Ocean Engineering 128 (2016) 81–93

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Ocean Engineering
journal homepage: www.elsevier.com/locate/oceaneng

Progressive inelastic deformation of a girth-welded stainless steel pipe

under internal pressure and cyclic bending
crossmark
⁎
Wan-Gon Baea, Kyong-Ho Changb, Chin-Hyung Leec,
a
Department of Civil Engineering, Chung-Ang University, 84, Huksuk-ro, Dongjak-ku, Seoul 06974, Republic of Korea
b
Department of Civil and Environmental & Plant Engineering, Chung-Ang University, 84, Huksuk-ro, Dongjak-ku, Seoul 06974, Republic of Korea
c
The Graduate School of Construction Engineering, Chung-Ang University, 84, Huksuk-ro, Dongjak-ku, Seoul 06974, Republic of Korea

A R T I C L E I N F O A BS T RAC T

Keywords: This study aims to characterize numerically the ratcheting behavior of a girth-welded straight stainless steel
Pressurized girth-welded stainless steel pipe pipe in combined action of internal pressure and cyclic bending loading. Finite element (FE) thermal simulation
Weld-induced residual stresses of the girth butt welding process is first performed to identify weld-induced residual stresses. Three-
Cyclic bending dimensional (3-D) elastic-plastic FE analyses incorporated with the cyclic plasticity constitutive model capable
Ratcheting
of describing the cyclic plastic performance are next conducted to scrutinize the local (circumferential strain)
Cyclic plasticity constitutive model
and global (cross-section diameter change) ratcheting responses of the girth-welded stainless steel pipe under
Finite element analysis
internal pressure and cyclic bending, which take the residual stresses and plastic strains obtained from the
preceding thermal simulation as the initial condition. The analytical results demonstrate that welding residual
stresses in combination with the internal pressure have significant effects on the hoop strain rate and the in-
plane and out-of-plane diameter changes, and the degree and shape of the ovalization which occurs during the
multiaxial ratcheting are dependent on the applied loads.

1. Introduction et al., 2006; Deng and Murakawa, 2006; Lee and Chang, 2011a, 2014;
Lee et al., 2013a), which are induced as a result of plastic strains
Pressurized steel pipes which are the most basic elements in caused by solidification, phase transformation and circumferential
offshore pipelines are subject to cyclic loading induced by extreme shrinkage during welding. Weld-induced residual stresses increase
weather, earthquake and wave, etc. One of the major concerns on these the vulnerability to stress corrosion cracking, fatigue damage and
pipes is ratcheting. In a component under a primary load with brittle fracture (Withers, 2007). It is also well recognized that
secondary cyclic stressing that exceeds the elastic limit of the material, mechanical behavior of a girth-welded pipe under monotonic loading
progressive accumulation of plastic strain occurs, which is called is significantly affected by welding residual stresses (Lee and Chang,
ratcheting even though the origin of the cyclic permanent strain 2011b, 2013a, 2013b; Lee et al., 2013b, 2014a), i.e. the girth weld-
accumulation remains not completely known (Taleb and Cailletaud, induced residual stresses cause premature yielding and loss of stiffness
2011). The inelastic strain accumulation combined with the fatigue and eventually lead to deterioration of the load-carrying capacity.
damage during cyclic loading may result in reduction of the fatigue However, the residual stress effect on the ratcheting response of a
crack initiation life and thus the fatigue life of the component (Rahman girth-welded steel pipe subjected to internal pressure and cyclic loading
et al., 2008). Ratcheting leads to larger in-grain misorientation in remains unclear.
microstructure compared to fatigue, which is attributed to the larger In last three decades, a large number of research works have been
accumulated plastic strain during ratcheting (Paul et al., 2015). dedicated to understand the cyclic plastic behavior. Along with the
Ratcheting is therefore one of the most critical structural problems to experimental studies (Hassan and Kyriakides, 1992, 1994a, 1994b;
be investigated in a pressurized piping component subjected to cyclic Hassan et al., 1992; Portier et al., 2000; Taleb and Hauet, 2009; Paul
loading. In most piping networks, connection of the pipes is mainly et al., 2012; Song et al., 2014; Taleb et al., 2014) which have provided
implemented by girth welding. In a girth-welded steel pipe, the useful information for the uniaxial/multiaxial ratcheting characteris-
presence of unavoidable welding residual stresses is well known tics, various constitutive models capable of simulating the cyclic plastic
(Karlsson and Josefson, 1990; Brickstad and Josefson, 1998; Yaghi response as accurate as possible have been developed (Armstrong and

⁎
Corresponding author.
E-mail address: ifinder11@gmail.com (C.-H. Lee).

http://dx.doi.org/10.1016/j.oceaneng.2016.10.027
Received 17 March 2016; Received in revised form 29 July 2016; Accepted 13 October 2016
Available online 20 October 2016
0029-8018/ © 2016 Elsevier Ltd. All rights reserved.
W.-G. Bae et al. Ocean Engineering 128 (2016) 81–93

