Homework 5

CIV-E4080, Material Modeling in Civil Engineering L

Engineering viscoelasticity
Introduction
The purpose of this homework is to study classical viscoelasticity concepts through solving examples
in order to consolidate what you’ve learn till now from textbooks and during lectures. The content
of this homework are the constitutive models of linear viscoelasticity listed below:

• Maxwell model

• Kelvin-Voight model

• Standard linear solid model

• Generalized Maxwell model

• Kelvin chain model

There are total 7 problems in this home work but ONLY 4 are compulsory. Problem 6 is obligatory.
Other problems can be solved for extra marks.

Readings
Chapter 4.3: Lemaitre and Chaboche, Mechanics of Solid Materials.
Also see references at the end of this homework set.

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Problem 1
[5 points] A material can be described by In a Kelvin-Voigt (KV) model. Consider creep response
of such a material for constant stress σo . Such response is modeled by the following expression,
σ0
(t) = [1 − e−t/τc ], (1)
E
where, τc ≡ η/E - retardation time and η - viscosity of the dashpot

1. Show the above result for creep response of the material. [3 points]

2. Consider the following creep test: A material having E = 600 MPa is initially loaded
with a constant stress σ0 . The constitutive behavior (behavior law) of the material can be
described by Kelvin-Voigt (KV) model.
Half an hour (t = 30 min) after applying stress, the measured strain is 0.111. Another hour
later (t = 90 min) , the strain becomes 0.264.
Determine the strain after three hours of loading. [1 point]
After what time the strain reaches back to 0.001 ? [1 point]

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Solution
1. We know the expression,
σ0
(t) = [1 − e−t/τc ], (2)
E
Inputting values from two measurements,
σ0
0.111 = [1 − e−0.5hrs/τc ], (3)
600M P a
σ0
0.264 = [1 − e−1.5hrs/τc ], (4)
600M P a
Dividing equation (3) by (4) and solving for τc ,

τc = 1.97hrs (5)

We can now find σ0 from equation (3) or (4),

σ0 = 297.2M P a (6)

2. Expression for creep response of the material becomes,

297.2M P a
(t) = [1 − e−t/1.97hrs ] (7)
600M P a
Strain after 3 hours is,
297.2M P a
(3hrs) = [1 − e−3hrs/1.97hrs ] = 0.39 (8)
600M P a
When the strain is 0.001, the time (t) is found to be,

297.2M P a
(t) = 0.001 = [1 − e−t/1.97hrs ] => t = 14.3s (9)
600M P a

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Problem 2
1. Describe concisely the difference between a Creep Test and Stress Relaxation Test. [2
points]
2. The Standard Linear Solid Model
(a) Consider a standard linear solid (SLS). Derive the constitutive equation relating the
overall stress, stress rate, strain and strain rate. The model parameters of the system
are, E1 , E2 and η.
(b) For the standard linear solid discussed earlier, determine the expression of the total strain
(t) in terms of E1 , E2 and η for the case of constant stress. What is the creep function?
(c) As you may remember, retardation time is defined as τ = η/E [s]. Consider the following
situation: immediately after applying stress, the strain is 0.002 (instantaneous strain),
after 1000 seconds the strain grows to 0.004 and approaches asymptotically 0.006 after
a very long time the strain. Determine the retardation time τ ?

A Standard Linear Solid Model.

Solution
1. In a creep test, constant stress is applied and strain is measured, whereas, in a relaxation test,
a constant strain is applied and stress is measured.
2. (a)
σ = σ1 = σ2 (10)
σ = E1 .1 = E2 .2 + η ˙2 (11)
σ̇ σ E2 2
˙ = ˙1 + ˙2 = + − (12)
E1 η η
σ
(2 =  − 1 =  − )
E1
σ̇ σ E2 σ
˙ = + − ( − ) (13)
E1 η η E1
E2 σ̇ σ E2
˙ + = + (1 + ) (14)
η E1 η E1

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 E2 σ̇ σ E1 + E2
˙ + = + ( ) (15)
η E1 η E1
(b) For the case of constant stress,

E2
η ˙ + E2  = (1 + )σ (16)
E1
Solving the differential equation of type a*y + b*y = c.

