5 Multiaxial Fatigue

Multiaxial Fatigue
Professor Darrell F. Socie

Department of Mechanical Science and Engineering
University of Illinois at Urbana-Champaign
© 2001-2011 Darrell Socie, All Rights Reserved

Contact Information
Darrell Socie
Mechanical Science and Engineering
1206 West Green
Urbana, Illinois 61801
USA
d-socie@uiuc.edu
Tel: 217 333 7630
Fax: 217 333 5634
Multiaxial Fatigue © 2001-2011 Darrell Socie, University of Illinois at Urbana-Champaign, All Rights Reserved 1 of 125
Outline
 State of Stress ( Chapter 1 )

 Fatigue Mechanisms ( Chapter 3 )
 Stress Based Models ( Chapter 5 )
 Strain Based Models ( Chapter 6 )
 Fracture Mechanics Models ( Chapter 7 )
 Nonproportional Loading ( Chapter 8 )
 Notches ( Chapter 9 )
State of Stress
 Stress components
 Common states of stress
 Shear stresses
Stress Components
σz
Z
τzy
τzx
τyz
τxz
σy
τyx
τxy
σx
Y
Six stresses and six strains
Stresses Acting on a Plane
Z
Z’ X’
σx’
τx’z’ Y’
τx’y’
φ
θ Y
Principal Stresses
τ13
σ3 τ12
τ23
σ2
σ1
σ3 - σ2( σX + σY + σZ ) + σ(σXσY + σYσZσXσZ -τ2XY - τ2YZ -τ2XZ )

- (σXσYσZ + 2τXYτYZτXZ - σXτ2YZ - σYτ2ZX - σZτ2XY ) = 0
Stress and Strain Distributions
100
% of applied stress
90
80
-20 -10 0 10 20
θ
Stresses are nearly the same over a 10° range of angles
Tension
σ3 τ γ/2
σ ε
σx
σ1 ε1
σ1 σ2
σ2 = σ3 = 0 ε2 = ε3 = −νε1
Torsion
σ2 τ γ/2
σ3 σ ε3 ε
τ xy
σ1 ε1
σ3
Y
σ2 ε2
X σ1
σ1 = τxy
Biaxial Tension
σ3
τ γ /2
σ3 ε
σ
σ1 = σ x
σ1 = σ 2 ε1 = ε2
σ2 = σ y
2ν
ε3 = − ε
1− ν
Shear Stresses
σ3 σ3
σ2 σ2
σ1 σ1
Maximum shear stress Octahedral shear stress
σ1 −σ3 τoct =
1
(σ1−σ3 )2 +(σ1−σ2 )2 +(σ2 −σ3 )2
τ13 = 3
2
3 3
Mises: σ= τoct τoct = τ13 = 0.94 τ13
2 2 2
State of Stress Summary
 Stresses acting on a plane
 Principal stress
 Maximum shear stress
 Octahedral shear stress
Fatigue Mechanisms
 Crack nucleation
 Fracture modes
 Crack growth
 State of stress effects
Crack Nucleation
Slip Bands
Extrusion
Undeformed
material
Intrusion
Loading Unloading
Slip Bands
Mode I, Mode II, and Mode III
Mode I Mode II Mode III
opening in-plane shear out-of-plane shear
Stage I and Stage II
loading direction
free
surface
Stage I Stage II
Case A and Case B
Growth along the surface Growth into the surface
Mode I Growth
crack growth direction

5 µm
Mode II Growth
shear stress
slip bands
10 µm
crack growth direction
304 Stainless Steel - Torsion
1.0
Damage Fraction N/Nf
0.8
0.6
0.4
Tension
0.2 Shear
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
304 Stainless Steel - Tension
1.0
0.8 Tension
0.6 Nucleation
0.4
0.2
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
Inconel 718 - Torsion
1.0
Tension
0.8
0.6
Shear
0.4
0.2
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
Inconel 718 - Tension
1.0
Tension
0.8
0.6
0.4
Shear
0.2
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
1045 Steel - Torsion
1.0
Tension
0.8
f
0.6
0.4
0.2 Shear
Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
1045 Steel - Tension
1.0
0.8
0.6 Tension
0.4
Shear
0.2 Nucleation
0
2 3 4 5 6 7
1 10 10 10 10 10 10 10
Fatigue Life, 2Nf
Fatigue Mechanisms Summary
 Fatigue cracks nucleate in shear

