CHAP 4

FEA for Elastoplastic Problems

Nam-Ho Kim

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


 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

4.2
1D Elastoplasticity


 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

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

 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
Young’s 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
V
Ultimate
stress Fracture

Yield stress

Proportional
limit Young’s
modulus

H
Strain Necking
hardening 

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

H H e  Hp
– Strain energy density exists in terms of elastic strain

U0 1 E( H )2
2 e

– 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

 1D Elastoplasticity
• Idealized elastoplastic stress-strain behavior
– Initial elastic behavior with slope E (elastic modulus) until yield
stress Y (line o–a)
– After yielding, the plastic phase with slope Et (tangent modulus)
(line a–b).
ʍ
– Upon removing load, elastic unloading
with slope E (line b-c) ď
– Loading in the opposite direction, Ğ Ă ƚ
the material will eventually yield 
in that direction (point c)
– Work hardening – more force is Ž ɸ
required to continuously deform
in the plastic region (line a-b or c-d) Đ
Ě

Work Hardening Models ʍ ď

Ă
• Kinematic hardening Ğ

– Elastic range remains constant

– Center of the elastic region moves
parallel to the work hardening line Ž ɸ
– bc = de = 2oa Đ
– Use the center of elastic domain Ě
as an evolution variable ʍ
Ğ
ď
• Isotropic hardening Ă
– Elastic range (yield stress) increases Ś
proportional to plastic strain
Ž ɸ
– The yield stress for the reversed loading Ś
is equal to the previous yield stress Đ
– Use plastic strain as an evolution
variable Ě

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


 Elastoplastic Analysis
• Additive decomposition
– Only elastic strain contributes to stress (but we don’t know how
much of the total strain corresponds to the elastic strain)
– Let’s consider an increment of strain: 'H 'He  'Hp
– Elastic strain increases stress by 'V E'He
– Elastic strain disappears upon removing loads or changing direction

ʍ ʍ
^ƚƌĂŝŶŚĂƌĚĞŶŝŶŐƐůŽƉĞ͕ƚ

/ŶŝƚŝĂůůŽĂĚŝŶŐ
ȴʍ
ůĂƐƚŝĐ ʍz 
 ZĞůŽĂĚŝŶŐ 
ƐůŽƉĞ͕
ȴɸĞ ȴɸƉ
hŶůŽĂĚŝŶŐ
ɸz ɸ
ȴɸ ɸ


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 V, strain cannot be determined.
– Complete history is required (path- or history-dependent)
– History is stored in evolution variable (plastic strain)

Ž ɸ 
 Plastic Modulus
• Strain increment 'H 'He  'Hp ʍ
^ƚƌĂŝŶŚĂƌĚĞŶŝŶŐƐůŽƉĞ͕ƚ
• Stress increment 'V E'He
'V
• Plastic modulus H ȴʍ
'Hp ʍz

• Relation between moduli ȴɸĞ ȴɸƉ

'V E'H e H'Hp Et 'H ɸz ɸ

ȴɸ
'V 'V 'V 1 1 1
 Ÿ  Et
Et E H Et E H
H
EEt EH § E ·
H Et E¨1 
E  Et EH © E  H ¸¹ 'He 'Hp

• Both kinematic and isotropic hardenings have the same

plastic modulus


Analysis Procedure
• Analysis is performed with a given incremental strain
– N-R iteration will provide 'u º 'HH
– But, we don’t know 'HHe or 'HHp
• 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
ʍ
'V H'Hp
'H 'He  'Hp  'Hp  'Hp
E E
§H · ȴʍ
'Hp ¨  1 ¸ ʍz
©E ¹ 
'H ȴɸĞ ȴɸƉ
Ÿ 'Hp
1H/E
ɸz ɸ
Only when the material is on the plastic curve!! ȴɸ

 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
n 1 k
– From last increment tn: 'dk d  nd ­ u1 ½
n 1 k 1
d ® ¾
– From previous iteration: Gdk d  n 1dk ¯ u2 ¿

X X
3 3
[ [
/


1D FE Formulation cont.
• Interpolation
­ 'u ½
'u(x) [N1 N2 ] ® 1 ¾ N ˜ 'd
¯ 'u2 ¿ Gu N ˜ Gd
d ª 1 1 º ­ 'u1 ½ GH B ˜ Gd
'H
dx
 'u  «L ® ¾
L »¼ ¯ 'u2 ¿
B ˜ 'd
¬
u N˜d
H B˜d
• Weak form (1 element)
– Internal force = external force
L ­ u1 ½
d T ³ BT n 1 Vk 1Adx d T n 1F, d  R2 d ® ¾
0 ¯u2 ¿


 1D FE Formulation cont.
• Stress-strain relationship (Incremental)

n 1 wV
Vk 1 | n 1
Vk  GH n 1
V k  D ep GH
wH
– Elastoplastic tangent modulus

­ E if elastic
Dep ®
¯ Et if plastic

• Linearization of weak form

d T ª ³ BTDepBAdx º Gd
L L
d T n 1F  d T ³ BT n 1 VkAdx
«¬ 0 »¼ 0

Tangent stiffness Residual



1D FE Formulation cont.
• Tangent Stiffness
ADep ª 1 1 º
kT
L «¬ 1 1 »¼
• Residual
L ­° n 1F1  n 1 VkA ½°
n 1 k
R F³ B
n 1 T n 1 k
V Adx ® n 1 ¾
n 1 k
0
¯° F2  V A ¿°
• State Determination: n 1 Vk f( n V, n Hp , 'Hk , !)
Will talk about next slides

• Incremental Finite Element Equation

– N-R iteration until the residual vanishes
n 1 k
kT ˜ Gdk R

 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
VnY V0Y  HHnp Initial yield stress

– Plastic strain is always positive and continuously accumulated even

in cycling loadings
ʍ ʍ
V Yn V Yn
V Y V Y
 

ɸƉ ɸĞ ɸ ɸƉ ɸ

V Yn
V Yn  

State Determination (Isotropic Hardening)

• How to determine stress
– Given: strain increment (H) and all variables in load step n
(E,H, V0Y , Vn , Hnp )

1. Computer current yield stress (pont d)

VnY V0Y  HHnp
ʍ
ʍƚƌ Đ
2. Elastic predictor (point c)
ȴɸƉ
'Vtr E'H V tr Vn  'V tr ʍŶнϭ
ȴʍƚƌ V Yn Ě Ğ
V Y  ȴɸĞƉс;ϭʹZͿȴɸ
3. Check yield status Zȴʍƚƌ
ʍŶ Ă ď
Trial yield function (c – e) Ĩ

ftr V tr  Vny ɸ
ȴɸ

ftr (1  R)E'H
R: Fraction of 'Vtr to the yield stress

 State Determination (Isotropic Hardening) cont.
• If ftr d 0 , material is elastic
Vn 1 Vtr
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)
ʍ
Vn 1 Vtr  sgn(Vtr )E'Hp
/ŶŝƚŝĂůůŽĂĚŝŶŐ
– Update plastic strain

Hnp1 Hnp  'Hp
hŶůŽĂĚŝŶŐ

Plastic strain increment is unknown ZĞůŽĂĚŝŶŐ

ɸ

'H 'He  'Hp

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

State Determination (Isotropic Hardening) cont.

