Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity: Multiplicative Decomposition with Subloading Surface Model 1st Edition Koichi Hashiguchi - eBook PDF download
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NONLINEAR CONTINUUM
MECHANICS FOR FINITE
ELASTICITY-PLASTICITY
NONLINEAR
CONTINUUM
MECHANICS FOR
FINITE ELASTICITY-
PLASTICITY
Multiplicative Decomposition With
Subloading Surface Model
KOICHI HASHIGUCHI
Technical Adviser, MSC Software Ltd.
(Emeritus Professor of Kyushu University),
Tokyo, Japan
Elsevier
Radarweg 29, PO Box 211, 1000 AE Amsterdam, Netherlands
The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom
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by the Publisher (other than as may be noted herein).
Notices
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broaden our understanding, changes in research methods, professional practices, or medical
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ISBN: 978-0-12-819428-7
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Preface xi
1. Mathematical fundamentals 1
1.1 Matrix algebra 1
1.1.1 Summation convention 1
1.1.2 Kronecker’s delta and alternating symbol 2
1.1.3 Matrix notation and determinant 2
1.2 Vector 6
1.2.1 Definition of vector 7
1.2.2 Operations of vector 7
1.3 Definition of tensor 15
1.4 Tensor operations 18
1.4.1 Properties of second-order tensor 18
1.4.2 Tensor components 19
1.4.3 Transposed tensor 20
1.4.4 Inverse tensor 21
1.4.5 Orthogonal tensor 22
1.4.6 Tensor decompositions 24
1.4.7 Axial vector 25
1.4.8 Determinant 27
1.4.9 Simultaneous equation for vector components 30
1.5 Representations of tensors 31
1.5.1 Notations in tensor operations 31
1.5.2 Operational tensors 32
1.5.3 Isotropic tensors 34
1.6 Eigenvalues and eigenvectors 35
1.6.1 Eigenvalues and eigenvectors of second-order tensor 35
1.6.2 Spectral representation and elementary tensor functions 37
1.6.3 Cayley Hamilton theorem 38
1.6.4 Scalar triple products with invariants 39
1.6.5 Second-order tensor functions 39
1.6.6 Positive-definite tensor and polar decomposition 40
1.6.7 Representation theorem of isotropic tensor-valued tensor function 42
1.7 Differential formulae 43
1.7.1 Partial derivatives of tensor functions 43
1.7.2 Time-derivatives in Lagrangian and Eulerian descriptions 48
1.7.3 Derivatives of tensor field 49
1.7.4 Gauss’ divergence theorem 51
1.7.5 Material-time derivative of volume integration 52
v
vi CONTENTS
xi
xii Preface
Henann and Anand (2009), Brepols et al. (2014), etc., in which constitu-
tive relations are formulated in the intermediate configuration imagined
fictitiously by the unloading to the stress-free state along the hyperelas-
tic relation, based on the isoclinic concept (Mandel, 1971). However, the
plastic flow rule with the generality unlimited to the elastic isotropy
remains unsolved and only the conventional plasticity model, named by
Drucker (1998), with the yield surface enclosing the elastic domain have
been incorporated so that only the monotonic loading behavior of elasti-
cally isotropic materials is concerned in them.
The subloading multiplicative hyperelastic based plastic model has
been formulated by the author recently (Hashiguchi, 2018c), which is
capable of describing the finite elastoplastic deformation/rotation rigor-
ously under the monotonic/cyclic loading process. Further, it has been
extended to the subloading-multiplicative hyperelastic-based viscoplas-
ticity recently, which is capable of describing the rate-dependent elasto-
plastic deformation behavior at the general rate from the static to the
impact loading. It is to be the best opportunity to review the multiplica-
tive hyperelastic based plasticity comprehensively and explain the
detailed formulation of the subloading multiplicative hyperelas-
tic based plastic model systematically. This is the first book on the sub-
loading multiplicative hyperelastic based plasticity and viscoplasticity
for the description of the general irreversible deformation/sliding
behavior.