 Fatigue cracks grow in either shear or tension
depending on material and state of stress
Stress Based Models
 Sines
 Findley
 Dang Van
Bending Torsion Correlation
1.0 Shear stress

1/2 Bending fatigue limit
Shear stress in bending
Octahedral stress
Principal stress
0.5
0
0 0.5 1.0 1.5 2.0
Shear stress in torsion
Test Results
 Cyclic tension with static tension

 Cyclic torsion with static torsion
 Cyclic tension with static torsion
 Cyclic torsion with static tension
Cyclic Tension with Static Tension
1.5
Fatigue strength
Axial stress
1.0
0.5
-1.5 -1.0 -0.5 0 0.5 1.0 1.5

Mean stress
Yield strength
Cyclic Torsion with Static Torsion
1.5
Shear Stress Amplitude
Shear Fatigue Strength
1.0
0.5
0
0.5 1.0 1.5
Maximum Shear Stress
Shear Yield Strength
Cyclic Tension with Static Torsion
1.5
Bending Fatigue Strength
Bending Stress
1.0
0.5
0 1.0 2.0 3.0

Static Torsion Stress
Torsion Yield Strength
Cyclic Torsion with Static Tension
1.5
Shear fatigue strength
Torsion shear stress
1.0
0.5
-1.5 -1.0 -0.5 0 0.5 1.0 1.5

Axial mean stress
Yield strength
Conclusions
 Tension mean stress affects both tension

and torsion
 Torsion mean stress does not affect tension
or torsion
Sines
∆τoct
+ α(3σh ) = β
2
1
( ∆σ x −∆σ y )2 + ( ∆σ x −∆σ z )2 + ( ∆σ y −∆σ z )2 +6( ∆τ2xy + ∆τ2xz + ∆τ2yz ) +
6
α (σmean
x + σ mean
y + σ mean
z )=β
Findley
 ∆τ 
 + kσ n  = f
 2  max
tension torsion
Bending Torsion Correlation
1.0 Shear stress

Shear stress in bending
Octahedral stress
Principal stress
0.5
0
0 0.5 1.0 1.5 2.0
Shear stress in torsion
Dang Van
τ( t ) + aσ h ( t ) = b
Σij(M,t) Eij(M,t)
σij(m,t)
εij(m,t)
m
V(M)
Dang Van ( continued )
τ τ
τ(t) + aσh(t) = b
Failure
predicted
σh σh
Loading path
Stress Based Models Summary
∆τoct
Sines: + α(3σh ) = β
2
 ∆τ 
Findley:  + kσ n  = f
 2  max
Dang Van: τ( t ) + aσ h ( t ) = b
Strain Based Models
 Plastic Work
 Brown and Miller
 Fatemi and Socie
 Smith Watson and Topper
 Liu
Octahedral Shear Strain
0.1
Plastic octahedral
shear strain range
Torsion
0.01
Tension
0.001
10 10 2 10 3 10 4 10 5
Cycles to failure
Plastic Work
Plastic Work per Cycle, MJ/m3 100 T Torsion

T
A Axial

0
90
A T 180
T 135
A
T 45
10 30
A T
T
A A
T
A
1
102 103 104
Fatigue Life, Nf
Brown and Miller
2 x103
Fatigue Life, Cycles ∆γ = 0.03
103
5 x102
2 x102
102
0.0 0.005 0.01

Normal Strain Amplitude, ∆ε n
Case A and B
Growth along the surface Growth into the surface
Brown and Miller ( continued )
ax i al
Uni
Equ
ibia
x ial
Brown and Miller ( continued )
1
∆γ = ( ∆γ αmax + S∆ε αn ) α
∆γ max σ 'f − 2σ n ,mean

+ S ∆ε n = A ( 2 N f ) b + B ε 'f ( 2 N f ) c
2 E
Fatemi and Socie
Loading Histories
γ/ 3
ε
C F G
H I J
Crack Length Observations
2.5
F-495 H-491
J-603 I-471 C-399

