CHAP 4

FEA for Elastoplastic Problems

Nam-Ho Kim

1
 Introduction
Elastic material: a strain energy is differentiated by
strain to obtain stress
History-independent, potential exists, reversible, no permanent
deformation
Elatoplastic material:
Permanent deformation for a force larger than elastic limit
No one-to-one relationship between stress and strain
Constitutive relation is given in terms of the rates of stress and
strain (Hypo-elasticity)
Stress can only be calculated by integrating the stress rate over
the past load history (History-dependent)
Important to separate elastic and plastic strain
Only elastic strain generates stress

2
 Table of Contents
4.2. 1D Elastoplasticity
4.3. Multi-dimensional Elastoplasticity
4.4. Finite Rotation with Objective Integration
4.5. Finite Deformation Elastoplasticity with
Hyperelastcity
4.6. Mathematical Formulation from Finite Elasticity
4.7. MATLAB Code for Elastoplastic Material Model
4.8. Elastoplasticity Analysis Using Commercial Programs
4.9. Summary
4.10. Exercises

3
4.2
1D Elastoplasticity

4
 Goals
Understand difference between elasticity and plasticity
Learn basic elastoplastic model
Learn different hardening models
Understand different moduli used in 1D elastoplasticity
Learn how to calculate plastic strain when total strain
increment is given
Learn state determination for elastoplastic material

5
 Plasticity
Elasticity A material deforms under stress, but then
returns to its original shape when the stress is removed
Plasticity - deformation of a material undergoing non-
reversible changes of shape in response to applied forces
Plasticity in metals is usually a consequence of dislocations
Rough nonlinearity
Found in most metals, and in general is a good description
for a large class of materials
Perfect plasticity a property of materials to undergo
irreversible deformation without any increase in stresses
or loads
Hardening - need increasingly higher stresses to result in
further plastic deformation
6
 Behavior of a Ductile Material
Terms Explanation
Proportional limit The greatest stress for which the stress is still proportional to
the strain
Elastic limit The greatest stress without resulting in any permanent strain on
release of stress
Youngs Modulus Slope of the linear portion of the stress-strain curve
Yield stress The stress required to produce 0.2% plastic strain
Strain hardening A region where more stress is required to deform the material
Ultimate stress The maximum stress the material can resist
Necking Cross section of the specimen reduces during deformation
s
Ultimate
stress Fracture

Yield stress

Proportional
limit Youngs
modulus

e
Strain Necking
hardening 7
 Elastoplasticity
Most metals have both elastic and plastic properties
Initially, the material shows elastic behavior
After yielding, the material becomes plastic
By removing loading, the material becomes elastic again
We will assume small (infinitesimal) deformation case
Elastic and plastic strain can be additively decomposed by

e e e ep
Strain energy density exists in terms of elastic strain

U0 21 E(ee )2
Stress is related to the elastic strain, not the plastic strain
The plastic strain will be considered as an internal
variable, which evolves according to plastic deformation
8
 1D Elastoplasticity
Idealized elastoplastic stress-strain behavior
Initial elastic behavior with slope E (elastic modulus) until yield
stress Y (line oa)
After yielding, the plastic phase with slope Et (tangent modulus)
(line ab).

Upon removing load, elastic unloading
with slope E (line b-c) b
Loading in the opposite direction, e a Et
the material will eventually yield E
in that direction (point c)
Work hardening more force is o
required to continuously deform
in the plastic region (line a-b or c-d) c
d

9
 Work Hardening Models b
a
Kinematic hardening e

Elastic range remains constant

Center of the elastic region moves
parallel to the work hardening line o
bc = de = 2oa c
Use the center of elastic domain d
as an evolution variable
e
b
Isotropic hardening a
Elastic range (yield stress) increases h
proportional to plastic strain
o
The yield stress for the reversed loading h
is equal to the previous yield stress c
Use plastic strain as an evolution
variable d

No difference in proportional loading (line o-a-b)

10
 Elastoplastic Analysis
Additive decomposition
Only elastic strain contributes to stress (but we dont know how
much of the total strain corresponds to the elastic strain)
Lets consider an increment of strain: e ee ep
Elastic strain increases stress by s Eee
Elastic strain disappears upon removing loads or changing direction

Strain hardening slope, Et

Initial loading

Elastic Y E
E Reloading E
slope, E
e p
Unloading
Y

11
 Elastoplastic Analysis cont.
Additive decomposition (continue)
Plastic strain remains constant during unloading
The effect of load-history is stored in the plastic strain
The yield stress is determined by the magnitude of plastic strain
Decomposing elastic and plastic part of strain is an important
part of elastoplastic analysis
For given stress s, strain cannot be determined.
Complete history is required (path- or history-dependent)
History is stored in evolution variable (plastic strain)

o 12
 Plastic Modulus
Strain increment e ee ep
Strain hardening slope, Et
Stress increment s Eee
s
Plastic modulus H
ep Y
E
Relation between moduli e p

s Eee Hep Et e Y

s s s 1 1 1

Et E H Et E H Et
H
EEt EH E
H Et E1
E Et EH E H ee ep

Both kinematic and isotropic hardenings have the same

plastic modulus
13
 Analysis Procedure
Analysis is performed with a given incremental strain
N-R iteration will provide u e
But, we dont know ee or ep
When the material is in the initial elastic range, regular
elastic analysis procedure can be used
When the material is in the plastic range, we have to
determine incremental plastic strain

s Hep
e ee ep ep ep
E E
H
ep 1
E
Y
E
e
ep e p
1H/E
Y
Only when the material is on the plastic curve!!

14
 1D Finite Element Formulation
Load increment
applied load is divided by N increments: [t1, t2, , tN]
analysis procedure has been completed up to load increment tn
a new solution at tn+1 is sought using the Newton-Raphson method
iteration k has been finished and the current iteration is k+1

Displacement increments
From last increment tn: dk n 1 k
d nd u1
d
From previous iteration: dk n 1 k 1
d n 1dk u2

u1 u2
P1 P2
x1 x2
L
15
 1D FE Formulation cont.
Interpolation
u
u(x) [N1 N2 ] 1 N d
u2 u N d
d 1 1 u1 e B d
e
dx
u L B d
L u2

u Nd
e Bd
Weak form (1 element)
Internal force = external force

T L T n 1 k 1 T n 1 2 u1
d
0
B s Adx d F, d R d
u2

16
 1D FE Formulation cont.
Stress-strain relationship (Incremental)
s
n 1
sk 1 n 1
sk e n 1
sk Depe
e
Elastoplastic tangent modulus

ep E if elastic
D
Et if plastic

Linearization of weak form

T L T ep T n 1 T L T n 1 k
d B D BAdx d d Fd B s Adx
0 0

Tangent stiffness Residual

17
 1D FE Formulation cont.
Tangent Stiffness
ADep 1 1
kT
L 1 1
Residual
n 1 n 1 k
n 1 k n 1 L
T n 1 k F1 s A
R F B s Adx
0 n 1 n 1 k
F2 s A
State Determination: n 1 sk f( n s, n ep , ek , )
Will talk about next slides

Incremental Finite Element Equation

N-R iteration until the residual vanishes

kT dk n 1 k
R
18
 Isotropic Hardening Model
Yield strength gradually increases proportional to the
plastic strain
Yield strength is always positive for both tension or compression
Total plastic strain
snY s0Y Henp Initial yield stress

Plastic strain is always positive and continuously accumulated even

in cycling loadings

s Yn s Yn
s Y0 s Y0
E E

p e p

s Yn
s Yn 1 19
 State Determination (Isotropic Hardening)
How to determine stress
Given: strain increment (e) and all variables in load step n
(E,H, s0Y , sn , enp )

1. Computer current yield stress (pont d)

snY s0Y Henp

2. Elastic predictor (point c) tr c
p
str Ee str sn str n+1
d
tr s Yn e
s Y0
3. Check yield status Rtr E ep= (1R)

n b
Trial yield function (c e) a f

ftr str sny

ftr (1 R)Ee
R: Fraction of str to the yield stress
20
State Determination (Isotropic Hardening) cont.
If ftr 0 , material is elastic
sn 1 str
Either initial elastic region or unloading

If ftr 0 , material is plastic (yielding)

Either transition from elastic to plastic or continuous yielding
Stress update (return to the yield surface)
n 1 tr tr
s s sgn(s )Eep
Initial loading
Update plastic strain
E
enp1 enp ep
Unloading

Plastic strain increment is unknown Reloading

e ee ep

For a given strain increment, how much is elastic and plastic? 21

 State Determination (Isotropic Hardening) cont.
Plastic consistency condition
to determine plastic strain increment
fn 1 sn 1 sny1 0
Stress must be on the yield surface after plastic deformation
str sgn(str )Eep (sny Hep ) 0
tr

s sny (E H)ep 0 tr c
p
str sny ftr n+1
ep s Yn d e
EH EH
s Y0 ep= (1R)
R E
E
ep (1 R) e n b
EH a f
ftr
R 1
str

%Note: ep is always positive!! 22

 State Determination (Isotropic Hardening) cont.
Update stress
sn 1 str sgn(str )Eep

2
(1 R)E tr c
sn 1 str sgn(str ) e
EH p
n+1
s Yn d e
Elastic trial Plastic compensation s Y0 ep= (1R)
R E
(return mapping)
n a b
f
Algorithm
1) Elastic trial

2) Plastic return mapping

No iteration is required in linear hardening models

23
 Algorithmic Tangent Stiffness
Continuum tangent modulus
ep E if elastic
The slope of stress-strain curve D
Algorithmic tangent modulus Et if plastic
Differentiation of the state determination algorithm

alg s tr s tr
ep
D sgn( s)E
e e e
ep 1 trf tr E
sgn( s)
e E H e EH
alg E if elastic
D
Et if plastic
Dalg = Dep for 1D plasticity!!
We will show that they are different for multi-dimension 24
 Algorithm for Isotropic Hardening
Given: e, E, H, s0Y, sn , enp
1. Trial state str sn Ee
snY s0Y Henp
ftr str snY

1. If ftr 0 (elastic)
n 1
Remain elastic: s str , enp1 enp ; exit
2. If ftr 0 (plastic)
ftr
a. Calculate plastic strain: ep
EH
b. Update stress and plastic strain (store them for next increment)
sn 1 str sgn(str )Eep enp1 enp ep

25
 Ex) Elastoplastic Bar (Isotropic Hardening)
E = 200GPa, H = 25GPa, 0sy = 250MPa
ns = 150MPa, nep = 0.0001, e = 0.002
Yield stress: n sY 0 sY H n ep 252.5MPa
Material is elastic at tn
Trial stress: tr s Ee 400MPa
tr
s n s tr s 550MPa Now material is plastic

