6

Chapter 6

Elasto-Visco-Plasticity

6.1 Introduction
In earlier Chapters constitutive models were presented for the simulation of elastoplastic and
viscoelastic materials. Nevertheless, there is a great variety of engineering materials which,
depending on strain rate and/or temperature, exhibit response characteristics varying anywhere
between the elasto-plastic and the viscoelastic limits. Asphaltic concrete, rubbery polymers
and certain types of polymeric foams are typical examples.
Constitutive modelling of such types of materials can be implemented by combining the
features of purely elasto-plastic and purely viscoelastic materials to create a more general
category of constitutive models termed elasto-visco-plastic in this Chapter. Fig. 6.1 shows a
one-dimensional schematic of the envisaged material model consisting of a single elasto-
plastic constituent in parallel with an arbitrary number of viscoelastic constituents. The actual
number of necessary elasto-plastic and viscoelastic constituents and their individual
components is to be decided on the basis of the available experimental evidence.
E∞
σy

E1 η1

σ E2 η2 σ

EN ηΝ

Fig. 6.1 Generalized one dimensional elasto-visco-plastic model

Fig. 6.2 indicates schematically the model response at constant temperature. For extremely
low strain rates, the elasto-plastic constituent dictates inviscid response. With increasing strain
rate, the viscous constituent contributes to an increase in material stiffness.

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Elasto-Visco-Plasticity

σ
ε

elastoplastic
limit

ε
Fig. 6.2 Schematic of elasto-visco-plastic model response

6.2 Multiplicative Decomposition

In Chapter 2, it was shown that a vector dx in the deformed current configuration is related
by means of the deformation gradient tensor F to its undeformed configuration via the
relation
dx = F dX 6.1

If it is now assumed that the forces acting on the material element are removed 1, the initial
reference configuration will only be obtained if the material is elastic. In all other cases,
another configuration will be obtained in which the original vector dX is mapped onto vector
dxr with the subscript r indicating the residual nature of deformation, Fig. 6.3.

Let Fe denote the deformation gradient relating the residual deformation configuration to the
current configuration. Then, following the logic of Eq. 6.1
dx = Fe dxr 6.2

Similarly, if Fr denotes the deformation gradient relating the residual deformation

configuration to the reference configuration, then it also holds
dxr = Fr dX 6.3

so that dx = Fe Fr dX 6.4

and therefore F = Fe Fr 6.5

1
Without the development of residual stresses due to compatibility

130
 Elasto-Visco-Plasticity

Fr

dxr
dX Fe

X3 , x 3
F dx

X2 , x 2
X1, x1

Fig. 6.3 Multiplicative decomposition of the deformation gradient

The process represented by Eq. 6.5 is known as the “multiplicative decomposition” of the
deformation gradient to a residual deformation component and a component signifying the
elastic unloading that the material must undergo from the configuration at time t to the
residual configuration.
The concept of multiplicative decomposition of the deformation gradient provides an elegant
tool for description of the three dimensional response of elasto-visco-plastic material models
consisting of elastoplastic and viscoelastic components.

Fp

dxp
dX F∞
F

Fv
X3 , x 3 dx
dxv Fe

X2 , x 2
X1, x1

Fig. 6.4 Multiplicative decomposition of the deformation gradient of an

elasto-visco-plastic material

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Elasto-Visco-Plasticity

As shown schematically in Fig. 6.4, the deformation gradient of a material in which the elasto-
plastic and the viscoelastic components act in parallel can be decomposed as

F = F∞ Fp ; F = Fe Fv 6.6

in which F∞ = the elastic component of the deformation gradient of the elastoplastic element

Fp = the plastic component of the deformation gradient of the elastoplastic element

Fe = the elastic component of the deformation gradient of the viscoelastic element

Fv = the viscous component of the deformation gradient of the viscoelastic element

Furthermore the following definition hold:

C∞ = F∞T F∞ Ce = FeT Fe
; 6.7
Cp = FpT Fp Cv = FvT Fv

therefore

C = FT F = FvT Ce Fv
6.8
= FpT C∞ Fp

6.3 Generalized Model Local Dissipation

The Helmholtz free energy function for a three dimensional model equivalent to the
generalised model of Fig. Fig. 6.1 can be expressed as

Ψ = Ψ v (Ce ) + Ψ p (C∞ , ξp ) 6.9

The Clausius-Planck local dissipation inequality leads to

⎡ ∂Ψ v ⎤ ⎡ ∂Ψ p ∂Ψ p ⎤
S : 21 C − ⎢ : Ce ⎥−⎢ : C + ξ ⎥
p ⎥ ≥ 0 6.10
⎢ ⎥ ⎢ ∂ C∞ ∞
⎣ ∂ Ce ⎦ ⎢⎣ ∂ξ p ⎥⎦

As shown in Appendix 6.1 the above inequality can be reformulated as

⎡ ∂Ψ p −T ⎤ 1
⎢S − 2 Fv− 1 ∂Ψ v Fv−T − 2 Fp− 1 Fp ⎥ : 2 C
⎢ ∂ C ∂ C ⎥
⎣ e ∞ ⎦
⎡ ∂Ψ v T −T ⎤
+ ⎢ 2 Fe Fe Fe : Fe l v ⎥
⎢ ∂ Ce ⎥
⎣ ⎦ 6.11
⎡ ∂Ψ p T −T ∂Ψ p ⎤
+ ⎢⎢ 2 F∞ F∞ F∞ : F∞ l p − ξp ⎥⎥
⎣⎢ ∂ C∞ ∂ξp ⎦⎥
≥ 0

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 Elasto-Visco-Plasticity

By standard arguments, Coleman & Gurtin [1967], on the basis of Eq. 6.11, the stress tensor S
can be additively decomposed into a viscoelastic Sv and a plastic component Sp

∂Ψ v −T ∂Ψ p −T
S = 2 Fv− 1 Fv + 2 Fp− 1 Fp
∂ Ce ∂ C∞ 6.12
= Se + S∞

Also the following inequalities are obtained

∂Ψ v T −T
2 Fe Fe Fe : Fe l v ≥ 0 6.13
∂ Ce

∂Ψ p ∂Ψ p
2 F∞ F∞T F∞−T : F∞ l p − ξp ≥ 0 6.14
∂ C∞ ∂ξp

6.4 Plastic Component Integration Procedure

As it is shown in Appendix 6.2, inequality 6.14 can be written as

τ ∞ : ⎡⎢− 21 L (b∞ )⎤⎥ b− 1

∞ + q : ξp ≥ 0 6.15
⎣ ⎦
with q = −∂Ψ p ∂ ξ p .

