2 - Discs - Chapter 2 - Elastic Stresses in Discs and Thick Pipes v. 2012.11 - Lecture Notes

Muzio M.
Gola
Costruzione di macchine - Machine Design
Discs and thick walled tubes - Chapter 2
a
Chapters
ol
.g
1 Plane elastic fields
2 Elastic stresses in discs and thick-
walled tubes
m
3 Plastic stresses in thick-walled tubes
4 Rotating discs
io
uz
m
Version Muzio M. Gola - DIMEAS 1

Nov. 2012 Politecnico di Torino - Italia
These slides are a support to the Machine Design, and related, classes held by prof. M.M. Gola at POLITO, Technical University of Torino – For educational purposes and classroom use only
Chapter 2 - Elastic stresses in discs and thick-walled tubes
Index of contents
1. Forces and stresses in polar 9. From plane stress to plane
coordinates strain
a
2. Equilibrium 10. Special cases: inner and
ol
3. Compatibility outer pressure
.g
4. Material (constitutive) 11. Thin shells
equations
m
5. Solution for plane stress
6. Stresses in constant
thickness discs io
7. Displacements in constant
uz
thickness discs
8. Solid discs
m

1. Forces and stresses in polar coordinates (1/4)
m.gola
2008
Problem of a solid with circular

symmetry (axial-symmetry):
 Circular geometry
a
 Axi-symmetrical loads

ol
 Isotropic material
.g
The stress field is axi-symmetrical
m
i.e. no variable (stress component,
io
displacement, strain) will depend
on angle  .
uz
At this early stage only the constant thickness case will be
m
considered; this allows to enucleate basic properties on the basis of

an easy analytical solution in closed form.

m.gola
2008
Due to axial symmetry, a polar

coordinate system is used, which
makes the analysis more
convenient. dr
a
ol
Equations of:
.g
equilibrium
compatibility
m
will be written for the
infinitesimal material element
io
between two radii at angular
uz
distance d and two circles at
radial distance dr.
d
m

m.gola
2008
The following axes are conveniently

defined through the center of mass
of the element:
a
 axis a parallel to the revolution
ol
axis
dr
 radial axis r
.g
 circumferential axis c, tangent to
the circle through the center of
m
mass.
io
It will be easy to see that these
local cartesian axes r, c, a are
r
uz
a b
principal.
c d
m

m.gola
2008
The figure on the right portrays the

element in plane motion.
The in-plane displacement of any u+du
• •
a
point in the cross section is one- • •
ol
dimensional, since it can only move dr
along the radial r direction. Due to
.g
u
that, the shear strain rc is zero …
m
(because two neighbouring
elements will move radially of the
io
same amount u, preserving angles)
uz
… then also shear stress rc =0. b
It follows that the normal stresses
d
m
r and c , both independent of  ,

are principal.

2. Equilibrium (1/5)
m.gola
2008
In the case of plane stress, stresses

acting on the element are as in the r
figure on the right; all of them
principal, including a=0 .
a
ol
dr c
Equations of equilibrium in space
.g
are six.
m
io r
uz
a b
d
m

m.gola
2008
However, five of them are already r

satisfied due to axi-symmetry; r
in three of them:
a
 force equilibrium along axis a c
ol
 moment equilibrium about r
c
.g
 moment equilibrium about c
because all forces orthogonal to
a
m
plane r-c are zero …
… while in the remaining two, the:
 total moment about a io
uz
 total force along c b
are zero because all forces in plane r-c
d
m
are mirror-symmetric left and right of Suggestion: try to write

the radius through the centre. the equilibrium equations !
m.gola
2008
The sixth equation, force equilibrium along axis r, gives:

d
r  r d  b   r  r d  b  dr
dr
a
ol
.g
 c  dr  b  c  dr  b
m
io
uz
 r  r d  b
m
d
a) a net radial component due to r : r  r d  b  dr
dr