Plastic consistency condition

tr
f
ep 1.322 10 3
EH
State update
n 1 tr
s s sgn( tr s)Eep 285.6MPa
n 1
ep n ep ep 1.422 10 3
26
 Kinematic Hardening Model
Yield strength remains constant, but the center of elastic
region moves parallel to the hardening curve
Effective stress is defined using the shifted stress
s

Use the center of elastic domain as an evolution variable

n 1 n sgn()Hep Back stress

sn
sn s Y0
E
s Y0
E s Y0 n 1 2s Y0
n 2p
p e

27
 State Determination (Kinematic Hardening)
Given: Material properties and state at increment n:
( e, E,H, s0Y , sn , n , enp )

Elastic predictor
str sn Ee, tr n , tr str tr
tr c
Check yield status
Trial yield function n+1
d e
tr tr
f s0y
tr E
If ftr 0, material is elastic n a b

sn 1 str n+1 g
n
f
Either initial elastic region or unloading

If ftr 0, material is plastic (yielding)

Either transition from elastic to plastic or continuous yielding 28
State Determination (Kinematic Hardening) cont.
Updating formulas for stress, back stress & plastic strain
sn 1 str sgn(tr )Eep n 1 tr sgn(tr )Hep enp1 enp ep
Plastic consistency condition
To determine unknown plastic strain increment
Stress must be on the yield surface during plastic loading
fn 1 n 1 s0y 0

str sgn(tr )Eep tr sgn(tr )Hep s0y 0

str tr s0y (E H)ep 0

tr sny ftr %Note: the same formula with

ep isotropic hardening model!!
EH EH

29
 Algorithm for Kinematic Hardening
Given: e,E,H, s0Y , sn , n , enp
tr n
1. Trial state s s Ee
tr n
tr str tr
ftr tr s0Y
2. If ftr 0 (elastic)
n 1
Remain elastic: s str , n 1 n , enp1 enp ; exit

3. If ftr 0 (plastic)
ftr
a. Calculate plastic strain: ep
EH
b. Update stress and plastic strain (store them for next increment)
sn 1 str sgn(tr )Eep n 1 n sgn(tr )Hep

enp1 enp ep
30
 Ex) Elastoplastic Bar (Kinematic Hardening)
E = 200GPa, H = 25GPa, 0sy = 200MPa
ns = 150MPa, n = 50MPa, e = 0.002
n
Since n s n 100 0 s Y , elastic state at tn
Trial stress:
tr s Ee 400MPa, tr
s n s tr s 250MPa
tr
n 50MPa, tr
tr
s tr
300MPa

Since trf tr
0 s Y 0, material yields in compression
Plastic strain f tr
ep 0.444 10 3
EH
State update n 1
s tr
s sgn( tr )Eep 161.1MPa
n 1 tr
sgn( tr )Hep 38.9MPa
31
Ex) Elastoplastic Bar (Kinematic Hardening)

32
 Combined Hardening Model
Baushinger effect
conditions where the yield strength of a metal decreases when the
direction of strain is changed
Common for most polycrystalline metals
Related to the dislocation structure in the cold worked metal. As
deformation occurs, the dislocations will accumulate at barriers
and produce dislocation pile-ups and tangles.
Numerical modeling of Baushinger effect
Modeled as a combined kinematic and isotropic hardening

snY1 snY (1 )Hep n 1 n sgn()Hep

01
= 0: isotropic hardening
= 1: kinematic hardening
33
 Combined Hardening Model cont.
Trial state
str sn Ee
tr n
tr str tr
ftr tr snY
Stress update
sn 1 str sgn(tr )Eep
n 1 tr sgn(tr )Hep
snY1 sny (1 )Hep

Show that the plastic increment is the same

ftr
ep
EH
34
 MATLAB Program combHard1D
%
% 1D Linear combined isotropic/kinematic hardening model
%
function [stress, alpha, ep]=combHard1D(mp, deps, stressN, alphaN, epN)
% Inputs:
% mp = [E, beta, H, Y0];
% deps = strain increment
% stressN = stress at load step N
% alphaN = back stress at load step N
% epN = plastic strain at load step N
%
E=mp(1); beta=mp(2); H=mp(3); Y0=mp(4); %material properties
ftol = Y0*1E-6; %tolerance for yield
stresstr = stressN + E*deps; %trial stress
etatr = stresstr - alphaN; %trial shifted stress
fyld = abs(etatr) - (Y0+(1-beta)*H*epN); %trial yield function
if fyld < ftol %yield test
stress = stresstr; alpha = alphaN; ep = epN;%trial states are final
return;
else
dep = fyld/(E+H); %plastic strain increment
end
stress = stresstr - sign(etatr)*E*dep; %updated stress
alpha = alphaN + sign(etatr)*beta*H*dep; %updated back stress
ep = epN + dep; %updated plastic strain
return;

35
 Ex) Two bars in parallel
Bar 1: A = 0.75, E = 10000, Et = 1000, 0sY = 5, kinematic
Bar 2: A = 1.25, E = 5000, Et = 500, 0sY = 7.5, isotropic
MATLAB program
%
% Example 4.5 Two elastoplastic bars in parallel
% Bar1
E1=10000; Et1=1000; sYield1=5; Rigid 15
E2=5000; Et2=500; sYield2=7.5;
mp1 = [E1, 1, E1*Et1/(E1-Et1), sYield1]; Bar2
mp2 = [E2, 0, E2*Et2/(E2-Et2), sYield2];
nS1 = 0; nA1 = 0; nep1 = 0;
nS2 = 0; nA2 = 0; nep2 = 0;
A1 = 0.75; L1 = 100;
A2 = 1.25; L2 = 100;
tol = 1.0E-5; u = 0; P = 15; iter = 0;
Res = P - nS1*A1 - nS2*A2;
Dep1 = E1; Dep2 = E2;
conv = Res^2/(1+P^2);
fprintf('\niter u S1 S2 A1 A2');
fprintf(' ep1 ep2 Residual');
fprintf('\n %3d %7.4f %7.3f %7.3f %7.3f %7.3f %8.6f %8.6f %10.3e',...
iter,u,nS1,nS2,nA1,nA2,nep1,nep2,Res);

36
 Ex) Two bars in parallel cont.
while conv > tol && iter < 20
delu = Res / (Dep1*A1/L1 + Dep2*A2/L2);
u = u + delu;
delE = delu / L1;
[Snew1, Anew1, epnew1]=combHard1D(mp1,delE,nS1,nA1,nep1);
[Snew2, Anew2, epnew2]=combHard1D(mp2,delE,nS2,nA2,nep2);
Res = P - Snew1*A1 - Snew2*A2;
conv = Res^2/(1+P^2);
iter = iter + 1;
Dep1 = E1; if epnew1 > nep1; Dep1 = Et1; end
Dep2 = E2; if epnew2 > nep2; Dep2 = Et2; end
nS1 = Snew1; nA1 = Anew1; nep1 = epnew1;
nS2 = Snew2; nA2 = Anew2; nep2 = epnew2;
fprintf('\n %3d %7.4f %7.3f %7.3f %7.3f %7.3f %8.6f %8.6f %10.3e',...
iter,u,nS1,nS2,nA1,nA2,nep1,nep2,Res);
end

Iteration u s1 s2 ep1 ep2 Residual

0 0.0000 0.000 0.000 0.000000 0.000000 1.50E+1

1 0.1091 5.591 5.455 0.000532 0.000000 3.99E+0

2 0.1661 6.161 7.580 0.001045 0.000145 9.04E 1

3 0.2318 6.818 7.909 0.001636 0.000736 0.00E+0

37
 Summary
Plastic deformation depends on load-history and its
information is stored in plastic strain
Stress only depends on elastic strain
Isotropic hardening increases the elastic domain, while
kinematic hardening maintains the size of elastic domain
but moves the center of it
Major issue in elastoplastic analysis is to decompose the
strain into elastic and plastic parts
Algorithmic tangent stiffness is consistent with the state
determination algorithm
State determination is composed of (a) elastic trial and (b)
plastic return mapping

38
 1D Elastoplastic Analysis Using ABAQUS
Material Card
*MATERIAL,NAME=ALLE
*ELASTIC
200.E3,.3
*PLASTIC
200.,0.
220.,.0009
220.,.0029
Plastic strain
Yield stress

39
 1D Elastoplastic Analysis Using ABAQUS
*HEADING 5,2
UniaxialPlasticity 6,2
*NODE,NSET=ALLN 4,1
1,0.,0.,0. 5,1
2,1.,0.,0. 8,1
3,1.,1.,0. 2,3
4,0.,1.,0. 3,3
5,0.,0.,1. 4,3
6,1.,0.,1. *STEP,INC=20
7,1.,1.,1. *STATIC,DIRECT
8,0.,1.,1. 1.,20.
*ELEMENT,TYPE=C3D8,ELSET=ALLE *BOUNDARY
1,1,2,3,4,5,6,7,8 7,3,,.004
*SOLID SECTION,ELSET=ALLE,MATERIAL=ALLE 5,3,,.004
*MATERIAL,NAME=ALLE 6,3,,.004
*ELASTIC 8,3,,.004
200.E3,.3 *EL PRINT,FREQ=1
*PLASTIC S,
200.,0. E,
220.,.0009 EP,
220.,.0029 *NODE PRINT
*BOUNDARY U,RF
1,PINNED *END STEP
2,2
40
 Stress Curve

41
4.3
Multi-Dimensional
Elastoplastic Analysis

42
 Goals
Understand failure criteria, equivalent stress, and
effective strain
Understand how 1D tension test data can be used for
determining failure of 3D stress state
Understand deviatoric stress and strain
Understand the concept of elastic domain and yield
surface
Understand hardening models
Understand evolution of plastic variables along with that
of the yield surface

43
 Multi-Dimensional Elastoplasticity
How can we generalize 1D stress state (s11) to 3D state (6
components)?
Need scalar measures of stress and strain to compare with 1D test
Equivalent stress & effective strain
Key ingredients: yield criteria, hardening model, stress-strain
relation
We will assume small (infinitesimal) strains
Rate independent elastoplasticity- independent of strain
rate
Von Mises yield criterion with associated hardening model
is the most popular

44
 Failure Criteria
Material yields due to relative sliding in lattice structures

Sliding preserves volume plastic deformation is related

to shear or deviatoric part
Tresca (1864, max. shear stress)
Material fails when max. shear stress reaches that of tension test
Tension test: yield at s1 = sY, s2 = s3 = 0
s2 Safe region
s1 s3 s
max Y Y sY Failure region
2 2
Yielding occurs when max Y sY
sY s1

sY
45
 Failure Criteria cont.
Distortion Energy Theory (von Mises)
Material fails when distortion energy reaches that of tension test

Ud Ud (tension test)

We need preliminaries before deriving Ud

Volumetric stress and mean strain
sm 31 tr(s) 31 (s11 s22 s33 )

em 31 tr(e) 31 ev 31 (e11 e22 e33 )