The principle of maximum plastic dissipation mentioned in Chapter 4, states that for a given
(
set of ⎡⎢− 21 L (b∞ )⎤⎥ b−
⎣ ⎦
1
)
∞ , ξ , among all possible sets ( )
τ∞ , q in the stress space domain ω
satisfying the condition

ω {τ ∞ ( )
: f τ∞ , q ≤ 0 } 6.16

the actual one is the one which maximizes the argument of inequality 6.15, that is, the one for
which

⎣ (
τ∞ ∈ ω : max τ ∞ : ⎡⎢− 21 L (b∞ )⎤⎥ b−
⎦ ∞
1
+ q : ξp ) 6.17

Utilizing the formal notation of Appendix 4.1, Simo [1992] has pointed out that the above two
relations can be recast as the following constraint minimization problem

⎣ (
minimize − τ ∞ : ⎡⎢− 21 L (b∞ )⎤⎥ b−
⎦
1
∞ + q : ξp ) 6.18
subject to (
f τ∞ , q ≤ 0 )
According to Appendix 4.1, the above minimization statement is equivalent to the following
set of plastic evolution equations, Simo [1998]

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Elasto-Visco-Plasticity

⎛ ∂ f ⎞⎟
− 21 L (b∞ ) = λ ⎜⎜ ⎟b
⎜⎝ ∂ τ ∞ ⎠⎟⎟ ∞
⎛ ∂f ⎞
ξ = λ ⎜⎜ ⎟⎟⎟ 6.19
⎜⎝ ∂ q ⎠
λ ≥ 0 ; f (τ ∞ ,q )≤ 0 ; λ f (τ ∞ ,q)= 0

in which λ is the plastic consistency parameter and f (τ ∞ ,q ) is a flow surface function. The
implemented functions are listed in a latter section.
By utilizing the relation b∞ = FC− 1 T
p F and the definition of the Lie derivative

⎡∂ ⎛ ∂ f ⎞⎟ ⎛ ⎞
1 ⎤ T ⎜⎜ ⎟⎟ b = λ ⎜⎜ ∂ f ⎟⎟⎟ FC− 1 FT
− 21 L (b∞ ) = − 21 F ⎢ (C− )⎥ F = λ ⎜⎜ ⎟ ∞ ⎜ ⎟ 6.20
⎢⎣ ∂ t p ⎥⎦ ⎝⎜ ∂ τ ∞ ⎠⎟ ⎝⎜⎜ ∂ τ ∞ ⎠⎟
p

from which

∂ −1 ⎛ ∂ f ⎞⎟
−1 ⎜
∂t
(Cp ) = − 2 λ F ⎜⎜⎜ ∂ τ ⎟⎟⎟⎟ FC−p 1 6.21
⎜⎝ ∞⎠

⎛ ∂ f ⎞⎟
On the basis of the terminology of Chapter 2, the vector N = FT ⎜⎜ ⎟ F represents the pull-
⎜⎝ ∂ τ ∞ ⎠⎟⎟
⎛ ∂ f ⎞⎟
⎜ ⎟⎟ to the reference configuration. Introducing N into Eq. 6.21 it
back of the vector ⎜⎜
⎜⎝⎜ ∂ τ ∞ ⎠⎟⎟
results, Simo [1987a]
∂ −1
∂t
(Cp ) = − 2 λ C− 1 NC−
p
1
6.22

6.4.1 Stress Reduction Procedure

The procedure that is utilized for reduction of the state of stress to the plastic response surface
is presented in the following.

6.4.1.1 Trial Elastic State

If it is temporarily assumed that during the motion in the time interval ⎡⎢t , t +∆t⎤⎥ no further
⎣ ⎦
plastic deformation takes place, i.e. if it is temporarily set
t+∆ t t+∆ t
Fp = t Fp ; ξ = tξ 6.23

then, an approximate elastic deformation gradient can be computed as

t+∆ t t+∆ t
trial
F∞ = F t Fp− 1 6.24

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 Elasto-Visco-Plasticity

The corresponding elastic left Cauchy-Green tensor is therefore

t+∆ t t+∆ t t+∆ t
b =
trial ∞
F
trial ∞ trial
F∞T
6.25
t+∆ t
= F t
C−
p
1 t+∆ t T
F

which is clearly a push forward operation on t C− 1

p .

6.4.1.2 Flow Rule Discretization

The evolution problem defined by Eq. 6.22 can be solved in the time interval ⎡⎢t , t +∆t⎤⎥ to
⎣ ⎦
t+∆ t − 1
give a first order accurate estimate for Cp

t+∆ t
C− 1 ⎡ t+∆ t − 1 t+∆ t ⎤ t − 1
p = exp ⎢⎣− 2 ∆t λ C N⎥ Cp
⎦
6.26

t+∆ t
⎛ ∂ f ⎞⎟
t+∆ t t+∆ t T ⎜⎜ ⎟⎟ t+∆ t F
with N= F ⎜⎜ 6.27
⎜⎝ ∂ τ ∞ ⎠⎟⎟

Details can be found in Appendix 6.7. Setting ∆t λ = ∆λ , on the basis of Eq. 6.25 and Eq.
6.26, the elastic left Cauchy-Green tensor is
t+∆ t t+∆ t t+∆ t
b∞ = F C−
p
1 t+∆ t
FT
t+∆ t
= t+∆ t
F exp ⎡⎢− 2 ∆λ t+∆ t C− 1 t+∆ t N⎤⎥ t+∆ t F− 1 trial b∞
⎣ ⎦
t+∆ t
= exp ⎡⎢− 2 ∆λ t+∆ t F t+∆ t C− 1 t+∆ t N t+∆ t F− 1 ⎤⎥ trial b∞ 6.28
⎣ ⎦
⎡ t+∆ t
⎛ ∂ f ⎞⎟ ⎤⎥ t+∆ t
⎢ ⎜⎜ ⎟⎟ ⎥
= exp ⎢− 2 ∆λ ⎜⎜ ⎟⎟ ⎥ trial b∞
⎢ ⎜
⎝ ∂ τ ∞⎠
⎢⎣ ⎥⎦

⎡ t+∆ t
⎛ ∂ f ⎞⎟ ⎤⎥
⎢ ⎜⎜ ⎟⎟ ⎥
Multiplying both sides of Eq. 6.28 by exp ⎢ 2 ∆λ ⎜⎜ ⎟⎟ ⎥
⎢ ⎜
⎝ ∂ τ ∞⎠
⎢⎣ ⎥⎦

⎡ t+∆ t
⎛ ∂ f ⎞⎟ ⎤⎥
t+∆ t ⎢ ⎜⎜ ⎟⎟ ⎥ t+∆ t
b = exp ⎢ 2 ∆λ
trial ∞ ⎜⎜ ⎟⎟ ⎥ b∞ 6.29
⎢ ⎜⎝ ∂ τ ∞⎠
⎢⎣ ⎦⎥
Because of isotropy
t+∆ t
t+∆ t
⎛ ∂ f (τ ∞ ,q )⎞⎟
⎜⎜
3
⎟⎟ = ∑
⎜⎜
⎜⎜
(
⎛ ∂ f τ , τ , τ ,q
∞,1 ∞,2 ∞,3
⎞⎟
⎟
l i ⊗ l i ⎟⎟
) 6.30
⎜⎝ ∂ τ ⎠⎟ ⎜⎜ ∂τ∞,i ⎟
∞ i=1 ⎝ ⎠⎟⎟

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Elasto-Visco-Plasticity

in which τ∞,i indicates the i-th principal stress of the stress tensor τ ∞ and l i = 1,2,3 are the
corresponding principal directions.
t+∆ t
In addition b∞ can also be expressed as
3 t+∆ t
t+∆ t
b∞ = ∑ (λ2∞,i li ⊗ li ) 6.31
i=1

in which λ ∞,i , i = 1,2,3 are the elastic principal stretches.

