Professional Documents
Culture Documents
Elasticity and Strains-Young's Modulus and Poisson's Ratio Bulk and Shear Moduli Hoop, Longitudinal and Volumetric Strains Strain Energy. Overfilling of Pressure Vessels Coefficient of Thermal Expansion Thermal Effect in cylindrical Pressure Vessels Two-Material Structures
Thermal Effects
3.1 3.2 3.3 4.1 4.2 4.3
Torsion.
Shear Stresses in Shafts - /r = T/J = G/L Thin Walled Shafts Thin Walled Pressure Vessel subject to Torque
Nomenclature and Sign Convention for Stresses Mohr's Circle for Stresses Worked Examples Application of Mohr's Circle to Three Dimensional Systems Tresca's Criterion. The Stress Hexagon Von Mises' Failure Criterion. The Stress Ellipse
Direct and Shear Strains Mohr's Circle for Strains Measurement of Strain - Strain Gauges Hookes Law for Shear Stresses
Supporting Materials
There is one Examples paper supporting these lectures. Two good textbooks for further explanation, worked examples and exercises are Mechanics of Materials (1997) Gere & Timoshenko, publ. ITP [ISBN 0-534-93429-3] Mechanics of Solids (1989) Fenner, publ. Blackwell [ISBN 0-632-02018-0] This material was taught in the CET I (Old Regulations) Structures lecture unit and was examined in CET I (OR) Paper IV Section 1. There are consequently a large number of old Tripos questions in existence, which are of the appropriate standard. From 1999 onwards the course was taught in CET1, paper 5. Chapters 7 and 8 in Gere and Timoshenko contain a large number of example problems and questions.
Nomenclature
The following symbols will be used as consistently as possible in the lectures. E G I J R t T
Youngs modulus Shear modulus second moment of area polar moment of area radius thickness
thermal expansivity linear strain shear strain angle Poissons ratio Normal stress Shear stress
Ongoing Example
We shall refer back to this example of a typical pressure vessel on several occasions. Distillation column
2m
External diameter D
r L h
wall thickness, t
The hydrostatic pressure causes stresses in three dimensions. 1. Longitudinal stress (axial) L 2. Radial stress r 3. Hoop stress h all are normal stresses. SAPV LT 2005 CFK, MRM 1
r L h L
Force equilibrium
D2 P = D t L 4
if P > 0, then L is tensile L =
b, The hoop stress h
P
PD 4t
Force balance, D L P = 2 h L t h =
SAPV LT 2005 CFK, MRM 2
PD 2t
c, Radial stress
r o ( P ) h , L P ( ). 2t
thin walled, so D >> t so h , L >> r so neglect r
Compare terms
D2 P = h D t 4 PD h = 4t
bulk =
W = Y Dt
Compressive stresses can cause failure due to buckling (bending instability). The critical load for the onset of buckling is given by Euler's analysis. A full explanation is given in the texts, and the basic results are summarised in the Structures Tables. A column or strut of length L supported at one end will buckle if
2 EI W= 2 L
Consider a cylindrical column. I = R3t so the compressive stress required to cause buckling is
buckle
or
W 2 ED3t 1 2 ED 2 = = = 2 Dt 8L Dt 8 L2
buckle
2 E = 2 8( L D)
4
where L/D is a slenderness ratio. The mode of failure thus depends on the geometry:
stress
Bulk yield
Short L /D ratio
Long
Vacuum vessels. Cylindrical pressure vessels subject to external pressure are subject to compressive hoop stresses
length
I=
X d W
There is a concentration of stress at the rod surface below XX and this value should thus be considered when we consider failure mechanisms. The ratio of the maximum local stress to the mean (or apparent) stress is described by a stress concentration factor K
K=
max mean
The values of K for many geometries are available in the literature, including that of cracks. The mechanism of fast fracture involves the concentration of tensile stresses at a crack root, and gives the failure criterion for a crack of length a
a = Kc
where Kc is the material fracture toughness. Tensile stresses can thus cause failure due to bulk yielding or due to cracking.