−E2 t (E1 + E2 )
(t) = K.exp( )+ σ (17)
η E2 E1
Where K is an integration constant. We know that immediately after applying the stress,
the strain will be entirely from the lone spring (1 = 0) and so,
σ
(t = 0) = (18)
E1
σ (E2 + E1 ) −σ
=K σ => K = (19)
E1 E1 E2 E2
−σ −E2 t (E1 + E2 ) σ E2 −E2 t
(t) = .exp( )+ σ= .[1 + − exp( )] (20)
E2 η E2 E1 E2 E1 η
(c)
σ
(0) == 0.002 (21)
E1
σ σ σ σ
(∞) = + = 0.006 => + 0.002 = 0.006 => = 0.004 (22)
E2 E1 E2 E2
σ σ σ −1000 −1000
(1000) = + − [exp( )] = 0.004 + 0.002 − 0.004[exp( )] (23)
E2 E1 E2 τ τ
−1000
(1000) = 0.006 − 0.004[exp( )] = 0.004 (24)
τ
−1000
=> 0.004[exp( )] = 0.002 (25)
τ
=> τ = 1443sec (26)

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Problem 3
[5 points] Relaxation experiment for the material : (observation)
After 2 weeks, a loss of 2MPa is observed in a cable while the initial stress was 100MPa.

1. Derive relaxation function (modulus) - Use simple Maxwell model.

2. Determine the characteristic relaxation time from relaxation experiment.

3. What should be the initial pre-stress level in order to keep over 150MPa stress after a year ?

Assume a constant operating temperature of ≈ 20o C.

E − τt
Maxwell model relaxation function - The simplest model: σ(t) = 0 .Ee− η t ≡ σ0 e R

τR - The characteristic relaxation time of the material.

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Solution
1. Maxwell model is given below,

The constitutive models for individual components are,

Spring,
σ = E (27)

Dashpot,
σ = η ˙ (28)

Equilibrium conidtions for the model are,

σ = σE = ση (29)

Compatibility conditions are,

 = E + η (30)
˙ = ˙E + ˙η (31)

The constitutive equation can be obtained as,

σ̇ σ
˙ = ˙E + ˙η = + (32)
E η
E
σ̇ + σ = E ˙ (33)
η
Applying the known boundary condition for relaxation test, i.e., ˙ = 0, one obtains,
E dσ E
σ̇ + σ= + σ=0 (34)
η dt η
dσ E
=> =− σ (35)
dt η
dσ E
=> = − dt (36)
σ η

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 Integrating both sides for 0 to t,
Z t Z t
1 E
dσ = − dt (37)
0 σ 0 η

σ(t) −E
=> =e η t (38)
σ(0)

Where, σ(0) = σ0
−E
t
=> σ(t) = σ0 .e η (39)

We know that the initial stress, σ0 = 0 .E

−E
t
=> σ(t) = 0 .E.e η (40)

The relaxation function is defined as,

σ(t)
G(t) = (41)
0
−E
t
=> G(t) = E.e η (42)
η
We know that, E
= τR ,
−t
=> G(t) = E.e τR (43)

2. Characteristic relaxation time can be obtained as,

σ(2w) = σ0 .et/τR = (100M P a).e−2w/τR = 98M P a (44)

τR = 98, 997weeks (45)

3. To keep the stress over 150MPa for over a year (52 weeks),

σ(52w) ≥ 150M P a (46)

σ0 .e52w/τR ≥ 150M P a (47)

=> σ0 ≥ 254M P a (48)