Nomenclature R isotropic hardening variable

α back stress tensor
b material constant α′ deviatoric back stress tensor
ck material constant α̇′ deviatoric back stress increment tensor
f yield function α′k asymptotic value of the kth back stress
k* initial size of elastic domain ε̇p plastic strain increment tensor
m material constant σ stress tensor
n unit normal vector to yield surface at current stress point σ′ deviatoric stress tensor
p accumulated plastic strain σ̇′ deviatoric stress increment tensor
ṗ accumulated plastic strain rate γk material constant
H plastic modulus φ material constant
Q saturated constant value of isotropic hardening λ̇ plastic multiplier

Frederick, 1966; Chaboche and Rousselier, 1983; Nouailhas et al., piping components under cyclic bending have not been fully investi-
1985; Burlet and Cailletaud, 1986; Chaboche, 1986, 1991, 2008; Ohno gated. Moreover, as for the ratcheting analysis of a girth-welded steel
and Wang, 1993; Corona et al., 1996; Jiang and Sehitoglu, 1996; pipe subjected to internal pressure and cyclic bending, very limited
Abdel-karim and Ohno, 2000; Bari and Hassan, 2000, 2002; Kang works have been reported to date due to the truly complex analysis
et al., 2002; Chen and Jiao, 2004; Kang and Kan, 2007; Kang and Liu, procedure involved in welding and subsequent cyclic loading problems
2008; Abdel-Karim, 2009; Feigenbaum et al., 2012; Lee et al., 2014b; and therefore deserves special attention. Actually, Lee et al., (2004)
Do et al., 2015), most of which have generally been limited to the evaluated the thermal ratcheting of welded cylindrical structure using
materials level. It has been demonstrated that the ratcheting response inelastic analysis that employed the Chaboche-Rousselier nonlinear
of a material has a significant dependence on the stress history, which combined hardening model (Chaboche and Rousselier, 1983). They
in a pipe relies on the external load and the geometry (Hassan et al., assumed the residual stress distribution at the welded joint according
1998). Considering all these parameters experimentally is cost prohi- to the UK R6 procedure using axisymmetric FE model. However, the
bitive and impractical. Thus, finite element (FE) simulation based on residual stresses are by no means axisymmetric, i.e. they vary spatially
cyclic plasticity constitutive model should be employed to analyze the along the circumference due to the moving arc and welding start/stop
global (diameter change) and local (circumferential strain) ratcheting effects (Lee et al., 2013a; Lee and Chang, 2014). Thus, the exact
responses of a pressurized pipe for different cyclic loading patterns and assessment of the residual stress effect on the ratcheting behavior could
configurations. For the structural ratcheting behavior of piping com- not be achieved.
ponents such as straight pipes, elbows and branch pipes, many studies This study attempts to scrutinize the ratcheting responses of a
have been conducted (Chen et al., 2013). Nevertheless, a small number girth-welded straight stainless steel pipe under cyclic bending and
of research works so far have dealt with simulation of the plastic internal pressure through the numerical simulation. The following
response of a straight piping component under cyclic bending and approaches are taken in the present investigation: first, thermal
internal pressure. Hassan et al. Hassan et al., (1998) incorporated an simulation of the girth butt welding process is first conducted to obtain
improved constitutive model, which consists of the Armstrong- weld-induced residual stresses by using a sequentially coupled three-
Frederick kinematic hardening rule (Armstrong and Frederick, 1966) dimensional (3-D) thermo-mechanical FE analysis model developed by
and the Drucker-Palgen plastic modulus equation (Drucker and Palgen, the authors; second, a cyclic plasticity constitutive model which can
1981), into ANSYS FE package and validated the modified code by simulate the multiaxial ratcheting behavior is presented and verified
replicating the four-point displacement controlled cyclic bending tests against the test data, and third, parametric comparative studies in
of straight stainless steel pipes at constant internal pressure and which the ratcheting responses of the girth-welded stainless steel pipe
correlating the analytical results with the experimental measurements. exposed to internal pressure and cyclic bending are explored taking the
Gao et al., (2006) performed ratcheting simulations of pressurized residual stresses and plastic strains as the initial condition are carried
straight low carbon steel pipes under cyclic quasi-three point bending, out by using a 3-D elastic-plastic FE analysis method which incorpo-
which involved bending moment gradients and shear loads through the rates the cyclic plasticity model as the material constitutive equation.
pipe length, by using ANSYS program into which the Ohno-Wang The ratcheting behavior of the pressurized steel pipe in cyclic bending
model and the modified Ohno-Wang models were incorporated. The without considering the residual stresses is also investigated in order to
effects of bending load, internal pressure and loading history on the clarify the relevance of weld-induced residual stresses to the cyclic
multiaxial strain accumulation were discussed. But, only hoop ratchet- responses.
ing strains were examined at various positions. Rahman et al., (2008)
evaluated the performance of several constitutive models in simulating
2. FE thermal simulation of the girth butt welding process
the structural ratcheting responses of straight pipes of alloy steel 4130
under combined curvature-symmetric cyclic bending and internal
FE thermal simulation of the girth butt welding process should first
pressure against the measured local and global ratcheting responses.
be performed to attain weld-induced residual stresses and plastic
They claimed that the model parameters should be refined to improve
strains, which are required input to the mechanical model for analyzing
the cyclic plasticity modeling. However, they focused on the perfor-
the effects that the residual stresses have on the ratcheting responses of
mance evaluation of the constitutive models and hence limited load
the pressurized girth-welded stainless steel pipe under cyclic bending.
and structural parameters were employed in their investigation. Zakavi
Welding process is essentially a coupled thermo-mechanical process.
et al., (2010) used the Armstrong-Frederick model with isotropic/
The thermal histories strongly affect the stress fields, whilst the
kinematic hardening rule to anticipate the circumferential ratcheting
mechanical fields have a weak influence on the temperature profiles.
strains of pressurized straight carbon and stainless steel pipes sub-
Therefore, in this work, a sequentially coupled 3-D thermal-mechanical
jected to simulated seismic bending moment. The FE results were
FE analysis model able to precisely capture the 3-D feature of welding
compared with those obtained from the experiments and the capability
residual stress distribution in the girth-welded stainless steel pipe,
of the combined hardening model was evaluated. From the literature
which was developed by the authors (Lee and Chang, 2014) based on
review, it seems that ratcheting responses for internally pressurized
the in-house FE-code (Lee, 2005) and its accuracy was confirmed