2
Crack Length, mm
G-304
1.5
0.5
0
0 2000 4000 6000 8000 10000 12000 14000
Cycles
Fatemi and Socie
∆γ  σn,max  τ'f
1+ k  = (2Nf )bo + γ 'f (2Nf )co
2  σ y  G
Smith Watson Topper
SWT
'2
∆ε1 σ
σn = (2Nf )2b + σ'f ε 'f (2Nf )b+c
f
2 E
Liu
Virtual strain energy for both mode I and mode II cracking
∆WI = (∆σn ∆εn)max + (∆τ ∆γ)

'2
b+c 4σ
∆WI = 4σ ε (2Nf ) ' '
f f + (2Nf )2b
f
E
∆WII = (∆σn ∆εn ) + (∆τ ∆γ)max
'2
bo + co 4τ
∆WII = 4τ γ (2Nf ) '
f
'
f + (2Nf )2bo
f
G
Cyclic Torsion
Cyclic Shear Strain Cyclic Tensile Strain
Cyclic Torsion
Shear Damage Tensile Damage
Cyclic Torsion with Static Tension
Cyclic Torsion Shear Damage Tensile Damage

Static Tension
Cyclic Torsion with Compression

Static Compression
Cyclic Torsion with Tension
and Compression

Static Compression
Hoop Tension
Test Results
Load Case ∆γ/2 σhoop MPa σaxial MPa Nf

Torsion 0.0054 0 0 45,200
with tension 0.0054 0 450 10,300
with compression 0.0054 0 -500 50,000
with tension and 0.0054 450 -500 11,200
compression
Conclusions
 All critical plane models correctly predict
these results
 Hydrostatic stress models can not predict
these results
Loading History
0.003
Shear strain
Axial strain 0.006
-0.003
Model Comparison
Summary of calculated fatigue lives
Model Equation Life

Epsilon 6.5 14,060
Garud 6.7 5,210
Ellyin 6.17 4,450
Brown-Miller 6.22 3,980
SWT 6.24 9,930
Liu I 6.41 4,280
Liu II 6.42 5,420
Chu 6.37 3,040
Gamma 26,775
Fatemi-Socie 6.23 10,350
Glinka 6.39 33,220
Strain Based Models Summary
 Two separate models are needed, one for

tensile growth and one for shear growth
 Cyclic plasticity governs stress and strain
ranges
 Mean stress effects are a result of crack
closure on the critical plane
Separate Tensile and Shear Models
σ3 σ
σ1
σ2
σ1 = τxy
Inconel 1045 steel stainless steel
Cyclic Plasticity
∆ε
∆γ
∆εp
∆γp
∆ε∆σ
∆γ∆τ
∆εp∆σ
∆γp∆τ
Mean Stresses
σ 'f − σ mean
∆ε eq = ( 2 N f ) b + ε 'f ( 2 N f ) c
E
∆γ max σ'f −2σn
+ S∆εn = (1.3 + 0.7S) (2Nf )b + (1.5 + 0.5S) ε 'f (2Nf )c
2 E
∆γ  σn,max  τ'f
1+ k  = (2Nf )bo + γ 'f (2Nf )co
2  σ y  G
'2
∆ε1 σ
σn = (2Nf )2b + σ'f ε 'f (2Nf )b+c
f
2 E
 2 
∆WI =[(∆σn ∆εn )max + (∆τ∆γ)] 
 1−R 
Fracture Mechanics Models
 Mode I growth
 Torsion
 Mode II growth
 Mode III growth
Mode I, Mode II, and Mode III
Mode I Mode II Mode III
opening in-plane shear out-of-plane shear
Mode I and Mode II Surface Cracks
σ
Mode II
σ σ
Mode I
σ
Biaxial Mode I Growth
10-3 ∆σ = 193 MPa 10-3 ∆σ = 386 MPa
λ = -1 λ = -1
λ=0 λ=0
λ=1 λ=1
da/dN mm/cycle
da/dN mm/cycle
10-4 10-4
10-5 10-5
10-6 10-6
10 20 50 100 200 10 20 50 100 200
∆K, MPa m ∆K, MPa m
Surface Cracks in Torsion
Mode II
Mode III
Failure Modes in Torsion
Transverse Longitudinal Spiral
Fracture Mechanism Map
60
No Cracks
1500 50
Spiral
Yield Strength, MPa
Hardness Rc
Cracks
Longi- 40
tudinal
Transverse
1000 Cracks
30
200 300 400 500

