1 Introduction

Underground structures, such as coal mine shafts up to 1000 m deep, and ground structures, such as super high-rise buildings and super long-span bridges, have increasingly high requirements on the comprehensive performance of concrete. The requirements include good workability and high strength, toughness, durability and fluidity. Normal-weight concrete (NWC) has high brittleness (Seung et al. 2018), and its brittle fracture becomes much notable as strength grade increases. Adding steel fibre (SF), polypropylene fibre (PPF) and chopped basalt fibre (CBF) can resolve the brittleness of NWC and improve its toughness (Han et al. 2019; Castoldi et al. 2019; Caggiano et al. 2016; Zhu et al. 2019). Another type of fibre, namely multi-walled carbon nanotube (MWCN), has rarely been used in concrete because of its high price (Du et al. 2017). However, in recent years, the price of MWCN has dropped considerably due to the improvement of production technology. In the Chinese market, the price dropped from 15 ¥/g (RMB) in 2015 to 1 ¥/g in 2019, making the application of MWCN possible in special projects. The related research on carbon nanotube-modified cement-based composite material also shows that MWCN with a short length (0.5–2 μm) and a large diameter (20–30 nm) exerts the best strengthening effect on cementing materials (Cui et al. 2017). With these properties, MWCN exhibits increased compression strength (47%) and flexural strength (55%) compared with control samples with an optimal dosage of approximately 0.1% cement quality (Cui et al. 2017). Moreover, the mechanical properties of reactive powder concrete with heat curing are better than those with water curing. Heat curing is more conducive to improving the microstructure and mechanical properties of reactive powder concrete than water curing, thus promoting the combination of MWCN and reactive powder concrete (Ruan et al. 2018). Furthermore, the nano-core effect of MWCN can accelerate hydration, refine hydration products, improve the stiffness and hardness of cementing materials, and reduce internal defects. Adding MWCN can effectively reduce primary crack and make a structure compact by adsorption (Han et al. 2017). The contribution ratio of MWCN to strength is unremarkable due to MWCN’s microstructural characteristics. Nevertheless, the results of the present study show that MWCN strengthens the micro reinforcement of the concrete and exerts an adsorption effect on cement particles along with a pore-filling effect. Thus, MWCN can change the failure mode of specimens from brittle to plastic failure and demonstrates good durability resistance. This study also improves the physical and mechanical properties, durability, flowability and workability of HSC through MWCN combined with SF.

HSC has high heat release due to its large amount of cementing material resulting from a hydration exothermic reaction (Pan and Meng 2016). This reaction leads to an increase in the temperature difference between internal and external concrete, early age shrinkage and long-term creep (Pan and Meng 2016). Many factors adversely affect commonly used shrinkage and creep prediction models, such as CEB-FIP (1990) (Thomas 1993), B3 (Bažant and Baweja 1995) and GL2000 (Gardner and Zhao 1993), resulting in low prediction accuracy and limitations in model adaptation. In this study, the B3 model is appropriately modified to meet the prediction accuracy of shrinkage and creep for HSC.

Different from uniaxial compression and its failure modes, the lateral pressure increases the ultimate strength of concrete and changes the failure mode under multiaxial proportional loading (Rong et al. 2018). For example, tensile failure, columnar crush, layered splitting failure, diagonal shear failure or squeezing flow failure may occur in the case of multiaxial compression failure under different stress ratios (Song 2002). The description of the failure criteria of concrete, such as Mohr–Coulomb, Drucker–Prager and Willam–Warnke criteria, is complicated under complex stress conditions (Rong et al. 2018). We take the unified meridian equation as an example. The meridian equation must satisfy the characteristics of smoothness and convexity of the failure curve. According to the literature (Yang 2009), only the limit traces of the triaxial compression strength model on the off-plane satisfy these characteristics. Thus, the failure criteria can be described by the uniform meridian equation. The study found that under uniaxial compression, the stress–strain curve equation of HSC follows NWC. Similarly, the corresponding failure criterion form of HSC also adheres to NWC for proportional loading under multiaxial compression.

