Geo-E2010

Advanced Soil Mechanics L

Wojciech Sołowski

26 February 2018
Mohr-Coulomb constitutive model
 To learn…
Mohr-Coulomb:
- most basic elasto-perfectly plastic model for soils
- what are the parameters?
- what is the dilation angle?
- how the model work on elasto-plastic stress paths?
- some numerical understanding is expected
- good numerical understanding is expected at doctoral
student level
- key issues:
- when it is worth to use Mohr-Coulomb model?
- what are the shortcomings?
- p-q space vs principal stress space (important at doctoral level)
Typical questions:
What is the soil behaviour/soil strength assuming Mohr-Coulomb model?
How the Mohr-Coulomb predictions of soil behaviour compare to the real
soil behaviour?
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 Mohr-Coulomb Idealisation of
Geomaterials
σ’3
σ’1 –σ’3
σ’2=σ’3

E’ σ’3

σ3

ε1
Elasto-plasticity: Mohr-Coulomb
Reasonably good for:
- determining soil
strength
- especially when soil
is *not*
overconsolidated
Bad for:
- deformations
- inaccuarate both in
elastic and plastic
regions

F = (σ 1′ − σ 3′ ) − (σ 1′ + σ 3′ ) sin φ ′ − 2c′ cos φ ′ = 0

Problem: cohesion is not constant.

Friction angle is also not constant (but changes usually little in the usable range)

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 Elasto-plasticity: Mohr-Coulomb
Engineers are used to
MC model – so it is
widely used…

Many modifications to
improve its prediction
of deformations…

F = (σ 1′ − σ 3′ ) − (σ 1′ + σ 3′ ) sin φ ′ − 2c′ cos φ ′ = 0

Problem: cohesion is not constant.
Friction angle is also not constant (but changes usually little in the usable range)

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Elasto-plasticity: Mohr-Coulomb

F = (σ 1′ − σ 3′ ) − (σ 1′ + σ 3′ ) sin φ ′ − 2c′ cos φ ′ = 0

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Mohr Coulomb Yield/Failure Condition

Yielding (and failure) takes place in the soil mass when

mobilised (actual) shear stress at any plane (τm )
becomes equal to shear strength (τf ) which is given by:

τm = c’+ σ’n tanφ’ = τf

where c’ and φ’ are strength parameters.

f(σ’ )= τ - σ’n tanφ ’– c’= 0

τ

Failure criterion

σ 3′ σ 2′ σ 1′
σ n′
σ 1′ > σ 2′ > σ 3′

Note that the value of intermediate stress (σ2’) does

not influence failure
 τ
τ f= c′ + σ n′ tan φ ′
φ′

τf C

c’ σ 3′ 90 − φ ′ 2θ σ 1′
A σ nf′ B σ n′
σ 1′

45 − φ ′ 2 45 − φ ′ 2

σ 1′ > σ 3′ σ 3′ σ 3′

FAILURE
PLANES

F = (σ 1′ − σ 3′ ) − (σ 1′ + σ 3′ ) sin φ ′ − 2c′ cos φ ′ = 0 σ 1′

Mohr-Coulomb in Principal Stress
Space

σ’3 σ’1=σ’2= σ’3

• Mohr – Coulomb failure
surface is a irregular
hexagon in the principal
stress space
σ’2

σ’1
 Mohr-Coulomb in Principal Stress
σ’ 1 Space
Mohr-Coulomb
rp
dε • It has corners that may
sometimes create
problems in
computations

σ’ 3 σ’ 2
 Flow Rule for Mohr Coulomb

For Mohr-Coulomb flow rule τ

Yield function
is defined through the
Plastic potential
‘dilatancy angle’ of the soil. function φ’
ψ’
G(σ’)= τ- σ’n tanψ’ – const.= 0
σ 3′ σ 1′
where ψ’ is the dilatancy σ n′
angle and ψ’≤ φ’. σ 1′ > σ 2′ > σ 3′
Associated and Non-Associated
Flow Rule
τ , γ&p
τ , dγ F=0

G=0

σσn′ ,’nε&
,np dεn p
How to understand dilatancy
i.e., why do we get volume changes when applying shear stresses?

