Documente Academic
Documente Profesional
Documente Cultură
Khanh Chau Le
Second edition (internet version) 2013
Preface
We live in a world of vibrations and waves, without which there would not
be sound, light, radio, television, communication etc. That is why the study
of vibrations and waves is so important in many branches of physics and mechanics. This book is devoted to the study of small mechanical vibrations of
shells and rods, which are made of elastic or piezoelectric materials. But even
in this very special field there are already many excellent books and monographs written since the monumental work by Rayleigh [47]. The peculiarity
of the present book is that we regard the equations of shells and rods as
two- and one-dimensional approximate equations which can be derived from
the three-dimensional theory by using the variational-asymptotic method.
The latter has been invented especially for those variational problems which
contain small parameters. It turns out that for vibrations of shells and rods
there are many situations in which such small parameters exist. Thus, the
application of the variational-asymptotic method enables one to derive not
only the classical two- and one-dimensional theories of low-frequency vibrations of shells and rods, but also the theories of high-frequency (or thickness)
vibrations.
The present book is organized into ten chapters. After the short introductory chapter containing some historical background we provide preparatory
material on tensor analysis, geometry of curves and surfaces, dynamic theories of elasticity and piezoelectricity, and the variational-asymptotic method
in the second chapter. The rest of the book is divided into two nearly
equal parts which treat the theories of low- and high-frequency vibrations,
respectively. Chapters 3-6 present two- and one-dimensional theories of lowfrequency vibrations and wave propagation in thin bodies, namely elastic
shells and plates (Chapter 3), elastic rods (Chapter 4), piezoelectric shells
and plates (Chapter 5), and piezoelectric rods (Chapter 6). Chapters 7 and
8 deal with high-frequency vibrations of elastic shells, plates, and rods, and
finally, Chapters 9 and 10 study high-frequency vibrations of piezoelectric
shells, plates, and rods, respectively. To help a reader become more proficient, each section ends with problems and exercises, of which some can be
3
4
solved effectively by using the Mathematica. Difficult problems are marked
with an asterisk. It is not our aim to give complete references on the subject,
which is very large. We cite rather those papers which are directly related
to the methods used in the book.
This book is intended for engineers who deal with vibrations of shells
and rods in their everyday practice but also wish to understand the subject from the mathematical point of view. Some of the results concerning
high-frequency vibrations of shells and rods may be new for them. The book
can serve as a textbook for graduate students who have completed firstyear courses in mechanics and mathematics. It may also be interesting for
those mathematicians who seek applications of the variational and asymptotic methods in elasticity and piezoelectricity. Only a minimum knowledge
in advanced calculus and continuum mechanics is assumed on the part of a
reader.
I would like to express here my deep gratitude to my teacher Prof. V.L.
Berdichevsky (Detroit), who has had a great influence on my development of
the subject. Substantial parts of Chapters 3 and 4 are based on his lectures
and publications. I thank Prof. H. Stumpf (Bochum) for his warm hospitality during the writing of the book, and Professors R.J. Knops (Edinburgh),
A.G. Maugin (Paris), W. Pietraszkiewicz (Gdansk), L. Truskinovsky (Minneapolis), D. Weichert (Aachen) and many other friends and colleagues for
their comments and useful discussions. The competent language assistance
by Mrs. Anne Gale (Springer Verlag) is also gratefully acknowledged.
Last, but not least, thanks are due to my wife and my daughter, without
whose patience and love this book would not have appeared at all.
Bochum, May 1999
K.C. Le
Contents
1 Introduction
2 Preliminaries
2.1 Tensor analysis . . . . . . . . . .
2.2 Geometry of curves and surfaces .
2.3 Dynamic theory of elasticity . . .
2.4 Dynamic theory of piezoelectricity
2.5 Variational-asymptotic method .
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Low-frequency vibrations
57
3 Elastic shells
3.1 Two-dimensional equations . . . . . . .
3.2 Asymptotic analysis . . . . . . . . . .
3.3 Dispersion of waves in plates . . . . . .
3.4 Frequency spectra of circular plates . .
3.5 Dispersion of waves in cylindrical shells
3.6 Frequency spectra of cylindrical shells .
3.7 Frequency spectra of spherical shells .
4 Elastic rods
4.1 One-dimensional equations
4.2 Asymptotic analysis . . .
4.3 Cross section problems . .
4.4 Dispersion of waves . . . .
4.5 Frequency spectra . . . . .
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17
17
24
30
37
45
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59
59
68
78
89
96
109
118
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123
. 123
. 130
. 140
. 147
. 155
5 Piezoelectric shells
163
5.1 Two-dimensional equations . . . . . . . . . . . . . . . . . . . . 163
5.2 Asymptotic analysis . . . . . . . . . . . . . . . . . . . . . . . 172
5
6
5.3
5.4
5.5
6 Piezoelectric rods
6.1 One-dimensional equations
6.2 Asymptotic analysis . . .
6.3 Cross section problems . .
6.4 Frequency spectra . . . . .
6.5 Longitudinal impact . . .
II
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High-frequency vibrations
209
. 209
. 215
. 224
. 234
. 240
249
7 Elastic shells
7.1 Two-dimensional equations . . . . . . .
7.2 Long-wave asymptotic analysis . . . . .
7.3 Short-wave extrapolation . . . . . . . .
7.4 Dispersion of waves in plates . . . . . .
7.5 Frequency spectra of plates . . . . . .
7.6 Dispersion of waves in cylindrical shells
7.7 Frequency spectra of cylindrical shells .
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251
251
257
267
275
285
296
305
8 Elastic rods
8.1 One-dimensional equations . . .
8.2 Long-wave asymptotic analysis .
8.3 Short-wave extrapolation . . . .
8.4 Cross section problems . . . . .
8.5 Dispersion of waves . . . . . . .
8.6 Frequency spectra . . . . . . . .
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311
311
316
322
329
336
340
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349
. 349
. 351
. 360
. 369
. 374
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9 Piezoelectric shells
9.1 Two-dimensional equations . . . . . .
9.2 Long-wave asymptotic analysis . . . .
9.3 Short-wave extrapolation . . . . . . .
9.4 Frequency spectra of circular plates .
9.5 Frequency spectra of cylindrical shells
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10 Piezoelectric rods
381
10.1 One-dimensional equations . . . . . . . . . . . . . . . . . . . . 381
10.2 Long-wave asymptotic analysis . . . . . . . . . . . . . . . . . . 383
10.3 Short-wave extrapolation . . . . . . . . . . . . . . . . . . . . . 390
7
10.4 Cross section problems . . . . . . . . . . . . . . . . . . . . . . 395
10.5 Frequency spectra . . . . . . . . . . . . . . . . . . . . . . . . . 400
A Material constants
405
A.1 Elastic isotropic materials . . . . . . . . . . . . . . . . . . . . 405
A.2 Piezoelectric crystals . . . . . . . . . . . . . . . . . . . . . . . 406
A.3 Piezoceramic materials . . . . . . . . . . . . . . . . . . . . . . 408
B List of notations
409
Bibliography
413
Index
419
Chapter 1
Introduction
The study of vibrations of elastic shells and rods began with the pioneering
works of Daniel Bernoulli and Euler. They derived the one-dimensional differential equations of the flexural vibrations of beams by what we now call
the variational principle of stationary action. They determined the eigenfunctions and the eigenfrequencies of a beam in the six cases of boundary
conditions corresponding to the free, clamped or fixed edges. The BernoulliEuler theory preceded the exact three-dimensional linear elasticity discovered
by Navier, Cauchy and Lame. Immediately after this great discovery Poisson applied three-dimensional elasticity to the derivation of one-dimensional
equations of vibrations of thin rods. Regarding the rod as a circular cylinder of small cross section, he expanded all the quantities in powers of the
distance from the central line of the cylinder. When terms above a certain
order (the fourth power of the radius) are neglected, the equations for flexural vibrations turn out to be identical with those of Bernoulli-Euler. The
equation for the longitudinal vibrations was derived by Navier; that for the
torsional vibrations was first obtained by Poisson. Saint-Venant proposed
the semi-inverse method for solving the problems of torsion and flexure of
beams within 3-D elasticity. Although his method is not directly related to
the dynamics, its influence on the development of shell and rod theories cannot be overlooked. Concerning the bending of beams, Saint-Venant adopted
two assumptions: i) extensions and contractions of the longitudinal fibres
are proportional to their distances from the plane drawn through the central line at right angles to the plane of bending, and ii) there is no normal
traction across any plane parallel to the central line. The application of the
theories rests upon a principle introduced by Saint-Venant and bearing his
name, according to which statically equivalent tractions applied to the end
of the bent beam or twisted bar produce the same stresses far from their
9
10
CHAPTER 1. INTRODUCTION
The mathematical proof of this principle was given much later by Toupin [59] (see
also [4, 15]).
2
It also contains the most important references on the subject prior to its appearance.
11
plest and most elegant version of the shell theory was proposed by Koiter [23]
(see also [52]). He later gave the error estimate of the first-order shell theory
in the energetic norm based on Prager-Synges identity [24]. From the exact
3-D elasticity the dispersion equation for waves in circular cylindrical shells
of infinite length was derived and studied in detail by Gazis [2, 16].
Tracing the history of the development of the approximate shell and
rod theories, one can easily observe the competition between two methods,
namely asymptotic and variational ones. In order to use the variational
method, one needs an a priori Ansatz for the displacement and strain fields
as functions of the transverse co-ordinates. Substituting this Ansatz into the
3-D action functional, one can derive the equations determining the dependency of the displacement field upon the longitudinal co-ordinates by varying
the functional obtained after the averaging procedure. This method resembles the direct method of Rayleigh and Ritz and the semi-discrete method of
Kantorovich-Krylov [26] of solving approximately variational problems. The
disadvantage of the variational method is the necessity of having an Ansatz
for the displacements, while simplicity and brevity are its advantages. By
the asymptotic method we mean the expansion of the displacements into an
asymptotic series, the substitution of this series into the equations of the 3-D
theory, and the subsequent asymptotic derivation of the recurrent system of
equations for the corresponding terms of the series. The asymptotic method
needs no a priori assumptions; however, it is very cumbersome. The synthesis of these two methods, called the variational-asymptotic method and first
proposed by Berdichevsky [5, 6], seems to avoid the disadvantages of both
methods described above and proved to be very effective in constructing
approximate equations for shells and rods. The variational-asymptotic procedure provided in [5,6] enables one to construct not only the first-order shell
and rod theories, but also the correct refined theories which are asymptotically exact in the long-wave range. This method later found wide application,
also in other problems of mechanics and physics (see e.g. [6]).
With the variational-asymptotic method the theories of vibrations of
shells and rods have been put upon a firm foundation. One can show that the
classical two-dimensional equations of motion of elastic plates and shells can
be used to describe their vibrations in the low-frequency long-wave range.
The exact solutions of the three-dimensional equations of elasticity for infinite plates, by Rayleigh and Lamb, or for infinite cylindrical shells, by Gazis,
confirm this conclusion. A similar situation exists in regard to the classical
one-dimensional equations of motion of elastic rods as compared with the
exact 3-D elasticity studied by Pochhammer and Chree. However, numerical
analysis of Rayleigh-Lambs and Pochhammer-Chrees dispersion equations
shows that, as the frequency increases, many new branches of the disper-
12
CHAPTER 1. INTRODUCTION
sion curves arise (see [41]). These branches are connected to each other in
the complex wave-number plane, signifying the complicated interaction between waves of different branches near the free edge of the plate, shell or
rod. As the wave number and the frequency increase, the velocities in the
three-dimensional theory have upper limits for all branches, in contrast to
the classical two-dimensional theory. Hence the latter cannot be expected to
give good results for the frequencies of modes of vibration of high order.
Timoshenko [57, 58] was the first to include the effect of transverse shear
deformation and rotatory inertia to derive a one-dimensional theory of flexural motions of bars which gives more satisfactory results for short waves
and high modes of vibrations. But Timoshenkos theory and its generalizations for plates and shells (Reissners and Berdichevskys refined shell theories [5,48]) have the shortcoming that they cannot describe satisfactorily the
cut-off frequency (corresponding to the zero wave number) and the long-wave
asymptotes of the first branch of thickness vibrations.
It was Mindlin [41], who succeeded in deriving two-dimensional equations
of motions of plates which give satisfactory results for dispersion curves of
both low-frequency and thickness branches. In his pioneering papers the
following method of derivation has been proposed. The displacements are
expressed by the expansions in the series of Legendre polynomials of the
thickness co-ordinate. These series expressions are then substituted into the
three-dimensional action functional followed by an integration over the thickness and a truncation to produce the required order of approximation. Since
Legendre polynomials are not appropriate eigenfunctions of the branches of
thickness vibrations, the two-dimensional theory obtained cannot describe
cut-off frequencies and long-wave asymptotes of those branches. The correction coefficients are introduced to improve the match between the frequency spectra of an infinite plate as obtained from the approximate and
exact equations.
Although Mindlins theories have been successfully applied in many engineering problems (see [41] and quotations therein), his introduction of the
correction coefficients remains a little mystic. Berdichevsky was the first to
show that the long-wave asymptotic analysis can be applied for branches of
high-frequency thickness vibrations of elastic plates near the cut-off frequencies [6]. Based on the variational-asymptotic method he found the distributions of the displacements and derived the equations of high-frequency longwave vibrations for all thickness branches. This method is then applied for
elastic rods [25] and elastic shells [7]. The later checking, by Kaplunov [21,22],
confirms the results for plates, but displays some arithmetic mistakes in the
calculation of the coefficients for the equations of shells, the correction of
which leads to the full agreement of the results.
13
The equations derived in [6, 7] are asymptotically exact and describe correctly the behaviour of plates and shells in the long-wave range near the cutoff frequencies. However, these same equations without modification yield an
unsatisfactory description of the dispersion curves and the group velocities in
the short-wave range. At the same time, the formulation of boundary-value
problems is associated with the behaviour of the corresponding differential
operators at short wavelengths. Thus, even asymptotically exact equations
in the long-wave range may lead to the ill-posed boundary-value problems [5].
Therefore the construction of the theory of shells and rods involves not only
the derivation of equations in the long-wave range, but also another logically
independent step the extrapolation of those equations to short waves.
It is possible to carry out either trivial extrapolations, when the system of equations derived for long waves is applied to short waves without
any changes, or non-trivial extrapolations, when terms that are small in the
long-wave range but appreciable for short waves are introduced (removed).
For shells in the short-wave range it is impossible to describe the threedimensional stress state exactly by the two-dimensional theory, and only a
qualitative agreement can at best be expected. For this reason, different
two-dimensional equations are allowed in the theory of shells. However, it
is natural to demand an asymptotic equivalence in the long-wave range of
different short-wave extrapolations.
In [8, 33] the best hyperbolic short-wave extrapolation is proposed for
the equations derived in [7]. This involves the classical branches and several
thickness branches of vibrations and takes into account their cross-terms at
short waves. The structure of the equations is similar to that of Mindlin for
plates, but in contrast to his theory, the asymptotic accuracy is achieved in
the long-wave range by the asymptotic analysis and not by the introduction of
correction coefficients based on ad hoc assumptions. This brings additional
advantages: i) those problems, for which the exact dispersion equations are
not known or available (for instance, shell vibrations) can also be analyzed,
ii) the asymptotically exact 3-D stress and strain state can be restored from
the 2-D integral characteristics. The application of the 2-D theory to various
problems, such as the dispersion of waves or the frequency spectra of plates
or shells, shows that it enables one not only to predict the asymptotically
exact distributions of the stress and displacement fields in the long-wave
range, but also to describe qualitatively correctly their behaviour in the shortwave range. For instance, in the problem of edge resonance in semiinfinite
plates which admits the localized waves of length comparable with the plate
width, the 2-D theory predicts the frequency of edge resonance lower than
that obtained from 3-D elasticity by about 1% [29]. The construction of the
approximate theory by the variational-asymptotic method is then generalized
14
CHAPTER 1. INTRODUCTION
15
of the two-dimensional equations of high-frequency vibrations of piezoelectric plates and shells based on the variational-asymptotic method [27, 30].
We also derive the one-dimensional equations of high-frequency vibrations of
piezoelectric rods. The applications of the theory in the problems of resonant and antiresonant frequency spectra of plates, shells and rods show that
the 2- and 1-D approximate equations of vibrations are asymptotically exact
in the long-wave range and yield qualitatively good agreement even in the
short-wave range.
16
CHAPTER 1. INTRODUCTION
Chapter 2
Preliminaries
2.1
Tensor analysis
18
CHAPTER 2. PRELIMINARIES
(2.1)
As we shall see soon, this is advantageous in the theory of shells and rods.
19
(2.3)
Moreover, we require that the Jacobian is positive, so that the orientation of the basis
vectors remains unchanged.
20
CHAPTER 2. PRELIMINARIES
(2.4)
(2.5)
for all u V.
(2.6)
One can see from this definition that, while tensors do not depend on the choice of
the basis vectors and covectors, their components do.
21
To show this, let us introduce the reciprocal basis vectors ea V such that
ea eb = ba .
Now for = a a we choose t = a ea . It is easy to show, then, that
equation (2.6) is satisfied. Due to this one-to-one correspondence we shall
identify co-vectors with their associated vectors and the dual basis {a } with
the reciprocal one {ea }. Let us denote by gab and g ab the following quantities
gab = ea eb ,
g ab = ea eb .
Note that
g = gab ea eb
forms a symmetric positive definite second-rank tensor called the metric tensor. It is easy to see that
ea = g ab eb ,
ea = gab eb .
22
CHAPTER 2. PRELIMINARIES
of the same tensor is defined similarly. For example, the trace of a second
rank tensor t is the scalar obtained by
trt = taa .
Gradient of tensors. Let us consider a tensor field t : U 7 Tqp (V) defined
on an open subset U of E. The tensor field t is said to be of class C 1 if there
p
is a tensor field t : U 7 Tq+1
(V) such that
t(x + v) = t(x) + (t(x))v + (x, v),
where
x U, v V,
1
(x, v) = 0
|v|0 |v|
lim
23
index to denote the co-ordinate expression for the gradient. We also denote
by ua;b the following expression
ua;b = g bc ua;c .
The reader can find many useful techniques of the tensor calculus in [40].
Gauss theorem. Given a smooth tensor field t, we can obtain a new tensor
field by contracting the last contravariant and covariant indices of t. This
operation is called the divergence of t and the result is denoted by divt.
As an example let us consider the divergence of a second rank tensor field
t = tab ea eb
divt = tab
;b ea .
What we obtained is a vector field. Let U be a domain in the Euclidean space
E with a regular boundary U, on which a smooth tensor field t is defined.
Then Gauss theorem states
Z
Z
divt dv =
t n da,
(2.7)
U
where dv and da are the volume and area elements in E, respectively, and n
is the unit outward normal vector to U. The proof of this theorem may be
found in any standard texbook on geometry (e.g. [54, 55]).
Problems
1. Find the covariant components gab and the contravariant components
g ab of the metric tensor referred to the
i) spherical co-ordinates defined by
z 1 = x1 sin x2 cos x3 ,
z 2 = x1 sin x2 sin x3 ,
z 3 = x1 cos x2 ,
z 2 = x1 sin x2 ,
z 3 = x3 .
24
2.2
CHAPTER 2. PRELIMINARIES
25
The quantity $ is called the torsion of the curve. Its inverse 1/$ is called
the radius of torsion.
In the same manner we can see that b0 is orthogonal to b. Differentiating
the identities t b = 0 and n b = 0, we have
tb0 = t0 b = 0,
and
nb0 = n0 b = ($b t)b = $.
Therefore we conclude that
b0 = $n.
(2.10)
Equations (2.8), (2.9) and (2.10) are called Frenet formulae expressing the
change of the moving triad of the curve.
Surface co-ordinates. Consider a surface S in the Euclidean space given
by a vector equation of the type
z = r(x1 , x2 ),
(2.11)
or, in components
z i = ri (x ),
i = 1, 2, 3;
= 1, 2.
26
CHAPTER 2. PRELIMINARIES
t1 t2
.
|t1 t2 |
(2.12)
a = t t
(2.13)
where
are called components of the metric tensor of the surface. It is clear that the
form (2.12) is symmetric and positive definite. It is easy to check that the
determinant of the matrix a is equal to
det a = |t1 |2 |t2 |2 sin2 = |t1 t2 |2 ,
where is the angle between t1 and t2 . Therefore the area element of the
surface is given by
p
da = det a dx1 dx2 ,
where denotes the wedge product of two differential forms.