SAPV LT 2005 CFK, MRM 8
crack =
Kc 1 a
stress
failure locus
length of crack. a
2.
= E
Yield Stress
Elastic Limit
up to a limit, known as the yield stress (stress axis) or the elastic limit (strain axis). Below these limits, deformation is reversible and the material eventually returns to its original shape. Above these limits, the material behaviour depends on its nature. Consider a sample of material subjected to a tensile force F.
2 F F 1 3
An increase in length (axis 1) will be accompanied by a decrease in dimensions 2 and 3. Hooke's Law
1 = (1 F / A ) / E
10
2 =
1
E
;3 =
1
E
where is the Poisson ratio for that material. These effects are additive, so for three mutually perpendicular stresses 1, 2, 3;
2 1 3
Giving
1 =
1
E
2
E +
3
E
2 = 3 =
1 1
E
3
E
2
E
3
E
Values of the material constants in the Data Book give orders of magnitudes of these parameters for different materials;
11
Puniform = K v
i.e. the volumetric strain resulting from the application of a uniform pressure. In the case of a pressure causing expansion
so
1 = 2 = 3 = P
P 1 1 2 3 ] = (1 2 ) [ E E 3 P v = 1 + 2 + 3 = (1 2 ) E E K= 3(1 2 )
1 = 2 = 3 =
For steel, E = 210 kN/mm2, = 0.3, giving K = 175 kN/mm2 For water, K = 2.2 kN/mm2 For a perfect gas, K = P (1 bara, 10-4 kN/mm2) Shear Modulus definition
= G
- shear strain
12
Longitudinal strain
L =
L
E
h
E
r
E
PD L (1 - 2 ) = 4tE L
Hoop strain:
h =
n
E
L
E
R D PD = (2 - ) = R D 4tE
radial strain
r =
t 3PD 1 = r - h - L ] = [ t 4ET E
13
[ONGOING EXAMPLE]:
L =
= =
1 ( L - n ) E
1 60 x 10 6 - (0.3)120 x 10 6 9 210 x 10
1.14 x 10-4 - 0.114 millistrain
h = 0.486 millistrain r = -0.257 millistrain Thus: pressurise the vessel to 6 bar: L and D increase: t decreases Volume expansion
Cylindrical volume:
D 2 Vo = o Lo 4
V =
(original)
2
New volume
(Do 4
2
+ D) (Lo + L)
L Do 2 1 + h ] [1 + L ] = o [ 4
V Define volumetric strain v = V V - Vo 2 v = = (1 + h ) ( 1 + L) - 1 Vo
2 = 1 + 2 h + h (1 + L ) - 1
2 2 v = 2h + L + h + 2 h L + L n
Magnitude inspection:
14
max (steel) =
y E
h =
so
1 [ h - L - r ] = PD (1 - ) 4Et E
3 (Do + D )3 - Do v = 6 D 3 o 6
v = 1 + 2 + 3 ii are the strains in any three mutually perpendicular directions. {Continued example} cylinder L = 0.114 mstrain n = 0.486 mstrain rr = -0.257 mstrain v = 2n + L new volume = Vo (1 + v) Increase in volume =
D2 L
4
Volume of steelo = DLt = 0.377 m3 v for steel = L + h + rr = 0.343 mstrains increase in volume of steel
= 0.129 L Strain energy measure of work done
work done
A=area
L 0 x
2 kx1 1 x1 x1 w = o Fdx = o k x dx = = Fx 2 2 1 1
x1 = Lo 1 AL o 11 W = F1 = A 1 2
U =
1 1
2
12
2E
In a 3-D system, U =
So U =
1 12 + 2 2 + 32 - 2 ( 1 2 + 2 3 + 3 1) 2E
2
2
16
For a given P, U stored is proportional to 1/K so pressure test using liquids rather than gases. {Ongoing Example} P 6 barg
.