ϕ = ψ + ϕi
The apparent externally mobilized angle of friction on horizontal planes (ϕ) is larger
than the angle of friction resisting sliding on the inclined planes (ϕi)

strength = friction + dilatancy

How to understand dilatancy

• When dense sands or

overconsolidated clays are
sheared they dilate

• Larger the particle size, greater

the dilation

• Mohr-Coulomb idealisation
implies dilation at a constant
rate when soil is sheared. This
is unrealistic.
Elasto-plasticity: Mohr-Coulomb

F = (σ 1′ − σ 3′ ) − (σ 1′ + σ 3′ ) sin φ ′ − 2c′ cos φ ′ = 0

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 MC model p'- q- space

F = (σ 1′ − σ 3′ ) − (σ 1′ + σ 3′ )sin φ ′ − 2c′ cos φ ′ = 0

σ '1 = 3 p ' − 2σ '3 σ '3 = σ '1 − q

3 p ' + 2q
σ '1 = 3 p ' 1− 2σ '1 + 2q =
p' =
3
(σ '
1 +2σ '3 ) q = σ '1 −σ '3 3

3 p' − q
σ '3 = 3 p ' − 2σ '3 − q =
3
6 p' + q
σ '1 + σ '3 =
3
 MC model p'- q- space

 6 p′ + q 
or q sin φ   + 2c cos φ
 3 
3q= 6 p′ sin φ + q sin φ + 6c cos φ

6sin φ ′ 6c cos φ ′
q p′ +
3 − sin φ ′ 3 − sin φ ′

q η p′ + c*
=
6sin φ ′ * 6c cos φ ′
where η
= = ,c
3 − sin φ ′ 3 − sin φ ′

F =q − η p′ − c =0 * MC - Model
formulated in p' - q
 MC model p'-q- space

∆p '  K ' 0  ∆ε v 

e

 =  e 
∆
  
q 0 3G ' ∆ε q 

Assuming associated flow rule and ideal plasticity

F ( p′, q ) =q − η p′ − c* =0
∂F ∂F
dp′ + dq =
0 : consistency
consistency condition
condition
∂p′ ∂q
 Formulation of Dep for MC

dp′ K ( d ε v − d ε vp )
=
=dq 3G ( d ε q − d ε qp )

∂F
d ε vp = d λ
∂p′
∂F
d ε qp = d λ
∂q

Substituting into consistency condition leads to:

∂F ∂F ∂F ∂F ∂F ∂F
Kd ε v − Kd λ + 3Gd ε q − 3Gd λ =
0
∂p′ ∂p′ ∂p′ ∂Q ∂q ∂q
 Formulation of Dep for MC

∂F ∂F  ∂F ∂F   K 0  d ε v 
Kd ε v + 3Gd ε q  ∂p′ , ∂q   0   
∂p′ ∂Q
q   3G   d ε q 
dλ =
∂F ∂F ∂F ∂F  ∂F 
K + 3G
∂p′ ∂p′ ∂q ∂q  ∂F ∂F   K 0  ∂p′  
 ∂p′ , ∂q   0   
  3G   ∂F 

 ∂q  
 Formulation of Dep for MC

∂F ∂F −η Kd ε v + 3Gd ε q
−η ,
= 1, d λ =
=
∂p′ ∂q η 2 K + 3G
dε =
v− d λη , d ε =
p
dλ p
F =q − η p′ − c
q *
=0

