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A variational deduction of second gradient poroelasticity I: general theory

A variational deduction of second gradient poroelasticity I: general theory
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  A VARIATIONAL DEDUCTION OF SECOND GRADIENT POROELASTICITYPART I: GENERAL THEORY G IULIO  S CIARRA ,  F RANCESCO DELL ’I SOLA ,  N ICOLETTA  I ANIRO  AND  A NGELA  M ADEO Second gradient theories have to be used to capture how local micro heterogeneities macroscopicallyaffect the behavior of a continuum. In this paper a configurational space for a solid matrix filled by an unknown amount of fluid is introduced. The Euler–Lagrange equations valid for second gradient porome- chanics, generalizing those due to Biot, are deduced by means of a Lagrangian variational formulation. Starting from a generalized Clausius–Duhem inequality, valid in the framework of second gradient the- ories, the existence of a macroscopic solid skeleton Lagrangian deformation energy, depending on the solid strain and the Lagrangian fluid mass density as well as on their Lagrangian gradients, is proven. 1. Introduction Poroelasticity stems from Biot’s pioneering contributions on consolidating fluid saturated porous mate- rials [Biot 1941] and now spans a lot of different interrelated topics, from geo- to biomechanics, wave propagation, transport, unsaturated media, etc. Many of these topics are related to modeling coupled phenomena (for example, chemomechanical swelling of shales [Dormieux et al. 2003; Coussy 2004], or biomechanical models of cartilaginous tissues), and nonstandard constitutive features (for instance, infreezing materials [Coussy 2005]). In all these cases, complexity generally remains in rendering how heterogeneities affect the macroscopic mechanical behavior of the overall material. It is well known from the literature how microscopically heterogeneous materials can be described in the framework of statistically homogeneous media [Torquato 2002] considering suitable generalizations of the dilute approximation due to Eshelby [Nemat-Nasser and Hori 1993; Dormieux et al. 2006]; how- ever, some lack in the general description of the homogenization procedure arises when dealing withheterogeneous materials, the characteristic length of which can be compared with the thickness of theregion where high deformation gradients occur. This could be due, for example, to external periodic loading, the wavelength of which is comparable with the characteristic length of the material, or to phase transition, etc. From the macroscopic point of view the quoted modeling difficulties, arising when high gradientsoccur, are discussed in the framework of so called high gradient theories [Germain 1973], where theassumption of locality in the characterization of the material response is relaxed. In these theories,the momentum balance equation reads in a more complex way than the classical one used for Cauchycontinua. As a matter of fact, it is the divergence of the difference between the stress tensor and thedivergence of so-called hyperstresses that balance the external bulk forces. Stress and hyperstress are introduced by a straightforward application of the principle of virtual power, as those quantities working on the gradient of velocity and the second gradient of velocity, respectively [Casal 1972; Casal and Keywords:  poromechanics, second gradient materials, lagrangian variational principle. 507  508 GIULIO SCIARRA, FRANCESCO DELL’ISOLA, NICOLETTA IANIRO  AND  ANGELA MADEO Gouin 1988]. Even the classical Cauchy theorem is, in this context, revised by introducing dependence of tractions not only on the outward normal unit vector but also on the local curvature of the boundary[dell’Isola and Seppecher 1997]; moreover symmetric and skew-symmetric couples (the actions called “double-forces” by Germain) must be prescribed on the boundary in terms of the hyperstress tensor together with contact edge forces along the lines where discontinuities of the normal vector occur. Following the early papers on fluid