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Problem 4
[5 points] Consider the mechanical system formed by 3 vertical bars 1, 2 and 3 in tension. The
horizontal beam is infinitely stiff and remains horizontal during the motion. The constitutive
equations of materials are given below,

Determine the time dependent forces when loaded quasi-statically by a constant force P = P.H(t).
(Inertia terms are ignored)
The material behavior (constitutive law)
Member 1 :  = σ/E1 (Hooke element)
Member 2 :  = σ/E2 + σ/η (Maxwell element)

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Solution
Equilibrium of Forces is,
2S1 + S2 = P (49)
Also,
2S˙1 + S˙2 = 0 => S˙2 = −2S˙1 (50)
For bars 1 and 3,
 = S1 /A.E1 (51)
For bar 2,
˙ = S˙2 /2A.E2 + S2 /2.A.η (52)
Compatibility condition is,
 = 1 = 2 (53)
Hence,
S˙1 /A.E1 = S˙2 /2A.E2 + S2 /2.A.η (54)
=> −S˙2 /E1 = S˙2 /E2 + S2 /η (55)
1 1 S2
=> S˙2 ( + )+ =0 (56)
E1 E2 η
If α = η1 ( E11 + 1
E2
)
S˙2 + αS2 = 0 (57)
Integrating with respect to t,
S2 = Ce−αt (58)
At t = 0, when a Force (P) is applied, all the deformations are elastic, i.e.,

S˙1 S˙2
˙ = = (59)
A.E1 2.A.E2
Also,
E1
2S˙1 + S˙2 = P => (2. + 1)S˙2 = P (60)
2.E2
For t = 0, C = S˙2
E1
C = S˙2 = P/(1 + ) (61)
E2
P
=> S2 = E1
e−t/η(1/E1 +1/E2 ) (62)
1+ E 2

Similarly,
1
=> S1 = (P − S2 ) (63)
2

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Problem 5
Consider a short reinforced concrete column concentrically loaded by a constant compressive force
P = P · H(t), where H(t) being the Heaviside unit-step function.

The material behavior (constitutive laws).

• Steel: Considered elastic (as compared to concrete for the time durations considered here).

σs = Es s (64)

• Concrete: Viscoelastic having obeying constitutive law of a Standard Linear Solid (SLS) in
the form
E2 E1 E2
σc + σc = E0 c + c , (65)
η η
where E0 = E1 + E2 being the the initial modulus.

Assume the steel reinforcement is perfectly bonded to the concrete, s = c .

Question:
Determine the stresses in concrete and steel (separately).

Hints:
Compatibility and equilibrium.....
Cross-section area, As + Ac = A => As , Ac ≈ A.
Steel ratio, n ≡ As / A.

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Solution
The material properties are;
Steel,
σs = Es s , σ˙s = Es ˙s (66)
Concrete,
E2 E1 E2
σ˙c + σc = c + E0 ˙c (67)
η η
Where, E0 = E1 + E2
The applied Force can be written as,

P0 = As .σs + Ac .σc (68)

Compatibility equation,
 = s = c (69)
We can write from strains,
σs 1
= = (P0 − Ac .σc ) (70)
Es Es .As
For t > 0,
E2 E1 E2 1 E0 Ac
σ˙c + σc = (P0 − Ac σc ) − σ˙c (71)
η η Es As Es As
E0 Ac E2 E1 Ac 1 E1 E2
=> (1 + )σ˙c + (1 + )σc = P0 (72)
Es As η Es As η Es As
=> σ˙c + λσc = C0 (73)
E2 Es As +E1 Ac 1 E1 E2
Where, λ = η Es As +E0 Ac
, C0 = P
η Es As +E0 Ac 0
When t=0,
E0
σc (0) = E0 (0) = [P0 − Ac σc (0)] (74)
Es As
E 0 P0
=> σc (0) = (75)
Es As + E0 Ac

For a constant Force, P0

C0
A= (76)
λ

Homogeneous part of the general solution is,

σch = C1 .exp(−λt) (77)