Deviatoric stress and strain

s s sm1 Idev : s Iijkl (ik jl il jk ) / 2

e e em1 Idev : e Idev I 31 1 1

46
 Failure Criteria cont.
Example: Linear elastic material
s [1 1 2I] : e D : e

s (3em )1 2( e em 1) sm (3 2)em
(3 2)em 1 2e s 2e
volumetric deviatoric
Bulk modulus
3 2
Distortion energy density K
3
U 21 s : e 21 (sm 1 s) : (em 1 e) 23 smem 21 s : e

Ud 21 s : e 1 s
4
:s

47
 Failure Criteria cont.
1D Case 2 0
3
0

s11 s sm 31 s 1
s s 0 3 0
0 0 1
3

Ud 1 s :s 1 2 s2 1 s2
1D 4 4 3 6

Material yields when

Ud 1 s :s 1 s2 Ud
4 6 Y 1D

Lets define an equivalent stress se 3s

2
:s

Then, material yields when

von Mises stress
se sY
Stress can increase from zero to sY, but cannot
increase beyond that
48
 Equivalent Stress and Effective Strain
Equivalent stress is the scalar measure of 3D stress state
that can be compared with 1D stress from tension test
Effective strain is the scalar measure of 3D strain state
that makes conjugate with equivalent stress
Ud 21 s : e 21 se ee

Ud 1 s :s 1 s2 21 se ee Effective strain
4 6 e

ee 1 s 1 3s :s 1 3 2e : 2e 2e :e
3 e 3 2 3 2 3

49
 Equivalent Stress and Effective Strain cont.
1D Case cont.
1 2
e11 e e22 e33 e em e
3

2 0 0 2
(1 )e (1 )e
e 0 1 0 e : e 6
3 3
0 0 1

2e 2(1 )
ee :e e Effective strain for 1D tension
3 3

50
 Von Mises Criterion
Material yields when se = sY J2 21 s : s
se 3s :s 3J2
2 2nd invariant of s

1
J2 (sx s y )2 (s y sz )2 (sz sx )2 2xy 2yz 2zx
6

1
J2 (s1 s2 )2 (s2 s3 )2 (s3 s1 )2 In terms of principal stresses
6

Yield criterion 2

s2e s2Y 3J2 s2Y 0

1
Elastic J 2 3 s Y2 1
1D test data sY can be used for
multi-dimensional stress state
Often called J2 plasticity model Yield surface
1
J 2 s Y2
3
51
 Von Mises Criterion cont.
J2: second invariant of s

J2 21 [s : s tr(s)2] 21 s : s

Impossible
Von Mises yield function s2
state
Elastic
state
3J2 s2Y 0 Material
yields
3s
2
: s s2Y 0 s1

s:s 2s 0
3 Y

2s s 2s
s 3 Y
0 3 Y

radius

Yield function Yield surface is circular in

deviatoric stress space
52
 Example
Pure shear stress to yield
x2
0 0
0 0 s
0 0 0
x1

s s:s 2 2 2

Yield surface:

2s 1 s2 Safe region
2 3 Y
sY
3

Failure in max. shear stress theory

Safe in distortion energy theory C

Von Mises is more accurate, but s1

D
Tresca is more conservative

53
 Example
Uniaxial tensile test

s 0 0 2s 0 0
3

s 0 0 0 s 0 31 s 0
0 0 0 0 0 31 s

s 4 s2 91 s2 91 s2 2s
9 3

Yield surface
2s 2s 0 s sY Consistent with uniaxial
3 3 Y
tension test

s s

54
 Hardening Model
For many materials, the yield surface increases
proportional to plastic deformation strain hardening
Isotropic hardening: Change in radius
Kinematic hardening: Change in center

Isotropic hardening Kinematic hardening

2 2

1 1

Initial yield surface Initial yield surface

55
 Hardening Model cont.
Isotropic hardening model (linear)
s
sY s0Y Hep H
ep
Plastic modulus

ep Effective plastic strain

s0Y Initial yield stress

H = 0: elasto-perfectly-plastic material
s2
Kinematic hardening model (linear)
s
The center of yield surface : back stress

Shifted stress: = s s1

2s 0
3 Y
Radial
moves proportional to ep 2He direction
3 p

56
 Hardening Model cont.
Combined Hardening
Many materials show both isotropic and kinematic hardenings
Introduce a parameter [0, 1] to consider this effect
Baushinger effect: The yield stress increases in one directional
loading. But it decreases in the opposite directional load.
This is caused by dislocation pileups and tangles (back stress).
When strain direction is changed, this makes the dislocations easy
to move
2 [s0 (1 )Hep ] 0
3 Y

2 He
3 p

Isotropic hardening: = 0
Kinematic hardening: = 1
57
 Ex) Uniaxial Bar with Hardening
Calculate uniaxial stress s when ep = 0.1, initial sY = 400
MPa and H = 200 MPa (a) isotropic, (b) kinematic and (c)
combined hardening with = 0.5
s 0 0 2s 0 0
3

s 0 0 0 s 2s
s 0 31 s 0 3
0 0 0 0 0 31 s

a) Isotropic hardening

s 2 ( s0 Hep ) 2s 2 (400 200 0.1) 0

3 Y 3 3
s 420 MPa
b) Kinematic hardening

s 2s0 0
3 Y

s 2s0 2s 2He 2s 0 0
3 Y 3 3 p 3 Y
s 420 MPa 58
 Ex) Uniaxial Bar with Hardening
c) Combined hardening

s s0Y (1 )Hep
2
3
s 23 s0Y (1 )Hep
2s 2 He 2s0 2 (1 )Hep
3 3 p 3 Y 3
0

s s0Y Hep (400 200 0.1) 420MPa

All three models yield the same stress (proportional loading)

59
 Rate-Independent Elastoplasticity
Additive decomposition
e e e ep e e e ep From small deformation assumption

Strain energy (linear elastic)

W(e e ) 21 e e : D : e e 21 (e e p ) : D : (e e p )
Stress (differentiating W w.r.t. strain)
W
s D : e e D : (e ep )
e e
s D : (e ep )

D 1 1 2I Why we separate volumetric part

from deviatoric part?

D ( 23 )1 1 2Idev
60
 Rate-Independent Elastoplasticity cont.
Stress cont.
Volumetric stress: sm 31 tr(s) ( 23 )tr(e) (3 2)em

Deviatoric stress: s 2( e ep ) Why isnt this

an elastic strain?
Yield function
We will use von Mises, pressure insensitive yield function

f( , ep ) 2 k(e ) 0
p str
3

k(ep): Radius of elastic domain sn+1

ep: effective plastic strain sn

Elastic domain (smooth, convex) str

sn sn+1

E ( , ep ) f( , ep ) 0 E, f<0
61
 Rate-Independent Elastoplasticity cont.
Flow rule (determine evolution of plastic strain)
x (, ep )
ep gr(s, x)
Plastic variables

Plastic consistency parameter g : g > 0 (plastic), g =0 (elastic)

Flow potential g(s, x)
g(s, x) p g(s, x)
r e g
s s
Plastic strain increases in the normal direction to the flow
potential
g
s

g3
g2
g1
62
 Rate-Independent Elastoplasticity cont.
Associative flow rule
Flow potential = yield function

p f( , x)
e g Unit deviatoric tensor
normal to the yield surface

f :
N
:

p f
e g g gN

N determines the direction of plastic strain rate

and g determines the magnitude

63
 Rate-Independent Elastoplasticity cont.
Evolution of plastic variables (hardening model)
Back stress
f( , ep )
H (ep ) g H (ep ) gN

Plastic modulus for
kinematic hardening
Effective plastic strain

ep 2 ep
3
: ep 2
3
ep
Note: plastic deformation only occurs in deviatoric components

e p ep ep gN g
x (, ep )
ep 2
3
g x gh(s, x)

64
 Rate-Independent Elastoplasticity cont.
Kuhn-Tucker conditions
The plastic consistency parameter must satisfy

g0 gf 0 f0

1. Within elastic domain: f 0 g0 gf 0

2. On the yield surface
a. Elastic unloading f 0 g0 gf 0

b. Neutral loading f 0 g0 gf 0

c. Plastic loading (process attempt to violate f 0)

f=0
f0 g0 gf 0
f=0

Equivalent to gf 0
65
 Classical Elastoplasticity
Elastoplasticity boils down to how to calculate plasticity
consistency parameter
Classical plasticity uses the rate form of evolution
relations to calculate it
Plastic consistency condition gf 0
g is only non-zero when continues plastic deformation

g0 f(s, x) 0
f f
f(s, x) :s x 0
s x
f p f
: D : (e e ) gh 0
s x
f f f
:D:e : D : gr gh 0 Solve for plastic
s s x consistency parameter
66
 Classical Elastoplasticity cont.
Plastic consistency parameter
f Assume the denominator is positive
:D:e
s x if x 0
g x
f f 0 if x 0
:D:r h
s x
f
g0 :D:e 0
s
f
:D:e
cos q s f
E normal
f q s
D:e
s
q < 90o : plastic loading D : e trial stress rate
q = 90o : neutral loading
q > 90o : elastic unloading
67
 Classical Elastoplasticity cont.
Elastoplastic tangent stiffness (when g > 0)

s D : (e ep )
f
s
:D:e
s D : e D : gr D : e D : r f f
s
:D:r x
h
D : r sf : D
s D f f
:e
: D : r x h
s

D : r sf : D
Dep D f
:D:r f
h Elastoplastic tangent operator
s x

In general, it is not symmetric, but for associative flow rule, it is

68
 Nonlinear Hardening Models
Nonlinear kinematic hardening model
ep
p
H(ep )e H(ep ) H0 exp Saturated hardening
e
p

Nonlinear isotropic hardening model

k(ep ) s0Y (s
Y s 0
)
Y 1 exp( ep / e
p )

69
 Example: Linear hardening model
Linear combined hardening model, associative flow rule
5 params: 2 elastic (, ) and 3 plastic (, H, sY0) variables

k(ep ) s0Y (1 )Hep 23 Hep

Plastic consistency parameter

f(s, , ep ) s 2 [s0 (1 )Hep ] 0
3 Y

f f f 2 (1
f :s : ep N : s N : )Hep 0
s ep 3

s 2 e ep 2e 2gN
23 Hep 23 HgN
ep 2g
3
70
 Example: Linear hardening model cont.
Plastic consistency parameter cont.
f 2N : e 2gN : N 23 HgN : N 23 (1 )Hg 0
N:N 1
2N : e N:e N:e
g
2 23 H
No iteration is required
Elastoplastic tangent stiffness
s D : e D : ep D : e gD : N D ( 23 )1 1 2Idev
D : N 2N

2N : e 42
s D : e 2N D N N : e
2 3 H
2 2 3 H
2

Dep
71
 Ex) Plastic Deformation of a Bar
E sY H

2.4GPa 1.0GPa 0.2 300MPa 100MPa 0.3

At tn: purely elastic, s11 = 300 Mpa

At tn+1: e11 = 0.1, determine stress and plastic variables
At tn: 300 0 0 200 0 0
s 0 0 0 MPa, s 0 100 0 MPa
0 0 0 0 0 100
Strain increments