m.gola
2008
b) the radial resultant force due to circumferential (hoop)

stress c , which is:
 v r d  b  dr
 d  d
2   c  dr  b  sin   
a
 2  2
ol
d
 2   c  dr  b 
.g
2  c  dr  b  c  dr  b
d d
m
2 2
io
c) there may also be a force per
d
uz
unit volume v which produces
a radial force:  v  r d  b  dr
m

m.gola
2008
Consider now the simplest case, where thickness b is constant

and v=0 ; the sum of the three contributions:
d
r :  r  r d  b  dr  b d  r  r d dr
a
dr dr
ol
c :   c  dr  b  d
.g
v :  v  r d  b  dr  0
d
m
 r  r    c  0
gives: dr
d io
b  d  r  r  dr   c  b  d  dr  0 or:
first form
uz
dr
second form
m
dr
 r  r   c   0
dr
3. Compatibility
m.gola
2008
Due to symmetry, the only displacement in the r-c plane is u

(a displacement along axis a is produced by transversal Poisson
deformation) a
a
ol
du  dr
r  
dr d
.g
   r   c  r  u
c 
d  u  r  dr u 
 
dr
m
dr r
r
d
 c  r   r  0
io
(first form)
uz
dr b
d
m
d c
 r  r   c   0 (second form)
dr
4. Material (constitutive) equations (1/3)
m.gola
2008
At this stage the plane stress case is developed.

The three-dimensional Hooke equations for elasticity, when a=0
a
   1          E    
ol
 r E r c a
 r 1  2 r c
 
 
.g
1
  c   c  r  a    c  E  c  r 
 E  1  2
m
(first form) (second form)
io
while the third material equation is:
uz
1 
m
 a   a  r  c    r   c 

E E

m.gola
2008
By subtraction the following auxiliary equations are obtained:
a
1 E
r   r  c  r   r  c 
ol
E 2
1 
.g
1 E
 c   c  r  c   c  r 
E 1  2
m
(first form) (second form)
1 io
 c   r   1    c   r   r   c   E
1    r   c 
uz
E 1  2
m

m.gola
2008
One might consider also thermal expansion, which adds to linear

strain (in the case of isotropic material) an equal term in all
directions i=1,2,3 :
iT    T
a
ol
.g
linear thermal
expansion temperature
increase
m
coefficient
io 1
 r   r  c    T
uz
E
1
 c   c  r    T
m

5. Solution for plane stress (1/7)
m.gola
2008
Equilibrium, compatibility and material equations are now combined

to solve this plane stress problem in polar coordinates.
The solution will be now found for the simplest case:
a
• constant thickness • no volume force • no thermal expansion
ol
Two approaches are possible, according to final equation which is
.g
more convenient to obtain:
“displacement” final equation “stress” final equation
m
in this case one must start with in this case one must start
equilibrium equations, with compatibility equations,
io
transform stresses into strains transform strains into stresses
uz
and then get a solving equation and then get a solving
for the displacement u; equation for the radial stress;
m
convenient when boundary convenient when boundary

conditions are on displacements conditions are on stresses

m.gola
2008
1) Equilibrium 1) Compatibility
(second form) (second form)
d d c
r  r   r   c   0 r   c   r   0
a
dr dr
ol
2) Material 2) Material
.g
(second form) (first form)
 r   c   E
1    r   c   c   r   1 1    c   r 
m
1  2 E
3) Again, material eq.
(second form)
io 3) Again, material eq.
(first form)
uz
d r E d d c 1 d
  r    c    c  r 
m
2
dr 1   dr dr E dr

m.gola
2008
Applying 2) e 3) into 1): Applying 2) e 3) into 1):