The second fundamental form of a surface. Let us consider the vector
value one-form
dn = n, dx .
We define the second fundamental form of the surface as the scalar product
of dz and dn taken with a minus sign
dzdn = t n, dx dx = b dx dx .
(2.14)
27
dzdn
b dx dx
=
.
ds2
a dx dx
K = 1 2 =
det b
det a
are called the mean and the Gaussian curvature of the surface, respectively.
Intrinsic geometry of a surface. Let us introduce the tangent space in
each point of the surface. It has the structure of the two-dimensional vector
space. The basis vectors of this space are denoted = . In this tangent
space we introduce surface vectors and tensors in a similar manner as in the
three-dimensional case. In particular, the metric tensor is defined by
a = a ,
where are the dual basis vectors. Using the metrics a and its inverse
a we can define the operations of raising and lowering of indices for surface
vectors and tensors. We also define an operation of covariant derivative
such that its associated parallel translation of vectors along a curve on the
surface preserves lengths and angles between them. Let u = u be a vector
field on the surface, then it can be shown that
u ) ,
u = u; = (u, +
where
are the Christoffel symbols of the surface connection
= a (a, + a, a, ).
2
28
CHAPTER 2. PRELIMINARIES
We use the semicolon preceding Greek indices to denote the co-ordinate expression for the covariant derivatives on the surface.
In general, the intrinsic geometry of the surface is non-Euclidean. For
example, the second covariant derivatives are not commutative. Let u be a
u .
u; u; = R.
The contraction R = R.
is called the Ricci curvature. It can be shown
that R = 2K.
Given a vector field u defined on a surface S bounded by a smooth closed
curve S, and suppose that the field u is regular so that divu exists. Then
the surface divergence theorem states
Z
Z
divu da =
u ds,
S
where ds is the length element in E and is the surface unit outward normal
vector to the boundary S. In component form this formula reads
Z
Z
u; da =
u ds.
S
Problems
1. Given a curve
z = r(t),
t [0, a].
dt1 .
x(t) =
dt1 dt1
0
2. Find the curvature and torsion of the spiral
z 1 = r cos t,
z 2 = r sin t,
t, =
t + b n.
z 3 = at,
29
2.3
1
u .
R2
Kinematics. Linear elasticity, discovered by Navier, Cauchy and Lame, distinguishes itself by its rich mathematical structures in spite of the simplicity
of its underlying basic principles. In this section we summarize briefly the
main concepts and properties of elastodynamics. Let B E be a domain occupied by a linear elastic body in its stress-free undeformed state. A motion
of the body is defined by a continuously differentiable vector field w(z, t)
called the displacement field that depends on time t as well. The relative
displacements of different material points yield the strain inside the body,
which is described by the following symmetric second-rank tensor field
1
= (w + (w)T ),
2
called the strain field, where the superimposed index T denotes the transpose
of a second-rank tensor. Referring to the cartesian co-ordinate system with
the basis {ii } the components of the strain field are given by
1
ij = (wi,j + wj,i ) = w(i,j) ,
2
where the parentheses in subscripts denote the symmetrization operation.
Referring to the curvilinear co-ordinate system {xa } with the basis {ea } we
have
1 i
ab = (z,a
wi,b + z,bi wi,a ) = w(a;b) .
(2.15)
2
30
CHAPTER 2. PRELIMINARIES
v = w,
a = w,
(2.16)
T = .
Thus, according to the last equation the stress field must be symmetric.
Hookes law. The generalized Hookes law states that the stress tensor
at any point of a body is proportional to the strain tensor at the same
point
(z) = C(z):(z).
(2.17)
The fourth-rank tensor field C(z) is called the tensor field of elastic moduli. When C(z) does not depend on z, we call the body homogeneous. If
not otherwise stated, we shall consider in the following homogeneous elastic
bodies.
We further assume that there exists a quadratic form W () such that
equation (2.17) can be presented in the following way
=
where
W
,
1
1
W = : C : = ab C abcd cd
2
2
(2.18)
(2.19)
31
corresponds to the strain energy (per unit volume) of the elastic body. We
require that
1
ab C abcd cd aab ab ,
2
a>0
(2.20)
(2.21)
on Ss .
(2.23)
32
CHAPTER 2. PRELIMINARIES
(2.25)
(2.26)
C abcd wc;d nb = 0 on Ss .
(2.27)
The system of equations (2.25) and boundary conditions (2.26) and (2.27)
composes a well-posed eigenvalue problem.
Hamiltons variational principle. Let us introduce the action functional
of a linear elastic body as follows:
Z t1 Z
Z
I[w] =
(T W + b w) dv +
t w da dt,
(2.28)
t0
Ss
T = w
2
(2.29)
W the strain energy density given by (2.19). This action functional is defined
on the space of admissible continuously differentiable displacement fields satisfying the kinematical boundary condition (2.22). We require also that w is
given at t = t0 and t = t1
w|t=t0 = w0 ,
5
w|t=t1 = w1 .
In all equations with complex numbers we should take only their real part.
33
is
Hamiltons variational principle6 states that the true displacement field w
the stationary point of the action functional (2.28)
I = 0.
(2.30)
We now show that all the equations of linear elastodynamics can be derived
from (2.30). Indeed, calculating the variation of (2.28) we have
Z
Z t1 Z
w
:w + bw) dv +
(w
tw da dt = 0.
I =
B
t0
Ss
The formulae for T and W as well as the symmetry of have been used in
deriving this equation. We transform it further with the help of integration by
parts using Gauss theorem, the constraint (2.22) and the vanishing variations
of w at t0 and t1 to
Z t1 Z
Z
+ div + b)w dv +
(t n)w da dt = 0.
I =
(w
t0
Ss
(2.31)
Hamiltons principle requires that the displacements are given at t0 and t1 . Clearly,
this does not lead to the formulation of the initial conditions of the type (2.24). Alternative
variational formulations leading to the initial boundary-value problem can be found in [19].
34
CHAPTER 2. PRELIMINARIES
(2.32)
in the vector function space. Integrating the first term of (2.32) by parts and
using the homogeneous boundary conditions (2.26) and (2.27) one can easily
check that
Z
C abcd u(a;b) u(c;d) dv 0.
hLu, ui =
B
From here the non-negativeness of the eigenvalues follows. Those eigenfunctions corresponding to the zero eigenvalue belong to the kernel of the
operator L. Note that for traction-free boundary conditions translations and
small rotations are such eigenfunctions.
Consider two eigenfunctions u1 , u2 corresponding to two different eigenvalues 1 6= 2 . Then u1 , u2 are orthogonal in the following sense
hu1 , u2 i = 0,
hLu1 , u2 i = 0.
(2.33)
lim n = +,
For instance, the body is compact and the operator L is positive definite.
(2.34)
35
36
CHAPTER 2. PRELIMINARIES
3. Show that the strain energy of an isotropic elastic body is positive
definite if and only if the following inequalities hold true:
2
+ > 0,
3
> 0,
Note that for real isotropic elastic materials 0 < < 0.5.
4. Show that there are two velocities of propagation for plane waves in
infinite isotropic elastic media, given by
s
r
+ 2
cd =
and cs =
,
2.4
Kinematics. Piezoelectric crystals and ceramics are materials whose behaviour clearly demonstrates the coupling between mechanical and electric
fields. Therefore piezoelectric shells and rods are widely used in acoustics as
generators or detectors of vibrations [36]. We present here basic equations of
the dynamic theory of piezoelectricity.
Let B E be a domain occupied by a linear piezoelectric body in its
stress-free undeformed state. A motion of the body is completely determined
by two fields, namely, the vector field w(z, t) called the displacement field,
and the scalar field (z, t) called the electric potential. We assume that these
37
v = w,
a = w,
where the dot denotes the partial derivative with respect to t. The electric
potential depends on time as well, but its time rates do not enter the
equations of motion of piezoelectric bodies, as we shall see below.
Balance equations. As far as the mechanical balance equations are concerned, we require the balance equations of momentum and moment of momentum
= div,
w
(2.35)
= ,
to hold everywhere inside the domain B (we assume from the beginning that
the body force vanishes).
As we shall be concerned with vibrations of non-conducting piezoelectric
bodies at frequencies far below optical frequencies, the conduction current
and rate of change of magnetic induction may be neglected in the Maxwell
equations [39], so we can reduce the latter to the equation of electrostatics
divD = 0,
(2.36)
(2.37)
They describe the well-known coupling between the mechanical and electric
fields. Here cE is the fourth-rank tensor of elastic constants, e the third-rank
38
CHAPTER 2. PRELIMINARIES
Da = eabc bc + ab
S Eb .
We assume that the constitutive equation (2.37) can also be derived from
the so-called electric enthalpy W (, E) according to:
=
W
,
D=
W
,
E
(2.38)
where
1
1
W (, E) = : cE : E e: ES E.
(2.39)
2
2
The components of the tensors cE , e, and S satisfy the following symmetry properties
cabcd
= cbacd
= cabdc
= ccdab
E
E
E
E ,
ecab = ecba ,
ba
ab
S = S .
22
2
33
3
23,32
4
31,13
5
12,21
6
The subscript E in cE indicates elastic stiffnesses at constant electric field, and the
subscript S in S denotes dielectric permittivities at constant strain.
39
Sk Ss = B.
on Ss .
(2.41)
(2.42)
t=t0 = v0 .
w|
(2.44)
The system of equations (2.35), (2.36), (2.37), boundary conditions (2.40)(2.43) and initial conditions (2.44) becomes well-posed and can be used to
determine the fields w and . When the piezoelectric constants e vanish, the
mechanical and electrical problems are uncoupled, and the former reduces
simply to the anisotropic elasticity. Note also that the dynamic equations
of piezoelectricity are not of the hyperbolic type. If the piezoelectric constants e vanish, then the equations for w are hyperbolic, while that for
is elliptic. Physically, this means that the velocity of propagation of electric
9
40
CHAPTER 2. PRELIMINARIES
disturbances is much larger than that of the mechanical nature, so that the
former is set equal to infinity.
Variational principle. The action functional of a piezoelectric body is
defined as follows:
Z t1 Z
(T W ) dv dt,
(2.45)
I[w, ] =
t0
T = w
2
(2.46)
w|t=t1 = w1 .
Now the variational principle of piezoelectricity states that among all the
and electric potential
admissible fields (w, ) the true displacement field w
field make the action functional (2.45) stationary
I = 0.
(2.47)
From this variational principle one can derive all the equations of linear
piezoelectricity in the same manner as was shown in the preceding section
for linear elasticity. The variational principle (2.47) will be used in the subsequent chapters to derive the equations of vibrations of piezoelectric shells
and rods.
It is interesting to note that the electric enthalpy W from (2.39) is not a
positive definite quadratic form. If we apply Legendre transformation [13,62]
to W (, E) with respect to the variable E, we obtain the so-called internal
energy density
U (, D) = max[D E + W (, E)].
E
41
energy density U (, D)
U
= cD : D h,
U
= h : + S D.
E=
D
=
(2.48)
D n = 0 on Sd ,
t0
(i)
i=1
Se
stationary.
Let us introduce two other quadratic forms, G(, E) and F (, D), by
applying the Legendre transformation to U (, D) in all variables and with
respect to , correspondingly
G(, E) = max[: + E D U (, D)],
,D
F (, D) = max[: U (, D)].
(2.49)
(2.50)
Following [36] we call G(, E) the complementary energy density (or Gibbs
function). Similar to W (, E), the quadratic form F (, D) is not positive
definite and is given by
1
1
F (, D) = : sD : D g : + D T D.
2
2
(2.51)
42
CHAPTER 2. PRELIMINARIES
w(x, t) = w(x)e
,
it
(x, t) = (x)e
;bab + 2 w a = 0,
a = 0,
D
;a
Ea = ;a ,
= cabcd cd ecab Ec ,
ab = w(a;b) ,
ab
E
a
D = eabc bc + ab
S Eb .
(2.52)
We also assume that the values of the electric potential on the electrodes are
harmonic functions of time
(i) (t) = (i) eit
on Se(i) , i = 1, . . . , n.
ab nb = 0 on Ss ,
a na = 0 on Sd ,
D
= (i)
(2.53)
on Se(i) , i = 1, . . . , n.
Equations (2.52) and (2.53) compose a boundary-value problem for the determination of w a and .
For this boundary-value problem the following
a make the
variational principle holds true: the actual functions w a and D
functional
Z
Z
n
X
1 2 a
a
a na da
(i)
D
[ w wa U (ab , D )] dv
(i)
2
Se
B
i=1
a satisfying the constraints
stationary among w a satisfying (2.53)1 and D
a
;a
= 0,
D
a na = 0 on Sd .
D
(2.54)
We now define a mechanical eigenfrequency m under short-circuit conditions as an eigenvalue of the problem (2.52),(2.53) with
(i) = 0 on Se(i) , i = 1, . . . , n.
43
Se
Se
Integrating by parts and making use of the homogeneous boundary conditions, we reduce this to
Z
2
a ) + m
[2U (ab , D
w a wa ] dv = 0.
B
44
CHAPTER 2. PRELIMINARIES
1. Derive the balance equation of energy for piezoelectric bodies
d
dt
Z
(T + U ) dv =
B
n
X
i=1
Z
(i)
da.
Dn
(i)
S
2.5
Variational-asymptotic method
45
applied, the variational-asymptotic method always leads to the full agreement of the results. But it has a number of advantages compared with the
traditional asymptotic analysis of the differential equations. First of all, one
has to proceed with the asymptotic analysis for only one function, namely
the Lagrangian of the functional, instead of a system of differential equations. Thus, neglecting a small term in the Lagrangian means neglecting
terms in several differential equations, which are not always easy to recognize as small ones. Next, the approximate equations obtained by applying
the variational-asymptotic analysis of functionals always have the variational
structure, which is not necessarily the case for other asymptotic methods.
Thus, it is easier to prove the correctness of approximate equations obtained
by the variational-asymptotic method, as well as to modify them (for example
to provide short wave extrapolations) if needed.
Variational-asymptotic procedure. Let I[u, ] be a functional that depends on a small parameter . This functional is defined on a set M in some
function space. Assume that the functional I[u, ] has a stationary point
denoted by u . The latter depends on as well; that is why we attach the
index to u. Assume that u approaches an element u0 M in the asymptotic sense when 0. The questions arise: can we construct a functional
whose stationary point is u0 ? How to determine the refined functional, whose
stationary point approximates u with the given accuracy?
It is clear that the answers to these questions depend on the asymptotic
analysis of small terms in the given functional. We investigate first the
functional obtained by neglecting formally all small terms in I[u, ], that is,
the functional I0 [u] = I[u, 0]. Let M0 be a set of stationary points of the
functional I0 [u]. We can then express an arbitrary element u M as a
sum u = u0 + u? , where u0 M0 , u? M? . Fixing u0 and assuming that
u? is small in the asymptotic sense, we keep in I[u0 + u? , ] the principal
terms involving u? and neglect all other terms which are small. We then
obtain a functional I1 [u0 , u? , ]. Now we can define stationary points u? of
the functional I1 [u0 , u? , ]; these depend on u0 .
Assume that u? is uniquely determined by u0 : u? = u? (u0 , ). We continue
the variational-asymptotic procedure by assuming that u = u0 + u? (u0 , ) +
u?? , where u0 M0 , u?? M?? and u?? is smaller than u? in the asymptotic sense. Keeping principal terms involving u?? in the functional, we can
determine u?? in exactly the same manner as before. We can continue this
procedure as long as it is required.
Let us consider the functionals I[u0 , ] and I[u0 +u? (u0 , ), ]; both are defined on M0 . When the difference between their stationary points turns out
to be small in the asymptotic sense, then one can expect that the stationary
46
CHAPTER 2. PRELIMINARIES
47
x1 ,x2 [a,b]
48
CHAPTER 2. PRELIMINARIES
(2.60)
49
Among all functions satisfying the constraints (2.60) the true transverse displacement of the central line of the beam is the minimizer of the functional
(2.59).
Timoshenko proposed a refined theory of beams, in which the bending of
a beam is described by two functions, namely the transverse displacement
of its central line u(x) and the rotation of its cross section (x). The latter
corresponds to the angle between the cross sections in the deformed and
initial states. The energy of the Timoshenko beam is given by
Z
1 L
[Eh4 ( 0 )2 + Gh2 ( + u0 )2 ] dx,
(2.61)
I[u, ] =
2 0
where G is a positive constant that depends on the elastic moduli and the
geometry of the cross section. We also assume the following kinematical
boundary conditions at the ends of the beam:
u = 0, = 0 at x = 0,
u = uL , = L at x = L.
(2.62)
Among all functions satisfying the constraints (2.62) the true functions u and
minimize the functional (2.61).
Now we want to show that the Bernoulli-Euler theory of beams can be
regarded as the first approximation (as h 0) of the Timoshenko theory of
beams.
We shall assume that the boundary data uL and L as well as the constants E and G do not change their values as h 0. We also assume that the
minimizer does not considerably change its values on the distance h so that,
in particular, h2 02 2 . We keep the principal terms in the functional
(2.61). Since Eh4 02 Gh2 2 , the principal terms are
Z
1 L
I0 [u, ] =
Gh2 ( + u0 )2 dx.
2 0
We minimize the functional I0 [u, ] taking into account the constraints (2.62).
The minimum of this functional is equal to zero and is attained at functions
u, , which are related to each other by
= u0 .
(2.63)
50
CHAPTER 2. PRELIMINARIES
the cross sections remain perpendicular to the deformed central line of the
beam.
If the conditions of the variational-asymptotic scheme are fulfilled (that
means u? is uniquely determined from u0 and the difference I[u0 , ] I[u0 +
u? (u0 , ), ] is small in the asymptotic sense), I[u, ] defined on M0 turns
out to be the first approximation of the functional (2.61). Because on M0
we have I[u, ] = IB [u], the variational problem reduces to the calculation
of u(x) according to the Bernoulli-Euler theory of beams.
Let us check these conditions. For convenience of calculation, let us introduce a new unknown function defined by = + u0 . It has the meaning
of the angle between the deformed cross section and the plane orthogonal to
the deformed central line of the beam. In terms of u and the Timoshenko
energy functional can be rewritten in the form
Z
1 L
[Eh4 (u00 )2 2Eh4 u00 0 + Eh4 02 + Gh2 2 ] dx.
(2.64)
I=
2 0
Fixing u(x) (u(x) is an element of M0 ), we shall determine from u. We
keep in the functional (2.64) the principal terms involving ; they are Gh2 2
and 2Eh4 u00 0 . The term Eh4 02 can be neglected because h2 02 2 .
Thus, we obtain the functional
Z
1 L
(2Eh4 u00 0 + Gh2 2 ) dx.
I1 [u, ] =
2 0
In order to transform this functional we integrate the first term by parts and
use the boundary conditions
= u0
at x = 0,
= L + u0
at x = L.
Eh2 000
u .
G
51
(2.65)
(2.66)
(2.67)
Solutions of the type (2.66) are called harmonic waves, with a being the amplitude, k the wave number, the frequency, and = kx t the phase.
Equation (2.67) is called dispersion relation. Harmonic waves play a fundamental role in the theory of linear differential equations of the type (2.65),
particularly because an arbitrary solution of (2.65) can be presented as superposition of the harmonic waves. The dispersion relation contains all information about equation (2.65); the latter can be uniquely restored from
(2.67).
12
52
CHAPTER 2. PRELIMINARIES
The question arises: what are the analogues of harmonic waves and the
dispersion relation for non-linear differential equations? It turns out that a
generalization of the harmonic waves in the non-linear case is
u = (a, ),
(2.68)
(2.70)
2
,
l
|,t |
2
,
(2.71)
2
,
lL
|,xt |
|x |
,
L
2
,
lT
|,xt |
|t |
,
T
2
,
L
|,tt |
|, | ,
2
,
T
(2.72)
53
u,t = t + | ,t ,
where the vertical bar followed by denotes the derivative with respect to
the fast variable . Because of (2.71) and (2.72) they can be approximately
replaced by
u,x = | ,x , u,t = | ,t .
Keeping in the functional (2.69) the asymptotically principal terms gives
ZZ
(, | ,x , | ,t ) dx dt.