0.1 0 0 0.08 0 0
e 0 0.02 0 , e 0 0.04 0
0 0 0.02 0 0 0.04
72
 Ex) Plastic Deformation of a Bar
Purely elastic at tn: n = 0, nep = 0. n = ns n = ns
Trial states:
360 0 0
tr
tr s n s 2e 0 180 0 MPa
0 0 180
tr
3602 1802 1802 180 6MPa

tr
2 0 0
1
N tr 0 1 0
6
0 0 1

Yield function
f( tr , tr ep ) tr
2 k( n e )
3 p 180 6 300 2
3
80 6 0
Plastic state! 73
 Ex) Plastic Deformation of a Bar
Plastic consistency parameter
2N : e
g 0.0948
2 3 H
2

Update stress and plastic variables

385.2 0 0
n 1
s n s D : e 2gN 0 77.4 0 MPa
0 0 77.4

1.54 0 0
No
n 1
n 23 HgN 0 0.77 0 MPa equilibrium!!
0 0 0.77
n 1
ep n ep 2g
3
0.0774
74
 Numerical Integration
Plastic evolution is given in the rate form
We will use backward Euler method to integrate it
yn 1 yn
y f(t, y) f(tn 1 yn 1 )
t

yn 1 yn t f(tn 1 yn 1 ) A-stable
Stable for all t
Assumptions
We assume that all variables are known at load step n: sn , xn
At the current time n+1, u or e is given
We will use 2-step procedure
1. Predictor: elastic trial
2. Corrector: plastic return mapping (projection onto the yield
surface)
75
 Numerical Integration cont.
1. Elastic predictor
str sn 2e tr n eptr epn

dev. inc. strain No plasticity

Shifted stress: tr str tr

Yield function: f( tr , epn ) tr 2 k(en )
p
3
2. Plastic corrector
1. If f < 0 (within the elastic domain)

sn 1 str n 1 tr epn 1 eptr

Exit

76
 Numerical Integration cont.
2. Plastic corrector cont.
2. If f > 0 (return mapping to yield surface)
unknown
sn 1 str 2 ep ep gN

sn 1 str 2gN

n 1 tr H gN

n 1 sn 1 n 1 tr (2 H )gN

So far, unknowns are g and N n 1 n 1

Trial direction is parallel to final direction

n 1 tr n 1 tr n 1

n 1 tr
N n 1
tr
Known from trial state
So, everything boils down to g 77
 Numerical Integration cont.
2. Plastic corrector cont.
Now the plastic consistency parameter is only unknown!!
How to compute: stress must stay on the yield surface

f( n 1 , epn 1 ) 0

While projecting the trial stress, sn

the yield surface also varies n sn+1 str
But, both happen in the same n+1
direction N
f( n , epn ) 0
f( n 1 , epn 1 ) 0

f(n 1, epn 1 ) n 1 2 k(en 1 )

3 p 0

n 1 tr (2 H )gN tr (2 H )g

78
 Numerical Integration cont.
2. Plastic corrector cont.
Plastic consistency condition

tr 2 H (epn 1 ) g 2 k(en 1 )
3 p 0

Nonlinear (scalar) equation w.r.t. g epn 1 epn 2 g

3

Use Newton-Raphson method (start with g 0, epn 1 epn )

f tr 2 H (epn 1 ) g 2 k(en 1 )
3 p

df 2 dH dk
(2 H ) g 23
dg 3 dep dep
f
g g
df / dg
epn 1 epn 1 2 g
3

Stop when f ~ 0
79
 Numerical Integration cont.
When N-R iteration is converged, update stress
sn 1 sn 2e 2gN
n 1 n H gN
epn 1 epn 2 g
3

sn 1 sn D : e 2gN

Dep : e Tangent operator

80
 Difference from the Rate Form
Rate form (linear hardening)
2N : e f(nh,nep) = 0 ns
2mDe
g trs

2 23 H f(trh,trep)

Incremental form na

tr 2 k(en )
3 p
2mN:De
g
2 2H
3

Two formulations are equivalent when

1. The material is in the plastic state at tn
2. e is parallel to n
When time increment is very small, these two
requirements are satisfied
81
 Consistent Tangent Operator
Consistent tangent operator tangent operator that is
consistent with numerical integration algorithm
s s
Dep D alg
e e

Continuum tangent operator Consistent tangent operator

Differentiate stress update equation

s D : e 2gN

s g N
D 2N 2g
e e e

(1) (2)

82
 Consistent Tangent Operator cont
Term (1) f
f(n 1, epn 1 ) f( n , epn ) 0 0
e
f tr 2 k(en 1 )
(2 H (epn 1 ))g 0
e e 3 p

tr ( tr : tr )1/2 1 1 tr
tr
2 :
e e 2 tr e

tr tr tr tr (str n )
: 2N 2Idev
e tr e e e

f n 1 g H ep 2 k ep
2N (2 H (ep )) g 0
e e ep e 3 ep e

g
g 2
2N 2 H (epn 1 ) 2H g 2k 0 3
3 ,ep 3 ,ep e e

g 1
2AN A
2 H (epn 1 ) 2H
3 ,ep
g 23 k,e
p
e 83
 Consistent Tangent Operator cont
Term (2):
N N tr tr
tr : (sn 2e n ) 2Idev
e e e e

N tr I tr tr 1
tr I N N
tr
tr
tr
tr
3
tr

N 1 2
tr I N N : 2Idev tr Idev N N
e

Consistent tangent operator

s 2
D alg D 2N (2A N) 2g tr Idev N N
e

alg 2 42 g
D D 4 A N N tr
Idev N N

Not existing in Dep 84

 Example
Linear combined hardening

H (epn 1 ) 23 H H,e 0
p

k(epn 1 ) s0Y (1 )Hepn 1 k(epn ) 2 (1

3
)Hg

Consistency condition
f tr 2 23 H g 2
3 k(e )
n
p
2 (1
3
)Hg 0

tr 2 k(en )
3 p
g No iteration is required
2 2H
3

1 2
2 H
A 3

85
 Variational Equation
Variational equation

a( n x; n 1 u, u ) ( u ), u

a( n x; n 1 u, u ) e( u ) : n 1
s d

The only nonlinearity is from stress (material nonlinearity)

Small strain, small rotation
Linearization
a * ( n x, n 1 uk ; uk , u ) ( u ) a( n x; n 1 uk , u ), u ,

a * ( n x, n 1 u; u, u ) e( u ) : D alg : e( u) d.

Update displacement
n 1 k 1 n 1 k
u u uk 86
 Implementation of Elastoplasticity
We will explain for a 3D solid element at a Gauss point
Voigt notation
{ s } [s11 s22 s33 s12 s23 s13 ]T
{ e } [ e11 e22 e33 2e12 2e23 2e13 ]T
Inputs dI dI1 dI2 dI3
T

T
sn sn11 sn22 sn33 sn12 sn23 sn13

xn n11
T
n22 n33 n
12 n23 n
13 epn
z
x8 x7 (1, 1,1) (1,1,1)

(1, 1,1)
x5 (1,1,1)
x6

x4
x3 (1,1,1)
x1
(1, 1,1)
x3
(1,1,1)
x2 x
x2
x1 (a) Finite Element (b) Reference Element
87
 Implementation of Elastoplasticity cont.
Displacement
x = {x, , z}T is the natural coordinates at an integration point
8
u NI (x)dI NI,1 0 0
I 1

Strain 0 NI,2 0
8
0 0 NI,3
BI
e BI uI NI,2 NI,1 0
I 1
0 NI,3 NI,2
N 0 N
Update I,3 I,1
n 1
u n u u
{ n 1 e } { n e } { e }
88
 Return Mapping Algorithm
Elastic predictor

T
Unit tensor 1 1 1 1 0 0 0

Trial stress str sn C e

tr tr tr
Trace of stress tr(s) s11 s22 s33

Shifted stress tr str 31 tr(s) n

Norm tr tr 2
(11 tr 2
) (22 tr 2
) (33 tr 2
) 2[(12 tr 2
) (23 tr 2
) (13 ) ]

Yield function f tr 2 s0Y (1 )Hepn

3

89
 Return Mapping Algorithm cont.
Check yield status
If f < 0, then the material is elastic

sn 1 s tr D alg D
Exit

Consistency parameter g f (2 23 H)

