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Article history: A systematic mathematical approach is developed in the context of uniaxial cyclic ratcheting for the
Received 24 December 2008 parameter determination of the decomposed Chaboche hardening rule. This is achieved by deriving
Received in revised form 5 March 2009 the relation between the evolution of the backstress and the plastic strain accumulation. Unlike current
Available online 10 April 2009
calibration techniques where a trial–error approach is employed to fit the simulation results to experi-
mental data, the proposed method determines the parameters directly from uniaxial ratcheting experi-
Keywords: ments. Numerical results indicate that Chaboche’s hardening model is much more efficient than what
Cyclic plasticity
has been demonstrated before. Finally, as an improvement to the decomposed model, a modification is
Uniaxial ratcheting
Parameter determination
made to one of the backstress components. This improved component enables the model to predict uni-
Kinematic hardening axial ratcheting with more accuracy.
Calibration methods Ó 2009 Elsevier Ltd. All rights reserved.
0020-7683/$ - see front matter Ó 2009 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijsolstr.2009.04.002
3010 M. Rezaiee-Pajand, S. Sinaie / International Journal of Solids and Structures 46 (2009) 3009–3017
simulation, modifications have been made to the Chaboche and the size of the yield surface which will be constant in a kinematic
Ohno–Wang models by Mcdowell (1995), Jiang and Sehitoglu hardening model. The dot ‘‘” indicates the inner product as
(1996), Voyiadjis and Basuroychowdhury (1998), Abdelkarim and a b = aij bij. For mathematical convenience, s a will be further de-
Ohno (2000), Bari and Hassan (2002), Chen and Jiao (2004) and noted by s.
Chen et al. (2005). A detailed review of various plasticity models The flow rule establishes the direction of the plastic flow.
used for ratcheting simulation can be found in Chaboche (2008). Assuming an associated flow rule in J2 plasticity, the plastic strain
An important feature in relation with ratcheting simulation is increments will be in the direction of the gradient of the yield
determining the material parameters used in each hardening mod- surface:
el. Little effort has been made to develop a unified strategy for this s
@f
purpose. Bari and Hassan (2000) divided the uniaxial strain con- dep ¼ dk ¼ dk pffiffiffiffiffiffiffi ð2Þ
@r 2J2
trolled hysteresis curve into segments and related a number of
the material constants to each segment. However, some of the where dk is called the plastic multiplier
pffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffi and is determined by the
parameters where eventually determined by trial and error in or- consistency condition and 2J2 ¼ s s.
der to produce a good fit to the uniaxial hysteresis curve. Koo In order to accommodate hardening effects, a hardening rule is
and Lee (2007) also used a similar approach. Chen and Jiao incorporated in the model. Among all hardening rules available,
(2004) took advantage of the monotonic uniaxial tensile curve to the kinematic hardening rule is the most favorite for ratcheting
determine the material constants. They also used a trial and error simulations. This hardening rule governs the evolution of the back-
method for the determination of some parameters. Hassan et al. stress denoted by a in Eq. (1). As stated in before, various harden-
(2008) evaluated the parameters using four different experiments, ing rules have been proposed for hardening and ratcheting
but also ended up using a trial and error method to fit the numer- simulation. The Armstrong–Frederick hardening rule is an original
ical simulation to the experimental data. The use of either mono- form which has been modified by many researchers for improved
tonic or the cyclic stress–strain curves is still in controversy. cyclic ratcheting simulation. This model and the decomposed mod-
Unfortunately, in many cases, it has been shown that if the param- el of Chaboche considered in this study will be briefly discussed
eters of a model are determined by a specific property of the hys- here. Detailed characteristics of these models can be found in Bari
teresis loop, the model will fail to simulate other properties and Hassan (2000, 2002).