• Plastic consistency condition
– to determine plastic strain increment
fn 1 Vn  1  Vny1 0
– Stress must be on the yield surface after plastic deformation

Ÿ V tr  sgn( V tr )E'Hp  ( Vny  H'Hp ) 0

ʍ
Ÿ V tr  Vny  (E  H) 'Hp 0 ʍƚƌ Đ
ȴɸƉ
V tr
 Vny f tr ʍŶнϭ
'Hp ȴʍ V Yn Ě Ğ
EH EH
V Y  ȴɸĞƉс;ϭʹZͿȴɸ
Zȴʍ
E
'Hp (1  R) 'H ʍŶ Ă ď
EH Ĩ
ftr
R 1 ȴɸ ɸ
'Vtr
%Note: 'Hp is always positive!! 
 State Determination (Isotropic Hardening) cont.
• Update stress
Vn 1 Vtr  sgn(Vtr )E'Hp
ʍ
(1  R)E2 ʍƚƌ Đ
Vn 1 Vtr  sgn(Vtr ) 'H
EH ȴɸƉ
ʍŶнϭ
ȴʍ V Yn Ě Ğ
Elastic trial Plastic compensation V Y  ȴɸĞƉс;ϭʹZͿȴɸ
Zȴʍ
(return mapping)
ʍŶ Ă ď
Ĩ
• Algorithm
1) Elastic trial ȴɸ ɸ

2) Plastic return mapping

– No iteration is required in linear hardening models



Algorithmic Tangent Stiffness

• Continuum tangent modulus
­ E if elastic
– The slope of stress-strain curve Dep ®
• Algorithmic tangent modulus ¯ Et if plastic
– Differentiation of the state determination algorithm

alg w'V w tr V w'H p

D  sgn( tr V)E
w'H w'H w'H
w'Hp 1 w trf E
sgn( tr V)
w'H E  H w'H EH
­ E if elastic
Dalg ®
¯ Et if plastic
• Dalg = Dep for 1D plasticity!!
– We will show that they are different for multi-dimension 
 Algorithm for Isotropic Hardening
• Given: 'H, E, H, V0Y , Vn , Hnp
1. Trial state Vtr Vn  E'H
VnY V0Y  HHnp
ftr Vtr  VnY

1. If ftr d 0 (elastic)
n 1
– Remain elastic: V V tr , Hnp 1 Hnp ; exit
2. If ftr ! 0 (plastic)
ftr
a. Calculate plastic strain: 'Hp
EH
b. Update stress and plastic strain (store them for next increment)
Vn 1 Vtr  sgn(Vtr )E'Hp Hnp1 Hnp  'Hp



Ex) Elastoplastic Bar (Isotropic Hardening)

• E = 200GPa, H = 25GPa, 0Vy = 250MPa
• nV = 150MPa, nHp = 0.0001, 'H = 0.002
• Yield stress: n V Y 0
V Y  H n Hp 252.5MPa
– Material is elastic at tn
• Trial stress: ' tr V E 'H 400MPa
tr
V n
V  ' tr V 550MPa Now material is plastic

• Plastic consistency condition

tr
f
'Hp 1.322 u 10 3
EH
• State update
n 1
V tr
V  sgn( tr V)E'Hp 285.6MPa
n 1
Hp n
Hp  'Hp 1.422 u 10 3

 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
K VD

• Use the center of elastic domain as an evolution variable

Dn 1 Dn  sgn(K)H'Hp Back stress

ʍ
ʍ Vn
Vn V Y

V Y
 V Y D n  V Y
Dn ϮɸƉ ɸ
ɸƉ ɸĞ ɸ



State Determination (Kinematic Hardening)

• Given: Material properties and state at increment n:
( 'H,E,H, V0Y , Vn , Dn , Hnp )

• Elastic predictor
Vtr Vn  E'H, D tr Dn , Ktr Vtr  D tr ʍ
ʍƚƌ Đ
• Check yield status
Trial yield function ʍŶнϭ
Ě Ğ
f tr
K tr
 V 0y
Ktr 
• If ftr d 0, material is elastic ʍŶ Ă ď

Vn 1 Vtr ɲŶнϭ Ő
ɲŶ
Ĩ ɸ
Either initial elastic region or unloading ȴɸ

• If ftr ! 0, material is plastic (yielding)

Either transition from elastic to plastic or continuous yielding 
 State Determination (Kinematic Hardening) cont.
• Updating formulas for stress, back stress & plastic strain
Vn 1 Vtr  sgn(Ktr )E'Hp Dn 1 D tr  sgn(Ktr )H'Hp Hnp1 Hnp  'Hp
• Plastic consistency condition
– To determine unknown plastic strain increment
– Stress must be on the yield surface during plastic loading
fn 1 Kn 1  V 0y 0

Ÿ V tr  sgn( Ktr )E'Hp  D tr  sgn( Ktr )H'Hp  V 0y 0

Ÿ V tr  D tr  V 0y  (E  H) 'Hp 0

Ktr  Vny ftr %Note: the same formula with

'Hp isotropic hardening model!!
EH EH



Algorithm for Kinematic Hardening

• Given: 'H, E,H, V0Y , Vn , Dn , Hnp
1. Trial state V Vn  E'H
tr

D tr Dn
Ktr Vtr  D tr
ftr Ktr  V0Y
2. If ftr d 0 (elastic)
n 1
– Remain elastic: V V tr , Dn  1 Dn , Hnp 1 Hnp ; exit

3. If ftr ! 0 (plastic)
ftr
a. Calculate plastic strain: 'Hp
EH
b. Update stress and plastic strain (store them for next increment)
Vn 1 Vtr  sgn(Ktr )E'Hp Dn 1 Dn  sgn(Ktr )H'Hp

Hnp1 Hnp  'Hp


 Ex) Elastoplastic Bar (Kinematic Hardening)
• E = 200GPa, H = 25GPa, 0Vy = 200MPa
• nV = 150MPa, nD = 50MPa, 'H = í0.002
• Since n
K n
V  nD 100  0 VY , elastic state at tn
• Trial stress:
' tr V E 'H  400MPa, tr
V n
V  ' tr V  250MPa
tr
D n
D 50MPa, tr
K tr
V tr
D  300MPa

• Since trf tr
K  0 VY ! 0, material yields in compression
• Plastic strain f tr
'Hp 0.444 u 10 3
EH
• State update n 1
V tr
V  sgn( tr K)E'Hp 161.1MPa
n 1
D tr
D  sgn( tr K)H'Hp 38.9MPa


Ex) Elastoplastic Bar (Kinematic Hardening)


 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

VnY1 VnY  (1  E)H'Hp Dn 1 Dn  sgn(K)EH'Hp

0dEd1
E = 0: isotropic hardening
E = 1: kinematic hardening


Combined Hardening Model cont.

• Trial state
Vtr Vn  E'H
D tr Dn
Ktr Vtr  D tr
ftr Ktr  VnY
• Stress update
Vn 1 Vtr  sgn(Ktr )E'Hp
Dn 1 D tr  sgn(Ktr )EH'Hp
VnY1 Vny  (1  E)H'Hp

• Show that the plastic increment is the same

ftr
'Hp
EH

 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;



Ex) Two bars in parallel

• Bar 1: A = 0.75, E = 10000, Et = 1000, 0VY = 5, kinematic
• Bar 2: A = 1.25, E = 5000, Et = 500, 0VY = 7.5, isotropic
• MATLAB program
%
% Example 4.5 Two elastoplastic bars in parallel
% %DU
E1=10000; Et1=1000; sYield1=5; 5LJLG 
E2=5000; Et2=500; sYield2=7.5;
mp1 = [E1, 1, E1*Et1/(E1-Et1), sYield1]; %DU
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);


 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

,WHUDWLRQ X V V HS HS 5HVLGXDO

      (

      (

      (

      (



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


 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



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

• Stress Curve



4.3
Multi-Dimensional
Elastoplastic Analysis


 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



Multi-Dimensional Elastoplasticity
• How can we generalize 1D stress state (V11) 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


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

• Sliding preserves volume º 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 V1 = VY, V2 = V3 = 0
VϮ ^ĂĨĞƌĞŐŝŽŶ
V1  V3 VY
Wmax d WY Vz &ĂŝůƵƌĞƌĞŐŝŽŶ
2 2
– Yielding occurs when Wmax WY ʹVz
Vz Vϭ

ʹVz


Failure Criteria cont.

• Distortion Energy Theory (von Mises)
– Material fails when distortion energy reaches that of tension test

Ud d Ud (tension test)

– We need preliminaries before deriving Ud

• Volumetric stress and mean strain
Vm 1 tr( V )
3
1 (V
3 11  V22  V33 )

Hm 1 tr( H )
3
1H
3 v
1 (H
3 11
 H22  H33 )

• Deviatoric stress and strain

s V  Vm1 Idev : V Iijkl (Gik G jl  GilG jk ) / 2

e H  Hm 1 Idev : H Idev I  31 1 … 1


 Failure Criteria cont.
• Example: Linear elastic material
V [O1 … 1  2PI] : H { D : H

V O(3Hm )1  2P( e  Hm 1) Vm (3O  2P)Hm

(3O  2P)Hm 1  2
NPe s 2Pe
 

volumetric deviatoric
Bulk modulus
3O  2P
• Distortion energy density K
3
U 1V :H 1 (V 1  s) : ( H m 1  e ) 3V H  21 s : e
2 2 m 2 m m

Ud 1s :e 1 s :s
2 4P



Failure Criteria cont.