Unit deviatoric tensor N tr tr

Update stress sn 1 s tr 2gN

Update back stress n 1 n 23 HgN

Update plastic strain epn 1 epn 2 g

3

Calculate consistent tangent matrix

90
 Implementation of Elastoplasticity cont.
2 1 1 0 0 0
Consistent tangent matrix 31 3
2
3
1 0 0

3 3
3
0
42 42 g 1 1 0
c1 c2 2 0 0

2 23 H tr I dev 3 3 3
0 0 0 21 0 0

0 0 0 0 21 0
D alg D (c1 c2 )NNT c2 Idev 1
0 0 0 0 0 2

Internal force and tangent stiffness matrix

4 NG 4 4 NG
fint (BIT sn 1 J )K K KT (BITDalgBJ J )K K
I 1 K 1 I 1 J 1 K 1

Solve for incremental displacement

[KT ]{ u} { f ext } { fint }

The algorithm repeats until the residual reduces to zero

Once the solution converges, save stress and plastic
variables and move to next load step 91
 Program combHard.m
%
% Linear combined isotropic/kinematic hardening model
%
function [stress, alpha, ep]=combHard(mp,D,deps,stressN,alphaN,epN)
% Inputs:
% mp = [lambda, mu, beta, H, Y0];
% D = elastic stiffness matrix
% stressN = [s11, s22, s33, t12, t23, t13];
% alphaN = [a11, a22, a33, a12, a23, a13];
%
Iden = [1 1 1 0 0 0]';
two3 = 2/3; stwo3=sqrt(two3); %constants
mu=mp(2); beta=mp(3); H=mp(4); Y0=mp(5); %material properties
ftol = Y0*1E-6; %tolerance for yield
%
stresstr = stressN + D*deps; %trial stress
I1 = sum(stresstr(1:3)); %trace(stresstr)
str = stresstr - I1*Iden/3; %deviatoric stress
eta = str - alphaN; %shifted stress
etat = sqrt(eta(1)^2 + eta(2)^2 + eta(3)^2 ...
+ 2*(eta(4)^2 + eta(5)^2 + eta(6)^2));%norm of eta
fyld = etat - stwo3*(Y0+(1-beta)*H*epN); %trial yield function
if fyld < ftol %yield test
stress = stresstr; alpha = alphaN; ep = epN;%trial states are final
return;
else
gamma = fyld/(2*mu + two3*H); %plastic consistency param
ep = epN + gamma*stwo3; %updated eff. plastic strain
end
N = eta/etat; %unit vector normal to f
stress = stresstr - 2*mu*gamma*N; %updated stress
alpha = alphaN + two3*beta*H*gamma*N; %updated back stress
92
 Program combHardTan.m
function [Dtan]=combHardTan(mp,D,deps,stressN,alphaN,epN)
% Inputs:
% mp = [lambda, mu, beta, H, Y0];
% D = elastic stiffness matrix
% stressN = [s11, s22, s33, t12, t23, t13];
% alphaN = [a11, a22, a33, a12, a23, a13];
%
Iden = [1 1 1 0 0 0]';
two3 = 2/3; stwo3=sqrt(two3); %constants
mu=mp(2); beta=mp(3); H=mp(4); Y0=mp(5); %material properties
ftol = Y0*1E-6; %tolerance for yield
stresstr = stressN + D*deps; %trial stress
I1 = sum(stresstr(1:3)); %trace(stresstr)
str = stresstr - I1*Iden/3; %deviatoric stress
eta = str - alphaN; %shifted stress
etat = sqrt(eta(1)^2 + eta(2)^2 + eta(3)^2 ...
+ 2*(eta(4)^2 + eta(5)^2 + eta(6)^2));%norm of eta
fyld = etat - stwo3*(Y0+(1-beta)*H*epN); %trial yield function
if fyld < ftol %yield test
Dtan = D; return; %elastic
end
gamma = fyld/(2*mu + two3*H); %plastic consistency param
N = eta/etat; %unit vector normal to f
var1 = 4*mu^2/(2*mu+two3*H);
var2 = 4*mu^2*gamma/etat; %coefficients
Dtan = D - (var1-var2)*N*N' + var2*Iden*Iden'/3;%tangent stiffness
Dtan(1,1) = Dtan(1,1) - var2; %contr. from 4th-order I
Dtan(2,2) = Dtan(2,2) - var2;
Dtan(3,3) = Dtan(3,3) - var2;
Dtan(4,4) = Dtan(4,4) - .5*var2;
Dtan(5,5) = Dtan(5,5) - .5*var2;
Dtan(6,6) = Dtan(6,6) - .5*var2;
93
 Program PLAST3D.m
function PLAST3D(MID, PROP, ETAN, UPDATE, LTAN, NE, NDOF, XYZ, LE)
%***********************************************************************
% MAIN PROGRAM COMPUTING GLOBAL STIFFNESS MATRIX RESIDUAL FORCE FOR
% PLASTIC MATERIAL MODELS
%***********************************************************************
%%
....
%LOOP OVER ELEMENTS, THIS IS MAIN LOOP TO COMPUTE K AND F
for IE=1:NE
DSP=DISPTD(IDOF);
DSPD=DISPDD(IDOF);
%....
% LOOP OVER INTEGRATION POINTS
for LX=1:2, for LY=1:2, for LZ=1:2
%
% Previous converged history variables
NALPHA=6;
STRESSN=SIGMA(1:6,INTN);
ALPHAN=XQ(1:NALPHA,INTN);
EPN=XQ(NALPHA+1,INTN);
....
% Computer stress, back stress & effective plastic strain
if MID == 1
% Infinitesimal plasticity
[STRESS, ALPHA, EP]=combHard(PROP,ETAN,DDEPS,STRESSN,ALPHAN,EPN);
....
%
% Tangent stiffness
if LTAN
if MID == 1
DTAN=combHardTan(PROP,ETAN,DDEPS,STRESSN,ALPHAN,EPN);
EKF = BM'*DTAN*BM;
.... 94
 Summary
1D tension test data are used for 2D or 3D stress state
using failure theories
All failure criteria are independent of coordinate system (must
defined using invariants)
Yielding of a ductile material is related to shear stress or
deviatoric stress
Kinematic hardening shift the center of elastic domain,
while isotropic hardening increase the radius of it
For rate-independent J2 plasticity, elastic predictor and
plastic correct algorithm is used
Return mapping occurs in the radial direction of deviatoric
stress
During return mapping, the yield surface also changes
95
4.4
Elastoplasticity with Finite
Rotation

96
 Goals
Understand the concept of objective rate and frame-
indifference (why do we need objectivity?)
Learn how to make a non-objective rate to objective one
Learn different objective stress rates
Learn how to maintain objectivity at finite rotation
Understand midpoint configuration
Understand how to linearize the energy form in the
updated Lagrangian formulation
Understand how to implement update Lagrangian frame

97
 Elastoplasticity with Finite Rotation
We studied elastoplasticity with infinitesimal deformation
Infinitesimal deformation means both strain and rotation are small

u sym(u) skew(u)
strain rotation

We can relax this limitation by allowing finite rotation

However, the engineering strain changes in rigid-body
rotation (We showed in Chapter 3)
cos 1 0 0
How can we use engineering strain e 0 cos 1 0
for a finite rotation problem? 0 0 0

Instead of using X, we can use xn as a reference

(Body-fixed coordinate, not Eulerian but Lagrangian)
Can the frame of reference move?
98
 Objective Tensor
We want to take care of the issues related to the moving
reference frame xn (rotation and translation) using
objectivity
Objective tensor: any tensor that is not affected by
superimposed rigid body translations and rotations of the
spatial frame
Rotation of a body is equivalent to rotation of coordinate
frame in opposite direction
Consider two frames in the figure x yz
(rotation + translation)
x
x Q(t) x c(t) P
x
x and x are different by rigid-body motion,
by relative motion between observers xyz
99
 Objective Tensor cont.
Frame indifference (objectivity)
Quantities that depend only on Q and not on the other aspects of
the motion of the reference frame (e.g., translation, velocity and
acceleration, angular velocity and angular acceleration)
Objective scalar f f

Objective vector v Qv

Objective tensor T Q T QT

In order to use a moving reference, we must use

objective quantities
100
 Example
Deformation gradient
x x
F ( Q(t) x c(t)) Q(t) Q(t) F
X X X
F transforms like a vector
Right C-G deformation tensor
C F T F (QF)T ( QF) FT QT QF FT F C
Material tensors are not affected by rigid-body motion
Left C-G deformation tensor
Objective
b FF T ( QF)(FT Q T ) QFFT Q T QbQ T
tensor
Objectivity only applies to a spatial tensor, not
material tensor
Deformation gradient transforms like a vector because it
has one spatial component and one material component 101
 Velocity Gradient
In two different frames
Velocity gradient is related to incremental
v v displacement gradient in finite time step
L , L
x x u
Lt
x
Time differentiate of x Q x
x Qv Qx

v Q v QQT x Velocity is not objective

Spatial differentiation of v
v
L
x
v x x
Q Q QT
x x x
Velocity gradient is not objective
Q L QT Q QT

102
 Rate of Deformation and Spin Tensor
Rate of Deformation
d sym(L) d sym(L )

d sym(L ) 1
2 Q L QT Q LT QT Q QT Q QT
Q QT 1 Q QT Q QT 0

d Q 21 (L LT ) QT Q d QT Objective
This is incremental stain
Spin tensor
W 21 (L LT ) W 21 (L LT )

W 21 (L LT ) 21 (Q L QT Q LT QT Q QT Q QT )

W Q W QT 21 (Q QT Q QT )
Depends on the spin of rotating frame
Not Objective
103
 Cauchy Stress Is an Objective Tensor
Proof from the relation between stresses
1
s FSFT
J
1 1 1 T
T T T
s FSF QFSF Q Q FSFT Q QsQ
T
J J J
SS

Proof from coordinate transformation of stress tensor

( b1 ) ( b2 ) ( b3 )
[T T T ]xyz [s]xyz [b1 b2 b3 ] [s]xyz [ Q]
y
T
[s]xyz [Q] [s]xyz [Q] y x

2
b b1
Coordinate transformation is opposite to rotation x
b3
[s]xyz [Q][s]xyz [Q]T
z
z
104
 Objective Rate
If T is an objective tensor, will its rate be objective, too?
This is important because in plasticity the constitutive relation is
given in terms of stress rate
Differentiate an objective tensor T Q T QT
T Q T QT Q T Q T Q T Q T
Not objective due to Q and QT
Remove non-objective terms using L Q L QT Q QT

Q L Q QL Q T Q T LT LT Q T

T (LQ QL) TQT QTQT QT( QT LT LT QT )

LQTQT QLTQT QTQT QTQT LT QTLT QT
LT QLTQT QTQT TLT QTLT QT

105
 Objective Rate cont.
Objective rate
T LT QLTQT QTQT TLT QTLT QT

T LT TLT Q( T LT TLT )QT

Thus, T LT TLT is an objective rate (Truesdell rate)

Co-rotational rate (Jaumann rate)

T WT TW
Convected rate
T LT T T L
These objective rates are different, but perform equally
When T is stress, they are objective stress rate
106
 Finite Rotation and Objective Rate
Since constitutive relation should be independent of the
reference frame, it has to be given in terms of
objective rate
Cauchy stress is an objective tensor, but Cauchy stress
rate is not objective rate
Instead of rate, we will use increment (from previous
converged load step to the current iteration)
Consider a unit vector ej in spatial Cartesian coordinates
under rigid body rotation from material vector Ej
T
ej Q Ej 1 u u
W Q Q T

2 x x

W: spin tensor
ej Q Ej W Q Ej W ej Q: rotation tensor

107
 Finite Rotation and Objective Rate cont.
Cauchy stress in Cartesian coordinates
s sijei ej

Incremental Cauchy stress

s sij ei ej sij ei ej sij ei ej
sijJ ei ej W (sij ei ej ) (sij ei ej ) WT
( sijJ Wik skj sikWkj ) ei ej
Effect of rigid body rotation
Jaumann or co-rotational Cauchy stress increment
Objective rate in the rotating frame
Only accurate for small, rigid body rotations

Constitutive relation

s J D alg : e s J s Ws sW
108
 Finite Rotation and Objective Rate cont.
For finite rotation, the spin tensor W is not constant
throughout the increment
Preserving objectivity for large rotational increments
using midpoint configuration
Instead of n+1, calculate strain increment and spin at n+
uj
1 ui uj 1 ui
eij Wij
2 xn 1 2 xn 1 2 2 xn 1 2 xn 1 2
j i j i

How to calculate these?