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against the experimental measurements, was employed to gain weld- gradients there. A few preliminary mesh convergence studies leaded
induced residual stresses. The model comprises two parts: a transient to using the present FE mesh with the smallest element size of 0.9 mm
heat transfer model followed by a transient stress model. The thermal (axial) ×1.5 mm (thickness) ×12.8 mm (circumference). Specific de-
model identifies the temperature and phase evolution as a function of scriptions on the FE mesh scheme for examining the ratcheting
time, and the structural model utilizes the previous results to calculate responses are made next (Section 4.1). The same FE mesh refinement
displacements at nodes and stresses at integration points. The forth- scheme between the thermal and mechanical models was employed
coming section briefly describes the thermo-mechanical FE analysis except for the element type and the applied boundary conditions in
model and the specific details can be found in (Lee and Chang, 2014). order to facilitate nodal data mapping between them. The FE element
type adopted in the heat transfer model is the one which has single
2.1. Thermal and mechanical models degree of freedom, temperature, on its each node, while for the
structural model the element type is the other with three degrees of
The thermal model is based on the heat conduction, the convective freedom at each node: translations in x, y, z directions. The mechanical
and radiative boundary conditions with the moving heat source. The boundary conditions were prescribed for hindering rigid body motion
combined heat source model is adopted to simulate the heat of the of the weld piece.
welding arc and the melt droplets (Pardo and Weckman, 1989), i.e. the
heat of the welding arc is modeled by a surface heat source with a 2.3. Material model
Gaussian distribution, and that of the melt droplets is reproduced by a
volumetric heat source with uniform density. In order to take into The base material selected for this investigation is SUS304 auste-
account the heat transfer due to fluid flow in the weld pool, an nitic stainless steel. The physical constants such as thermal conductiv-
artificially increased thermal conductivity is assumed for temperatures ity, specific heat and density as well as the mechanical properties
above the melting point. The liquid-to-solid phase transformation including Young's modulus, Poisson's ratio, thermal expansion coeffi-
effects of the weld pool are modeled by considering the latent heat of cient, yield strength and strain hardening rate vary with temperature.
fusion. The combined heat transfer coefficient for the convection and Thus, temperature-dependent thermo-physical and thermal-structural
the radiation (Lee and Chang, 2014) is applied on all surfaces. properties were taken into account in the FE analysis and are shown in
The subsequent mechanical model entails the use of the tempera- Figs. 2 and 3 (Lee and Chang, 2014). Note that in Fig. 3(a), both the
ture histories predicted by the preceding heat transfer model for each yield stress and the elastic modulus are reduced to 5.0 MPa and
time increment as thermal loads for calculating transient thermal 5.0 GPa, respectively, at the melting temperature to simulate low
stresses and deformations. The temperature values obtained at every strength at high temperatures (Barsoum, 2008). The same material
time step when the weld filler is completely deposited are employed in properties were postulated for the base material and the weld metal.
the structural model. Each temperature step is divided into optimized The work hardening induced by the thermal cycles during welding in
sub-steps considering the state of the welding process and the the weld area and its neighborhood was also considered. In this study,
convergence. For the stress-strain relations, rate-independent elastic- temperature-dependent strain hardening rule was used (Lee and
plastic constitutive equation taking the Von Mises yield criterion, Chang, 2014).
temperature-dependent mechanical properties and linear isotropic
hardening rule into account is incorporated into the structural model. 2.4. Results and discussion
The solid-state phase transformation effect is neglected here because
the metallurgical phase change does not occur during welding of the In order to clarify how the axial and hoop residual stresses change
austenitic stainless steel used in the present study. Since the thermal along the circumferential weld, four sections which have different
elastic-plastic analysis is a nonlinear problem, a full Newton-Raphson circumferential angles from the weld start/end position, θ are selected
iterative solution technique (Bathe, 1996) is used for solving the to represent welding residual stress distributions. Fig. 4(a) and (b)
problem. In the thermal and mechanical models, the process of depict the axial residual stress distributions at the four locations on the
sequential weld metal deposition is controlled by using a consistent inside surface and the outside surface, respectively. Note that the stress
filler activation/deactivation scheme (Lindgren, 2001). profiles are reported only in the weld region and its neighborhood for
clarity. Actually, beyond the region given in the figure, the stresses
2.2. Model geometry converge to zero. Bending axial stress distribution through the thick-
ness in and around the girth weld can be observed, i.e. the axial
Fig. 1(a) schematically shows the configuration and dimensions of residual stresses are tensile on the inside surface and compressive on
the analysis model. The welding arc travel direction and the welding the outside surface along the perimeter. This is because the circumfer-
start/end position (θ =0°) are also illustrated in the figure. A single pass ential shrinkage during the girth welding process results in a local
girth butt welding of two pipes with a single V-groove was considered. inward deformation near the welded zone, producing tensile axial
The welding conditions and process parameters chosen for the present residual stresses on the inside surface balanced by compressive axial
model were as follows: welding method, gas tungsten arc (GTA) residual stresses on the outside surface. Compressive axial residual
welding process; welding current, 200 A; welding voltage, 12.5 V; and stresses are formed on the inside surface away from the weld center-
welding speed, 3 mm/s, respectively. The welding procedures used line, and tensile axial residual stresses on the outside surface due to
were typical of industrial practice (Malik et al., 2008). The 3-D FE self-equilibration. It is also worth noting that the axial residual stresses
mesh model with eight-noded isoparametric solid elements is shown in are sensitive to the circumference. This is ascribed to the fact that the
Fig. 1(b). Due to the symmetry conditions with respect to the weld sequential weld metal deposition as the welding torch travels along the
centerline, only one half of the pipe geometry needed to be built, and girth makes the internal restraint change spatially. The biggest varia-
two layers were adopted through the thickness since the residual stress tion occurs at the overlapping region (θ =0°). Fig. 5(a) and (b) portray
variation through the inside surface or the outside surface is insignif- the hoop residual stresses at the four positions on the inside surface
icant for a girth-welded thin-walled steel pipe (Lee and Chang, 2013a). and the outside surface, respectively. Turning to the hoop residual
The adopted mesh configuration was a result of the considerations stresses, their magnitude is affected by the axial residual stresses. This
regarding the girth weld-induced residual stresses and the ratcheting explains why the hoop residual stresses on the inside surface, which is
behavior of the girth-welded steel pipe in internal pressure and cyclic experiencing axial tension, are more tensile at the weld area and its
bending. In the weld region and its vicinity, the mesh is suitably refined vicinity compared to those on the outside surface. Furthermore, careful
to accurately capture the anticipated high temperature and stress observation of the results unveils that spatial variation of the stress