 dp′  K
T
0  d ε − d ε 
p

 =  
v v

 dq   0 3G 
 d ε − d ε 
p

q q

=
K
 0
0 
3G 
 {}
dε

dε
v

q
−
 K
 0
0  dλ
3G 
 {} −η

=
K
 0
0 
3G 
 {}
dε

dε
v

q
−
 K
 0
0 
3G 
 {}
−η

1
[ −η K
η K + 3G
2 {}
3G ] d ε
dε
v

q
 Formulation of Dep for MC

K − K  η K −3Gη  d ε
{}
2
0 1 0 v

  0 3G 
 η K + 3G  0   −η K
3G  
 dε
2
3G q

K −  η K −3GKη  d ε
{}
2 2
0 1 v

  0 3G 
 η  −3GKη
K + 3G  
 dε
2 2
9G q

K − η K 3GKη 
2 2

 η K + 3G η K + 3G 
{}
dε
2 2

= 
v

 3GKη 9G 
2
dε
3G −
q

 η K + 3G
2
η K + 3G 
2

 Formulation of Dep for MC

 η2K 2 3GKη 
 K − η 2 K + 3G 
η 2 K + 3G
D ep =  
 3GKη 9G 2 
 η 2 K + 3G 3G − 2
 η K + 3G 
det D ep = 0 perfect plasticity

T
∂F  ∂F 
In general form :
eT
D −De

e
 D
∂σ  ∂σ 
for non associated flow:

∂Q D =
ep
%
T %
 ∂F  e ∂F
∂σ  ∂σ  D ∂σ
 
% %
MC model for element tests
Limitations of MC model (1)
Limitations of MC model (2)
Warning for dense sands
Tips for fine-grained soils
 Drawbacks of MC

• Mohr-Coulomb failure criterion is well proven through

experiments for most geomaterials, but data for clays is
still contradictory!

• An associated flow rule implies continuous dilation at a

constant rate upon shearing; this is unrealistic and leads
to negative pore pressures in undrained conditions. In an
non-associated flow rule with ψ’ < φ’, the rate of dilation
is less, but it is still constant. If ψ’ = 0 then the rate of
dilation is zero.

• Care must be taken in applying the model for undrained

loading.
 Drawbacks of MC

• Soils on shearing exhibit variable volume change

characteristics depending on pre-consolidation pressure
which cannot be accounted for with MC

• In soft soils volumetric plastic strains on shearing are

compressive (negative dilation) whilst Mohr-Coulomb
model will predict continuous dilation
To summarize the limitations of MC are:
• bi-linearity (const. E’)

• unlimited dilation

• isotropy

• elastic response far from the limit state

•…

 more advanced approximation of soil behavior:

Hardening Soil Model (sand), Soft Soil Model (clay)
 To learn… Questions?
Mohr-Coulomb:
- most basic elasto-perfectly plastic model for soils
- what are the parameters?
- what is the dilation angle?
- how the model work on elasto-plastic stress paths?
- some numerical understanding is expected
- good numerical understanding is expected at doctoral
student level
- key issues:
- when it is worth to use Mohr-Coulomb model?
- generally for strength calculations…
- what are the shortcomings?
- principal problems are the volume change estimation
and proper calibration, for more see slides before…
- p-q space vs principal stress space (important at doctoral level)

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Extra slides: soil modeling: elasticity & elasto-plasticity
Outline

1. Philosophy
What are the challenges?
2. Constitutive modelling: Elasticity
a. Linear elasticity
b. Non-linear elasticity
c. Hypoelasticity
What is good and what is bad about elasticity?
2. Constitutive modelling: Elasto-plasticity
a. What is elasto-plasticity, basic concepts and theory
important!
b. Mohr-Coulomb
important!
c. Other elastic-perfectly plastic constitutive models

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Literature
Hard to find a single book…

Check:
Briaud JL. Geotechnical Engineering : Unsaturated and
Saturated Soils.

Potts & Zdravkovic, Finite element analysis in geotechnical

engineering. Theory. Thomas Telford, 1999.

Muir Wood D., Soil Behaviour and Critical State Soil

Mechanics. Cambridge University Press. 1990.

Books on theory of plasticity can be helpful

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Philosophy
Philosophy
Soil behaviour – COMPLEX

Constitutive models – huge simplifications

Model and choice of its parameters must be clearly selected for

given problem. No constitutive model is good for solving all
problems.