Midpoint configuration
n 21
x 21 ( xn 1 xn ) xn 21 u xn 1 21 u
We want to rotation stress into the midpoint configuration

u u xn xn 1 2 1 u
, 1
xn 1 2 xn xn 1 2
xn 2 xn
109
 Finite Rotation and Objective Rate cont.
Rotational matrix to the midpoint configuration
Rn 1 Rn R Rn
dR W( u) Rn 1 W( u) n 1
WR t 2 2
dt W( u) tW( u)
Rn 1
R (1 21 W)1 (1 21 W) 1 (1 21 W)1 W

Rotation of stress and back stress

sn R sn RT
This takes care of rigid body rotation
n n T
R R

Now, return mapping with these stresses

Exactly same as small deformation plasticity
110
 Program rotatedStress.m
%
% Rotate stress and back stress to the rotation-free configuration
%
function [stress, alpha] = rotatedStress(L, S, A)
%L = [dui/dxj] velocity gradient
%
str=[S(1) S(4) S(6);S(4) S(2) S(5);S(6) S(5) S(3)];
alp=[A(1) A(4) A(6);A(4) A(2) A(5);A(6) A(5) A(3)];
factor=0.5;
R = L*inv(eye(3) + factor*L);
W = .5*(R-R');
R = eye(3) + inv(eye(3) - factor*W)*W;
str = R*str*R';
alp = R*alp*R';
stress=[str(1,1) str(2,2) str(3,3) str(1,2) str(2,3) str(1,3)]';
alpha =[alp(1,1) alp(2,2) alp(3,3) alp(1,2) alp(2,3) alp(1,3)]';

111
 Variational Principle for Finite Rotation
Total Lagrangian is inconvenient
We dont know how 2nd P-K stress evolves in plasticity
plastic variables is directly related to the Cauchy stress
Thus, we will use the updated Lagrangian formulation
Assume the problem has been solved up to n load step, and
we are looking for the solution at load step n+1
Since load form is straightforward, we will ignore it
Energy form
a(x n ; u n 1 , u ) n 1 u : sn 1 d
n 1

Since the Cauchy stress is symmetric, it is OK to use n 1u

Both n+1 and sn+1 are unknown
Nonlinear in terms of u
112
 Variational Principle for Finite Rotation cont.
Energy form cont.
Since the current configuration is unknown (depends on displace-
ment) , lets transform it to the undeformed configuration 0

a(x n ; u n 1 , u ) n 1 u : sn 1 d ( 0 uF 1 ) : sn 1J d
n 1 0

Integral domain can be changed by d J d J det(F)

n 1 0

This is only for convenience in linearization. Eventually, we will

come back to the deformed configuration and integrate at there

The integrand is identical to T : F where T J F 1s is the

first P-K stress
Nonlinearity comes from (a) constitutive relation (hypoelasticity),
(b) spatial gradient (deformation gradient), and (c) Jacobian of
deformation gradient (domain change)
113
 Linearization
Increment of deformation gradient

( x u) u
F 0 u
X 0 X

FF1 1 F1 F10 uF1 F1n 1u

Increment of Jacobian
J F J div( u) Fmn 61 eijk erstFirFjsFkt

eijk eijr 2kr

114
 Linearization cont.
Linearization of energy form

( 0 uF 1 ) : sJ d
0

( 0 uF 1 ) : sJ ( 0 uF 1 ) : sJ ( 0 uF 1 ) : sJ d
0

1 1 1
0
0 uF n 1 u : s 0 uF : s 0 uF : sdiv( u) Jd

n 1
n 1 un 1 u : s n 1 u : s n 1 u : sdiv( u) d
T
n1 n 1
u : s s div( u) s ( n 1 u) d

AB : C A : CBT AikBkjCij AikCijBkj

Use Jaumann objective rate

115
 Linearization cont.
Linearization of energy form cont.
L[a(x n ; u n 1 , u )] n 1 u : s sdiv( u) s(n 1 u)T d
n 1

n 1 u : s J Ws sW sdiv( u) s(n 1u)T d

n 1

Express inside of [ ] in terms of n 1 u

Constitutive relation: s J Dalg : e Dalg : (n 1u)

Spin term
u um uk
Wimsmj 21 ( x i xi
)smj 21 smj (ik ml mk il ) xl
m

21 (sljik skjil )[n 1u]kl

simWmj 21 (siljk sik jl )[n 1u]kl

uk
sij xk
sijkl[n 1u]kl

uj
sim xm
sil jk [n 1u]kl
116
 Linearization cont.
Linearization of energy form cont.
L[a( u, u )] n 1u : sJ Ws sW sdiv( u) s(n 1u)T d
n 1

1 (s sjk il siljk sik jl ) sijkl

2 jl ik

Initial stiffness term (we need to separate this term)

s : sym(n 1 u T n 1 u) s : ( u, u )
u um um um ui uk
srs 21 ( xm ) s jlik
r xs xr xs xj xl

Define
*
Dijkl sijkl 21 (sil jk s jlik sik jl s jk il )

Rotational effect of Cauchy stress tensor

117
 Linearization cont.
Linearization of energy form cont.
L[a(x n ; u n 1 , u )] n 1 u : (D alg D * ) : n 1 u s : u u ) d
n 1

a * (x n , u n 1 ; u, u )

N-R iteration

a * ( n x, ukn 1 ; uk 1 , u ) ( u ) a( n x; ukn 1 , u ), u Z

History-dependent Bilinear
(implicit)

118
 Implementation
We will explain using a 3D solid element at a Gauss point
using updated Lagrangian form
The return mapping and consistent tangent operator will
be the same with infinitesimal plasticity
Voigt Notation
{ s } [s11 s22 s33 s12 s23 s13 ]T
{ e } [ e11 e22 e33 2e12 2e23 2e13 ]T
Inputs dI dI1 dI2 dI3
T

T
n
s sn11 sn22 sn33 sn12 sn23 sn13

xn n11
T
n22 n33 n
12 n23 n
13 epn

119
 Implementation cont.
In the updated Lagrangian, the derivative is evaluated at
the current configuration (unknown yet)
Let the current load step is n+1 (unknown) and k+1 N-R
iteration
Then, we use the configuration at the previous iteration
(n+1, k) as a reference
This is not true updated Lagrangian, but when the N-R
iteration converges, k is almost identical to k+1
Caution: we only update stresses at the converged load
step, not individual iteration
All derivatives and integration in updated Lagrangian must
be evaluated at (n+1, k) configuration
Displacement increment u is from (n+1,0) to (n+1,k)
120
 Implementation cont.
Stress-displacement matrix (Two approaches)
1. Mapping between current (n+1, k) and reference configurations
x1 x2 x3
x x x x x
1
x x2 x3 1
J 1 J
x
2
x1 x2 x3
z z z x z
3

2. Mapping between undeformed and reference configurations

x X
1 1 n 1u F10 u
1
x F X
2 2

x X
3 3

Use this for B matrix 121

 Implementation cont.
1. Obtain midpoint configuration (between k and k+1)
1
xn 1 u u u xn
1
x n 1 2
2 xn xn 1 2
xn
xn 1 2

e sym(n 1 u) W skew(n 1 u)
2 2

2. Rotation matrix: R 1 (1 21 W)1 W

3. Rotate stresses: sn R sn RT n R n RT
4. Return mapping with sn , n
This part is identical to the classical return mapping
Calculate stresses: snk 11, nk 11
Calculate consistent tangent operator Dalg

122
 Implementation cont.
Internal force
4 NG This summation is similar to
fint
(BIT snk 11 J )K K assembly (must be added to the
I 1 K 1
corresponding DOFs)

Tangent stiffness matrix s11

s
22
s11
s22
s11
s22
s12
s12
0
s23
s13
0



s33 s33 s33 0 s23 s13
D*
4 4 NG s12 s12 0 1
2 (s11 s22 ) 21 s13 21 s23
KT [BIT (Dalg D* )BJ J ]K K 0

s13
s23
0
s23
s13
21 s13
21 s23
21 (s22 s33 )
21 s12
21 s12

21 (s11 s33 )
I 1 J 1 K 1

Initial stiffness matrix NI,1 0 0

4 4 NG NI,2 0 0
[BIG BJG J ]K K
T
KS N 0 0
I,3
I 1 J 1 K 1 0 NI,1 0

[BIG ] 0 NI,2 0
s 0 0 0 N 0
I,3

[] 0 s 0 0 0 NI,1

0 0 s 0 0 NI,2
9x9 0
0 NI,3
123
 Implementation cont.
Solve for incremental displacement
[KT KS ]{ dk 1 } { f ext } { fint }

Update displacements
dkn11 dkn 1 dk 1
dk 1 dk 1 dk 1

When N-R iteration converges

Stress and history dependent variables are stored (updated) to
the global array
Move on to the next load step

124
 Program PLAST3D.m
function PLAST3D(MID, PROP, ETAN, UPDATE, LTAN, NE, NDOF, XYZ, LE)
%***********************************************************************
% MAIN PROGRAM COMPUTING GLOBAL STIFFNESS MATRIX RESIDUAL FORCE FOR
% PLASTIC MATERIAL MODELS
%***********************************************************************
....
% Computer stress, back stress & effective plastic strain
elseif MID == 2
% Plasticity with finite rotation
FAC=FAC*det(F);
[STRESSN, ALPHAN] = rotatedStress(DEPS, STRESSN, ALPHAN);
[STRESS, ALPHA, EP]=combHard(PROP,ETAN,DDEPS,STRESSN,ALPHAN,EPN);
....
%
% Tangent stiffness
if LTAN
elseif MID == 2
DTAN=combHardTan(PROP,ETAN,DDEPS,STRESSN,ALPHAN,EPN);
CTAN=[-STRESS(1) STRESS(1) STRESS(1) -STRESS(4) 0 -STRESS(6);
STRESS(2) -STRESS(2) STRESS(2) -STRESS(4) -STRESS(5) 0;
STRESS(3) STRESS(3) -STRESS(3) 0 -STRESS(5) -STRESS(6);
-STRESS(4) -STRESS(4) 0 -0.5*(STRESS(1)+STRESS(2)) -0.5*STRESS(6) -0.5*STRESS(5);
0 -STRESS(5) -STRESS(5) -0.5*STRESS(6) -0.5*(STRESS(2)+STRESS(3)) -0.5*STRESS(4);
-STRESS(6) 0 -STRESS(6) -0.5*STRESS(5) -0.5*STRESS(4) -0.5*(STRESS(1)+STRESS(3))];
SIG=[STRESS(1) STRESS(4) STRESS(6);
STRESS(4) STRESS(2) STRESS(5);
STRESS(6) STRESS(5) STRESS(3)];
SHEAD=zeros(9);
SHEAD(1:3,1:3)=SIG;
SHEAD(4:6,4:6)=SIG;
SHEAD(7:9,7:9)=SIG;
EKF = BM'*(DTAN+CTAN)*BM + BG'*SHEAD*BG;
.... 125
 Ex) Simple Shear Deformation
Plane-strain square with the velocity gradient at each load
step 0 0.024 0
u E 24GPa, 0.2,
x 0.02 0 0
H 1.0GPa, s0Y 200 3MPa
0 0 0
Young = 24000; nu=0.2; mu=Young/2/(1+nu); lambda=nu*Young/((1+nu)*(1-2*nu));
beta = 0; H = 1000; sY = 200*sqrt(3);
mp = [lambda mu beta H sY];
Iden=[1 1 1 0 0 0]';
D=2*mu*eye(6) + lambda*Iden*Iden';
D(4,4) = mu; D(5,5) = mu; D(6,6) = mu;
L = zeros(3,3);
stressN=[0 0 0 0 0 0]';
deps=[0 0 0 0 0 0]';
alphaN = [0 0 0 0 0 0]';
epN=0;
stressRN=stressN; alphaRN=alphaN;epRN=epN;
for i=1:15
deps(4) = 0.004; L(1,2) = 0.024; L(2,1) = -0.02;
[stressRN, alphaRN] = rotatedStress(L, stressRN, alphaRN);
[stressR, alphaR, epR]=combHard(mp,D,deps,stressRN,alphaRN,epRN);
[stress, alpha, ep]=combHard(mp,D,deps,stressN,alphaN,epN);
X(i) = i*deps(4); Y1(i) = stress(4); Y2(i) = stressR(4);
stressN = stress; alphaN = alpha; epN = ep;
stressRN = stressR; alphaRN = alphaR; epRN = epR;
end
X = [0 X]; Y1=[0 Y1]; Y2=[0 Y2]; plot(X,Y1,X,Y2);
126
 Ex) Simple Shear Deformation