capillarity [Casal 1972; Casal and Gouin 1988], the second gradient model can indeed be introduced by means of a variational formulation where the considered Helmholtzfree energy depends both on the strain and the strain gradient tensors. In the case of fluids, second gradient theories are typically applied for modeling phase transition phenomena [de Gennes 1985] or for modeling wetting phenomena [de Gennes 1985], when a character- istic length, say the thickness of a liquid film on a wall, becomes comparable with the thickness of the liquid/vapor interface [Seppecher 1993], annihilation (nucleation) of spherical droplets, when the radius of curvature is of the same order of the thickness of the interface [dell’Isola et al. 1996], or topological transition [Lowengrub and Truskinovsky 1998]. In the case of solids, second gradient theories are applied, for instance, when modeling the failure process associated with strain localization [Elhers 1992; Vardoulakis and Aifantis 1995; Chambon et al. 2004]. To the best of our knowledge, second gradient theories are very seldom applied in the mechanics of porous materials [dell’Isola et al. 2003] and no second gradient poromechanical model, consistent with the classical Biot theory, is available except the one presented in [Sciarra et al. 2007]. As gradient fluid models, second gradient poromechanics will be capable of providing significant corrections tothe classical Biot model when considering porous media with characteristic length comparable to the thickness of the region where high fluid density (deformation) gradients occur. We refer, for instance, to crack/pore opening phenomena triggered by strain gradients or fluid percolation, the characteristic length being in this case the average length of the space between grains (pores). Several authors have focused their attention on the development of homogenization procedures capable of rendering the heterogeneous response of the material at the microlevel by means of a second gradi- ent macroscopic constitutive relation [Pideri and Seppecher 1997; Camar-Eddine and Seppecher 2003]; however, very few contributions seem to address this problem in the framework of averaging techniques [Drugan and Willis 1996; Gologanu and Leblond 1997; Koutzetzova et al. 2002]. The present work does not investigate the microscopic interpretation of second gradient poromechanics, but directly discusses its macroscopic formulation. It is divided into two papers: in the first paper the basics of kinematics, Section 2; the physical principles, Section 3; the thermodynamical restrictions, Section 4; and in Section 5 the variational deduction of the governing equations for a second gradient fluid filled porous material are presented. In particular, in Section 2 a purely macroscopic Lagrangian description of motion is addressed byintroducing two placement maps in  χ s  and  φ  f   (Equation (1)). We do not explicitly distinguish which part of the current configuration of the fluid filled porous material is occupied at any time  t   by the solid and fluid constituents, this information being partially included by the solid and fluid apparent density fields, which provide the density of solid/fluid mass with respect to the volume of the porous system (Equation (5)).  A VARIATIONAL DEDUCTION OF SECOND GRADIENT POROELASTICITY I 509 The deformation power, or stress working (Equation (12)), following Truesdell [1977] is deduced in Section 3 starting from the second gradient expression of power of external forces (Equation (9)) Cauchy theorem (Equation (10)) and balance of global momentum (see (11)). In the spirit of  Coussy et al. [1998] and Coussy [2004] thermodynamical restrictions on admissible constitutive relations are stated in Section 4, finding out a suitable overall potential, defined on thereference configuration of the solid skeleton. This last depends on the skeleton strain tensor and the fluid mass content, measured in the reference configuration of the solid, as well as on their Lagrangian gradients, in Equation (18). Finally a deduction of the governing equations