 d d   d d 
4) r  r   c   4) r  c   r  
 dr dr   dr dr 
a
 1    r   c   0  1    c   r   0
ol
.g
Remark that in both cases elastic modulus E
no longer appears
m
Material and equilibrium have Material and compatibility
been applied; now:
io have been applied; now:
uz
5) Compatibility 5) Equilibrium
(second form) (second form)
m
r   c   r d c r
d r
  r   c   0
dr dr
m.gola
2008
putting 5) into 4): putting 5) into 4):
 d d   d c d r 
r r  c   r  
dr dr 
a
6)  dr dr 
6) 
ol
d d r
 1    r c  0  1   r 0
dr dr
.g
 d r d c   d c d r 
r
6’)   0 r
6’)   0
m
 dr dr   dr dr 
io
 r   c  constant !  r   c  constant !
uz
7) r   c  M ' 7)  r   c  A'
m
Remark that material parameters have

disappeared!
m.gola
2008
8) Compatibility 8) Equilibrium
(first form) (first form)
d d
a
r  c    r r  r    c
dr dr
ol
.g
Applying 8) into 7) Applying 8) into 7)
d d
m
9) r  c    c  M ' 9) r  r    r  A'
dr dr
or: io or:
uz
1d 1d
r  c r   M ' r r r   A'
r dr r dr
m

m.gola
2008
The nonlinear differential equations have, thus, been reduced to

simple integrals which are speedily calculated:
d 2
 
r c  M' r
d 2
r  r  A' r  
a
dr dr
ol
2 r2 2 r2
r c  M'  N r  r  A'  B
2 2
.g
1 N 1 B
c  M'  2  r  A'  2
m
2 r 2 r
1 N 1 B
 c  M'  2  r  A'  2
2 r io 2 r
uz
1 1
M  M' A  A'
2 2
m
note:  r   c  2 A
m.gola
2008
u N B
M 2 10)  r  A 
r r r2
N
a
10) u  Mr  Finally, with:  r   c  A'  2 A
r
ol
B
.g
11)  c  A 
r2
m
Equations 10) contain two integration constants which must now
be determined through boundary conditions.
io
uz
m

6. Stresses in constant thickness discs (1/4)
m.gola
2008
Quite frequently, boundary

conditions are given in terms of
pe pressures applied at the inner and
outer boundaries.
a
ol
.g
D
r  i  r  pi
pi 2
m
De
r  r  p e
2
io
uz
Di
De
m

m.gola
2008
Radial stresses from the general solution, eq. 10 of slide 7 sect.

5, are then:
a
 B

 i p  A 
ol
2
 ri

.g
 p  A  B
 e r 2
 e
m
io
uz
 pi ri2  A ri2  B 1 1
p e  pi  B   
m
 p e re2  A re2  B  r2 r2 
 i e 

m.gola
2008
 pi ri2  A ri2  B 1 1
p e  pi  B   
 p e re2  A re2  B  r2 r2 
 i e 
a
pe re2  pi ri2   A ri2  re2 
ol
.g
m
A
p e re2  pi ri2
ri2  re2 
io B 
p e  pi
uz
1 1
  
 r2 r2 
 i e 
m
Integration constants have thus been determined.

m.gola
2008
It is practically preferable to “engineer” all formulas by using

diameters:
Di2 2
pe  pi   Di 
a
D2e 1
ol
A  pi  pe B  2
2
Di Di2 Di2
.g
1 2 1 2 1 2
De De De
m
Di2 Di2 D 2 Di2 Di2 D 2
 2 1  i2  2 1  i2
r
B
 r  A  2   pi
2
D De io
Di2
 p e
D
Di2
B
p
c  A  2  i
2
D De
Di2
 p e
D
Di2
uz
r
1 2 1 2 1 2 1 2
De De De De
m

7. Displacements in constant thickness discs
m.gola
2008
Displacements are calculated starting from the circumferential

compatibility equation:
a
u  r   c  r   c  r  then:
E
ol
.g
 Di2 Di2   D2 
 2 1     2 1     i2 1     1   
D pi  D De  D pe D 
m
u= 
2E  2
Di  2 E  Di2 
 1 2   1 2 
 De
io   De 
uz
m