Shear Stress Amplitude, MPa
Mode I and Mode III Growth
10-3
da/dN, mm/cycle
10-4 ∆KI
10-5 ∆KIII
10-6
5 10 20 50 100
∆KI , ∆KIII MPa m
Mode I and Mode II Growth
7075 T6 Aluminum
10-2 Mode I R = 0
Mode II R = -1
10-3
da/dN, mm/cycle
10-4
10-5
10-6
SNCM Steel
10-7 Mode I R = -1
Mode II R = -1
1 10 100
∆KI , ∆KII MPa m
Fracture Mechanics Models
=C(∆K eq )
da m
dN
[
∆K eq = ∆K +8∆K + 8∆K4
I
4
II
4
III (1 − ν ) ]
0.25
[
∆K eq = ∆K +∆K +(1+ν)∆K
2
I ] 2
II
2 0 .5
III
∆K eq =[∆K +∆K ∆K + ∆K ]
2
I I II
2 0 .5
II
0 .5
 E 2
∆K eq (ε)=(FII ∆γ ) +(FIE∆ε) 
2
πa
 2(1 + ν ) 
 σn,max 
∆K eq (ε )=FG∆γ1+ k  πa
 σ 
 ys 
Fracture Surfaces
Bending Torsion
Mode III Growth
∆K = 14.9
10-4 ∆K = 12.0
∆K = 11.0
Crack growth rate, mm/cycle

∆K = 10.0
10-5 ∆K = 8.2
10-6
10-7
10-8
10-9
0.2 0.4 0.6 0.8 1.0
Crack length, mm
Fracture Mechanics Models Summary
 Multiaxial loading has little effect in Mode I

 Crack closure makes Mode II and Mode III
calculations difficult
Nonproportional Loading
 In and Out-of-phase loading

 Nonproportional cyclic hardening
 Variable amplitude
In and Out-of-Phase Loading
γ
1+ ν
εx εx = εosin(ωt)
t
εx ε
γxy γxy γxy = (1+ν)εosin(ωt)
t
∆γ
In-phase
εy γ
εx εx = εocos(ωt)
t 1+ ν
ε
γxy γxy = (1+ν)εosin(ωt)
t
Out-of-phase ∆γ
In-Phase and Out-of-Phase
γ xy
2 τ xy
2
∆γxy
2 εx
∆2τxy σx
ε θ
1
∆ε x
∆σ x
Loading Histories
out-of-phase γxy/2 γxy/2

diamond
εx εx
square γxy/2 cross γxy/2
εx εx
Loading Histories
in-phase
out-of-phase
diamond
square
cross
Findley Model Results
∆τ/2 MPa σ MPa ∆τ/2 + 0.3 σ N/N
n,max n,max ip
in-phase 353 250 428 1.0
90° out-of-phase 250 500 400 2.0
diamond 250 500 400 2.0
square 353 603 534 0.11
cross - tension cycle 250 250 325 16
cross - torsion cycle 250 0 250 216
γxy/2 γxy/2 γxy/2

out-of-phase diamond square cross γxy/2
εx εx εx εx
in-phase
Nonproportional Hardening
εx εx = εosin(ωt)
t

t
In-phase
εx εx = εocos(ωt)
t

t
Out-of-phase
In-Phase
600 300
Axial Shear
-0.003 0.003 -0.006 0.006
-600 -300
90° Out-of-Phase
600 300
Axial Shear
-0.003 0.003-0.006 0.006
-600 -300
Critical Plane
Proportional 600 Out-of-phase 600

Nf = 38,500 Nf = 3,500
Nf = 310,000 Nf = 40,000
-0.004 0.004-0.004 0.004
-600 -600
Loading Histories
0 1 2 3 4
5 6 7 8 9
10
11 12 13
Stress-Strain Response
300 300 300
Case 1 Case 2 Case 3
150 150 150
0 0 0
Shear Stress ( MPa )
-150 -150 -150
-300 -300 -300

-600 -300 0 300 600 -600 -300 0 300 600 -600 -300 0 300 600
300 300 300
150 150 150
0 0 0
-150 -150 -150
-300 -300 -300