I0 [] =
Let us decompose the domain into the strips bounded by the lines = 2k,
k = 0, 1, 2, . . .. The integral over can be replaced by the sum of the
integrals over the strips
ZZ
X ZZ
dx dt =
(, | ,x , | ,t ) d d,
(2.73)
where is the coordinate along the line = const, and is the Jacobian of
transformation from x, t to , . In the first approximation one can regard
, ,x and ,t in each strip as independent from . Therefore one obtains the
same problem in each strip at the first step of the variational-asymptotic
procedure: find the stationary points of the functional
Z 2
(, | ,x , | ,t ) d
(2.74)
I0 [] =
0
54
CHAPTER 2. PRELIMINARIES
= 0,
a
+
= 0.
x ,x t ,t
(2.76)
It turns out that the equation (2.76)1 is the generalization of the dispersion
relation in the non-linear case. This equation approaches the linear dispersion relation when a 0. The peculiarity of the non-linear version of the
dispersion relation is that it depends on the amplitude of waves.
Whithams method [61] can also be applied for variational problems with
more unknown functions of several variables.
Problems
1. Use the variational-asymptotic method to analyze the behaviour of the
stationary points of the function
f (u, v, ) = u2 2u + 4(u 1)v + 2 v 2 + 22 v
as 0.
2. Determine the characteristic scale of change of the following functions:
i) sin(x/l) on the interval [0, 2], ii) exp(x/l) on the interval [0, ).
3. Derive the equilibrium equations for the Timoshenko beam. By integrating these equations show that the transverse displacement u approaches the solution of the equilibrium equations according to the
Bernoulli-Euler theory of beams as h 0.
4. Use Whithams method to derive the non-linear dispersion relation for
the Euler equation of the functional
ZZ
1
1
I[u] =
[ u 2 c(u0 )2 + f (u)] dx dt.
2
2
Part I
Low-frequency vibrations
55
Chapter 3
Elastic shells
3.1
Two-dimensional equations
58
smaller than the characteristic sizes as well as the radius of curvature of the
middle surface.
Let t = r, and n be the tangents and the unit normal to the middle
surface, respectively. It is well known that the surface is determined uniquely
up to a rigid body motion in the Euclidean space if its first and second
fundamental forms
a = t t ,
= t n, = t, n,
t, =
t + b n,
we obtain
A = u(;) b u,
(3.1)
59
(3.2)
(3.3)
where C
are of the order 1/R of smallness. Let us analyze the measures of
bending introduced by Koiter [23] and Sanders [52]. We can rewrite (3.2) in
the form
B = (nu,( );) n,( u,) .
(3.4)
Here
= nu, = u, + b u ,
(3.5)
60
and b = a b . The raising and lowering of indices of two-dimensional tensors will be done with the help of the surface metrics a and a . We decompose the expression u, t in (3.4) into the symmetric and skew-symmetric
parts
u, t = A + $ ,
where
1
$ = (u, u, ).
2
(3.6)
(3.7)
= (;) + b( $) .
(3.8)
where
One can also choose as the measures of bending of the middle surface,
since the pair A , B can be expressed in terms of A , and vice versa.
If A , B (alternatively, A , ) are known, one can determine the
deformed middle surface uniquely up to a rigid-body motion. Besides, these
measures may be varied independently in the general case. Therefore they
can be referred to as state variables in the theory of linear elastic shells.
Note that while the measures A are dimensionless, B and have the
dimension [L]1 .
Since u depends on t we introduce the following quantities
v = u (velocity),
(acceleration),
a=u
where is the kinetic energy density, the strain energy density, F the
external force, and da the area element. The action functional J[u] is defined
on the space of all admissible displacement fields, where u is assumed to
be continuously twice differentiable and u continuously differentiable. The
kinetic energy density is a quadratic form of u
1
u,
= u
2
(3.10)
61
where is the mass density per unit area. The strain energy density is a
positive definite quadratic form of the measures of extension and bending of
the middle surface, which, in the general case, is given by
, B ),
= (A
or, alternatively,
, ).
= (A
depends on B (or ), the functional feels the change of the
Since
derivative of u at the boundary S. If the edge of the shell is free, then it is
natural to assume that no constraints are imposed on u at the boundary. If
the edge of the shell is clamped, we assume that J[u] is defined on the space
of admissible displacement fields u satisfying the boundary condition
u = 0,
u, = 0 at Sk ,
(3.11)
where denotes the surface vector normal to the curve S. The last condition of (3.11) expresses the fact that the rotation angle of the edge of the
shell vanishes (clamped edge). Finally, if the edge is fixed, then only the
displacements should vanish
u = 0 at Sk .
(3.12)
u|t=t1 = u1 .
Hamiltons variational principle for elastic shells states that the true displace is the stationary point of the action functional (3.9)
ment field u
J = 0.
In order to derive the equations of motion for the shell let us calculate
the variation of the functional (3.9)
Z t1 Z
u
A
B + Fu) da dt.
(3.13)
J =
(
u
A
B
t0
S
We introduce the following symmetric tensors:
,
A
.
=
B
N =
M
(3.14)
62
From equation (3.13) one can see that N works on the extension of the
middle surface and M on its bending (change of the curvature). Therefore
it is natural to call N (symmetric) membrane stresses, and M bending
moments.
The variations of A and B are equal to
A = r,( u,) ,
B = nu; .
(3.15)
We now substitute (3.14) and (3.15) into (3.13). Assuming the regularity
of N and M and integrating (3.13) by parts with the help of Gauss
theorem, we obtain for the variations vanishing at the boundary S
t1
J =
t0
+ (N r, ); (M n); + F]u da dt = 0.
[
u
(3.16)
t1
t0
(3.17)
t1
t0
Z
Ss
{[N r, + (M n); ]u +
(M n)u
s
M nu; } da dt = 0.
63
(M n) = 0,
s
M = 0.
(3.18)
These are the free-edge boundary conditions. For the clamped edge, the
kinematical boundary conditions (3.11) should be fulfilled. If the edge is
fixed, (3.12) and (3.18)2 are the boundary conditions at Sk . We assume the
following initial conditions at t = t0 :
u|t=t0 = u0 ,
t=t0 = v0 .
u|
We can also project the equation of motion (3.16) and the boundary conditions (3.18) onto the tangent and normal directions. Applying Weingartens
formula to (3.16) we get
= (T t M;
u
n); + F,
(3.19)
u = T b M;
+ F,
(3.20)
and
where
F = F t ,
F = F n.
64
M;
+ (M ) = 0,
s
M = 0.
(3.21)
,
A
=
.
n =
(3.23)
= (n b m) )A + m B .
Thus, the derivation of the equations of motion and the boundary conditions
remains exactly the same, if we set
(
N = n b m) ,
M = m .
In terms of n and m the equations of motion read
u = t
; + b m; + F ,
u = n b m
; + F,
(3.24)
(3.25)
t = n + b m] .
We use square brackets between indices to denote the operation of alternation: T[] = 1/2(T T ). In the same manner, the following free-edge
boundary conditions at Ss are obtained
t + b m = 0,
m
(m ) = 0,
; +
s
m = 0.
(3.26)
65
h3
[( )2 + ],
12
(3.27)
.
+ 2
On the basis of equations (3.23) and (3.27), relations between the membrane
stresses and bending moments from one side, and the measures of extension
and bending, from the other side, may be established
n = 2h(A a + A ),
h3
m = ( a + ).
6
(3.28)
These equations are the constitutive equations for the two-dimensional theory
of isotropic elastic shells.
Let F (A) denote the following scalar function of the symmetric tensor
argument:
F (A) = h[(A )2 + A A ].
Then the strain energy density (3.27) can be written in the compact form
= F (A) +
1
F (h).
12
(3.29)
1
F (hB).
12
(3.30)
According to (3.7) the two formulae (3.29) and (3.30) differ from each other
by cross terms of the type h3 bAB. These terms are of the order h/R
compared with unity, since, due to the Cauchy-Schwarz inequality
h3 bAB h2 b(A2 + h2 B 2 ).
66
Therefore, (3.29) and (3.30) are asymptotically equivalent within the firstorder approximation. The proof remains exactly the same for other measures
of bending from (3.3)
Problems
1. Given a spherical shell, whose undeformed middle surface is described
by
z 1 = R sin cos , z 2 = R sin sin , z 3 = R cos .
Let the radial displacement of the shell be u = constant. Find the
measures of extension and bending of the shell.
3.2
Asymptotic analysis
Geometry of a shell as three-dimensional body. The shell geometry can conveniently be described in terms of the following curvilinear coordinates x1 , x2 , x3 x (sometimes we drop the index 3) in a domain it
occupies in the stress-free undeformed state
z i (xa ) = ri (x ) + xni (x ),
(3.31)
where z i = ri (x ) are the equations of the middle surface, and ni (x ) are the
cartesian components of the normal vector n to this surface. The co-ordinates
x take values in a domain S R2 , while x [h/2, h/2].
By taking the partial derivatives of (3.31) with respect to x it is easy to
see that the basis vectors e associated with the co-ordinates x are given
by
e = z, = r, + xn, = t ,
(3.32)
67
g33 = 1,
(3.33)
where c are the components of the third quadratic form of the middle
surface. The latter can be expressed through a and b according to
c = Ka + 2Hb ,
with H and K the mean and Gaussian curvature, respectively. From (3.33)
one can calculate the determinant of the metric tensor
g = det gab = a(det )2 ,
where a = det a . In the principal coordinates of b we have
det = (1 xb11 )(1 xb22 ) = 1 2Hx + Kx2 .
Therefore
r
=
g
= 1 2Hx + Kx2 .
a
(3.34)
xC + (1 2Hx)D = 0,
68
1
[(1 2Hx) + xb ].
(3.35)
g =
g 3
(3.36)
b b ,
b; b; 2 .
R
R
We assume that
h
1.
R
(3.37)
h/2
w = ni wi .
The quadratic form W corresponds to the strain energy density. If the shell
is made of a homogeneous, isotropic and elastic material, then
1
W = [(g ab ab )2 + 2g ac g bd ab cd ]
2
1
= [(g + 33 )2 + 2g g + 4g 3 3 + 2233 ].
2
69
where the comma preceding x denotes the partial derivative with respect to
the co-ordinate x. In terms of w , w we can rewrite these equations in the
form
= w(;) b w xb( w;) + xc w,
23 = w,x + w, + b w xb w,x ,
33 = w,x .
(3.39)
x
,
h
[1/2, 1/2].
(3.40)
The vertical bar followed by denotes the partial derivative with respect
to (and not with respect to x ). Thus, the parameter h enters the action
functional (3.38) through the components of the strain tensor ab .
Among terms of W (ab ) the derivatives w| /h and w| /h in 3 and 33
are the main ones in the asymptotic sense. Therefore it is convenient for the
purpose of asymptotic analysis to single out the components 3 and 33 in
the strain energy. To this end let us decompose the strain energy as follows:
W = W + Wk ,
where
Wk = min W.
3 ,33
70
The parts W and Wk are called transverse and longitudinal strain energy, respectively. The latter does not contain 3 and 33 and coincides with
W when the components of the stresses 3 and 33 vanish. Only the transverse strain energy W depends on 3 and 33 . From the definitions of W
and Wk one easily computes
Wk = [(g )2 + g g ],
1
W = ( + 2)(33 + g )2 + 2g 3 3 ,
2
where = /( + 2).
The first step of the variational-asymptotic procedure. Let us assume
that
h
1,
(3.41)
cs
where is the characteristic scale of change of the function wi in time (see
Section 2.5) and cs the velocity of shear waves. This means that we consider
here only low-frequency vibrations of the shell.
We now keep the formally principal terms in the functional (3.38). Due to
(3.41) the kinetic energy density can be neglected. In the strain energy density only those quadratic terms containing 3 and 33 should be maintained,
where
1
w| ,
h
1
w| .
2h
33
3
One can put g a and 1 as well. Thus, at the first step of the
variational-asymptotic procedure we obtain the following functional
h
I0 =
2
t1
Z Z
1/2
[( + 2)
t0
1/2
1
1
(w| )2 + 2 a w| w| ] d da dt.
2
h
h
w = u(x , t),
(3.42)
where u (x , t) and u(x , t) are arbitrary functions of x and t. Thus, the set
M0 of the variational-asymptotic procedure consists of displacement fields
of the form (3.42).
71
(3.43)
hvi = 0.
(3.44)
In this chapter the angle brackets h.i denote the integration over within the
interval [1/2, 1/2]. According to (3.44), u , u describe the mean displacements of the shell.
We substitute (3.43) again into the action functional (3.38) and neglect
all small terms containing v , v. Due to the assumption (3.41) the time rates
of v , v can be removed in the kinetic energy. In the strain energy we can
approximate the strain tensor by
1
33 = v| ,
h
1
23 v| + u, b u ,
h
A .
Replacing g a and 1 we obtain the following functional:
Z Z
1
h t1
I1 =
h( + 2)( v| + a A )2
2 t0 S
h
1
1
+a ( v| + )( v| + )ida dt,
h
h
where is given by the formula (3.5). It is easy to see that the functional
I1 is negative definite; its maximum is equal to zero and attained at the
following fields:
v = h , v = hA .
Thus, the terms v , v of the asymptotic expansion (3.43) are determined
uniquely through the functions u , u, and the set N of the variationalasymptotic scheme coincides with the set M0 consisting of the displacement
fields u (x , t), u(x , t).
The second step of the variational-asymptotic procedure. At this
step we seek the stationary points of the functional (3.38) in the form
w = u (x , t) h (x , t) + hy (x , , t),
w = u(x , t) hA (x , t) + hy(x , , t),
(3.45)
72
hyi = 0.
(3.46)
where
A = max
S
1
max |y| |,
l
q
A ,
A
,
l
h |B, |
max |y, |
B
,
l
1
max |y| |,
l
(3.47)
q
B = h max B B .
S
This characteristic lengthscale is a function of x and will be called characteristic wavelength (in the longitudinal directions) for short. We suppose
that
h
1
l
in all points of the shell far from its edge.
Let us substitute (3.45) into the action functional (3.38). Due to (3.41)
the time rates of y , y can be neglected in the kinetic energy. In order to
estimate terms in the strain energy let us now calculate the components of
the strain tensor according to (3.40). It is easy to see that
33 =
1
w| = A + y| .
h
(3.48)
73
(3.49)
We now turn to :
= u(;) h(;) + hy(;) b u
+ hb A hb y hb( u;) + h2 2 b( ;)
h2 b( y;) + hc u h2 2 c A + h2 c y.
By the same reasoning the underlined terms in this formula give small contributions to the strain energy. Neglecting them and remembering the definitions of A and B we get
= A hB .
(3.50)
According to the equations (3.48), (3.49) and (3.50) the partial derivatives
of y , y with respect to x do not enter the action functional. The functions
y , y do not enter the longitudinal energy. Putting g a and 1 we
obtain
Z Z
h t1
h( + 2)(y| hB )2 + a y| y| i da dt.
I2 =
2 t0 S
Considering this functional under the constraints (3.46), we see that its maximum is equal to zero and is attained at the functions
1
1
y = hB ( 2 ),
2
12
y = 0.
One can continue the iteration procedure, but for the first-order approximation this is not needed.
Average Lagrangian. According to the variational-asymptotic method we
represent the displacement field in the form
w = u (x , t) h ,
1
w = u(x , t) hA + h2 B ( 2 1/12),
2
(3.51)
74
+ a (u h )(u h )i.
Here is approximated by 1. The cross-terms between u,
u and A , B ,
vanish due to the constraints (3.44) and (3.46). The terms involving A , B
and are small compared with those in the strain energy, due to the assumption (3.41). Neglecting these small terms, we end up with the following
expression:
1
= h(u 2 + a u u ).
2
This is exactly the formula (3.10), with = h.
We turn to the case when tractions ti on the face surfaces S (at =
1/2) do not vanish. Since the deformation of the shell is of the order
= max(ab ab )1/2 of smallness, the tractions cannot be arbitrary. The order
75
of smallness of the latter can be estimated from the condition that the work
done by ti should be of the same order as the strain energy, which is 2 h|S|.
The displacements wi should not depend on h when h tends to zero. From
the dimensional analysis it follows that wi (l + R). Therefore ti should
be of the order
h
h
(3.52)
ti = O(( + )).
l
R
We calculate the work done by the tractions ti acting on the face surfaces
Z
Z
Z
i
i
t wi da +
t wi da = [(t w + tw)|=1/2
S+
(3.53)
where t , t are the components of the tractions referred to the basis {t , n}.
Within the first approximation we can replace in (3.53) by 1. Substituting
(3.51) into (3.53) and using (3.52) to neglect all small terms, we obtain the
following expression for the work done by the surface tractions
Z
({t }u + {t}u) da,
S
where
{t } = t |=1/2 + t |=1/2 ,
Thus, F and F in (3.19) and (3.20) are equal to {t } and {t}, respectively.
Problems
1. Prove the following asymptotic formula
g = a + 2hb + 3h2 2 c + o(h2 /R2 )a .
2. By varying the action functional (3.38), show that the exact 3-D equations of motion for a shell referred to the co-ordinates x , x read
w = ; + ( ),x b ,
w = ; + b + ,x ,
where = , = 3 , = 33 .
3. Find out the order of smallness of the underlined terms in the formulae
for 3 and .
4. Provide the similar asymptotic analysis for elastic plates. Show that
Kirchhoffs hypotheses are fulfilled for bent plates.
76
3.3
h3
( + ).
6
Substituting the formulae for m and into the equation (3.54) we obtain
the equation of flexural waves in the form
h
u + D2 2 u = 0,
(3.55)
Eh3
h3
=
6
12(1 2 )
+1 2 2
u = 0.
6
(3.57)
Because the plate is infinite, we speak of wave propagation rather than of its vibrations.
77
Here and in the sequel the vertical bar preceding indices denotes the derivatives with respect to the corresponding dimensionless variables and, for simplicity, we use the same 2 to denote the dimensionless Laplace operator.
Consider a harmonic plane flexural wave (F-wave) of the form
u = aei(
1 )
(3.58)
where and are the dimensionless wave number and frequency, respectively, the dimensionless wavelength being related to by = 2/. The
appearance of u at successive instants of time would be as shown in Figure
3.3. The propagation velocity of the wave, called phase velocity, is equal to
1 )
1 )
u| = a2 ei(
1 )
+1 4
.
6
(3.59)
The graphs of versus for various Poissons ratios are plotted in Figure
3.4. Since the dispersion curves are symmetric about the and axis, only
their portions in the first quadrant of the (, )-plane are shown.
The dimensionless phase velocity of the F-waves is given by
r
+1
cp = =
.
(3.60)
78
1
1 + ( + ) 1 ( + )
cos
,
2
2
and after neglecting and in the first factor as small compared with
and , we obtain
u = 2a cos( 1 ) cos
1
.
2
Figure 3.5 is a sketch of u for some fixed time, say 1 , which represents a wave
train of wavelength 2/ whose amplitude varies periodically and slowly with
1 over a long wavelength of g = 4/. The amplitude of the wave train
moves with the velocity
cg =
(3.61)
79
d
.
d
(3.62)
(3.63)
(3.64)
80
Let us seek the solutions of (3.64) in form of the harmonic plane waves
propagating in the direction 1
u = a ei(
1 )
Substituting this into (3.64) and doing the same calculations as in the previous case, we can show that there are two possible types of waves corresponding to
u1 = a1 ei(
u2 = a2 e
1 )
i( 1 )
u2 = 0 L-wave,
u1 = 0 SS-wave.
(3.65)
(3.66)
Thus, in both cases the phase velocities do not depend on the wave numbers.
Therefore, the longitudinal waves in plates are non-dispersive. The dispersion
curves of (3.65) for different Poissons ratios are presented in Figure 3.6
81
(3.68)
(3.69)
where = /.
We look for solutions of the boundary-value problem (3.68) and (3.69) in
the form
wi = fi ()ei(
1 )
(3.70)
Substituting (3.70) into the equations of motion (3.68) and boundary conditions (3.69), one can obtain two uncoupled systems.
For waves of the type
w2 = f2 ()ei(
1 )
w1 = w3 = 0 S-waves,
82
we have
f200 + p22 f2 = 0,
f20 |=1/2 = 0,
(3.71)
1 )
w3 = f3 ()ei(
1 )
w2 = 0.
+ 2
=+2=
,
r
e=
=
+ 2
(3.72)
1 2
.
2 2
(3.73)
The eigenvalue problem (3.72) and (3.73) admits the symmetric and antisymmetric solutions of the type
f1 () even, f3 () odd (L-waves),
f1 () odd, f3 () even (F-waves).