In this study, the effects on the strength of HSCs reinforced with single-doped and double-mixed SF and MWCN are compared using uniaxial mechanical property tests. Durability, shrinkage and creep tests are subsequently carried out. Finally, biaxial and real triaxial compression tests are conducted. The effects of SF and MWCN on the durability and multiaxial mechanical properties of HSC are analysed. The related experiments reveal that the macroscopic effect of SF, the microscopic effect of MWCN and their composite effects can effectively improve the physical and mechanical properties and durability of HSC. Experimental and theoretical bases for related research on and engineering application of high-strength, high-performance concrete are also provided.

2 Test Overview

2.1 Materials and Test Mix Proportion

  1. (1)

    Cement PO 52.5 cement, brand Jiangu (Jiaozuo, China), was used. The cement meets the Chinese national standard GB 175-2007 (2007).

  2. (2)

    Aggregates River sand from a local river that meets the Chinese national standard JGJ52-2006 (2006) was utilised. The fineness modulus (Mx) is 2.6 ≤ Mx ≤ 3.0. Crushed stone from a local quarry that meets the Chinese national standard GB T 14685-2011 (2011) was also adopted.

  3. (3)

    Fly ash Grade I fly ash made at Pingdingshan Yaomeng Power Plant (Pingdingshan, China) was used, and it meets the Chinese national standard GB/T 1596-2017 (2017).

  4. (4)

    Silica fume The silica fume was produced by Gongyi City (China). It contains over 92% active SiO2 content and meets the Chinese national standard GB/T 18736-2017 (2017).

  5. (5)

    Superplasticizer Polycarboxylic acid superplasticizer produced by Henan Meiya Company (Zhengzhou, China) was used. It meets the Chinese national standard JGT 223-2017 (2017). The water-reducing rate is 30%, and the admixture is 1.6% of the cementitious material quality.

  6. (6)

    SF Corrugated SF produced by Zhengzhou Yujian Steel Fibre Limited Company (Zhengzhou, China) was used. It meets the Chinese national standard JG/T472-2015 (2015) and has a length (lf) of 32 mm, an equivalent diameter (df) of 0.75 mm, an equivalent aspect ratio (lf/df) of 42 and tensile strength greater than 800 MPa.

  7. (7)

    MWCN TNM8 produced by Chengdu Organic Chemistry Limited Company of the Chinese Academy of Sciences (Chengdu, China) was used. The outer diameter is more than 50 nm, the length is 10–20 µm, the purity is more than 95% and the bulk density is 180 kg/m3.

  8. (8)

    Water: Tap water used meets the Chinese national standard JGJ 63-2006 (2006).

The Chinese national standard JGJ 55-2011 (2011) was adopted as a reference through an orthogonal test and according to the requirements of pumping concrete. The optimal mix proportions ranged from 70 MPa to 100 MPa (see Table 1). The slump is 160–220 mm.

Table 1 Mix proportion (1 m3) of HSCs

2.2 Test Plan

In accordance with the Chinese national standard GB/T50081-2002 (2002), the mechanical property test specimens of concrete are in groups of three specimens which are in the same batch. Weight deviation of cement, water and admixture cannot exceed 0.5%, and aggregate deviation cannot exceed 1%. Vibration moulding was through vibration table. After moulding, the specimens were placed in a humid environment with a temperature of (20 ± 3) °C and a relative humidity of above 90% for curing.

Table 2 presents the specimen size. The loading rate in the uniaxial compression test was 0.8 MPa/s to 1.0 MPa/s. The multiaxial compression test (equipment shown in Fig. 1) was loaded proportionally, and the loading rate in the σ3 direction was 0.004 mm/s. The age of the multiaxial compression specimen was over 90 days. At this point, wear reduction measures should be taken. During the test of concrete cube specimens, the transverse friction constraint effect of the loading plate on the end face of the specimen can improve the strength of the specimen. Moreover, due to multiaxial loading, the loading head cannot automatically adjust the physical alignment in real time because of the frictional resistance between the loading head and the specimen interface. To ensure that the loading head can be fine-tuned in real time during multiaxial loading, as well as the physical and geometric alignment, the wear reduction measures must be taken during the multiaxial compression tests. Whether the wear reduction measures are appropriate depends on the uniaxial compression tests, that is, the cube compressive strength after the wear reduction measures should be the same as or close to the axial compressive strength. The test results of the relevant literature show that if no measures are taken to eliminate or reduce the frictional effect, then the strength of the specimen increases greatly, the test result is false and the test equipment may be damaged (Wang et al. 1978; Song 1994; Yang et al. 2016). In the present study, at least three specimens were used for each stress ratio in the multiaxial compression test. If the error exceeded the requirements of the Chinese national standard GB/T50081-2002 (2002), then the number of specimens was increased by three, the discrete values were deleted and the average value was obtained. The displacement was measured with a displacement sensor’s linear variable differential transformer (LVDT). The test was completed at the State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology.