The subloading surface model and the multiplicative hyperelas-
tic based plasticity are explained comprehensively providing the
detailed physical interpretations for all relevant concepts and the deriv-
ing processes of all equations. Further, the incorporation of the subload-
ing surface model to the multiplicative hyperelastic plastic relation is
described in detail. Further, it is extended to the description of the vis-
coplastic deformation by incorporating the concept of overstress, which
is capable of describing the general rate of deformation ranging from
the quasistatic to the impact loading behaviors (Hashiguchi, 2016a,
2017a). In addition, the exact hyperelastic based plastic and viscoplastic
constitutive equation of friction (Hashiguchi, 2018c) is formulated rigor-
ously, while the hypoelastic-based plastic constitutive equation of fric-
tion has been formulated formerly (Hashiguchi et al., 2005; Hashiguchi
and Ozaki, 2008; Hashiguchi, 2013a).
The aim of this book is to give a comprehensive explanation of the
finite elastoplasticity theory and viscoplasticity under the monotonic
and the cyclic loading processes. The incorporation of the Lagrangian
tensors is required originally in the formulation of finite elastoplasticity
and viscoplasticity, since the deformation of the material involved in
the reference configuration, which is invariant through the deformation,
is physically relevant. Therefore the necessity and the meanings of the
Preface xv
Koichi Hashiguchi
June 2020
C H A P T E R
1
Mathematical fundamentals
The basic matrix algebra with some conventions and symbols appear-
ing in the continuum mechanics are described in this section.
8
>
> X 3
>
> u v 5 ur vr 5 u1 v1 1 u2 v2 1 u3 v3 ;
>
>
r r
>
> r51
>
< X3
Trr 5 Trr 5 T11 1 T22 1 T33 (1.1)
>
>
>
> r51
>
> X 3
>
>
> Tir vr 5
: Tir vr 5 Ti1 v1 1 Ti2 v2 1 Ti3 v3 ;
r51
fulfilling
δir δrj 5 δij 5 δji ; δii 5 3 (1.4)
where ð ÞT stands for the transpose of the row and the column in the
matrix.
The quantity defined by the following equation is called the determi-
nant of T and is shown by the symbol det T, that is,
T11 T12 T13
detT 5 εijk T1i T2j T3k 5 εijk Ti1 Tj2 Tk3 5 T21 T22 T23 (1.12)
T31 T32 T33
with
detTT 5 detT; detðsTÞ 5 s3 detðTÞ (1.13)
Here, the number of permutations that the suffixes i, j, and k in εijk can
take is 3!. Therefore Eq. (1.12) can be written as
1
detT 5 εijk εpqr Tip Tjq Tkr (1.14)
3!
Eq. (1.14) is rewritten as
1 1 1
detT 5 Trs ðcof TÞrs ; detT 5 T: ðcof TÞ 5 trðTðcofTÞT Þ (1.15)
3 3 3
or
detT 5 T1s ðcofTÞ1s 5 T2s ðcofTÞ2s 5 T3s ðcofTÞ3s
(1.16)
5 Tr1 ðcofTÞr1 5 Tr1 ðcofTÞr1 5 Tr2 ðcofTÞr2 5 Tr3 ðcofTÞr3
where
1
ðcofTÞip εijk εpqr Tjq Tkr (1.17)
2!
noting
1 1 1 1
εijk εpqr Tip Tjq Tkr 5 Tip εijk εpqr Tjq Tkr 5 Tip ðcofTÞip
3! 3 2! 3
ðcofTÞij is called the cofactor for the i-column and the j-row. The cofactor
is obtained through multiplying the minor determinant lacking the
ith row and jth column components by the sign ð21Þi1j .
The following lemmas for the properties of the determinant hold.
Lemma 1.1: If the first and the second rows are same, that is, T2j 5 T1j
for instance, we have εijk T1i T1j T3k 5 εjik T1j T1i T3k 5 2 εijk T1i T1j T3k .
