Chapter 2: Elastic Constitutive Equations of a Laminate

2.0 Introduction
Equations of Motion
Symmetric of Stresses
Tensorial and Engineering Strains
Symmetry of Constitutive Equations
2.1 Three-Dimensional Constitutive Equations
General Anisotropic Materials
Orthotropic Materials
Transversely Isotropic Materials
Isotropic Materials
2.2 Relation Between Mathematical & Engineering Constants
Isotropic Materials
Orthotropic Materials
2.3 Constitutive Equations for an Orthotropic Lamina
Plane Strain Condition
Plane Stress Condition
2.4 Constitutive Equations for an Arbitrarily Oriented Lamina
Coordinate Transformation
Stress Transformation
Strain Transformation
Stiffness and Compliance Matrix Transformation
2.5 Engineering Constants of a Laminate
Lamina
Laminate
2.6 Hygrothermal Coefficients of a Lamina

2.7 Summary
 2.0 INTRODUCTION
x2 u2
2.0.1 Equations of Motion of Elastic Solids

x P( x1, x2 , x3 )
Equations of Equilibrium (Kinetics)
x1 u1 2 ui
ij , j + fi = 2 i, j = 1, 2, 3
t
x3 u3 22
x2 u2 12
23
32 12 Equations of Kinematics
11
31 (strain-displacement)

33 x1 u1 (
ij = 1 2 ui, j + u j ,i )
x3 u3
22
x2 u2 21 Constitutive Equations (stress-strain)
23
12 ij = Cijkl kl i, j, k , l = 1, 2, 3
31 11
13

x1 u1
33 32

x3 u3
 2.0.2 Symmetry of Stresses
Consider a plane 1-2.
22 Equilibrium
x2
21 in x1 11 1 t 11 1 t + 21 1 t 21 1 t = 0
12 in x2 ( 22 22 ) 1 t ( 12 12 ) 1 t = 0
1
11 11 Moment about A: 12 1 t 21 1 t = 0

12
. A
21
1 12 = 21
Similarly we can show, from 2-3 plane 23 = 32
1-3 plane 13 = 31
22
Therefore, ij = ji i, j = 1, 2, 3
x1
Stress tensor is Symmetric.
Tensorial and Contracted Notation
Tensorial Contracted
11 1
22 2
33 3
23 = 23 = 4 or 4
31 = 31 = 5 or 5
12 = 12 = 6 or 6
2.0.3 Tensorial and Engineering Strains
x2
Tensorial Strains:
21
(
ij = 1 2 ui, j + u j ,i ) 12
ii = ui,i i = j normal strains. 1
(
ij = 1 2 ui, j + u j ,i ) i j tensorial shear strain.
Engineering shear strain
12
. A
1

( )
ij = ij + ji = ui, j + u j ,i = Total shear strain
21
x1

Engineering Strains 22
u u
u1 4 = 4 = 2 + 3
1 = 11 = x3 x2 x2 u2 21
x1 23
u u u 12
2 = 22 = 2 5 = 5 = 3 + 1 11
x2 x1 x3 31
13
u u u 32
3 = 33 = 3 6 = 6 = 1 + 2
x3 x2 x1 33
x1 u1

x3 u3
 Generalized Hookes Law (3-D Constitutive Equation)
Stress-Strain Equation i = Cij j i, j = 1, 2,3, 4, 5, 6

1 C11 C12 C13 C14 C15 C16 1

2 C21 C22 C23 C24 C25 C26 2
3 C31 C32 C33 C34 C35 C36 3
=
4 C41 C42 C43 C44 C45 C46 4
5 C51 C52 C53 C54 C55 C56 5
6 C61 C62 C63 C64 C65 C66 6
C is called the stiffness matrix.
Strain-Stress Equation i = Sij j i, j = 1, 2,3, 4, 5, 6
1 S11 S12 S13 S14 S15 S16 1
2 S21 S22 S23 S24 S25 S26 2
3 S31 S32 S33 S34 S35 S36 3
=
4 S41 S42 S43 S44 S45 S46 4
5 S51 S52 S53 S54 S55 S56 5
6 S61 S62 S63 S64 S65 S66 6

S is called the compliance matrix.

