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University of
Florida
J u n e , 1963
N 6 3 18;c85
& % e
TECHNICAL PAPER NO. 263
b Y S. Y. Lu and W. A. N a s h
Reprinted from Proceedings of the Fourth U . S . National Congress of Applied Mechanics, Vol. 1, held at the University of California J u n e 18-21, 1962. Copyright @ 1962 by the American Society of Mechanical Engineers.
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The elastic stability of circular cylindrical shells subject to either axial compression or pure bending is investigated for the case of cylinders strengthened by internal pressure. Nonlinear finite deflection theory is employed and an approximate solution o f the equilibrium and compatibility equations is obtained by m e of Gslerkins method. Comparatively simple expressions are presented for the various buckling stresses and these expressions are evaluated to yield buckling stresses 89 a function of the internal pressure. The critical stress for bending is found to be greater than that in axial compression, and in approximately the ratio indicated by recent experimental evidence.
s. Y.
Nomenclature
Introduction
F l e x u r a l rigidity E t 3 / 1 2 ( l - v 2 ) Youngs modulus 4iry s t r e s s function R a d i u s of middle s u r f a c e of shell Yurnber of w a v e s in a x i a l and circumferential directions respectively Internal pressure
R/tmz
b ,/tu
n2/m2
v2 v4
b
Cl
1,apIace operator
(oz)2
Rend in g Critical condition
Yo
Subscripts:
Pressure
T h e present i n v r s t i g a t i o n w a s sponsored by the National Aeron a u t i c s and Space Administration under R e s e a r c h Grant NsG-16-59.
The postbuckling behavior of cylindrical shells s u b j e c t t o a x i a l compression has been s t u d i e d by s e v e r a l investigators. Donne11 E l 1 first derived t h e governing f i n i t e d e f l e c t i o n equations; later, in 1941, t h e s e equations were used by von KCmcin and T s i e n [21 to obtain an approximate solution to t h e problem of buckling of a n axially compressed cylinder into a diamond shaped buckle pattern. Further investigation w a s made by Kempner E31 who used an additional parameter in the buckling deflection function proposed in [ 2 ] . Several variations of t h e s e analyses have been proposed by other investigators. T h e i n c r e a s e in s t a b i l i t y of internally pressurized cylindrical shells s u b j e c t to axisymme tric loading w a s studied by Lo, Crate, and Schwartz [43. They u s e d largedeflection theory and found that the critical s t r e s s i n c r e a s e s from a v a l u e of 0.37 E t / R at zero p r e s s u r e to 0.606 E t / R (i.e., the value given by c l a s s i c a l small deflection theory) a s the pressure i n c r e a s e s t o 0 . 2 E t 2 / R 2 . Very recently, the effect of internal pressurization on s t a b i l i t y of axially compressed cylind e r s w a s studied by Thielemann [SI. In addition t o presenting a finite deflection theory, he also conducted t e s t s on aluminum shells. 411 t h e afocementioned a n a l y t i c a l s o l u t i o n s were obtained on the b a s i s of t h e energy criterion. Seide [8l has recently presented a linear small deflection a n a l y s i s of the buckling of cylindrical shells s u b j e c t to pure bending. This study indicated that, contrary to the commonly a c c e p t e d value, the maximum critical
697
EPRDDUCED BY
bending s t r e s s i s for all practical purposes e q u a l t o the c r i t i c a l s t r e s s found for a x i a l compression. T h i s result, b a s e d upon s m a l l deflection theory, d o e s not offer any explanation of t h e experimental differences known to e x i s t for t h e s e two situations. For example, experimental e v i d e n c e d u e to Suer, Harris, Skene, a n d Benjamin 191 i n d i c a t e s buckling l o a d s in bending to b e from 25 to 60 per c e n t g r e a t e r than in compression, the e x a c t value depending upon t h e ratio R / t . T h i s report i s a study of the e l a s t i c postbuckling behavior of thin p r e s s u r i z e d cylinders s u b j e c t to bending loads. Throughout t h i s a n a l y s i s , the Galerkin method i s employed. For comparison with certain e x i s t i n g r e s u l t s obtained by u s i n g t h e energy method, a solution for shells s u b j e c t to axisymmetric compression i s reached first. F o r t h i s c a s e , when t h e pressure parameter
a n d rn and n r e p r e s e n t the number of w a v e s in t h e axial and circumferential d i r e c t i o n s r e s p e c t i v e l y , the number of w a v e s in the a x i a l direction being within a length e q u a l to t h e circumference of the cylinder. Throughout t h e p r e s e n t s t u d y , y = 2 . F o r more localized buckling, a larger value of y could be used. Then k = 0, (3) i s the same as t h a t u s e d in [ 2 ] . In (3), b i s not a n independent parameter but i s u s e d t o s a t i s f y t h e condition of periodicity of circumferential displacement b l . Corresponding to (3), a n e x p r e s s i o n for t h e s t r e s s function F i s proposed
F=-"s2+ubR
2
cos-
+- - r 2 + a l l c o s 2 t 2rnx
1PR
rnx
ns cos-
2mx 2ns c o s -c o s -
+ azoc o s -+ ao2COSR
2ns
(4)
The stresses a n d ob a r e d u e to a x i a l compression and bending, r e s p e c t i v e l y , a n d a r e positive for compression. For s h e l l s s u b j e c t to axisymmetric compression only, ab = 0 a n d uc i s r e p l a c e d by u to avoid any possible confusion in notation.