efficiently. Moreover, many models are basically developed by uni-
axial hysteresis loops, while others are based on biaxial behavior. 2.1. The Armstrong–Frederick nonlinear hardening model
According to Bari and Hassan (2002) and Chen et al. (2005), no
model is yet general enough to simulate both uniaxial and multiax- Armstrong and Frederick (1966) added a recovery term to the
ial ratcheting responses effectively. linear hardening rule of Prager and proposed a nonlinear hardening
The uniaxial experimental data of Hassan and Kyriakides (1992) rule in the following form:
conducted on CS 1026 are used to confirm the validity of the pro- rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
posed methods in this paper. A stress controlled test (Fig. 1) is car- 2 p 2 p p
da ¼ Bde ca de de ð3Þ
ried out using seven sets of mean stress rm, and stress amplitude 3 3
ra given in Table 1. The first three set of experiments vary in the The added term, takes into account a fading memory of the
magnitude of the mean stress while having the same stress ampli- plastic strain path. Starting with a plastic modulus of B (3/2)ca
tude, and the other four set of experiments have the same mean in a uniaxial loading condition, ax eventually stabilizes at a value
stress but differ in the magnitude of the stress amplitude. of (2/3)B/c. Incorporating the recovery term was a major develop-
ment eliminating the deficiencies of linear and multilinear harden-
2. Description of hardening plasticity models ing rules. Uniaxial ratcheting can be simulated by this model.
However, since few material constants are available to produce
Commonly used plasticity models for ratcheting simulation an acceptable shape of the stress–strain curve, the AF model is
possess similar main features. These models are based on the no longer considered suitable for ratcheting prediction.
von-Mises yield criteria and a kinematic hardening rule.
The von-Mises criteria is defined as: 2.2. The nonlinear hardening rules of Chaboche
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
f ðr a; kÞ ¼ ðs aÞ ðs aÞ k ¼ 0 ð1Þ
Chaboche et al. (1979) and Chaboche (1986) proposed their
where s is the deviatoric stress tensor, a is the deviatoric p
backstress
ffiffiffiffiffiffiffiffi decomposed hardening rule in the following form:
tensor indicating the center of the yield surface and k ¼ 2=3ro is rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
X 2 2 p p
da ¼ dai ; dai ¼ Bi dep ci ai de de ; i ¼ 1; 2; 3 ð4Þ
3 3
Chaboche model is much more than what has been claimed in pre- and
vious papers. For the development of the mathematical procedure, 8 B
the AF model is initially considered as a preliminary for the more > aixp 23ci
>
> D ep
¼ 1
ln i
ðpositive phaseÞ
< x ci 2Bi
aixn 3c
complex method given later. i
ð11Þ
>
> aixn þ23ci
B
> p
: Dex ¼ c1i ln B
i
ðnegative phaseÞ
3. Parameter determination of the Armstrong–Frederick aixp þ23ci
i
hardening rule
where aip and ain are, respectively, the maximum and minimum
The AF hardening rule is described as in Eq. (3), which takes the values of the backstress component during positive and negative
following form for uniaxial loading: loading. By dividing a loading cycle and the corresponding plastic
strain into a positive phase (Depx > 0Þ and a negative phase
2
dax ¼ Bdepx cadepx ð5Þ (Depx < 0Þ and assuming that each phase enters the plastic region,
3 the following conditions will be valid:
The solution of Eq. (5) is as follows: ( P
8 axp ¼ aixp ¼ 23 ðrx ro Þ ðpositive phaseÞ
> P ð12Þ
< ax ¼ 23 Bc þ axo 23 Bc exp ½cðepx epxo Þ; depx P 0 axn ¼ aixn ¼ 23 ðrx þ ro Þ ðnegative phaseÞ
ð6Þ
>
: ax ¼ 23 Bc þ axo þ 23 Bc exp ½cðepx epxo Þ; depx < 0 Combining Eqs. (10) and (12) will result the following relations:
8 P h2 B i h i i
Solving Eq. (6) for epx , the accumulated plastic strain can be
>
< axp ¼ þ aixn 23 Bci exp ½ci Depx ðpositive phaseÞ
3 ci i
determined for one cycle of loading as given below: P h h i i
>
: axn ¼ 23 Bci þ aixp þ 23 Bci exp ½ci Depx ðnegative phaseÞ
2 2 3 i i
2 2 B
1 6 ðan Þ 3 c 7 ð13Þ
p
Dex ¼ ln 4 2 5 ð7Þ
c 2
ðap Þ 3 c2 B
Eq. (13) can be used to calibrate the material constants (Bi, ci) of
a decomposed hardening rule. A set of equations can be attained by
where ap and an are the maximum and minimum values of the using know states of (aixn ; aixp ; Depx Þ. Different cases of the parame-
backstress during positive and negative loading, respectively. If ter determination procedure will be discussed in the following sec-
however both ap and an attain a same value in a cycle, the term in- tions. These cases will be developed in sequence until an efficient
side the bracket becomes unity and the net plastic strain increment model is obtained.