(these which are trying to be good for everything, like the MIT
constitutive model are very complex and difficult to use, validate
and calibrate)

Need to balance simplicity, accuracy and problem needs

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Philosophy
Challenge:
- understand the simplifications

- use them to your benefit

- get accurate results from crude tools

- no results is ‘right’ - each result is because of the

assumptions made

- if you do good job with modelling, you will get result which is
close to reality…
also because you have chosen the right model…
yet primarily because you have chosen the right set of
parameters for the model and the problem

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Elasticity
Elasticity
Idea:
- one of the oldest approaches to describe material behaviour

- assumes that after removing the stress the material returns

back to the initial state

- behaviour is reversible

1) no matter the level of stress, the material will not

break
2) no matter the level of stress, after removing it, the
material will be back in the original state before the
loading, no change…

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Elasticity

Linear elasticity:

Real soil behaviour…

Useful?
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Elasticity
Linear elasticity – useful?

Real soil behaviour

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Elasticity
Can be useful… as long as you know the stress level, deformations
and have data on how the soil behaves at that stress level and
deformations level…

- than you just choose the exactly right elastic parameter for
given circumstances… and calculate the strains from the
stresses – or stresses from strains…

- used for example in calculations of settlements – we know the

stress levels from some simple solutions – than we compute
strains using right set of elastic parameters for given small layer
of soil… Can be pretty accurate…

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Elasticity

 ∆σ =
E
([1 − v]∆ε11 + v[∆ε 22 + ∆ε 33 ])

11
(1 + v )(1 − 2v )
∆σ 22 = E
([1 − v]∆ε 22 + v[∆ε11 + ∆ε 33 ])
 (1 + v )(1 − 2v )

∆σ 33 =
E
([1 − v]∆ε 33 + v[∆ε11 + ∆ε 22 ])
 (1 + v )(1 − 2v )
 E (1 − 2v )
 ∆σ 12 = ∆ε 12
 (1 + v )(1 − 2 v )
 E (1 − 2v )
 ∆ σ = ∆ε 13

13
(1 + v )(1 − 2 v )
 E (1 − 2v )
∆σ 23 = ∆ε 23

 (1 + v )(1 − 2 v )

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Elasticity
6 7∆σ 8 6 4 4 4 4 4 4 4 4 4 4 7D 4 4 4 4 4 4 4 4 4 4 8 6 7∆ε8
el

 ∆σ 11  1 − v v v 0 0 0   ∆ε 11 
   v 1− v  ∆ε 
∆σ 22   v 0 0 0   22 
 ∆σ   v v 1− v 0   ∆ε 33 
 E 0 0
=
33
    
∆ σ
 12  (1 + v )(1 − 2 v )  1 − 2 v 0 0 ∆ ε
  12 
 ∆σ 13   1 − 2v 0   ∆ε 13 
    
 ∆σ
 23   
 . 1 − 2v   ∆ε
  23 



∆σ = Del ∆ε

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Elasticity
6 7∆ε8
−1
6 4 4 4 4 4 44 D7 4 4 4 4 4 4 48 6 7∆σ 8
el

 ∆ε   1 −v −v 0 0 0   ∆σ 11 
 11  − v 1 − v  ∆σ 
∆ε 22   0 0 0   22 
 ε 
 ∆ 33 1 − v − v 1 0 0 0   ∆σ 33 
 =   
∆ ε
 12  E  1 + v 0 0 ∆ σ
  12 
 ∆ε 13   1+ v 0   ∆σ 13 
    
∆ε
 23   . 1 + v ∆σ
  23 



el −1
∆ε = D ∆σ

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 Elasticity in triaxial test space
 }∆σ 6 4 7D 48 6 7∆ε8
el


 p   K 0   ∆ε v 
  =   ∆ε 
  
q 0 3 G  q 


σ 11 + σ 22 + σ 33 σ 11 + 2σ 33 2σ r + σ 1 2σ r + σ v
p= = = =
3 3 3 3
q=
1
2
( (
(σ 11 − σ 22 )2 + (σ 11 − σ 33 )2 + (σ 22 − σ 33 )2 + 3 σ 122 + σ 212 + σ 132 + σ 312 + σ 232 + σ 322 = ))
= σ 11 − σ 33 = σ 1 − σ r = σ v − σ r