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W.-G. Bae et al. Ocean Engineering 128 (2016) 81–93

(a)

Y X

(b)
Fig. 1. Model for analysis: (a) Configuration and dimensions of the analysis model and the welding arc direction and (b) 3-D FE mesh model.

profile is present along the circumference due to the moving arc and the following three fundamental aspects:
the welding start/end effects.
(i) von Mises yield criterion: the yield criterion prescribes the
3. Constitutive model condition for onset of plastic strain. The yield surface is repre-
sented by
3.1. Cyclic plasticity constitutive model
⎡3 ⎤1/2
f (σ − α ) = ⎢ (σ ′ − α′)⋅(σ ′ − α′) ⎥ − R − k* = 0
⎣2 ⎦ (1)
The constitutive model is based on the isotropic linear elasticity
with the generalized Hooke's law, a von Mises yield criterion, the The dot “⋅ ” implies the inner product at a⋅b = aij bij .
associated plastic flow rule and the hardening rule. The rate-indepen- (ii) Flow rule: the total strain increment is additively decomposed into
dent cyclic plasticity constitutive model considered in this study, which the elastic and the plastic strain increment. The incremental
assumes cyclic hardening material behavior and J2 -type plasticity, has

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1000 Axial_90º
Axial_180º
800 Axial_270º
Axial_0º

Residual stress (MPa)

600

400

200

-200
0 20 40 60 80 100 120
Distance from the weld centerline (mm)

(a)
Fig. 2. Temperature-dependent thermo-physical constants of the base material.
400 Axial_90º
Axial_180º
Axial_270º
200 Axial_0º

Residual stress (MPa)

0

-200

-400

-600
0 20 40 60 80 100 120
Distance from the weld centerline (mm)

(b)

Fig. 4. Axial residual stresses at locations with different circumferential angle θ : (a)
inside surface and (b) outside surface.

incorporated into the cyclic plasticity model, which is expressed as

l l ⎧ ⎛ ′ ⎞m
αij̇ ′ = ∑ (αij̇ ′ )k = ∑ γk ⎨ 2 ck εij̇ p − ⎜ αk ⎟[φ (αij′)k + (1 − φ)((αrs′ )k ⋅nrs ) nij ]
k =1 k =1 ⎩3 ⎝ ck ⎠
⎫
p⎬
̇
⎭ (3)

For the isotropic hardening rule, the following equation is adopted

(Lee et al., 2014b; Do et al., 2015).

