Abstract
Our paper is concerned with some basic theorems for nonsimple thermoelastic materials. By using the Lagrange identity, we prove the uniqueness theorem and some continuous dependence theorems without recourse to any energy conservation law, or to any boundedness assumptions on the thermoelastic coefficients. Moreover, we avoid the use of positive definiteness assumptions on the thermoelastic coefficients.
Keywords:
Lagrange identity; nonsimple materials; uniqueness; continuous dependence1 Introduction
Even classical elasticity does not consider the inner structure, the material response of materials to stimuli depends in a relevant way on its internal structure. Thus, it has been needed to develop some new mathematical models for continuum materials where this kind of effects was taken into account. Some of them are nonsimple elastic solids. It is known that from a mathematical point of view, these materials are characterized by the inclusion of higherorder gradients of displacement in the basic postulates.
The theory of nonsimple elastic materials was first proposed by Toupin in his famous article [1]. Also, among the first studies devoted to this material, we must mention those belonging to Green and Rivlin [2] and Mindlin [3].
The interest to introduce highorder derivatives consists in the fact that the possible configurations of the materials are clarified more and more finely by the values of the successive higher gradients.
As it is known, the constitutive equations of nonsimple elastic solids are known to contain first and secondorder gradients, both contributing to dissipation. It is then interesting to understand the relevance of the two different dissipation mechanisms which can appear in the theory. In fact, the simultaneous presence of both mechanisms can be analyzed as well, with inessential changes in the proofs. In that situation, the behavior turns out to be the same as if only the higherorder dissipation appears in the equations.
In the last decade many studies have been devoted to nonsimple materials. We remember only three of them, differing in issues addressed, though in essence they are dedicated to nonsimple materials. So, in the paper of Pata and Quintanilla [4], the theory is linearized, and a uniqueness result is presented.
Also, the study [5] of Martinez and Quintanilla is devoted to study the incremental problem in the thermoelastic theory of nonsimple elastic materials.
A linearized theory of thermoelasticity for nonsimple materials is derived within the framework of extended thermodynamics in the paper of Ciarletta [6]. The theory is linearized, and a uniqueness result is presented. A Galerkintype solution of the field equations and fundamental solutions for steady vibrations are also studied.
Previous papers on the uniqueness and continuous dependence in elasticity or thermoelasticity were based almost exclusively on the assumptions that the elasticity tensor or thermoelastic coefficients are positive definite (see, for instance, the paper [7]).
In other papers, authors recourse the energy conservation law in order to derive the uniqueness or continuous dependence of solutions. For instance, a uniqueness result was indicated in paper [8] of Green and Lindsay by supplementing the restrictions arising from thermodynamics with certain definiteness assumptions.
We want to outline that there are many papers which employ the various refinements of the Lagrange identity, of which we remember only a few, namely papers [9,10] and [11]. Also, a lot of papers are dedicated to Cesaro means, as [1214] and [9] for instance.
The objective of our study is to examine by a new approach the mixed initialboundary value problem in the context of thermoelasticity of nonsimple materials. The approach is developed on the basis of Lagrange identity and its consequences. Therefore, we establish the uniqueness and continuous dependence of solutions with respect to body forces, body couple, generalized external body load and heat supply. We also deduce the continuous dependence of solutions of our problem with respect to initial data and, finally, with respect to thermoelastic coefficients. The results are obtained for bounded regions of the Euclidian threedimensional space. We point out, again, that the results are obtained without recourse to the energy conservation law or to any boundedness assumptions on the thermoelastic coefficients. Also, we avoid the use of definiteness assumptions on the thermoelastic coefficients.
2 Basic equations
We assume that a bounded region B of the threedimensional Euclidian space
The spatial argument and the time argument of a function will be omitted when there
is no likelihood of confusion. We refer the motion of the body to a fixed system of
rectangular Cartesian axes
As usual, we denote by
We here will use the theory and the notation in the way developed by Iesan in his book, which tackles also nonsimple materials [15].
The equations of motion from thermoelasticity of nonsimple materials are as follows (see also [16]):
The equation of energy is given by
For an anisotropic and homogeneous nonsimple thermoelastic material, the constitutive equations have the form
The kinematic characteristics of the body (components of the strain tensors)
In the above equations, we have used the following notations:
–
– ϱ is the reference constant mass density;
–
– S is the entropy per unit mass;
– r is the heat supply per unit mass;
–
Also, the coefficients
Also, the second law of thermodynamics implies that
We denote by
at regular points of the surface ∂B. Here,
Along with the system of field equations (1)(4), we consider the following initial conditions:
and the following prescribed boundary conditions:
where
Also,
Assume that
To avoid repeating the regularity assumptions, we assume from the beginning that:
(i) all constitutive coefficients are continuously differentiable functions on
(ii) ϱ is continuous on
(iii)
(iv)
(v)
(vi)
Taking into account the constitutive equations (3), from (1) and (2) we obtain the following system of equations:
By a solution of the mixed initial boundary value problem of the theory of thermoelasticity
of nonsimple bodies in the cylinder
3 Main result
Let us consider
For the sake of simplicity, the spatial argument and the time argument of the functions
In the above equality, we substitute the functions
Let us denote by
respectively.