250

200

Shear stress (MPa)

150

100

50 Small strain
Finite
rotation
0
0 0.01 0.02 0.03 0.04 0.05 0.06
Shear strain

stress [0 0 0 212.9 0 0]T

stressR [43.4 43.4 0 208.2 0 0]T

127
 Summary
Finite rotation elastoplasticity is formulated using
updated Lagrangian (reference frame moves with body)
Finite rotation elastoplasticity is fundamentally identical
to the classical plasticity. Only rigid-body rotation is taken
into account using objective stress rate and integration
We must use an objective stress rate to define the
constitutive relation because the material response should
be independent of coordinate system
Objectivity only applies for spatial vectors and tensors
In the finite rotation, the midpoint configuration is used
to reduce errors involved in non-uniform rotation and spin
Linearization is performed after transforming to the
undeformed configuration
128
4.5
Finite Deformation
Elastoplasticity with
Hyperelasticity
129
 Goals
Understand the difference between hypoelasticity and
hyperelasticity
Learn the concept of multiplicative decomposition and
intermediate configuration
Understand the principle of maximum dissipation
Understand the plastic evolution in strain space and stress
space
Learn J2 plasticity in principal stress space

130
 Finite Deformation Plasticity
So far, we used small strain elastoplasticity theory
Finite rotation has been taken care of using the deformed
configuration with an objective rate
However, still, the strain should be small enough so that
the elastic and plastic strains are decomposed additively
This is fundamental limitation of hypoelasticity
How can we handle large strain problem?
On the other hand, hyperelasticity can handle large strain
However, it is not easy to describe plastic evolution in 2nd
P-K stress. It is given in the current configuration (Cauchy
stress)
How can we handle it? Transformation between references
131
 Intermediate Configuration
Lets take one step back and discuss different references
Lee (1967) proposed that the deformation gradient can
be multiplicatively decomposed

F( X) Fe ( X)Fp ( X)

Remember deformation gradient maps between deformed and

undeformed configurations
FdX Fe (FpdX) Fedxp

Instead of moving directly from 0 to n, the deformation moves

to an intermediate configuration (p) first and then goes to n
The intermediate configuration is an imaginary one and can be
arbitrary

Additive decomposition: e ee ep
132
 Intermediate Configuration cont.
Fp(X): deformation through the intermediate configuration
(related to the internal plastic variables)
Fe-1(X): local, stress-free, unloaded process
Decomposition of F(X) into the intermediate configuration
followed by elastic deformation
F
Undeformed Current
Configuration Configuration

Fp Fe
Elastic
Deformation

Intermediate Configuration 133

 Kirchhoff Stress Matter of Convenience
Kirchhoff stress Js
This is different from 1st and 2nd P-K stress
It is defined using Cauchy stress with Jacobian effect (J = |F|)
When deformation is small J 1 s

We assume the constitutive relation is given in terms of

Why do we use different stress measure?
By including J into stress, we dont have to linearize it
We can integrate the energy form in 0
But, still all integrands are defined in n

134
 Elastic Domain and Free Energy
Elastic domain
E ( , q) f( , q) 0

q: stress-like internal variables (hardening properties)

Isotropy: the yield function is independent of orientation of and
q (objectivity)
Free energy function (similar to strain energy density)
(be , x)

Elastic left C-G deformation tensor: be FeFeT

strain-like internal variables vector: q
x

Free energy only depends on Fe, and due to isotropy, be

135
 Dissipation Function
Dissipation function (ignoring thermal part)
d
D :d (be , x) 0
dt

Rate of stress work rate of free energy change

Rate of deformation d = sym(L), where velocity gradient L FF1
Dissipation is energy loss due to plastic deformation (irreversible)
Rate of elastic left C-G tensor
We cant differentiate be because its reference is p
Transform to 0 using F = FeFp relation

be FeFeT (FFp1 )(FpT FT ) F(Fp1FpT )FT FCp1FT

be FCp1FT FCp1FT F dt
d C 1 FT
p
136
 Rate of Elastic Left C-G Tensor
Rate of elastic left C-G tensor cont.

be FCp1FT FCp1FT F dt
d C 1 FT
p
v 1 T T v
Fp Fp F FFp1FpT FT LFeFeT Lbe
X x
T
Cp: plastic right C-G
be L deformation tensor

Lie derivative: F dtd Cp1 FT Lvbe pulling be back to the

undeformed configuration, and after taking a time derivative,
pushing forward to the current configuration (plastic deformation)

Thus, we have
be Lbe be LT Lvbe

Elastic Plastic
137
 Dissipation Function cont.
Dissipation function cont.

d
D :d (be , x)
dt

: d e : be x
b x


: d e : Lbe be LT Lv be
b
qx

:d2 be : L 2 be : 1 (Lv be )be1 q x
be 2
be
1
: 2 (Lv be )be q x 0
2 be 1
b : d 2 b be
e e

For a symmetric matrices, A:BC = AC:B

For a symmetric S and general L, S:L = S:sym(L)

138
 Principle of Maximum Dissipation
Principle of Maximum Dissipation
For all admissible stresses and internal variables, the inequality
must satisfy
1
: 2 (Lv be )be q x 0
D 2 be : d 1
be 2 b be
e
If we consider the material is elastic, then no plastic variable will
change Lvbe x 0
In order to satisfy the inequality for any d (especially d1 = - d2)

2 b Constitutive relation
be e

Total form: constitutive relation is given in terms of stress, not

stress increment
1
In addition, we have be1
be 2
139
 Principle of Maximum Dissipation cont.
Reduced dissipation function
1 (L b )b1 q x 0
2 b be :
2 v e e
e

: 21 (Lvbe )be1 q x 0 Plastic

dissipation

Principle of Maximum Dissipation

Plastic deformation occurs in the direction that maximizes D

In classical associative plasticity

D s : ep q x 0

f f
ep ep g
s s
140
 Principle of Maximum Dissipation cont.
Principle of Maximum Dissipation cont.
For given rates {Lvbe , x}, state variables {, q} maximize the
dissipation function D

D ( * ) : 21 (Lvbe )be1 ( q q* ) x 0,
* , q* E

For classical variational inequality, the dissipation inequality

satisfies if and only if the coefficients are in the normal
direction of the elastic domain (defined by yield function)
Geometric interpretation f

All * should reside inside of E q
*
Thus, the angle q should be greater
than or equal to 90o
1
E
In order to satisfy for all *, 1
(L b )
2 v e e
b
should be normal to yield surface
141
 Principle of Maximum Dissipation cont.
Evolution equations for multiplicative decomposition

f( , q) f( , q)
21 Lv be g be xg
q

g 0, f( , q) 0, gf( , q) 0.
Plastic evolution is still in a rate form
Stress is hyperelastic (total form)
Plastic evolution is given in terms of strain (be and x)
We need to integrate these equations

142
 Time Integration
Given: {Fn ben xn } and u
f
Relative deformation gradient Fn

xn 1 n
f( x) 1 n u n+1
xn
n 1 n
0
F fF
u u xn 1
f n
n 1 n
Lf
x x x

First-order evolution equations

f( , q)
be Lbe be LT 2g be

Initial conditions
f( , q)
xg { f, be , x} t t {1, ben , xn }
q n

g 0, f(, q) 0, gf(, q) 0 Strain-based evolution

143
 Time Integration cont.
Constitutive law
(be , x)
2 be q
be x
The constitutive relation is hyperelastic
Once be is found, stress can be calculated by differentiating the
free energy function. Same for the internal variables
Elastic predictor (no plastic flow)
Similar to classical plasticity, we will use elastic predictor and
plastic corrector algorithm
For given incremental displacement, eliminate plastic flow and push
the elastic, left C-G tensor forward to the current configuration

f tr f Fetr f Fen Fptr Fpn

144
 Time Integration cont.
Elastic predictor cont.
betr Fetr FetrT f Fen FenT fT fben fT

f tr f betr fben fT x tr xn

Check for yield status

tr (betr , xtr )
2 tr betr qtr
be xtr

If tr < f, trial state is final state and stop

ben 1 betr xn 1 x tr
n 1 tr qn 1 qtr

145
 Time Integration cont.
Plastic corrector (in the fixed current configuration)
The solution of y Ay is y = y0exp(At)
f
be Lbe be LT 2g be

Elastic Plastic

f( e , q) g gt
ben 1 betr exp 2g

n 1 tr f( e , q)
x x g
q
g 0, f(, q) 0, g f(, q) 0

First-order accuracy and unconditional stability

return-mapping algorithms for the left Cauchy-Green tensor

146
 Spectral Decomposition
Objective: want to get a similar return mapping algorithm
with classical plasticity
Return-mapping algorithm for principal Kirchhoff stress
For isotropic material, the principal direction of is
parallel to that of be
Spectral decomposition
3 3
be i2 ni ni pi ni ni
i 1 i 1
ben 1 betr exp

i : principal stretch be and betr have the

pi : principal Kirchhoff stress
same eigenvectors!!

ni : spatial eigenvector Do you remember that

Ni // tr in classical plasticity?
: material eigenvector
147
 Return Mapping in Principal Stress Space
Principal stress vector p [p1, p2, p3]T

Logarithmic elastic principal strain vector

e [e1 e2 e3]T [log 1 log 2 log 3]T
Good for large elastic strain
Free energy for J2 plasticity
x)
( e, x) 21 [e1 e2 e3 ]2 [e12 e22 e32 ] K(

Constitutive relation in principal space

1
21
p ce e ce ( 23 )1 dev
e
[1, 1, 1]T
1 1
1dev 1 31 (1 )