8. Solid discs (1/2)
m.gola
2008
A special case, which is worth mentioning because it occurs in some

cases, is the so called “solid disc”, i.e., without a central hole.
In such special case:
a
B   
ol
 r ,c  A  2  B  0, otherwise    r   c  A  p e
r r  0
.g
in-plane stresses
a  0
are constant over
m
the disc
u  
N
r
io
u  M  r   N  0, otherwise 
r  0
 u M
D
2
uz
linearly variable
D 1 D 1    over the disc
m
u  r   c    c  r   pe radius

2 E 2 E
(note: M  c)
8. Solid discs (2/2)
m.gola
2008
Radial displacement: Stresses:  r   c  A  p e
D 1   
u   pe
2 E
a
ol
pe
.g
Axial displacement:
 2
m
 a   r   c   pe r
E E
c
io
in this case the axial strain
uz
is constant, i.e., the axial
displacement: c times r
m
thickness b, is constant over -pe De

the whole disc. r
2
9. From plane stress to plane strain (1/6)
m.gola
2008
At one extreme, a very thin disc can be considered in plane

stress, i.e, a=0 .
The other extreme is the long thick pipe, that we shall now
a
investigate in plane strain, i.e., a=0.
ol
.g
m
So, any two sections
which were plane
before application of
loads will remain io
uz
plane and at
unchanged distance
m
after load
application.

m.gola
2008
In the case of plane strain, the following material equations hold.

Equilibrium and compatibility are just the same as in plane stress.
1  2 
a
 
r  
 r   c 
ol
E  1   
.g
1  2   
c  
 c   r 
E  1 
m
We could repeat the procedure of sect. 5 of this chapter, only to
io
discover that material parameters disappear and in-plane stresses r
and c are just equal to those already obtained for plane stress.
uz
m

m.gola
2008
This is predicted by the general treatment of Chapter 1, where in

fact it was demonstrated that in the special case in which volume
forces are constant (here they were taken zero) and, as in our case,
boundary conditions are given in terms of stresses, a solution is
a
obtained which:
ol
• holds for plane stress and plane strain
.g
• does not depend on the material elastic constants.
m
However, there is a simpler “engineering” way to this result, that we
shall explore next.
io
This is based on the observation that the “plane stress and constant
uz
thickness” disc:
 
 a    r   c    2 A
m
E E

m.gola
2008
i.e., although r and c are Step A

variable over the radius, they pe
combine in a way that a is
constant.
a
ol
If we consider a plane stress disc
with the same thickness of a slice pi
.g
of plane strain tube, subjected to
the same inner and outer pi
m
pressures pi and pe:
undeformed
io
This will be “Step A”, which
deformed
produces an axial expansion:
uz
b=b a pe
m
Radial and circumferential “disc”

stresses r and c as calculated. b b (1   a )
m.gola
2008
“Step B” consists of applying to Step B

the lateral surface a constant
stress ~ a , that is a pure axial ~
stress, producing a uniform a
a
strain ~
a  ~ a / E
ol
.g
Radial and circumferential
m
stresses r and c are zero, for
“Step B”.
io
uz
m
b b (1  ~
a )
m.gola
2008
Summing displacements and stresses:
A (disc a=0) B (pure compress.) A+B (tube a=0)
a
axial strain:
ol
 ~
 ~
  2 A 
 a   2A ~
a  a  tot  a 0
.g
E E E
axial stress
m
a=0 ~
 a  2 A  a,tot   a  ~
 a  2 A
radial and circumf.

io
uz
stresses
r(disc) ~
r  0  r ,tot   r (disc )
m
c(disc) ~
c  0  c ,tot   c (disc )