Substituting Eq. 6.30 and Eq. 6.31 into Eq. 6.29 it results
t+∆ t
⎡ ⎞⎟ ⎤
⎢
⎛
(
⎜⎜ 3 ∂ f τ∞,1, τ∞,2, τ∞,3,q ⎟⎥ ) 3
∑ (λ2 ,i li ⊗ li )
t+∆ t
b∞ = exp ⎢ 2 ∆λ ⎜⎜∑ l i ⊗ l i ⎟⎟ ⎥ 6.32
trial ⎢ ⎜⎜ i=1 ∂τ∞,i ⎟⎥ ∞
⎢⎣ ⎝ ⎠⎟⎟ ⎥⎦ i=1

which can be simplified (Appendix 6.4) as

t+∆ t
3 ⎛
⎜ (
∂ f τ∞,1, τ∞,2, τ∞,3,q )⎞⎟⎟⎟ λ2
∑ exp ⎜⎜⎜⎜2 ∆λ
t+∆ t
trial
b∞ = ⎟⎟ ∞,i
li ⊗ li 6.33
∂τ∞,i
i=1 ⎜⎝ ⎠⎟⎟
t+∆ t
By means of spectral decomposition b
trial ∞
can be also expressed as

t+∆ t 3
t+∆ t
b
trial ∞
= ∑ λ2 ,i li ⊗ li
∞
6.34
trial i=1

Comparing Eq. 6.33 and Eq. 6.34 it follows

t+∆ t
⎛
⎜ (
∂ f τ∞,1, τ∞,2 , τ∞,3 ,q )⎞⎟⎟⎟
( )=
2
λ ∞,i exp ⎜⎜⎜2 ∆λ
t+∆ t 2
trial
λ ∞,i ⎟⎟ 6.35
⎜⎜ ∂τ∞,i
⎝ ⎠⎟⎟

Taking the logarithm of both sides of Eq. 6.35 and denoting the tensor of elastic principal
logarithmic strains by ε∞,i

t+∆ t
⎛ ∂ f (τ ,q)⎞⎟
t+∆ t ⎜ ⎟⎟
t+∆ t
∆λ ⎜⎜
∞,i
ε∞,i = ε∞,i − 6.36
trial ⎜⎜⎝ ∂ τ ∞,i ⎠⎟⎟

Also on the basis of Eq. 6.192 , a backward Euler integration scheme results to the following
algorithmic scheme
t+∆ t
⎛ ∂f ⎞
t+∆ t
ξ= ξ+ t
∆λ ⎜⎜ ⎟⎟⎟ 6.37
⎜⎝ ∂ q ⎠

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 Elasto-Visco-Plasticity

6.4.1.3 Return Mapping Procedure

On the basis of the above the following residual equations can be set up
t+∆ t
⎛ ∂ f ⎞⎟
t+∆ t ⎜ ⎟⎟
rε = t+∆ t
ε∞,i − ε + ∆λ ⎜⎜
∞,i trial ∞,i ⎜⎜⎝ ∂ τ ⎠⎟⎟
∞,i

t+∆ t
⎛ ∂f ⎞
rξ = − t+∆ t
ξ+ ξ+ t
∆λ ⎜⎜ ⎟⎟⎟ 6.38
⎜⎝ ∂ q ⎠

rf = t+∆ t
(
f τ ∞,i ,q )
t+∆ t t+∆ t

with t+∆ t
τ ∞,i = ⎢
(
⎡ ∂ψ ε , ξ
⎢ ∞,i )⎤⎥⎥ ; t+∆ t
q =− ⎢
( ∞,i)⎤⎥⎥
⎡ ∂ψ ε , ξ
⎢
6.39
⎢ ∂ ε∞,i ⎥ ⎢ ∂ξ ⎥
⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦

t+∆ t
⎛ ∂f ⎞
From Eq.6.382 ∆ξ = t+∆ t
ξ− ξ= t
∆λ ⎜⎜ ⎟⎟⎟ 6.40
⎜⎝ ∂ q ⎠

t+∆ t
∆ξ
hence ∆λ = 6.41
(∂f ∂q )
Substituting into Eq.6.381, after rearrangement
t+∆ t
⎛ ∂ f ⎞⎟ ⎛ ∂ f ⎞⎟
rε
∞,i
=
⎜⎜
⎝⎜
⎜⎜
∂ q ⎟
⎠
⎟ (
⎟⎟ ε −
∞,i
ε
trial ∞,i
+ ∆ξ
⎜⎜
⎝⎜
⎜⎜
∂ τ )
⎟⎟
⎟
∞,i ⎠
⎟ 6.42

Consider the Newton iterative scheme

t+∆ t t+∆ t
n+1
x= n x + ∆x 6.43

t+∆ t T
in which
t+∆ t
nx = {n ε , ξ
∞,i n } 6.44

with initial values

t+∆ t
0
x= { t+∆ t
trial
ε∞,i, t ξ } 6.45

⎤−1
Define
⎡
∆x = − ⎢J
⎣
( t+∆ t
nx ) ( ⎥ r
⎦
t+∆ t
nx ) 6.46

⎡rε ⎤
and the residual vector r ( t+∆ t
nx ) = ⎢ r∞,i ⎥
⎢ ξ ⎥
⎣ ⎦
6.47

As shown in Appendix 6.3, the Jacobian of the iterative scheme is

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Elasto-Visco-Plasticity

t+∆ t
⎡ ∂ rε ∂ rε ∂ rε ∂ rε ⎤
⎢ ∞,1 ∞,1 ∞,1 ⎥
∞,1
⎢ ∂ε ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥⎥
⎢ ∞,1
⎢ ⎥
⎢ ∂ rε ∂ rε ∂ rε ∂ rε ⎥
⎢ ∞,2 ∞,2 ∞,2 ∞,2
⎥
⎢ ∂ε ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥⎥
J ( t+∆ t
nx )= t+∆ t
n ∇r =
⎢ ∞,1
⎢ ∂r
⎢ ε∞,3 ∂ rε ∂ rε ∂ rε ⎥⎥
6.48
∞,3 ∞,3 ∞,3
⎢ ⎥
⎢ ∂ε ∞,1 ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥
⎢ ⎥
⎢ ∂r ∂ rf ∂ rf ∂ rf ⎥⎥
⎢ f
⎢ ∂ε ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥⎥⎦
n ⎢⎣ ∞,1

The above iterative scheme is repeated until a preset tolerance is attained.

6.4.2 Characteristics of the Plastic Component

The following yield function is currently implemented in CAPA-3D

( )
f τ ∞,i , q = 3 2 s∞,i − τ y − q
0
( ) 6.49

1
⎛ 1 ⎞
with (
s∞,i = s∞,i ⋅ s∞,i ) 2
and ( )
s∞,i = dev τ ∞,i = ⎜⎜ I − I ⊗ I ⎟⎟ : τ ∞,i
⎝ 3 ⎠
6.50

The specified strain energy function is of the form

κ ⎛⎜ 3 ⎞⎟2 ⎛ 3 2 ⎞⎟
( )
ψ p ε∞,i , ξ = ⎜⎜∑ ε ∞,i ⎟⎟ +
2 ⎝⎜ i=1 ⎠⎟
µ ⎜⎜⎜∑ ε ∞,i ⎟⎟ +
⎝⎜ ⎠⎟
i=1 6.51
(τy ∞
−τ y
0
) ⎡⎢⎣⎢ ξ + 1δ (exp−δξ − 1) ⎤⎥⎦⎥
in which the exponent δ controls the rate of hardening, Fig. 6.5

τ
10

(
τ = τ y∞ + τ y0 −τ y∞ exp−δξ )
6

= 0.05
2 δ
= 0.10
δ
= 0.20
0 δ
0 20 40 60 80 ξ

Fig. 6.5 The influence of δ on strain hardening response

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 Elasto-Visco-Plasticity

6.5 Viscoelastic Component Integration Procedure

In similarity to the plastic component, inequality 6.13 is equivalent to

τ e : ⎡⎢− 21 L (be )⎤⎥ b−

e
1
≥ 0 6.52
⎣ ⎦
By observing that condition 6.52 is satisfied for quadratic forms1 a : A : a , Reese & Govindjee
[1998] have proposed the evolution law
⎡− 1 L (b )⎤ = C− 1 : τ b 6.53
⎣⎢ 2 e ⎦⎥ v e e

1 ⎛ 1 ⎞ 1
with C− 1
v = ⎜I − I ⊗ I⎟⎟ + I⊗I 6.54
⎜
2ηD ⎝ 3 ⎠ 9η
V

while ηD and ηV are the deviatoric and volumetric viscosities which may be deformation
dependent

η D = η D (b e ) > 0 ; η V = η V (be ) > 0 6.55

By utilizing the relation be = FC− 1 T

v F and the definition of the Lie derivative

⎡∂ 1 ⎤ T
− 21 L (be ) = − 21 F ⎢ (C− v )⎥ F = C v : τ e be = C v : τ e FCv F
−1 −1 −1 T
6.56
⎢⎣ ∂ t ⎥⎦

Eq. 6.53 can be expressed in the reference configuration as

∂ −1
∂t
(Cv ) = − 2 F− 1 ⎣⎡⎢C− 1 ⎤ −1
v : τ e ⎦⎥ FCv 6.57

6.5.1 Stress Reduction Procedure

The procedure that is utilized for determination of the state of stress of the viscoelastic
component is presented in the following.

