Friction Constitutive Laws and. The Mechanics of Slow Earthquakes and the Spectrum of Fault Slip Behaviors

Transcription

1 Friction Constitutive Laws and. The Mechanics of Slow Earthquakes and the Spectrum of Fault Slip Behaviors Chris Marone, The Pennsylvania State University John Leeman, Marco Scuderi, Elisa Tinti, Cristiano Collettini, Demian Saffer, Paul Johnson Cargèse training school Earthquakes: nucleation, triggering, rupture, and relationship with aseismic processes Displacement 6 Oct 2017 US NSF IGPPS/CSES

2 Lab Slow Slip Events Stress Drop Slow Earthquakes --a view from the lab Normal Stress Slip velocity (µm/s) Penn State Displacement INGV Rome

3 The Mechanics of Slow Earthquakes and the Spectrum of Fault Slip Behaviors 1. Friction laws: why do we need something as complex as rate/state? 2. How do slow earthquakes work? What mechanism sets the speed limit? Why are they slow? 3. Speculations on how recent lab results may in apply in nature. Scaling laws for a spectrum of slip modes from slows earthquakes to super-shear rupture (SSE, LFE, tremor, VLFE, ULFE, MLFE, BB-eq, elasto-dynamic EQs).

4 Minimum requirements for a friction law for faulting Adhesive Theory of Friction (Bowden and Tabor, 1950 s) Real contact area << nominal area Stress at contact junctions is at the inelastic (plastic) yield strength Contacts grow with age Add: Rabinowicz s observations of static/dynamic friction Static friction is higher than Dynamic friction because contacts are older (larger) -> implies that contact size decreases as slip velocity increases

5 Coulomb s law for shear failure = C + µ i n Byerlee s Law for Rock Friction = 50[MPa]+0.6 n µ = 0.6 Byerlee, 1978

6 Time dependence of static friction Aging of frictional contacts Coulomb, 1785 C. A. Coulomb ( )

7 Time dependence of friction in rocks;; Aging (frictional healing) Dieterich, 1972, 1978; Scholz, 1976 Marone, Nature, 1998

8 Real contact area << nominal area; Contact stresses are high Contact junctions grow with time (age) Dieterich and Kilgore [1994]

9 For many materials: friction varies systematically with sliding velocity and exhibits transient response when velocity is changed Dieterich and Kilgore, 1994

10 Minimum requirements for a friction law for faulting Aging (time dependence) Velocity dependence (kinetic friction varies systematically with sliding velocity) Stick-slip motion (repeated failure followed by restrengthening)

11 Minimum requirements for a friction law for faulting Friction: slick-slip and stability of sliding Static-Dynamic Friction Classical view µ s s Slip µ d Rabinowicz 1951, 1956, 1958: Static vs. dynamic friction & state dependence Recognized that finite slip was necessary to achieve fully dynamic slip Experiments showed state, memory effects and that µ d varied with slip velocity.

12 Static-Dynamic Friction with critical slip Critical slip distance for changes in friction µ s µ d s d Slip

13 Friction: 2nd order variations contact junctions, Ar Nominal contact area A Rabinowicz 1951

14 Slip weakening friction law Adhesive asperity contacts Bowden & Tabor, 1950 s Rabinowicz, 1951 Aging friction increases w/ contact time Ar Log time Static friction is higher than Dynamic friction because contacts are older (larger) in static state

15 Adhesive asperity contacts Slip weakening distance E. Rabinowicz, Sci. Amer., 109, May 1956.

16 Brief History of Friction Rabinowicz, 1956 Scientific American 1700 s 1800 s

17 Friction: 2nd order variations, slick-slip and stability of sliding Slip Weakening Friction Law µ s (for L > x > 0) µ d µ d (v) (for x > L) L Slip Adhesive Theory of Friction Critical friction distance represents slip necessary to erase existing contact

18 Adhesive asperity contacts Rabinowicz, 1951, 1956 Ar Ar Contacts age (grow) with time. Young contacts are smaller than old contacts. Contact age is given by r/v Log time Log V

19 Minimum requirements for a friction law for faulting Adhesive Theory of Friction (Bowden and Tabor, 1950 s) Real contact area << nominal area Stress at contact junctions is at the inelastic (plastic) yield strength Contacts grow with age Add: Rabinowicz s observations of static/dynamic friction Static friction is higher than Dynamic friction because contacts are older (larger) -> implies that contact size decreases as slip velocity increases Ar Ar Log time Log V