2.0.4 Symmetry of Constitutive Matrix
1
Strain energy density, U0 = i i - - - -(1)
2
1
U0 = Cij j i
2
U
i = 0 = Cij j
i
2U 0
= Cij
j i
1
Eqn.(1) can be written as U0 = j j
2
1
U0 = C ji i j
2
U
j = 0 = C ji i
j
2U 0
= C ji
i j
Since the order of differentiating a scalar quantity U0 shouldnot
change the result. Therefore, Cij = Cji .Stiffness matrix is symmetric.
Similarly, Sij = Sji
2.1 3-D CONSTITUTIVE EQUATIONS
(a) General Anisotropic Material (no plane of material symmetry).
1 C11 C12 C13 C14 C15 C16 1
2 C21 C22 C23 C24 C25 C26 2
3 C31 C32 C33 C34 C35 C36 3
=
4 C41 C42 C43 C44 C45 C46 4
5 C51 C52 C53 C54 C55 C56 5
6 C C C C C C 6
61 62 63 64 65 66

Number of unknowns = 6x 6 = 36
Because symmetry of Cij, number of unknowns = 6x 7/ 2 = 21
(b) Specially Orthotropic Materials (3 mutually perpendicular planes of
material symmetry). Reference coordinate system is parallel to the material
coordinate system.
1 C11 1
2 C21 C22 Sym 2
3 C31 C32 C33 3
=
4 0 0 0 C44 4
5 0 0 0 0 C55 5
6 0 0 0 0 0 C 6
66
Number of unknowns = 9
Features

No interaction between normal stresses (1, 2, 3) and shear

strains (4, 5, 6 ). Normal stresses acting along principal material
directions produce only normal strains.

No interaction between shear stresses (4, 5, 6) and normal strains

(1, 2, 3). Shear stresses acting on principal material planes produce
only shear strains.

No interaction between shear stresses and shear strains on

different planes. That is shear stress acting on a principal plane
produces a shear strain only on that plane.
(c) Transversely Isotropic Material
An orthotropic material is called transversely isotropic when one of
its principal plane is a plane of isotropy. At every point on this plane, the
mechanical properties are the same in all directions.

(2-3): Plane of Isotropy

1 C11 1
2 C21 C22 2
3 C12 C23 C22 Sym 3
= C22 C23
4 0 0 0 4
5 2
0 0 0 0 C55 5
6 0 0 0 0 0 C55 6

Number of unknowns = 5
(d) Isotropic Material
A material having infinite number of planes of material symmetry
through a point.
1 C11 1
C C11 Sym
2 12 2
3 C12 C12 C11 3
=
4 0 0 0 C44
4
5 0 0 0 0 C44 5

6 0 0 0 0 0 C44 6
C11 C12
where C44 =
2
Number of unknowns = 2
Summary
Material Independent Elastic constants
1. Anisotropic material 36
2. Anisotropic elastic materials 21
3. Orthotropic material 9
4. Orthotropic material with 5
transverse isotropy
5. Isotropic material 2
 2.2 Relations Between Mathematical and Engineering Constants

(a) Isotropic Materials (E & )

x2

3 = 1 / E
2 = 1 / E
1
1 = 1 / E
x1

x3 Definition:
Elastic Modulus (E) = Stress/Strain = 1/1

Poissons Ratio () = - Transverse strain/Applied strain = - 2 /1

 x2

3 = 1 / E
2 = 1 / E
1 = 1 / E x1

x3
Applied Stresses
Normal Strains 1 2 3
in x1 1 / E 2 / E 3 / E
in x2 1 / E 2 / E 3 / E
in x3 1 / E 2 / E 3 / E

Shear stresses
Planes x2-x3, x3 - x1 x1 - x2
Shear Strains
23 31 12
4 23 / G
5 31 / G
6 12 / G
 x2