V = 61 x 10-3 m3
Increasing the pressure compresses the contents normally test with water.
p=0
p=6
17
Coefficient of thermal volume expansion v = T Steel: L = 11 x 10-6 K-1 reactor T = 10oC T = 500oC L = 11 10-5
Consider a steel bar mounted between rigid supports which exert stress
Heat
= T -
E
so = ET (i.e., non buckling)
If rigid: = 0 steel:
= 210 x 109 x 11 x 10-6 T = 2.3 x 106 T y = 190 MPa: failure if T > 82.6 K
18
{Example}: steam main, installed at 10oC, to contain 6 bar steam (140oC) if ends are rigid, = 300 MPa failure. must install expansion bends.
. steel construction L = 3 m . full of water t = 3 mm D=1m Initially un pressurised full of water: increase temp. by T: pressure rises to Vessel P.
The Vessel
L =
PD = 83.3 P 4t
n = 2L = 166.7 P
19
Strain (volume)
L =
L h + l T E E
0.3
= 210 x 10 = 11 x 10 6
Similarly h = 6.75 x 10-10 P + 11 10 6 T v = L + 2n = 15.08 x 10-10 P + 33 x 10-6 T = vessel vol. Strain vessel expands due to temp and pressure change.
The Contents, (water)
Expands Contracts
due to T due to P
increase increase:
v, H2O = vT P/K
Since vessel remains full on increasing T: v (H20) = v (vessel) Equating P = 13750 T per 10C increase in temp. n = 166.7 P = 2.29 x 106 T n = 22.9 Mpa per 10C rise in Temperature
20
Failure does not need a large temperature increase. Very large stress changes due to temperature fluctuations.
21
a
d
Cu Fe L = 100mm b
Heat by T:
22
Cu Fe
The different thermal expansions, set up shearing forces in the strip, which create a bending moment. If we apply a sagging bending moment of equal [: opposite] magnitude, we will obtain a straight beam and
Cu Fe
F F
can then calculate the shearing forces [and hence the BM]. Shearing force F compressive in Cu Tensile in Fe
Equating strains:
cu T -
F F = Fe T + bdE cu bdE Fe
So
1 F 1 + = ( cu - Fe ) T bd E cu E Fe
23
24
Consider a steel rod mounted in a upper tube spacer Analysis relevant to Heat Exchangers
Cu
Fe
increase T : copper expands more than steel, so will generate a TENSILE stress in the steel and a compressive stress in the copper.
Data: cu > Fe
= F/AFe = Fe = F/Acu = cu
FE = Fe T + Fe/EFe
Steel strain:
25
Strains EQUAL:
( cu - Fe ) T
d
26
Consider a rod subject to twisting: Definition : shear strain change in angle that was originally /2 Consider three points that define a right angle and more then: Shear strain
A
= 1 + 2
[RADIANS]
2 C
Hookes Law
=G
G shear modulus =
E 2(1 + )
27
2r
B B
Plane ABO was originally to the X-X axis Plane ABO is now inclined at angle to the axis: tan = Shear stress involved = G =
r L
Gr L
28
r dr
.T = 2 r.r r
T = 2 r 2 dr
A
or
2
r.dA
A
Gr = L
= =
G L
dA
so
G {J} L
T G = = J L r
cf
M E = = I R y
29
R4
y r x
J=
Now r2 = x2 + y2 It can be shown that J = Ixx + Iyy
D 4
32
30
Rectangular rod:
I xx
I yy
bd 3 = 12 3 db = 12
J=
bd 2 b +d2 12
31
max
rmax
Now
J=
D 4
32
= = =
291 x
2 x 1450 60
45 kW
32
0.025m
What is the minimum value of D for connector? rmax = D/2 J = (/32){D4 0.0254}
y
rmax
6 32 T 95 x 10 x 2 291 = = 4 D D - 0.0254 J
D 4.15 cm
33
T = r J
now cylinder
J=
[(D + 2t ) 32
3
- D4
]
+ ...