-600 -300 0 300 600 -600 -300 0 300 600 -600 -300 0 300 600
Stress-Strain Response (continued)
300 300 300
150 150 150
0 0 0
Shear Stress ( MPa )
-150 -150 -150
-300 -300 -300

-600 -300 0 300 600 -600 -300 0 300 600 -600 -300 0 300 600
300 300 300
150 150 150
0 0 0
-150 -150 -150
-300 -300 -300

-600 -300 0 300 600 -600 -300 0 300 600 -600 -300 0 300 600
Axial Stress ( MPa )
Maximum Stress
All tests have the same strain ranges
2000
Equivalent Stress, MPa
1000
200 2
10 103 104
Fatigue Life, Nf
Nonproportional hardening results in lower fatigue lives
Nonproportional Example
Case A Case B Case C Case D

σx σx σx σx
σy σy σy σy
Shear Stresses
Case A Case B Case C Case D
τxy τxy τxy τxy
Simple Variable Amplitude History
150
0.006
εx σx
-0.003 0.003 -300 300
-0.006 -150
Stress-Strain on 0° Plane
300 150
τxy
-0.003 εx 0.003 -0.005 γxy 0.005
-300 -150
Stress-Strain on 30° and 60° Planes
300 300
30º plane 60º plane
-0.003 0.003 -0.003 0.003

ε30 ε60
-300 -300
Stress-Strain on 120° and 150° Planes
120º plane 300 150º plane 300
-0.003 0.003 -0.003 0.003

ε120 ε150
-300 -300
Shear Strain History on Critical Plane
0.005
Shear strain, γ
time
-0.005
Fatigue Calculations
Load or strain history
Cyclic plasticity model
Stress and strain tensor
Search for critical plane
Nonproportional Loading Summary
 Nonproportional cyclic hardening increases

stress levels
 Critical plane models are used to assess
fatigue damage
Notches
 Stress and strain concentrations

 Nonproportional loading and stressing
 Fatigue notch factors
 Cracks at notches
Notched Shaft Loading
MT
MX
MY
σθ
τθz
σz
Stress Concentration Factors
6
Stress Concentration Factor
Bending
5
d D
4
ρ
Torsion
3
D/d
2.20
2 1.20
1.04
1
0
0.025 0.050 0.075 0.100 0.125
Notch Root Radius, ρ/d
Hole in a Plate
λσ
σθ
a τrθ
σ σ σr σr
θ
τrθ
r
σθ
λσ
Stresses at the Hole
4
3
λ=1
2
1 λ=0
σθ
0
σ
30 60 90 120 150 180
-1
Angle
-2
λ = -1
-3
-4
Stress concentration factor depends on type of loading

Shear Stresses during Torsion
1.5
1.0
τrθ
σ
0.5
0
1 2 3 4 5
r
a
Torsion Experiments
Multiaxial Loading
 Uniaxial loading that produces multiaxial

stresses at notches
 Multiaxial loading that produces uniaxial
stresses at notches
 Multiaxial loading that produces multiaxial
stresses at notches
Thickness Effects
Longitudinal Tensile Strain
0 0.004 0.008 0.012
Transverse Compression Strain
Thickness
0.001 50 mm
x
0.002 30 mm
y
0.003 15 mm z
100
0.004
0.005 7 mm
Applied Bending Moments
MX
MX
1 2 3 4
MY
MY
Bending Moments on the Shaft
A
MY
MX
C
D B
C
A’ A
B’ D’
C’
D
Location
Bending Moments
∆M A B C D
2.82 1 1
2.00 3 2
1.41 2 1
1.00 2
0.71 2
∆M = 5 ∑ ∆M 5
A B C D
∆M 2.49 2.85 2.31 2.84
Torsion Loading
MX
σT σ1
t1 t3
MT σz σ1 = σz
σT
MX
σT σ1 = σT
t2 t4
MT σz
σT σ1 σT
t1 t2 t3 t4
Out-of-phase shear loading is needed to produce