C0
σc = C1 .exp(−λt) + (78)
λ

The initial condition, σc (0) = σc0

C0 C0
σc0 = C1 + => C1 = σc0 − (79)
λ λ
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 C0
=> σc = σc0 .exp(−λt) + (1 − exp(λt)) (80)
λ
P0 Ac
Stress in steel is, σs = Es  = As
− σ
As c

P0 Ac E0 P0 E s P0
σs = − = (81)
As As Es As + E0 Ac Es As + E0 Ac

For t − > ∞
C0 E − 1P0
σc (t− > ∞) =
= (82)
λ Es As + E1 Ac
P0 Ac E1 P0 E s P0
σs (t− > ∞) = − = (83)
As As Es As + E1 Ac Es As + E1 Ac

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Problem 6
[5(KV) + 5(SLS) points] Consider the cantilever AB loaded as shown. The material is visco-elastic.

Consider two separate cases: 1) Kelvin - Voigt (KV) and 2) Standard Linear Solid (SLS) visco-elastic
materials.
Our aim is to determine the tip displacement as a function of time for cases 1) and 2) under
two different loading history hypotheses a) and b).

• Case a) The loading is, q(t) = q0 H(t). Where, H(t) is Heaviside unit-step function.

• Case b) The loading history is shown in figure; it grows linearly till t1 and is then kept
constant.

Question:
Determine the history of tip displacement for the two materials (KV) and (SLS) for both loading
histories.

Extra 10 points
Using FEM verify your results. Use required numerical values for the material constants, when
needed.

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Problem 7 - Visco-elasticity: integrating the ODEs
This is only one exercise from 5. . . 6. The student should solve at least four exercises.

1 The Standard Linear Solid

Assume a Linear Standard Solid. Derive the ordinary differential equation below:

σ + τ σ̇ = G∞  + τ G0 ˙ (84)
E1 E2 η
G∞ = , G0 = E1 , τ = (85)
E1 + E2 E1 + E2
G∞ σ
σ̇ =  + G0 ˙ − (86)
τ τ
σ̇ = f (, σ) (87)
The differential equation (84) or (87) can be numerically integrated using appropriate initial con-
ditions for any known history of the deformations or of the stresses, respectively.
In order to determine some material properties of the visco-elastic material the cyclic strain
history below is imposed and the corresponding stress history was recorded.

(t) = 0 sin(ωt), (88)

where ω = 1 (1/s), τ = 1 (s) , 0 = 0.008, G∞ = 550 MPa, G0 = 1.5 GPa. The initial conditions
are t = 0, (0) = 0, σ(0) = 0.

2 The Problem
The idea is to play around a response of a visco-elastic material (SLS) and obtain some elements
of understanding of the mechanical behaviour of such class of materials.
Solve1 So, solve the stresses by integrating analytically [5 points] and numerically [5 points].

1. determine the time-series of the response in term of stress σ(t) for the given periodic excitation
(t)
1
Hint! There is a similar solved problem in the course supporting material. You can use the Matlab-scripts, two
m-files, I put for the time-integration of the stresses (numerical integration of the ODE).

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 2. draw the graphs of σ(t) and (t)

3. draw the graph σ −  for few cycles in order to observe the hysteresis loop

4. estimate from the delay (the lag) ∆t = δ/ω of the two time-serie; the excitation (t) and
the response σ(t) (scale adequately these graphs to draw them on the same axes to estimate,
graphically ∆t)

5. give an estimation for the storage E 0 and loss modulus E 00

Estimate from the delay (the lag) ∆t = δ/ω of the two time-serie; the exitation (t) and the
response σ(t) Give an estimation for the storage E 0 and loss modulus E 00 .
For the numerical time-integration you can use and edit the two m-scripts I put in MyCourses:
Main-SLS-distribute.m and Main-SLS-distribute.m.

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Additional Reading

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