Therefore we have the lemma “the determinant having same lines or
rows is zero.” Therefore the following relation is obtained from
Eq. (1.16) that
Tis Δjs 5 Tri Δrj 5 δij detT (1.18)
Lemma 1.2: If the first and the second lines are exchanged, that is, 122
for instance, we have εijk T2i T1j T3k 5 εjik T1i T2j T3k 5 2 εijk T1i T2j T3k .
Therefore we have the lemma “the determinant changes only its sign by
exchanging lines (or rows).”
By multiplying εijk to both sides in Eq. (1.12), we have
εijk detT 5 εijk εpqr T1p T2q T3r 5 εpqr Tip Tjq Tkr (1.19)
The additive decomposition of the components T2j into T2j 5 A2j 1 B2j
leads to
εijk T1i ðA2j 1 B2j ÞT2k 5 εijk T1i A2j T2k 1 εijk T1i B2j T2k (1.20)
noting εijk Bpi Bqj Brk 5 εpqr detB due to Eq. (1.19), and thus one has the fol-
lowing product law of determinant.
detðABÞ 5 detAdetB (1.21)
which leads to
@detT @detT
5 cofT ; 5 ðcofTÞij (1.22)
@T @Tij
The permutation symbol in the third order, that is, εijk appears often
hereinafter. It is related to Kronecker’s delta by the determinants as
δ1i δ1j δ1k δ1i δ2i δ3i
εijk 5 δ2i δ2j δ2k 5 δ1j δ2j δ3j (1.23)
δ3i δ3j δ3k δ1k δ2k δ3k
which can be proved as follows: Note that the second side in Eq. (1.23)
is expanded as
δ1i δ1j δ1k
εijk 5 δ2i δ2j δ2k 5 δ1i δ2j δ3k 1 δ1k δ2i δ3j 1 δ1j δ2k δ3i
δ3i δ3j δ3k
2 δ1k δ2j δ3i 2 δ1i δ2k δ3j 2 δ1j δ2i δ3k
for instance. The third side in Eq. (1.23) can be confirmed as well.
The following relations are obtained from Eqs. (1.23) and (1.21).
2 3 2 3
δ1i δ2i δ3i δ1p δ1q δ1r δ1i δ2i δ3i δ1p δ1q δ1r
6 7 6 7
εijk εpqr 5 δ1j δ2j δ3j δ2p δ2q δ2r 5 4 δ1j δ2j δ3j 5 4 δ2p δ2q δ2r 5
δ1k δ2k δ3k δ3p δ3q δ3r δ1k δ2k δ3k δ3p δ3q δ3r
(1.24)
δip δiq δir
5 δjp δjq δjr
δkp δkq δkr
1.2 Vector
where v1, v2, and v3 are the components of v. Denoting the angle of the
direction of vector v from the direction of the base vector ei by θi ,
cosθi 5 n ei is called the direction cosine by which the component of v is
given as
vi 5 v ei 5 :v:n ei 5 :v:cosθi (1.30)
The magnitude of vector v and its unit direction vector n are given
from Eq. (1.30), noting cos2 θ1 1 cos2 θ2 1 cos2 θ3 5 1 as follows:
pffiffiffiffiffiffiffiffi v vr
:v: vr vr ; n 5 er (1.31)
:v: :v:
Because of a b 5 ar er bs es 5 ar bs δrs , the scalar product is expressed
by using the components as
a b 5 ar br (1.32)
The quantity obtained by the scalar product is a scalar and the fol-
lowing commutative, distributive, and associative laws hold.
a b5b a (1.34)
a ðb 1 cÞ 5 a b 1 a c (1.35)
sða bÞ 5 ðsa bÞ 5 a ðsbÞ 5 ða bÞs (1.36)
ðaa 1 bbÞ c 5 aa c 1 bb c (1.37)
a × b = an
c v = (a × b) · c =[abc]
n
(|| n|| = 1)
b
a = || a × b|| =|| a || ||b|| sin θ
θ
a
FIGURE 1.1 Vector product (surface vector) and scalar triple product (volume) with
area.
GENERAL BOOTH.
If Sir Richard Webster had been just a little more “English,” a good
deal less able, and far less learned, he might have made another Mr.