• 1D Case ª2 0 0 º
«3 »
V11 V Vm 1V
3
s V « 0  31 0 »
«0 0  1 »
¬ 3¼

Ud 1 s :s 1 2 V2 1 V2
1D 4P 4P 3 6P

• Material yields when

Ud 1 s :s 1 V2 Ud
4P 6P Y 1D

• Let’s define an equivalent stress Ve 3s

2
:s

• Then, material yields when

von Mises stress
Ve VY
• Stress can increase from zero to VY, but cannot
increase beyond that

 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 1s :e 1V e
2 2 e e

Ud 1 s :s 1 V2 1V e Effective strain
4P 6P e 2 e e

ee 1 V 1 3s :s 1 3 2Pe : 2Pe 2e :e
3P e 3P 2 3P 2 3



Equivalent Stress and Effective Strain cont.

• 1D Case cont.
1  2Q
H11 H H22 H33 QH Hm H
3

ª2 0 0 º 2
(1  Q)H « » § (1  Q)H ·
e 0 1 0 e:e 6¨ ¸
3 « » © 3 ¹
¬« 0 0 1 ¼»
2(1  Q)
ee 2e
3
:e H Effective strain for 1D tension
3

ɸ ɸ


 Von Mises Criterion
• Material yields when Ve = VY J2 1s :s
2
Ve 3s
2
:s 3J2 2nd invariant of s

1
J2 ª (Vx  V y )2  (V y  Vz )2  ( Vz  Vx )2 º  W2xy  W2yz  W2zx
6¬ ¼

1
J2 ª (V  V2 )2  (V2  V3 )2  (V3  V1 )2 º In terms of principal stresses
6¬ 1 ¼

• Yield criterion ʍϮ

V2e  V2Y { 3J2  V2Y 0


ůĂƐƚŝĐ J    V Y ʍϭ
– 1D test data VY can be used for
multi-dimensional stress state
– Often called J2 plasticity model zŝĞůĚƐƵƌĨĂĐĞ
 
J V
 Y


Von Mises Criterion cont.

• J2: second invariant of s

J2 1 [s
2
: s  tr(s)2 ] 1s
2
:s

Impossible
• Von Mises yield function s2
state
Elastic
state
3J2  V2Y 0 Material
yields
Ÿ 3s
2
: s  V2Y 0 s1

Ÿ s:s 2V
3 Y
0

s 2V
Ÿ s  2V
3 Y
0 3 Y

radius

Yield function Yield surface is circular in

deviatoric stress space

 Example
• Pure shear stress W to yield
džϮ ʏ
ª0 W 0º
 « W 0 0» s
« » ʏ ʏ
«¬ 0 0 0 »¼
džϭ
ʏ

s s:s W2  W2 W 2

– Yield surface:
1 V 6DIHUHJLRQ
2W 2V
3 Y
Ÿ W VY
3

– Failure in max. shear stress theory

Safe in distortion energy theory C

– Von Mises is more accurate, but V

D
Tresca is more conservative



Example
• Uniaxial tensile test

ªV 0 0º ª2V 0 0 º
«0 0 0» «3 »
V « » s « 0 3V
1 0 »
«¬ 0 0 0 »¼ « 0 0  31 V »¼
¬

s 4 V2  91 V2  91 V2 2V
9 3

– Yield surface
2V  2V 0 Ÿ V VY Consistent with uniaxial
3 3 Y
tension test

V V


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

/ƐŽƚƌŽƉŝĐŚĂƌĚĞŶŝŶŐ <ŝŶĞŵĂƚŝĐŚĂƌĚĞŶŝŶŐ
ʍϮ ʍϮ

ʍϭ ʍϭ

/ŶŝƚŝĂůLJŝĞůĚƐƵƌĨĂĐĞ /ŶŝƚŝĂůLJŝĞůĚƐƵƌĨĂĐĞ



Hardening Model cont.

• Isotropic hardening model (linear)
'V
VY V0Y  Hep H
'ep
Plastic modulus

ep Effective plastic strain

V0Y Initial yield stress

– H = 0: elasto-perfectly-plastic material
s2
• Kinematic hardening model (linear)
s
– The center of yield surface : back stress D
D
– Shifted stress: K = s – D s1

K  2V
3 Y
0
Radial
– D moves proportional to ep K
D p
2He direction
3 K

 Hardening Model cont.
• Combined Hardening
– Many materials show both isotropic and kinematic hardenings
– Introduce a parameter E ‰ [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
K  2 [V 0
3 Y  (1  E)Hep ] 0

K
D p
2E He
3 K

– Isotropic hardening: E = 0
– Kinematic hardening: E = 1


Ex) Uniaxial Bar with Hardening

• Calculate uniaxial stress s when ep = 0.1, initial VY = 400
MPa and H = 200 MPa (a) isotropic, (b) kinematic and (c)
combined hardening with E = 0.5
ªV 0 0º ª2V 0 0 º
«0 0 0» «3 » 2V
V s « 0 3V
1 0 » s
« » 3
«¬ 0 0 0 »¼ « 0 0  31 V »¼
¬

a) Isotropic hardening

s  2 ( V0
3 Y  Hep ) 2V
3
 2 (400
3
 200 u 0.1) 0
V 420 MPa
b) Kinematic hardening

sD  2 V0
3 Y
0

Ÿ s  D  2 V0
3 Y
2V
3
 2He
3 p  2V0
3 Y
0
V 420 MPa 
 Ex) Uniaxial Bar with Hardening
c) Combined hardening

sD  ª V0Y  (1  E)Hep º

2
¬ 3 ¼
s  D  23 ª¬ V0Y  (1  E)Hep º¼
2V  2EHe  2V0  2 (1  E)Hep
3 3 p 3 Y 3
0

V V0Y  Hep (400  200 u 0.1) 420MPa

All three models yield the same stress (proportional loading)



Rate-Independent Elastoplasticity
• Additive decomposition
H H e  Hp H H e  H p From small deformation assumption

• Strain energy (linear elastic)

W(H e ) 1 He
2
: D : He 1 (H
2
 Hp ) : D : (H  Hp )
• Stress (differentiating W w.r.t. strain)
wW
V D : He D : (H  Hp )
wH e
V D : (H  H p )

D O1 … 1  2PI Why we separate volumetric part

from deviatoric part?

D (O  23 P)1 … 1  2PIdev

 Rate-Independent Elastoplasticity cont.
• Stress cont.
– Volumetric stress: V m 3
)
1 tr( V (O  23 P)tr(H ) (3O  2P)H m

– Deviatoric stress: s 2P( e  e p ) Why isn’t this

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

f( K, ep ) K  2 N(e )
3 p d0 Vtr

– N(ep): Radius of elastic domain Vn+1

– ep: effective plastic strain Vn

• Elastic domain (smooth, convex) Vtr

Vn Vn+1
E ^ ( K, ep ) f( K, ep ) d 0 ` E, f<0


Rate-Independent Elastoplasticity cont.

• Flow rule (determine evolution of plastic strain)
[ (D, ep )
H p  (V, [)
Jr
Plastic variables

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

• Flow potential g(V, [)
wg(V, [) wg(V, [)
r Ÿ H p J
wV wV
– Plastic strain increases in the normal direction to the flow
potential
wg
V
wV

g3
g2
g1

 Rate-Independent Elastoplasticity cont.
• Associative flow rule
– Flow potential = yield function
wf( K, [)
H p J Unit deviatoric tensor
wK normal to the yield surface

wf w K w K:K K K
N
wK wK wK K:K K

wf K
Ÿ H p J J J N
wK K

N determines the direction of plastic strain rate

and J determines the magnitude



Rate-Independent Elastoplasticity cont.

• Evolution of plastic variables (hardening model)
• Back stress D
wf( K, ep )
D HD (ep ) J HD (ep ) J N
wK
Plastic modulus for
kinematic hardening
• Effective plastic strain

e p 2e
3
p : e p 2
3
e p
– Note: plastic deformation only occurs in deviatoric components

H p e p H p J N J
[ (D, ep )
e p 2
3
J Ÿ [  (V, [)
Jh


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

J t 0 J f 0 fd0

1. Within elastic domain: f  0 J 0 Ÿ J f 0

2. On the yield surface
a. Elastic unloading f  0 J 0 Ÿ J f 0

b. Neutral loading f 0 J 0 Ÿ J f 0

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

f=0
f 0 J ! 0 Ÿ J f 0
f=0

º Equivalent to J f 0


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 J f 0
– J is only non-zero when continues plastic deformation

J ! 0  V, [)
f( 0
 V, [) wf wf 
f( : V  ˜[ 0
wV w[
wf wf
: D : (H  H p )  ˜ J h 0
wV w[
wf wf wf
: D : H  : D : J r  ˜ J h 0 Solve for plastic
wV wV w[ consistency parameter

 Classical Elastoplasticity cont.
• Plastic consistency parameter
wf Assume the denominator is positive
: D : H
wV ­ x if x ! 0
J x ®
wf wf ¯ 0 if x d 0
:D:r  ˜h
wV w[
wf
J ! 0 Ÿ : D : H ! 0
wV
wf
: D : H
cos T wV wf
E normal
wf T wV
V
D : H
wV
T < 90o : plastic loading D : H trial stress rate
T = 90o : neutral loading
T > 90o : elastic unloading


Classical Elastoplasticity cont.