is presented in Section 5, based on the principle of  virtual works, by requiring the variation of the internal energy to be equal to the virtual work of external and dissipative forces (see (19)). A second gradient extension of the two classical Biot equations of  motion [Coussy 2004; Sciarra et al. 2007], endowed with the corresponding transversality conditions on the boundary, is therefore formulated (see Equations (30)–(33)). Generalizing the treatment developed, for example, by Baek and Srinivasa [2004] for first gradient theories, one of the equations of motionfound by means of a variational principle is interpreted as the balance law for total momentum, when suitable definitions of the global stress and hyperstress tensors are introduced (see (34)). In a subsequent paper (Part II, to be published in a forthcoming issue of this journal), an application of  the second gradient model to the classical consolidation problem will be discussed. Our aim is to show how the present model enriches the description of a well-known phenomenon, typical of geomechanics, curing some of the weaknesses of the classical Terzaghi equation [von Terzaghi 1943]. In particular we will figure out the behavior of the fluid pressure during the consolidation process when varying the initial pressures of the solid skeleton and/or the saturating fluid. From the mathematical point of view, the initial boundary value problem will be discussed according with the theory of linear pencils. 2. Kinematics of fluid filled porous media and mass balances The behavior of a fluid filled porous material is described, in the framework of a macroscopic model,adopting a Lagrangian description of motion with respect to the reference configuration of the solidskeleton. At any current time  t   the configuration of the system is determined by the maps  χ s  and  φ  f  , defined as χ s  : ￿ s  ×  󿿿 → 􏿿 , φ  f   : ￿ s  ×  󿿿 → ￿  f  ,  (1) where ￿ α  (α  =  s ,  f  )  is the reference configuration of the  α -th constituent, while 􏿿 is the Euclidean place manifold, and 󿿿 indicates a time interval. The map  χ s  ( · , t  )  prescribes the current (time  t  ) placement  x  of the skeleton material particle  X  s  in ￿ s . The map  φ  f   ( · , t  ) , on the other hand, identifies the fluidmaterial particle  X   f   in ￿  f   which, at time  t  , occupies the same current place  x  as the solid particle  X  s .Therefore the set of fluid material particles filling the solid skeleton is unknown, to be determined bymeans of evolution equations. Both these maps are assumed to be at least diffeomorphisms on 􏿿 . The current configuration ￿ t   of the porous material is the image of  ￿ s  under  χ s  ( · , t  ) . In accordance with the properties of   χ s  and  φ  f   it is straightforward to introduce the fluid placement map as χ  f   : ￿  f   × 󿿿 → 􏿿 ,  such that  χ  f   ( · , t  )  =  χ s  ( · , t  ) ◦ φ  f   ( · , t  ) − 1 ,  510 GIULIO SCIARRA, FRANCESCO DELL’ISOLA, NICOLETTA IANIRO  AND  ANGELA MADEO !  t x !  s ! s " f  !  t * X s x * ! # s " # f  !  f  X f  X * f  !  f  * ! f -1 ! f *-1 Figure 1.  Lagrangian variations of the placement maps  χ s ,  φ  f  , and  χ  f  .where  χ  f   ( · , t  )  is still a diffeomorphism on 􏿿 . Figure 1 shows how the introduced maps operate on the skeleton particle  X  s  ∈ ￿ s ; admissible variations of the two maps  χ s  ( · , t  )  and  φ  f   ( · , t  )  are also depicted, in Section 5. In this way the space of configurations we will use has been introduced.Independently of   t   ∈ 󿿿 , the Lagrangian gradients of   χ s  and  φ  f   are introduced as  F s  ( · , t  )  : ￿ s  →  Lin ( V  􏿿 ),  ￿  f   ( · , t  )  : ￿ s  →  Lin ( V  􏿿 ),  X  s  ￿→ ∇  s χ s  (  X  s , t  ),  X  s  ￿→ ∇  s φ  f   (  X  s , t  ), (2) with  V  􏿿 being the space of translations associated to the Euclidean place manifold. In Equation (2)  ∇  s indicates the Lagrangian gradient in the reference configuration of the solid skeleton; analogously, the gradient of   χ  f   is given by  F  f  ￿  X   f  , t  󿿿  =  F s  (  X  s , t  ). ￿  f   (  X  s , t  ) − 1 , where  X   f   =  φ  f   (  X  s , t  ) .  