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Elasticity in triaxial test space
 }∆σ 6 4 7D 48 6 7∆ε8
el


 p   K 0   ∆ε v 
  =   ∆ε 
  
q 0 3 G  q 


ε v = ε 11 + ε 22 + ε 33 = ε 1 + 2ε r

εq =
3
2
[(ε11 − ε 22
2
) + (ε11 − ε 33 )
2
+ (ε 22 − ε 33
2
) +]3(ε 2
12 + ε 2
21 + ε 2
13 + ε 2
31 + ε 2
23 + ε 32 )
2

εq =
2
(ε1 − ε r )
3

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Non-linear
elasticity

Real soil behaviour…

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Non-linear elasticity
We can only match
single line – as no
dependency on
stress level

Real soil behaviour…

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Non-linear elasticity

∆σ = Del (σ 0 )∆ε
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Hypoelasticity
Introduces dependence
on stress level etc; adds
complexity but does not
solve all problems; still
there are some
successful models
based on these
concepts
Non-linear elasticity:

Real soil behaviour…

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Simplified summary
Elasticity:
- unrealistic if we have any unloading
- linear elasticity is usually not working
- if part of any model, generally leads to bad predictions of
volume change
- non-linear elasticity can be useful (e.g. settlements)
- non-linear elasticity is part of most constitutive models for soils
- Easiest to understand

- We build from there…

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Elasto-plasticity
 To learn
Elasto-plasticity:
- standard framework for soil modelling
- see summary for the most important components
- important framework to understand
- at least graphically (required from everyone)
- some numerical understanding is expected
- good numerical understanding is expected at doctoral
student level
- key issues:
- what is plastic strain?
- what is yield surface vs plastic potential surface?
- how to determine magnitude of plastic strain?
- how to calculate stress on elasto-plastic stress path?
- doctoral level: how do derive the elasto-plastic tangent matrix?

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Elasto-plasticity
Idea:
- let’s divide strains into these which are elastic (which are fully
recoverable) and plastic (which are generally not)

- assumes that after removing the stress the material does not
necessarily returns back to the initial state (only the elastic part
of strains is reversible)

- plastic behaviour (in simpler models) unrecoverable

- in more advanced models, the plastic strains are
connected to the model parameter called hardening
parameter
- in such case if we have hardening parameter
decrease, the plastic strain will decrease too…

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Plastic Behaviour of Soils

Example of elasto-plastic behaviour: traction test (1D) in metals

F
A
O B
F Yielding
A F A
∆L

A
C

D
Y A

C
L0

Elastic
e

∆L
L0
behaviour

∆L
O B D L0

sp ~Y σ ′ (logscale )
 Plastic Behaviour of Soils
F
A

C
A
Idealization of elasto-plastic behaviour

σ ∆L
L0
P O B D
σY
Plastic behaviour:
unrestricted plastic
Yield point, the stress Elastic flow takes place at
cannot be higher than behaviour this stress level.
this value

εp εe ε
ε

ε = ε e+ ε p
 Plastic Behaviour of Soils

 Idealization of elasto-plastic behaviour, different models

Yield limit

σ σ σ σ
depends on
(effective)
stresses

ε ε ε ε
Rigid Perfectly Elasto-plastic Elasto-plastic Elasto-plastic
Plastic perfect plasticity hardening softening

{
ε
d= dε e + dε
{ {
p

total elastic plastic

 On softening models

Y0 = yield stress
YF = failure stress
Some Basic Concepts
Plastic models allow
 to determine in a direct way the ultimate states and failure
 to model irrecoverable strains
 to model changes in material behaviour
 to model a more proper way the behaviour of fragile or
quasi-fragile materials
 Some Basic Concepts

• Strains (ε)
– Total strains
– Elastic strains (recoverable on unloading)
– Plastic strains (not recoverable on unloading)

Total strains = Elastic strains + Plastic strains

• Stresses (σ)

Total stresses = Effective stresses + Pore Pressures

 Some Basic Concepts

• Stresses are related to elastic strains even in

nonlinear theories

• Stresses are stresses - there is nothing like

elastic stress and plastic stress.

• We talk mainly in terms of effective stress.