6.5.1.1 Trial Elastic State

If it is temporarily assumed that during the motion in the time interval ⎡⎢t , t +∆t⎤⎥ no further
⎣ ⎦
viscous deformation takes place, i.e. if it is temporarily set
t+∆ t
Fv = t Fv 6.58

then, an approximate elastic deformation gradient can be computed as

t+∆ t t+∆ t
F
trial e
= F t Fv− 1 6.59

1
with a a second order tensor and A a fourth order tensor

139
Elasto-Visco-Plasticity

The corresponding elastic left Cauchy-Green tensor is therefore

t+∆ t t+∆ t t+∆ t
b =
trial e
F
trial e
FT
trial e
6.60
t+∆ t
= F t
C−
v
1 t+∆ t T
F

6.5.1.2 Flow Rule Discretization

The evolution problem defined by Eq. 6.57 can be solved in the time interval ⎡⎢t , t +∆t⎤⎥ to
⎣ ⎦
t+∆ t − 1
give a first order accurate estimate for Cv
t+∆ t
t+∆ t
C− 1
v = exp ⎡⎢− 2 ∆t F− 1 (C−v 1 : τ e ) F ⎤⎥ t C−v 1 6.61
⎣ ⎦
On the basis of Eq. 6.59 and Eq.6.61, the elastic left Cauchy-Green tensor is
t+∆ t
t+∆ t
be = FC− 1 T
v F
t+∆ t
= t+∆ t
F exp ⎡− 2 ∆t F− 1 (C− 1 : τ ) F ⎤ t C− 1 t+∆ t
FT
⎢⎣ v e ⎥⎦ v
t+∆ t 6.62
= F exp ⎡⎢− 2 ∆t F− 1 (C−
v : τ e ) F ⎥⎦ F
1 ⎤ −1 b
trial e
⎣
t+∆ t
= exp ⎡⎢− 2 ∆t(C−
v
1
: τ e )⎤⎥ b
trial e
⎣ ⎦
t+∆ t
Multiplying both sides by exp ⎡⎢ 2 ∆t(C−
v : τ e ) ⎥⎦
1 ⎤
⎣
t+∆ t t+∆ t
b =
trial e
exp ⎡⎢2 ∆t(C−
v : τ e ) ⎦⎥ be
1 ⎤ 6.63
⎣

In similarity to Section 6.4.1.2, a significant reduction in the number of unknowns can be

achieved be resorting to a formulation in principal stress space. It holds
⎡ 1 ⎛ 1 ⎞⎟ 1 ⎤
C− 1
: τ = ⎢ ⎜ I − I ⊗ I + I ⊗ I ⎥:τ
v e ⎢ 2η ⎜⎝ 3 ⎠⎟ 9η ⎥ e
⎢⎣ D V ⎥⎦
1 1
= dev (τ e ) + tr (τ e ) I
2η D 9η V
6.64
1 3 1 3
= ∑
2ηD i=1
se,i l i ⊗ l i +
9η V
∑ σm l i ⊗ l i
i=1
3 ⎛ ⎞⎟
1 1
= ∑ ⎜⎜⎜ se,i + σm ⎟⎟ l i ⊗ l i
⎝ 2η D
i=1 ⎜ 9η V ⎠⎟⎟

in which se,i = σe,i − σm with σe,i the i-th principal component of the stress tensor σ e and
l i = 1,2,3 the corresponding principal directions.

140
 Elasto-Visco-Plasticity

t+∆ t
In addition be can also be expressed as
3 t+∆ t
t+∆ t
be = ∑ (λ2e,i li ⊗ li ) 6.65
i=1

in which λ ∞,i , i = 1,2,3 are the elastic principal stretches.

Substituting Eq. 6.64 and Eq. 6.65 into Eq. 6.63 it results
t+∆ t
⎡ 3 ⎛
1 1 ⎞⎟ ⎤ 3
t+∆ t
b =
trial e
exp ⎢⎢ 2 ∆t ∑ ⎜⎜⎜
⎝ 2η D
se,i +
9η V ⎠⎟⎟
(
σm ⎟⎟ l i ⊗ l i ⎥⎥ ∑ λ 2e,i l i ⊗ l i ) 6.66
⎢⎣ i=1 ⎜ ⎥⎦ i=1

which can be simplified (Appendix 6.4) as

t+∆ t
3 ⎛ ⎛ 1 ⎞⎟ ⎞
t+∆ t ⎜ ⎜ 1 2 ⎟
b
trial e
= ∑ ⎜⎜ ⎜⎜ 2η e,i 9η m ⎟⎟⎟ e,i ⎟⎟⎟⎟ li ⊗ li
exp ⎜ 2 ∆ t ⎜ s + σ ⎟ λ 6.67
i=1 ⎝ ⎝ D V ⎠ ⎠
t+∆ t
By means of spectral decomposition b
trial e
can be also expressed as

t+∆ t 3
t+∆ t
b
trial e
= ∑ λ2e,i li ⊗ li 6.68
trial i=1

Comparing Eq. 6.67 and Eq. 6.68 it follows

t+∆ t
⎛ ⎛ 1 ⎞⎟⎞⎟
( )
2
⎜ 1
λ 2e,i exp ⎜⎜ 2 ∆t ⎜⎜⎜
t+∆ t
λ = se,i + σm ⎟⎟⎟⎟⎟ 6.69
⎜⎝ ⎠⎟⎟⎠⎟
trial e,i
⎝⎜ 2ηD 9η V

Taking the logarithm of both sides of Eq. 6.69 and denoting the elastic principal logarithmic
( )
strains by εe,i = ln λ e,i , Eq. 6.69 can be expressed as

t+∆ t
⎛ 1 1 ⎞⎟
∆t⎜⎜⎜
t+∆ t
t+∆ t
εe,i = ε − se,i + σm ⎟⎟ 6.70
⎠⎟⎟
trial e,i
⎜⎝ 2ηD 9ηV

6.5.1.3 Return Mapping Procedure

On the basis of the above the following system of residual equations can be set up
t+∆ t
⎛ 1 1 ⎞⎟
∆t⎜⎜⎜
t+∆ t
rε = t+∆ t
εe,i − ε + se,i + σm ⎟⎟ i = 1,2,3 6.71
⎠⎟⎟
trial e,i
e,i ⎜⎝ 2ηD 9ηV

each of which can be solved iteratively by means of Newton iterative scheme

t+∆ t t+∆ t
n+1
x= n x + ∆x 6.72

141
Elasto-Visco-Plasticity

t+∆ t t+∆ t
T
in which nx = n ε ∞,i 6.73

t+∆ t t+∆ t T
with initial values 0
x = trial ε∞,i
6.74

−1
Define
⎡
∆x = − ⎢J
⎣
( t+∆ t
nx )⎤⎥⎦ r ( t+∆ t
nx ) 6.75

with the residual vector r ( t+∆ t

nx )= r ε∞,i 6.76

As shown in Appendix 6.6, the Jacobian of the iterative scheme is

t+∆ t
⎡ ∂ rε ∂ rε ∂ rε ⎤
⎢ e,1 e,1 e,1 ⎥
⎢ ∂ε ∂ε e,2 ∂ε e,3 ⎥⎥
⎢ e,1
⎢ ⎥
⎢ ∂ rεe,2 ∂ rε ∂ rε ⎥
J ( t+∆ t
nx ) =
t+∆ t
n ∇r =
⎢
⎢ ∂ε
⎢ e,1 ∂ε e,2
e,2 e,2 ⎥
∂ε e,3 ⎥⎥
6.77
⎢ ∂r ∂ rε ∂ rε ⎥⎥
⎢ εe,3 e,3 e,3
⎢ ⎥
⎢ ∂ε e,1 ∂ε e,2 ∂ε e,3 ⎥⎥
n ⎣⎢ ⎦
The above iterative scheme is repeated until a preset tolerance is attained.