The characteristic equation of the system (3.72)
2
s + 2 e2 2
(1 + )is
det
=0
(1 + )is
e2 s2 + 2 2
83
e2 2 2 ,
p2 = 2 2 .
p1 =
(3.74)
where a and b are still unknown constants. The four boundary conditions on
= 1/2 reduce to two equations in a and b
p1
p2
(2 p22 )a cos + 2p2 b cos
= 0,
2
2
(3.75)
p1
p2
2p1 a sin + (2 p22 )b sin
= 0.
2
2
Equating the determinant to zero, we obtain from (3.75) the dispersion relation
4p1 p2 2
tan(p2 /2)
= 2
.
tan(p1 /2)
( p22 )2
(3.76)
(3.77)
(3.79)
84
= 2
.
d
( p22 ) sin(p1 /2)
2p1 cos(p1 /2)
Both equations (3.76) and (3.79) can be combined in a single equation
(
1
+1 L-waves,
tan(p2 /2)
4p1 p2 2
=
,
(3.80)
2 2
2
tan(p1 /2)
( p2 )
1 F-waves.
85
Figure 3.9: Dispersion curves of the lowest branch of F-waves: a) 2-D theory:
dashed line and b) 3-D theory: solid line.
Retaining the first two terms, we reduce the dispersion relation to
q2 (1 13 (q2 /2)2 )
(2 + q22 )2
=
.
4q1 q2 2
q1 (1 13 (q1 /2)2 )
Put this in the form
1
1
(2 q22 )2 = 2 q24 q12 (2 + q22 )2 .
3
12
Expanding this and keeping the terms according to Newtons rule, we obtain
the asymptotic formula
2 =
+1 4
+ O(6 ).
6
(3.81)
This result agrees with the relation (3.59) of the two-dimensional plate theory
for long waves. The dispersion curves of the first branch of F-waves according
to the two- and three-dimensional theories for = 0.31 are shown in Figure
3.9. One can see that the difference between them becomes remarkable for
> 0.5. When the exact dispersion curve approaches asymptotically
the straight line = (cr /cs ) from below, where cr is the Rayleigh wave
velocity.
In the region II p1 = iq1 , and we obtain the equation
1
tan(p2 /2)
4q1 p2 2
=
.
tanh(q1 /2)
(2 p22 )2
86
Figure 3.10: Dispersion curves of the lowest branch of L-waves: a) 2-D theory:
dashed line and b) 3-D theory: solid line.
The lowest F-branch has no roots in this region. For the lowest L-branch we
replace tan x x and tanh x x giving
p2
4q1 p2 2
,
= 2
q1
( p22 )2
or (2 p22 )2 = 42 q12 .
(3.82)
(3.83)
This is asymptotically equivalent to the the relation (3.65) for long waves. We
show in Figure 3.10 the dispersion curves of the lowest L-branch computed
according to the two- and three-dimensional theories for = 0.31. The good
agreement between these dispersion curves is observed up to the value = 1.
However, the exact curve approaches the line = (cr /cs ) from above as
.
Problems
1. Find the axisymmetric solution to the equation (3.57) of flexural vibrations of an infinite plate subject to the following initial condition:
u(r, 0) = 0,
where (r) is the Dirac -function.
u(r,
0) = (r),
87
2. Show that the lowest branches of the dispersion curves of F- and Lwaves according to 3-D theory approach the straight line = (cr /cs )
as .
3. Plot the lowest branches of the dispersion curves according to 3-D theory using Mathematica.
3.4
(3.84)
z
,
r
4 = 2 hr4 /D =
6 2 r4
( + 1)h2
enable one to see more details in the low frequency spectrum. Now we transform (3.84) to
(2 2 4 )
u = (2 + 2 )(2 2 )
u = 0.
(3.85)
(3.86)
1 2 u
2 u 1 u
+
+
.
%2 % % %2 2
88
For u2 = f2 (%)g2 () the same results are obtained for g2 (), while for f2 (%)
the modified Bessels equation holds true
f200
n2
1 0
2
+ f2 ( + 2 )f2 = 0.
%
%
(3.87)
Consider the simplest case of the clamped edge, for which the boundary
conditions
u|%=1 =
u|%=1 = 0
%
(3.88)
89
hold. Substituting (3.87) into (3.88) and equating the determinant to zero,
we obtain the following frequency equation:
Jn ()In0 () In ()Jn0 () = 0.
The three lowest roots nm
table:
m
1
2
3
(3.89)
n=1
4.611
7.799
10.958
n=2
5.906
9.197
12.402
nm =
,
r2
6(1 )
while the corresponding eigenfunctions are given by
(
sin n
Jn (nm )
unm = [Jn (nm %)
In (nm %)]
In (nm )
cos n
A few of the deformed shapes of the plate are shown in Figure 3.11.
Let us turn to the case of the free edge. The displacement u should then
satisfy the boundary conditions (3.26)2,3 . In the polar co-ordinates %, we
have
1
a11 = 1, a22 = %2 , a11 = 1, a22 = 2 ,
%
1
1
2
= (1, 0), = (0, %), 22
= %, 12
= .
%
90
( + 1) 2 u,
6
%
2
3
1 u
h 1 u
(
),
m =
6 % % %
h3
2u
m = (2 u + 2 ).
6
%
m
; =
3 u
2 u
2
u +
]|%=1 = 0,
%
%2 2
2 u
(2 u + 2 )|%=1 = 0.
%
(3.90)
(3.91)
The frequency equation can be expressed by the condition that the determinant of (3.91) vanishes. When n = 0 the frequency equation can be presented
in a simple form
2(1 ) +
I0 ()
J0 ()
0
= 0.
0
J0 ()
I0 ()
(3.92)
n=0
0.0
3.004
6.202
n=1
0.0
4.526
7.735
n=2
2.308
5.938
9.185
The first two zero frequencies correspond to the translation u = a and small
rotation u = a sin of the plate without deformation. The frequency according to 21 is the lowest one that is positive. Two deformed shapes of the
plate for n = 0, m = 2 and n = 2, m = 1 are shown in Figure 3.12.
91
(3.93)
(3.94)
r
= r
(3.95)
(3.96)
where
2 =
2
.
2( + 1)
(3.97)
92
)|%=1 = 0.
% %
(
(3.99)
Thus, the factors cos n and sin n must be chosen differently for and
in order to satisfy these boundary conditions. Substituting (3.98) into (3.99)
and equating the determinant of the linear equations for a, b to zero, we arrive
at
Jn0 ()Jn0 () n2 Jn ()Jn () = 0.
(3.100)
independent of ,
= 0,
independent of .
or
The frequency equations and their roots are given by
J00 () = 0 1 = 3.832, 2 = 7.016, 3 = 10.174 . . . ,
in the former case, and
J00 () = 0 1 = 3.832, 2 = 7.016, 3 = 10.174 . . . ,
in the latter case, where should be calculated from according to (3.97).
The frequency of vibrations is given by
r
.
=
r
For n 6= 0 we have to solve the equations (3.100) which depend on . The
three lowest roots nm for n = 1, 2, 3 and = 0.31 are given in the following
table:
n=1
3.325
5.374
8.472
n=2
5.172
6.915
9.908
93
n=3
6.719
8.511
11.311
Now consider the free edge. First let us exclude the longitudinal translation and small rotation of the plate which correspond to the zero frequencies.
According to (3.26)1 the following conditions should be posed at the boundary % = 1:
(
u| a + u(|) ) = 0.
(3.101)
)|%=1 = 0,
2
%
%
2
2
2
+ 2 2 2 )|%=1 = 0.
(2
%
%
(2 +
(3.102)
Substituting (3.98) into (3.102) and equating the determinant of the linear
equations in a, b to zero, we find
[Jn0 () + (n2 ( + 1)2 )Jn ()][2Jn0 () + ( 2 2n2 )Jn ()]
+ 2n2 [Jn0 () Jn ()][Jn0 () Jn ()] = 0. (3.103)
For n = 0 the frequency equation (3.103) breaks up into two equations.
When = 0 and is independent of we have
(1 )J00 () + J0 () = 0,
(3.104)
which yields
1 = 2.055,
2 = 5.391,
3 = 8.573 . . .
2 = 8.417,
3 = 11.62, . . .
94
n=1
0.0
6.004
6.851
n=2
2.346
7.666
8.832
n=3
3.602
9.062
10.82
Problems
1. Derive the frequency equations of flexural vibrations of a circular plate
fixed at its edge.
2. Determine the lowest frequencies in the above-mentioned problem.
3. Plot the lowest root of the equation (3.104) against Poissons ratio .
3.5
2-D equations of motion. In this section we investigate the wave propagation in a closed circular cylindrical shell of the thickness h and the radius
R. The shell is assumed to be infinite in extent along its axis. We denote
by x1 the axial and by x2 = R the circumferential coordinate of its middle
surface, respectively (Figure 3.13). The middle surface of the shell is given
x2
x2
i2 + R cos i3 .
R
R
95
Taking the partial derivatives of z, we find the tangent vectors of the middle
surface
t1 = i1 ,
t2 = cos
x2
x2
i2 sin i3 .
R
R
x2
x2
t1 t2
= sin i2 + cos i3 .
|t1 t2 |
R
R
n,2 =
1
t2 .
R
According to the formulae (2.13) and (2.14), the components of the first and
the second quadratic forms read
a = ,
b11 = b12 = 0,
a = ,
1
b22 = .
R
(3.105)
1
A12 = (u1,2 + u2,1 ),
2
A22 = u2,2 +
u
.
R
2 = u,2
u2
;
R
1
$21 = $12 = (u1,2 u2,1 ).
2
11 = u,11 ,
22 = u,22
12 = u,12
u2,1
1
+
(u1,2 u2,1 ).
2R
4R
96
(3.106)
where
t11 = n11 ,
t22 = n22 ,
m12
m12
, t21 = n12
.
t12 = n12 +
2R
2R
The constitutive equations for the membrane stresses and bending moments
are given by
u
n11 = 2h[(u1,1 + u2,2 + ) + u1,1 ],
R
u
u
n22 = 2h[(u1,1 + u2,2 + ) + u2,2 + ],
R
R
1
n12 = 2h (u1,2 + u2,1 ),
2
and
h3
u2,2
[(u,11 + u,22
) + u,11 ],
6
R
h3
u2,2
u2,2
m22 =
[(u,11 + u,22
) + u,22
],
6
R
R
h3
u2,1
1
m12 =
[u,12
+
(u1,2 + u2,1 )].
6
R
4R
Substituting these equations into the equations of motion (3.106), we obtain
m11 =
u,1
) + u1,11 ]
R
1 h3
u2,12
1
+ h(u1,22 + u2,12 ) +
[u,122
+
(u1,22 + u2,12 )],
2R 6
R
4R
h
u1 = 2h[(u1,11 + u2,12 +
1 h3
u2,11
1
[u,112
+
(u1,12 + u2,11 )]
2R 6
R
4R
u,2
u,2
1 h3
u2,11
+ 2h[(u1,12 + u2,22 +
) + (u2,22 +
)]
[u,112
R
R
R 6
R
1
u2,22
u2,22
+
(u1,12 + u2,11 ) + (u,112 + u,222
) + u,222
], (3.107)
4R
R
R
h
u2 = h(u1,12 + u2,11 )
97
u
u
1
h
u = 2h[(u1,1 + u2,2 + ) + u2,2 + ]
R
R
R
3
h
u2,112
[(u,1111 + u,1122
) + u,1111 ]
6
R
h3
u2,112
1
2
[u,1122
+
(u1,122 + u2,112 )]
6
R
4R
u2,222
u2,222
h3
[(u,1122 + u,2222
) + u,2222
].
6
R
R
We non-dimensionalize these equations by introducing the following variables:
r
t
x
=
, =
.
(3.108)
R
R
Then the equations of motion (3.107) can be written in the matrix form as
Lu = 0,
(3.109)
u = u2 ,
u
and L is a matrix differential operator. The latter can be presented as the
sum of two operators
L = L D + ? L M ,
where LD is the differential operator according to the Donnell-Mushtari theory, LM is a modifying operator which alters the Donnell-Mushtari theory
to yield the theory of Koiter-Sanders, and ? is the dimensionless thickness
parameter defined by
? =
h2
.
12R2
2( + 1)12 + 22
(2 + 1)1 2
21
2
(2 + 1)1 2
12 + 2( + 1)22
2( + 1)2
LD =
2
21
2( + 1)2
2( + 1)(1 + ? 4 )
+2
98
43 1 2
1 22
4 2
3
1 2 9 12 + 2( + 1)22 (3 + 2)12 2
4
4
LM =
2( + 1)23
1 22
(3 + 2)12 2
0
2( + 1)23
Dispersion curves. We seek solutions of the wave equations (3.109) for the
cylindrical shell in the form
(
u1
a1 i( 1 ) cos n
=
e
,
u
a3
sin n
(
(3.110)
sin
n
1
u2 = a2 ei( )
,
cos n
where ai are the unknown constants and n takes the values 0, 1, 2, . . .. The
periodic functions of used in (3.110) guarantee that the displacements
are continuous with respect to . Substituting (3.110) into (3.109) and
eliminating the common factor, which is either cos n exp[i( 1 )] or
sin n exp[i( 1 )], we arrive at the following eigenvalue problem
H(, )a = 0,
(3.111)
(2 + 1)ni
2i
2( + 1)2 n2
+2
2
2
(2 + 1)ni
2( + 1)n
2( + 1)n
HD =
2
2i
2( + 1)n
2( + 1)[1 + ?
(2 + n2 )2 ] 2
and
HM
41 n2
3
ni
4
=
2
n i
34 ni
94 2
2( + 1)n
(3 + 2)n2
+2( + 1)n3
n2 i
2
(3 + 2)n
.
2( + 1)n3
0
2
99
The equation (3.111) has non-trivial solutions if and only if its determinant
vanishes
detH = 0.
(3.112)
This is the dispersion relation for the waves (3.110) propagating in the cylindrical shell. One can see that for every fixed n and every real and fixed
(3.112) is a cubic equation with respect to 2 giving six real values of
symmetrically situated about the -axis in the , -plane.
u1 = u = 0,
T-waves,
or with
u1 , u independent of ,
u2 = 0,
AR-waves.
For the torsional waves (T-waves) the dispersion relation takes the simplest
form
9
2 = (1 + ? )2 .
4
(3.113)
The T-waves are therefore nondispersive. For the axial-radial waves (ARwaves) we have
[2( + 1)2 + 2 )[2( + 1)(1 + ? 4 ) 2 ] + 4 2 2 = 0.
(3.114)
100
In Figure 3.14 the dispersion curves of (3.114) for = 0.31, h/R = 0.1 are
shown. Note that at = 0 the frequency of radial vibration with u2 6= 0
does not vanish. This frequency, given by
r
p
2
,
c = 2( + 1) =
1
is called the cut-off frequency of the corresponding branch of the dispersion
curves.
101
In this formula terms containing ?2 were neglected. In Figure 3.15 the dispersion curves of the dimensionless frequencies versus the dimensionless wave
numbers are shown. The parameters chosen for the numerical calculation
are equal to
= 0.31, h/R = 1/10, n = 1.
Comparison with 3-D elasticity.3 Let us regard now the closed circular
cylindrical shell, shown in Figure 3.13, as a three-dimensional homogeneous
isotropic elastic body. Referring it to the cartesian co-ordinates z i and assuming that the body force vanishes, we write down the three-dimensional
equations of motion in terms of the displacements wi (cf. (2.21))
wi = ( + )wj,ji + wi,jj .
The traction-free boundary conditions on the facial surfaces read
wj,j ni + 2w(i,j) nj = 0,
(3.115)
with ni being the components of the outward unit normal vector. We introduce the following dimensionless variables and parameter
t
=
R
zi
= ,
R
i
h
.
2R
(3.116)
102
with being a function of co-ordinates and time, which can be chosen arbitrarily.4 The equations of motion (3.116) are satisfied if the potentials and
i satisfy the wave equations
| = e2 |ii ,
i| = i|jj .
(3.117)
Introducing the dimensionless cylindrical co-ordinates 1 , and % and denoting by 1 , , % the corresponding physical components of the vector , we
can rewrite the equations (3.117) as
| = e2 ,
1| = 1 ,
1
2 %
,
| = ( 2 ) + 2
%
%
1
2
%| = ( 2 )% 2
,
%
%
(3.118)
where
2
1 2 1
+
+
(% ).
( 1 )2 %2 2 % % %
We look for solutions of the equations (3.118) in the form
=
(3.119)
1 d
n2
d2
+
(
1),
d%2 % d%
%2
we obtain
Bn,p1 % [f ] = 0,
Bn,p2 % [g1 ] = 0,
Bn+1,p2 % [g% g ] = 0,
Bn1,p2 % [g% + g ] = 0,
4
(3.120)
103
where
p21 = e2 2 2 ,
p22 = 2 2 .
(3.121)
(3.122)
g = g2 ,
n+1
g2 ) cos n sin( 1 ),
%
n
w = ( f + g2 g10 ) sin n cos( 1 ),
%
n
0
w% = (f + g1 + g2 ) cos n cos( 1 ),
%
(3.123)
(3.124)
104
(3.125)
Here
1 = sign(p21 ),
2 = sign(p22 ),
= 1 + .
The remaining three rows of the matrix Cij are obtained from the first three
by substitution of = 1 for .
For waves independent of the angular co-ordinate (n = 0), the determinant in (3.125) breaks into the product of two determinants, so that
D1 D2 = 0,
105
where
C23 C24
,
D1 =
C53 C54
C11
C
D2 = 31
C41
C61
C12
C32
C42
C62
C15
C35
C45
C65
C16
C36
,
C46
C66
(3.127)
(3.128)
one obtains waves involving the displacement w only, i.e., the torsional
waves. It may be ascertained that no roots of (3.128) exist for p22 < 0;
hence equation (3.128) may be reduced to
J2 (q2 )Y2 (q2 ) Y2 (q2 )J2 (q2 ) = 0.
(3.129)
w = a% sin( 1 ),
106
(3.130)
Figure 3.17: Dispersion curves of the three lowest branches of waves for
n = 1: a) 2-D theory: dashed line, and b) 3-D theory: solid line.
For n 6= 0 the waves are coupled, so we have to find the roots of the
equation (3.125). This yields many branches of the dispersion curves in
the , -plane. However, here we study only the three lowest branches in the
low-frequency long-wave region in order to compare them with the dispersion
curves according to (3.112). The dispersion curves of the first three branches
of waves in cylindrical shells according to the two- and three-dimensional
theories for n = 1, = 0.31, h/R = 1/10 are shown in Figure 3.17. Again, in
the long-wave range ( < 4) the difference between them is negligibly small.
Problems
107
1. Find the axisymmetric solution to the equation (3.109) of wave propagation in an infinite closed circular cylindrical shell subject to the
following initial condition at t = 0:
u = u = u = 0,
u = ( 1 ).
2. Plot the phase and group velocities as functions of the wave number
for the AR-waves (n = 0) in a closed circular cylindrical shell with
= 0.31, h/R = 0.1.
3. Plot the dispersion curves of waves for n = 2 in a closed circular cylindrical shell with = 0.31, h/R = 0.1.
4. Compare the lowest branches of the dispersion curves for n = 1, 2, 3.
5. Plot the lowest three branches of the dispersion curves fot n = 2 according to Gazis equation (3.125) using Mathematica.
3.6
(3.131)
108
(2 + 1)n1
2( + 1)12 n2
2
(2 + 1)n1
12 2( + 1)n2
MD =
+2
21
2( + 1)n
while the modifying operator is given by
1 2
3n
4n
4 1
3n
9 2
1
2( + 1)n2
4
4 1
MM =
2
n 1
(3 + 2)n12
+2( + 1)n3
21
2( + 1)n
2( + 1)[1 + ? (14
2n2 12 + n4 )] 2
n2 1
(3 +
.
2( + 1)n
0
2)n12
3
The system of equations (3.131) is a linear system of 8th order with constant
coefficients, which depend on n and 2 , where n, being the number of circumferential nodal points, can be chosen arbitrarily. If the boundary conditions
at the two edges of the shell are the same, then it can be shown that general
solutions of (3.131) fall into the two following classes
i) Symmetric solutions:
f1 odd,
f2 , f3 even functions of 1 ,
f2 , f3 odd functions of 1 .