Table 2 List of tests and corresponding specifications and concrete types
Fig. 1
figure 1

Sketch and photograph of a real triaxial testing machine for static and dynamic loading

Principal stress σ1, σ2 and σ3 is specified as follows: the pull is denoted by ‘+’, the pressure is denoted by ‘−’ and σ1 ≥ σ2 ≥ σ3. The symbols of stress and strain follow the same rules.

The shrinkage and creep tests used prismatic specimens. The creep test used prismatic specimens with dimensions of 100 mm × 100 mm × 400 mm. The relative humidity of the test environment was 60% ± 5%. Before the tests, the specimens were placed at room temperature (20 °C ± 2 °C) in a creep test room and loaded after maintenance for 28 days. In accordance with the Chinese national standard GB/T50082-2009 (2009), the stress σc of the creep test was 40% of axial compressive strength fc, and the total holding time was 150 days. The shrinkage test used prismatic specimens with dimensions of 100 mm × 100 mm × 515 mm, and the test was carried out under constant temperature and humidity conditions with a relative humidity of 60% ± 5% and a temperature of (20 ± 2) °C. This test was completed at the Highway Science Research Institute of the Ministry of Transport of China.

HSC and HSCRSC (80 MPa) designed by the optimal mix proportion (seeing Table 1) were tested for frost resistance, impermeability and carbonation resistance. HSCs (80 MPa and 100 MPa) were tested for resistance to chloride ion erosion. The above tests were conducted according to the national standard GB/T50082-2009 (2009). The concrete impermeability test adopted the step-by-step pressurisation method. After the water pressure reached 1.3 MPa and was kept for 8 h, all specimens had no seepage and reached the highest impermeability grade of P12. To investigate the true impermeability of HSC, pressure was continued on this basis until the maximum compressive strength of the impermeability meter was 4 MPa. The average seepage height of the concrete specimen under constant water pressure was determined by the penetration height. The penetration height indicates the concrete resistance to water penetration. This test was completed at the Construction Engineering Quality Supervision and Inspection Station of Jiaozuo.

Given the many tests in this paper, Table 2 lists the specific tests and corresponding concrete types.

3 Test Results and Discussion

3.1 Uniaxial Compression Test

The mechanical properties of concrete specimens with different mix proportions in Table 1 were tested through uniaxial, biaxial and triaxial mechanical tests, durability tests and shrinkage and creep tests. The test results on the uniaxial mechanical property are shown in Table 3.

Table 3 Parameters of uniaxial mechanical performance

The results in Table 3 indicate that the early age strength of HSC developed rapidly. For example, with HSC-0-80 as the control group, the compressive strength of the four groups of concrete after 1 day reached 38.1–51.4% of that after 28 days. The compressive strength reached 77.8–83.1% after 7 days. The effect of adding MWCN on compressive strength was not obvious. However, with the composition of SF, the comprehensive performance of HSC became significant; for example, its tensile strength was 2.25 times that of the control group.

The other technical indexes in Table 3 were improved with the increase in concrete compressive strength. The ratio of axial compressive strength to cubic compressive strength, Poisson’s ratio, elastic modulus and peak strain were higher than those of NWC (i.e. 0.76, 0.2, 34.5 GPa and 0.002) (GB 50010-2010 2015). However, the dry apparent density was similar to 2400 kg/m3 specified in JGJ 55-2011 (2011).