Method of Solution
Vhen w and F in (3) and (4) are s u b s t i t u t e d in (1) and (21, t h e e q u a l i t i e s generally will not hold. T h e y c a n , however, b e e x p r e s s e d i n s t e a d as
For an initially perfect thin cylindrical s h e l l the compatibility and equilibrium e q u a t i o n s can b e e x p r e s s e d , respectively, as
V4F-,F[(*raxas
and DV2w---t
aZw azw
a2w
ax2
(5)
V4F-E[(er -d r ~ z -
aZw aZW
a2F aZw
aZw
a2F
-as2 ax2
- 2 - -
axas
(1)
aZW
ar2
axas drds
+-ar2
as2
DV4w--
ar2
- 2 -
axas axas
a2F
ax2
az:]
as
( 2)
+p=o
In t h e above e q u a t i o n s , F i s t h e 4iry s t r e s s function of t h e membrane s t r e s s e s , w i s the radial deflection, t the s h e l l t h i c k n e s s , R the r a d i u s of t h e middle s u r f a c e , and p i s internal p r e s s u r e (taken t o b e positive). 4 n approximate form of the deflection pattern i s assumed: w=b,+cosY
+p=Q2 (6) 4n approximate solution i s obtained by minimizing Q , and Q2 on the right-hand s i d e s of the a b o v e equations; t h i s i s done by t h e Galerkin method. The Galerkin method e s t a b l i s h e s the following s e t of equations :
Q, COS-
r n r
ns
COS-~S
ns 2rnr ~~COS-COS-+~~COS-+
mx
lL IZTR
dx = 0
Q, COS
2rnx
RCOS
2ns R
ds d r = 0
(3)
where
k=
Y=
1
0
(7)
Q, COS
2m
ds d x = 0
.
2nR
Q, COS R
2ns
ds dx = 0
JL
0
J21rR
0
rmc
ns
( g ) d s dx = 0
ks
IL
0
[2nR
Q2
y+ cos %)cos R
'(-$)ds
dz = 0 5
+=--Et
UR
P-
pR2
Et2
(15)
\gain, k = 0 when the shell i s subject to axial compression only. In the following sections, solutions are obtained for axial compression and bending separately, although the approaches are the same.
Axisymmetiic Compression
a+=A,+(A2+ASq+A4q2)a2
+A, (b;
also
where
ob i n (4) are zero. Also, 0, in (4) i s replaced by U . The coefficients u 2 0 , u O 2 ,a, and u22appearing in (4) can be expressed in terms of 6 2 and b S through the four integrals of (7). The relations are found to be
,,
A,= A,
(1 +/d2 12 (1- v 2 )
= -
(I +/d2
(9)
A,
=-
1+/L2 16 (16)
n2
B 2 =-
(10)
1 4
(11)
a+=
+ =- C , A , + C 2 A 2 a
a
In the above equation,
(17)
(14)
(18)
The function
4 s can be s e e n from (15) to (19) the dimensionless variable uR/Ec i s a function of a, 7, a n d p . The buckling s t r e s s i s t h u s obtained through minimization with r e s p e c t to t h e parameters a, 7, a n d p . Differentiation of with r e s p e c t to a i s carried out first to obtain
a+ = -a= u o aa a,
for p = constant. T h u s from (17):
(20)
s p e c t to a and JI. To find t h e d i m e n s i o n l e s s critical s t r e s s z c r a t a given value of d i m e n s i o n l e s s pressure p, s e v e r a l different v a l u e s of p are tried in (25) together with corresponding v a l u e s of ,? from T a b l e 1 until t h e right-hand s i d e of (25) is minimized. The value of p, a t ,T is minimum and e q u a l s Zcr, i s c a l l e d per. which Some values of ccr and pcr for various v a l u e s of p are given in Table 2.