nonproportional stressing
Plate and Shell Structures
Kt = 3 Kt = 4
Fatigue Notch Factors
6
5 D
d D d = 2.2
Stress concentration factor
4
ρ
3
Kf Bending
2 Kt Bending
Kt Torsion
1 Kf Torsion
0
0.025 0.050 0.075 ρ 0.100 0.125
Notch root radius, d
Fatigue Notch Factors ( continued )
bending
Peterson’s Equation
torsion
2.5
KT − 1
conservative Kf = 1 +
a
Calculated Kf
2.0 1+
r
1.5
non-conservative
1.0
1.0 1.5 2.0 2.5
Experimental Kf
Fracture Surfaces in Torsion
Circumferencial Notch
Shoulder Fillet
Stress Intensity Factors
1.50
λ = −1
1.25
λ=0
1.00
σ
F 0.75 λ=1
R
0.50
λσ λσ
a
0.25
σ
0.00
1.00 1.50 2.00 2.50 3.00
a
R
= C (∆K eq )
da
K I = F ∆σ πa
m
dN
Crack Growth From a Hole
λ = -1 λ = 0 λ= 1
100
80
Crack Length, mm
60
40
20
0
0 2 x 10 6 4 x 10 6 6 x 10 6 8 x 10 6
Cycles
Notches Summary
 Uniaxial loading can produce multiaxial

stresses at notches
 Multiaxial loading can produce uniaxial
stresses at notches
 Multiaxial stresses are not very important in
thin plate and shell structures
 Multiaxial stresses are not very important in
crack growth
Final Summary
 Fatigue is a planar process involving the

growth of cracks on many size scales
 Critical plane models provide reasonable
estimates of fatigue damage
Multiaxial Fatigue
University of Illinois at Urbana-Champaign

5 Multiaxial Fatigue

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

5 Multiaxial Fatigue

Uploaded by

Copyright:

Available Formats

Multiaxial Fatigue

Professor Darrell F. Socie

© 2001-2011 Darrell Socie, All Rights Reserved

 State of Stress ( Chapter 1 )

Six stresses and six strains

σ3 - σ2( σX + σY + σZ ) + σ(σXσY + σYσZσXσZ -τ2XY - τ2YZ -τ2XZ )

Stresses are nearly the same over a 10° range of angles

Growth along the surface Growth into the surface

crack growth direction

crack growth direction

 Fatigue cracks nucleate in shear

1.0 Shear stress

 Cyclic tension with static tension

-1.5 -1.0 -0.5 0 0.5 1.0 1.5

0 1.0 2.0 3.0

-1.5 -1.0 -0.5 0 0.5 1.0 1.5

 Tension mean stress affects both tension

1.0 Shear stress

Plastic Work per Cycle, MJ/m3 100 T Torsion

0.0 0.005 0.01

Growth along the surface Growth into the surface

∆γ max σ 'f − 2σ n ,mean

J-603 I-471 C-399

Virtual strain energy for both mode I and mode II cracking

∆WI = (∆σn ∆εn)max + (∆τ ∆γ)

Cyclic Shear Strain Cyclic Tensile Strain

Cyclic Shear Strain Cyclic Tensile Strain

Cyclic Torsion Shear Damage Tensile Damage

Cyclic Shear Strain Cyclic Tensile Strain

Cyclic Torsion Shear Damage Tensile Damage

Cyclic Shear Strain Cyclic Tensile Strain

Cyclic Torsion Shear Damage Tensile Damage

Load Case ∆γ/2 σhoop MPa σaxial MPa Nf

Axial strain 0.006

Model Equation Life

 Two separate models are needed, one for

Inconel 1045 steel stainless steel

Transverse Longitudinal Spiral

200 300 400 500

Crack growth rate, mm/cycle

 Multiaxial loading has little effect in Mode I

 In and Out-of-phase loading

out-of-phase γxy/2 γxy/2

square γxy/2 cross γxy/2

γxy/2 γxy/2 γxy/2

γxy γxy = (1+ν)εosin(ωt)

γxy γxy = (1+ν)εosin(ωt)

-0.003 0.003 -0.006 0.006

-0.003 0.003-0.006 0.006

Proportional 600 Out-of-phase 600

-0.004 0.004-0.004 0.004

150 150 150

-150 -150 -150

-300 -300 -300

150 150 150

-150 -150 -150

-300 -300 -300

150 150 150

-150 -150 -150

-300 -300 -300

150 150 150

-150 -150 -150

-300 -300 -300