(3.132)
109
n,
2l
n = 0, 1, 2, . . .
n odd,
f2 = a cos n 1 ,
n even.
110
Figure 3.18: Roots of the equation (3.135) for = 0.31, h/R = 0.1: a)
complex roots: combined dashed lines, and b) real or imaginary roots: solid
line.
For axial-radial vibrations with f2 = 0 we have the coupled system of
equations
2( + 1)f100 + 2f30 + 2 f1 = 0,
2f10 + 2( + 1)? f30000 + [2( + 1) 2 ]f3 = 0.
(3.133)
f3 = c cos 1 .
(3.134)
(3.135)
For each there are three different roots of this equation 1 , 2 , 3 up to the
sign of . In (0, ) there are two complex conjugated roots and one real
root, in a small range ( , c ) near the cut-off frequency two imaginary roots
and one real root and in the remaining region of two real roots and one
imaginary root. They are all presented in Figure 3.18.
Thus, the symmetric solutions to (3.133) should have the form
f1 =
3
X
i=1
ai sin 1 1 ,
f3 =
3
X
i=1
ai
i
cos i 1 ,
2i
(3.136)
(3.137)
111
Figure 3.19: Frequencies versus l for cylindrical shells with free edges
( = 0.31, h/R = 0.1).
We still have to satisfy the boundary conditions. Let us analyze the three
following variants of them.
i) Free edges. In terms of f1 , f3 the boundary conditions read
( + 1)f10 + f3 = 0,
f300 = f3000 = 0, at 1 = l.
(3.138)
at 1 = l.
(3.139)
f1 = f3 = f30 = 0,
at 1 = l.
(3.140)
Here l = L/R. Substituting (3.136) into the boundary conditions (3.138)(3.140), we obtain the following system of three linear homogeneous equations
3
X
Cij aj = 0,
i = 1, 2, 3.
(3.141)
j=1
The components Cij for the three different types of boundary conditions are
given by:
112
Figure 3.20: Frequencies versus l for cylindrical shells with fixed edges
( = 0.31, h/R = 0.1).
i) Free edges
1
cos j l,
j
C2j = j j cos j l,
C3j = j 2j sin j l,
C1j =
113
Figure 3.21: Frequencies versus l for cylindrical shells with clamped edges
( = 0.31, h/R = 0.1).
For the calculation of the frequency spectra in the general case n 6= 0
under various boundary conditions and for numerous shell theories, see the
comprehensive survey by Leissa [34].
Shells with shear diaphragms at both edges. Consider the following
type of boundary conditions
11
11
=m
= 0,
u = u2 = 0,
at x = L.
(3.142)
114
Figure 3.22: Nodal patterns for cylindrical shells supported at both edges
with shear diaphragms.
aphragms admits simple solutions. Indeed, considering
u1 = a1 cos 1 cos nei ,
u2 = a2 sin 1 sin nei ,
u = a3 sin 1 cos nei ,
and choosing
m =
m
,
2l
(3.143)
the boundary conditions (3.142) are readily seen to be satisfied exactly. The
eigenfrequencies can be determined by the equation equivalent to (3.112),
where is replaced by m according to (3.143). This means that the frequencies are determined by the points of intersection of the dispersion curves
with the equidistant vertical lines. Typical nodal patterns of the deformed
shape of the shell are shown in Figure 3.22.
It is worth noting that the same problem can be solved exactly within
the framework of 3-D elasticity. Regarding the closed circular cylindrical
shell with shear diaphragms at both ends as a three-dimensional body, whose
geometry is described in the previous section, we have the following boundary
conditions
w2 = w3 = 0,
11 = 0,
at 1 = l.
(3.144)
115
Figure 3.23: Frequencies of the cylindrical shell with the shear diaphragms
at both edges (n = 1, = 0.31, h/R = 0.1): a) 2-D theory: dashed line, and
b) 3-D theory: solid line.
The last condition can be obtained from the Hamilton variational principle
by letting w1 be varied arbitrarily at the boundaries 1 = l. Considering
the standing waves
w1 = (f g20
n+1
g2 ) cos n cos 1 ei ,
n
w = ( f + g2 g10 ) sin n sin 1 ei ,
n
w = (f 0 + g1 + g2 ) cos n sin 1 ei .
(3.145)
116
1. Determine the deformed shape of the cylindrical shell with the free
edges, which vibrates at the lowest frequency as shown in Figure 3.19.
2. Plot the real and complex branches of the dispersion curves for the
cylindrical shell for n = 2.
3. Prove that, for the same n, the fundamental frequency of the shell
clamped at both edges is higher than that of the shell with the same
geometry but with free edges. Compare with that of the shell with
fixed edges.
3.7
1
a u.
R
1
2
u(;) 2 a u.
R
R
(3.146)
117
2
B .
M )A + M
R
This formula shows that the equations of motion (3.19) and (3.20) remain
exactly the same if we set
+
N = N
2
M ,
R
.
M = M
and M
the equations of motion read
In terms of N
,
h
u = N
;
1
1
.
M
h
u = S 2 M
;
R
R
Together with the constitutive equations
= 2h(A a + A ),
N
3
h
a + B
).
= ( B
M
6
we obtain the following equations in terms of the displacements
u,
1
)u + 2(2 + 1) ],
2
R
R
2(2 + 1)
2u
h2
u = {
(u; + ) + [( + 1)2
R
R
6
2 + 1
2
+
](2 + 2 )u},
R2
R
u = [(2 + 1)u; + (2 +
(3.147)
(u; );
which are related to the fact, that the intrinsic geometry of the spherical
surface is non-Euclidean.
118
u = ueit ,
h2
=
, = R
, ? =
,
R
12R2
we can rewrite equations (3.147) as follows
(2 + 1)
u| + (2 + 1)
u + 2(2 + 1)
u| + 2 u = 0,
2(2 + 1)(
u| + 2
u) + 2? [( + 1)2
(3.148)
+(2 + 1)](2 + 2)
u 2 u = 0.
Next, let us decompose the vector field u according to
u = | + .
. | ,
(3.149)
where and are two scalar functions. By substituting (3.149) into (3.148)
and observing the rules for interchanging the order of covariant derivatives,
we get
[2( + 1)2 + 2(2 + 1)
u + (2 + 2)]|
2
2
+.
. [ + ( + 2)]| = 0,
2(2 + 1)(2 + 2
u) + 2? [( + 1)2 + (2 + 1)]
(2 + 2)
u 2 u = 0.
(3.150)
(3.151)
(3.152)
119
Frequency spectra
Class i) The analysis of the equations of motion has been done so far for
arbitrary surface co-ordinates. Now we use the spherical co-ordinates, in
terms of which the middle surface is given by
z 1 = R sin cos ,
z 2 = R sin sin ,
z 3 = R cos .
a12 = a21 = 0,
a22 = sin2 .
1
22
= sin cos ,
1 2
= 2 + cot
+
.
sin2 2
2
1 2
2
+
cot
+
+ (2 + 2) = 0.
2
sin2 2
(3.153)
It is well known that (3.153) has regular solutions everywhere on the sphere
if and only if
2 + 2 = j(j + 1),
j = 0, 1, . . . .
(3.154)
where Pjm (x) are Legendres functions [14]. The eigenfunctions (3.154) are
called spherical harmonics, tesseral harmonics for m < j and sectoral harmonics for m = j. These functions are periodic with respect to the angles
and with periods and 2, respectively.
The axisymmetric modes are determined by
= Pj (cos ),
= u = 0,
120
and substituting these into (3.152), we find the following system of linear,
homogeneous equations for a and b
2(2 + 1)a + [2 + 2 2( + 1)j(j + 1)]b = 0,
{2? [2 j(j + 1)][( + 1)j(j + 1) + 2 + 1]
2 + 4(2 + 1)}a 2(2 + 1)j(j + 1)b = 0.
(3.155)
j=1
0.0
3.375
j=2
1.2
4.647
j=3
1.482
6.2
Also in this case the frequencies are independent of the wave number m.
The vibrations of closed spherical shells were first studied by Lamb, who
solved the 3-D problem by adapting his earlier derived results on the vibrations of elastic spheres to the case of a shell bounded by two concentric
spherical surfaces.
Problems
1. Find the radial vibration of the spherical shell subject to the initial
conditions
u(t = 0) = 0, u(t
= 0) = v0 .
121
4. Try to solve the 3-D problem of vibrations of the closed spherical shell
and to compare with the solution obtained by the 2-D shell theory.
122
Chapter 4
Elastic rods
4.1
One-dimensional equations
124
(4.1)
Since the dual basis coincides with t1 , t2 and t, the raising or lowering of
indices does not affect the values of tensor components. Therefore we can
place indices of vectors and tensors referred to the basis {t , t} arbitrarily, at
our convenience and in accordance with the summation rule. In exactly the
same manner we can see that t0 is orthogonal to t , so it can be expressed
as a linear combination of t and e.
. t
t0 = t + $e.
. t ,
(4.2)
For instance we can choose them co-directional to the axes of symmetry of the cross
section, if these exist.
125
(4.3)
t = R t,
with R(x, t) being an orthogonal rotation tensor (RT R = 1). Now let us
assume that the triad rotates on a small angle, which is typical for the linear
theory. In this case one can show that
R 1 + W,
where W is a skew-symmetric tensor (WT = W). Denoting by (x, t) the
axial vector associated with W, we present the transformation rule for the
triad in the form
t = t + t ,
t = t + t.
(4.4)
or
0
. 0
.
= e.
. t u = e. u $u + e. u.
(4.5)
126
about the tangent vector t of the curve c(x). We assume that (x, t) is
continuously differentiable.
For the deformed triad the formulae similar to (4.1) and (4.2) hold true:
t0 dx =
t ,
ds
t0 dx =
t + $e
.
. t .
ds
dx
ds
=
$
$ =
dx
=
= t t0 ,
(4.6)
1 0
e t t $.
2
(4.7)
If , and are known, one can determine the deformed central line and
triad uniquely up to a rigid-body motion. Besides, these measures may be
varied independently in the general case. Therefore they can be referred to
as state variables in the theory of linear elastic rods. It is easy to see that
while is dimensionless, and have the dimension [L]1 .
Keeping in mind (4.1), (4.2) and (4.4) we calculate t0
t0 = t0 + e 0 t + e t0 = t + e 0 t + e t + $ t .
At the same time
t = t e.
. t + e t .
Substituting the last two formulae into (4.6) and neglecting all small terms
we obtain
0
.
= e.
(4.8)
. $ + e. .
Using the formula (4.5), one can rewrite (4.8) also in the following form:
0
.
= (t u0 )0 + e.
. $t u + e. .
Analogously,
0
0
.
0
. 0
.
t0 = t0 e.
. t e. t + e. t + e. t
.
.
. 0
.
. 0
= t + e.
. $t e. t + e. t + e. t + e. ( t + $e. t ),
and therefore
= 0 + = 0 e t u0 .
Since u and depend on t we introduce the following quantities:
v = u (velocity),
(acceleration),
a=u
,
(4.9)
127
to measure their time rates. The latter quantities describe the angular velocity and acceleration of the torsional motion of the rod.
Variational principle. Consider the following 1-D functional:
Z t1 Z L
( + F u + Q) dx dt,
J[u, ] =
t0
(4.10)
where is the kinetic energy density, the strain energy density, F the
external generalized force, Q the external generalized twisting moment, and
L the total length of the central line. The action functional J[u, ] is defined on the space of admissible functions u and , where u is assumed to
be continuously twice differentiable, while the remaining functions u, are
continuously differentiable. The kinetic energy density is a quadratic form
of u and .
We assume that
1
1
u + 2 ,
= u
(4.11)
2
2
where is the mass density per unit length, and is a constant to be determined later. The strain energy density is a positive definite quadratic form
of , and , which, for the rod made of a homogeneous, isotropic elastic
material, turns out to be given by
1
= (E|S| 2 + EI + C2 ).
2
(4.12)
The coefficient E is Youngs modulus, |S| is the area of the cross section,
EI describe the flexural rigidity and C is the torsional rigidity.
Requiring u and to be specified at t = t0 and t = t1
u|t=t0 = u0 ,
|t=t0 = 0 ,
u|t=t1 = u1 ,
|t=t1 = 1 ,
Hamiltons variational principle for elastic rods states that the true displace and rotation correspond to the stationary points of the action
ments u
functional (4.10)
J = 0.
To obtain the consequences from this variational principle let us calculate
the variation of the functional (4.10)
Z t1 Z L
u +
J =
{
u
T tu0 M [(t u0 )0 + e $t u0
t0
+ e ] M (0 e t u0 ) + Fu + Q} dx dt. (4.13)
128
= E|S|,
M =
= EI ,
= C.
M=
T =
(4.14)
t u0 = 0,
= 0,
= 0 at t = t0 , t1 .
+F]u + (
+ M 0 e M + Q)} dx dt = 0.
Since u and may be given independently and since they are arbitrary
inside the region (0, L) (t0 , t1 ), we conclude that
= (T t)0 + (M0 t )0 (e M $t )0 + (e M t )0 + F,
u
= M 0 e M + Q.
(4.15)
These are the one-dimensional equations of motion of the elastic rod. Substituting the constitutive equations (4.14) into (4.15), we obtain four differential
equations with respect to the four unknown functions u, .
The projections of the equations of motion (4.15) onto the directions of
t and t lead to
u = T 0 + M0 e M $ + F,
0
0
0
u = T + M00 e.
. [M $ + (M $) (M ) ]
(M $ M )$ + F ,
0
= M e M + Q,
(4.16)
129
where F = F t and F = F t .
Boundary-value problems. Practically there are three kinds of boundary
conditions for the rod:
i) Clamped edge
u = 0,
t u0 = 0,
= 0.
= 0,
M = 0,
M0 = 0,
M = 0.
(4.17)
Note that the number of the boundary conditions at each edge of the rod is
equal to six. We also assume the following initial conditions at t = t0 :
u|t=t0 = u0 ,
|t=t0 = 0 ,
t=t0 = v0 ,
u|
|
t=t0 = 0 .
130
1. Consider a rod whose undeformed central line coincides with the z 3 -axis
z 1 = 0,
z 2 = 0,
z 3 = x,
and whose undeformed unit vectors t1 , t2 rigidly mounted with its cross
section (for example, ellipse with symmetry axes in the directions t1 ,
t2 ) are given by
x
x
t1 = (cos , sin , 0),
a
a
x
x
t2 = ( sin , cos , 0).
a
a
4.2
Asymptotic analysis
(4.18)
where z i = ri (x) is the equation of the central line, and ti (x) are cartesian
components of the vectors t (x). The co-ordinates x take values in a connected domain S R2 . We assume that the point
co-ordinates x = 0
R with
coincides with the centroid of the domain S, so S x da = 0.
By taking the partial derivatives of (4.18) with respect to xa it is easy to
see that the basis vectors ea associated with the co-ordinate system xa are
given by
e = t , e3 = (1 + x )t + $e.
(4.19)
. x t .
131
Therefore the components of the metric tensor and its determinant are found
to be
g = ,
g3 = $e x ,
g33 = (1 + x )2 + $2 x x ,
g = det gab = (1 + x )2 .
(4.20)
Let us find out the contravariant components of the metric tensor g ab as the
inverse matrix of gab . According to the definition of g ab we have
g g + g 3 g3 = ,
g 3 g + g 33 g3 = 0,
(4.21)
g 3 g3 + g 33 g33 = 1.
From the second equation of (4.21) it follows that
g 3 = g 33 g3 .
Substituting this into the third equation of (4.21) and making use of the
formula for g3 , we get
g
33
1
=
,
(1 + x )2
$e.
. x
=
.
(1 + x )2
(4.22)
Now the remaining components g can be calculated from the first equation
of (4.21):
.
$2 e.
. e. x x
g = +
.
(4.23)
(1 + x )2
Note that the dual basis ea = g ab eb depends on x , x as is evident from (4.22)
and (4.23).
Denote by L the total length of the central line c(x), by h the diameter of
S (the longest distance between two points of S), and by R the best constant
in the following inequalities:
| |
1
,
R
|0 |
1
,
R2
|$|
1
,
R
|$0 |
1
,
R2
which is called the characteristic radius of curvatures and torsion of the rod.
When h/L 1 and h/R 1, the rod is said to be thin.
Three-dimensional functional. For simplicity of the asymptotic analysis
we shall first consider the free vibrations of the rod (no external body force
132
(T W ) g da dx dt.
I=
(4.24)
t0
(4.25)
.
= [w,x w $e.
. w + (1 + x )w, + $e. x w, ],
2
i
i
33 = z,x
wi,x = (1 + x )ti wi,x + $e.
. t x wi,x
.
= (1 + x )(w,x + w ) + $e.
. x (w,x w $e. w ),
where the comma preceding x denotes the partial derivative with respect
to the co-ordinate x. In this section, components of two-dimensional vectors
and tensors like w , , e are always referred to the orthonormal basis {t }
and its dual basis {t }. This is very covenient for computations, since t ,
in contrast to e , do not depend on x and coincide with t . Consequently,
the raising or lowering of Greek indices with the help of the Kronecker delta
does not affect the components of these two-dimensional tensors.
It is convenient to express explicitly the dependence of I on the small
parameter h. To this end we introduce the dimensionless co-ordinates
=
1
x .
h
133
.
= [w,x w $e.
. w + (1 + h )w| + $e. w| ],
2
h
.
= (1 + h )(w,x + w ) + h$e.
. (w,x w $e. w ).
=
3
33
We use the vertical bar preceding a Greek index to denote the differentiation
with respect to .
The variational-asymptotic analysis will be considerably simplified if we
neglect from the beginning small terms of the energy in the asymptotic sense.
For the first order approximation, in which terms of the order h/R are neglected as small compared with 1, it is easy to see from (4.20), (4.22) and
(4.23) that we can replace g in (4.24) by 1 and g ab in (4.26) by ab . The
strain energy then takes the form
= 1 ( + 33 )2 + + 2 3 3 + (33 )2 .
W
2
(4.28)
In this approximate expression for the strain energy, among terms of ab the
derivatives w| /h and w| /h in and 3 are the principal ones in the
asymptotic sense. Therefore it is convenient to single out the components
and 3 in the strain energy. To this end let us decompose the strain
energy (4.28) as follows
=W
+ W
+ W
k,
W
(4.29)
where
k = min W
,
W
,3
and
= min(W
W
k ).
W
when the stresses and vanish; the shear energy W depends only
is called the transverse energy. From the
on 3 ; the remaining part W
134
k, W
and W
one can easily compute
definitions of W
k = 1 E(33 )2 , E = (3 + 2) ,
W
2
+
W = 2 3 3 ,
= ( 1 + )( + 33 )(, , ),
W
2
where = /2( + ) is Poissons ratio, and the short notation (, , )
means the preceding expression with the indices , replaced by , .
The first step of the variational-asymptotic procedure. Let us assume
that
h
1,
(4.30)
cs
where is the characteristic scale of change of the function wi in time (see
Section 2.5) and cs the velocity of shear waves. This means that we consider
here only low-frequency vibrations of the rod.
We now keep the formally principal terms in the action functional (4.24).
Due to (4.30) the kinetic energy density can be neglected. In the strain
energy density only those quadratic terms containing and 3 should be
maintained, where
1
w(|) ,
h
1
3
w| .
2h
Thus, the first step of the variational-asymptotic procedure yields the following functional:
Z Z
t1
0 idx dt,
hW
I0 = h2
t0
where
1
2
0 = 1 [ 1 (w|
) + w(|) w(|) + w| w| ].
W
2
h 2
2
Since W0 is the positive definite quadratic form with repect to w(|) and w| ,
it is clear that the functional I0 is negative definite; its maximum is equal to
zero and attained at the following displacement fields:
w = u (x, t),
w = u(x, t),
(4.31)
where u (x, t) and u(x, t) are arbitrary functions of x and t. Thus, the set
M0 of the variational-asymptotic procedure consists of displacement fields
of the form (4.31).
135
hvi = 0.
(4.32)
=
3
with being given by (4.5). It can be shown that the component 33 is
approximated by 33 , but at this stage we shall neglect the cross-terms
33 and 3 33 in the strain energy. These cross-terms will be taken into
account in the next step of the variational-asymptotic procedure. Thus, we
get from (4.24) the following functional
Z t1 Z L
2
1 idx dt,
I1 = h
hW
t0
where
1
2
1 = 1 [ 1 (v|
) + v (|) v(|) + (v| + he.