za
TABLE 2
(21)
and finally from (17) with a given by (21)
Sa = 2dAI A2 dCI c 2
--
(22)
It c a n b e s e e n t h a t pcr d e c r e a s e s with i n c r e a s i n g p. T h i s i n d i c a t e s that the buckling wave becomes longer in the circumferential direction when the pressure i n c r e a s e s . T h e relation between Ocr and i s shown in Fig. 1 a s Curve 11. The r e s u l t s from [.?.I and 151 and the t e s t data from [61 and [71 a r e plotted in t h i s figure a l s o . The broken curve shown there r e p r e s e n t s the curve b e s t fitting t h e data in 151, [61, and (71. The predictions of t h e p r e s e n t theory are shown a s Curve I1 i n Fig. 2 s o a s to afford a comparison with experimental data given in 191. In Fig. 1 , the broken curve i n d i c a t e s that O , , is only about 0.09 a t = 0, and FCri n c r e a s e s from 0.09 to approximately 0.35, then l e v e l s off at higher v a l u e s of p. IIowever, Ccr is expected to reach t h e c l a s s i c a l value of 0.606 when the value of T; is relatively high. one of the most probable c a u s e s of the lower result indicated by t h e broken curve corresponding to t e s t d a t a l i e s in initial imperfections which in general i n c r e a s e with increasing R / t . If t h e imperfection factor d o e s not vary significantly due to t h e change of F, then the ratio of u,, a t two different p r e s s u r e s w i l l be nearly independent of t h e effect of imperfections. I,et
The notation +a t h u s d e n o t e s t h e value of Q minimized . The e x p r e s s i o n s for c, and c, are with r e s p e c t to a found from (18), (19), and (16). From (16):
I .
= o
0.2
0.59
0.25 0.53
0.5
0.325 0.29
1 .o
1.15
0.18
0.19
0.11
0.161
Sa,.,, = 0.605
parameters
0.44
0.406
%,, represent
Ocr
at
p = 0, and
0 p
=-
uR
Et
(23)
and
=z
pRZ
(24)
(25)
where Ca
,?
with re700
T h e ratio, , i s plotted a g a i n s t i n F i g . 3. IS shown in t h i s figure, t h e predictions of t h e p r e s e n t theory are in reasonably good agreement with experimental evidence, which i s re-plotted from the broken curve o f Fig. 1. One advantage of introducing t h e ratio >Gcr /Ecr,, is t h a t t h e relation in Fig. 3 c a n be u s e d having t e s t d a t a a t only one p r e s s u r e to predict the critical s t r e s s in t h e s a m e imperfect s h e l l a t any other pressure. For i n s t a n c e , a t e s t i s made at p = 0.4, for
0.6
0.5
0.4
b R
Et
0.3
0.2
-. 0
A
0
test
[b]
e s t d a t a , Ref.
T e s t d a t a , Ref.
173
0 1
T e s t d a t a , Ref. [6]
zero
I
0.2
I
0.4
I
0.6
1
0.8
1
1.0
1.2
1.4
1.6
1.8
which value Ecr is found experimentally to be 0.29. From Fig. 3, the present analysis gives A Z , , /a',,,, = 2.02. Therefore, it can be predicted that iFm = 0.096, 0.221, and 0.356 a t = 0, 0.2, and 0.8, respectively, while the mean t e s t data from Fig. 1 shows that Fm =0.09,0.25, and 0.34 at = 0, 0.2, and 0.8, respectively .
Eccentric Compression, Pure Bending
where p. a, and 77 are given by (lo), ( l l ) , and (12), respectively. From (8) and (261,
Then a cylindrical shell is subject either to pure bending or eccentrically applied compression k in (3) and ( 8 ) is unity. The solution in this case i s analogous to the solution of the previous section. The coefficients of the 4iry stress function F are found to be
9 +9p2+-
6P
m2
1 +-
m4
+[
+-.
1
1
a d 2 =-
(1+ 3 p +
I)'
4m2
6m2
(26)
(28)
1
Et2
and
#2
Q,
=-+-.c-Et
UbR
3 U R
Et
2 1 pR2 2m2
(29)
FIGURE 3. PREDICTIONS OF PRESENT THEORY AND TEST DATA FOR A X IA L L Y C OM PR ESSED PR E SSU R IZ ED CY L IN DRlCAL SHELLS
and
(30)
+9P '1'1
(1 + d 2
a'
-'
( s y
(31)
(31a)
FIGURE 2. POSTBUCKLING BEHAVIOR OF PRESSURIZED CYLINDRICAL SHELLS SUBJECT TO BENDING OR AXIAL COMPRESSION.
