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ABSTRACT
In optimal design of pressurised thick-walled cylinders, an increase in the
allowable internal pressure can be achieved by an autofrettage process. An
analysis is carried out on plain cylinders by using the von Mises and Tresca
yield criteria to develop a procedure in which the autofrettage pressure is
determined analytically, resulting in a reduced stress distribution. A validation
by a numerical simulation shows that the analytical and numerical simulations
correlate well in terms of trend and magnitude of stresses.
Keywords: Autofrettage, pressure vessels, residual stress, plastic collapse,
finite element analysis
1.0
INTRODUCTION
2.0
For a cylinder subjected to an internal pressure, Pi, the radial stress, r, and
circumferential stress, , distributions are given by Lames formulation:
=
Pi
r2
1 o2
k 1
r
(1)
Pi
ro 2
1
+
k 2 1
r 2
(2)
and
For a cylinder with end caps and free to change in length, the axial stress is
given by [5]:
z =
3.0
Pi
k 1
(3)
YIELD CRITERIA
According to the Tresca yield theory, yielding occurs when the Tresca
equivalent stress is [5]:
Tr = ( r ) = Y
(4)
Based on the von Mises yield theory, yielding occurs when the von Mises
equivalent stress is [6]:
vM =
1
2
2
2
( r ) + (r z ) + ( z ) = Y
2
(5)
Two important pressure limits, PY,i and PY,o , are considered to be of importance
in the study of pressurised cylinders. PY,i corresponds to the internal pressure
required at the onset of yielding at the inner surface of the cylinder, and PY,o is
the internal pressure required to cause the wall thickness of cylinder to yield
completely. The magnitudes of PY,i and PY, o, according to Tresca yield criterion
are, [2], [6], [7]:
PTr,Y ,i =
(k 2 - 1 )
Y
2k 2
(6)
PTr,Y,o =
(k 2 - 1 )
Y
2
(7)
and based on the von Mises yield criterion, the magnitudes of PY, i and PY, o are,
[2]:
(k 2 - 1 )
PvM ,Y ,i =
Y
(8)
3k 2
PvM ,Y ,o =
(k 2 - 1 )
Y
3
(9)
Equations (4) and (5) give the relation between the von Mises and Tresca
equivalent stresses for the state of stress in a pressurised thick-walled cylinder:
3
3
( r ) = Tr
2
2
vM =
(10)
and shows that the Tresca criterion is more conservative than the von Mises
criterion by 15.5 %.
4.0
RESIDUAL STRESSES
If the internal pressure is removed after part of the cylinder thickness has
become plastic, a residual stress is set up in the wall. Assuming that during
unloading the material follows Hookes Law, the residual stresses can be
obtained from the equations below. For the plastic region, ri r ra, the
respective residual stresses in the radial, hoop and axial directions are [8]:
r, p, R =
Y
2
m2
m2 1 ro2
r
2ln
1
2ln
1
m
+
(
)
1
k 2
k 2 k 2 1 r2
ra
(11a)
, p, R =
r
Y
m2
m2 1 ro2
2 + 2ln 1+ 2 2ln ( m+1) 2 2 1+ 2
k
k k 1 r
2
ra
(11b)
z, p, R =
r
Y
m2
m2 1
1+ 2ln 1+ 2 2ln ( m+1) 2 2
2
k
k k 1
ra
(11c)
For the elastic region, ra r ro , the respective residual stresses in the radial,
hoop and axial directions are:
r,e, R =
Y
2
ro2 m2 m2
1
1 r2 k 2 1 k 2 + 2ln ( m) k 2 1
(12a)
,e, R =
1
Y ro2 m2 m2
1+ 2 2 1 2 + 2ln ( m) 2
2 r k k
k 1
z, e, R =
Y
2
where m =
ra
ri
(12b)
m2 m2
1
2 1 2 + 2ln ( m) 2
k 1
k k
(12c)
Equations (12a-c), the residual stresses at the junction radius ra are obtained:
