3 Linear viscoelasticity A linear viscoelastic uid is a uid which has a linear relationship between its strain history and its current value of stress: t (t) = G(t ¡ t0)_ (t0) dt0 Z¡1 The function G(t) is the relaxation modulus of the uid. Because a uid can never remember times in the future, G(t) = 0 if t < 0. Physically, you would also expect that more recent strains would be more important than those from longer ago, so in t > 0, G(t) should be a decreasing function. There aren't really any other constraints on G. A few often-used forms for G(t) where t ¸ 0 are: Single exponential G0 exp [¡t=¿] Multi-mode exponential G1 exp [¡t=¿1] + G2 exp [¡t=¿2] + ¢ ¢ ¢ Viscous uid ´ ±(t) Linearly elastic solid G0 Let's just check the last two. For the viscous form we have t t (t) = G(t ¡ t0)_ (t0) dt0 = ´ ±(t ¡ t0)_ (t0) dt0 = ´_ (t) Z¡1 Z¡1 as we would expect for a Newtonian viscous uid. For the elastic solid we have t t t 0 0 0 0 0 0 0 (t) = G(t ¡ t )_ (t ) dt = G0_ (t ) dt = G0 _ (t ) dt : Z¡1 Z¡1 Z¡1 The integral on the right is the total strain (or shear) the material has undergone: so this, too, gives the form we expect. 3.1 Creep Given a sample of material, how would you go about modelling it? Even if you start by assuming it is a linear material (and they all are for small enough strains), how would you calculate G(t)? One way would be to carry out a step strain experiment: for shear ow this means you would set up your material between two plates and leave it to settle, so it loses the memory of the ow that put it there. Once it has had time to relax, you shear it through one shear unit (i.e. until the top plate has moved a distance the same as the distance between the plates). Then stop dead. Measure the force required to maintain the plates in position as time passes. The results will look something like this: 11 6Shear rate Time - 6Stress Time - What is the real relationship between the stress function (t) and the relaxation modulus G(t) in this case? Suppose the length of time the material is sheared for is T . Then the shear rate during that time must be 1=T (to get a total shear of 1): 0 t0 < ¡T 0 0 _ (t ) = 8 1=T ¡T · t · 0 < 0 t0 > 0 : Then the stress function becomes t 1 0 (t) = G(t ¡ t0)_ (t0) dt0 = G(t ¡ t0) dt0: Z¡1 T Z¡T Now suppose that we do the shear very fast so that T is very small. Then 0 G(t ¡ t0) dt0 ¼ T G(t) Z¡T and so the stress is (t) ¼ G(t): Thus the relaxation modulus is actually the response of the system to an instantaneous unit shear. 3.2 Storage and Loss Moduli An step shear is very di±cult to achieve in practice. Real rheologists, working in industry, are far more likely to carry out an oscillatory shear experiment. The material sample is placed in a Couette device, which is essentially a pair of con- centric cylinders, one of which is ¯xed. The material is put in the narrow gap between the cylinders, and the free cylinder is rotated. The ow set up between the two cylinders 12 is almost simple shear ow (as long as the gap is narrow relative to the radius of the cylinders, and no instabilities occur). The rotation is set up to be a simple harmonic motion, with shear displacement: (t) = ® sin (!t) where is the shear, ! the frequency and ® the amplitude. In reality ® must be kept small to ensure the material is kept within its linear r¶egime; but if we are dealing with an ideal linear viscoelastic material, ® can be any size. Note that the shear rate of the uid, _ (t), will be _ (t) = ®! cos (!t): Suppose this motion started a long time ago (t ! ¡1). Then at time t, the stress pro¯le for a general linear viscoelastic material becomes t t (t) = G(t ¡ t0)_ (t0) dt0 = G(t ¡ t0)®! cos (!t0) dt0 Z¡1 Z¡1 We can transform this integral by changing variables using s = t ¡ t0: t 1 (t) = G(t ¡ t0)®! cos (!t0) dt0 = ®! G(s) cos (!(t ¡ s)) ds Z¡1 Z0 and now if we write cos (!(t ¡ s)) = <[exp [i!(t ¡ s)]] we get: 1 1 (t) = ®! G(s)<[exp [i!(t ¡ s)]] ds = ®!< G(s) exp [i!(t ¡ s)] ds Z0 ·Z0 ¸ 1 = ®!< exp [i!t] G(s) exp [¡i!s] ds · Z0 ¸ and the integral on the right is now a one-sided Fourier transform. Since it has no dependence on t, it is just a complex number. By convention we de¯ne the complex shear modulus, G¤, as: 1 G¤ = i! G(s) exp [¡i!s] ds; Z0 and its real and imaginary parts: G¤ = G0 + iG00 are called the storage modulus G0 and the loss modulus G00. This gives (t) = ®<[exp [i!t](¡iG¤)] = ®<[(cos (!t) + i sin (!t))(G00 ¡ iG0)] G00 = ® [G0 sin (!t) + G00 cos (!t)] = G0(t) + _ (t): ! 13 Now a purely viscous uid would give a response (t) = ´_ (t) = ´®! cos (!t) and a purely elastic solid would give (t) = G0(t) = G0® sin (!t): We can see that if G00 = 0 then G0 takes the place of the ordinary elastic shear modulus G0: hence it is called the storage modulus, because it measures the material's ability to store elastic energy. Similarly, the modulus G00 is related to the viscosity or dissipation of energy: in other words, the energy which is lost. Since the r^ole of the usual Newtonian viscosity ´ is taken by G00=!, it is also common to de¯ne G00 ´0 = ! as the e®ective viscosity; however, the storage and loss moduli G0 and G00 are the most common measures of linear rheology. Let us check a few values: G(t) = ´±(t) G¤(!) = i!´ ¤ G(t) = G0 G (!) = G0 NB: By observation not integration 2 2 ¤ i!G0¿ G0(! ¿ + i!¿) G(t) = G0 exp [¡t=¿] G (!) = = (1 + i!¿) 1 + !2¿ 2 Let us look more at the single-relaxation-time model. At slow speeds !¿ ¿ 1 we have ¤ G ¼ iG0!¿ so the material looks like a viscous uid with viscosity G0¿. At high speeds !¿ 1, we have instead ¤ G ¼ G0 and the material looks like an elastic solid with modulus G0. If we plot the two moduli, G0 and G00 against ! the graph looks like this: G0 G00 Frequency, ! 14 The point where the two graphs cross is given by: G0 = G00 2 2 G0! ¿ G0!¿ = 1 + !2¿ 2 1 + !2¿ 2 !¿ = 1: A real uid has more complex dynamics: Typical dynamic data for an elastic liquid 6 - Frequency, ! but a ¯rst engineering approximation often used is to take the value of !c at which the ¡1 two curves cross, and use ¿ = !c as the relaxation time of the uid. Alternatively, a series of relaxation modes is used to ¯t the curves as well as possible. 15 16.