 and the
ior at infinity of the integral I 1 ( ) is constrained by the following asymptotic behavior 共27兲. As shown next, this numerical algo-
two inequalities: rithm yields a system of nonlinear algebraic equations in terms of
the fluid pressure at nodes inside the fluid-filled part of the crack
m min ⫺1/2⫹O 共 ⫺1 兲 ⭐I 1 共 兲 ⭐m max ⫺1/2⫹O 共 ⫺1 兲 as →⬁ and in terms of the toughness , given the lag ⌳. 共Although the
(B4) length of the lag ⌳ is technically an unknown of the problem to be
where m min and m max are finite non-negative numbers defined as solved as a function of , the lag ⌳—i.e., the geometry of the
problem—is prescribed in the numerical solution and the corre-
8 sponding solved numerically.兲
m max⫽ 共 冑 ⬁ ⫺ 冑⌳ 兲 m min⫽⫺⌸ 共 ⬁ 兲 m max . (B5)
Actually, we seek to determine numerically the transition be-
tween the near-tip 共14兲 and the far-field asymptote 共27兲, which are
Indeed, the net-loading ⌸共兲 is bounded on the interval reached to a certain prescribed degree of accuracy for 苸 关 0, o 兴
苸 关 ⌳, ⬁ 兴 , ⌸苸 关 ⫺1,⌸( ⬁ ) 兴 . Consider first the minimum value and 苸 关 ⬁ ,⬁ 关 , respectively. Let us introduce L o , ⌳⬍L o ⬍ o
for ⌸ on the interval under consideration, ⌸共⌳兲⫽⫺1. Since (L o ⫽⌳ if o ⭐⌳), and L ⬁ , L ⬁ ⬎ ⬁ and prescribe that ⌸( )
⬎ ⬁ and ⌸⬍0, I 1 is positive and an upper bound for I 1 is ob- ⫽⌸ o ( ) for 苸 关 ⌳,L o 兴 共if o ⬎⌳, otherwise L o ⫽⌳) and ⌸( )
tained by substituting the function ⌸共兲 by ⌸共⌳兲 ⫽⌸ ⬁ ( ) for 苸 关 L ⬁ ,⬁ 关 . Note that if o ⬎⌳ 共which corresponds
I 1共 兲 ⭐
4
冕冉冊
⌳
⬁
1/2
1
⫺
4
d ⫽ ln
冏 冑 ⫹ 冑 ⬁ 冑 ⫺ 冑⌳
冑 ⫺ 冑 ⬁ 冑 ⫹ 冑⌳ 冏 .
to the case of large toughness and small lag兲 we take into ac-
count the asymptotic behavior of the net-loading ⌸ near the inter-
face between the tip cavity and the rest of the crack, ⫽⌳, and at
(B6) infinity; whereas if o ⭐⌳ 共corresponding to moderate and small
Hence, toughness兲 the near interface asymptote ⌸ o ( ) is not valid and we
only take into account the far-field asymptote 共by imposing L o
I 1 共 兲 ⭐m max ⫺1/2⫹O 共 ⫺1 兲 as →⬁. (B7) ⫽⌳). The constants L o and L ⬁ have the meaning of ‘‘safe’’
guesses for the bounds o and ⬁ and must be chosen in such a
Thus, 共B7兲 proves the right inequality in 共B4兲, which provides an way that the resulting solution in terms of ⌸ be equal to ⌸ o ( ) 共if
upper bound for I 1 ( ). The other inequality, which gives the L o ⬎⌳) 共be equal to ⌸ ⬁ ( )) on several intervals immediately
lower bound for I 1 ( ), can be proved in a similar fashion by succeeding 共preceding兲 the interval 苸 关 ⌳,L o 兴 ( 苸 关 L ⬁ ,⬁ 关 ). In
considering the upper net-loading bound ⌸( ⬁ ). other words, the intervals 关 ⌳,L o 兴 and 关 L ⬁ ,⬁ 关 have to lie within
Consider next the asymptotic behavior of the integral I 2 ( ). the region dominated by the corresponding asymptotes to provide
Since ⬁ is chosen sufficiently large, such that the asymptotic a smooth transition between the intermediate numerical solution
expression 共B1兲 for ⌸共兲 is valid on the interval 苸 关 ⬁ ,⬁ 关 to any and the asymptotes.
chosen degree of accuracy, the first term of the asymptotic expan- We start by dividing the interval 苸 关 L o ,L ⬁ 兴 into n⫺1 inter-
sion for I 2 ( ) as →⬁ is determined by substituting ⌸ ⬁ to ⌸ in vals ( i , i⫹1 ), i⫽1, . . . ,n⫺1, where 1 ⫽L o , n ⫽L ⬁ and pre-
the integrand of I 2 defined in 共B3兲 scribe the variation of pressure ⌸ over each boundary element to
I 2 共 兲 ⫽i 2 共 ,⬁ 兲 ⫺i 2 共 , ⬁ 兲 (B8) be a linear function of ⌸ ⬁ ( ), i.e.,
冕冉 冊
(C1)
4 1/2
⌸ ⬁共 兲
i 2 共 , 兲 ⬅⫺ d. Using 共22兲, one can deduce the expression for ⍀ r corresponding
0 ⫺ to the net-loading representation 共C1兲
Evaluating the integral i 2 ( , ) analytically and then calculating n⫺1
冕
the n⫺1 unknowns ⌸ 2 , . . . ,⌸ n⫺1 and . This nonlinear system
4 of equations is solved using the Newton iteration procedure,
F共 , 兲⬅ K共 , 兲d
0 which is built in the Mathematica computational software.
F ⬁共 , 兲 ⬅
4
冕0
K 共 , 兲 ⌸ ⬁共 兲 d
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