r, R =
Y
2
k2 m2 m2
1
1 m2 k2 1 k 2 + 2ln ( m) k2 1
(13a)
,R =
1
Y k 2 m2 m2
1+ 2 2 1 2 + 2ln ( m) 2
2 m k k
k 1
(13b)
z, R =
Y
2
2
2
1
m m
2 1 2 + 2ln ( m) 2
k k
k 1
(13c)
1.80E+08
,T
1.40E+08
Stress [MPa]
1.00E+08
6.00E+07
2.00E+07
-2.00E+07 0.1
0.11
0.12
0.13
0.14
0.15
0.16
0.17
0.18
0.19
0.2
,R
-6.00E+07
-1.00E+08
-1.40E+08
Plastic Region
Elastic Region
-1.80E+08
-2.20E+08
ri
ro
2.20E+08
1.80E+08
1.40E+08
Stress [MPa]
1.00E+08
.R
6.00E+07
2.00E+07
-2.00E+07 0.1
r,R
0.11
0.12
0.13
0.14
0.15
0.16
0.17
0.18
0.19
0.2
-6.00E+07
-1.00E+08
-1.40E+08
z,R
Plastic Region
-1.80E+08
-2.20E+08
ri
Elastic Region
ro
(14a)
,T = ,R + ,opr
(14b)
(14c)
,T
1.40E+08
Stress [MPa]
1.00E+08
z,T
6.00E+07
2.00E+07
-2.00E+07 0.1
0.11
0.12
0.13
0.14
0.15
0.16
0.17
0.18
0.19
0.2
-6.00E+07
r,T
-1.00E+08
-1.40E+08
Plastic Region
-1.80E+08
-2.20E+08
ri
Elastic Region
ro
k2 m2
m2
1 2P k2
(1 2 + 2ln ( m) ) 2 + 2 opr 2
2 2
m k
k
k 1 k 1 m
(15)
dTr
k2
= Y 3 + 3 3 ln ( m) 4Popr 3 = 0
dm
m
m
m
m
to obtain
P
m = exp( opr )
Y
Since
(16)
d 2 Tr
0 , the ra (= ra,opt) obtained is the optimum and minimum
d ra 2
Popr
Y
therefore,
m Tr = e x p ( n )
- Tresca
(17)
3
mvM = exp
n
2
- von Mises
(18)
and
3
2.5
2
mTr
mvM
1.5
1
0.5
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Operating pressure / Yield stress (n)
5.0
Equations (6) and (7) are used to obtain the (Tresca) autofrettage pressure to
cause different stages of yielding in a virgin cylinder. For a cylinder treated
with partial autofrettage, the internal pressure to cause the inner surface to yield
again can be obtained. Substituting Equations (1), (2) and (12) into Equation
(14), and using Tresca yield criterion, when r = ri , the internal pressure to cause
yielding at the inner surface is,
PY, i =
Y
m2
2ln ( m ) + 1 2
k
2
(19)
and when r = ro , by substituting Equations (1), (2) and (11) into Equation (14),
and using Tresca yield criterion, the internal pressure to cause the whole wall
thickness to yield is,
PY, o =
Y
2ln ( m) + k 2 m2
2
(20)
0.2
1.5
0.3
0.4
0.5
Optimum Autofrettage
0.6
0.7
0.8
0.9
Non-Autofrettage
0.5
-- 0.25
-- 0.35
-- 0.45
-- 0.55
-- 0.65
-- 0.75
-- 0.85
-- 0.95
15.0
13.9
12.7
11.6
10.4
9.3
8.1
7.0
5.8
4.7
3.5
2.4
1.2
1.0
0.9
0.8
0.7
0.6
0.5
0.45
0.4
0.35
0.3
5
Non-Autofrettage
0.25
Optimum Autofrettage
0
1.2
1.5
1.8
2.1
2.4
2.7
3.3
3.6
A special case is when the cylinder is fully autofrettaged, i.e. ra = ro. Therefore
m = k and the Tresca equivalent stress at any radius can be obtained from
Equation (15):
2ln ( k ) ro2 2Popr ro2
Tr = Y 1 2
+
k 1 r 2 k 2 1 r 2
(21)
Therefore the internal pressure to cause the internal surface and whole wall to
yield is obtained by substituting r = ri, r = ro and m = k in Equations (19) and
(20). The comparison of allowable internal pressures of a cylinder treated with
full and non-autofrettage, are shown in Table 1 and in Figures 7 and 8. Figure 7
shows that full autofrettage is beneficial if yielding of the inner surface is
required, in which case the cylinder can sustain the highest internal pressure. To
cause the whole wall to yield, the cylinder should not be autofrettaged, in which
case the cylinder can sustain the highest internal pressure, as shown in Figure 8.