With the form of splitting failure as an example (Fig. 2), HSC was accompanied with an explosive sound when it was destroyed, and the specimen was broken into two parts. The aggregates on the fracture surface were clearly visible (Fig. 2a). When the single-doped SF specimen was destroyed, the sound level was rather low, and the specimen remained intact with several small-width cracks (Fig. 2b). No sound was heard when the single-doped MWCN specimen was destroyed, and the specimen remained intact with only fine cracks visible on the surface (Fig. 2c). Owing to the long compression time, a visible crack appeared on the surface of the HSCRSC specimens after destruction, and SF crossed the crack.

Fig. 2
figure 2

Photographs of failure modes of HSCs under splitting tensile stress

The uniaxial compressive stress–strain curve of concretes numbered HSC-0-70, 80, 90 and HSC-SC-70, 80, 90 are shown in Fig. 3.

Fig. 3
figure 3

Stress–strain curves of HSCs under uniaxial compression

Given the lack of fibre constraints, the HSC specimens showed no signs before destruction. The destruction was accompanied with crisp and loud sounds and spallation. Eventually, the specimen broke into several pieces. The incomplete descending branch of curves in Fig. 3a reflects this phenomenon. Under the joint action of SF and MWCN, no oblique crack was visible on the surface before destruction, but the loading was accompanied with low-pitched noise. After the peak stress, visible oblique cracks appeared on the surface of the specimen quickly, and the angle between the oblique cracks and loading direction was approximately 30°. At this time, the specimen emitted a rapid and continuous crackle sound and finally cracked without breaking. The phenomenon indicates that HSCRSC has good ductility and toughness, and its failure mode is plastic.

As the strength grade increases, the brittleness of HSC increases as well and its toughness decreases. During the test, the descending section of the stress–strain curve is difficult to measure (see Fig. 3a). With the incorporation of fibres, especially SFs or composite fibres, the toughness of concrete can be effectively improved, making the descending section of the stress–strain curve easier to measure. This section also extends longer (i.e. the total strain increases, as shown in Fig. 3b), and the brittle failure of concrete is transformed into ductile failure.

The stress–strain curves of HSC and HSCRSC were described via a comparison and analysis of curve equations in different studies. The mathematical model (see Eqs. 1a, 1b) recommended by (Gao 1991) was suitable for this curve.

Ascending curve:

$$y = ax + (3 - 2a )x^{2} + (a - 2 )x^{3} ,\quad 0 \, \le x \le { 1},$$
(1a)

Descending curve:

$$y = \frac{x}{{b (x - 1 )^{2} + x}},\quad x > { 1},$$
(1b)

where x = ε3/ε0 and y = σ3/fc. a and b are fitting coefficients shown in Eqs. (1a) and (1b), respectively (see also Table 4).

Table 4 Fitting parameters of stress–strain curves for HSCs under uniaxial compression

According to the literature (Han et al. 2011), the physical (geometric) significance of the curve parameter a and b is that, if the value of the a is smaller and the value of the b is larger, then the curve is steeper and the area enclosed by the curve is smaller. These properties indicate that the plastic deformation of concrete is small, residual strength is low, the failure process is rapid and the material is brittle. Otherwise, the plastic deformation of concrete is large, the residual strength is high, the destruction is slow and the ductility is good. Table 4 shows that the value of the a in the rising section of the stress–strain curve of HSCRSC is larger than that of HSC, and the value of b in the descending segment of HSCRSC reduced from 3.59 to 3.16. Therefore, the plastic deformation of HSC is small. By contrast, HSCRSC has relatively high ductility and good toughness due to the addition of SF and MWCN.

3.2 Durability Test

In accordance with GB/T50082-2009 (2009), the specimens (HSC-0-80, HSC-0-100 and HSC-SC-80) were tested for anti-carbonation, impermeability, chloride penetration resistance, freeze–thaw resistance and sulphate resistance. The test results are shown in Tables 5 and 6.

Table 5 Parameters of durability for HSCs
Table 6 Test results of sulphate attack for HSC

Table 5 shows that HSCRSC exhibited good carbonation resistance, especially in the case of double-doped SF and MWCN. The carbonation depth before 14 days was 0 and only 0.5 mm at 28 days. The carbonation depth of HSC at 28 days was only 1.5 mm, which is smaller than the carbonation depth of NWC (2–3 mm) (Wang et al. 2017).