Constitutive Equation
1
x1

i = Sij j
x3

1 1 E
E

E 0 0 0 1
1 0 0 0

2
E E E 2

3 E
E
1
E 0 0 0 3
= = 0 1 =
4 23 0 0 G 0 0
4 23
5 = 31 0 0 0 0 1
G 0 5 = 31
= 1 =
6 12 0 0 0 0 0 G 6 12

{ } = [ S]1{ } or { } = [C ]{ }
Restrictions of Elastic Constants

E
Shear modulus G=
2(1 + )

for Shear modulus to be positive, > - 1

E
Bulk modulus K=
3(1 2 )

for Bulk modulus to be positive, < 1/2

1 < < 1/2

 (b) Orthotropic Materials

x2 E2

3 = 13 1 / E1
1
2 = 12 1 / E1
x1 E1 1 = 1 / E1

x3 E3

Definition:
Elastic Modulus (E1) = Stress/Strain = 1/1

Poissons Ratio (12) = - Transverse strain/Applied strain = - 2 /1

 x2

3 = 13 1 / E1
2 = 12 1 / E1
1 = 1 / E1 x1

x3
Applied Stresses
Normal Strains 1 2 3
in x1 1 / E1 21 2 / E2 31 3 / E3
in x2 12 1 / E1 2 / E2 32 3 / E3
in x3 13 1 / E1 23 2 / E2 3 / E3

Shear stresses

Shear Strains
Planes x2-x3, x3 - x1 x1 - x2
23 31 12
4 23 / G23
5 31 / G31
6 12 / G12
Constitutive Equation

{ } = [ S]{ }
21 31
1 1 E11 E22 E33 0 0 0 1
12 32
2
1
E11
0 0 0
2
23
E22 E33
3 13 E11 1 0 0 0 3
= = 0
E22 E33

23
1 0 4 = 23
4 0 0 G23 0

5 = 31 0 0 0 0 1 0 5 = 31
=
G31
=
6 12
0 0 0 0 0 1
G12
6 12

{ } = [ S]1{ } or { } = [C ]{ }

from Symmetry of S- matrix: Sij = S ji when i j

S12 = S21 S13 = S31 S23 = S32

ij ji ij Ei 12 21 13 31 , and 23 = 32
Therefore = or = That is = , =
Ei E j ji Ej E1 E2 E1 E3 E2 E3
This is the well known Bettis reciprocal law of orthotropic material properties.
Stress-Strain Equation
{ } = [C ]{ }

Where [C ] = [ S]1

Coefficients of C are given by:

1 23 32 21 +13 23 12 +13 32
C11 = E2 E3 C12 = E2 E3 = E1 E3
113 31 32 +12 31 23 + 21 31
C22 = E1 E3 C23 = E1 E3 = E1 E2
112 21 13 +12 23 31 + 21 32
C33 = E1 E2 C13 = E1 E2 = E2 E3

C44 = G23 , C55 = G13 , and C66 = G12

Where 1 21 31
= 1
E1 E2 E3 12 1 32
13 23 1
 Transversely Isotropic Material ( Plane : x2 x3 )

E2 = E3
G12 = G13
12 = 13
E2
G23 =
2(1 + 23 )

Restrictions on Elastic Constants of Orthotropic Materials

From Energy Principles, Lempriere showed that the Strain Energy is Positive
if the Stiffness and Compliance Matrices are Positive Definite.

Mathematical Argument

(a) If only one stress is applied at a time, then the work done is positive
if and only when the corresponding direct strain is positive. That is when
Sii > 0

Therefore: E1 , E2 , E3 , G12 , G23 , and G13 > 0

(b) Under suitable constraints, it is possible to deform a body in one-direction.
Then the work done will be positive if only when Cii > 0
1 23 32
C11 = E2 E3
>0
1 23 32 > 0 or 23 32 < 1

or
E2
23 <
E3

Ei
In general ij <
Ej

Note all through was assumed to be greater than 0. This condition

would give additional equations. (refer to R. M. Jones.)
2.3 Constitutive Equations of a Thin Orthotropic Lamina
Two-Dimensional Bodies: Variation in stress and strain can be defined
by two-coordinates.
There are two types of problems.
(a) Plane strain - Thick bodies
z = xz = yz = 0 x2 , y, v

xz = yz = 0 x3 , z, w

(b) Plane Stress - Thin bodies x1, x, u

z = xz = yz = 0
z = xz = yz = 0
Strain-Stress Equation:
1 S11 S12 0 1 x2 , y, v

2 = S21 S22 0 2 x3 , z, w
0 0 S66 12
12
Or x1, x, u
1 12

1 E1 0
12
E1
1

2 = E1
1
E2 0 2
1
12 0 0 G12 12

Stress -Strain Equation:

1 Q11 Q12 0 1 1 E1
E12 0 1

2 = Q21 Q22 0 2 2 = E12
E2 0 2
Or
0 Q66 12 0 G12 12
12 0 12 0

E E2 E E2
Where: E1 = 1121 21 E2 = 1
12 21
= 121 1 = 112
E12
12 21 12 21
2.4 Stress-Strain Relations for Arbitrary Orientation of a Lamina
y
(a) Transformation of coordinates
P(x,y)
x1 x2 - Material coordinate system
xy - Reference coordinate system
x
y x1
x2 P(x,y)
Consider a point P(x,y), its coordinates in x
x1 x2 system is
x1
x1 = xCos + ySin y

x2 = xSin + yCos
x2 x
or
x1 Cos Sin x x1 1x 1 y x
= or x = 2 x 2 y y
x2 Sin Cos y 2

Direction cosine matrix ij where I = 1,2 and j = 1, 2

(b) Stress Transformation

We use tensors transfer stresses between the two coordinate systems

ij = ik jl kl i, j = 1, 2 and k , l = x, y
Example: i=j=1
11 = 1111 xx + 1112 xy + 1211 yx + 1212 yy

If m = Cos and n = Sin Then

11 = m 2 xx + 2 mn xy + n 2 yy

Similarly we can establish the other two stress components. Finally we can write

11 m 2 mn xx
2
n2
2
22 = n m 2 2 mn yy
mn mn m 2 n 2
12 xy

{ } x1 x2 = [T ]{ } x y
or
{ } x y = [T ]{ } x1 x2 where [T ] = [T ]1
[T ] - is the stress transformation matrix.
 m 2 n2 2 mn
[T ] = [T ]1 = [T ( )] = n2 m2 2 mn
mn mn m 2 n 2

(c) Strain Transformation

{ } x yTen = [ T ]{ } x1 x2Ten

1 0 0 11

{ } x yTen = [ T ] 0 1 0 22

0 0 1
2 12 Eng

{ } x yTen = [ T ] [ H ]{ } x x Eng
1 2

1 0 0
{ } x yEng = [ H ] 1 [ T ] [ H ]{ } x x Eng
1 2 [ H ] 1 = 0 1 0
0 0 2
{ } x yEng = [ T ]{ } x x Eng
1 2

Where strain transformation matrix is:

m2 n2 mn
[ T ] = n2 m2 mn

2 mn 2 mn m 2 n 2
 (d) Stiffness Transformation
Let
{} xy = [Q] xy {} xy in x - y coordinate system

Let us start with stress equation

{} xy = [T ] xy {}1 2

= [T ] xy [Q]1 2 {}1 2 {}1 2 = [Q]1 2 {}1 2

{} xy = [T ][Q]1 2 [T ]1 {} xy {}1 2 = [T ]1 {} xy

{} xy = [T ][Q]1 2 [T ]T {} xy

[Q] xy = [T ][Q]1 2 [T ]T
 Qxx Qxy Qxs Q11 Q21 0

Qyx = [T ]Q12 0 [T ]
T
Qyx Qyy

Q22

Qsx Qsy
Qss 0 0 Q66

where
E11
Q11 =
1 12 21

E22
Q22 =
1 12 21

12 E22 21 E11
Q12 = =
1 12 21 1 12 21

Q66 = G12
 Elements pf [Q]xy matrix

Qxx = m 4 Q11 + n 4 Q22 + 2 m 2 n 2 Q12 + 4 m 2 n 2 Q66

Qyy = n 4 Q11 + m 4 Q22 + 2 m 2 n 2 Q12 + 4 m 2 n 2 Q66

( )
Qxy = m 2 n 2 Q11 + m 2 n 2 Q22 + m 4 + n 4 Q12 4 m 2 n 2 Q66

( ) (
Qxs = m 3 nQ11 mn 3Q22 + mn 3 m 3 n Q12 + 2 mn 3 m 3 n Q66 )
Qys = mn 3Q11 m 3 nQ22 + ( m 3 n mn 3 )Q12 + 2( m 3 n mn 3 )Q66

Qss = m 2 n 2 Q11 + m 2 n 2 Q22 2 m 2 n 2 Q12 + ( m 2 n 2 ) Q66

2

Notice in the [Q] xy matrix

It is fully populated - means normal-shear coupling.
Although 4 independent constants were used; we have 6 unknowns.
(e) Compliance Matrix