 Elasto-Plastic Models

Stress • An elastic law

Ideal plastic • A criterion for yielding (Yield

function/surface)
Strain
• The direction of plastic flow
Stress (Flow rule)
Strain hardening
• Does the yield function change
due to plastic flow? If yes,
how? (Hardening/Softening
Strain rule)
Yield Surface

σ1 PLASTIC
 Used to delimit the On the surface IMPOSSIBLE
STATE
elastic domain Outside

 It is a
generalization of
the 1D case
ELASTIC σ2
 Yield limit (1-D)  Inside yield
Yield surface (2D-
σ3
surface F (σ ij ,)=0
F(σ’,h ξi ) = 0
i
3D)
Yield Surface

F({σ },h ) = 0 F({σ }+{dσ },h+ dh ) = 0

 Yield Surface
 Fixed yield surface F (σij) = 0
 Perfect plasticity
 Expanding yield surface – F(σij,hi) = 0
 Hardening plasticity
 Contractive yield surface – F(σij,hi) = 0
 Softening plasticity
 The expansion or contraction of the YS is controlled by the hardening (or
softening) parameters hi
 The stress state must be either inside the surface or on the surface (stress
states outside the surface are not allowed).
 Stress inside the surface F(σij,hi) < 0  elastic strain only
 Stress on the surface F(σij,hi) = 0  elastic and plastic strain
Yield Surface
 The YS is often expressed in term of the stresses or stress invariants.

 p',q are typical stress variables used to describe soil behaviour and, also, to
define the YS

 Therefore typical expression of the YS are as follows:

f (σ ij , h ) = 0 f ( p′, q, p0′ ) = 0
 where p0′ is a typical hardening parameter (h) used in geotechnical
models. The hardening parameter(s) control the expansion or contraction of
the YS.
 Flow Rule

• In one-dimensional problem, it is
clear that plastic strains take σ’1, ε1p
place along the direction of εp
applied stress

• In 2D or 3D we need to make a σ’3, ε3p

hypothesis regarding the
direction of plastic flow (relative
magnitude of plastic strain
increments)
Plastic Potential and Flow Rule
Plastic Deformations

 To evaluate plastic deformations the existence of a plastic potential (g or G ) is

assumed.

 The plastic potential provides the direction of the plastic strain:

g (σ ij' , ζ ) = 0 g ( p′, q, ζ ) = 0

 where ζ is the parameter that control the size of the plastic potential

 It is also necessary to define the flow rule

∂g ∂g
=dε λ
d= ; dε q d λ
pp

∂p′ ∂q
p
Plastic Potential and Flow Rule
 Plastic Deformations

 In general, ∂g
d ε ijp = d λ control the “direction” of the
∂σ ij plastic deformations: the
“vector” of the plastic
control the magnitude of deformations is normal to the g
plastic deformation = constant surfaces

g ( p′, q, ζ ) = 0
Plastic Potential and Flow Rule

 Yield Surface (f) and Plastic Potential (g) are generally different functions
 If f ≡ g => associated plasticity
 The components of the plastic deformations are related, i.e. there is a
coupling, which is defined by the flow rule
 The plastic deformations depend on the stress state rather than the
increment of the stresses applied
Plastic Potential and Flow Rule

FLOW RULE ASSOCIATED FLOW RULE – NON ASSOCIATED

 The flow rule defines direction of plastic strain increment

 So, we know the plastic-strain direction, but how we can determine the
magnitude?
Hardening rule

 It is necessary to provide a description of the variation of the size and/or

position of the yield surface during plastic deformations (i.e. how the YS
evolve during yielding)

q
p0′ = p0′ (ε pp , ε qp )
YS
∂p0′ ∂p0′
=dp0′ d ε p
+ d ε p

∂ε pp ∂ε qp
p q

po’ p'
Consistency condition

 The plastic state is reached when the stress state is on the surface:

f ( p′, q, p0′ ) = 0

 It is assumed that once yield occurs (i.e. f = 0), the stresses must remain on the
yield surface during plastic deformation.