• Elastoplastic tangent stiffness (when J > 0)

V D : (H  H p )
wf
wV
: D : H
V D : H  D : J r D : H  D : r wf wf
wV
:D:r w[
˜h
ª D : r … wwVf : D º
V «D  » : H
wf wf
«¬ : D : r  w[ ˜ h »
wV ¼

D : r … wwVf : D
Dep D wf wf
wV
:D:r w[
˜h Elastoplastic tangent operator

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


 Nonlinear Hardening Models
• Nonlinear kinematic hardening model
§ ep ·
D H(ep )e p H(ep ) H0 exp ¨  f ¸ Saturated hardening
¨ e ¸
© p ¹

• Nonlinear isotropic hardening model

N(ep ) V 0Y  ( V fY  V 0Y ) ª¬ 1  exp( ep / epf ) º¼



Example: Linear hardening model

• Linear combined hardening model, associative flow rule
• 5 params: 2 elastic (O, P) and 3 plastic (E, H, VY0) variables

N(ep ) V 0Y  (1  E)Hep D p
2 E He
3

• Plastic consistency parameter

f(s, D, ep ) sD  2 [V0
3 Y
 (1  E)Hep ] 0

wf wf wf
f : s  : D  ep N : s  N : D  2 (1  E)Hep 0
ws wD wep 3

s 
2P e  e p  2Pe  2PJN
D p
2 E He 2 E HJN
3 3

ep 2J
3

 Example: Linear hardening model cont.
• Plastic consistency parameter cont.
f 2PN : H  2PJN : N  23 EHJN : N  23 (1  E)HJ 0
N:N 1
2PN : H N : e N : H
J
2P  23 H
– No iteration is required
• Elastoplastic tangent stiffness
V D : H  D : H p D : H  JD : N D (O  23 P)1 … 1  2PIdev
D:N 2PN

2PN : H ª 4P2 º
V D : H  2PN «D  N … N » : H
2P  23 H «¬ 2P  23 H »¼

Dep


Ex) Plastic Deformation of a Bar

E P Q VY H E

2.4GPa 1.0GPa 0.2 300MPa 100MPa 0.3

• At tn: purely elastic, V11 = 300 Mpa

• At tn+1: 'H11 = 0.1, determine stress and plastic variables
• At tn: ª 300 0 0 º ª 200 0 0 º
V «« 0 0 0 »» MPa, s « 0 100
« 0 » MPa
»
«¬ 0 0 0 »¼ «¬ 0 0 100 »¼
• Strain increments

ª 0.1 0 0 º ª 0.08 0 0 º
'H « 0 0.02 0 », 'e « 0 0.04 0 »
« » « »
«¬ 0 0 0.02 »¼ «¬ 0 0 0.04 »¼

 Ex) Plastic Deformation of a Bar
• Purely elastic at tn: nD = 0, nep = 0. nK = ns – nD = ns
• Trial states:
ª 360 0 0 º
tr
K tr
s n
s  2P'e « 0 180 0 » MPa
« »
«¬ 0 0 180 ¼»
tr
K 3602  1802  1802 180 6MPa

ª2 0 0 º
tr
K 1 « »
N 0 1 0
tr
K 6« »
«¬ 0 0 1 »¼

• Yield function
f( tr K, tr ep ) tr
K  2 N( n e )
3 p 180 6  300 2
3
80 6 ! 0
Plastic state! 

Ex) Plastic Deformation of a Bar

• Plastic consistency parameter
2PN : 'H
J 0.0948
2P  23 H
• Update stress and plastic variables
ª 385.2 0 0 º
n 1
V n
V  D : 'H  2PJN « 0 77.4 0 » MPa
« »
«¬ 0 0 77.4 ¼»

ª 1.54 0 0 º
n 1
D n
D  23 EHJN « 0 0.77 0 » MPa No
« » equilibrium!!
«¬ 0 0 0.77 ¼»
n 1
ep n
ep  2J
3
0.0774

 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: Vn , [n
– At the current time n+1, 'u or 'H is given
• We will use 2-step procedure
1. Predictor: elastic trial
2. Corrector: plastic return mapping (projection onto the yield
surface)


Numerical Integration cont.

1. Elastic predictor
str sn  2P'e D tr Dn eptr epn

dev. inc. strain No plasticity

– Shifted stress: Ktr str  D tr

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

sn 1 str Dn 1 D tr epn 1 eptr

– Exit


 Numerical Integration cont.
2. Plastic corrector cont.
2. If f > 0 (return mapping to yield surface)
unknown 'Hp 'JN
sn 1 str  2P 'H p

sn 1 str  2P'JN

Dn 1 D tr  HD 'JN

Kn 1 sn 1  Dn 1 Ktr  (2P  HD )'JN

So far, unknowns are 'J and N Kn 1 Kn 1

• Trial direction is parallel to final direction

Kn 1 Ktr  I Kn 1 Ÿ Ktr & Kn 1

Kn 1 Ktr
N Known from trial state
Kn 1 Ktr So, everything boils down to 'J 

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( Kn 1 , epn 1 ) 0

– While projecting the trial stress, sn

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

f( Kn 1 , epn 1 ) Kn 1  2 N(en 1 )
3 p 0

Kn 1 Ktr  (2P  HD )'JN Ktr  (2P  HD )'J


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


Ktr  2P  HD (epn 1 ) 'J   2 N(en 1 )
3 p 0

– Nonlinear (scalar) equation w.r.t. 'J epn 1 epn  2 'J

3

– Use Newton-Raphson method (start with 'J 0, epn 1 epn )

f 
Ktr  2P  HD (epn 1 ) 'J   2 N(en 1 )
3 p

df dHD dN
(2P  HD )  2 'J  23
dJ 3 dep dep
f
'J 'J 
df / dJ
epn 1 epn 1  2 'J
3

– Stop when f ~ 0


Numerical Integration cont.

• When N-R iteration is converged, update stress
sn 1 sn  2P'e  2P'JN
Dn 1 Dn  HD 'JN

epn 1 epn  2 'J

3

Vn 1 Vn  D : 'H  2P'JN

Dep : 'H Tangent operator


 Difference from the Rate Form
• Rate form (linear hardening)
2PN : H f(nI,nep) = 0 ns
2N%e
J trs

2P  23 H f(trI,trep)

• Incremental form nB

2NN%e
Ktr  2 N(en )
3 p
'J
2P  2H
3

• Two formulations are equivalent when

1. The material is in the plastic state at tn
 'e is parallel to nK
• When time increment is very small, these two
requirements are satisfied


Consistent Tangent Operator

• Consistent tangent operator – tangent operator that is
consistent with numerical integration algorithm
wV w'V
Dep D alg
wH w'H

Continuum tangent operator Consistent tangent operator

• Differentiate stress update equation

'V D : 'H  2P'JN

w'V w'J wN
D  2PN …  2P'J
w'H w'H w'H

(1) (2)


 Consistent Tangent Operator cont
wf
• Term (1) f( Kn 1 , epn 1 ) f( Kn , epn ) 0 Ÿ 0
w'HH
wf w ª tr 2 N(en 1 ) º
K  (2P  HD (epn 1 ))'J  0
w'H w'H ¬ 3 p ¼

w Ktr w( Ktr : Ktr )1/2 1 1 tr wK

tr
2 K :
w'H w'H 2 Ktr w'H

w Ktr Ktr wKtr wKtr w(str  Dn )