[8D t + 24 D t 32
4
D 3t
2 2
so
2
D
4T D 3 t
2T D 2 t
34
CET 1, SAPV
Vectors
tensors of rank 1
r r F = ma hence : F1 = ma1 F2 = ma2 F3 = ma3 or : Fi = mai
Tensors of rank 2
pi = Tij q j
j =1 3
i, j = 1,2,3
Axis transformations
The choice of axes in the description of an engineering problem is arbitrary (as long as you choose orthogonal sets of axes!). Obviously the physics of the problem must not depend on the choice of axis. For example, whether a pressure vessel will explode can not depend on how we set up our co-ordinate axes to describe the stresses acting on the
34
CET 1, SAPV vessel. However it is clear that the components of the stress tensor will be different going from one set of coordinates xi to another xi. How do we transform one set of co-ordinate axes onto another, keeping the same origin?
xi ' = aij x j
j =1
Reverse transformation:
xi = a ji x j
j =1
We always have to do summations in co-ordinate transformation and it is conventional to drop the summation signs and therefore these equations are simply written as:
xi ' = aij x j xi = a ji x j
35
CET 1, SAPV
Tensor transformation
How will the components of a tensor change when we go from one coordinate system to another? I.e. if we have a situation where
pi = Tij q j = Tij q j (in short form)
j
where Tij is the tensor in the old co-ordinate frame xi, how do we find the corresponding tensor Tij in the new co-ordinate frame xi, such that: pi ' = Tij ' q j ' = Tij ' q j ' (in short form)
j
p' p q q'
Hence: pi ' = aik pk
pk = Tkl ql
ql = a jl q j '
Thus we have:
36
CET 1, SAPV
pi ' = aik Tkl a jl q j '
For example:
Tij ' = ai1 a jl T1l + ai 2 a jl T2l + ai 3 a jl T3l = ai1 a j1 T11 + ai1 a j 2 T12 + ai1 a j 3 T13 + ai 2 a j1 T21 + ai 2 a j 2 T22 + ai 2 a j 3 T23 + ai 3 a j1 T31 + ai 3 a j 2 T32 + ai 3 a j 3 T33 Note that there is a difference between a transformation matrix and a 2nd rank tensor: They are both matrices containing 9 elements (constants) but:
Symmetrical Tensors:
Tij=Tji
37
CET 1, SAPV
38
CET 1, SAPV We can always transform a second rank tensor which is symmetrical:
Tij Tij '
Consequence? Consider:
pi = Tij q j then p1 = T1 q1 , p2 = T2 q2 , p3 = T3 q3
The diagonal T1, T2, T3 is called the PRINCIPAL AXIS. If T1, T2, T3 are stresses, then these are called PRINCIPAL STRESSES.
39
CET 1, SAPV
Mohrs circle
Consider an elementary cuboid with edges parallel to the coordinate directions x,y,z.
y Fxy y face Fx x z face z x face Fxz Fxx
The faces on this cuboid are named according to the directions of their normals. There are thus two x-faces, one facing greater values of x, as shown in Figure 1 and one facing lesser values of x (not shown in the Figure). On the x-face there will be some force Fx. Since the cuboid is of infinitesimal size, the force on the opposite side will not differ significantly. The force Fx can be divided into its components parallel to the coordinate directions, Fxx, Fxy, Fxz. Dividing by the area of the x-face gives the stresses on the x-plane:
xx xy xz
It is traditional to write normal stresses as and shear stresses as .
yx , yy , yz
40
zx , zy , zz
xx xy ij = yx yy zx zy
xz yz zz
Note that the first subscript refers to the face on which the stress acts and the second subscript refers to the direction in which the associated force acts.
yy
y x
yx xy xx
xx xy yx yy
and therefore:
xx xy xz xx xy xz ij = yx yy yz = xy yy yz zx zy zz xz yz zz
Hence ij is symmetric! 41
CET 1, SAPV This means that there must be some magic co-ordinate frame in which all the stresses are normal stresses (principal stresses) and in which the off diagonal stresses (=shear stresses) are 0. So if, in a given situation we find this frame we can apply all our stress strain relations that we have set up in the previous lectures (which assumed there were only normal stresses acting). Consider a cylindrical vessel subject to shear, and normal stresses (h, l, r). We are usually interested in shears and stresses which lie in the plane defined by the vessel walls.