6.6 Utilization
The contribution to the overall response of the individual components of a model consisting of
one viscoelastic and one elastoplastic component (without hardening) is shown in Fig. 6.6.
The model is first subjected to a constant displacement rate 1.25*E-04 mm/sec. The
characteristics of the components are:
E∞ = 0.1 MPa τ y = 2 ⋅ 10− 5 MPa
0

E e = 0.1 MPa ηD = 0.1 MPa sec η V = 1 MPa sec

-1.80E-04
Maxwell material model
Standard Linear Solid I
-1.50E-04
Elasto-visco-plasticity
I

-1.20E-04
Stress (MPa)

-9.00E-05
II
II
-6.00E-05

III
-3.00E-05 III

0.00E+00
0 -0.0002 -0.0004 -0.0006 -0.0008 -0.001 -0.0012 -0.0014
strain

Fig. 6.6 Contribution of model components to overall response

142
 Elasto-Visco-Plasticity

-1.40E-04
Strainrate=0.000125
-1.20E-04 Strainrate=0.000250
Strainrate=0.00125
-1.00E-04

-8.00E-05
Stress (MPa)

-6.00E-05

-4.00E-05

-2.00E-05

0.00E+00
0 2 4 6 8 10 12 14 16
Time (sec)

Fig. 6.7 The influence of strain rate on model response

The influence of strain rate on the response of the same model is shown in Fig. 6.7. The
contribution of the slider can be easily recognized from the figure. Upon unloading (when the
plastic component is inactive) the response of the model is typical of that of a linear
comparison solid.
Implementation details of this particular model are presented in Appendix 6.5.

143
Elasto-Visco-Plasticity

Appendix 6.1

Verification of Eq. 6.11 is shown in the following. From Eq. 6.7

C∞ = Fp−TC Fp− 1 hence C∞ = Fp−T C Fp− 1 + Fp−T C Fp− 1 + Fp−T C Fp− 1 A.6.1.1

∂Ψ p
so that the term : C∞ of Eq. 6.10 can be expressed as
∂ C∞

∂Ψ p ∂Ψ p ⎡ −T
: C∞ = : Fp C Fp− 1 + Fp−T C Fp− 1 + Fp−T C Fp− 1 ⎤⎥ A.6.1.2
∂ C∞ ∂ C∞ ⎢⎣ ⎦

By means of the double contraction identities A:(BC)=(BTA):C=(ACT):B the term

∂Ψ p −T
: Fp C Fp− 1 can be transformed as follows
∂ C∞

∂Ψ p ∂Ψ p
: Fp−T C Fp− 1 = Fp− 1 : C Fp− 1
∂ C∞ ∂ C∞
A.6.1.3
∂Ψ p
= Fp− 1 Fp−T :C
∂ C∞

By means of the identities Fp− 1 = −Fp− 1 Fp Fp− 1 and Fp−T = −Fp−T FpT Fp−T the remaining terms
of Eq. A.6.1.2 can be also restructured as

Fp−T C Fp− 1 + Fp−T C Fp− 1 = − ⎡⎢Fp−T FpT Fp−T C Fp− 1 + Fp−T C Fp− 1 Fp Fp− 1 ⎤⎥
⎣ ⎦
A.6.1.4
= − ⎡⎢ l p C∞ + C∞l p ⎤⎥
T
⎣ ⎦
so that

144
 Elasto-Visco_Plasticity

∂Ψ p ⎡ −T ∂Ψ p
: ⎢Fp C Fp− 1 + Fp−T C Fp− 1 ⎤⎥ = − : ⎡⎢ l pT C∞ + C∞ l p ⎤⎥
∂ C∞ ⎣ ⎦ ∂ C∞ ⎣ ⎦
∂Ψ p ⎡
= −2 : C∞l p ⎤⎥
∂ C∞ ⎢⎣ ⎦
∂Ψ p
= − 2 ⎡⎢F∞− 1 F∞ ⎤⎥ :C l
⎣ ⎦ ∂ C∞ ∞ p
A.6.1.5
∂Ψ p −T
= − 2 F∞ : F∞ C∞l p
∂ C∞
∂Ψ p
= − 2 F∞ : F∞ l p
∂ C∞
∂Ψ p
= − 2 F∞ F∞T F∞−T : F∞ l p
∂ C∞

Similarly, for the viscous components of Eq. 6.10 it holds

∂Ψ v ∂Ψ v ⎡ −T
: Ce = : ⎢Fv C Fv− 1 + Fv−T C Fv− 1 + Fv−T C Fv− 1 ⎤⎥ A.6.1.6
∂ Ce ∂ Ce ⎣ ⎦

∂Ψ v −T ∂Ψ v −T
but : Fv C Fv− 1 = Fv− 1 Fv : C A.6.1.7
∂ Ce ∂ Ce

∂Ψ v ⎡ −T ∂Ψ v T −T
and : ⎢Fv C Fv− 1 + Fv−T C Fv− 1 ⎤⎥ = − 2 Fe Fe Fe : Fe l v A.6.1.8
∂ Ce ⎣ ⎦ ∂ Ce

Substituting Eq. A.6.1.3, Eq. A.6.1.5, Eq. A.6.1.7 and Eq. A.6.1.8 into Eq. 6.10, Eq. 6.11 is
obtained as
⎡ ∂Ψ p −T ⎤ 1
⎢S − 2 Fv− 1 ∂Ψ v Fv−T − 2 Fp− 1 Fp ⎥ : 2 C
⎢ ∂ Ce ∂ C∞ ⎥
⎣ ⎦
⎡ ∂Ψ v T −T ⎤
+ ⎢ 2 Fe Fe Fe : Fe l v ⎥
⎢ ∂ Ce ⎥ A.6.1.9
⎣ ⎦
⎡ ∂Ψ p T −T ∂Ψ p ⎤
+ ⎢ 2 F∞ F∞ F∞ : F∞ l p − ξ⎥
⎢ ∂ C ∂ξ ⎥
⎣ ∞ ⎦
≥ 0

145
Elasto-Visco-Plasticity

Appendix 6.2

⎛ ∂Ψ p T ⎞⎟
As shown in Chapter 2, the term ⎜⎜2 F∞ F∞ ⎟⎟ of Eq. A.6.1.9 can be substituted with τ∞
⎜⎝ ∂ C∞ ⎠⎟
defined as follows
⎡ ∂Ψ v −T ∂Ψ p −T ⎤ T
τ = J σ = FSFT = F ⎢ 2 Fv− 1 Fv + 2 Fp− 1 Fp ⎥ F
⎢ ∂ C ∂ C ⎥
⎣ e ∞ ⎦
∂Ψ v T ∂Ψ p T
= 2 Fe Fe + 2 F∞ F∞ A.6.2.1
∂ Ce ∂ C∞
= τe + τ∞