will be zero for that cycle. This will be the case where no mean
stress is present during the loading (rm = 0) or when a decomposi- 4.1. One nonlinear component and one linear attachment component
tion of the backstress is used for the hardening model and the back- (N1-L1)
stress components stabilize due to a small value of Bi/ci.
For the von-Mises yield criteria along with the associated flow In the first case a two-component hardening rule composed of
rule, the increments of the backstress tensor take place in the devi- one nonlinear and one linear component is considered (i = 1, 2
atoric plane, therefore, ay = az = (1/2) ax. Referring to the defini- and c2 = 0). If the hardening rule only consisted of one compo-
tion of the yield criteria (Eq. (1)), the relation between stress and nent, the model would lead to a steady state ratcheting case.
backstress during uniaxial loading is jrx ð3=2Þax j ¼ ro , which However, a linear component also exists and its magnitude (a2)
by introducing into Eqs. (6) and (7), the following relations can tends to increase as the accumulated plastic strain increases.
be written: Since the maximum and minimum values of the backstress are
8 h i
>
< rx ¼ ro þ Bc þ 32 axo 23 Bc exp ½cðepx epxo Þ ; constant (ap and an), this leads to the limitation of the maximum
depx P 0
h i ð8Þ and minimum attainable values of a1p = ap a2 and a1n = an a2,
>
: rx ¼ ro þ Bc 32 axo þ 23 Bc exp ½cðepx epxo Þ ; depx < 0 respectively. This process will continue until jap a2j = jan a2j
and there would further be no accumulation of plastic strain.
and For the calibration procedure, the material constants of the non-
2 2 3 linear component a1, are evaluated first. To achieve this, the plastic
2
6ðrm ra þ ro Þ c 7
B
p 1 strain increments of the positive and negative phase of the first cy-
Dex ¼ ln 4 2 5 ð9Þ
c cle are introduced into Eq. (11) and the equation is solved for B1, c1.
ðrm þ ra ro Þ2 Bc
Next, the plastic strain accumulation of the kth cycle is considered.
The magnitude of the linear component of the backstress is de-
where rm is the mean and ra is the amplitude of the axial stress cy-
noted by (a2)k and by using Eq. (13) the following relation can be
cle. Eq. (9) indicates that the AF hardening model can only produce
written:
steady state ratcheting. This equation along with Eq. (6) can be used
2 3
as a simple calibrating formula for the AF model. ap ða2 Þk 2 B1
1 3 c1
ðDepx Þk ¼ ðDepxp Þk þ ðDepxn Þk ¼ ln 4 5
4. Parameter determination of Chaboche’s decomposed
c1 an ða2 Þk 2 B1
3 c1
hardening rule 2 3
2 B1
1 an ða2 Þk þ 3 c1
þ ln 4 5 ð14Þ
The hardening rule of Chaboche is defined by Eq. (4). Imple- c1 ap ða2 Þk þ 2 B1
3 c1
menting the same methodology as before, it can be demonstrated
that Eqs. (6) and (7) hold for each component of the backstress, Solving the above equation for (a2)k and knowing the total accu-
therefore the following relations can be written: mulated plastic strain after k cycles, leads to the determination of