 This constraint is enforced by the consistency condition as follows:

df = 0
Consistency condition

∂f ∂f ∂f
df = dp′ + dq + dp0′
∂p′ ∂q ∂p0′

∂p0′ ∂p0′ ∂p0′ ∂g ∂p0′ ∂g

dp0′ = d ε p
+ d ε p
= d λ + d λ
∂ε pp ∂ε qp ∂ε pp ∂p′ ∂ε qp ∂q
p q

∂f ∂f ∂f  ∂p0′ ∂g ∂p0′ ∂g 
df = dp′ + dq +  p dλ + p dλ  = 0
∂p′ ∂q ∂p0′  ∂ε p ∂p′ ∂ε q ∂q 
1 4 4 4 42 4 4 4 43
f ( p′, q, p0′ ) = 0
dp0′

 ∂g  ∂f ∂f
dp′ + dq
dε = dλ 
p
 ∂p′ ∂q
 ∂{σ '} dλ =
∂f  ∂p0′ ∂g ∂p0′ ∂g 
Now we can −  p + p 
′ ′
∂p0  ∂ε p ∂p ∂ε q ∂q 
determine the
magnitude of the
plastic strain
Plastics Deformations
∂f ∂f ∂f ∂f
dp′ + dq dp′ + dq
∂p′ ∂q ∂g ∂p′ ∂q ∂g
d ε pp = d ε qp =
∂f  ∂p0′ ∂g ∂p0′ ∂g  ∂p′ ∂f  ∂p0′ ∂g ∂p0′ ∂g  ∂q
−  +  −  + 
∂p0′  ∂ε pp ∂p′ ∂ε qp ∂q  ∂p0′  ∂ε pp ∂p′ ∂ε qp ∂q 

 ∂f ∂g ∂f ∂g 
 d ε pp  −1  ∂p′ ∂p′ ∂q ∂p′   dp′
 p =   
 d ε q   ∂f  ∂p0′ ∂g ∂p0′ ∂g    ∂f ∂g ∂f ∂g   dq 
  p + p    ∂p′ ∂q ∂q ∂q 
∂ ′
 0  p
p ∂ε ∂p ′ ∂ε q ∂q   

Plastic modulus, H
H = 0 → perfect plasticity – and Eq. above not valid!
H > 0 → plasticity with hardening
H < 0 → plasticity with softening
Theory of Plasticity - Summary

1. Elastic Strain dε ep  1 K ′ 0   dp ′ 

 e =    dq ′ 
d ε
 q  0 1 3G ′  

2. Yield surface
f ( p′, q, p0′ ) = 0

3. Plastic Potential g ( p′, q, ζ ) = 0

4. Flow rule ∂g ∂g
=d ε pp d=
λ ; d ε qp d λ
∂p′ ∂q
Theory of Plasticity - Summary

5. Hardening law p0′ = p0′ (ε pp , ε qp )

∂p0′ ∂p0′
dp0′ = d ε p
+ dε qp
∂ε p ∂ε q
p p p

6. Plastic deformations
 ∂f ∂g ∂f ∂g 
dε pp  −1  ∂p′ ∂p′ ∂q ∂p′   dp′
 p =  ∂f ∂g ∂f ∂g   dq 
dε
 q   ′ ′
∂f  ∂p0 ∂g ∂p0 ∂g     

∂ ′  ∂ε p ∂p′ + ∂ε p ∂q   ∂p′ ∂q ∂q ∂q 
 0  p
p q 
7. Total deformations
dε p   d ε ep   d ε pp 
= ε   e+ p
 d q   d ε q   d ε q 
 Elastoplastic Matrix*

{dσ } = [D ] ⋅ {dε }ep

[D ]
ep
= [D ] −
e 1
⋅ {b}f ⋅ {b}g
T

β
β = H + {a}Tf ⋅ [D ]e ⋅ {a}g
T
∂F  ∂h 
H =− ⋅  ⋅ {a}g
∂h  ∂{ε }
 ∂g   ∂f 
{a}g = ; {a}f =  
 ∂{σ '}  ∂{σ '}
{b}g = [D ] ⋅ {a}g ; {b}f = [D ] ⋅ {a}f
e e
 To learn – questions?
Elasto-plasticity:
- standard framework for soil modelling
- see summary for the most important components
- important framework to understand
- at least graphically (required from everyone)
- some numerical understanding is expected
- good numerical understanding is expected at doctoral
student level
- key issues:
- what is plastic strain?
- what is yield surface vs plastic potential surface?
- how to determine magnitude of plastic strain?
- how to calculate stress on elasto-plastic stress path?
- doctoral level: how do derive the elasto-plastic tangent matrix?