W
. )( )].
2
h 2
2
It is easy to see that the functional I1 is negative definite; its maximum is
equal to zero and attained at the following fields:
v = he (x, t) ,
v = he.
. .
These fields describe the rotation of the cross-section, where the function
(x, t) represents an additional degree of freedom. It will be shown that the
next step brings no more degrees of freedom, and the set N of the variationalasymptotic procedure consists of functions u , u and .
136
w = u(x, t) he.
. (x, t) + hy( , x, t),
(4.33)
hyi = 0.
d
, d , d ,
l
dx
l
dx
l
l
(4.34)
q
q
1
1
|
|
|y,x | max y| y
|y,x | max y| y ,
l
l
where the quantities with bars denote their amplitudes. This characteristic
lengthscale is a function of x. We suppose that
h
1
l
in all points of the rod far from its ends.
Let us substitute (4.33) into the action functional (4.24). Due to (4.30)
the time rates of y , y can be neglected in the kinetic energy. In order to
137
estimate terms in the strain energy let us now calculate the components of
the strain tensor according to (4.27). It is easy to see that
=
1
w(|) = y(|) .
h
(4.35)
.
$e.
. (u he + hy ) + (e. + y| )
.
+ (he.
. + hy| ) + $e. (he + hy| )].
Since h is assumed to be much smaller than the characteristic radius of curvatures and torsion R as well as the lengthscale of change of the deformation
pattern l, one can see that the underlined terms give small contributions
to the strain energy compared with the other terms. Neglecting them and
rearranging the remaining terms, we arrive at the following formula:
1
.
3 = [u0 u $e.
. u e. + y|
2
.
he 0 + h e.
. h e. ].
Recalling equations (4.5) and (4.9) we reduce this formula to
1
3 = (y| he ).
2
(4.36)
(u he.
. + hy) $e. (u he + hy )].
By the same reasoning the underlined terms in the formula for 33 give small
contributions to the strain energy. We neglect them and rearrange the remaining terms to obtain
0
33 = u0 + u he.
. h e
0
.
+h$e.
. (u u $e. u ).
(4.37)
138
According to the equations (4.35), (4.36) and (4.37) the partial derivatives
of y , y with respect to x do not enter the action functional. Thus, the
determination of y , y reduces to the minimization problems for every fixed
x of the following functionals:
1
(4.38)
[y] = h2 h (y| he )( )i,
2
1
[y ] = h2 h ( + 2 )[y(|) + ( + h )]
2
[, , ]i,
(4.39)
under the constraints
hyi = 0,
(4.40)
and
hy i = 0,
hy| ie = 0.
(4.41)
The functionals (4.38) and (4.39) represent the shear and transverse strain
energies, integrated over the cross section of the rod. They are positive
definite and convex, so the existence of their minimizers y , y is guaranteed.
We shall see in the next section that the minimum of (4.39) is equal to zero,
while that of (4.38) is equal to 1/2C2 , with C the torsional rigidity.
Average Lagrangian. Assume that we have solved the cross section problem (4.38) and (4.39) and determined the functions y , y minimizing the
functionals (4.38) and (4.39). In accordance with the variational-asymptotic
scheme we represent the displacement field by (4.33) with y , y replaced by
y , y, but now the functions u , u, should be regarded as unknown functions. We substitute this displacement field into the energy functional (4.24)
and integrate over the cross section. If we keep only the principal terms
containing these unknown functions in the average Lagrangian, then, within
the first-order approximation, it is enough to put g = 1. On the chosen displacement field the transverse strain energy vanishes, the shear energy takes
the minimum value which is equal to 1/2C2 , while the longitudinal energy
should be calculated with
33 = + h .
The average strain energy per unit length of the rod is thus given by
1
= (E|S| 2 + EI + C2 ),
2
139
where
I = h4 h i
describe the moments of inertia of the cross section.
Let us calculate now the average kinetic energy. Differentiating the displacement field (4.33) with respect to time and substituting into the threedimensional kinetic energy, we obtain
1
+ hy)
2
= h2 h[(u he.
.
2
+ (u he
+ hy )( )]i.
As before g is approximated by 1. The cross-terms between functions u,
u
and ,
, y,
y vanish due to the constraints (4.32), (4.40) and (4.41). The
terms involving , y , y are small compared with those in the strain energy,
due to the assumption (4.30). Neglecting these small terms, we obtain the
following expression:
1
1
= |S|(u 2 + u u ) + h4 h i 2 .
2
2
This is exactly the formula (4.11), with = |S| and
=
h4 h i
.
|S|
where
i
F =h
t ds,
Q = h
Problems
e t ds.
140
1. Find the asymptotic expansions for the co- and contravariant components of the metric tensor in terms of h.
2. Provide the similar asymptotic analysis for an elastic rod, which is
straight and untwisted in its natural state.
3. Find the moments of inertia for the elliptical and rectangular cross
sections.
4.3
Average transverse strain energy. We want first to show that the minimum of the functional (4.39) is equal to zero. We look for the minimizer in
the form
h i
1
y = a (
),
2
|S|
(4.43)
(4.44)
For arbitrary third-rank tensors which are symmetric with respect to the last
two indices, one can check directly that the following identity
a = a() + a() a()
holds true. Consequently, the solution of (4.44) reads
a = h( + ).
(4.45)
141
By such the change one can always achieve the fulfilment of the constraint
(4.40). Varying the functional (4.38) we obtain the following equation
2 y = 0,
and boundary condition
(y| he ) = 0,
Thus, function y satisfies the
where is the unit outward normal to S.
so-called Neumann problem.
One can also derive a variational problem, which is dual with respect
to the problem (4.38). Using the Legendre transformation we represent the
integrand in (4.38) as follows
1
1
(y| he )( ) = sup[p (y| he )
p p ].
2
2
p
We can now reformulate the problem (4.38) as
inf = h2 inf suphp y| p he
y
1
p p i.
2
(4.46)
Assume that we can interchange the order of taking inf and sup in (4.46).
Then
inf = h2 sup(hp he
y
1
p p i + inf hp y| i).
y
2
sup hp he
p (4.48)
1
p p i,
2
(4.47)
where the notation p (4.48) means that the supremum in the right-hand
side of (4.47) should be sought among p satisfing the following constraints
p| = 0 in S,
p = 0 at S.
(4.48)
142
(4.49)
= 0 at S.
ds
= const at S.
(4.50)
In the case of a simply connected cross section we can choose for example
Substituting (4.49) into the functional (4.47) we obtain
= 0 at S.
inf = h2 sup h| h
y
(4.50)
1
| | i.
2
(4.51)
The maximizer of the dual problem satisfies Poissons equation with a constant value for the potential at the boundary.
The minimizer y of as well as the maximizer of (4.51) are proportional to h. Therefore the torsional rigidity C can be calculated by
C = h4 inf h (
y| e )( )i
y
= h4 sup h2|
(4.53)
1
| | i,
= const at S,
(4.52)
(4.53)
where y = y/h, = /h. We can use the dual variational problems (4.52)
to obtain lower and upper bounds for the torsional rigidity.
Elliptical cross section. Let us find out the torsional rigidity for a rod
with an elliptical cross section
c 1,
where c are the components of a positive definite symmetric second-rank
tensor. We seek the minimizer y of (4.52) so that the following equation
(
y| e ) = ae c
(4.54)
143
1 .
ae c + e .
.
(4.55)
2
,
c
c = c .
(4.56)
From (4.55) one can see that y satisfies 2-D Laplaces equation. Taking into
account that
(c ) c
at the boundary of the ellipse, we readily check that the boundary condition
(
y| e ) = 0
is fulfilled. Thus, y given by (4.56) is indeed the minimizer of the functional
(4.52). Substitution of (4.56) into the functional (4.52) gives
C=
4
c c I ,
c2
(4.57)
c22
1
I11 = b31 b2 ,
4
I22
c11
h2
= 2 , c12 = 0,
b2
1 3
= b2 b1 , I12 = 0,
4
where b1 , b2 are the half-lengths of the major and minor axes. Substituting
these formulae into (4.57) we get finally
C=
b31 b32
4
= 1 ,
2
2
b1 + b2
(I )
144
< 1.
(1 4 )b31 b32
.
b21 + b22
y|2 ( 1 , 1/2) + 1 = 0.
f|2 ( 1 , 1/2) = 2 1 .
(4.58)
f ( , ) =
cn Xn ( 1 )Yn ( 2 ).
(4.59)
n=0
145
cn sin kn 1 sinh kn 2 .
n=0
(2n + 1)
,
a
n = 0, 1, . . . .
(4.60)
cn kn sin kn 1 cosh kn
n=0
1
= 2 1 .
2
(4.61)
By virtue of (4.60) the sine functions are orthogonal in the interval a/2
1 a/2; thus, multiplying both sides of (4.61) by sin kn 1 and integrating
over this interval, we obtain
cn =
8a2 (1)n
.
3 (2n + 1)3 cosh(kn /2)
Consequently
(4.62)
One can show that the series (4.62) converges uniformly in 1 and 2 . The
graph of y for a = 1 is plotted in Figure 4.2.
We now use the solution (4.62) to calculate the torsional rigidity. Note
that from (4.52) we can also derive the following formula
C = h4 h (
y| e )e i,
where y is now the solution. Substituting (4.62) into this formula and intergrating over the cross section, we obtain
C = ch4 a3 ,
146
4.4
147
Dispersion of waves
u = Eu00 .
Introducing the dimensionless variables
s
t E
,
=
h
(4.63)
x
,
h
(4.64)
(4.65)
148
Thus, the longitudinal waves in rods are similar to the L-waves in plates;
they are both non-dispersive. Of course, this is true only in the low-frequency
long-wave range.
Torsional waves. The equation of motion is identical in form to that of
longitudinal motion and reads
Ip = C00 .
(4.66)
Therefore the previous results can be used with some minor changes. For
example, in terms of the dimensionless variables
s
C
x
t
, = .
=
h Ip
h
the dispersion relation for the harmonic waves
= aei( )
is given by (4.65). Also in this case the waves are non-dispersive.
Flexural waves. Let the rod vibrate in one of the principal planes, so that
only u1 6= 0. The equation of motion reads
|S|
u1 = EI11 u0000
1 ,
(4.67)
(4.68)
149
(4.69)
where ni are the components of the outward unit normal vector. We introduce the following dimensionless variables
r
zi
t
, i = .
=
h
h
The equations of motion then take the dimensionless form
wi| = (1 + )wj|ji + wi|jj ,
(4.70)
where = /.
In a similar manner as for cylindrical shells we use Helmholtzs decomposition theorem to express the vector field w in terms of a scalar potential
and a vector potential
wi = |i + ijk j|k ,
150
It can be shown that the potentials and i satisfy the wave equations
| = e2 |ii ,
i| = i|jj .
(4.71)
(4.72)
2
1 2 1
+
+
(% ).
( 1 )2 %2 2 % % %
(4.73)
Substituting (4.73) into the equations of motion (4.72) and using the differential operator notation
Bn,% =
d2
1 d
n2
+
(
1),
d%2 % d%
%2
we obtain
Bn,p1 % [f ] = 0,
Bn,p2 % [g1 ] = 0,
Bn+1,p2 % [g% g ] = 0,
Bn1,p2 % [g% + g ] = 0,
(4.74)
where
p21 = e2 2 2 ,
p22 = 2 2 .
(4.75)
151
(4.76)
g = g2 .
n+1
g2 ) cos n sin( 1 ),
%
n
w = ( f + g2 g10 ) sin n cos( 1 ),
%
n
w% = (f 0 + g1 + g2 ) cos n cos( 1 ).
%
(4.77)
Substituting the displacement field (4.77) into the traction-free boundary conditions (4.69) and eliminating the common factors, we arrive at the
following conditions at % = 1/2
n
e2 2 f + 2[f 00 + ( g1 )0 + g20 ] = 0,
%
n+1
2n
f
(f 0 ) (2g100 + p22 g1 ) (
g2 g20 ) = 0,
%
%
%
n
n
n(n + 1)
2f 0
g1 [ g20 + (
p22 + 2 )g2 ] = 0.
%
%
%2
(4.78)
Together with (4.76) the equations (4.78) at % = 1/2 lead to a system of linear
equations for a, a1 and a2 . This system of equations may have non-trivial
solutions if and only if
detCij = 0,
(4.79)
152
(4.80)
Here
1 = sign(p21 ),
2 = sign(p22 ).
(4.82)
one obtains waves involving the displacement w only, i.e., torsional waves.
It may be ascertained that no roots of (4.82) exist for p22 < 0; hence the
latter may be reduced to
q2 J0 (q2 /2) 4J1 (q2 /2) = 0.
(4.83)
w = a sin( 1 ),
153
154
One can see that the dispersion curves according to the one- and threedimensional theories are practically identical for < 1.2. As the exact dispersion curve approaches asymptotically the straight line = (cr /cs )
from above.
155
u(x,
0) = v(x).
2. Plot the dispersion curves for the flexural waves in an infinite straight
rod. Find the phase and group velocities as functions of the wave
number.
3. Solve the equation of flexural waves (4.67) subject to the initial conditions
u1 (x, 0) = f (x), u 1 (x, 0) = v(x).
4. Show that Pochhammers equation (4.85) yields the following asymptotic formula for the lowest branch of L-waves
2 = 2(1 + )2 + O(4 )
in the low-frequency long-wave range.
5. Show that the dispersion equation (4.79) with n = 1 yields the following
asymptotic formula for the lowest branch of F-waves
2 =
1+ 4
+ O(6 )
8
4.5
Frequency spectra
(4.86)
156
n = 0, 1, 2, . . . .
If one end of the rod is fixed and the other is free, the boundary conditions
are
u(0) = u0 (1) = 0.
In this case a = 0 and
cos = 0.
The frequency spectrum is given by
1
n = (n + ),
2
n = 0, 1, . . . .
157
(4.87)
(4.88)
(4.89)
(4.90)
158
n = 1, 2, . . . ,
(4.91)
(4.92)
(4.93)
1 = 4.730,
2 = 7.853,
3 = 10.996.
The corresponding frequencies can be calculated by using (4.89). Substituting the roots of (4.93) into (4.92), the ratios a1 /a3 for the corresponding
modes of vibration and consequently the shape of the vibrating rod can be
159
[0, 2].
Here R is the radius of the central line, x = R is its length. The triad
{t , t} is given by
t1 = ( cos , sin , 0), t2 = (0, 0, 1),
t = ( sin , cos , 0).
(4.94)
2 = $ = 0.
The equations of motion break up into two systems of equations for u, u1 and
u2 , , respectively. The first type of vibrations involving u and u1 is called
plane, the second one involving u2 and flexural-torsional. It may be
shown that the vibrations of a curved rod fall into such classes whenever the
central line of the unstressed rod is a plane curve, and one of the principal
axes lies in its own plane at each point.
Plane vibrations. The equations describing the plane vibrations are as follows
1
1 00
1 0
u1 ) EI11 (u000
u ),
1
R
R
R
1
1
1 000
|S|
u1 = E|S|(u0 u1 ) + EI11 (u0000
u ).
1
R
R
R
|S|
u = E|S|(u00
(4.95)
(4.96)
160
where the prime now denotes the derivative with respect to . Since the ring
is closed, let us seek solutions of (4.96) in the form
(
(
sin n
cos n
i
i
u = ae
, u1 = be
,
(4.97)
cos n
sin n
where a, b are unknown constants to be determined and n is an integer. The
periodic sine and cosine functions of used in (4.97) guarantee that the
displacements are continuous with respect to . Substitution of (4.97) in
(4.96) gives
(n2 + ? n2 2 )a (n + ? n3 )b = 0,
(n + ? n3 )a + (1 + ? n4 2 )b = 0.
The determinantal equation, for ? = 0.0001, yields the following roots
m
1
2
n=0
0.
1.
n=1
0.
1.414
n=2
0.027
2.236
n=3
0.076
3.163
|S|
u2 = EI22 (u0000
2 +
(4.98)
=
,
=
.
|S|R2
E|S|R2
|S|R2
Equations (4.98) then take the dimensionless form
00
00
00
u2| = (u0000
2 + ) + ( + u2 ),
| = ( 00 + u002 ) (u002 + ).
(4.99)
161
n=0
0.
0.707
n=1
0.
1.049
n=2
0.027
1.703
n=3
0.077
2.43
Similarly as in the previous case, the first two zero roots correspond to the
rigid-body translation and rotation of the ring. The second root = 0.707
at n = 0 describes the pure torsional vibration, while the first root = 0.027
at n = 2 corresponds to the fundamental mode of vibration with the lowest
frequency.
Problems
1. Find the eigenfrequencies and eigenfunctions for longitudinal vibration
of a straight rod of length L if both ends are fixed.
2. Find the eigenfrequencies and eigenfunctions for flexural vibration of a
straight rod of length L with fixed edges.
3. Solve the preceding problem assuming that one edge is clamped and
the other is free.
4. Study the forced flexural vibrations of a rod with fixed ends under the
force F1 .
5. Find the eigenfrequencies and eigenfunctions for plane and flexuraltorsional vibrations of an open circular ring with free and fixed edges.
162
Chapter 5
Piezoelectric shells
5.1
Two-dimensional equations
(5.1)
i = 1, . . . , n.
(5.2)
164
for x = h/2.
(5.3)
(5.4)
and
B = u; + (u b( );) + b( u;) c u,
(5.5)
165
(5.6)
(acceleration),
a=u
to measure its time rates. The time rates of do not play any role in the
two-dimensional theory.
Variational principles and boundary-value problems
Case i) For a piezoelectric shell with unelectroded face surfaces the twodimensional action functional reads
Z t1 Z
( ) da dt,
(5.7)
J[u, ] =
t0
where is the kinetic energy density and the electric enthalpy. The action
functional J[u, ] is defined on the space of all functions u and , where u is
assumed to be continuously twice differentiable, and the remaining functions
are continuously differentiable. The kinetic energy density is a quadratic
form of u
1
1
u = (u 2 + u u ),
(5.8)
= u
2
2
166
where is the mass density per unit area. The electric enthalpy is a quadratic
form of the measures of extension and bending and of the electric field, which,
in the general case, is given by
0 (A , B , F ),
=
or
0 (A , , F ).
=
If the edge of the shell is free, then it is natural to assume that no constraints are imposed on u at the boundary. If the edge of the shell is clamped,
we assume that J[u, ] is defined on the space of admissible displacement
fields u satisfying the boundary condition
u = 0,
u = 0,
u, = 0 at Sk ,
(5.9)
where denotes the surface vector normal to the curve S. The last of
these constraints expresses the fact that the rotation angle of the edge of the
shell vanishes (clamped edge). If, finally, the edge of the shell is fixed, then
only the displacements at Sk should vanish
u = 0,
u = 0,
at Sk .
(5.10)
(5.11)
u|t=t1 = u1 .
Hamiltons variational principle for piezoelectric shells states that the true
and electric potential correspond to the stationary
displacement field u
points of the action functional (5.7)
J = 0.
In order to derive the equations of motion for piezoelectric shells let us
calculate the variation of the functional (5.7)
Z t1 Z
J =
[
(u
u + u u ) N A M B + G F ] da dt, (5.12)
t0
167
,
A
0
M =
,
B
0
G =
.
F
N =
(5.13)
M;
)u + G; ] da dt = 0,
u = T b M;
,
(5.14)
G; = 0.
These are the two-dimensional equations of motion of the piezoelectric shell.
Substituting (5.13) into (5.14), we obtain four differential equations with
respect to the four unknown functions, namely, the three components of the
displacement field u and the electric potential .
168
For the variations not vanishing at the boundary we can repeat the procedure similar to that in Section 3.1 to obtain
Z t1 Z
M;
+ (M ) = 0,
s
M = 0,
(5.15)
G = 0 on cd .
The last equation says that the average electric charge vanishes on cd . For
the clamped edge the conditions (5.9) and (5.15)4,5 should be posed at the
boundary. If the edge is fixed, (5.10) and (5.15)4,5 are the boundary conditions at S.
is given in terms of the measures A , and F , the equations of
If
motion read
u = t
, + b m; + F ,
u = n b m
; + F,
G;
(5.16)
= 0,
where
0
,
A
0
m =
,
G =
,
F
n =
t = n + b m] .
(5.17)
169
m
(m ) = 0,
; +
s
m = 0.
= (i) (t) on
c(i)
,i
(5.18)
= 1, . . . , n,
G = 0 on cd .