: 2PN 2PIdev
w'H Ktr w'H w'H w'H

wf w'J wHD wep wN wep

2PN  (2P  HD (epn 1 ))  'J  2 0
w'H w'H wep w'H 3 wep w'H

w'J
  w'J 2
2PN  2P  HD (epn 1 )  2H 'J  23 N,e 0
3 D,ep p
w'HH
3 w'HH

w'J 1
2P  HD (epn 1 ) 
2PAN A
2H
3 D,ep
'J  23 N,e
w'H
p



Consistent Tangent Operator cont

• Term (2):
wN wN wKtr wKtr w
: (sn  2P'e  Dn ) 2PIdev
w'H w'H w'H w'H
wK tr

wN w § wKtr · I Ktr … Ktr 1

¨ ¸  ª¬ I  N … N º¼
tr ¨ ¸
wKtr wK © w Ktr ¹ Ktr K tr 3 Ktr

wN 1 2P
ª¬ I  N … N º¼ : 2PIdev ª¬ Idev  N … N º¼
w'H Ktr Ktr

• Consistent tangent operator

w'V 2P
D alg D  2PN … (2PA N)  2P'J ª¬ Idev  N … N º¼
w'H K tr

alg 4P2 'J

D D  4P A N … N 
2
ª¬ Idev  N … N º¼
Ktr

Not existing in Dep 

 Example
• Linear combined hardening

HD (epn 1 ) 2 EH
3
HD,e 0
p

N(epn 1 ) V0Y  (1  E)Hepn 1 N(epn )  2 (1

3
 E)H'J

• Consistency condition
f Ktr   2P  23 EH  'J  2
3  N(e ) 
n
p
2 (1
3
 E)H'J  0

Ktr  2 N(en )
3 p
Ÿ 'J No iteration is required
2P  2H
3

1 2
2P  H
A 3



Variational Equation
• Variational equation

a( n [ ; n 1 u, u ) A( u ), u  ]

a( n [ ; n  1 u, u ) { ³³: H( u ) :
n 1
V d:

– The only nonlinearity is from stress (material nonlinearity)

– Small strain, small rotation
• Linearization
a * ( n [, n 1 uk ; Guk , u ) A( u )  a( n [; n 1 uk , u ), u  ],

a * ( n [, n  1 u ; G u, u ) { ³³: H ( u ) : D
alg
: H ( Gu) d : .

• Update displacement
n1 k 1 n1 k
u u  Guk 
 Implementation of Elastoplasticity
• We will explain for a 3D solid element at a Gauss point
• Voigt notation
{V } [ V11 V 22 V 33 V12 V 23 V13 ]T
{ 'H } [ 'H11 'H22 'H33 2 'H12 2 'H23 2 'H13 ]T

^ 'dI1 'dI3 `
T
• Inputs 'dI 'dI2

^ Vn11 `
T
Vn Vn22 Vn33 Vn12 Vn23 Vn13

^ Dn11 `
T
[n Dn22 Dn33 Dn12 Dn23 Dn13 epn
]
[ [ ±± ±

±
[ 
[
K
[
[ ±±
[
±±
x
±
[ [
x
x D)LQLWH(OHPHQW E5HIHUHQFH(OHPHQW


Implementation of Elastoplasticity cont.

• Displacement
[ = {[, K, ]}T is the natural coordinates at an integration point
8
'u ¦ NI ([)'dI ª NI,1 0 0 º
I 1
« »
• Strain « 0 NI,2 0 »
8
« 0 0 NI,3 »
BI « »
'H ¦ BI 'uI « NI,2 NI,1 0 »
I 1
« »
« 0 NI,3 NI,2 »
«N 0 NI,1 »¼
• Update ¬ I,3
n 1
u n
u  'u
{ n 1 H } { n H }  { 'H }

 Return Mapping Algorithm
• Elastic predictor

T
– Unit tensor 1 ª¬ 1 1 1 0 0 0 º¼

– Trial stress V tr Vn  C ˜ 'H

– Trace of stress tr(V) V11

tr
 V22
tr
 V33
tr

– Shifted stress Ktr V tr  31 tr(V)  Dn

– Norm Ktr (K11 )  (K22

tr 2
)  (K33
tr 2
)  2[(K12
tr 2
)  (K23
tr 2
)  ( K13
tr 2 tr 2
) ]

– Yield function f Ktr  2 ª V0Y  (1  E)Hepn º

3 ¬ ¼



Return Mapping Algorithm cont.

• Check yield status
– If f < 0, then the material is elastic

Vn  1 V tr D alg D
– Exit

• Consistency parameter 'J f (2P  23 H)

• Unit deviatoric tensor N Ktr Ktr

• Update stress Vn  1 V tr  2P'JN

• Update back stress Dn 1 Dn  23 EH'JN

• Update plastic strain epn 1 epn  2 'J

3

• Calculate consistent tangent matrix


 Implementation of Elastoplasticity cont.
ª 2 1 1 0 0 0º
• Consistent tangent matrix « 31 3 3
»
«3  31 0 0
2 0»
3
4P2 4P2 'J « 1  1 2 0 0 0»
c1 c2 « 3 »
2P  23 H Ktr I dev 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 2¼

• Internal force and tangent stiffness matrix

4 NG 4 4 NG
fint ¦ ¦ (BIT Vn 1 J )K ZK KT ¦ ¦ ¦ (BIT DalgBJ J )K ZK
I 1K 1 I 1 J 1K 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 

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

 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;


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;
.... 
 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


4.4
Elastoplasticity with Finite
Rotation


 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



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)
ª cos D  1 0 0º
« cos D  1 0 »»
• How can we use engineering strain H « 0
for a finite rotation problem? «¬ 0 0 0 »¼

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

(Body-fixed coordinate, not Eulerian but Lagrangian)
• Can the frame of reference move?

 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)
dž
x Q(t) ˜ x  c(t) W
[
x and x are different by rigid-body motion,
by relative motion between observers xyz


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 Q˜v

• Objective tensor T Q ˜ T ˜ QT

• In order to use a moving reference, we must use

objective quantities

 Example
• Deformation gradient
wx w wx
F ( Q(t) ˜ x  c(t)) Q(t) ˜ Q(t) ˜ F
wX wX wX
– F transforms like a vector
• Right C-G deformation tensor
C F TF ( QF)T ( QF) FT Q T 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 

Velocity Gradient
• In two different frames
Velocity gradient is related to incremental
wv wv displacement gradient in finite time step
L , L
wx wx w'u
L't |
wx
• Time differentiate of x Q˜x
x  ˜x
Q˜v Q

v  Tx
Q ˜ v  QQ Velocity is not objective

• Spatial differentiation of v
wv
L
wx
wv wx wx
Q˜ ˜  Q ˜ Q T ˜
wx wx wx
 ˜Q Velocity gradient is not objective
Q˜L˜Q  Q
T T


 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 ˜ Q T 
Q ˜ QT 1 Ÿ  ˜ Q T  Q ˜ Q T
Q 0

d Q ˜ 21 (L  LT ) ˜ Q T Q ˜ d ˜ QT Objective
This is incremental stain
• Spin tensor
W 1 (L
2
 LT ) W 1 (L
2
 LT )

W 1 (L  LT ) 1 (Q  ˜ QT  Q ˜ Q
˜ L ˜ Q T  Q ˜ LT ˜ Q T  Q  T)
2 2

W Q ˜ W ˜ Q T  21 ( Q ˜ Q T  Q ˜ Q
 T)

Depends on the spin of rotating frame

Not Objective


Cauchy Stress Is an Objective Tensor

• Proof from the relation between stresses
1
V FSFT
J
1 1 §1 · T
V FSF T QFSFT Q T Q ¨ FSFT ¸Q QV Q T
J J ©J ¹
S S

• Proof from coordinate transformation of stress tensor

1 2 3
[ T (b ) T (b )
T ( b ) ]xyz [V]xyz [b1 b2 b3 ] [V]xyz [ Q]
y
yc xc
[V]xcyczc [ Q] [V]xyz [ Q]
T

E E
– Coordinate transformation is opposite to rotation x
E
[V]xyz [ Q][V]xyz [ Q]T
z
zc

 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 ˜ QT  Q ˜ T ˜ QT  Q ˜ T ˜ Q
T
T Q
 and Q
– Not objective due to Q T

• Remove non-objective terms using L Q ˜ L ˜ Q T  Q ˜ Q T

Q L ˜Q Q˜L T
Q Q T ˜ LT  LT ˜ Q T

  T  QT( Q T LT  LT Q T )
T (LQ  QL ) TQ T  QTQ
LQTQ T  QLTQ T  QTQ  T  QTQ T LT  QTLT Q T
 T  TLT  QTLT Q T
LT  QLTQ T  QTQ



Objective Rate cont.