GB/T50082-2009 (2009) requires the step-by-step pressurisation method, and the highest water pressure is 1.3 MPa. If no water seepage occurred in each group after 8 h, then the highest grade of impermeability P12 was met. All of the specimens in this test did not show water seepage. Under the condition of breaking through the specification, the pressure continued until the highest pressure strength of the impermeability apparatus was 4 MPa, and it was stabilised for 8 h. The average seepage height (Eqs. 2a, 2b) of the concrete specimens under constant water pressure was measured with the permeability height method. The results showed that the penetration heights of HSC and HSCRSC were only 2 and 1.5 mm at a water pressure of 4 MPa, respectively.

The seepage height of a single specimen is

$$\overline{{h_{j} }} = \frac{1}{10}\sum\limits_{i = 1}^{10} {h_{i} } ,$$
(2a)

where \(h_{i}\) stands for the height (mm) of seepage at the ith measurement point of the jth specimen and \(h_{j}\) stands for the average seepage height (mm) of the jth specimen.

The average seepage height of a group of specimens is

$$\overline{h} = \frac{1}{6}\sum\limits_{j = 1}^{6} {\overline{{h_{j} }} } ,$$
(2b)

The relative dynamic elastic modulus after a freezing–thawing cycle was calculated according to the formula in GB/T50082-2009 (2009).

$$\Delta E_{\text{c}} = \frac{1}{3}\sum\limits_{i = 1}^{i = 3} {\frac{{f_{ni}^{2} }}{{f_{0i}^{2} }}} \times 100 ,$$
(3)

where f 2ni stands for the transverse fundamental frequency (Hz) of the ith concrete specimen after n freezing–thawing cycles and f 20i stands for the transverse fundamental frequency initial value (Hz) of the ith concrete specimen before a freezing–thawing cycle.

For the chloride ion permeability resistance test, the permeability coefficient of NWC is 11.27 × 10−12 (Zhang et al. 2018), which is higher than 2.57 × 10−12 in this study. The coefficient decreased as the strength increased.

In the sulphate attack test, under the conditions of 120 and 150 times of dry–wet cycles, the apparent quality was intact (Fig. 4) with no loss of mass, and the resistance coefficients were all greater than 1 (both were similar). This result indicates that HSC has good resistance to chloride ion and sulphate attack.

Fig. 4
figure 4

Photographs of specimens for control and after 150 wet–dry cycles corroded by sulphate

HSC has a large amount of cementing material and a low water-to-binder ratio, which leads to its low porosity and high compactness, thus improving its comprehensive strength and durability. Moreover, the connection effect of SF and its restraining effect on the microcrack propagation of concrete improve the strength of the concrete matrix. MWCN exerts a microfibre reinforcing effect and physically adsorbs the cement particles and fills the pores. The compactness and strength of the concrete matrix are improved, the porosity is reduced and the comprehensive strength and durability of the concrete are enhanced.

3.3 Shrinkage and Creep Tests

Shrinkage and creep tests were, respectively, carried out on representatives of HSC-0-80 and HSC-0-100. The test device is shown in Fig. 5, and the test results are provided in Table 7. The deformation was measured by LVDT with a scale distance of 200 mm.

Fig. 5
figure 5

Photographs of creep and shrinkage tests under the same condition for HSC

Table 7 Experimental values of shrinkage and creep at different ages for HSC

Table 7 shows that the shrinkage of HSC developed rapidly in the first 3 days and stabilized at 28 days. As concrete strength grade increased, the higher the content of the cementing material, the higher the shrinkage value was. Creep is long-term deformation under the action of dead load, and the creep coefficient increases with age. A high-strength grade equates to a high elastic modulus, high deformation resistance and small creep coefficient.

Considering the complicated calculation of the shrinkage–creep prediction model, we calculated and analysed the CEB-FIP (1990) (Thomas 1993), GL2000 (Gardner and Zhao 1993) and B3 (Bažant and Baweja 1995) models. On the basis of the B3 model, the environment, temperature and materials were modified, the shrinkage formula was multiplied by 0.934 and the creep formula was multiplied by 0.921 (fitting coefficient). The absolute value of the relative error of shrinkage and creep was approximately 10%, which can satisfy the precision requirement in engineering. Therefore, the modified B3 model can be used to calculate the shrinkage and creep of HSC. The calculation results and relative errors are given in Table 8.