10. Special cases (1/8)
m.gola
2008
Tube or disc under outer Tube or disc under inner

pressure pressure
pi  0 ; p e  0 pi  0 ; p e  0
a
Di2 Di2 Di2
 2
ol
1 2
D 2 D De
r   pe  r   pi
.g
Di2 Di2
1 2 1 2
De De
m
Di2 Di2 Di2
 c   pe
1
D 2 io  c  pi
2
D De
 2
uz
Di2 Di2
1 2 1 2
De De
m

10. Special cases (2/8)
m.gola
2008
Tube or disc under outer Tube or disc under inner

pressure pressure
Di2
a
1 D2e
ol
A   pe A  pi
Di2 Di2
.g
1 2 1 2
De De
m
Example: Di = De /2
A   pe
4 io A  pi
1
uz
3 3
m

10. Special cases (3/8) - outer pressure
m.gola
2008
In the case of outer pressure the stress diagrams are as follows:
(example: Di/De=1/2 )
a
r
ol
c Di De
.g
2 2
m
a  0 -pe
r
io
r
uz
-pe
m
c
2A  r   c
10. Special cases (4/8) - outer pressure
m.gola
2008
Mohr circles help find the most stressed position along the radius,
which occurs at the inner radius, where the Mohr diameter is
maximum:
a
r
ol
c Di De
.g
2 2
 eq   r   c max
m
a  0
r
io
r
uz
-pe
m
c
2A
10. Special cases (5/8) – outer pressure
m.gola
2008
Equivalent stresses according to Tresca in the most stressed

location:
a
for a ductile material for a brittle material:
ol
at the design point, inner there is no tensile stress,
.g
radius D  Di : the criterion is not applicable.
 eq  r   c max   c (r  ri ) 
m
2
 2A  pe
Di2
io
uz
1 2
De
m

10. Special cases (6/8) – inner pressure
m.gola
2008
In the case of inner pressure the stress diagrams are as follows:
(example: Di/De=1/2 )
a
ol
.g
r
c
m
c
2A  r   c
a  0 -pi
io
r
r
uz
-pi
m
Di De
2 2

10. Special cases (7/8) - inner pressure
m.gola
2008
Mohr circles help find the most stressed position along the adius,
which also here occurs at the inner radius, where the Mohr diameter
is maximum:
a
 eq   c   r   2 A  2pi
ol
.g
r
c
m
c pi
2A a  0 2A
io
r
r
pi
uz
-pi
m
Di De
2 2

10. Special cases (8/8) – inner pressure
m.gola
2008
Equivalent stresses according to Tresca in the most stressed

location:
a
for a ductile material for a brittle material:
ol
at the design point, inner at the design point, inner
.g
radius D  Di : radius:
 eq   c   r  
m
Di2 Di2
1 2
D2e
 2 A  2pi  2 pi
Di
io
2
 2pi   eq   c  pi
De
Di2
uz
1 2 1 2
De De
m
2
 pi
1  Di2 / D2e

11. Thin shells (1/3)
m.gola
2008
The case of pressurised thin shells can be treated with a

simplification of the thick tube formula (inner pressure).
Starting from the formula for equivalent stress at the inner
Impossibile v isualizzare l'immagine.
radius:
a
ol
2 D2e D2e
 eq  pi  2pi 2  2pi 
De  Di De  Di 
.g
2 2 2
1  Di / D e D e  Di
m
2
D2e De D D
 2pi  pi  pi e e
2s De  Di  D  Di 2s D m
2s e
2 io
uz
… where s, shell thickness, is (De- Di )/2 .
m

m.gola
2008
The Boyle-Mariotte formula for thin shells is readily obtained from

the transversal equilibrium of half shell after assuming that, due to
the small thickness,  c can be taken constant over r:
Impossibile
Impossibile vvisualizzare
isualizzare l'immagine.
l'immagine.
a
ol
c  s  b
.g
p i  D i b  2 c  s  b
m
pi Di
Di  c  pi 
2s
io
uz
s
m

m.gola
2008
Equivalent stress at the inner diameter, where the stress difference

is maximum:
De D
 eq   c   r   c  pi  pi  pi e
a

  D e  Di 2s
in D Di
ol
Formulas for thick … … … … and thin shells:
.g
De De De
m
 eq  pi  eq  pi
2s D m 2s
De
tend to the same value if s<<Di , De and Dm , and
io Dm
1
uz
m