• Objective rate
  T  TLT  QTLT Q T
T LT  QLTQ T  QTQ


T  LT  TLT Q( T  LT  TLT )QT

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

• Co-rotational rate (Jaumann rate)

T  W ˜ T  T ˜ W
• Convected rate
T  LT ˜ T  T ˜ L
• These objective rates are different, but perform equally
• When T is stress, they are objective stress rate

 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

1 § w'u w'u ·
T
ej Q ˜ Ej W ¨  ¸ 'Q ˜ Q T
2 ¨ wx wx ¸
© ¹
W: spin tensor
'ej 'Q ˜ Ej W ˜ Q ˜ Ej W ˜ ej Q: rotation tensor



Finite Rotation and Objective Rate cont.

• Cauchy stress in Cartesian coordinates
V Vijei … ej

• Incremental Cauchy stress

'V 'Vij ei … ej  Vij 'ei … ej  Vij ei … 'ej
'VijJ ei … ej  W ˜ (Vij ei … ej )  (Vij ei … ej ) ˜ WT
( 'VijJ  Wik Vkj  VikWkj ) 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

'V J D alg : 'H 'V J 'V  WV  VW


 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+½
§ · § w'uj ·
1 ¨ w'ui w'uj 1 ¨ w'ui ¸
'Hij  ¸ Wij 
2 ¨ wxn  1 2 wxn  1 2 ¸ 2 ¨ wxn  1 2 wxn  1 2 ¸
© j i ¹ © j i ¹

How to calculate these?

• Midpoint configuration
n  21 1 ( xn  1
x 2
 xn ) xn  21 'u xn 1  21 'u
– We want to rotation stress into the midpoint configuration

w'u w'u wxn wxn 1 2 1 w'u

˜ , 1
wxn 1 2 wxn wx n 1 2
wxn 2 wxn


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
W˜R 't 2 2
dt W( 'u) 'tW( u)
Rn 1
Ÿ R (1  21 W) 1 (1  21 W) 1  (1  21 W) 1 W

• Rotation of stress and back stress

Vn R ˜ Vn ˜ RT
This takes care of rigid body rotation
Dn R ˜ Dn ˜ R T

• Now, return mapping with these stresses

– Exactly same as small deformation plasticity

 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)]';



Variational Principle for Finite Rotation

• Total Lagrangian is inconvenient
– We don’t 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( [ n ; u n  1 , u ) { ³³: n 1
’ n 1 u : V n 1 d :

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

– Both :n+1 and Vn+1 are unknown
– Nonlinear in terms of u

 Variational Principle for Finite Rotation cont.
• Energy form cont.
– Since the current configuration is unknown (depends on displace-
ment) , let’s transform it to the undeformed configuration :0

a([ n ; u n 1 , u ) ³³: ’n 1 u : Vn 1 d: ³³: (’ 0 uF 1 ) : Vn 1J d:

n 1 0

– Integral domain can be changed by ³³: n 1

d: ³³: 0
J d: J det(F)

– 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 1V 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)


Linearization
• Increment of deformation gradient

w ª w( x  Z'u) º w'u
'F ’ 0 'u
wZ «¬ wX »
¼Z 0 wX

FF 1 1 Ÿ 'F 1 F 1’0 'uF 1 F 1’n 1 'u

• Increment of Jacobian
Fmn 1e e F F F
'J 'F J div( 'u) 6 ijk rst ir js kt

eijk eijr 2Gkr


 Linearization cont.
• Linearization of energy form

' ³³ (’ 0 uF 1 ) : VJ d:
:0

³³: 0
ª (’ 0 u'F 1 ) : VJ  (’ 0 uF 1 ) : 'VJ  (’ 0 uF 1 ) : V'J º d:
¬ ¼

³³: 0
ª ’ 0 uF 1’n 1 'u : V  ’0 uF 1 : 'V  ’0 uF 1 : Vdiv( 'u) º Jd:
¬ ¼

³³: n 1
ª¬ ’n 1 u’n 1 'u : V  ’n 1 u : 'V  ’n 1 u : Vdiv( 'u) º¼ d:

³³: n 1
’n 1 u : ª¬ 'V  Vdiv( 'u)  V(’n 1 'u)T º¼ d:

AB : C A : CBT AikBkjCij Aik CijBkj

Use Jaumann objective rate



Linearization cont.
• Linearization of energy form cont.
L[a([ n ; u n 1 , u )] ³³: ’n 1 u : ª¬ 'V  Vdiv( 'u)  V(’n 1 'u)T º¼ d:
n 1

³³: n 1
’n 1 u : ª¬ 'V J  WV  VW  Vdiv( 'u)  V(’n 1 'u)T º¼ d:

– Express inside of [ ] in terms of ’n 1 'u

– Constitutive relation: 'V J D alg : 'H D alg : (’n 1 'u)

– Spin term
1 ( w'ui w'um w'uk
WimVmj 2 wxm
 wxi
)Vmj 1 V (G G
2 mj ik ml
 Gmk Gil ) wxl
1 (V G  VkjGil )[’n 1 'u]kl
2 lj ik

VimWmj 1 (V G
2 il jk  Vik G jl )[’n 1 'u]kl

w'uk
Vij wxk
VijGkl[’n 1 'u]kl

w'uj
Vim wxm
VilG jk [’n 1 'u]kl

 Linearization cont.
• Linearization of energy form cont.
L[a( u, u )] ³³: n 1
’n 1 u : ª¬ 'V J  WV  VW  Vdiv( 'u)  V(’n 1 'u)T º¼ d:

1 (V G  V jk Gil  VilG jk  Vik G jl )  VijGkl

2 jl ik

– Initial stiffness term (we need to separate this term)

V : sym(’n 1 u T ’n 1 'u) V : K( 'u, u )

wu w'um wum w'um wui w'uk
Vrs 21 ( wxm  ) V jlGik
r wxs wxr wxs wxj wxl

– Define

Dijkl
*
VijGkl  21 ( VilG jk  V jlGik  Vik G jl  V jk Gil )

Rotational effect of Cauchy stress tensor



Linearization cont.
• Linearization of energy form cont.
L[a([ n ; u n 1 , u )] ³³: ª ’n 1 u : (D alg  D * ) : ’n 1 'u  V : K 'u u ) º d:
n 1
¬ ¼
{ a * ([ n , u n 1 ; 'u, u )

• N-R iteration

a * ( n [, ukn 1 ; 'uk 1 , u ) A( u )  a( n [; ukn 1 , u ), u  '

History-dependent Bilinear
(implicit)


 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
{V } [ V11 V 22 V33 V12 V23 V13 ]T
{ 'H } [ 'H11 'H22 'H33 2 'H12 2 'H23 2 'H13 ]T

^ 'dI1 'dI3 `
T
• Inputs 'dI 'dI2

^ `
T
Vn Vn11 Vn22 Vn33 Vn12 Vn23 Vn13

^ Dn11 `
T
[n Dn22 Dn33 Dn12 Dn23 Dn13 epn



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)

 Implementation cont.
• Stress-displacement matrix (Two approaches)
1. Mapping between current (n+1, k) and reference configurations
ª wx1 wx2 wx3 º ª w º ª w º
« w[ w[ w[ » « wx » « w[ »
« » « 1» « »
« wx1 wx2 wx3 » « w » 1 « w »
J « wK J
wK wK » « wx » « wK »
« » « 2» « »
« wx1 wx2 wx3 » « w » « w »
« w] w] w] »¼ « wx » «¬ w] »¼
¬ ¬ 3¼

2. Mapping between undeformed and reference configurations

ª w º ª w º
« wx » « wX »
« 1» « 1» ’n 1 u F 1’ 0 u
« w » « w »
« wx » F 1 «
wX »
« 2» « 2»
« w » « w »
« wx » « wX »
¬ 3¼ ¬ 3¼

Use this for B matrix 

Implementation cont.
1. Obtain midpoint configuration (between k and k+1)
1
wxn ª 1 w'u º w'u w'u wxn
«1  2 n » ˜
wxn 1 2 ¬ wx ¼ wxn 1 2 wxn wxn 1 2

'H sym(’n  1 'u) W skew(’n  1 'u)

2 2

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

3. Rotate stresses: Vn R ˜ Vn ˜ RT Dn R ˜ Dn ˜ RT
4. Return mapping with Vn , Dn
– This part is identical to the classical return mapping
– Calculate stresses: Vnk 11 , Dnk 11
– Calculate consistent tangent operator Dalg