20 Minimum requirements for a friction law for faulting Duality of time and displacement dependence of friction. Static and dynamic friction are just special cases of a more general behavior called rate and state friction (Marone, 1998) Dieterich, Scholz, Ruina, Rice

21 Stick-slip

22 Seismic cycle as repetitive stick slip instability Brace & Byerlee, 1966

23 Brittle Friction Mechanics, Stick-slip Stick-slip (unstable) versus stable shear Stick-slip dynamics N x K x Fs f Slope = -K Static-Dynamic Friction B Ν µ s µ s Force x x Slip Th T C f s d Slip µ d Displacement Johnson and Scholz, 1976

24 total slip, particle velocity, and acceleration all depend on stress drop N f x x K F s Slope = -K slip duration = rise time Force x B Ν µs x Slip Th T Displacement C f

25 Stick-Slip Instability Force N f x x x K F s Slope = -K B Ν µs x Slip Th T Displacement C f Slip Weakening Friction Law µ s µ d 6= µ d (v) L Slip Quasistatic Stability Criterion K< K c ; Unstable, stick-slip K > K c ; Stable sliding

26 Laboratory Studies N f x K x F s But, there s a problem. Slip Weakening Friction Law µs L µd µd (v) Slip

27 Laboratory Studies N f x K x F s Repetitive Stick-Slip Instability But, there s a problem. Slip Weakening Friction Law µs L µd µd (v) Slip

28 Mair, Frye and Marone, JGR 2002 Repetitive Stick-Slip Instability, like the seismic cycle

29 Mair, Frye and Marone, JGR 2002 Stick-slip stress-drop varies with loading rate.

30 Rate (v) and State (θ) Friction Constitutive Laws state variable, characterizes physical state of surface or shearing region reference velocity critical slip distance reference value of base friction Dieterich, aging law Ruina, slip law

31 Stick-Slip Instability Requires Some Form of Weakening: Velocity Weakening, Slip Weakening, Thermal/hydraulic Weakening 1) 2) Vo V 1 Direct Effect µ Evolution Effect Stability Criterion K c = n (b a) D c [1 + mv 2 o ] nad c (b > a), K < K c Unstable, stick-slip (a > b), K > K c Stable sliding K/K c < 1 Fading memory of past state

32 Rate (v) and State (θ) Friction Constitutive Laws 1) 2) Vo V 1 Direct Effect µ D c Evolution Effect Adhesive Theory of Fricton (Bowden and Tabor) Real contact area << nominal area Contact junctions at inelastic (plastic) yield strength Contacts grow with age Add: Rabinowicz s observations of static/dynamic friction Static friction is higher than Dynamic friction because contacts are older (larger) -> implies that contact size decreases as veloctiy increases Fading memory of past state

33 Rate (v) and State (θ) Friction Constitutive Laws 1) 2) Convention is to use a, b for friction and A, B for Stress Steady-state velocity strengthening if a-b > 0, velocity weakening if a-b < 0 velocity strengthening µ velocity weakening Log V

34 Rate (v) and State (θ) Friction Constitutive Laws 1) 2) Modeling experimental data 3) Elastic Coupling Solve:

35 Measuring the velocity dependence of friction Frictional Instability Requires (a-b) < 0 µ " θ,v$ = µ # % 0 + aln " v v $ + bln " v o θ & & o ' & dθ dt = 1 vθ D c θ ss = D c v Δµ ss = ( a b)ln v v & o dµ dt Constitutive Modelling Rate and State Friction Law Elastic Interaction, Testing Apparatus = * " k v lp v # " # $ % # $ ' % % # D c $ ' ' %

36 Perturbations in normal force Rate and State Friction Theory µ # θ,v,σ % = µ $ & 0 + aln v v ' o dθ dt = 1 vθ D c θ = θ σ initial o ' dµ dt T C K C = + # ' $ σ final # k v lp v $ = 2π D c V = σ ( b a ) % ( & % & α b a b a # $ D c + mv 0 + bln # v ' oθ ( % ( & ( ) 2 b a D 0 2 ' $ D c Deiterich Law Normal Stress (Linker & Dieterich, 1992) % ( ( & Elastic Coupling Critical Vibration Period Critical Stiffness

37 Perturbations in normal force Rate and State Friction Theory T c =2 D c V r b a a

38 T c =2 D c V r b a a Perfettini et al., 2001

39 Perfettini et al., 2001

40 Lab: Normal Stress Vibrations Critical period observed Scholz 2003 Boettcher & Marone, JGR, 2004

41 Effects of Normal Stress Vibrations on Creeping Faults Boettcher & Marone, JGR, 2004 Critical period is 1 sec.

42 Also, Phase lag. Boettcher & Marone, JGR, 2004 Phase lag Friction response lags stressing. Could explain delayed triggering? Boettcher & Marone, JGR, 2004 Normal Stress Oscillation Frictional strength

