4.

Compatibility Equations
4.1 2D Problems in x-y plane
4.2 Plane Stress
43
4.3 Plane Strain
4.4 Navier’s Equation
4.5 St.-Venant’s Compatibility Equations
4.6 Beltrami-Michell Compatibility
p y Equations
q
4.7 Conclusion
 4.1 2D Problems in x-y
y plane
p
Plane strain and Plane stress
Cylindrical or prismatic body : constant cross sectional shape in z-direction

Identical Displacement
p constraints in all cross section

Identical External Forces in all cross section

External Forces applied in x-y plane

Identical deformation in all cross section

Identical strain in all cross section
Identical stress in all cross section

Example. Prismatic body between smooth walls

 4.2 Plane Stress
Plane stress condition
 z   zx   zy  0
 Constitutive Equations

 z   zx   zy  0

1
x   x  y  z  2 xy 
1
 xy
E G
1
 y   y  z  x  1
2 yz   yz
E G
1
 z   z  x  y  1
2 zx   zx
E G


1
 x  ( x   y )
1
2 xy   xy z   ( x   y )
E G E
1
 y  ( y   x )  xz   yz  0
E

 x  1  0   x 
   1  
0    y 
E

 y  
  1   2
1   
 xy   0 0 2   2 xy 
 4.3 Plane Strain
u ( x, y ), v( x, y )
w0

  ux 1   ux  u y  1   ux  uz 
     
 x 2  y  x  2   z  x 
1   u  u   uy 1   u y  u z  
   y  x   
2   x  y  y 2   z  y 
 
 1   uz   ux  1   uz  u y   uz 
 2   x  z     
 2  y  z  z 

 z   xz   yz  0
 Constitutive Equations
 z   xz   yz  0
1
x   x  y  z  2 xy 
1
 xy
E G
1
 y   y  z  x  1
2 yz   yz
E G
1
 z   z  x  y  1
2 zx   zx
E G

x 
1
(1  2 ) x  (1   ) y   z   ( x   y )
E 1
2 xy   xy
1
 y   ((1  2 ) y  ((1   ) x 
G  xz   yz  0
E

 x  1 
1 0   x 
  E (1  )    

 y   1 1 0  y 
  (1   )(1  2 )
0 1 2   
 xy   0 2(1 )   2 xy 
4.4 Navier’s Equation
4 4 1 Governing
4.4.1 G i Equations
E ti in
i El Elasticity
ti it
a) 3 Equilibrium Equations in   
 

 f 0 x xy xz
ij x y z x

 yx  y  yz
 ij    fy  0
 fi  0 x y z
 xj  zx  zy  z
   fz  0
x y z

b) 6 Strain-Displacement  u 1u v  1   u  w 
Relations in  ij , ui
      
x 2 y  x 2   z  x 
x  xy  xz  
  1v u  v 1   v  w 
 xy y  yz         
 2 x  y y 2   z  y 
1   ui  u j  
 xz  yz 
z   
 ij    

2   x j  yi 1   w   u  1w v

w 
  2   x  z   
2 y  z  z 
 
 x  1 1 1 0 0 0   x 
c) 6 Constitutive       
 1 0 0 0  y 
Equations in  ij ,  ij
1 1
  y

E (1  )  1    
 
  z  1 1 0 0 0
   1 2  z 
     0 0 0 0 0  2 xy 
 i  cij j   xy (1 )(1 2 ) 2(1 )

 yz  0 0 0 0 1 2
0  2 yz 
   2(1 )
 
 zx  0
 0 0 0 0 1 2  2
2(1 )   zx 
Summary
a) 3 Equilibrium Equations in  ij
b) 6 Strain-Displacement Relations in  ij , ui
c) 6 Constitutive Equations in  ij ,  ij

15 Equations with 15 unknowns 6  ij ' s, 6  ij ' s, 3 ui ' s

Unique solution exists !

 4.4.2 Solving equations in ui ' s
 ij 1   ui  u j 
 fi  0  i  cij j  ij  


2   x j  yi

 xj 

Navier’s equation

 2ui  2u j
  (   )  fi  0  2u  (   )(  u)  f  0
 x j x j  x j xi

3 Equations with 3 unknown displacement fields Cf. FEM

u ( x, y, z ), v( x, y, z ), w( x, y, z )  K u  F 
1   ui  u j 
Then,, 6 Strain components
p  ij    
2   x j  yi 

6 Stress components  i  cij j

4.5 St.-Venant’s Compatibility Equations
4.5.1 Solving Equations in  ij ' s
 ij
 rs  fi  0
cijrs  fi  0 i, j , r , s  1, 2,3  xj
 xj
 ij  cijrs rs
Equilibrium Equations in strains

3 Equilibrium Equations with 6 unknowns

Multiple
p strain sets satisfying
y g the equations.
q

Multi-valued displacements from Strain-Displacement Relations

Need 3 additional independent equations for  ij ' s

1   ui  u j 
Compatibility equation  ij    
2   x j  yi 
4.5.2 Compatibility Equation in Plane Problems
G.E.
a) 2 Equilibrium Equations in  x , y , xy
b) 3 Strain-Displacement Relations between  x ,  y ,  xy and u,
c) 3 Constitutive Equations in  x , y , xyy and  x ,  y ,  xyy
 rs
cijrs  fi  0 i, j , r , s  1, 2
 xj
Equilibrium equations in strains

2 Equations
q with 3 unknown strain components
p

Multiple strain sets satisfying the equations.