Justice Grantham. There was just the sort of resemblance between
the two men that obtains between a first-rate portrait and a very
wild and wicked caricature. Both were intensely Conservative,
intensely respectable, intensely unimaginative, intensely moral and
well-meaning. But Mr. Justice Grantham, like necessity, knew no law,
while Lord Alverstone knew a great deal; and Lord Alverstone had
the judicial temperament in full measure, while Mr. Justice Grantham
could not, without severe mental discomfort, listen to more than one
side of a case. His ordinary course was to take a glance at both
litigants; that was generally sufficient, but if both seemed equally
objectionable he might be impelled to take sides according as he
liked or disliked counsel. Taking a side was quite necessary to him. I
remember one case in which he suffered, for quite a little time, the
agonies of choice. The issue lay between an Englishman who had
become some sort of heathen and a naturally black and heathen
man. As an intensely religious English gentleman Sir William
Grantham was bound to disapprove very strongly of anybody who
threw away the advantages of having been born a “happy English
child.” But at least equally he did not like colour. For about a quarter
of an hour his bosom was torn by conflicting feelings; then he made
up his mind that the calls of blood were paramount, and for the rest
of the hearing went strongly against the hapless dark-skinned
litigant. Judicially Sir William Grantham was simply the Great
Reversible. Personally he was an extraordinarily good-hearted man,
and those who had least respect for his judicial qualities were among
his warmest friends. There was not a dry eye in the Law Courts
when it became known that he had been called before the highest of
all tribunals.
A very different type of lawyer was Sir Francis Jeune, the famous
President of the Divorce Court. A handsome, bearded man, with
features of a slightly Semitic cast, and courtly manners not quite
English—he was born in Jersey, though little of his life had been
spent there—he was, both professionally and socially, one of the
best-known figures of the Nineties. His wife, the widow of a Peer’s
younger son, was a great entertainer, and her fondness for
everything either “smart” or intellectual was a considerable factor in
breaking down the barriers which still existed between “the classes”
and mere talent or mere money. Judges seldom make much figure in
society; and in the Nineties there still clung to them as a class much
of that Bohemian character which derived from the days when
Circuit duty implied a lengthy banishment from London and a rough
bachelor life in the Assize towns. Mr. Justice Hawkins, later Lord
Brampton, was not perhaps quite typical of his brethren, and the
exaggerated untidiness of Lord Justice Vaughan Williams was
exceptional. But not less exceptional was the combination of
scholarliness and mondaine aplomb of Sir Francis Jeune. As a
divorce judge he had a perfect style; it could hardly have been
beaten by the bedside manner of a Royal physician. It was a delight
to hear him interpreting the degree of affection implied in a wife’s
reference to her husband as “my dear little black piggie.” No man
was more apt in discussing the psychology of sex. In one case he
showed, by a wealth of refined analysis and historical allusion, how
while it was quite possible for a man to be in love with two women
at the same time, and leave each in the belief that she was the sole
mistress of his heart, no woman was capable of such liberality or
such dissimulation. He was a great advocate of temporary separation
as a possible cure for ills matrimonial; “absence,” he held, “often
made the heart grow wiser.” A rigid moralist might have ventured the
criticism that the delightful man-of-the-world way in which Sir
Francis dealt with suits and suitors was prejudicial to the interests of
marriage; a divorce as managed by him seemed so entirely ordinary
and innocent an affair. But, suave as he was, he could be strong on
occasion, and he once committed a Duchess to prison with the most
perfect and relentless good breeding. Ordinarily he shunned the rôle
of judicial humorist; Mr. Justice Darling was then a very young
judge, and the older jesters were of the coarser genre. But
occasionally a good thing came out accidentally. Thus it was once
pointed out that he had joined in prayers at the Archbishops’ Court,
whose competence was impugned in the case then being argued.
“Yes,” said Sir Francis, “but I prayed without prejudice.”
But the same Warrington—a much more delicious snob than any
in his creator’s special book on that species—could indulge in such a
rhapsody on the Press as the following: