CISM International Centre for Mechanical

Sciences

Courses and Lectures

Volume 605

Managing Editor
Paolo Serafini, CISM—International Centre for Mechanical Sciences, Udine, Italy

Series Editors
Elisabeth Guazzelli, Laboratoire Matière et Systèmes Complexes, Université Paris
Diderot, Paris, France
Alfredo Soldati, Institute of Fluid Mechanics and Heat Transfer,
Technische Universität Wien, Vienna, Austria
Wolfgang A. Wall, Institute for Computational Mechanics, Technische Universität
München, Munich, Germany
Antonio De Simone, BioRobotics Institute, Sant’Anna School of Advanced Studies,
Pisa, Italy
For more than 40 years the book series edited by CISM, “International Centre for
Mechanical Sciences: Courses and Lectures”, has presented groundbreaking
developments in mechanics and computational engineering methods. It covers
such fields as solid and fluid mechanics, mechanics of materials, micro- and
nanomechanics, biomechanics, and mechatronics. The papers are written by
international authorities in the field. The books are at graduate level but may include
some introductory material.

More information about this series at https://link.springer.com/bookseries/76

Holm Altenbach · Artur Ganczarski
Editors

Advanced Theories
for Deformation, Damage
and Failure in Materials
Editors
Holm Altenbach Artur Ganczarski
Otto-von-Guericke-Universität Magdeburg Politechnika Krakowska im. Tadeusza
Magdeburg, Germany Kościuszki
Kraków, Poland

ISSN 0254-1971 ISSN 2309-3706 (electronic)

CISM International Centre for Mechanical Sciences
ISBN 978-3-031-04352-9 ISBN 978-3-031-04354-3 (eBook)
https://doi.org/10.1007/978-3-031-04354-3

© CISM International Centre for Mechanical Sciences 2023

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of
the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,
broadcasting, reproduction on microfilms or in any other physical way, and transmission or information
storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology
now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication
does not imply, even in the absence of a specific statement, that such names are exempt from the relevant
protective laws and regulations and therefore free for general use.
The publisher, the authors, and the editors are safe to assume that the advice and information in this book
are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or
the editors give a warranty, expressed or implied, with respect to the material contained herein or for any
errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional
claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AG
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
Preface

The course Advanced Theories for Deformation, Damage and Failure in Materials
was organized during a difficult time. Originally it was planed as a normal course in
Udine within the week May 4–8th, 2020 with the lecturers Holm Altenbach (Otto-
von-Guericke-Universität Magdeburg, Germany), Artur Ganczarski (Cracow Univer-
sity of Technology, Poland), Frédéric Barlat (Pohang University of Science and Tech-
nology), René de Borst (University of Sheffield, UK), Ramesh Talreja (Texas A&M
University, College Station, TX, USA), and Ewald Werner (Technische Universität
München, Germany). Unfortunately, this concept could not be realized because the
COVID 19 pandemic did not allow a direct event. In addition, by personal reasons
two lecturers rejected the invitation.
The question immediately arose, how we could realize the planned event a success-
fully. Special thanks to Thomas Seifert (Hochschule Offenburg, Germany), who
immediately agreed to take over part of the lectures. Finally, the course was modi-
fied, whereby the overall continuum mechanical framework was marked out with
the lectures on “Creep and Damage of Materials at Elevated Temperatures”. In the
part “Time-dependent and Time-independent Models of Cyclic Plasticity for Low-
cycle and Thermomechanical Fatigue Life Assessment” some general statements
were specified in a very special manner: instead of three-dimensional statements
only one-dimensional statements were discussed.
The contributions “Anisotropic Plasticity During Non-proportional Loading” and
“Anisotropy of Yield/Failure Criteria—Comparison of Explicit and Implicit Formu-
lations” showing how the limit states of materials can be estimated. In addition, the
contribution “Damage and Failure of Composite Materials” demonstrates the possi-
bility to extend continuum mechanics to continuum damage mechanics of composite
materials.
Overall the course was successful and the online format was adopted. Unfortu-
nately, the personal conversation was missing, which was always very important for
CISM courses. With these lecture notes it seems that we have reflected the course
content well. We hope that the audience, but also those who are interested, will get
suggestions for further scientific work.

v
vi Preface

Finally, we hope that the online format will not become the default. The CISM
has always been a place for personal encounters and scientific exchange. This can
only happen face-to-face.

Magdeburg, Germany Holm Altenbach

Kraków, Poland Artur Ganczarski
Contents

1 Creep and Damage of Materials at Elevated Temperatures . . . . . . . . . 1

Holm Altenbach
1.1 Motivation and Some Historical Remarks . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.2 Creep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.3 Brief Historical Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Creep Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.1 Basic Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.2 Continuum Damage Mechanics . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Continuum Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.3.1 Preliminary Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.3.2 Brief Historical Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3.3 One-Dimensional Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.3.4 Three-Dimensional Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.3.5 Latest Developments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
1.3.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
1.4 Rheological Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
1.4.1 Some Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
1.4.2 Simplest Three-dimensional Rheological Models . . . . . . . . . 51
1.4.3 Simplest Two-dimensional Rheological Models . . . . . . . . . . 53
1.4.4 Advanced Rheological Models . . . . . . . . . . . . . . . . . . . . . . . . . 54
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
2 Anisotropic Plasticity During Non-proportional Loading . . . . . . . . . . . 63
Frédéric Barlat and Seong-Yong Yoon
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.2 Stress States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.2.1 Uniaxial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.2.2 Multiaxial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
2.3 Elasto-Plasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
2.3.1 Elasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

vii
viii Contents

2.3.2 Plasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
2.3.3 Yield Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
2.3.4 Flow Rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
2.3.5 Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
2.4 Anisotropy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
2.4.1 Elasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
2.4.2 Plasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
2.4.3 Hill’s Yield Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
2.4.4 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
2.5 Non-linear Strain Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
2.5.1 Deformation History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
2.5.2 Experimental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
2.5.3 Interpretation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
2.5.4 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
2.6 Anisotropic Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
2.6.1 Kinematic Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
2.6.2 Mutli-surface Kinematic Hardening . . . . . . . . . . . . . . . . . . . . . 90
2.6.3 Distortional Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
2.7 Homogeneous Anisotropic Hardening Model . . . . . . . . . . . . . . . . . . . 91
2.7.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
2.7.2 Yield Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
2.7.3 Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
2.8 Finite Element Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
2.8.1 Stress Integration Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
2.8.2 Elasto-Plastic Tangent Modulus . . . . . . . . . . . . . . . . . . . . . . . . 99
2.8.3 FE-Application: Non-proportional Loading . . . . . . . . . . . . . . 100
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
3 Anisotropy of Yield/Failure Criteria—Comparison of Explicit
and Implicit Formulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Artur Ganczarski
3.1 Lecture—Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
3.1.1 Even Order Tensors—Invariants and Matrix
Representations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
3.1.2 Fourth-Order Tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
3.1.3 Positive Definiteness of Quadratic Form {t}T [B]{t}
in Sylvester’s Sense . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
3.2 Lecture—General Concept of Limit Surfaces . . . . . . . . . . . . . . . . . . . 126
3.2.1 Pressure Sensitive or Insensitive Yield Criteria . . . . . . . . . . . 126
3.2.2 Survey of Symmetry Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
3.2.3 Drucker’s Postulate of Stability . . . . . . . . . . . . . . . . . . . . . . . . 132
3.3 Lecture – Initial Yield Criteria of Pressure Insensitive
Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
3.3.1 von Mises Anisotropic Criterion . . . . . . . . . . . . . . . . . . . . . . . 135
Contents ix

3.3.2 von Mises Orthotropic Criterion, the Hill Deviatoric

Criterion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
3.3.3 Comparison of Hill’s Criterion Versus Hu–Marin’s
Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
3.3.4 Transverse Isotropy of Hill’s Type Tetragonal
Symmetry Versus Hu–Marin’s Type Hexagonal
Symmetry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
3.4 Lecture—Implicit Formulation of Pressure Insensitive Yield
Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
3.5 Lecture–Yield/Failure Criteria for Hydrostatic Pressure
Sensitive Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
3.5.1 von Mises–Tsai–Wu Type Criteria . . . . . . . . . . . . . . . . . . . . . . 159
3.5.2 Transversely Isotropic Case of Tsai–Wu Type Criteria . . . . . 163
3.6 Lecture—Implicit Formulation of Pressure Sensitive
Anisotropic Initial Failure Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
4 Time-dependent and Time-independent Models of Cyclic
Plasticity for Low-cycle and Thermomechanical Fatigue Life
Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Thomas Seifert
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
4.1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
4.1.2 Aims of This Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
4.1.3 Structure of This Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
4.2 Concept of Internal Variables and Normality Rules . . . . . . . . . . . . . . 179
4.2.1 Helmholtz Free Energy and Internal Variables . . . . . . . . . . . . 180
4.2.2 Flow Potential and Normality Rule . . . . . . . . . . . . . . . . . . . . . 181
4.3 Time-independent Cyclic Plasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
4.3.1 Isotropic Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
4.3.2 Kinematic Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
4.3.3 Combined Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
4.4 Time-dependent Cyclic Plasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
4.4.1 Rate-dependent Yielding: Unified Models . . . . . . . . . . . . . . . 210
4.4.2 Rate-dependent Yielding: Non-unified Models . . . . . . . . . . . 219
4.4.3 Static Recovery of Hardening . . . . . . . . . . . . . . . . . . . . . . . . . . 223
4.5 Thermomechanical Loadings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
4.5.1 Temperature-dependent Material Properties . . . . . . . . . . . . . . 228
4.5.2 Temperature Rate Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
4.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
x Contents

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
5 Damage and Failure of Composite Materials . . . . . . . . . . . . . . . . . . . . . . 235
Ramesh Talreja
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
5.2 Failure Modes in UD Composites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
5.2.1 Fiber Failure Mode in Axial Tension . . . . . . . . . . . . . . . . . . . . 236
5.2.2 Fiber Failure Mode in Axial Compression . . . . . . . . . . . . . . . 236
5.2.3 Matrix and Fiber/Matrix Interface Failure Mode
in Transverse Tension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
5.2.4 Matrix and Fiber/Matrix Interface Failure Mode
in Transverse Compression . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
5.2.5 Matrix and Fiber/Matrix Interface Failure Mode
in In-plane Shear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
5.2.6 Failure in Combined Loading . . . . . . . . . . . . . . . . . . . . . . . . . . 240
5.3 Failure Modes in Laminates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
5.3.1 Cross Ply Laminates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
5.3.2 General Laminates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
5.4 Damage and Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
5.4.1 Damage Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
5.4.2 Damage Characterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
5.4.3 CDM Framework for Materials Response . . . . . . . . . . . . . . . . 249
5.4.4 Synergistic Damage Mechanics (SDM) . . . . . . . . . . . . . . . . . 255
5.4.5 Remarks on Characterization of Damage . . . . . . . . . . . . . . . . 256
5.4.6 Evolution of Damage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
5.5 Modeling of Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
5.5.1 Phenomenological Failure Theories for UD
Composites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
5.5.2 Physical Modeling of Failure . . . . . . . . . . . . . . . . . . . . . . . . . . 263
5.6 Future Directions for Research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
5.7 Concluding Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276