43 Rate and State Friction Dieterich, Scholz, Ruina, Rice Empirical laws, based on laboratory friction data V=2 V=1 µm/s (a-b) = Dieterich State Evolution Velocity weakening frictional behavior in granular fault gouge Thermally-activated process

44 The Mechanics of Slow Earthquakes and the Spectrum of Fault Slip Behaviors 1. Friction laws: why do we need something as complex as rate/state? 2. How do slow earthquakes work? What mechanism sets the speed limit? Why are they slow? 3. Speculations on how recent lab results may in apply in nature. Scaling laws for a spectrum of slip modes from slows earthquakes to super-shear rupture (SSE, LFE, tremor, VLFE, ULFE, MLFE, BB-eq, elasto-dynamic EQs).

45 Slow Earthquakes and The spectrum of fault slip behaviors Ordinary earthquakes, Subduction megathrust earthquakes, Creep events, Tremor, Low frequency earthquakes, Very low Science, 2017 frequency earthquakes, Episodic tremor and slip (ETS), Long term slow slip events, Slow Precursors, Geodetic transients Veedu & Barbot, 2016

46 PennState John Leeman INGV Nature Communications 2016

47 Marco Scuderi 2016

48 Slow Earthquakes and the spectrum of fault slip behavior Sacks et al., 1978 Beroza and Jordan, 1990

49 1. Slow earthquakes could represent quasi-dynamic frictional instability (positive feedback, self-driven instability) 2. Recent lab work shows repetitive stick-slip instability for the complete spectrum of slip behaviors A new opportunity to investigate the mechanics of slow slip 3. Mechanisms: Why are they slow? Rate dependence of the critical rheologic stiffness Kc Complex behavior near the stability boundary

50

51 BRAVA at INGV (Rome) Collettini Lab Biax at Penn State Double direct shear with biaxial loading and controlled loading stiffness

52 High-resolution, direct measurements of shear displacement, shear strain, normal strain, stresses Quartz powder grain size < 10µm Quartz powder, mean size is 20 µm

53 Biaxial testing machine at Penn State shear velocity 10 µm/s

54 To get slow slip we modify the elastic loading stiffness and take advantage of natural variations in the frictional properties as a function of shear n µ K 0 τ

55 Repetitive Slow Stick-Slip Leeman, Saffer, Scuderi & Marone, Nat. Comm. 2016

56 Repetitive Slow Stick-Slip Leeman, Saffer, Scuderi & Marone, Nat. Comm. 2016

57 Repetitive Slow Stick-Slip Leeman, Saffer, Scuderi & Marone, Nat. Comm. 2016

58 Repetitive Slow Stick-Slip Leeman, Saffer, Scuderi & Marone, Nat. Comm. 2016

59 Fast Slip Events Slow Slip Events Normal Stress MPa Leeman, Saffer, Scuderi & Marone, Nat. Comm. 2016

60 0.05

61 > 1000 events 60 µm/s High Normal Stress Low Leeman, Saffer, Scuderi & Marone, Nat. Comm. 2016

62 Scuderi, Marone, Tinti, Di Stefano, & Collettini, Nature Geosc. 2016

63 Stress drop decreases with event duration Scuderi et al., 2016

64 n µ K τ Mechanics of Frictional Sliding: Stick-slip Unstable if K<K c K 0 K c = n (b a) D c [1 + mv o 2 nad c ] µ

65 Stability transition from stable to unstable sliding. Slip is unstable if K<K c Complex behavior near the stability boundary κ = K/Kc Gu et al., 1984

66 0.05 K c n (b a) D c

67 elastic loading stiffness n K 0 µ τ Double direct shear with biaxial loading

68 We measure elastic loading stiffness using 2 methods K 4.5e-4 /µm Leeman, Saffer, Scuderi & Marone

69 n K 0 µ τ K = K0 n Stiffness, K 4.5e-4/µm Shear displacement

70 Stiffness, K 4.5e-4/µm Shear displacement

71 1) 2) Stability Criterion K c = (b a) D c

72 n K 0 µ τ K 0 n <KK c c = (b a) D c Stiffness, Frictional Rheology Unstable if Kc 7e-4/µm K 4.5e-4/µm K<K c Shear displacement