Linear relation between principal Kirchhoff stress and logarithmic

elastic principal strain
148
 Return Mapping in Principal Stress Space cont.
Take log on return mapping for be and pre-multiply with ce
3 3 3
be i2 ni ni log(be ) 2log(i ) n i i
n 2ei ni ni
i 1 i 1 i 1

f( e , q)
ben 1 betr exp 2g

f( , q)
log(ben 1 ) log(betr ) log exp 2g

f i
3
f
f(, q) f( p, q)

n ni
i 1 pi

n 1 tr
f( p , q)
2e 2e 2g
p

e n 1 e tr e
f( p , q)
c e c e gc
p
149
 Return Mapping in Principal Stress Space cont.
Plastic evolution in principal stress space

f( p , q)
p ptr g c e ptr ce etr
p

n 1 n
f( p , q)
x x g
q

g 0, , q) 0,
f( , q) 0
g f(
p p

Fundamentally the same with classical plasticity: Classical

plasticity [s(61) and C(66)], but here [p(31) and ce(33)]
During the plastic evolution, the principal direction remains
constant (fixed current configuration)
Only principal stresses change

150
 Return Mapping Algorithm
Deviatoric principal stress
)1
s p 31 (p 1 1
dev p

Yield function
s
f( , ep ) 2 k(e ) 0
3 p t

Return mapping
ep 0 2
3
ep (t) dt

ptr ce etr
tr n
np1 ptr 2gN eptr epn
n 1 tr gHN n 1 tr
N n 1

tr
epn 1 eptr 2 g
3

Identical to the classical plasticity

151
 Return Mapping Algorithm cont.
Plastic consistency parameter
f( n 1 , epn 1 ) n 1 2 k(en 1 )
3 p

tr (2 H )g 2 k(en 1 )
3 p 0

Solve for g using N-R iteration, or directly for linear hardening

Derivative f 2H 1
(2 H 3 ,ep
g 23 k,e )
g p
A
Recovery
Once return mapping converged, recover stress and strain

3 3
n 1
npi1 i
n n i pi m
n 1 i
mi ni ni
i 1 i 1

3
ben 1 exp(2ein 1 )mi en 1 etr gN
i 1
152
 Ex) Incompressible Elastic Cube
Elastic deformation: x1 X1 , x2 X2 , x3 X3
Deformation gradient
0 0 2 0 0

F 0 0 , T
b FF 0 2 0
0 0 0 0 2

Incompressibility: det(F)=1 1/
Eigenvalues and eigenvectors:
1 2 , n1 [1 0 0]T
2 1 , n2 [0 1 0]T
3 1 , n3 [0 0 1]T
Logarithmic stretches:
T
e 2log log log 153
 Ex) Incompressible Elastic Cube
Stress-strain relation (principal space)
2 2log 4 log

p 2 log 2 log
2 log 2 log

Kirchhoff stress
3 2 0 0
ipni ni 2 log 0 1 0
i1
0 0 1

154
 Consistent Tangent Operator
Relation b/w material and spatial tangent operators
S
D E : D : E [FT e( u )F] : D : [FT e( u)F] e( u ) : c : e( u)
E
Srs
cijkl FirFjsFkmFlnDrsmn FirFjsFkmFln
Emn
FirFjs: transform stress to material frame = FSFT
FkmFln: differentiate w.r.t. E and then transform to spatial frame
ij
But, cijkl w
F
w T
F
ekl e E

Let n 1
3 n 1 i
m
i 1 pi

We want c e , but we have

p alg e 2 42 g
c c 4 AN N [1dev N N]
e tr

155
 Consistent Tangent Operator cont.
How to obtain c e using calg p e ?
Remember p e contains all plasticity
Since intermediate frame is reference, we have to use Fe
Start from stress expression
3 n 1 i
n 1 m
i 1 pi

3 3 npi1 i
n 1 m
c pi m
n 1 i
e m pi e
i
e e i1
i 1

3 3 npi1 ejtr i
n 1 m
c tr i
m pi
e e
j1 ej
i 1

(1) (2) (3)

156
 Consistent Tangent Operator cont.
p alg
consistent tangent operator in principal stress
(1) tr
c Same as classical return mapping (33)
e

ejtr ejtr
(2) 2Fe FeT m j
e Ce
These are elastic
mi mi T
(3) 2Fe Fe 2ci
e Ce

Using (1), (2), and (3),

3 3 3

c
e
cijalgmi m 2pici
j

i 1 j 1 i 1

157
 Incremental Variational Principle
Energy form (nonlinear)
a( n x; u, u ) s : e( u ) d s : e( u )J d
n 0

: e( u ) d
0

Linearization

a * ( n x, nbe , u; u, u ) e( u ) c : e( u) ( u, u ) d
0

N-R iteration

a * ( n x, n 1 uk 1 ; uk 1 , u ) ( u ) a( n x; n 1 uk , u ), u

158
 MATLAB Code MULPLAST
function [stress, b, alpha, ep]=mulPlast(mp,D,L,b,alpha,ep)
%mp = [lambda, mu, beta, H, Y0];
%D = elasticity matrix b/w prin stress & log prin stretch (3x3)
%L = [dui/dxj] velocity gradient
%b = elastic left C-G deformation vector (6x1)
%alpha = principal back stress (3x1)
%ep = effective plastic strain
%
EPS=1E-12;
Iden = [1 1 1]'; two3 = 2/3; stwo3=sqrt(two3); %constants
mu=mp(2); beta=mp(3); H=mp(4); Y0=mp(5); %material properties
ftol = Y0*1E-6; %tolerance for yield
R = inv(eye(3)-L); %inc. deformation gradient
bm=[b(1) b(4) b(6);b(4) b(2) b(5);b(6) b(5) b(3)];
bm = R*bm*R'; %trial elastic left C-G
b=[bm(1,1) bm(2,2) bm(3,3) bm(1,2) bm(2,3) bm(1,3)]';
[~,P]=eig(bm); %eigenvalues
eigen=sort(real([P(1,1) P(2,2) P(3,3)]))'; %principal stretch
%
% Duplicated eigenvalues
TMP=-1;
for I=1:2
if abs(eigen(1)-eigen(3)) < EPS
eigen(I)=eigen(I)+TMP*EPS;
TMP=-TMP;
end
end
if abs(eigen(1)-eigen(2)) < EPS; eigen(2) = eigen(2) + EPS; end;
if abs(eigen(2)-eigen(3)) < EPS; eigen(2) = eigen(2) + EPS; end;
%
% EIGENVECTOR MATRIX N*N' = M(6,*)
M=zeros(6,3); %eigenvector matrices
159
for K=1:3
KB=1+mod(K,3);
KC=1+mod(KB,3);
EA=eigen(K);
EB=eigen(KB);
EC=eigen(KC);
D1=EB-EA;
D2=EC-EA;
DA = 1 / (D1 * D2);
M(1,K)=((b(1)-EB)*(b(1)-EC)+b(4)*b(4)+b(6)*b(6))*DA;
M(2,K)=((b(2)-EB)*(b(2)-EC)+b(4)*b(4)+b(5)*b(5))*DA;
M(3,K)=((b(3)-EB)*(b(3)-EC)+b(5)*b(5)+b(6)*b(6))*DA;
M(4,K)=(b(4)*(b(1)-EB+b(2)-EC)+b(5)*b(6))*DA;
M(5,K)=(b(5)*(b(2)-EB+b(3)-EC)+b(4)*b(6))*DA;
M(6,K)=(b(6)*(b(3)-EB+b(1)-EC)+b(4)*b(5))*DA;
end
%
eigen=sort(real([P(1,1) P(2,2) P(3,3)]))'; %principal stretch
deps = 0.5*log(eigen); %logarithmic
sigtr = D*deps; %trial principal stress
eta = sigtr - alpha - sum(sigtr)*Iden/3; %shifted stress
etat = norm(eta); %norm of eta
fyld = etat - stwo3*(Y0+(1-beta)*H*ep); %trial yield function
if fyld < ftol %yield test
sig = sigtr; %trial states are final
stress = M*sig; %stress (6x1)
else
gamma = fyld/(2*mu + two3*H); %plastic consistency param
ep = ep + gamma*stwo3; %updated eff. plastic strain
N = eta/etat; %unit vector normal to f
deps = deps - gamma*N; %updated elastic strain
sig = sigtr - 2*mu*gamma*N; %updated stress
alpha = alpha + two3*beta*H*gamma*N; %updated back stress
stress = M*sig; %stress (6x1)
b = M*exp(2*deps); %updated elastic left C-G
end 160
 Ex) Shear Deformation of a Square
Young = 24000; nu=0.2; mu=Young/2/(1+nu); lambda=nu*Young/((1+nu)*(1-2*nu));
beta = 0; H = 1000; sY = 200*sqrt(3);
mp = [lambda mu beta H sY];
250
Iden=[1 1 1 0 0 0]';
D=2*mu*eye(6) + lambda*Iden*Iden';
D(4,4) = mu; D(5,5) = mu; D(6,6) = mu; 200

Shear stress (MPa)

Iden=[1 1 1]';
DM=2*mu*eye(3) + lambda*Iden*Iden';
150
L = zeros(3,3);
stressN=[0 0 0 0 0 0]';
deps=[0 0 0 0 0 0]'; 100
alphaN = [0 0 0 0 0 0]'; Small strain
epN=0; 50 Finite rotation
stressRN=stressN; alphaRN=alphaN;epRN=epN; Large strain
bMN=[1 1 1 0 0 0]';
alphaMN = [0 0 0]'; 0
0 0.01 0.02 0.03 0.04 0.05 0.06
epMN=0; Shear strain
for i=1:15
deps(4) = 0.004; L(1,2) = 0.024; L(2,1) = -0.02;
[stressRN, alphaRN] = rotatedStress(L, stressRN, alphaRN);
[stressR, alphaR, epR]=combHard(mp,D,deps,stressRN,alphaRN,epRN);
[stress, alpha, ep]=combHard(mp,D,deps,stressN,alphaN,epN);
[stressM, bM, alphaM, epM]=mulPlast(mp,DM,L,bMN,alphaMN,epMN);
X(i)=i*deps(4);Y1(i)=stress(4);Y2(i)=stressR(4);Y3(i)=stressM(4);
stressN = stress; alphaN = alpha; epN = ep;
stressRN = stressR; alphaRN = alphaR; epRN = epR;
bMN=bM; alphaMN = alphaM; epMN = epM;
end
X = [0 X]; Y1=[0 Y1]; Y2=[0 Y2]; Y3 = [0 Y3]; plot(X,Y1,X,Y2,X,Y3);

161
 Summary
In multiplicative decomposition, the effect of plasticity is
modeled by intermediate configuration
The total form stress-strain relation is given by
hyperelasticity between intermediate and current config.
We studied principle of max dissipation to derive
constitutive relation and plastic evolution
Similar to classical plasticity, the return mapping
algorithm is used in principal Kirchhoff stress and
principal logarithmic elastic strain
It is assumed that the principal direction is fixed during
plastic return mapping

162