EtL
702
and
+(E2+B,92)a2+ (-s B
+-
x .",':
where
A,
9p2
~
c1
=o
= 0.74
0.5
0.46 0.34
(1 + p ) z
9
($b)a,71
A,
9(1+p"2)
256
= : =
B,
1+p2
2 (1 - 2)
1
B,
Ob O b =Et
and
(38)
u
T h u s , from (30)
=-
0
Et
+gGC)
'3
(39)
Further,
A5-
- A1 c, = -
- B, - Bs
A,
-9 9
a t a given value of dimensionless pressure jT, s e v e r a l different v a l u e s of p a r e tried i n (39), together with corresponding v a l u e s of (4 from T a b l e 3 until the 4 s ' 9 '7 right-hand s i d e of (39) i s minimized.
- -B6 - BS
+:Ec)
a , is ~ minimum
A5
- B,
B6 --
77
and e q u a l s ( c b +;Zc,)
cr
i s called per. T a b l e 4 i n d i c a t e s
(37)
b '
0 . T h e r e l a t i o n s between(Cb
+ :
.>
cr
and
as
703
FIGURE 4. INCREMENT O F CRITICAL STRESS AS A FUNCTION OF PRESSURE FOR CYLINDRICAL SHELLS SUBJECT TO ECCENTRlC COMPRESSION OR PURE BENDING.
well a s (Fc)* and p a r e shown in Fig. 2, in which the data from [9f:s shown also. The broken curve shown there bounds t e s t data obtained by Suer, Harris, Skene, and Benjamin [9I for a x i a l compression. Rending t e s t d a t a due to t h e s e same authors i s shown b y individual points in Fig. 2. L e t u s introduce the notation
t h e s a m e imperfect shell a t a n y other pressure. Since more c o n s i s t e n t t e s t r e s u l t s c a n be expected from shells under higher p r e s s u r e s . F i g s . 3 and 4 a r e a v a i l a b l e t o predict t h e buckling s t r e s s e s when a t least one t e s t has been made on s o m e moderately pressurized cylinders. F o r i n s t a n c e , if t h e c r i t i c a l pure bending s t r e s s , - R / E t ) = , h a s b e e n found experimentally a s 0.53 a t (Ob p = 0.4, then from Fig. 4 one can find ( U , R / E ~ )=0.163, ~, and 0.603 a t = 0, and 0.8, r e s p e c t i v e l y . T h i s evaluation i s applied only to shells h a v i n g t h e same ratio R / t . The e f f e c t s due to a change of R / t will b e d i s c u s s e d in a later paper. The predictions of t h e p r e s e n t theory for pressurized axially compressed cylindrical s h e l l s are in s u b s t a n t i a l agreement with t e s t d a t a for a rather wide range of v a l u e s of internal pressure. P r e d i c t i o n s of t h e theory for pressurized cylindrical s h e l l s in pure bending are in reasonable agreement with experimental e v i d e n c e for d i m e n s i o n l e s s internal p r e s s u r e s in e x c e s s of 0.1 but a r e conservative for s m a l l e r v a l u e s of internal pressure.
References
where ( Z
+? Zc) 2
cr,o r e p r e s e n t s the v a l u e of
at
0. The r a t i o
3 (Zb . t y ~ c cr ) i b + - u c )cr,o
3-1
i-
i s plotted a g a i n s t
p.
in F i g . 4. i g a i n , t h i s ratio should predict the c r i t i c a l s t r e s s in a n imperfect s h e l l from t e s t d a t a a t only one pressure. It h a s been observed that generally (Zc)tr is not e q u a l t o t h e v a l u e o f Ccr found for axisymmetric compression. The difference is due to the deflection patterns employed. Curves I1 a n d 111 of Fig. 2 indicate t h e e f f e c t on a x i a l compression of those different patterns and s h o w that even a s l i g h t eccentricity in application of l o a d will greatly r e d u c e t h e buckling s t r e s s . (Cc)zf v e r s u s T; is s h o w n in Fig. 1 a s Curve IV.
Discussion and Conclusions
It c a n be observed that p = 0 in the c a s e of ring buckling andfurther, b 3 = q = 0 in t h e c a s e of s m a l l deflections. If e i t h e r p or b 3 i s zero, t h e above a n a l y s i s r e d u c e s to a s m a l l deflection solution. T h e r a t i o between s t r e s s e s ,
1959.
is
i s 0.833. T h e procedure
8. Seide, P., and Weingarten, v. I . , 'On the Ruckling of Circular Cylindrical S h e l l s IJnder Pure h n d i n g , " Journal of Applied Mechanics, Vol. 28, Yo. 1, pp. 112116, !larch, 1961. 9. Suer, H. S., Harris, L. A., Skene, W. T., a n d Benjamin, R. J., 'The Bending Stability of Thin-Walled
Unstiffened Circular Cylinders Including the E f f e c t of Internal P r e s s u r e , " lournu1 of the .Aeronautical Sciences, Vol. 2.5, No. 5 , pp. 281-287,May, 1958.
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