Table 8 Shrinkage strains, creep coefficients and relative errors calculated by different models for HSC

3.4 Biaxial Compression Performance

The results of the biaxial compression test are shown in Table 9 and Fig. 6. The calculated value of biaxial compression ultimate strength (\(- \sigma^{\text{c}}_{30}\)) was obtained with Eq. (4) (Yang et al. 2008).

Table 9 Test and calculated values of HSCs under biaxial compression
Fig. 6
figure 6

Relationships amongst σ30/fc, ε30/ε0 and σ2/σ3 of HSCs under biaxial compression stresses

$$\sigma_{3} = \frac{{1 + \omega_{2} }}{{1 + \omega_{2}^{ - 1} }}\sigma_{2} ,\quad \omega_{2} = \frac{{\sigma_{3} }}{{\sigma_{2} }}$$
(4)

According to Table 9 and Fig. 6, the biaxial ultimate strength of concrete was higher than the uniaxial compressive strength under proportional loading. The multiple σ30/fc increased with the strength grade of concrete, but the maximum multiple was at a stress ratio of 0.5. When the stress ratio was less than 0.5, the ultimate strength increased with increasing stress; when it was greater than 0.5, the ultimate strength gradually decreased. For deformation, similar rules were observed. The biaxial strain was higher than the uniaxial one, and the multiple ε30/ε0 increased with the increase in the strength grade of the control concrete. However, the maximum multiple was at a stress ratio of 0.25. When the stress ratio was less than 0.25, the strain increased with stress; when greater than 0.25, the strain gradually decreased.

The ultimate strength calculation error showed that the absolute value of the relative error was less than 6%, indicating that the test results are accurate and reliable.

The failure state of the specimen under the condition of biaxial stresses (Fig. 7) shows that because SF and MWCN improved the toughness of the concrete matrix, a sound was heard during loading. The sound was loud but dull. After the specimen broke, the surface showed many cracks, which increased with the stress ratio, but the specimen remained intact. Before the ultimate stress was reached, the HSC specimen emitted an explosive sound, and a few visible cracks existed on the surface. After reaching the ultimate stress, the crack surface was formed at an angle to the free surface.

Fig. 7
figure 7

Photographs of failure modes of specimens for HSCs under biaxial compression. Note: (b6) was not unloaded in time after the specimen was destroyed, but the connection effect of SF was observed

The failure mode of HSC shows that the lateral compressive stress was small, and the specimen was divided into three pieces along the free surface. A number of vertical cracks were observed on the active surface of σ3 (Fig. 7a1). At a stress ratio of 0.25, the edge of the specimen was damaged and split into four parts, additional visible cracks existed and the fracture interface roughly formed a 30° angle with the vertical direction (Fig. 7a2). As the stress ratio increased, the specimen could only produce a large tensile strain on the free surface such that flake failure occurred parallel to the principal stress acting surface. The number of broken pieces of the specimen increased.

3.5 Triaxial Compression Performance

The test results of triaxial compression are shown in Table 10 and Fig. 8. The calculated values (\(- \sigma^{\text{c}}_{30}\)) of triaxial compression ultimate strength were obtained with Eq. (5) (Yang et al. 2008).

Table 10 Test and calculated values of HSCs under real triaxial compression
Fig. 8
figure 8

Effect of intermediate principal stress on ultimate strength under real triaxial compression

$$\sigma_{3} = \frac{{\sqrt {\sigma_{1} \sigma_{2} (1 + \omega_{1} + \omega_{3} )(1 + \omega_{2} + \omega_{3}^{ - 1} )} }}{{1 + \omega_{1}^{ - 1} + \omega_{2}^{ - 1} }},\omega_{1} = \frac{{\sigma_{3} }}{{\sigma_{1} }},\omega_{3} = \frac{{\sigma_{2} }}{{\sigma_{1} }}$$
(5)

According to Table 10 and Fig. 8, the ultimate strength of triaxial compression was determined by lateral stresses under proportional loading. In this test, the ultimate strength was the maximum strength when σ3:σ2:σ1 = 1:1:0.1, which indicates the significant influence of the intermediate principal stress on the ultimate strength. However, the influence trend of intermediate principal stress on ultimate strength did not vary with the strength grade nor with the presence or absence of fibre.