Is there a transformation about zz which will result in a shear Would really like to transform into a co-ordinate frame such that all components in the xi :
ij
ij '
So stress tensor is symmetric 2nd rank tensor. Imagine we are in the coordinate frame xi where we only have principal stresses:
0 1 0 0 2 0 ij = 0 0 3
Transform to a new co-ordinate frame xi by rotatoin about the x3 axis in the original co-ordinate frame (this would be, in our example, z-axis)
42
Then:
ij ' = aik a jl kl
cos = sin 0
sin cos 0
0 cos 0 sin 1 0
sin cos 0
0 1 0 0 0 0 2 0 1 0 3 0
0 0 3
43
CET 1, SAPV
Hence:
44
Shear stresses
normal stresses
x,z plane
y =
Pyield A
This material fails under the stress combination (y, 0, 0) max = 0.5 y = 95 Mpa for steel We wish to establish if a material will fail if it is subject to a stress combination (1, 2, 3) or (n, L, )
2
Failure depends on the nature of the material: Two important criteria (i) (ii) Trescas failure criterion: brittle materials Cast iron: concrete: ceramics Von Mises criterion: ductile materials Mild steel + copper
max
max = 1/2 occurs along plane at 45 to 1 Similarly for tensile test. Case (ii) 2 < 0 < 1
2
1
1 - 2
M.C. Fails when
= max = y =
y
2
i.e., when
6.2 Von Mises Failure Criterion; The stress ellipse (ductile materials)
Trescas criterion does not work well for ductile materials. Early hypothesis material fails when its strain energy exceeds a critical value (cant be true as no failure occurs under uniform compression). Von Mises: failure when strain energy due to distortion, UD, exceeds a critical value. UD = difference in strain energy (U) due of a compressive stress C equal to the mean of the principal stresses.
C =
1 [ + 2 + 3 ] 3 1
1 2 + 2E 1 1 = (1 12G
UD =
1 2 2 3C 2 + 6 C 2 2 + 3 + 2 (1 2 + 2 3 + 3 1 ) 2E
- 2 ) + ( 2 - 3 ) + ( 3 - 1 )
M.C.
Tresca failure when max (I) y) Von Mises failure when root mean square of {a, b, c} critical value
{( - )
1 2
+ ( 2 + 3 ) + (3 - 1 ) > 2 2 y
2 2
Calculate stresses
L =
and 3 = r 0
Mohr's Circle
(100,)
50 s (50,)
100
Circle construction
s = 75 N/mm2 t = (252+2)
1,2 = s t
Thus 2 may be positive (case A) or negative (case B). Case A occurs if is small.
10
Case A (100,)
2 50 s (50,)
Case B
100 1
(100,)
50
s
100
(50,)
We do not know whether the Mohr's circle for this case follows Case A or B; determine which case applies by trial and error. Case A; 'minor' principal stress is positive (2 > 0) Thus failure when
2 max = 1 2 y = 105 N / mm
11
For Case A;
max =
Giving
1
2
1 2
[75 +
(252 + 2 )]
2 = 135 252
Case B; We now have max as the radius of the original Mohr's circle linking our stress data. Thus
= 101.98 N / mm2
1,2 = 75 105
1 = 180 N / mm2 ; 2 = 30 N / mm 2
Thus Case B applies and the yield stress is 101.98 N/mm2. The torque required to cause failure is
T = D2 t' / 2 = 32kNm
Failure will occur along a plane at angle anticlockwise from the y (hoop) direction;
tan(2 ) =
Example
h = 100 N / mm 2 L = 50 N / mm 2 r 0 N / mm2
What torque will cause failure if the yield stress for steel is 210 N/mm2? Mohr's Circle
(100,)
50 s (50,)
100
Giving
1 = s + t = 75 + 252 + 2
2 = s t = 75 252 + 2 3 = 0
1 ( 1 2 ) 2 + ( 2 3 ) 2 + ( 3 1 ) 2 } { 12G
At failure
UD =
13
Or
(1 2 ) 2 + ( 2 3 ) 2 + ( 3 1 ) 2 = ( y )2 + (0)2 + (0 y ) 2 4 t 2 + (s t )2 + ( s + t ) 2 = 2 2 y
2 2 s 2 + 6t 2 = 2 y
= 110 N / mm 2
D2 t' T= = 35kNm 2
which is larger than the value of 32 kNm given by Tresca's criterion - in this case, Tresca is more conservative.