Case ii) For a piezoelectric shell with fully electroded face surfaces the twodimensional action functional depends only on the mean displacement field
u
Z Z
t1
( ) da dt,
J[u] =
t0
(5.19)
1 (A , B )
where is the kinetic energy density given by (5.8) and =
is the electric enthalpy depending only on the measures of extension and
bending (cf. the analogous formulae for elastic shells). The true displacement
is the stationary point of the functional (5.19). Thus, this variational
field u
principle leads to the same equations of motion and boundary conditions as
in the theory of elastic shells (cf. equations (3.19)-(3.21) or (3.24)-(3.26)).
Changes concern just the constitutive equations.
Case iii) Let S0 be a portion of the middle surface, the face surfaces of which
are not electroded, and S1 the remaining part. Assume, for definiteness,
that the latter lies strictly inside S and S1 is the boundary between these
two regions. The 2-D action functional can be presented as a sum of two
integrals
Z t1 Z
0 (A , B , F )] da dt
J[u, ] =
[
t0
S
(5.20)
Z t10Z
1 (A , B )] da dt.
+
[
t0
S1
We assume that the space of admissible displacement fields and electric potentials, on which the functional (5.20) is defined, contains also the displacement fields with discontinuous first and second derivatives at the boundary
S1 . However we require that the displacements u , u as well as the first
derivative u; should be continuous there, where denotes the outward unit
normal to the curve S1 . Concerning the 2-D admissible electric potentials
we require that they vanish at the boundary S1 . The true displacement field
170
(5.21)
where [[.]] denotes the jump of the corresponding quantity across the line
S1 : [[A]] = A+ A , the indices + and indicating the limiting values of
A as x approach the two sides of the line S1 . Due to the arbitrariness of
u , u and u; equation (5.21) yields the following jump conditions at the
boundary line S1 of the unelectroded region
[[T + b M ]] = 0,
[[M;
+ (M )]] = 0,
s
[[M ]] = 0.
(5.22)
2 N
12 N
2e
N A F N F F ),
(5.23)
where c
, e
N
N , N are the so-called two-dimensional electroelastic moduli.
On the basis of (5.13) and (5.23), the following relations may be established
A e
N = h(c
N F ),
N
h3
M = c
B ,
12 N
G = h(e
N A + N F ).
(5.24)
171
These are the constitutive equations for the two-dimensional theory of piezoelectric shells with unelectroded face surfaces.
Case ii) If the face surfaces of the piezoelectric shell are fully electroded, the
electric enthalpy depends only on the measures of extension and bending and
is given by
2
1 = h (c A A + h c B B + 2e3 A 0 (t) ).
P
2 P
12 N
h
(5.25)
The constitutive equations are similar to those for elastic anisotropic shells
and take the form
N = h(c
A + e3
P
P
M =
h3
c
B .
12 N
0 (t)
),
h
(5.26)
172
5.2
Asymptotic analysis
h/2
under the constraints (5.2) in case i), and the constraints (5.3) in case ii),
where = 1 2Hx + Kx2 and da denotes the area element. In (5.27) T is
the kinetic energy density
1
1
T = w i w i = (a w w + w 2 ),
2
2
with w , w being the projections of the displacement vector onto the tangential and normal directions to the middle surface
w = ti wi ,
w = ni wi .
173
The electric enthalpy density W is the quadratic form of the strain ab and
the electric field Ea and is given by
1
1
cab
ab Ec ab
Ea Eb .
W (ab , Ea ) = cabcd
E ab cd e
2
2 S
(5.28)
(5.29)
x
,
h
[1/2, 1/2].
Now h enters the action functional explicitly through the components of the
strain tensor ab and the electric field Ea (cf. (3.40))
= w(;) b w hb( w;) + hc w,
1
23 = w| + w, + b w b w| ,
h
1
33 = w| ,
h
1
E = , , E3 = | .
h
(5.30)
Here the vertical bar followed by indicates the partial derivative with respect to and not with respect to x . We denote by h.i the integral over
within the limits [1/2, 1/2].
174
Another form of the electric enthalpy. Before applying the variationalasymptotic procedure let us transform the electric enthalpy density to another form more convenient for the asymptotic analysis. We note that among
terms of W (ab , Ea ) the derivatives w, /h and w, /h in 3 and 33 as well
as E3 are the main ones in the asymptotic sense. Therefore it is convenient
to single out the components 3 and 33 as well as E3 in the electric enthalpy. We represent the electric enthalpy density W (ab , Ea ) as the sum of
two quadratic forms Wk and W corresponding to longitudinal and transverse
electric enthalpies, respectively. These are defined by
Wk = min max W,
3 ,33 , E3
W = W Wk .
Long, but otherwise simple calculations show that
1
1
e
Wk = c
N
N E N E E ,
2
2
1 3333 2
1
+ c33
W = cE + c333
E
2
2 E
1
F 2,
e333 F e33 F 33
2 S
(5.31)
where
= 33 + r r E ,
= 23 + t
t E ,
F = E3 + q + q E .
33 333 3333 333 33 33
The coefficients c
, e
,cE ,cE ,e ,e ,S ,r ,r ,t , t , q
N
N ,N ,cE
= c
+ q e3
c
P
P ,
N
N = P q P ,
= e
q 3
e
P
P ,
N
33
q = e3
P /P ,
c
= c k c3 ,
P
b + k eb3 ,
b
P =
33
q = 3
P /P ,
ea
= ea k ea3 ,
P
33
33 + k e33 ,
P =
(5.32)
175
3333
cab = cab
ca33
cb33
E
E
E /cE ,
a33 b33 3333
ab = ab
e /cE ,
S +e
t = k k q ,
f =
h = (
c33 )1 ,
k = h e3 , k = h e33 ,
c33
c333
E k
E
,
c3333
E
a33 3333
eab = eab cb33
/cE ,
E e
t
= k + k q ,
r = f + f q ,
f =
r = f f q ,
e33 c333
E k
,
c3333
E
f=
e333 c333
E k
.
3333
cE
N = N .
t
= 0, t = 0,
q = 0, q = 0,
and
c
= c
,
N
P
e
= e
N
P ,
N = P .
176
n-fold rotation axes that coincide with the normal to the middle surface.
When n is even, all 2-D tensors of odd rank vanish
= 0, e33 = 0, r = 0, t
e
= 0, c333
= 0, q = 0.
E
N
(5.33)
(5.34)
where
= u, + b u .
(5.35)
177
Because of the definitions (5.33) the functions y , y and should satisfy the
following constraints
hy i = 0,
hyi = 0,
hi = 0.
(5.36)
= max |y| |,
B
= max |y| |,
B
= max || |.
B
Consider a certain point of the middle surface S. The best constant l in the
inequalities
|A, |
max |y, |
A
,
l
,
l
B
fF
, |F, |
,
l
l
l
l
h |B, |
h?? = h/l 1.
(5.37)
178
23 = y| ,
33 = y| .
(5.38)
E3 = | .
(5.39)
t1
t0
2
333
hc3333
+ c33
E + 2cE
E
S
2
2e333 F 2e33 F 33
S F i da dt, (5.40)
where
= y| + r (A hB ) r F ,
= y| + t
(A hB ) t F ,
F = | + q (A hB ) + q F .
We maximize the functional (5.40) in y , y and minimize in under the
constraints (5.36). The minimax value of I is equal to zero and is attained
at = = F = 0, i.e., at
1
1
y = (r A r F ) + hr B ( 2 ),
2
12
1
1
2
y = (t
),
A t F ) + ht B (
2
12
1
1
= (q A + q F ) hq B ( 2 ).
2
12
(5.41)
Regarding (5.34) as the asymptotic Ansatz, with u , u and the unknown functions, and with y , y and given by (5.41), we can substitute it
into the action functional (5.27) and integrate over the thickness to obtain
179
the average Lagrangian. On the fields (5.34) the average transverse electric enthalpy vanishes, while the principal terms of the average longitudinal
electric enthalpy give
0 = h hc (A hB )(A hB )
2 N
2e
N (A hB )F N F F i
h
h2
= (c
A
A
+
c
B B 2e
N A F N F F ).
2 N
12 N
This is exactly the formula (5.23). Since the kinetic energy density contains
only w and w,
whose principal terms are the same as for elastic shells, the
average two-dimensional kinetic energy is found to be
1
= h(u 2 + a u u ).
2
Thus, the two-dimensional action functional (5.7) is justified for this case.
Case ii) Fully electroded face surfaces. In this problem the electric potential
should satisfy the constraints (5.3). Consequently, we make another change
of the unknown functions:
w = u (x , t) h (x , t) + hy (x , , t),
w = u(x , t) + hy(x , , t),
= 0 (t) + h(x , , t),
(5.42)
where is given by (5.35). Thus, the difference between (5.34) and (5.42)
concerns only the first term of , where 0 is substituted in place of . We
impose the constraints
hy i = 0, hyi = 0,
|=1/2 = 0
(5.43)
on the functions y , y, .
Let us introduce the following notation
q
q
A = max A A , B = h max B B ,
S
= max |y| |,
B
= max |y| |,
B
= max || |.
B
max |y, |
, max |y, | , max |, | ,
l
l
l
180
23 = y| ,
E = 0,
33 = y| ,
0
E3 = |
h
(5.44)
(c333
+ c33
e33 F )| = 0,
E
E
(e333 + e33 + 33
S F )| = 0,
(5.46)
c333
+ c33
e33 F = 0,
E
E
= 0.
(5.47)
c333
+ c33
e33 F = 0,
E
E
e333 + e33 + 33
S F = A,
(5.48)
181
= k C,
= f C,
= k F,
= kF,
and
1
0
f A + hr B ( 2
h
2
0
1
y = k k A + ht
B ( 2
h
2
1
1
= hq B ( 2 ).
2
4
y = f
1
),
12
1
),
12
(5.49)
2 N
h
h2
= (cN A A + cN B B ).
2
12
The average transverse electric enthalpy is equal to
h 33
2
2
= h 33
P F = P (0 /h + q A ) .
2
2
Taking the sum of these electric enthalpies we obtain the average electric
enthalpy in the form (5.25). By the same arguments one can show that the
kinetic energy density is given by (5.8), so that the two-dimensional action
functional (5.19) is fully justified.
Relationship between 3-D and 2-D electroelastic states. To complete
the 2-D theory of piezoelectric shells we should also indicate the method
of restoring the 3-D electroelastic state by means of the 2-D one. To do
this, the strain and the electric field E should be found within the firstorder approximation by the asymptotic formulae (5.38), (5.39) or (5.44). The
182
stress tensor and the electric induction D are then determined by the 3-D
constitutive equations.
Case i) The 3-D displacements and the 3-D electric potential are restored
from u , u, according to (5.34) and (5.41). Using (5.38) and (5.39) we find
the strain and the electric fields
= A hB ,
23 = (r A t F ) + ht
B ,
33 = (r A r F ) + hr B ,
E3 = (q A + q F ) + hq B .
E = F ,
= c
A e
B h =
N
N F cN
N 12
2 M ,
h
h
3 = 0,
D = e
N A
33 = 0,
G
+
F
e
B
h
=
e
N
N
N B h,
h
D3 = 0.
All of these equalities should be understood in the asymptotic sense, i.e., they
are accurate up to terms of the orders h/R and h/l of smallness compared
with unity.
Case ii) Calculations are similar to those given in case i). Omitting them,
we present the final formulae for (, E) and (, D).
Strain electric field
= A hB ,
0
23 = k
k A + ht
B ,
h
0
f A + hr B ,
33 = f
h
0
E = 0, E3 = + hq B .
h
Stress electric induction
c
A
P
3
D = e
P A N
0
e3
P
c
B h
N
h
3 = 0,
N 12
=
2 M ,
h
h
33 = 0,
0
e
N B h,
h
D3 = 33
P
(5.50)
0
+ e3
P A .
h
183
Again, these formulae are accurate up to terms of the orders h/R and h/l of
smallness.
Problems
1. Show that the 3-D equation of electrostatics for a shell in the coordinates x , x reads
(D ); + (D3 ),x = 0.
2. Check the additive decomposition of the electric enthalpy (5.31) and
obtain the formulae (5.32) for the 2-D electroelastic moduli.
3. Follow the variational-asymptotic scheme to determine the set N and
to justify the change of unknown functions (5.34) in the problem i).
4. Perform the similar procedure to justify (5.42) in the problem ii).
5.3
where the function G(, E) is the density of the complementary energy introduced in Section 2.4. In component form G(, E) reads
1 T a b
1
ab cd
ab c
G(, E) = sE
abcd + dcab E + ab E E .
2
2
Since the complementary energy density G(, E) is positive definite (see
Section 2.4), the definition (5.51) is meaningful.
184
for which
We call kinematically admissible those electroelastic states
exist such that
and the electric induction field D
the compatible strain field
1
+ (w)
T ), w
= 0 on Sk ,
= (w
2
= 0, Dn
= 0 on Sd ,
divD
are expressed in terms of
according to equations
and E
and D
while
statically admissible, when
(2.48). We call those electroelastic states
= 0,
div
= ,
E
= 0 on Ss ,
n
= (i)
on Se(i) , i = 1, . . . , n.
= (,
be the true electroelastic state that is realized in a piezo E)
Let
electric body B on the given values of the electric potential (i) on the elec(i)
trodes Se , i = 1, . . . , n. Then the following identity
1 (
+ )]
= C2 [ 1 (
)]
C2 [
2
2
(5.52)
C 2 [
)]
C 2 [
],
C 2 [
which follow easily from (5.52).
To prove the identity (5.52) we first rewrite its left-hand side as follows
1 (
+ )]
= C 2 [
1 (
)]
C2 [
2
2
]
+ C2 [ 1 (
)]
[
,
]
= C 2 [
2
1
,
],
= C2 [ (
)] + [
(5.53)
2
where [, 0 ] denotes the scalar product of two elements
Z
Z
0
0
[, ] =
G(, ) dv =
sAB A 0B dv.
B
(5.54)
185
E)(
D
D)]
dv
):(
) + (E
[ , ] = [(
ZB
D)]
dv,
):(
w)
+ ( )(
w
D
= [(
B
and (5.55). Integrating
which is the consequence of the definitions of ,
as well as the boundary
this identity by parts and taking the definition of
conditions into account, we can realize that the right-hand side vanishes.
Thus, the identity (5.52) is proved.
Error estimates. From the identity (5.52) the following error estimate can
be established.
Theorem. The electroelastic state determined by the 2-D theory of piezoelectric shells differs in the norm L2 from the exact electroelastic state determined by the 3-D theory of piezoelectricity by a quantity of the order
h/R + h/l as compared with unity.
To prove this theorem it is enough to find out the kinematically and
statically admissible 3-D fields of electroelastic states that differ from the
electroelastic state determined by the 2-D theory by a quantity of the order
h/R + h/l as compared with unity. We construct these fields for the two
cases considered above.
Case i) Construction of kinematically admissible field. We specify the kinematically admissible displacement field in the form
w = u (x ) x (x ) + hy (x , x),
w = u(x ) + hy(x , x),
186
where and y , y are given by (5.35) and (5.41), respectively. Here and
below, all quantities without the superscriptsandrefer to the solution of the
equilibrium equations of piezoelectric shells obtained by the two-dimensional
theory. The components of the strain tensor are calculated according to
(5.30). Assume that the 2-D electroelastic state is characterized by the strain
amplitude = A +B , and the quantity fF defined in Section 5.2 is expressed
through by fF = c, with c a constant. The asymptotic analysis similar to
that given in (3.48)-(3.50) shows that
= A xB + O(h/R, h/l) = + O(h/R, h/l),
23 = r A t F + t
B x + hy, + b hy
= 23 + O(h/R, h/l),
G
,
h
(5.56)
where h.ix denotes the integral over x within the limits [h/2, h/2]. The
3 is found by solving the 3-D equation of electrostatics
component D
); + (D
3 ),x = 0
(D
(5.57)
D =
(D ()()); d = O(h/R, h/l)
h/2
that satisfies the above-mentioned boundary conditions at x = h/2 (the
3 = 0 at x = h/2 is fulfilled because of the 2-D equation of
condition D
does not satisfy the
electrostatics G; = 0). Note that the constructed field D
G
= 0.
h
187
For simplicity of the proof we further assume that the 3-D boundary conditions at the edge of the shell agree with the inner expansion of the electroelastic state (the so-called regular boundary conditions). Then the electric
constructed above is kinematically admissible. For irreguinduction field D
lar boundary conditions we have to take into account an additional electric
induction field that differs substantially from zero only in a thin boundary
layer at the shell edge. Since the energy of this boundary layer is of the order
h/l compared with that of the inner domain, one can easily generalize the
proof of the theorem to this case.
we find
= (,
from the constitutive equations
E)
Knowing (
, D),
= (, D)+O(h/R, h/l), it is easily seen that (,
=
E)
(2.48). Because (
, D)
(, E) + O(h/R, h/l).
Construction of statically admissible field. We write down the 3-D equilibrium equations for a shell in the form (cf. Exercise 2, Section 3.2)
; + ( ),x b = 0,
; + b + ,x = 0,
(5.58)
where
=
,
=
3 ,
=
33 .
3 = 0,
33 = 0 at x = h/2,
(5.59)
= s
0 (x ) xs1 (x ),
where s
0 and s1 are symmetric and independent of x. These are chosen
from the conditions
h
ix = T ,
h
xix = M .
(5.60)
and
The conditions (5.60) enable one to determine s
0 and s1 through T
s
0
s
1
N
+ O(h/R, h/l),
=
h
12
= 3 M + O(h/R, h/l).
h
188
Solving (5.58),(5.59) with the given , we can find and and then
3 and
33 . It turns out that (5.60) are the sufficient conditions for the
existence of and . Indeed, integrating (5.58) and (5.58)1 multiplied by x
over x [h/2, h/2], we obtain
h/2
T; b N + ( )|h/2 = 0,
h/2
N;
+ b T + |h/2 = 0,
(5.61)
h/2
M; N + (x )|h/2 = 0,
where N = h
ix . From the first and the last equations of (5.61) it follows
h/2
that ( )|h/2 = 0, since T; + b M; = 0 according to the 2-D equations
h/2
189
3 exists and D
3 = D3 + O(h/R, h/l).
Then D
Construction of statically admissible field. The electric potential is
given by
1
h2
0
x q B (x2 ),
=
h
2
4
= .
and E
It is easy to see that the conditions = 0 /2 are satisfied
e3
= eP a ,
P
N = a .
1 (A ) + 2c2 A A ]
2
h2 N 2
N 2
+ [c1 (B ) + cN
2 B B ] F },
12
(5.62)
2
h2 N 2
P 0
+ [c1 (B ) + cN
},
2 B B ] + 2e A
12
h
(5.63)
in case ii). Note that the cross terms between the mechanical and electric
quantities are absent in (5.62).
190
We now express the coefficients cP1 , cP2 , eP through the 3-D electroelastic
moduli, whose components are denoted by means of the abbreviated indices
as described in Section 2.4. According to the formulae (5.32)
1
c12
cP2 = (c11
E ),
2 E
2
(c13
E)
12
cP1 = c11
(c11
E
E cE ),
c33
E
13 33
c
e
eP = e31 E 33 .
cE
(5.64)
Sometimes it is convenient to express cP1 , cP2 , eP through the other 3-D moduli,
am
abcd
for instance, smn
and dabc that enter the
E and d . These are related to sE
complementary energy density G(, E) in the following way: if among m and
abcd
n there are no indices 4,5,6, then smn
and dam = dabc ; if the indices
E = sE
abcd
and 12 dam = dabc ; if they are
4,5,6 are encountered once, then 12 smn
E = sE
1 mn
abcd
encountered twice, then 4 sE = sE [36]. For piezoceramics one can easily
show that
11 12 13 1
E
E
cE cE cE
s
s11 sE
13
12
E
E
,
s E
c13
c11
c12
s
s
=
13
11
12
E
E
E
33
13
13
E
E
E
cE cE cE
s13 s13 s33
and
31
E
E
e
s11 sE
d31
12 s13
E
E 31
d31 = sE
e
s
s
.
12
11
13
33
E
E
E
e
s13 s13 s33
d33
1
2sE
11 (1
+ )
cP1 =
,
2)
sE
11 (1
eP =
d31
E
s11 (1
E
where = sE
12 /s11 is Poissons ratio for the piezoceramic material. We now
N
calculate cN
1 and c2 . According to (5.32) we have
cN
2
1
= E
,
2s11 (1 + )
cN
1
+ 1
kp2
1
2
= E
,
s11 (1 2 ) 1 kp2
2d231
.