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

ª V11 V11 V11 V12 0 V13 º

• Tangent stiffness matrix «V
« 22 V22 V22 V12 V23 0 »
»
« V33 V33 V33 0 V23 V13 »
D* « »
« V12 V12  2 (V11  V22 )  2 V13  2 V23
0 1 1 1
4 4 NG »
KT ¦¦¦ [BIT (D alg  D )BJ J ]K ZK
* « 0
«
¬« V13
V23
0
V23
V13
 2 V13
1

 2 V23
1
 2 (V22  V33 )
1

 2 V12
1
 2 V12
1 »
»
 2 (V11  V33 ) ¼»
1
I 1 J 1K 1

• Initial stiffness matrix ª NI,1 0 0 º

« »
4 4 NG « NI,2 0 0 »
¦ ¦ ¦ [BIG «N 0 »
T
KS 6BJG J ]K ZK « I,3
0
»
I 1 J 1K 1 « 0 NI,1 0 »
« »
[BIG ] « 0 NI,2 0 »
ªV 0 0º « 0 N 0 »
« I,3
»
[6] «0 V 0» « 0 0 NI,1 »
« » « »
«¬ 0 0 V »¼ « 0 0 NI,2 »
9x9 « 0 0 NI,3 »¼
¬


Implementation cont.
• Solve for incremental displacement
[KT  KS ]{ Gdk 1 } { f ext }  { fint }

• Update displacements
dkn11 dkn 1  Gdk 1
'dk 1 'dk 1  Gdk 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


 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;
.... 

Ex) Simple Shear Deformation

• Plane-strain square with the velocity gradient at each load
step ª 0 0.024 0 º
ª w'u º «
E 24GPa, Q 0.2,
« wx » « 0.02 0 0 »»
¬ ¼ H 1.0GPa, V0Y 200 3MPa
«¬ 0 0 0 »¼
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);

 Ex) Simple Shear Deformation





6KHDUVWUHVV03D




 6PDOO VWUDLQ
)LQLWH
URWDWLRQ

     
6KHDUVWUDLQ

stress [0 0 0 212.9 0 0]T

stressR [43.4 43.4 0 208.2 0 0]T



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

 4.5
Finite Deformation
Elastoplasticity with
Hyperelasticity


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


 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


Intermediate Configuration
• Let’s 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
Fd X Fe (FpdX) Fe dxp

– 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: H H e  Hp

 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
hŶĚĞĨŽƌŵĞĚ ƵƌƌĞŶƚ
ŽŶĨŝŐƵƌĂƚŝŽŶ ŽŶĨŝŐƵƌĂƚŝŽŶ

Fp Fe
ůĂƐƚŝĐ
ĞĨŽƌŵĂƚŝŽŶ

/ŶƚĞƌŵĞĚŝĂƚĞŽŶĨŝŐƵƌĂƚŝŽŶ 

Kirchhoff Stress – Matter of Convenience

• Kirchhoff stress W JV
– 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 Ÿ W|V

– We assume the constitutive relation is given in terms of W

• Why do we use different stress measure?
– By including J into stress, we don’t have to linearize it
– We can integrate the energy form in :0
– But, still all integrands are defined in :n


 Elastic Domain and Free Energy
• Elastic domain
E { ^ ( W, q) f( W, q) d 0 `

– q: stress-like internal variables (hardening properties)

– Isotropy: the yield function is independent of orientation of W and
q (objectivity)
• Free energy function (similar to strain energy density)
\ \(be , [)

– Elastic left C-G deformation tensor: be Fe FeT

w\
– strain-like internal variables vector: q 
w[

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



Dissipation Function
• Dissipation function (ignoring thermal part)
d
D {W:d \(be , [) t 0
dt

– Rate of stress work – rate of free energy change

– Rate of deformation d = sym(L), where velocity gradient L  1
FF

– Dissipation is energy loss due to plastic deformation (irreversible)

• Rate of elastic left C-G tensor
– We can’t differentiate be because its reference is :p
– Transform to :0 using F = FeFp relation

be Fe FeT (FFp1 )(FpT FT ) F(Fp1FpT )FT FCp1FT

be  1FT  FC 1F T  F d C 1 FT

FCp p dt p  

 Rate of Elastic Left C-G Tensor
• Rate of elastic left C-G tensor cont.
be  1FT  FC 1F T  F d C 1 FT
FCp p dt p  
wv 1 T T wv
F F F FFp1FpT FT LFe FeT Lbe
wX p p wx
Cp: plastic right C-G
be LT 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  Lv be

Elastic Plastic


Dissipation Function cont.

• Dissipation function cont.

d
D W:d \(be , [)
dt
w\ w\ 
W : d  e : be  ˜[
wb w[
w\

W : d  e : Lbe  be LT  Lv be  q ˜ [
wb

w\ § w\ ·
W :d2 be : L  ¨ 2 be ¸ : ¬ª  21 (Lv be )be1 ¼º  q ˜ [
wbe © wbe ¹
§ w\ · § w\ · 1 
¨ W  2 wb be ¸ : d  ¨ 2 wb be ¸ : ª¬  2 (Lv be )be º¼  q ˜ [ t 0
1
© e ¹ © e ¹

)RUDV\PPHWULFPDWULFHV$%& $&%
For a symmetric S and general L, S:L = S:sym(L)


 Principle of Maximum Dissipation
• Principle of Maximum Dissipation
– For all admissible stresses and internal variables, the inequality
must satisfy
§ w\ · § w\ · 1 
D W   ¸ : ª¬  2 (Lv be )be º¼  q ˜ [ t 0
2 b : d 1
¨ wbe e ¸ ¨2 be
© ¹ © wbe ¹
– If we consider the material is elastic, then no plastic variable will
change Lv be [ 0
– In order to satisfy the inequality for any d (especially d1 = - d2)

w\
W 2 b Constitutive relation
wbe e

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

stress increment
w\ 1
– In addition, we have W ˜ be1
wbe 2


Principle of Maximum Dissipation cont.

• Reduced dissipation function
§ w\ · 1 
¸ : ¬ª  2 (Lv be )be ¼º  q ˜ [ t 0
1
¨ 2 wb be
© e ¹

Ÿ W : ª¬  21 (Lv be )be1 º¼  q ˜ [ t 0 Plastic

dissipation

• Principle of Maximum Dissipation

– Plastic deformation occurs in the direction that maximizes D

– In classical associative plasticity

D V : H p  q ˜ [ t 0

wf wf
Hp & Ÿ H p J
wV wV

 Principle of Maximum Dissipation cont.
• Principle of Maximum Dissipation cont.
– For given rates {Lv be , [ }, state variables {W, q} maximize the
dissipation function D

D ( W  W * ) : ª¬  21 (Lv be )be1 º¼  ( q  q* ) ˜ [ t 0, ^ `
 W * , 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 wf
wWW
– All W* should reside inside of E T
W W
– Thus, the angle T should be greater
than or equal to 90o
E
– In order to satisfy for all W*,  21 (Lv be )be1
should be normal to yield surface


Principle of Maximum Dissipation cont.

• Evolution equations for multiplicative decomposition

wf( W, q) w f( W, q)
 21 Lv be J be [ J
wW wq

J t 0, f( W, q) d 0, Jf( W, 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 [)
– We need to integrate these equations


 Time Integration
• Given: {Fn ben [n } and 'u
f
• Relative deformation gradient Fn

wxn 1 :Q
f( x) 1  ’n 'u :Q
wx n

:
Fn 1 f ˜ Fn
wu wu wxn 1
f Lf
wxn wxn 1 wxn

• First-order evolution equations

w f( W, q)
be ª Lbe  be LT º  2J
¬ ¼ be
wW
Initial conditions
w f( W, q)
[ J { f, be , [ } t {1, ben , [n }
wq tn

J t 0, f( W, q) d 0, Jf( W, q) 0 Strain-based evolution



Time Integration cont.

• Constitutive law
w\ w \(be , [)
W 2 b q 
wbe e w[
– 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 Ÿ Fetr f ˜ Fen Fptr Fpn


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

f tr f betr fben fT [ tr [n

• Check for yield status

w\ w \(betr , [tr )
W tr
2 tr betr q tr

wbe w [ tr

– If Wtr < f, trial state is final state and stop

ben 1 betr [n 1 [ tr
Wn 1 W tr qn 1 qtr



Time Integration cont.