1 In the following the fluid Lagrangian gradient of   χ  f   will be indicated both by  F  f   or  ∇   f  χ  f   whenconfusion can arise. Moreover, the time derivatives of   χ s  and  χ  f  , say the Lagrangian velocities of the solid skeleton and the fluid, can be introduced asfor all  X  α  ∈ ￿ α ,  󟿿 α  (  X  α ,  · )  : 󿿿 →  V  􏿿 ,  t   ￿→  d  χ α dt  􏿿􏿿􏿿􏿿 (  X  α , t  ) . We also introduce the Eulerian velocities  v α  as the push-forward of   󟿿 α  into the current domain v α  ( · , t  )  =  󟿿 α  ( · , t  ) ◦ χ α  ( · , t  ) − 1 . In the following we do not explicitly distinguish the map  χ s  from its section  χ s  ( · , t  )  if no ambiguity can arise. Moreover we will distinguish between the Lagrangian gradient ( ∇  s ) in the reference configuration of the solid skeleton and the Eulerian gradient ( ∇  ) with respect to the current position  x . Analogously, the solid Lagrangian and the Eulerian divergence operations will be noted by  div s  and  div , respectively. All the classical transport formulas can be derived both for the solid and the fluid quantities; in particular, 1 From now on we will indicate single, double and triple contraction between two tensors with  . ,  : , and ...  respectively.  A VARIATIONAL DEDUCTION OF SECOND GRADIENT POROELASTICITY I 511 those ones for an image volume and oriented surface element turn to be d  ￿ t   =  J  α d  ￿ α ,  n dS  t   =  J  α  F − T  α  .  n α dS  α , where  d  ￿ t   and  dS  t   represent the current elementary volume and elementary oriented surface corre-sponding to  d  ￿ α  and  dS  α , respectively, where  J  α  =  det  F α , and where  n  and  n α  are the outward unit normal vectors to  dS  t   and  dS  α . As far as only the solid constituent is concerned, we can understand that deformation induces changes in both the lengths of the material vectors and the angles between them. As it is well known, the Green–Lagrange strain tensor  ε  measures these changes, and is defined as ε  :=  12 ￿  F T s  .  F s  −  I  󿿿 ,  (3)where  I   clearly represents the second order identity tensor.The balance of mass both for the solid and the fluid constituent are introduced as ￿ α  = 󟿿  ￿ t  ρ α  d  ￿ t   =  const  = 󟿿  ￿ α ρ 0 α  d  ￿ α , (α  =  s ,  f  ),  (4) where ￿ α  is the total mass of the  α -th constituent,  ρ α  is the current apparent density of mass of the  α -th constituent per unit volume of the porous material, while  ρ 0 α  is the corresponding density in the reference configuration of the  α -th constituent. When localizing, Equation (4) reads ρ α  J  α  =  ρ 0 α , (α  =  s ,  f  ), or, in differential form, d  α ρ α dt  + ρ α  div ( v α )  =  0 , (α  =  s ,  f  ),  (5) where  d  α ρ α / dt   represents the material time derivative relative to the motion of the  α -th constituent. In other words, d  α dt  :=  d dt  􏿿􏿿􏿿􏿿  X  α = const . The macroscopic conservation laws could also be deduced in the framework of micromechanics[Dormieux and Ulm 2005; Dormieux et al. 2006] starting from a refined model, where the solid and the fluid material particles occupy two disjoint subsets of the current configuration, and considering an average of the solid and fluid microscopic mass balances. The macroscopic laws do involve the so called apparent density of the constituents and suitable macroscopic velocity fields. For a detailed description of the procedure which leads to averaged conservation laws we refer to the literature [Coussy 2004]. 2.1.  Pull back of continuity equations.  It is clear that Equation (5) consists of Eulerian equations, mean-ing that they are defined on the current configuration of the porous medium. Following Wilmanski [1996] and Coussy [2004] we want to write both these equations in the reference configuration of the solidskeleton. With this purpose in mind let us define the relative fluid mass flow  w  as  w  :=  ρ  f  ￿ v  f   − v s 󿿿 . The use of this definition allows us to rearrange the fluid continuity (5) in the form d  s ρ  f  dt  + ρ  f   div v s  + div w  =  0 .  (6)
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