8 B2 by using Eq. (4) with c2 = 0.
>
< aix ¼ 23 þ aixo 23 Bci exp ½ci ðepx epxo Þ; depx P 0
Bi
ci Using results of Hassan and Kyriakides (1992) for the experi-
ð10Þ
>
: aix ¼ 23 Bci þ aixo þ 23 Bci exp ½ci ðepx epxo Þ; depx < 0 ments conducted on CS 1026, the following values have been ob-
i i tained by implementing the abovementioned procedure:
3012 M. Rezaiee-Pajand, S. Sinaie / International Journal of Solids and Structures 46 (2009) 3009–3017
E ¼ 181; 300 MPa; m ¼ 0:302; ry ¼ 186:2 MPa E ¼ 181; 300 MPa; m ¼ 0:302; ry ¼ 186:2 MPa
B1 ¼ 62; 750 MPa; c1 ¼ 552:5 B1 ¼ 56; 330 MPa; c1 ¼ 680:9
B2 ¼ 1250 MPa B2 ¼ 8710 MPa; c2 ¼ 841:7
Fig. 2 compares the predictions of the model with experimental B3 ¼ 1100 MPa; c3 ¼ 35:5
values. This figure shows the value of plastic strain at the positive B4 ¼ 1100 MPa
stress peak of every cycle. The parameters are calibrated for exp2
It should be noted that the value of B4 for the linear component
indicated in the figure.
is determined using the same method described in Section 4.1.
It is evident from Fig. 2 that the obtained material constants can
Fig. 3a and b compares the predictions of the model with exper-
produce a very good fit to exp1 which they where calibrated for.
imental values of the plastic strain at positive peak stresses of each
However, the main shortcoming of the model for other tests is
cycle. The parameters are calibrated using the curve of exp2 and
the value of plastic strain in the first cycle. Adding more compo-
the plastic strain in the first cycle of exp3.Fig. 3c and d shows
nents to the backstress can overcome this deficiency.
the predictions obtained by Bari and Hassan (2000) with the three
component Chaboche model (C-H3). Fig. 3e and f is the results ob-
4.2. Three nonlinear components and one linear attachment
tained by Bari and Hassan (2000) using the four component Chab-
component (N3-L1)
oche model with threshold (C-H4T). The C-H3 model consists of
three AF components in the form of Eq. (4). The C-H4T model is
By utilizing more backstress components, a more precise curve
composed of three AF components and takes advantage of one
of ax epx can be attained. This can be accomplished by writing Eq.
modified AF component. This modified AF component utilizes a
(13) for more known states of ax epx . However, when multiple
threshold for the activation of the recovery term of Eq. (3). More
components are present, direct use of Eq. (13) is not applicable
details on these models can be found in Bari and Hassan (2000,
for two reasons. Firstly because, experimental data can only be
2002).
used to determine the values of ax and not its components (aixn
In order to investigate more characteristics of the suggested cal-
and aixp). Secondly, solution of a multi-set nonlinear equation in
ibration technique, Figs. 4 and 5 are presented. Fig. 4 compares the
the form of Eq. (13) involves great complexity.
N3-L1 and C-H4T models on their response to a strain controlled
In order to overcome the first problem, Eq. (13) is rewritten in
hysteresis loop. As can be seen in this figure, the C-H4T model
the following form where the terms including aixn and aixp are
has a slightly better fit to the experimental curve. The reason is
transferred to the left side of the equation:
that the calibration method suggested by Bari and Hassan (2000)
8 P P h 2 Bi h 2 B i i i
>
< axp aixn exp ½ci Depx ¼
makes direct use of this hysteresis curve to determine the param-
3 ci
þ 3 c exp ½ci Depx ðpositive phaseÞ
i
eters of the model. Fig. 5 exclusively demonstrates the difference
> P P h 2 Bi h 2 Bi i i
: axn aixp exp ½ci Depx ¼ 3 c þ þ 3 c exp ½ci Depx ðnegative phaseÞ between the calibration methods suggested in this paper and by
i i
ð15Þ Bari and Hassan (2000). This figure shows the development of plas-
tic strain in a partial reverse loading/reloading stress controlled cy-
In the above equation, if the values of ci, aixn and aixp on the left cle. It is evident that the C-H4T model traces the rx Depx curve
side are somehow to be suitably chosen, the terms of the right side more closely than the N3-L1 model, however, the total plastic
of the equations can directly be obtained by experimental data. strain accumulated in the cycle is more accurately predicted by
Calculations show that appropriate values of ci, aixn and aixp can the N3-L1 model. These different responses are due to the different
be effectively evaluated using the method discussed in Section 4.1. strategies and purposes of each parameter determination tech-
The solution to the second deficiency of solving a nonlinear set nique, whereby Bari and Hassan (2000) calibrate the model mainly
of equations in the form of Eqs. (13) and (15) is to predefine the on the strain controlled hysteresis loop, the present work focuses
values of 23 ðBi =ci Þ and only consider the values of ci as unknowns. on the accumulation of plastic strain in nonsymmetric loading
Although this would increase the number of required components cycles.