• Plastic corrector (in the fixed current configuration)
– The solution of y Ay is y = y0exp(At)
wf
be Lbe  be LT  2J b
wW e

Elastic Plastic

ª wf( W e , q) º
ben 1 betr exp « 2'J » 'J J't
¬ wW ¼
wf( W e , q)
[n 1 [ tr  'J
wq
'J t 0, f( W, q) d 0, 'J f( W, q) 0

– First-order accuracy and unconditional stability

– return-mapping algorithms for the left Cauchy-Green tensor


 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 W is
parallel to that of be
• Spectral decomposition
3 3
be ¦ Oi2 nˆi …nˆi W ¦ Wpi nˆi … nˆi
i 1 i 1
ben 1 betr exp ª¬ " º¼

Oi : principal stretch be and betr have the

Wpi : principal Kirchhoff stress
same eigenvectors!!

nˆi : spatial eigenvector Do you remember that

Nˆi K // Ktr in classical plasticity?
: material eigenvector


Return Mapping in Principal Stress Space

• Principal stress vector Wp [Wp1 , Wp2, Wp3 ]T

• Logarithmic elastic principal strain vector

e [e1 e2 e3 ]T [log O1 log O2 log O3 ]T
Good for large elastic strain
• Free energy for J2 plasticity

\( e, [) 1 O[e ˆ [)
 e2  e3 ]2  P[e12  e22  e32 ]  K(
2 1

• Constitutive relation in principal space

w\ ˆ  2P1
ˆ …1
Wp ce ˜ e ce (O  23 P)1 dev
we
ˆ
1 [1, 1, 1]T 1dev 1  31 (1 ˆ)
ˆ …1

– Linear relation between principal Kirchhoff stress and logarithmic

elastic principal strain

 Return Mapping in Principal Stress Space cont.
• Take log on return mapping for be and pre-multiply with ce
3 3 3
be ¦ Oi2 n … nˆi
ˆi Ÿ log(be ) ¦ 2log(Oi ) n ˆi …n ˆi ¦ 2ei nˆi … nˆi
i 1 i 1 i 1

ª wf( W e , q) º
ben 1 betr exp « 2'J »
¬ wW ¼

ª wf( W, q) º
Ÿ log(ben 1 ) log(betr )  log exp « 2'J
¬ w W »¼

 wf
3
wfˆ
f( W, q) f( Wp , q) Ÿ
wW
¦ wW nˆi … nˆi
i 1 pi
wf̂( Wp , q)
Ÿ 2en 1 2etr  2'J
wWp

wf̂( Wp , q)
Ÿ ce ˜ en 1 ce ˜ etr  'Jce ˜
wWp


Return Mapping in Principal Stress Space cont.

• Plastic evolution in principal stress space

wf̂( Wp , q)
Wp Wptr  'J ce ˜ W ptr c e ˜ e tr
wWp

wf̂( Wp , q)
[n 1 [n  'J
wq

'J t 0, ˆ W , q) d 0,
f( ˆ W , q)
'J f( 0
p p

– Fundamentally the same with classical plasticity: Classical

plasticity [V(6×1) and C(6×6)], but here [Wp(3×1) and ce(3×3)]
– During the plastic evolution, the principal direction remains
constant (fixed current configuration)
– Only principal stresses change


 Return Mapping Algorithm
• Deviatoric principal stress
s Wp  31 ( Wp ˜ 1 ˆ
ˆ)1 1dev ˜ Wp

• Yield function
K sD
f( K, ep ) K  2 N(e )
3 p d0
t

• Return mapping
ep ³0 2
3
ep (t) dt

W ptr c e ˜ e tr
D tr Dn
Wnp1 W ptr  2P'JN eptr epn
Dn 1 D tr  'JHDN Kn 1 Ktr
N
Kn 1 Ktr
epn 1 eptr  2 'J
3

Identical to the classical plasticity



Return Mapping Algorithm cont.

• Plastic consistency parameter
f( Kn 1 , epn 1 ) Kn 1  2 N(en 1 )
3 p

Ktr  (2P  HD )'J  2 N(en 1 ) 0

3 p

– Solve for 'J using N-R iteration, or directly for linear hardening
– Derivative wf 1
(2P  HD  2H
3 D,ep
'J  23 N,e ) 
w'J p
A
• Recovery
– Once return mapping converged, recover stress and strain

3 3
W n 1
¦ Wnpi1 n …n
ˆi ˆi ¦ Wnpi1 mi mi nˆi … nˆi
i 1 i 1

3
ben 1 ¦ exp(2ein 1 )mi en 1 e tr  'JN
i 1

 Ex) Incompressible Elastic Cube
• Elastic deformation: x1 DX1 , x2 EX2, x3 EX3
• Deformation gradient
ªD 0 0º ª D2 0 0º
« 0 E 0 », « »
F « » b FFT « 0 E2 0»
« 0 E2 ¼»
¬« 0 0 E ¼» ¬ 0
• Incompressibility: det(F)=1 E 1/ D
• Eigenvalues and eigenvectors:
O1 D2 , n1 [1 0 0]T
O2 D 1 , n2 [0 1 0]T
O3 D 1 , n3 [0 0 1]T
• Logarithmic stretches:
^ 2log D  log D `
T
e  log D 

Ex) Incompressible Elastic Cube

• Stress-strain relation (principal space)
ª O  2P O O º ­ 2log D ½ ­ 4P log D ½
Wp « O O  P O » °  log D ° ° °
« 2 »® ¾ ® 2P log D ¾
«¬ O O O  2P »¼ °¯  log D °¿ ° 2P log D °
¯ ¿

• Kirchhoff stress
3 ª2 0 0 º
W ¦ Wipni … ni 2P log D «« 0 1 0 »»
i 1
«¬ 0 0 1 »¼


 Consistent Tangent Operator
• Relation b/w material and spatial tangent operators
wS
D Ÿ E : D : 'E [FT H( u )F] : D : [FT H( 'u)F] H( u ) : c : H( 'u)
wE
wSrs
cijkl FirFjsFkmFlnDrsmn FirFjsFkmFln
wEmn
– FirFjs: transform stress to material frame W = FSFT
– FkmFln: differentiate w.r.t. E and then transform to spatial frame
wWij
• But, cijkl z ww ww T
F F
wHkl wH wE

¦i 1 Wnpi1 mi
3
• Let Wn  1

• We want c wW wH , but we have

wW p alg 4P2 'J

c c  4P A N … N 
e 2
[1dev  N … N]
we Ktr


Consistent Tangent Operator cont.

• How to obtain c wW wH using c alg wW p we ?
• Remember wWp we contains all plasticity
• Since intermediate frame is reference, we have to use Fe
• Start from stress expression
¦i 1 Wnpi1 mi
3
Wn  1

wW w §
3 · 3 ª wWnpi1 iº
n 1 wm
c ¨¨ ¦ Wnpi1 mi ¸¸ ¦ « wH … m  Wpi wH »
i
wH wH © i 1 ¹ i 1« »¼
¬
3 ª 3 wWnpi1 wejtr iº
n 1 wm
c ¦ «« ¦ wetr wH … m  Wpi wH »»
i

i 1 ¬j 1 j ¼

(1) (2) (3)


 Consistent Tangent Operator cont.
wWp consistent tangent operator in principal stress
(1) c alg Same as classical return mapping (3×3)
wetr

wejtr wejtr
(2) 2Fe FeT mj
wH wCe
These are elastic
wm i
wm Ti
(3) 2Fe F 2cˆi
wH wCe e

• Using (1), (2), and (3),

3 3 3
wW
c
wH
¦¦ cijalgmi … m  ¦ 2Wpicˆi
j

i 1j 1 i 1



Incremental Variational Principle

• Energy form (nonlinear)
a( n [; u, u ) ³³: n
V : H( u ) d : ³³: 0
V : H( u )J d:

³³: 0
W : H( u ) d :

• Linearization

a * ( n [, n b e , u ; ' u, u ) { ³³ 0
:
ª¬ H ( u )  c : H ( ' u )  W  K( ' u, u ) º¼ d :

• N-R iteration

a * ( n [, n 1 uk 1 ; ' uk 1 , u ) A( u )  a( n [ ; n 1 uk , u ), u  ]


 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


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 
 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];

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; 

6KHDUVWUHVV03D
Iden=[1 1 1]';
DM=2*mu*eye(3) + lambda*Iden*Iden';

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]'; 6PDOO VWUDLQ
epN=0;  )LQLWH URWDWLRQ
stressRN=stressN; alphaRN=alphaN;epRN=epN; /DUJH VWUDLQ
bMN=[1 1 1 0 0 0]';
alphaMN = [0 0 0]'; 

epMN=0; 6KHDUVWUDLQ
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);



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