{ } xy = [T ]{ } x 1 x 2
= [T ][ S] x 1 x 2 { } x 1 x 2

{ } xy = [T ][ S] x 1 x 2 [T ] { } x y
1

{ } xy = [ S] x y { } x y [ S] x y = [T ][ S]1 2 [T ]
T
where

x Sxx Sxy Sxs xx

y = Syx Syy Sys yy
S Ssy Sss xy
xy sx
S xx = m 4 S11 + n 4 S22 + 2 m 2 n 2 S12 + m 2 n 2 S66

Syy = n 4 S11 + m 4 S22 + 2 m 2 n 2 S12 + m 2 n 2 S66

( )
S xy = m 2 n 2 S11 + m 2 n 2 S22 + m 4 + n 4 S12 m 2 n 2 S66

( ) (
S xs = 2 m 3 nS11 2 mn 3 S22 + 2 mn 3 m 3 n S12 + mn 3 m 3 n S66 )
( ) (
Sys = 2 mn 3 S11 2 m 3 nS22 + 2 m 3 n mn 3 S12 + m 3 n mn 3 S66 )
( )
2
Sss = 4 m 2 n 2 S11 + 4 m 2 n 2 S22 8m 2 n 2 S12 + m 2 n 2 S66
 2.5 Engineering Constants of an Arbitrarily Oriented Laminate

Arbitrarily Oriented Lamina

Let us examine what happens when you apply x in x direction.
We get ... y

x - in x
y
y - in y

x
and shear strain, xy
xy

Ex = x or x = x x
x Ex
y xy 1 1
xy = y = xy x = x Sxx = Ex =
x Ex Ex Sxx
xy xy
Shear coupling coefficient xs = Syx = xy = Syx E x
x Ex

or xy = xs x = xs x
Ex xs
Ssx = xs = Ssx E x
Ex
 Shear Coupling Coefficients:

Sxx =
1
Ex =
1 xs ->Ratio of shear strain xy
Ex Sxx to normal strain x due to
applied x.
xy
Syx = xy = Syx E x
Ex sx ->Ratio of normal strain x
to shear strain xy due to
xs applied xy.
Ssx = xs = Ssx E x
Ex
Similarly we have: ys, sy

1 yx sx

x Ex Ey Gxy
xx
xy 1 sy
y = yy
E x Ey Gxy

xy ys 1 xy
xs
E Ey Gxy
x
Engineering Constants of an Arbitrarily Oriented Lamina

1
Ex
=
m2
E1
2 2
(
m n 12 +
n2 2
E2
)
n m 21 +
2
G12
(
m2n2
)
1
=
n2 2
E y E1
(
n m 12 +
2 m2
E2
)
m n 21 +
2 2 m2n2
G12
( )
( )
2
1 4m n 2 2 2 2
4m n m2 n2
= (1 + 12 ) + (1 + 21 ) +
Gxy E1 E2 G12

xy yx
Ex
=
Ey
=
m2
E1
2 2
(
m 12 n +
n2 2
E2
2
)
n 21 m +
m2n2
G12
( )
sx xs 2 mn 2
3
3
( )
( ) ( )
2 mn mn m n
= = m n 12
2
n m 21 +
2 2
G12 E x E1 E2 G12

sy ys
3
3
( )
( ) ( )
2 mn 2 2 mn m n mn
= = n m 2 12 m 2 n 2 21 +
G12 Ey E1 E2 G12
 Variation of Ex and Ey with Fiber Angle