R = Q (1 − e−bp ) (4)
Fig. 3. Temperature-dependent thermal-structural properties of the base material.
stress-plastic strain relation is given by The plastic strain path dependence is not taken into account here
(Zakavi et al., 2010).
∂f 1 2 ∂f
ε ̇p = λ ̇ = σ ′̇ ⋅n n , n = The cyclic constitutive model has three decomposed kinematic
∂σ H 3 ∂σ (2)
hardening rules (n = 3), i.e. the number of the back stress components
where denotes the MacCauley bracket is three (Bari and Hassan, 2000; Koo and Lee, 2007). Thus, the
(iii) Hardening rule: the hardening rule dictates changes that occur in implementation of the cyclic constitutive model needs a total number
the yield surface during plastic deformation. In general, the yield of eleven material parameters, i.e. the material parameter k *, the
surface evolves through size change (the yield surface expansion material constants of c1, c2 , c3, γ1, γ2 , γ3, m , φ for computing the kinematic
by isotropic hardening), shape change (the yield surface distor- hardening rate and those of Q , b for calculating the isotropic hardening
tion) and/or variation in center location (the yield surface rule are required to simulate the cyclic plastic behavior. The parameter
translation by kinematic hardening) due to plastic deformation. k* is obtained from the linear part of the stable uniaxial stress-strain
In this work, the evolution of the yield surface with plastic loading hysteresis curve. The cyclic model parameters for kinematic hardening
increments is accommodated by considering the isotropic and the c1, c2 , c3 and γ1, γ2 , γ3 are determined by using only the stabilized uniaxial
kinematic hardening rule. For the kinematic hardening rule, the stress-strain hysteresis loop with pure kinematic hardening in accor-
decomposed nonlinear kinematic hardening equation proposed by dance with the procedures specified in (Bari and Hassan, 2000). The
the authors (Lee et al., 2014b; Do et al., 2015) is employed and material constants Q and b can be acquired from the isotropic
hardening evolution curve with respect to accumulated plastic strain

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1000 Hoop_90º
Hoop_180º
800 Hoop_270º
Hoop_0º
600
Residual stress (MPa)

400

200

-200

-400
0 20 40 60 80 100 120
Distance from the weld centerline (mm)

(a)

600 Hoop_90º
Hoop_180º
Hoop_270º
400 Hoop_0º
Residual stress (MPa)

200

-200

-400
0 20 40 60 80 100 120
Distance from the weld centerline (mm)

(b)

Fig. 5. Hoop residual stresses at locations with different circumferential angle θ : (a)
inside surface and (b) outside surface.

by assuming that the cyclic hardening is only induced by isotropic

hardening, which is determined by the strain-controlled symmetric
Fig. 6. Comparison of the predicted and the experimental hysteresis loops for the
cyclic loading test (Do, 2013). The additional kinematic hardening
symmetric strain cycling: (a) experiment and (b) simulation.
parameters m and φ are identified from the ratcheting experiments by
the trial and error method (Do, 2013).
Comparison is finally made between the test data on the multiaxial
ratcheting of a thin-walled pipe specimen of 1026 carbon steel
3.2. Verification subjected to axial strain-controlled symmetric cycling in the presence
of a constant internal pressure (Corona et al., 1996) and the analytical
In order to confirm the accuracy of the cyclic constitutive model, the prediction from the corresponding FE simulation for the verification
experimental works by Kang et al., (2002) in which the stress-strain purpose. Details on the material, the preparation of the specimen and
response of SUS 304 stainless steel under fully reversed strain- the loading conditions are presented in (Corona et al., 1996). The
controlled cyclic loading and the uniaxial ratcheting of the stainless material parameters needed to implement the cyclic plasticity consti-
steel under the asymmetric stress cycling were measured were simu- tutive model were obtained from the experimental measurements
lated using the FE analysis technique for direct comparisons of the found in (Corona et al., 1996). The axial strain versus circumferential
analytical predictions calculated by the cyclic constitutive model with strain curve predicted by the constitutive model is shown and
the test data. Specific details on the experiments are presented in (Kang compared with the experimental relations in Fig. 8. Like the preceding
et al., 2002). Fig. 6 compares the simulated and the measured uniaxial ratcheting experiment, the test data can be accessible only in
hysteresis loops for the strain-controlled symmetric cycling with a the form of figure. It can be seen that the overall trends between the
strain amplitude of 0.6%. The experimental data can be available only simulation and the test match reasonably well. Therefore, the rate-
in the form of figure and hence it is difficult to compare the analytical independent cyclic plasticity constitutive model is believed to be
and experimental results in single figure. It can be found that the suitable for multiaxial ratcheting simulation as well as for describing
overall locus of the predicted stress-strain response curve is in a good uniaxial ratcheting behavior.
agreement with that of the experiment and the cyclic constitutive
model precisely mimics the cyclic hardening behavior. Comparison is 4. Ratcheting behavior of the girth-welded stainless steel
next made in Fig. 7 between the experimental measurement on the pipe under cyclic bending and internal pressure
uniaxial ratcheting response (Kang et al., 2002) and the analytical
prediction computed by the cyclic constitutive model. The inserted 4.1. 3-D FE model for the analysis
graph in Fig. 7(b) shows the ratcheting progress in last cycles. All the
material parameters for the cyclic constitutive model are gained from After obtaining weld-induced residual stresses by the FE simulation
the experiments and are tabulated in Table 1. There is a high of the girth butt welding process, 3-D elastic-plastic FE analyses to
correlation between the predicted and the experimental results. explore the local (circumferential strain) and global (diameter change)

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Fig. 7. Ratcheting response of the stainless steel under the asymmetric uniaxial stress
cycles: (a) experiment and (b) simulation.