73 Scuderi et al., Geology, 2017 Repetitive Slow Stick-Slip

74 κ = K/Kc Leeman, Saffer, Scuderi & Marone, Nature Comm

75 We have studied simple conditions (room temp., quartz powder as fault gouge, etc.) Thinking is that the results illuminate a mechanism that may apply under more general conditions. Stick-slip as a Mechanism for Earthquakes, Brace and Byerlee, Science 1966

76 Fault Slip Behavior Stick-slip and stable sliding

77 1. Slow earthquakes as a quasi-dynamic frictional instability 2. Mechanisms: Why are they slow? Rate dependence of the critical rheologic stiffness Kc Slow frictional stick-slip near the stability boundary Fault zone energy release rate equals frictional weakening rate Stress drop is quasidynamic because the dynamic force imbalance is negligible

78 The Mechanics of Slow Earthquakes and the Spectrum of Fault Slip Behaviors 1. Friction laws: why do we need something as complex as rate/state? How are we doing on time? t > t o + 60? 2. How do slow earthquakes work? What mechanism sets the speed limit? Why are they slow? 3. Speculations on how recent lab results may in apply in nature. Scaling laws for a spectrum of slip modes from slows earthquakes to super-shear rupture (SSE, LFE, tremor, VLFE, ULFE, MLFE, BB-eq, elasto-dynamic EQs).

79 Speculations on how recent lab results may in apply in nature. Where should slow earthquakes occur? Slip is unstable if K<K c Complex behavior near the stability boundary tohoku2- bloc_diagramme_japan_earthquakes

80 n(b a) D c K c n (b a) D c Scholz, 1998

81 Complex slip modes near the stability boundary n(b a) D c Slow slip should occur at the updip and downdip limits of the seismogenic zone

82 AAPG, 1967 Gabilan Range & Adjacent San Andreas Fault Guidebook

83 The Spectrum of Fault Slip Behaviors Marone & Saffer, 2008

84 Speculations on how lab results may in apply in nature. Source Parameter and Scaling Relations r η = 0.25 Dislocation model for fault slip and earthquake rupture

85 Source Parameter and Scaling Relations for Ordinary Earthquakes r = 7 16 Gū r M o = GūA η = 0.25 Dislocation model for fault slip and earthquake rupture

86 Source Parameter and Scaling Relations for Ordinary Earthquakes r = 7 16 Gū r M o = GūA η = 0.25 M o = C r 3 Dislocation model for fault slip and earthquake rupture Brune Stress Drop

87 Source Parameter and Scaling Relations for Ordinary Earthquakes r = 7 16 Gū r M o = GūA η = 0.25 Dislocation model for fault slip and earthquake rupture M o = C r 3 V r = r T M o = C V 3 r T 3

88 Source Parameter and Scaling Relations for Ordinary Earthquakes = 7 16 Gū r M o = GūA M o = C r 3 V r = r T Ide et al., 2007; Peng and Gomberg, 2010 M o = C V 3 r T 3

89 Ordinary Earthquakes V r is a few km/s N L W Rupture area, A Slip contours, u M o = C V 3 r T 3 Ide et al., 2007; Peng and Gomberg, 2010

90 Nucleation Size for Regular Earthquakes Unstable slip if K<K c K = ū = 7 16 G r r η = 0.25

91 Nucleation Size for Regular Earthquakes Unstable slip if K<K c K = ū = 7 16 G r r K c n (b a) D c η = 0.25 h = GD c n(b a)

92 0.05 K c n (b a) D c

93 Rupture Patch Size for Slow Earthquakes? r η = 0.25 Slow earthquake nucleation when K K c 1.0 h* = r c r = GD c n(b a)

94 r Do slow slip events propagate at fixed size? M o patch = Gūr 2 M o = C r 3 M o V r T

95 r Do slow slip events propagate at fixed size? M o patch = Gūr 2 M o = C r 3 M o V r T Bürgmann, 2015; Houston, 2015

96 Slow slip events propagate at size r < h* h = GD c n(b a) Slow slip patch size Richardson and Marone, 2008

97 Slow slip events propagate at size r < h* h = GD c n(b a) Slow slip patch size Richardson and Marone, 2008

98 Summary 1. Slow earthquakes and fast, normal earthquakes are part of the spectrum of fault slip behaviors (slip modes) 2. We produce lab slow earthquakes by matching loading stiffness and frictional rheology 3. We observe the full spectrum of slip rates from fast to slow, near the stability boundary 4. Stick-slip stress drop is lower for slower events and decreases with slip event speed the same as for slow vs. regular earthquakes

99 The Mechanics of Slow Earthquakes and the Spectrum of Fault Slip Behaviors Thank You Penn State INGV