Material: E1 = 10E2 & G12=0.45 E2

12 12=0.35 and E2 = 2 Msi

10

8 Ey
Ex
E2 E2
6

0
0 10 20 30 40 50 60 70 80 90

Angle
 Variation of Gxy with Fiber Angle
1

0.8

Gxy
0.6
E2
0.4

0.2

0
0 10 20 30 40 50 60 70 80 90

Angle
 Variation of xy with Fiber Angle
0.6

0.5

0.4
xy
0.3

0.2

0.1

0
0 15 30 45 60 75 90

Angle
 Variation of xs and ys with Fiber Angle

0.5

0
ys
-0.5

-1
xs
-1.5

-2

-2.5
0 15 30 45 60 75 90

Angle
 Engineering Constants of a Laminate

N-Layers
Each Layer can have different
Thickness, Orientation, and Material

N
T = ti
i =1

Stress-Strain in ith Layer { }i = [C ]i { }i { }av = T1 [C]dz{ }

Assumption: Strain is constant through out the laminate
Average Stress in the laminate is: { }av = [C ] dzt { }
N
= [C ]i ti { }
1
T
i =1
{ }av = [C ]av { } or { }av = [ S ]x y { }av
For 3-D model stress-strain are six
For 2-D model stress-strain are three
Engineering Constants are:
S
Ex = 1 Gyz = v1 xy = Syx
S xx S44 xx

Ey = 1
Syy
Gxz = v1
S55
S
xz = S zx
xx

Ez = 1
Szz
Gxy = v1
S66
S
yz = S zy
yy

MmLamCode: micromechanics and laminate analysis unidirectional code

mmTEXlam: micro and laminate analysis of textile fabric composite code
2.6 Hygrothermal Coefficients of a Lamina

2.6.1 Coefficients of Thermal Expansion

(a) Isotropic Materials

y
Original

b b x
l
l Expanded due to T

l' l
Coefficient of thermal expansion, x = y = =
T T T
lT

Units: in/in/oF or m/m /oC

(B) Orthotropic Materials
x2
Deformed

b
b

x1
l
l
Original

Coefficient of thermal expansion

l' l
In x1-direction 1 = lT
T

b' b
In x2-direction 2T =
bT
1T

Thermal strains: { } = 2T T
0

2.6.2 Coefficients of Moisture Expansion
All organic composites absorbs moisture. The absorption depends on the relative
humidity to which it is exposed and its moisture content. For a given RH, temperature, and atmospheric pressure
composite will have a saturation value. This is moisture content that the material will reach, if it is exposed
for a very long time. This is a fixed value for a material. The moisture content is expressed as percent change
in weight of the material. Like thermal expansion,increase in moisture would also expands the material.
The orthotropic materials have two coefficients of moisture expansion, one along the fiber and the other
across the fiber.
x2
Deformed

Change in moisture
b
b

x1
l
l
Original

Coefficient of moisture expansion

1M
In x1-direction 1T = ll' Ml
b' b
Moisture strains: M { } = 2M M
In x2-direction 2T = bM 0

2.6.3 Coefficients of Thermal & Moisture Expansion
for Lamina in Arbitrary Orientation
y
x2 x1 Recall the strain transformation:

{ T }xy = [T ]{ T }1 2
x
Where m2 n2 mn
2
[ ]
T = n m 2
mn
2 mn 2 mn m n
2 2

m=cos and n=sin
Thermal strains in x-y due to T are:
x m2 n2 mn 1T xT
2
y = n m2 mn 2T T = yT
2 mn 2 mn m 2 n 2 0 T
xy xy

Coefficients of thermal expansion in x-y:

xT = m 21T + n 2 2T yT = n 21T + m 2 2T xy
T
= 2 mn(1T 2T )
Coefficients of thermal expansion in x-y:

xT = m 21T + n 2 2T

yT = n 21T + m 2 2T

xy
T
= 2 mn(1T 2T )

Coefficients of moisture expansion in x-y:

xM = m 2 1M + n 2 2M
yM = n 2 1M + m 2 2M
xy
M
= 2 mn( 1M 2M )
 Summary

2.0 Introduction
Equations of Motion
Symmetric of Stresses
Tensorial and Engineering Strains
Symmetry of Constitutive Equations
2.1 Three-Dimensional Constitutive Equations
General Anisotropic Materials
Orthotropic Materials
Transversely Isotropic Materials
Isotropic Materials
2.2 Relation Between Mathematical & Engineering Constants
Isotropic Materials
Orthotropic Materials
2.3 Constitutive Equations for an Orthotropic Lamina
Plane Strain Condition
Plane Stress Condition
2.4 Constitutive Equations for an Arbitrarily Oriented Lamina
Coordinate Transformation
Stress Transformation
Strain Transformation
Stiffness and Compliance Matrix Transformation
2.5 Engineering Constants of a Laminate
Lamina
Laminate
2.6 Hygrothermal Coefficients of a Lamina