We introduce the following notations:
The constitutive equations become
So, we deduce that the differences
– the equations of motion
– the equations of energy
– the initial conditions
– the boundary conditions
We are now in a position to prove the first basic result.
Theorem 1For the differences
Proof Because of the linearity of the problem defined by (8), (6) and (7), we deduce that
the differences
then the identity (9), after some straightforward calculation, becomes
where we have used the fact that the initial and boundary data are null.
We shall eliminate the inertial terms on the righthand side of the relation (17)
by means of the equations of motion for the differences
So, in view of equation (12), we have
After we use the symmetry relations (5), this equality takes on the form
We integrate by parts equality (18), and after using boundary conditions (15), we get the equality
Now we integrate equation (13) on the interval
After we multiply in equality (20) by
If we introduce (21) into (19), we obtain
Based on the symmetry of the tensor
On the other hand, integrating by parts, we obtain
From (23) and (24) we deduce
We now substitute (25) in (22), and so we are led to equality (16). With this, the proof of Theorem 1 is completed. □
Remark It is important to note that the identity (16) is just like in the classical thermoelasticity (see [17]).
The identity (16) constitutes the basis on which we shall prove the uniqueness and the continuous dependence results.
We proceed first to obtain the uniqueness of the solution of the mixed initial boundary value problem defined by (8), (6) and (7).
Theorem 2Assume that the conductivity tensor
Also, we suppose that the symmetry relations (5) are satisfied. If
Proof Suppose, by contrary, that our mixed problem defined by (8), (6) and (7) has two
solutions
If we denote by
then we shall prove that
It is clear that the differences
Now, we integrate this equality on the interval
Taking into account the properties of ϱ and
If
If
and repeat the above procedure on the interval
Finally, we obtain (27) on
We are ready to state and prove the continuous dependence theorem with regard to body
force and heat supply on the compact subintervals of the interval
Theorem 3Suppose the same conditions as in Theorem 2. Let
Moreover, we suppose that there exists
Then we have the following estimate:
where
Proof We will use the identity (16). On the righthand side of this identity, we employ the Schwarz inequality for each integral.
For instance, we have
where, at last, we use the substitution
We proceed analogously with other integrals in the identity (16). Finally, we integrate
the resulting inequality over
In the following theorem, we use the estimate (30) in order to deduce a continuous dependence result upon initial data.
Theorem 4Assume that the symmetry relations (5) are satisfied. Consider
two solutions of the mixed initial boundary value problem defined by (8), (6) and (7) which correspond to the same body force and heat supply and to the same boundary data, but to different initial data
where
Here the perturbations
where we used the notation
Using perturbation
If the functions
Proof Integrating by parts in (31), we deduce
It is easy to prove that the difference functions
Also, by direct calculations, we deduce that the difference functions satisfy the initial conditions in the form
Then, a straightforward calculation proves that the functions
By using these specifications, the estimate (32) follows from (30) and Theorem 4 is concluded. □
Finally, we obtain a continuous dependence result of the solution to problems (8), (6) and (7) upon the thermoelastic coefficients, again as a consequence of Theorem 3.
Theorem 5Assume that the symmetry relations (5) are satisfied and consider
two solutions of the mixed initial boundary value problem defined by (8), (6) and (7) which correspond to the same body force and heat supply and to the same boundary and initial data, but to different thermoelastic coefficients
Suppose that the perturbations
depends continuously on the thermoelastic coefficients on the interval
Proof A straightforward calculation proves that the perturbations
Thus the problem is analogous to the problem from Theorem 4. Therefore, according to the estimates (32) and (30), we obtain the desired result. □
4 Concluding remarks
The uniqueness theorem and the continuous dependence theorems were proved without recourse to any conservation laws or to any boundedness assumptions on the thermoelastic coefficients. In various papers, the existence of the solution to the mixed initial boundary value problem defined by (8), (6) and (7) is obtained by assuming some strong restrictions. For instance, in the paper [18] the existence of the solution is obtained under assumption that the internal energy density is positive definite.
Competing interests
The authors declare that they have no competing interests.
Authors’ contributions
MIM proposed main results of the paper and verified all calculations and demonstrations. RPA proposed the method of demonstration of results, without using a sophisticated mathematical apparatus. Also, he controlled the final shape of the paper. SRM performed all calculations and demonstrations and took into account the suggestions given by MIM.
Acknowledgements
We express our gratitude to the referees for their valuable criticisms of the manuscript and for helpful suggestions.
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