Compared with the increasing multiple of the ultimate strength in the case of biaxial compression, that of triaxial compression was improved but not obviously. The relative error analysis of the ultimate strength indicated that the absolute values of the relative error were less than 6%, revealing that the test data are accurate and reliable. The model can reflect the relationship between the ultimate strength and intermediate principal stress under triaxial compression.

The failure state of specimens under triaxial compression (Fig. 9) showed that although the differences in the failure mode of HSC and fibre-reinforced concrete were not obvious, due to the effect of SF, the specimen remained intact after being destroyed. SF could effectively improve the toughness of the concrete matrix. Moreover, the failure modes of specimens were typically represented by columnar cracking (Fig. 9a1, a2), layered cracking (Fig. 9b1, b2) and oblique shear failure (Fig. 9c1, c2).

Fig. 9
figure 9

Photographs of failure modes of specimens for HSCs under real triaxial compression

3.6 Multiaxial Compression Failure Criteria

According to the analysis of different failure criteria for concrete under biaxial compression, the Kufer–Gerstle criterion (Kupfer and Gerstle 1973) (Eq. (6a)) can describe the test results well. Equation (6a) can be converted to Eq. (6b) to reflect the effect of the stress ratio on the ultimate strength of biaxial compression.

$$\left( {\frac{{\sigma_{3 0} }}{{f_{\text{c}} }} + \frac{{\sigma_{2 0} }}{{f_{\text{c}} }}} \right)^{2} + m\frac{{\sigma_{3 0} }}{{f_{\text{c}} }} + n\frac{{\sigma_{2 0} }}{{f_{\text{c}} }} = 0,$$
(6a)
$$\frac{{\sigma_{3 0} }}{{f_{\text{c}} }} = \frac{{m + n/\omega_{2} }}{{\left( {1 + \omega_{2}^{ - 1} } \right)^{2} }},$$
(6b)

where m and n are undetermined coefficients.

On the basis of the test data in Table 9, regression analysis was performed with the least squares method. The fitting parameters and correlation coefficient results are shown in Table 11, and the failure envelope curve is shown in Fig. 10.

Table 11 Fitting parameters and correlation coefficients of Eq. (5)
Fig. 10
figure 10

Strength envelopes of HSCs by the Kufer–Gerstle criterion under biaxial compression

Figure 10 shows that the Kupfer–Gerstle criterion can be adopted for HSC, and the envelope curve with high strength surrounds the low-strength envelope curve with the highest strength on the outermost side.

For triaxial compression, according to the ultimate trace analysis of Eqs. (4) and (5) on the off-plane in the literature (Zhang et al. 2018) and the basic conditions that must be satisfied by the unified meridian, only the triaxial compression strength model of concrete meets the smooth and convex features on the plane (Fig. 11). The triaxial compression can be expressed by the meridian equation, as shown in Eqs. (7a) and (7b) (Argyris et al. 1974).

$$\frac{{\tau_{\text{mt}} }}{{f_{\text{c}} }} = \frac{{\rho_{t} }}{{\sqrt 5 f_{\text{c}} }} = a_{0} + a_{1} \frac{{\sigma_{\text{m}} }}{{f_{\text{c}} }} + a_{2} \left( {\frac{{\sigma_{\text{m}} }}{{f_{\text{c}} }}} \right)^{2} , \, \theta = 0^{ \circ } ,$$
(7a)
$$\frac{{\tau_{\text{mc}} }}{{f_{\text{c}} }} = \frac{{\rho_{\text{c}} }}{{\sqrt 5 f_{\text{c}} }} = b_{0} + b_{1} \frac{{\sigma_{m} }}{{f_{\text{c}} }} + b_{2} \left( {\frac{{\sigma_{\text{m}} }}{{f_{\text{c}} }}} \right)^{2} ,\quad \theta = 60^{ \circ } ,$$
(7b)

where τmt and τmc represent the average shear stress τm value of θ = 0° and θ = 60°, respectively (θ is the stress lode angle) [Eq. (7c)]. σm is the average or octahedral normal stress, i.e. σoct or σ8 [Eq. (7d)]. ρt and ρc are the characteristic lengths of pulling and pressing meridians, respectively. ai and bi (i = 0, 1, 2) are the undetermined coefficients (determined by the characteristic test point).