Then from Eq. A.6.1.9

∂Ψ p
2 F∞ F∞T F∞−T : F∞ l p = τ∞ F∞−T : F∞ l p
∂ C∞
= τ ∞ F∞−T : F∞ l p ⎡⎢F∞T F∞−T ⎤⎥
⎣ ⎦ A.6.2.2
−T − 1 T
= τ ∞ F∞ F∞ : F∞ l p F∞
= τ ∞ b− 1 T
∞ : F∞ l p F∞

Furthermore the term F∞ l p F∞T can be split as

F∞ l p F∞T = sym ⎡⎢F∞ l p F∞T ⎤⎥ + skw ⎡⎢F∞ l p F∞T ⎤⎥

⎣ ⎦ ⎣ ⎦ A.6.2.3
= F∞ sym ⎡⎢ l p ⎤⎥ F∞ + skw ⎡⎢F∞ l p F∞ ⎤⎥
T T
⎣ ⎦ ⎣ ⎦
Because

b∞ = F C− 1 T
p F A.6.2.4

it holds for the Lie derivative of b∞ , Simo [1987a]

⎡∂ 1 ⎤ T
L (b∞ ) = F ⎢ (C− p )⎥ F
⎢⎣ ∂ t ⎥⎦
= −F ⎡⎢ C− 1
CC− 1⎤ T
p ⎦⎥ F
⎣ p A.6.2.5
= −F Fp− 1 ⎡⎢ Fp−T FpT + Fp Fp− 1 ⎤⎥ Fp−T FT
⎣ ⎦
= − 2 F∞ sym ⎡⎢ l p ⎤⎥ F∞ T
⎣ ⎦
Hence Eq. A.6.2.2 is equivalent to

146
 Elasto-Visco_Plasticity

∂Ψ p
2 F∞
∂ C∞
F∞T F∞−T : F∞ l p = τ ∞ b− 1 ⎡ 1
( T ⎤
∞ : ⎢− 2 L (b∞ ) + skw F∞ l p F∞ ⎥
⎣ ⎦ )
⎣ (
= τ ∞ : ⎡⎢− 21 L (b∞ ) + skw F∞ l p F∞T )⎤⎥⎦ b−1
∞ A.6.2.6

= τ ∞ : ⎢⎡− 21 L (b∞ )⎥⎤ b− 1

⎣ ⎦ ∞

where the identity b− 1 −T

∞ = b∞ has been utilized.
Substituting into inequality 6.14 it results
∂Ψ p
τ ∞ : ⎡⎢− 21 L (b∞ )⎤⎥ b− 1
∞ − :ξ ≥ 0 A.6.2.7
⎣ ⎦ ∂ξ

147
Elasto-Visco-Plasticity

Appendix 6.3

The Jacobian of the iterative scheme defined by Eq. 6.43 is

t+∆ t
⎡ ∂ rε ∂ rε ∂ rε ∂ rε ⎤
⎢ ∞,1 ∞,1 ∞,1 ⎥
∞,1
⎢ ∂ε ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥⎥
⎢ ∞,1
⎢ ⎥
⎢ ∂ rε∞,2 ∂ rε ∂ rε ∂ rε ⎥
⎢ ∞,2 ∞,2 ∞,2
⎥
⎢ ∂ε ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥⎥
J ( )=
t+∆ t
nx
t+∆ t
n ∇r =
⎢ ∞,1
⎢ ∂r
⎢ ε∞,3 ∂ rε ∂ rε ∂ rε ⎥⎥
A.6.3.1
∞,3 ∞,3 ∞,3
⎢ ⎥
⎢ ∂ε ∞,1 ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥
⎢ ⎥
⎢ ∂r ∂ rf ∂ rf ∂ rf ⎥⎥
⎢ f
⎢ ∂ε ∂ε ∞,2 ∂ε ∞,3 ∂ξ ⎥⎥⎦
n ⎢⎣ ∞,1

The individual terms of the Jacobian can be elaborated as follows:

t+∆ t
⎛ ⎞
∂f 3
⎜⎜ ∂ f ∂ τ ∞,k ⎟⎟ ∂ f ∂ q
∂ ε∞,j
= ∑ ⎜⎜⎜ ∂ τ ∂ ε ⎟⎟⎟ + ∂ q ∂ ε
k=1 ⎝ ∞,k ∞,j ⎠ ∞,j

t+∆ t
3 ⎛ ⎞ ⎛ ⎞
⎜⎜ ∂ f ∂2 ψ ⎟⎟ ∂ f ⎜⎜ ∂ 2 ψ ⎟⎟
= ∑ ⎜⎜⎜ ∂ τ ∂ ε ∂ ε ⎟⎟ ∂ q ⎜⎜⎜ ∂ξ∂ ε ⎟⎟⎟
⎟ + − A.6.3.2
k=1 ⎝ ∞,k ∞,k ∞,j ⎠ ⎝ ∞,j ⎠

t+∆ t
3 ⎛ ⎞
⎜⎜ ∂ f ∂2 ψ ⎟⎟
= ∑ ⎜⎜⎜ ∂ τ ∂ ε ∂ ε ⎟⎟⎟
k=1 ⎝ ∞,k ∞,k ∞,j ⎠

t+∆ t
⎛ ⎞
∂f 3
⎜⎜ ∂ f ∂ τ ∞,k ⎟⎟ ∂ f ∂ q
∂ξ
= ∑ ⎜⎜⎜ ∂ τ ∂ξ ⎟⎟⎟ + ∂ q ∂ξ
k=1 ⎝ ∞,k ⎠
t+∆ t
⎛ ⎞
3
⎜⎜ ∂ f ∂2 ψ ⎟⎟ ∂ f ⎛⎜ ∂2 ψ ⎞⎟
= ∑ ⎜⎜⎜ ∂ τ ∂ ε ∂ξ ⎟⎟⎟ + ∂ q ⎜⎜⎝− ∂ξ2 ⎠⎟⎟⎟ A.6.3.3
k=1 ⎝ ∞,k ∞,k ⎠
t+∆ t
∂2 ψ
= −
∂ξ2

148
 Elasto-Visco_Plasticity

t+∆ t
⎛ ∂ f ⎞⎟ ∂ ∂ ⎛⎜⎜ ∂ f ⎞⎟⎟
∂ rε
⎜⎜
⎜
⎟⎟
⎜⎝⎜ ∂ q ⎠⎟⎟ ∂ ε∞,j
( ) (
ε∞,i − trial ε∞,i + ε∞,i − trial ε∞,i ⎜ )
⎟
∂ q ⎝⎜⎜ ∂ ε∞,j ⎠⎟⎟
∞,i
=
∂ ε∞,j ⎛ ∂ f ⎞⎟
∂ ⎜⎜ ⎟⎟
+ ∆ξ ⎜⎜ A.6.3.4
∂ τ ∞,i ⎜⎝ ∂ ε∞,j ⎠⎟⎟
t+∆ t
3 ⎛ ∂f ∂ 2 ψ ⎞⎟⎟
⎜⎜
= δ ij + ∆ξ ∑ ⎜ ⎟⎟
⎝⎜ ∂ τ ∞,i∂ τ ∞,k ∂ ε∞,k ∂ ε∞,j ⎠⎟
k=1 ⎜