14
x xx
xy Figure 1
xx =
xx ; lx
xy =
xy lx
xx is the direct strain, i.e. the fractional increase in length in the direction of the original vector. xy represents rotation of the vector through the small angle 1 where,
1 tan 1 = xy l x + xx xy lx = xy
Thus in the limit as x 0, 1 xy. Similarly we can define strains yy and yx = 2 by,
yy =
yy
ly
yx =
yx
ly
yx
Figure 2
yy
y ly
as in Figure 2.
lx
ij =
ij
li
where i, j = 1,2,3
The ENGINEERING SHEAR STRAIN is defined as the change in an angle relative to a set of axes originally at 90. In particular xy is the change in the angle between lines which were originally in the x- and ydirections. Thus, in our example (Figure 2 above):
xy = ( 1 + 2 ) = xy + yx or xy = ( 1 + 2 )
xy
A'
C
Figure 3a
B'
C'
Figure 3b
Positive values of the shear stresses xy and yx act on an element as shown in Figure 3a and these cause distortion as in Figure 3b. Thus it is sensible to take xy as +ve when the angle ABC decreases. Thus
2
xy = +( 1 + 2 )
ij = ( ij + ji )
and since
ij = ji,
we have
ij = ji.
Note that the TENSOR SHEAR STRAINS are given by the averaged sum of shear strains:
1 1 1 1 ij = ( ij + ji ) = ( 1 + 2 ) = ji 2 2 2 2
11 1 ij = y 21 2 1 y 31 2
1 y12 2
22
1 y32 2
1 y12 2
22
1 y 23 2
1 y13 2 1 y 23 2 33
where the diagonal elements are the stretches or tensile strains and the off diagonal elements are the tensor shear strains. Thus our strain tensor is symmetrical, and:
3
ij = ji
This means there must be a co-ordinate transformation, such that:
ij '
ij
such that : 1 0 ij = 0 2 0 0 0 0 3
we only have principal (=longitudinal) strains! Exactly analogous to our discussion for the transformation of the stress tensor we find this from:
ij ' = aik a jl kl
cos = sin 0
sin cos 0
0 cos 0 sin 1 0
sin cos 0
0 1 0 0 0 2 1 0 0
0 0 3
0 0 3
1 2
Note, however, that on this occasion we plot half the shear strain against the direct strain. This stems from the fact that the engineering shear strains differs from the tensorial shear strains by a factor of 2 as as discussed.
Strain rosettes are employed to obtain three measurements: 7.3.1 45 Strain Rosette Three direct strains are measured
C
B A principal strain
/2 B 2 B C
circle, centre s,
3 equations in 3 unknowns Using strain gauges we can find the directions of Principal strains
/2
o o
Y Q
o
x
1
E
2
E
o
E
(1 + )
2
E
qq = 2 =
1
E
o (1 + ) E
Y Q P
pp
X (0, ) xy
xx = 0 xy
2
o
E
(1 + )
o
/2
/2
2 o (1 + ) E
But by definition o = G so
and
G=
o E = 2(1 + )
Use St Venants principal to work out principal stress values from a knowledge of principal strains. Two Mohrs circles, strain and stress.
1 =
1
E
2
E
+
3
E
2 =
3 =
1
1
E
3
E
2
E
3
E
So using strain gauges you can work out magnitudes of principal strains. You can then work out magnitudes of principal stresses. Using Tresca or Von Mises you can then work out whether your vessel is safe to operate. ie below the yield criteria
10