Internal pressure
to cause the inner
surface to yield
Pi/Y
Pi/Y
Non
autofrettage
(k 2 1 )
Y
2k 2
0.375
(k 2 1 )
Y
2
1.5
Optimum
autofrettage
Y
m2
2ln ( m ) + 1 2
2
k
0.622
Y
2ln ( m ) + k 2 m 2
2
1.287
Full
autofrettage
Y ln k
0.693
Y ln k
0.693
1.8
Fully- Autofrettaged
1.6
1.4
1.2
1
0.916
0.8
0.6
Non-Autofrettaged
0.4
0.420
0.2
0
1.3
1.7
2.1
2.5
4.1
4.5
4.9
Non-Autofrettaged
4.5
4
3.5
3
2.625
2.5
2
1.5
Fully- Autofrettaged
0.916
0.5
0
1.3
1.6
1.9
2.2
2.5
2.8
Radius Ratio [k]
3.1
3.4
7.0
r
Y r2
1 + 2ln
2 ro2
ri
(22)
From Equations (17) and (18) the optimum autofrettage radius is deduced as,
ra, opt = ri e n
ra, opt = ri e
- Tresca
3
n
2
- von Mises
e 2n
1 k 2 + 2n
Y
2
Pa, opt, vM =
Y
2
e 3n
1 2 + 3n
k
- Tresca
(23)
- von Mises
(24)
r a, opt
ri
100 mm
ro
200 mm
Po
130 MPa
325 MPa
0.4
149.18 mm
P a, opt
202 MPa
eq
239 MPa
8.0
The relation between the optimum autofrettage pressure and operating pressure
of thick-walled pressurised cylinders can be obtained:
Pa ,o p t,T r
Po p r ,T r
k 2 e 2n
= 1 +
2 n k 2
- Tresca
(25)
3 k2 e
=
+
nk 2
2
3n
- von Mises
(26)
11
9.0
203 GPa
325 MPa
0.33
m
ra,opt
Pa,opt
Tresca criterion
1.492
149.20 mm
202 MN/m2
4) If the yield stress, Y, is large, the optimum boundary radius (ra,opt) is small.
5) The optimum autofrettage pressure causes the lowest equivalent stress
during application of operating pressure, and this occurs at the elasticplastic junction line.
6) The optimum autofrettage radius, ra,opt depends on the operating pressure
Popr, and the inner radius of the thick-wall cylinder ri, apart from the
material property Y.
NOMENCLATURE
P
r
t
k
m
n
pressure
radius
thickness
outer:inner radius ratio
autofrettage:inner radius ratio
operating pressure:yield stress ratio
normal stress
shear stress
Subscripts
i
o
a
r
z
Y
p
e
opt
opr
max
min
Tr
vM
R
T
inner
outer
autofrettage
radial
hoop
axial
yield
plastic
elastic
optimum
operating
maximum
minimum
Tresca
von Mises
residual
total
REFERENCES
1. Thumser, R., Bergmann, J.W., Vormwald, M., 2002. Residual stress fields
and fatigue analysis of autofrettage parts, Int Jnl Pressure Vessels and
Piping, 79(2), 113-117.
2. Perry, J., Aboudi, J., 2003. Elastic-plastic stresses in thick-walled cylinders,
ASME Jnl Pressure Vessel Technology, 125, 248-252.
13
3. Zhao, W., Seshadri, R., Dubey, R.N., 2003. On thick-walled cylinder under
internal pressure, ASME Jnl Pressure Vessel Technology, 125, 267-273.
4. Wang Zhiqun, 1995. Elastic-plastic fracture analysis of a thick-walled
cylinder, Int Jnl Pressure Vessels and Piping, 63, 165-168.
5. Mott, R.L., 2002. Applied Strength of Materials, New Jersey, Ohio:
Prentice Hall.
6. Hill, R., 1967. The mathematical theory of plasticity, Oxford University
Press.
7. Chaaban, A., Barake, N., 1993. Elasto-plastic analysis of high pressure
vessels with radial cross-bores, High Pressure Technology, ASME Pressure
Vessel and Piping; 263, 67-123.
8. Wuxue, Z., Zichu, Z., 1985. An elastic-plastic analysis of autofrettage
thick-walled cylinders, Proc Int Conf on Non-Linear Mechanics, Shanghai,
663-667.
9. ABAQUS v6.5.1, 2005. Getting started/Standard Users Manual.
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