2 - Discs - Chapter 2 - Elastic Stresses in Discs and Thick Pipes v. 2012.11 - Lecture Notes

Încărcat de

Informații document

Titlu original

Drepturi de autor

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

2 - Discs - Chapter 2 - Elastic Stresses in Discs and Thick Pipes v. 2012.11 - Lecture Notes

Încărcat de

Drepturi de autor:

Muzio M.

Version Muzio M. Gola - DIMEAS 1

Version Muzio M. Gola - DIMEAS 2

Problem of a solid with circular

considered; this allows to enucleate basic properties on the basis of

Version Muzio M. Gola - DIMEAS 3

Due to axial symmetry, a polar

Version Muzio M. Gola - DIMEAS 4

The following axes are conveniently

Version Muzio M. Gola - DIMEAS 5

The figure on the right portrays the

r and c , both independent of  ,

Version Muzio M. Gola - DIMEAS 6

In the case of plane stress, stresses

Version Muzio M. Gola - DIMEAS 7

However, five of them are already r

are mirror-symmetric left and right of Suggestion: try to write

The sixth equation, force equilibrium along axis r, gives:

Version Muzio M. Gola - DIMEAS 9

b) the radial resultant force due to circumferential (hoop)

Version Muzio M. Gola - DIMEAS 10

Consider now the simplest case, where thickness b is constant

Due to symmetry, the only displacement in the r-c plane is u

At this stage the plane stress case is developed.

 a   a  r  c    r   c 

Version Muzio M. Gola - DIMEAS 13

By subtraction the following auxiliary equations are obtained:

Version Muzio M. Gola - DIMEAS 14

One might consider also thermal expansion, which adds to linear

Version Muzio M. Gola - DIMEAS 15

Equilibrium, compatibility and material equations are now combined

convenient when boundary convenient when boundary

Version Muzio M. Gola - DIMEAS 16

Version Muzio M. Gola - DIMEAS 17

Applying 2) e 3) into 1): Applying 2) e 3) into 1):

putting 5) into 4): putting 5) into 4):

Remark that material parameters have

Version Muzio M. Gola - DIMEAS 20

The nonlinear differential equations have, thus, been reduced to

Version Muzio M. Gola - DIMEAS 22

Quite frequently, boundary

Version Muzio M. Gola - DIMEAS 23

Radial stresses from the general solution, eq. 10 of slide 7 sect.

Version Muzio M. Gola - DIMEAS 24

Integration constants have thus been determined.

It is practically preferable to “engineer” all formulas by using

Version Muzio M. Gola - DIMEAS 26

Displacements are calculated starting from the circumferential

Version Muzio M. Gola - DIMEAS 27

A special case, which is worth mentioning because it occurs in some

u  r   c    c  r   pe radius

Radial displacement: Stresses:  r   c  A  p e

thickness b, is constant over -pe De

At one extreme, a very thin disc can be considered in plane

Version Muzio M. Gola - DIMEAS 30

In the case of plane strain, the following material equations hold.

Version Muzio M. Gola - DIMEAS 31

This is predicted by the general treatment of Chapter 1, where in

Version Muzio M. Gola - DIMEAS 32

i.e., although r and c are Step A

Radial and circumferential “disc”

“Step B” consists of applying to Step B

Summing displacements and stresses:

A (disc a=0) B (pure compress.) A+B (tube a=0)

radial and circumf.

Version Muzio M. Gola - DIMEAS 35