Table 1
Model parameters for the material.

m φ c1 (MPa) c2 (MPa) c3 (MPa) γ1

0.5 1.0 30.11 82.71 70.8 3.466

γ2 γ3 Q (MPa) b k* (MPa)
350.0 53.19 50.0 12.5 225.0

ratcheting responses of the girth-welded stainless steel pipe submitted

to steady internal pressure and cyclic bending were carried out through
the in-house FE-code (Do, 2013) by incorporating the cyclic plasticity
model into the material constitutive equation. In this study, the same
material parameters as for the uniaxial ratcheting simulation were
utilized to replicate the ratcheting responses of a pressurized girth-
welded stainless steel pipe under cyclic bending due to the scarcity of
Fig. 8. Comparison of the analytical and the experimental axial strain versus circumfer-
the measured data, even though the additional material parameters
ential strain response. (a) analytical prediction and (b) experimental measurement.
calibrated from the multiaxial ratcheting test could yield more accurate
results. Actually, for many cases, the same material constants can
Table 2
duplicate fairly well both uniaxial and multiaxial ratcheting experi-
Loading conditions for the analyzed cases.
ments (Abdel-Karim, 2009). Rahman et al. (2008) also demonstrated
that the cyclic plasticity constitutive model in which the material Case Displacement amplitude (mm) Internal pressure (MPa)
parameters were determined from the uniaxial ratcheting rate only
1 6.16 5.6
produced similar ratcheting responses in the multiaxial ratcheting
2 8.22 5.6
simulations at the structural level as well as at the material level to 3 10.3 5.6
those predicted by the cyclic plasticity model whose material para- 4 8.22 4.2
meters were obtained through both the uniaxial and multiaxial 5 8.22 7.0
ratcheting rates. Furthermore, this hypothesis seems to be sensible

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Fig. 9. Schematics of the pressurized girth-welded steel pipe in four-point cyclic bending
loading (a) loading condition and (b) diameter change of the pipe cross-section under the
cyclic bending.

Fig. 11. Comparison of the in-plane diameter change-displacement curves: (a) predic-
tion with consideration of welding residual stresses and (b) prediction without
considering welding residual stresses.

Nevertheless, it should be mentioned that the cyclic plasticity consti-

tutive model which employs the material parameters listed in Table 1 is
not able to describe the non-proportional hardening effect, i.e. the
additional hardening of the stainless steel pipe due to non-proportional
loading (Halama et al., 2012). The radial return method introduced by
Simo and Taylor (1985) was used to numerically solve the equations in
the cyclic constitutive model. The multiaxial ratcheting simulations
were conducted by reproducing four-point displacement controlled
cyclic bending at constant internal pressure. In the FE analysis,
symmetry conditions with respect to the pipe mid-span (weld center-
line) can be applied and the maximum hoop strain and diameter
change occur near the pipe mid-span. Thus, the same FE mesh density
as the thermal stress model, with different loading and boundary
conditions, was utilized to facilitate data mapping between the two
structural FE models. A uniform mesh configuration away from the
mid-span was carefully determined by carrying out a mesh convergence
study to achieve accurate results whilst minimizing computational
requirements, e.g., the suitable mesh size was found to be a uniform
mesh of 15.0 mm (axial) ×12.8 mm (circumference). 3-D eight-noded
isoparametric brick elements with three translational degrees of free-
Fig. 10. Cyclic mid-span moment-displacement response curves of the pipe model for
the Case-2: (a) simulation with consideration of welding residual stresses and (b)
dom at each node were used to discretize the computation domain. The
simulation without considering welding residual stresses. axial and hoop residual stresses and plastic strains of magnitudes and
distributions as given by the FE thermal simulation were introduced as
and justified for parametric comparative studies because material the initial condition into the FE model. In this work, the ratcheting
behavior contributes equally in the results of all cases and discrepan- behavior of the girth-welded steel pipe under cyclic bending combined
cies in structural response can be attributed to the different conditions. with internal pressure was analyzed for five cases with various loading
conditions listed in Table 2. The displacement amplitude and the

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W.-G. Bae et al. Ocean Engineering 128 (2016) 81–93

Fig. 12. Comparison of the out-of-plane diameter change-displacement curves: (a)

Fig. 13. Comparison of the hoop strain-displacement responses: (a) prediction with
prediction with consideration of welding residual stresses and (b) prediction without
consideration of welding residual stresses and (b) prediction without considering welding
considering welding residual stresses.
residual stresses.