Department of Civil Engineering

Advanced Soil Mechanics W. Sołowski
83
Other perfectly plastic constitutive models
 Stress invariants
Mean effective stress

σM =
1
(σ 1 + σ 2 + σ 3 ) = 1 (σ x + σ y + σ z )
3 3
Deviatoric stress (in general form)

σ = J2

J2 =
1
6
[ ]
(σ 1 − σ 2 )2 + (σ 2 − σ 3 )2 + (σ 3 − σ 1 )2 =
1
2
[
(σ 1 − σ M )2 + (σ 2 − σ M )2 + (σ 3 − σ M )2 ]
J 3 = (σ 1 − σ M )(σ 2 − σ M )(σ 3 − σ M )

1  − 3 3 J3 
Lode angle θ = sin −1 
3  -30° < θ < 30°
3  2 σ 
 Meaning of stress invariants

ON = 3 ⋅σM
2 2 2
PN = OP − ON =
= (σ 1 − σ M ) + (σ 2 − σ M ) + (σ 3 − σ M ) =
2 2 2

= 2J 2

PN = 2 ⋅ J2 = 2 ⋅σ
Elasto-plasticity: Tresca
Simplest:
- perfect plasticity (concept dated back to Roman times) – yield
criterion: anything in compression is safe…
- currently used for soils – Tresca model
(elastic – perfectly plastic)

Size of the yield surface does not

change – is independent from the
mean stress level:

Department of Civil Engineering

Advanced Soil Mechanics. W. Sołowski
87
Elasto-plasticity: Tresca

Tresca
Useful?

Department of Civil Engineering

Advanced Soil Mechanics. W. Sołowski
88
 Elasto-plasticity: Tresca

Useful when we
assume that soil has
undrained shear
strength su which is
independent from the
stress state…

Used (when strain

rate dependency
added e.g. for
simulation of pile
installation)
Tresca
Department of Civil Engineering
Advanced Soil Mechanics. W. Sołowski
89
 Tresca

F = σ 1 − σ 3 − Y0 = 0

in invariant formulation

F = 2 ⋅ σ ⋅ cos θ − Y0 = 0

> dependent on Lode angle

 Tresca in 3D

F = 2 ⋅ σ ⋅ cos θ − Y0 = 0 > dependent on Lode angle

Tresca – Applications in geotechnics

Total stress analysis for undrained behaviour (ϕ = 0)

cu ….. undrained shear strength

Y0 = 2 ⋅ cu

No volume change > ν = 0.5 (for numerical reasons 0.49)

Plastic volumetric strains ?
assume Lode angle = 0

F = 2 ⋅ σ − 2 ⋅ cu = 0
Assume associated flow rule
 ∂F 
dε MP = dλ  =0
∂σ
 M
 ∂F 
dε P
vol = dε P
M =0
dε P
= dλ   = 2dλ
 ∂σ 
Tresca – Applications in geotechnics

dε P
vol = dε P
M =0
 Von Mises

F = 3 ⋅ σ − Y0 = 0 > not dependent on Lode angle

Y0 ….. yield stress for axial compression or tension

2
r = ⋅ Y0
3

Von Mises criterion in σ − σ m − space Von Mises criterion in π - plane

 Von Mises in 3D

F = 3 ⋅ σ − Y0 = 0 > not dependent on Lode angle

Y0 ….. yield stress for axial compression or tension

 MC – Invariant formulation

1
F = σ M ⋅ sin ϕ + σ ⋅ cos θ − ⋅ σ ⋅ sin ϕ sin θ − c ⋅ cos ϕ = 0
3
Drucker-Prager
 Drucker-Prager vs MC

Drucker-Prager and Mohr-Coulomb criteria in π - plane

Thank you