t+∆ t
⎛ ∂ f ⎞⎟ ∂ ∂ ⎛⎜⎜ ∂ f ⎞⎟⎟
∂ rε
⎜⎜
⎜⎜
⎟⎟
⎜⎝ ∂ q ⎠⎟⎟ ∂ξ
(ε ∞,i
− ε
trial ∞,i
+ ε ∞,i ) (
− ε
trial ∞,i ⎜ ⎟
∂ q ⎜⎝⎜ ∂ξ⎟⎠⎟⎟ )
∞,i
=
∂ξ ⎛ ∂ f ⎞⎟ ∂ ⎛ ∂ f ⎞⎟
⎜ ∂ ⎜⎜
+ ⎜⎜ ⎟⎟
⎟
⎜⎝⎜ ∂ τ ∞,i ⎠⎟ ∂ξ ( )
∆ξ + ∆ξ
∂ τ ∞,i
⎜⎜
∂ξ
⎟⎟
⎟ A.6.3.5
⎝⎜ ⎠⎟
t+∆ t t+∆ t
⎛ ⎞
∂f ⎜⎜ ∂ ⎛⎜ ∂ 2 ψ ⎞⎟ ⎟⎟ ∂f
= + ∆ξ ⎜⎜ ⎜− 2 ⎟⎟ ⎟⎟ =
∂ τ ∞,i ⎜⎝ ∂ τ ∞,i ⎜⎝ ∂ξ ⎠⎟ ⎠⎟⎟ ∂ τ ∞,i

t+∆ t
∂ rf ∂f
= A.6.3.6
∂ ε∞,i ∂ε ∞,i

t+∆ t
∂ rf ∂f
= A.6.3.7
∂ξ ∂ξ

149
Elasto-Visco-Plasticity

Appendix 6.4

Verification of Eq. 6.32 is presented in the following.

If A is a square n × n matrix, it can be shown by means of the Cayley-Hamilton theorem,
Bronson 1973, that

exp (A t) = a n−1An−1tn−1 + a n−2 An−2 tn−2 + …a 2 A2 t2 + a1A t + a 0 I A.6.4.1

in which a 0 ,a1,…,a n−1 are functions of t which must be determined on the basis of A .

Furthermore if

r (λ) = a n−1λ n−1 + a n−2λ n−2 + …a 2λ 2 + a1λ + a 0 A.6.4.2

then if λ j is an eigenvalue of A t

( ) ( )
exp λ j = r λ j A.6.4.3

while if λ j is an eigenvalue of multiplicity k it holds additionally

d [r (λ)]
( )
exp λ j =
dλ
A.6.4.4
λ=λ j

d2 [r (λ)]
( )
exp λ j =
d λ2
A.6.4.5
λ=λ j

……

dk−1 [r (λ)]
( )
exp λ j =
d λ k−1
A.6.4.6
λ=λ j

The above concepts can be utilized to obtain a pliable form of Eq. 6.32. Considering the i-th
term of the sum in the exponential term of Eq. 6.32
⎛ ∂f ⎞⎟
⎜
exp ⎜⎜2 ∆λ l i ⊗ l i ⎟⎟⎟
⎜⎜⎝ ∂τi ⎠⎟

∂f
and setting ti = 2 ∆λ and A = l i ⊗ l i then
∂τi

det (A ti − λ I) = 0 A.6.4.7

150
 Elasto-Visco_Plasticity

has a root λ = ti of multiplicity one and a root λ = 0 of multiplicity two. On the basis of Eq.
A.6.4.3 and Eq. A.6.4.4 the following set of equations is obtained

exp (ti ) = a 2 t2i + a1ti + a 0

exp (0) = a 0 A.6.4.8
exp (0) = a1

a0 = 1
Hence a1 = 1 A.6.4.9
exp (ti ) − ti − 1
a2 =
t2i

Substituting the values of a−s into Eq. A.6.4.1

⎡exp (t ) 0 0 ⎤
⎢ i ⎥
⎢ ⎥
exp (A ti ) = ⎢ 0 1 0⎥ A.6.4.10
⎢ ⎥
⎢ 0 0 1 ⎥
⎣⎢ ⎥⎦

On the basis of Eq. A.6.4.10 the exponential term of Eq. 6.32 can be written as
⎡ ⎛ 3 ∂f ⎞⎟ ⎤
exp ⎢⎢ 2 ∆λ ⎜⎜⎜∑ l i ⊗ l i ⎟⎟ ⎥⎥ = exp ⎢⎡ t1 l1 ⊗ l1 + t2 l2 ⊗ l2 + t3 l 3 ⊗ l 3 ⎤⎥
⎢⎣ ⎜⎝ i=1 ∂τi ⎠⎟ ⎥⎦ ⎣ ⎦

( ) ( )
= exp t1 l1 ⊗ l1 exp t2 l2 ⊗ l2 exp t3 l 3 ⊗ l 3 ( )
⎡exp (t ) 0 0⎤ ⎡1 0 0⎤ ⎡⎢1 0 0 ⎥
⎤
⎢ 1 ⎥⎢ ⎥⎢ ⎥
⎢ ⎥⎢ ⎥
=⎢ 0 1 0⎥ ⎢0 exp (t2 ) 0⎥ ⎢0 1 0 ⎥ A.6.4.11
⎢ ⎥⎢ ⎥ ⎢⎢ ⎥
⎢ 0 ⎥ ⎢0 ⎥ ⎢0 0 exp t ⎥⎥
⎢⎣ 0 1 ⎥⎦ ⎢⎣ 0 1⎥⎦ ⎢⎣ ( 3 )⎥⎦
⎡exp (t ) 0 0 ⎤⎥
⎢ 1
⎢ ⎥
=⎢ 0 exp (t2 ) 0 ⎥
⎢ ⎥
⎢ ⎥
⎢⎢ 0 0 exp (t3 )⎥⎥
⎣ ⎦
Therefore, Eq. 6.32 can be further elaborated as

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⎡ ⎛ 3 ∂f ⎞⎟ ⎤ 3
exp ⎢⎢ 2 ∆λ ⎜⎜⎜∑ l i ⊗ l i ⎟⎟ ⎥⎥ ∑ λ 2∞,i l i ⊗ l i
⎢⎣ ⎜⎝ i=1 ∂τi ⎠⎟ ⎥⎦ i=1
⎡exp (t ) 0 0 ⎤⎥
⎢ 1
⎢ ⎥ 3
= ⎢ 0 exp (t2 ) 0 ⎥ ∑ λ 2∞,i l i ⊗ l i A.6.4.12
⎢ ⎥
⎢ ⎥ i=1
⎢⎢ 0 0 exp (t3 )⎥⎥
⎣ ⎦
3 ⎛
⎜⎜ ∂ f (τ1, τ2, τ3 ,q)⎞⎟ 2
= ∑ exp ⎜2 ∆λ ⎟⎟ λ l ⊗ l
⎜ ∂τ ⎟ ∞,i i i
i=1 ⎜
⎝ i ⎠⎟

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Appendix 6.5

The response surface of the implemented material model is defined by

( )
f τ ∞,i , q = 3 2 s∞,i − τ y − q
0
( ) A.6.5.1

in which the vector of principal deviatoric Kirchhoff stresses s∞,i is defined by

⎛ 1 ⎞
( )
s∞,i = dev τ ∞,i = ⎜⎜ I − I ⊗ I ⎟⎟ : τ ∞,i
⎝ 3 ⎠
A.6.5.2
1 3
= τ ∞,i − ∑ τ∞,j
3 i= j

and
1

(
s∞,i = s∞,i ⋅ s∞,i ) 2

1
⎡ 3 ⎛ 3 ⎞⎟2 ⎤⎥
2 A.6.5.3
⎢ ⎜ 1
= ⎢∑ ⎜⎜τ∞,i − ∑ τ∞, j ⎟⎟ ⎥
⎢ i=1 ⎜⎝ ⎟
3 j=1 ⎠⎟ ⎥⎥
⎣⎢ ⎦
so that