Fig. 11
figure 11

Limited trace of strength model Eq. (4) on the deviatoric stress plane

$$\tau_{\text{m}} = \frac{1}{{\sqrt {15} }}\sqrt { (\sigma_{1} - \sigma_{2} )^{2} + (\sigma_{2} - \sigma_{3} )^{2} + (\sigma_{3} - \sigma_{1} )^{2} } = \frac{3}{{\sqrt {15} }}\tau_{8} {\text{ (or}}\; \, \tau_{\text{oct}} ) ,$$
(7c)
$$\sigma_{\text{m}} = \sigma_{8} = \sigma_{\text{oct}} = \frac{1}{3}(\sigma_{1} + \sigma_{2} + \sigma_{3} ),$$
(7d)

The meridian equation for triaxial compression of concrete is shown in Fig. 12.

Fig. 12
figure 12

Compressive and tensile meridians of HSCs under real triaxial compression

Figure 12 shows that τoct/fc increased with the increase in the absolute value of σoct/fc, and the pulling and pressing meridians expanded outward along the direction of the hydrostatic pressure axis. This result indicates that the fracture surface of HSC expanded outward, which is the same as NWC. At the same time, the envelope curve traces on the off-plane also expanded outward. We inferred that the strength envelope surface of HSC also expanded outward with the increase in concrete strength grade, and the envelope curve with high strength enveloped the low-strength one. However, as illustrated in Fig. 12a, b, the influence of strength grade on the envelope curve was very small because the pulling and pressing meridians almost overlapped.

Figure 12c) reveals that although SF can effectively increase the strength of the concrete matrix, the influence on the pulling and pressing meridians is not significant and only slightly improved, that is, the strength envelope curve surrounded that of HSC.

4 Conclusions

This study used HSCs of 70 MPa, 80 MPa, 90 MPa and 100 MPa as reference. HSCs with different strength grades were prepared by single-doped and double-mixed SF and MWCN. Durability, shrinkage and creep and uniaxial and multiaxial strength tests were conducted using several mix proportions. Through a comparative analysis, the following conclusions were obtained.

  1. (1)

    SF and MWCN effectively improved the uniaxial and multiaxial compressive strength and durability of HSC and changed the failure mode of specimens, especially when SF and MWCN were mixed simultaneously.

  2. (2)

    HSC and HSCRSC specimens were accompanied with explosive sounds under uniaxial and multiaxial compression, but the sound was dull when SF and MWCN were single- or double-doped. The failure mode could be changed at the same time, that is, from brittle to ductile failure. The specimen remained intact after failure. HSC showed flake damage under biaxial compression and was characterised by columnar, layered and oblique shear damage under triaxial compression.

  3. (3)

    After the B3 model was modified in terms of environment, temperature and material and multiplied by the corresponding fitting coefficients, it met the requirements of the shrinkage and creep prediction model of HSC. The absolute value of the relative error was approximately 10%, which meets engineering accuracy requirements.

  4. (4)

    The strength models of biaxial and triaxial compression fully reflected the relationship between ultimate strength, intermediate principal stress and stress ratio. The prediction results were relatively accurate. The absolute value of the relative error was less than 6%, indicating that the test results are accurate and reliable.

  5. (5)

    With the increase in lateral stress, the ultimate strength of concrete increased with the strength grade, and both were higher than the uniaxial compressive strength. The multiple σ30/fc was between 1.10 and 1.39 times under biaxial compression and between 1.24 and 2.55 times under triaxial compression. The maximum ultimate strength was at the point where σ3:σ2 = 1:0.5 under biaxial compression and σ3:σ2:σ1 = 1:1:0.1 under triaxial compression.

  6. (6)

    The biaxial compression failure satisfied the Kufer–Gerstle criterion, and the triaxial compression failure satisfied the Willam–Warnke tensile–pressure meridian criterion. The failure envelope curve with high strength enveloped the low-strength one. Strength grade was not sensitive to the influence of the pulling and pressing meridians, that is, all the pulling and pressing meridians almost overlapped.