magnitude of internal pressure were adopted as the main loading material can be used to capture the multiaxial ratcheting responses
parameters. Three different levels of internal pressure-induced hoop of the girth-welded stainless steel pipe. The mechanical properties at
stress (σh = pDi /2t , p is the magnitude of internal pressure, Di is the room temperature presented in Fig. 3 were used for the FE analyses.
internal diameter and t is the thickness) to yield stress ratios, σh / σ0 of The ratcheting responses of the pressurized pipe model under bending
0.3, 0.4 and 0.5 were considered (Østby et al., 2005). The actual without considering weld-induced residual stresses were also simulated
magnitudes of the internal pressure selected in this study correspond- for the comparison by which the contribution degree of the residual
ing to the values of the hoop stresses above are 4.2, 5.6 and 7.2 MPa, stresses to the multiaxial ratcheting behavior was identified.
respectively as seen in Table 2.
As stated earlier, the multiaxial ratcheting simulations involved
four-point displacement controlled cyclic bending of the girth-welded 4.2. Results and discussion
pipe in steady internal pressure. At first, the internal pressure was
applied in one step at the inside surface as a distributed load assuming Steel pipes subjected to symmetric cyclic pure bending in the
the open-ends condition (i.e. the axial force at the ends due to internal presence of internal pressure experience progressive accumulation of
pressure load is zero: only radial component (force) of pressure load is ovalization of the pipe cross-section (Fig. 9(b)) and hoop strain
applied), and then the cyclic symmetric displacements were imposed ratcheting (Rahman et al., 2008; Gao et al., 2006). In the present
gradually at the quarter points to the specified magnitude while the investigation, the diameter changes in both the plane of bending and its
internal pressure was held at the same value as shown in Fig. 9(a). The vertical plane as well as the cumulative hoop strains were reported at
effect of ring collars located at the loading points and the end supports, the mid-span. Fig. 10(a) depicts the simulated cyclic mid-span
which are typically used in four-point bending test so as to avoid stress moment-displacement loop for the Case-2, compared with the non-
concentrations and to restrain the radial displacement of the specimen, linear prediction of the cyclic mid-span moment-displacement re-
was taken into consideration by ensuring that the respective cross- sponse curve excluding welding residual stresses in Fig. 10(b). The
sections remained undeformed at these locations using kinematic sign convention is established such that the moment generated by the
coupling (Theofanous et al., 2009). The boundary conditions were positive displacement is positive. It is immediately obvious that the
chosen such that the girth-welded steel pipe is simply supported. As cyclic behavior is significantly affected by the residual stresses, i.e. the
indicated before, autogenous weldment was assumed during the girth cyclic moment response of the pipe model with no residual stresses
welding. Therefore, the cyclic stress-strain relations for the base becomes saturated after slight cyclic softening in the initial few cycles,
whilst the cyclic moment-displacement curve of the pipe model with

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W.-G. Bae et al. Ocean Engineering 128 (2016) 81–93

20 30
Case-1 Case-1
Case-2 Case-2
Case-3 25 Case-3
16

20

Hoop strain (%)

Moment (kN-m)

12

15
8

10

4
5

0
0 10 20 30 40 50 60 70 80 0
0 10 20 30 40 50 60 70 80
Number of cycles
Number of cycles
(a)
(a)
20
Case-4 18
Case-2 Case-1
Case-5 Case-2
16 15
Case-3

In-plane diameter change (mm)

12
Moment (kN-m)

12

8
6

4 3

0
0
0 10 20 30 40 50 60 70 80
-3
Number of cycles 0 10 20 30 40 50 60 70 80
(b) Number of cycles

Fig. 14. Cyclic moment responses of the girth-welded steel pipe under various loading (b)
conditions: (a) mid-span moments at the positive displacement peaks versus number of 15
cycles under different bending loads with steady internal pressure and (b) mid-span Case-1
moments at the positive displacement peaks versus number of cycles under various Case-2
Out-of-plane diameter change (mm)

internal pressures with constant bending loading. Case-3

12

the girth weld is stabilized after considerable cyclic deterioration of the

load-carrying capacity along with the premature yielding of the girth- 9
welded steel pipe. In general, under cyclic loading, welding residual
stresses tend to relax to some extent after a certain number of cycles
and become stabilized. The magnitude of the residual stress relaxation 6
depends on the loading direction as well as the amplitude of applied
stress (Lee et al., 2015). In this study, the residual stresses are not fully
3
released during the mechanical cyclic loading. The initial residual
stresses cause premature yielding of the pipe cross-section and the
relaxed residual stresses result in the deterioration of the load-carrying 0
capacity. Moreover, the presence of constant internal pressure pro- 0 10 20 30 40 50 60 70 80
motes the cyclic softening. Figs. 11 and 12 represent the in-plane and Number of cycles
out-of-plane diameter change responses for the Case-2, respectively
(c)
with and without considering welding residual stresses after fifty four
cycles after which the analysis program which took the residual stresses Fig. 15. Local and global ratcheting responses of the girth-welded steel pipe under
different bending loads with steady internal pressure: (a) hoop strains at the negative
into account was terminated. The diameter change profiles follow
peak displacements versus number of cycles, (b) in-plane diameter changes at the
similar trends observed in the experiment (Rahman et al., 2008), i.e.
positive peak displacements versus number of cycles and (c) out-of-plane diameter
the in-plane diameter change-displacement curve develops into convex changes at the positive peak displacements versus number of cycles.
shape, whilst the out-of-plane diameter change-displacement curve
concave form. The results also unveil that the diameter of the pipe those of the pressurized pipe which has no girth weld, which is incurred
cross-section gradually increases in both directions with progress in from the residual stresses combined with the internal pressure. The
cycles owing to the steady internal pressure. Note that the in-plane hoop strain ratcheting responses for the Case-2 at the top surface with
diameter change occurs at a higher rate than the out-of-plane diameter and without considering weld-induced residual stresses are portrayed
change, indicating that some ovalization takes place. Moreover, it in Fig. 13. Referring to the results, the hoop strain ratchets with
should be recognized that both the in-plane and out-of-plane diameters progressive cycles and the cyclic strain rate of the pressurized pipe with
of the pressurized girth-welded pipe expand remarkably compared to the residual stresses is much higher than that of the pipe model with no