for an acceptable curve fit, but reproduces the set of nonlinear
equations to a more easily solved form. The solution process is dis- 5. An additional example
cussed in the Appendix.
Using results of Hassan and Kyriakides (1992) for the experi- Another calibration example has also been prepared for demon-
ments conducted on CS 1026, the following values have been ob- stration. Three sets of experiments carried out by Hassan and
tained by implementing the abovementioned procedure: Kyriakides (1992) on a different material (CS 1020) are considered
Fig. 2. Comparison of the N1-L1 model with experimental data from Hassan and Kyriakides (1992) for axial plastic strain at positive stress peaks. (a) Experiments 1–3. (b)
Experiments 4–7.
M. Rezaiee-Pajand, S. Sinaie / International Journal of Solids and Structures 46 (2009) 3009–3017 3013
Fig. 3. Comparison of different models with experimental data from Hassan and Kyriakides (1992) for axial plastic strain at positive stress peaks. (a and b) Predictions of
model N3-L1 using the material constants obtained in this paper. (c and d) Predictions of the Chaboche model using the material constants obtained by Bari and Hassan
(2000). (e and f) Predictions of the Chaboche model with threshold using material constants obtained by Bari and Hassan (2000).
Fig. 4. Simulation of a strain controlled hysteresis loop by (a) N3-L1 and (b) C-H4T models. Data and C-H4T simulation from Bari and Hassan (2000).
3014 M. Rezaiee-Pajand, S. Sinaie / International Journal of Solids and Structures 46 (2009) 3009–3017
rather new property. However, the primary attention of this work components of the backstress. Fig. 8b indicates that during mono-
is towards ratcheting and the effect of using the new modified tonic loading, the tangent modulus increases as plastic deforma-
component on both monotonic and cyclic stress–strain curves will tions take place. This response is different from commonly used
be discussed briefly, later in this section. hardening rules where the slope of the stress–strain curve always
The values of Bi and ci are determined according to the method decreases during plastic flow. Although it will not be studied fur-
given in Section 4.2. The values of C, g and a can be evaluated by ther in this paper, but this response can be used to simulate the
using the variation of B4 given in Fig. 3a. For this purpose the fol- strain hardening phenomenon encountered in some materials after
lowing equation must be solved: initial yielding.
rffiffiffi !
2 3
Bk ¼ C þ g axk a ðk ¼ 1; 2; 3Þ ð18Þ
3 2 7. Conclusions
where Bk is the optimum value of B4 for each test and axk is the max- A general systematic approach is established for the parameter
imum absolute value of the backstress for that test. In this case, the determination of Chaboche’s hardening model. The suggested
following values are obtained: method is developed through using one, two and four components
E ¼ 181; 300 MPa; m ¼ 0:302; ry ¼ 186:2 MPa of the backstress. The result of the new parameters is compared to
the ones suggested by Bari and Hassan (2000). Numerical analyses
B1 ¼ 56; 330 MPa; c1 ¼ 680:9
indicate that if the decomposed hardening model is calibrated with
B2 ¼ 8710 MPa; c2 ¼ 841:7 this technique, the hardening rule of Chaboche can be used more
B3 ¼ 1100 MPa; c3 ¼ 35:5 efficiently than what has been credited before. After realization
C ¼ 690 MPa; g ¼ 7:78; a
¼ 29:6 MPa of the deficiency of the model, an improvement is made by apply-
ing a new formulation to one of the backstress components. The
Fig. 7 shows the ratcheting predictions obtained by the new
new model is demonstrated to be more precise in simulating all se-
model and the above parameter values. Comparison of these re-
ven uniaxial ratcheting experiments conducted on CS 1026 by Has-
sults with Fig. 3 clearly indicates the accuracy of the new model
san and Kyriakides (1992).
in ratcheting predictions.