Multi-valued displacements from Strain-Displacement Relations

Need 1 additional equations for  ij ' s

3 Strain-Displacement Relations

u  2 x  3u
x  
x y 2
 x y 2
v  2 y  3v
y   2
y x 2
x y
v u  2 xy
2 xy    3v  3u
x y 2  2 
 x y  x  y  x y 2

Compatibility equations in 2D

 2 xy  2 x  2 y
2  
xy y 2
x 2
4.5.3 St.-Venant’s Compatibility Equations

 2 xy  2 x  2 y  2  x    yz  zx  xy 
2   2     
xy y 2
x 2 yz x  x y z 

 2 yz  2 y  2 z  2  y    zx  xy  yz 
2   2 2     
yz z 2
y zx y  y z x 

 2  zx  2  z  2 x  2  z    xy  yz  zx 
2   2 2     
zx x 2 z xy z  z x y 

 ij ,kl   kl ,ij   ik , jl   jl ,ik  0

Necessary and sufficient condition for the existence of a single-

valued displacement distribution in a simply connected body

They are not independent each other, but they represent only
3 independent
i d d t conditions
diti
4.6 Beltrami-Michell Compatibility Equations
4.6.1 Solving Equations in  ij ' s
 ij
 fi  0
 xj
Eq ilib i m Equations
Equilibrium Eq ations in stresses
st esses

3 Equilibrium Equations with 6 unknowns

Multiple stress sets satisfying the equations and hence

Multi-valued displacements

Need 3 additional independent equations for  ij ' s

1   ui  u j 
 ij    

2   x j  yi  Compatibility equation in terms of stress
 i  cij j
4.6.2 Compatibility Equations in Plane Problems
1) 2D Plane Stress  2 xy  2 x  2 y
St.-Venant’s C.E. 2   2
Left term xy y 2 x
   x  xy 
   f x0  2 xy   2 x  2 y    f x  f y 
x x  y     
 2 
  x y 
2
 x y   x2 
   yx  y   y   
   f y 0
 y x  y   2 (2 xy ) 1  2 xy 1   2 x   y    f x  f y  
2

      
 x y G  x y 2G   x 2  y 2    x  y  
Right term
 2 x 1  2
 x   x  y  2  x
  y 
1

E y 2
Ey
 y   y  x   2 y 1  2
1
E 
 x2 E  x2 y
  x 
Then,
1   2 x   y    fx  f y   1  2 1 2
2

2  x
           y   2  y
  x 
2G   x 2  y2    x y   E  y E  x

 2 ( x   y )  2 ( x   y )   fx  f y 
or   (1  )   
x 2
y 2   x  y 
Compatibility
p y Equations
q for 2D Plane Stresses
In Cartesian Coordinate System
  fx  f y   2
 2
 ( x   y )  (1  ) 
2
  2  2  2
  x  y  x y
Witho t body
Without bod Forces
Fo ces

 2 ( x   y )  0

In Polar Coordinate System

  f 1  f  2 1  1 2
 ( r    )  (1   )  r 
2
   2
2
 2
  r r    r r  r r  2
 2) 2D Plane Strain
 2 xy  2 x  2 y
St.-Venant’s C.E. 2  
xy y 2
x 2
Left term( the same as in plane stress)
   x  xy 
   fx   0  2 xy   2 x  2 y    f x  f y 
x x  y     
 2 
  x y 
2
 x y   x2 
   yx  y   y   
   f y 0
 y x  y   2 (2 xy ) 1  2 xy 1   2 x   y    f x  f y  
2

      
 x y G  x y 2G   x 2  y 2    x  y  

Right term
 2 x 1  2
1  (1  2 ) x  (1  ) y 
2 
x   (1  2 ) x  (1   ) y  y 2
Ey
E
1
 y  (1  2 ) y  (1  ) x   2 y 1  2
 (1  2 ) y  (1  ) x 
2 
E x 2
Ex
Then, 1   fx  f y 
 ( x   y )  
2
  
1    x  y 
Summary : Compatibility Equations for 2D problems
Plane Stress
  fx  f y 
 ( x   y )  (1  ) 
2
 
  x  y 
Plane Strain

1   fx  f y 
 ( x   y )  
2
  
1    x  y 

Without Body Forces

 2 ( x   y )  0
4.6.3 Beltrami-Michell Compatibility Equations
St.-Venant’s Compatibility equations
 ij ,kl   kl ,ij   ik , jl   jl ,ik  0  i  cij j
1    pp
  ij 
2
 ,ij  0
1 

1  2
 1  2
 2 x  0  2 yz  0
1   x 2
1  yz
1  2 1  2
 z 
2
0  2 zx  0
1   z 2
1  zx
1  2 1  2

 y 
2
0  2 xy  0
1   y 2 1   xy
 4.7 Conclusions
 ij 1   ui  u j 
 fi  0  ij      i  cij j
 xj 2   x j  yi 
I. Solving equations in  ij ' s
must satisfy the force equilibrium in strains
must satisfy St.-Venant’s compatibility equations
for single-valued displacement field
*Then, stresses and displacements are obtained through the constitutive
*Then
equations and the strain-displacement relations, respectively

II Solving equations in
II.  ij ' s
must satisfy the force equilibrium in stresses
must satisfy Beltrami-Michell
Beltrami Michell compatibility equations
for single-valued displacement field
*Then
Then, strains and displacements are obtained through the constitutive equations
and the strain-displacement relations, respectively