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number of cycles. These figures demonstrate that the cyclic moment

responses from the loading conditions are almost stable after marked
cyclic softening in a number of cycles and that the larger the moment or
the internal pressure becomes, the higher the rate of weakening
becomes. The evolution of hoop strain calculated at the negative
displacement peak of every cycle with respect to the number of cycles
of the girth-welded pipe subjected to different bending loads with
steady internal pressure is shown in Fig. 15(a). Furthermore, the
variations of in-plane and out-of-plane diameter changes computed at
the positive displacement peak of each cycle versus number of cycles
are depicted in Fig. 15(b) and (c), respectively. The increases in the
local (circumferential strain) and global (cross-section diameter
change) ratcheting responses with progress in the displacement
amplitudes can be seen. The hoop strain increment also advances with
increasing the displacement amplitude and the ovalization becomes
more notable as the cycling proceeds. Fig. 16(a), (b) and (c) represent
in turn the simulated hoop strains at the negative peak displacements,
the in-plane and out-of-plane diameter changes at the positive peak
displacements of the girth-welded pipe exposed to various internal
pressures with constant bending loading. It is apparent that in addition
to the hoop strain and its rate, the diameter changes increases as the
internal pressure increases. Careful observation of the results indicates
that the ovalization degree and shape are dependent on the loading
conditions.

5. Conclusions

In this study, efforts were made towards charactering the ratcheting

behavior of a girth-welded straight stainless steel pipe under cyclic
bending and steady internal pressure through the numerical simula-
tion. Thermal simulation of the girth butt welding process was first
performed to identify weld-induced residual stresses by using a
sequentially coupled 3-D thermo-mechanical FE analysis method. A
rate-independent cyclic plasticity constitutive model capable of simu-
lating the multiaxial ratcheting responses was next presented and
incorporated into the cyclic constitutive equations in the 3-D elastic-
plastic FE analyses to scrutinize the local (circumferential strain) and
global (cross-section diameter change) ratcheting responses of the
girth-welded stainless steel pipe subjected to various internal pressures
and constant cyclic bending loading and vice versa. The residual
stresses and plastic strains obtained from the preceding thermal
simulation were taken as the pre-stress condition for the analyses.
The ratcheting behavior of the pressurized steel pipe in cyclic bending
without considering the residual stresses is also investigated in order to
elucidate the effects that weld-induced residual stresses have on the
cyclic performance. Based on the results in this work, the following
conclusions can be drawn.

a) Weld-induced residual stresses in combination with the internal

pressure significantly affect the plastic behavior of the pressurized
girth-welded steel pipe in cyclic bending by enhancing considerably
the hoop strain rate and expanding notably the in-plane and out-of-
plane diameters, as compared to those of the pressurized steel pipe
Fig. 16. Local and global ratcheting responses of the girth-welded steel pipe under
various internal pressures with constant bending load: (a) hoop strains at the negative
with no girth weld. Hence, weld-induced residual stresses should be
peak displacements with respect to the number of cycles, (b) in-plane diameter changes taken into account in assessing the cyclic plastic responses.
at the positive peak displacements with respect to the number of cycles and (c) out-of- b) The hoop strain and its rate, and the in-plane and out-of-plane
plane diameter changes at the positive peak displacements with respect to the number of diameter changes increase with increasing the bending load or the
cycles. internal pressure.
c) The in-plane and out-of-plane diameters of the pipe cross-section
girth weld. become larger as the cycling progresses with the diameter change
Results are next given for investigating influences of the internal rates of the two orthogonal planes different each other, indicating
pressure and the displacement amplitude on the ratcheting responses. that some ovalization takes place. The ovalization degree increases
The cyclic moment responses of the girth-welded pipe under different with advance in cycles.
bending loads with constant internal pressure and vice versa are d) The ovalization degree and shape are governed by the magnitudes
compared in Fig. 14(a) and (b), respectively by plotting the mid-span of applied loads such as the internal pressure and the cyclic
moment at the positive displacement peak in each cycle versus the bending.

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e) Accurate evaluation of the local and global ratcheting responses of a multiaxial behavior. Int. J. Plast. 8, 117–146.
Hassan, T., Zhu, Y., Matzen, V.C., 1998. Improved ratcheting analysis of piping
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Lee, C.H., 2005. A Study on the Mechanical Characteristics of High Strength Steel for the
This research was supported by Mid-career Researcher Program Application to the Steel Bridge (Ph.D. thesis). Chung-Ang University, Korea.
through the National Research Foundation of Korea (NRF) funded by Lee, C.H., Chang, K.H., 2011a. Prediction of residual stresses in high strength carbon
the Ministry of Science, ICT & Future Planning (NRF- steel pipe weld considering solid-state phase transformation effects. Comput. Struct.
89, 256–265.
2015R1A2A2A01006390). Lee, C.H., Chang, K.H., 2011b. Numerical investigation on the behavior of
circumferentially butt-welded steel circular hollow section flexural members. J.
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