The result of employing the modified hardening rule in mono-
tonic and cyclic loading is given in Fig. 8. Fig. 8a shows that the Appendix A
new model behaves quite similar to the N3-L1 model in a strain
controlled hysteresis loop (compare to Fig. 4a). This is due to the The multi-set nonlinear equation (Eq. (15)) encountered in Sec-
small influence of the modified component compared to the other tion 4.2 can be rewritten in the following form:
Fig. 7. Comparison of the N3-A1 model with experimental data from Hassan and Kyriakides (1992) for axial plastic strain at positive stress peaks. (a) Experiments 1–3. (b)
Experiments 4–7.
Fig. 8. Simulation of (a) strain controlled hysteresis loop and (b) monotonic stress–strain curve using the N3-A1 model.
3016 M. Rezaiee-Pajand, S. Sinaie / International Journal of Solids and Structures 46 (2009) 3009–3017
X
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>
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>
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3 =M 1 phenomenological modelization of ratcheting under uniaxial and biaxial
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or the more simple backward approach, which is written as: 295–330.
Freudenthal, A.M., Ronay, M., 1966. Second order effects in dissipative media.
U 1ðnewÞ ¼ A11 ðL1 A2 U 2 A3 U 3 Þ Proceedings of the Royal Society A 294, 14–50.
h iM1 =M2 Hassan, T., Corona, E., Kyriakides, S., 1992. Ratcheting in cyclic plasticity, part II:
M =M M =M multiaxial behavior. International Journal of Plasticity 8, 117–146.
U 2ðnewÞ ¼ A12 ðL2 A1 U 1 2 1 A3 U 3 2 1 Þ ðA:6Þ Hassan, T., Kyriakides, S., 1992. Ratcheting in cyclic plasticity, part I: uniaxial
h iM1 =M3 behavior. International Journal of Plasticity 8, 91–116.
U 3ðnewÞ ¼ A13 ðL3 A1 U M1
3 =M 1
A2 U M
2
3 =M 1
Þ Hassan, T., Kyriakides, S., 1994a. Ratcheting of cyclically hardening and softening
materials, part I: uniaxial behavior. International Journal of Plasticity 10, 149–184.
Calculations have shown that a suitable starting point for the Hassan, T., Kyriakides, S., 1994b. Ratcheting of cyclically hardening and softening
materials, part II: multiaxial behavior. International Journal of Plasticity 10,
iterative solution is essential for convergence. Proper predefinition 185–212.
of values of Ai can also help for faster convergence. It is advised that Hassan, T., Taleb, L., Krishna, S., 2008. Influence of non-proportional loading on
the values of Ai not be close to each other and have the condition ratcheting responses and simulations by two recent cyclic plasticity models.
International Journal of Plasticity 24, 1863–1889.
Li < Ai. Jiang, Y., Sehitoglu, H., 1996. Modeling of cyclic ratchetting plasticity, part I:
development of constitutive relations. ASME Journal of Applied Mechanics 63,
Acknowledgement 720–725.
Kang, G.Z., Gao, Q., Yang, X.J., 2004. Uniaxial and nonproportional multiaxial
ratchetting of SS304 stainless steel at room temperature: Experiments and
The authors greatly acknowledge the grant provided by the Fer- simulations. International Journal of Non-Linear Mechanics 39, 843–857.
dowsi University of Mashhad for the financial support of this work. Koo, G.H., Lee, J.H., 2007. Investigation of ratcheting characteristics of modified 9Cr–
1Mo steel by using the Chaboche constitutive model. International Journal of
Pressure Vessels and Piping 84, 284–292.
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