∂ f ∂ s∞,1 ∂ f ∂ s∞,2 ∂ f ∂ s∞,3

∂τ f = + +
∞,i ∂ s∞,1 ∂τ∞,i ∂ s∞,2 ∂τ ∞,i ∂ s∞,3 ∂τ ∞,i
A.6.5.4
⎛ ⎞
⎜⎜2 s ∂ s∞,1 + 2 s ∂ s∞,2 + 2 s ∂ s∞,3 ⎟⎟
( )
3 1 −1
= s2∞,1 + s2∞,2 + s2∞,3 ⎜⎜ ∞,1 ∂τ ⎟
2 2 ⎝ ∞,i
∞,2
∂τ∞,i ∞,3
∂τ ∞,i ⎠⎟

∂ s∞,i 1
Considering that = δ ij − A.6.5.5
∂τ∞, j 3

3 s∞,i
∂τ f= A.6.5.6
∞,i 2 s2∞,1 + s2∞,2 + s2∞,3

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Elasto-Visco-Plasticity

∂2τ f=
(
∂ ∂τ f
∞,i
)
τ
∞,i ∞, j ∂τ
∞, j

⎛ ⎞⎟
⎜⎜ s∞,i ⎟⎟
∂ ⎜⎜ 3 ⎟
= ⎜⎜ 2 2 1 ⎟ A.6.5.7
∂τ 2⎟
∞, j ⎜⎜
⎝ (
s∞,1 + s2∞,2 + s2∞,3 ) ⎠⎟
⎟⎟

⎛ ⎞⎟
⎜ −si s j ∂ si ⎟⎟
3 ⎜⎜ 1 ⎟⎟
= ⎜⎜ +
2 ⎜⎜ 2 3 1
∂τ j ⎟⎟⎟
( 2 2
⎜⎝ s∞,1 + s∞,2 + s∞,3 ) 2
( s2∞,1 + s2∞,2 + s2∞,3 )2 ⎠⎟

∂q f = 1 A.6.5.8

∂ (∂ q f )
∂2qq f = =0 A.6.5.9
∂q

∂ ⎛⎜ ∂ f ⎞⎟
∂2τ qf = ⎜ ⎟= 0 A.6.5.10
∞,i ∂τ∞,i ⎝⎜ ∂ q ⎠⎟

The chosen form of the strain energy function is

κ ⎜⎛ 3 ⎞⎟2 ⎛ 3 2 ⎞⎟
( )
ψ p ε∞,i , ξ = ⎜⎜∑ ε ∞,i ⎟⎟ +
2 ⎝⎜ i=1 ⎠⎟
µ ⎜⎜⎜∑ ε ∞,i ⎟⎟ +
⎝⎜ ⎠⎟
i=1 A.6.5.11
(τy ∞
−τ y
0
) ⎡⎢⎣⎢ ξ + 1δ (exp−δξ − 1) ⎤⎥⎦⎥
3
so that ∂ ε ψ p = κ ∑ ε ∞,i + 2 µ ε ∞,i A.6.5.12
∞,i
i=1

∂2ε ε ψ p = κ + 2 µ δ ij A.6.5.13
∞,i ∞,j

(
∂ ξ ψ p = τ y∞ −τ y
0
)(1 − exp−δξ ) A.6.5.14

∂2ξξ ψ p = δ τ y∞ −τ y ( 0
) exp−δξ A.6.5.15

∂ ⎛ ∂ψ ⎞⎟
∂2ε ψp = ⎜⎜ ⎟ = 0 A.6.5.16
∞,i
ξ
∂ε ⎜⎝ ∂ξ ⎠⎟
∞,i

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 Elasto-Visco_Plasticity

Appendix 6.6

The Jacobian of the iterative scheme suggested in Section 6.5.1.3 is

t+∆ t
⎡ ∂ rε ∂ rε ∂ rε ⎤
⎢ e,1 e,1 e,1 ⎥
⎢ ∂ε ∂ε e,2 ∂ε e,3 ⎥⎥
⎢ e,1
⎢ ⎥
⎢ ∂ rεe,2 ∂ rε ∂ rε ⎥
J ( t+∆ t
nx ) =
t+∆ t
n ∇r =
⎢
⎢ ∂ε
⎢ e,1 ∂ε e,2
e,2 e,2 ⎥
∂ε e,3 ⎥⎥
A.6.6.1
⎢ ∂r ∂ rε ∂ rε ⎥⎥
⎢ εe,3 e,3 e,3
⎢ ⎥
⎢ ∂ε e,1 ∂ε e,2 ∂ε e,3 ⎥⎥
n ⎣⎢ ⎦
An individual term is computed as follows.
∂ re,i
∂ε e,j
=
∂
∂ε e,j ( t+∆ t +∆ t
εe,i − ttrial )
ε e,i +

⎛ t+∆t ⎞
∂ ⎜⎜ ∆t ⎛ 3 ⎞⎟ ∆t ⎛1 3 ⎞⎟⎟⎟
⎜⎜τ − 1 ⎜⎜
⎜⎜
∂ε e,j ⎜⎜
∑
2 ηD ⎜⎜⎝ e,i 3 m=1
τ e,m ⎟
⎟
⎠⎟
+
9 ηV
∑ τe,m ⎠⎟⎟⎟⎟⎟⎟⎟
⎝⎜⎜ 3 m=1
A.6.6.2
⎝ ⎠⎟
t+∆ t ∆t ⎛⎜ ∂2 Ψ 1 3 ∂2 Ψ v ⎞⎟⎟ ∆t ⎛1 3
⎜⎜ ∂2 Ψ v ⎞⎟⎟
= δ ij + ⎜⎜ v
− ∑ ⎟⎟ + ⎜ ∑ ⎟
2 ηD ⎜⎜⎝ ∂εe,j∂ε e,i 3 m=1 ∂ε e,j∂ε e,m ⎠⎟ 9 ηV ⎜⎝⎜ 3 m=1 ∂ε e,j∂ε e,m ⎠⎟⎟

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Elasto-Visco-Plasticity

Appendix 6.7

The steps necessary for the solution of the evolution problem defined by Eq. 6.22 are
presented in the following. Eq. 6.22 which states
d −1 ⎡
dt
( ⎣ )
Cp = ⎢− 2 λ C− 1N⎤⎥ C−
⎦ p
1
A.6.7.1

can be solved in the time interval ⎡⎢t , t +∆t⎤⎥ to give a first order accurate estimate for
⎣ ⎦
t+∆ t − 1
Cp .

Define p = 2 λ C− 1N A.6.7.2

Define also an integrating factor as

(
I t, C− 1
)
p = exp (∫ p dt) = exp (2 λ C−1Nt) A.6.7.3

Multiplying Eq. A.6.7.1 by the integrating factor

(
exp 2 λ C− 1N t C− 1
) −1
(
−1 −1
p + exp 2 λ C N t 2 λ C NCp = 0 ) A.6.7.4

d ⎡ −1
or equivalently
dt ⎢⎣
(
Cp exp 2 λ C− 1N t ) ⎤⎥⎦ = 0 A.6.7.5

Integrating
d ⎡
∫ dt ⎢⎣ Cp
−1
( ⎦
)
exp 2 λ C− 1N t ⎤⎥ dt = ∫ 0 ⇒

C− 1
(
−1
p exp 2 λ C N t = D ) ⇒ A.6.7.6

C− 1 −1
p = D exp − 2 λ C N t ( )
At time t denote C− 1 t −1
p (t) = Cp . Hence from Eq. A.6.7.6

t −1
Cp (
= D exp − 2 λ C− 1N t ) ⇒
A.6.7.7
D = t C− 1 −1
p exp 2 λ C N t ( )
Substituting into Eq. A.6.7.6, at t = t + ∆ t

t+∆ t − 1
Cp = t C− 1
p exp ( 2 λ C−1N t ) exp ⎡⎢⎣− 2 λ C−1N (t + ∆t)⎤⎥⎦
A.6.7.8
p exp (− 2 λ C N ∆t)
= t C− 1 −1

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