(1 )T33 sE
11
191
N = h(cN
+ 2cN
1 A a
2 A ),
h3
M = (cN
+ 2cN
1 B a
2 B ).
12
(5.65)
In case ii) (the piezoceramic shell with electroded face surfaces) the constitutive equations take the form
N = h(cP1 A a + 2cP2 A + eP
M =
0
a ),
h
h3 N
(c B a + 2cN
2 B ).
12 1
(5.66)
It can be shown that in both cases the constitutive equations are asymptotically equivalent to the equations obtained in [10].1 In case i) the cross
terms between the mechanical and electric quantities in the electric enthalpy
of the classical theory vanish, and in order to describe the coupling piezoelectric effects we may need to construct a refined shell theory [50] and regard
it as the first-order approximation. In doing so the variational-asymptotic
method [6] again turns out to be much more effective as compared with other
asymptotic methods. However, we shall not go into the details of the refined
piezoelectric shell theories.
Piezoceramic shells with tangential polarization. We consider a piezoceramic
shell polarized along the tangents to the x2 co-ordinate lines of the middle
surface. We assume additionally that the co-ordinate lines x1 , x2 are simultaneously lines of principal curvatures of the middle surface. It is clear that
such a shell possesses the symmetry planes parallel to the middle surface,
and according to the note in Section 5.2
c
= c
,
N
P
e
= e
N
P ,
N = P .
3 ,33
which follows from the definition of G( ab , Ea ) as the Legendre transformation of W (ab , Ea ) with respect to ab . Using this formula we can express
1
In [10] the measures of bending introduced by Goldenveizer and Novozhilov were used
instead of B or .
192
E
T
c
, e
and
P
P
P through s , d and
1
c
= (sE
) ,
P
ea
= c
da. ,
P
P
b
ab
a
ab
P = T d. eP ,
=
,
c
,
c
, c66
P
P
P
P = E ,
s44
E
E
E
E
d33 s11 d31 s13
d31 s33 d33 s13
e22
, e21
,
P =
P =
d15
11
16
22
22
21
e16
11
22
P = E ,
P = T d15 eP ,
P = T d33 eP d31 eP ,
s44
where
E
E 2
= sE
11 s33 (s13 ) ,
and the abbreviated indicial notation is used also for the 2-D moduli.
For the shell with unelectroded face surfaces the constitutive equations
(5.24) take the form
12
21
N11 = h(c11
P A11 + cP A22 eP F2 ),
22
22
N22 = h(c12
P A11 + cP A22 eP F2 ),
16
N12 = h(2c66
P A12 eP F1 ),
h3 11
M11 = (cP B11 + c12
P B22 ),
12
h3
B11 + c22
M22 = (c12
P B22 ),
12 P
h3
M12 = 2c66
B12 ,
12 P
G1 = h(2e16 A12 + 11
P F1 ),
21
22
G2 = h(eP A11 + eP A22 + 22
P F2 ).
For the shell with electroded face surfaces we obtain from (5.26)
12
22
N11 = h(c11
N22 = h(c12
P A11 + cP A22 ),
P A11 + cP A22 ),
h3 12
h3 11
12
M11 = (cP B11 + cP B22 ), M22 = (cP B11 + c22
P B22 ),
12
12
2hc66
P A12 ,
M12
193
h3 66
= 2cP B12 .
12
5.4
A% = 0,
A =
u%
,
%
2c
)
2c
u
%,%
1
2 %,%
2 2 ]%d% dt,
%
%
t0
0
2
194
where r is the radius of the plate. The Euler equation of this functional takes
the form
N
u% = (cN
1 + 2c2 )(u%,%% +
u%,% u%
2 ),
%
%
(5.67)
u%
= 0 at % = r.
r
(5.68)
(5.69)
2cN
2
1 1
kp2
1
2
= E
,
s11 (1 2 ) 1 kp2
cN
1
+ 1
kp2
1
2
= E
,
s11 (1 2 ) 1 kp2
(5.70)
u0 + 2 u = 0 at y = 1,
(5.71)
1 1
kp2
2
,
1 kp2
+ 1
kp2
2
.
1 kp2
(5.72)
u = aJ1 ( y),
J0 ( ) = (1 2 )J1 ( ).
(5.73)
195
Taking = 0.35, kp = 0.6,3 we find the first three roots of (5.73) to be equal
to 2.563, 6.381, 10.1, respectively.
Fully electroded face surfaces. In this case the action functional reduces
to
Z t1 Z r
u2%
u%
[u 2% cP1 (u%,% + )2 2cP2 u2%,% 2cP2 2
%
%
0
t0
u%
0
2eP (u%,% + )]%d% dt,
h
%
which leads to the following Euler equation
u%,% u%
2 ),
%
%
(5.74)
u%
0
+ eP
= 0 at % = r.
r
h
(5.75)
1
,
2)
sE
11 (1
cP1 =
,
2)
sE
11 (1
eP =
d31
E
s11 (1
(5.76)
where a is equal to
a=
3
d31 (1 + )r
0
.
(1 )J1 () + J0 () h
(5.77)
196
(5.78)
which, for = 0.35, gives the first three roots as 2.08, 5.399, 8.578.
To find the antiresonant frequencies we should determine the surface
charges on electrodes or, alternatively, the current. We use the equation
(5.50) for D3 , which, in our case, reduces to
u%
0
+ eP (u%,% + ).
D3 = 33
P
h
%
Taking into account that 0 and u% depend on t harmonically, we eliminate
their common factor eit to obtain the amplitude of D3
0
u
3 = 33
D
+ eP (
u,% + ).
P
h
%
2
T
from (5.76) gives
It is easy to check that 33
P = 33 (1 kp ). Substitution of u
d31
3 = T33 (1 kp2 ) 0 +
D
a J0 ( %).
E
h
r
s11 (1 ) r
Now we calculate the amplitude of the surface charge on one electrode by
3 over S
integrating D
Z
kp2
0
3
2 T
2
aJ1 ()].
D da = r 33 [(1 kp )
h
rd31
S
Remembering (5.77), we find that the antiresonant frequencies, for which the
surface charges should vanish, are determined as roots of the equation
J0 () = [1 (1 + )
kp2
]J1 ().
1 kp2
(5.79)
For = 0.35, kp = 0.6, we find the first three roots of this equation to be
2.449, 5.54, 8.666.
Partially electroded face surfaces. Suppose that the electrodes cover
only the rings r0 % r of the face surfaces. On the electrodes the values of
the electric potential 0 /2 are specified. For the axisymmetric longitudinal
vibrations the action functional, up to an unimportant factor, is the sum of
the following integrals
Z t1 Z r
Z t1 Z r0
u2
u% 2
N %
2
N 2
u % %d% dt
[cN
(u
+
)
+
2c
u
+
2c
%,%
2 2 ]%d% dt
1
2 %,%
%
%
t0
0
t0
0
Z t1 Z r
2
u%
0
u%
u%
197
u% = (cN
1 + 2c2 )(u%,%% +
(5.80)
(5.81)
0
= [(cP1 + 2cP2 )u%,% + cP1 u% /% + eP ]|r0 + ,
h
and the traction-free boundary condition at % = r
[(cP1 + 2cP2 )u%,% + cP1 u% /% + eP
0
]|r = 0.
h
(5.82)
1
u00 + u0 + (2
y
1
)
u = 0 for y (0, r),
y2
1
)
u = 0 for y (
r, 1),
y2
0
r]|r+ ,
h
0
r]|y=1 = 0.
h
For the part of the plate without electrodes the solution is given by
u = a1 J1 ( y),
198
Cij aj = bi ,
i = 1, 2, 3,
j=1
C12 = J1 (
r),
C13 = Y1 (
r),
r
r
r
C21 = (2 )J1 ( ) + 2 J0 ( ),
C22 = (1 )J1 (
r)
rJ0 (
r),
C23 = (1 )Y1 (
r)
rY0 (
r),
C31 = 0, C32 = (1 )J1 () J0 (),
C33 = (1 )Y1 () Y0 (),
0
0
b1 = 0, b2 = d31 (1 + )r r, b3 = d31 (1 + )r .
h
h
After finding ai we can determine the amplitude of D3 by the formula
u
d31
3 = T (1 k 2 ) 0 +
(
u,% + )
D
33
p
E
h
%
s11 (1 )
d31
0
[a2 J0 (%) + a3 Y0 (%)],
= T33 (1 kp2 ) + E
h
s11 (1 )
where = /r. Then the amplitude of the total charge on one of the electrodes is equal to
Z
3 da = r2 T 0 {(1 r2 )(1 k 2 ) k 2 [
D
J1 (
r))
33
p
p a2 (J1 () r
h
S1
+a
3 (Y1 () rY1 (
r))]},
where a
i is the solution of the system
3
X
Cij a
j = bi ,
i = 1, 2, 3,
j=1
with
b1 = 0,
b2 = (1 + )
r,
b3 = 1 + .
199
(5.83)
The antiresonant frequencies should be found from the condition that the
total charge vanishes giving
(1 r2 )
1 kp2
=a
2 [J1 () rJ1 (
r)]
kp2
(5.84)
+
a3 [Y1 () rY1 (
r)].
For = 0.35, kp = 0.6 the first three roots of equations (5.83) and (5.84) as
functions of the parameter r = r0 /r are numerically evaluated and the results
are plotted in Figure 5.2, where the solid lines correspond to the resonant
frequencies and the dashed lines to the antiresonant ones. One can see that
for r = 1 and r = 0 these curves give the values found previously.
Problems
1. Plot the first three resonant frequencies of (5.78) as functions of .
2. Plot the first three antiresonant frequencies of (5.79) as functions of
taking kp = 0.6.
200
a2 r2
,
a2
5.5
In this section we apply the piezoelectric shell theory to the problem of axisymmetric vibrations of piezoceramic circular cylindrical shells with thickness
polarization. We analyze the resonant and antiresonant vibrations of shells
with different electrode arrangements.
Unelectroded face surfaces. Consider a finite circular cylindrical shell
of the thickness h, the radius R, and the length 2L, referred to the same
co-ordinates as in Section 3.4. The shell is assumed to be made of a piezoceramic material with thickness polarization. We study the axisymmetric
vibrations, for which the component u2 = 0 and the components u1 , u of the
displacements do not depend on x2 . Then the measures of extension and
bending are given by
u
A11 = u1,1 , A12 = A21 = 0, A22 = ,
R
(5.85)
B11 = u,11 , B12 = B21 = 0, B22 = 0.
Substituting these formulae into (5.62), we obtain the expression of the elec 0 in terms of displacements. Note that the last term N F2
tric enthalpy
u1 = cN
) + 2cN
(5.87)
1 (u1,11 +
2 u1,11 ,
R
cN
u
h2 N
1
N u
201
u = ueit ,
(5.88)
=
,
(5.89)
= R sE
11
R
the equations of motion reduce to
2 u001 +
u0 + 2 u1 = 0,
u01 + 2 u + ? u0000 2 u = 0,
(5.90)
(5.91)
3
X
ai sin i ,
i=1
u =
3
X
ai
i=1
i
cos i 1 ,
i
(5.92)
(5.93)
i = 2 2i + 2 .
(5.94)
and
For each there are three different roots of equation (5.93), whose behaviour
is qualitatively similar to that shown in Figure 3.18. However, here the cutoff frequency is equal to . Substituting (5.92) into the free edge boundary
conditions at 1 = l = L/R
2 u01 +
u = 0,
u00 = u000 = 0,
(5.95)
202
Cij aj = 0,
i = 1, 2, 3,
j=1
(5.96)
Figure 5.3: Eigenfrequencies versus l of piezoceramic unelectroded cylindrical shells with free edges ( = 0.35, kp = 0.6, h/R = 0.1).
The fundamental frequency as well as the overtones of piezoceramic shells
with other boundary conditions can be evaluated in exactly the same manner
as in Section 3.6.
203
Fully electroded face surfaces. Taking (5.85) into account, we write down
the 2-D action functional in the form
Z t1 Z L
u
{(u 21 + u 2 ) [cP1 (u1,1 + )2 + 2cP2 u21,1
J =Rh
R
L
t0
u2
u 0 (t) h2 N
2
1
+ 2cP2 2 + 2eP (u1,1 + )
+ (c1 + 2cN
2 )u,11 ]} dx dt.
R
R h
12
Consequently, the Euler equations read
u,1
) + 2cP2 u1,11 ,
(5.97)
R
cP
u
u
0 (t) h2 N
u = 1 (u1,1 + ) cP2 2 eP
(c1 + 2cN
2 )u,1111 .
R
R
R
hR
12
u1 = cP1 (u1,11 +
For the free edges we have the following natural boundary conditions
u
0 (t)
) + 2cP2 u1,1 + eP
= 0,
R
h
u,11 = u,111 = 0 at x1 = L.
cP1 (u1,1 +
(5.98)
(5.99)
0
= 0,
h
u00 = u000 = 0 at 1 = l,
(5.100)
and
u01 + u + R
where = d31 (1 + ).
It is easy to see that the symmetric solutions of (5.99) and (5.100) are
given by
u1 =
3
X
i=1
ai sin i ,
X i
R0
u =
+
ai
cos i 1 ,
h(1 2 ) i=1 i
(5.101)
204
Cij aj = bi ,
i = 1, 2, 3.
j=1
The elements of the matrix Cij turn out to be identical in form with (5.96),
while bi are given by
b1 = R
0 1 + 2
,
h 1 2
b2 = b3 = 0.
Cij a
j = bi ,
i = 1, 2, 3,
j=1
2
b1 = 1 + ,
1 2
b2 = b3 = 0.
(5.102)
205
kp2 )2l
3
X
kp2 (1 + )l
i sin i l
2
)
.
+
= kp (1 + )
a
i (i +
2
1
i
i
i=1
(5.103)
For = 0.35, kp = 0.6, h/R = 0.1 the first two roots of equations (5.102) and
(5.103) as functions of the parameter l = L/R are numerically evaluated and
the results are plotted in Figure 5.4, where the solid lines correspond to the
resonant frequencies and the dashed lines to the antiresonant ones.
Figure 5.4: Resonant and antiresonant frequencies of piezoceramic fully electroded cylindrical shells with free edges ( = 0.35, kp = 0.6, h/R = 0.1).
Partially electroded face surfaces. Assume that the portions |x| < L0
of the shell face surfaces are covered by electrodes and the values 0 /2 of
the electric potential are specified on them. For axisymmetric harmonic vibrations the 2-D governing equations, in terms of the dimensionless variables
(5.89), are of the form (5.99) in the electroded region | 1 | < l0 = L0 /R, and
of the form (5.90) in the remaining region l0 < | 1 | < l. The general symmetric solution of (5.99) is given by (5.101), while that in the unelectroded
region should be modified as follows
u1 =
6
X
aj sin j +
j=4
6
X
9
X
ak cos k 1 ,
k=7
9
X
k
j
cos j 1
sin k 1 ,
u =
aj
ak
j
k
j=4
k=7
(5.104)
206
for l0 < < l, and determined for l < < l0 so that u1 , u are odd
and even functions, respectively. In (5.104) 2j , j = 4, 5, 6 are the three roots
of the cubic equation (5.93) and 7 = 4 , 8 = 5 , 9 = 6 . The j are
determined through 2j according to (5.94).
The jump conditions at 1 = l0 read
R0
)|l0 = (2 u01 +
u)|l0 + ,
h
u00 |l0 = u00 |l0 + , u000 |l0 = u000 |l0 +
= u1 |l0 + , u|l0 = u|l0 + , u0 |l0 = u0 |l0 + .
(
u01 + u +
u1 |l0
Finally, we have to satisfy the free edge boundary condition (5.95). Substituting the general solution containing nine unknown constants ai into these
nine conditions, we obtain the system of nine linear equations
9
X
Cij aj = bi ,
i = 1, . . . , 9.
(5.105)
j=1
j 2j
i 2i
k 2k
C3i =
sin i l0 , C3j =
sin j l0 , C3k =
cos k l0 ,
2
2
C7i = 0, C7j =
cos j l, C7k = sin k l,
j
k
C8i = 0, C8j = j j cos j l, C8k = k k sin k l,
C9i = 0, C9j = j 2j sin j l, C9k = k 2k cos k l.
C1i =
R0 1 + 2
,
h
1 2
b5 =
R0
.
h(1 2 )
207
Figure 5.5: First resonant and antiresonant frequency of piezoceramic partially electroded cylindrical shells versus l0 ( = 0.35, kp = 0.6, h/R = 0.1, l =
1).
3,
After finding ai we calculate the amplitude of the electric induction D
and then the total charge on the electrodes. One can show that the latter is
given by
Z
k 2 (1 + )l0
3 da =2R2 T33 0 [(1 kp2 )2l0 p
D
h
1 2
S1
3
X
i sin i l0
2
)
],
(5.106)
+ kp (1 + )
a
i (i +
i
i
i=1
where a
i are the solution of the following system
9
X
Cij a
j = bi ,
i = 1, . . . , 9,
j=1
2
b1 = 1 + ,
1 2
b5 =
1
,
1 2
bi = 0, i 6= 1, 5.
(5.107)
while the antiresonant frequencies should be found from the condition that
the right-hand side of (5.106) vanishes. For = 0.35, kp = 0.6, h/R =
0.1, l = 1 the first resonant and antiresonant frequencies versus the length
of the electrodes l0 = L0 /R are plotted in Figure 5.5, where the solid lines
correspond to the resonant frequency and the dashed lines to the antiresonant
one.
208
a2 r2
,
a2
Chapter 6
Piezoelectric rods
6.1
One-dimensional equations
Geometry of a piezoelectric rod and electrode arrangement. Consider a domain B in the three-dimensional Euclidean space E obtained by
moving a plane connected figure S along a smooth curve c(x) so that c(x)
always remains orthogonal to S and cuts it in a fixed point (see Figure 4.1).
A linear piezoelectric body occupying the domain B in its stress-free undeformed state is called a piezoelectric rod, the curve c(x) its central line, and
S its cross section.
Let z i = ri (x) be the equation of the central line, with x being the arclength. We denote by t the unit tangent vector to c(x), and by t1 , t2 the unit
vectors orthogonal to each other and to t so that they are rigidly mounted
with the cross section and move together with S as it moves along the central
line. We assume that t1 , t2 and t form a positive-oriented triad. The domain
B E is specified by the equation of the form
z i (xa ) = ri (x) + ti (x)x ,
(6.1)
where ti (x) are cartesian components of the vectors t (x). The co-ordinates
x take values in a connected domain S R2 . We assume that the point
with
R co-ordinates x = 0 coincides with the centroid of the domain S, so
x da = 0.
S
Let S denote the boundary of the cross section. We consider the three
methods of electrode arrangement encountered most often:
i) There are no electrodes on the lateral boundary of the rod (fully unelectroded lateral surface). The edges of the rod are coated by two
electrodes and the values of the electric potential are prescribed on
209
210
for x = 0, L.
(6.2)
i = 1, . . . , n.
(6.3)
(6.4)
= 0 + ,
where
0
.
= e.
. u $u + e. u.
(6.5)
We use for the rotation angle instead of , since the latter is occupied by the electric
potential.
211
(6.6)
In case ii) the number of kinematically independent functions for a piezoelectric rod is reduced to four the displacements u(x, t) and the rotation
(x, t), as for the elastic rods. The one-dimensional electric enthalpy of the
rod depends on the measures of elongation, bending and twist, referred to
as state variables in this case. Finally, in case iii) we must combine the two
types of kinematics described above. In the fully unelectroded portion of the
lateral surface we need the kinematics of the type i), while in the partially
electroded portion of the lateral surface that of the type ii).
Since u and depend on t we introduce the following quantities
v = u (velocity),
(acceleration),
a=u
,
to measure their time rates. The latter quantities describe the angular velocity and acceleration of the torsional motion of the rod. The time rates of
do not play any role in the one-dimensional theory.
Variational principles and boundary-value problems
Case i) For a piezoelectric rod with unelectroded lateral surface the onedimensional action functional reads
Z t1 Z L
J[u, , ] =
( ) dx dt,
(6.7)
t0
where is the kinetic energy density and the electric enthalpy. The kinetic
energy density is a quadratic form of u and
1
1
= (u u + u 2 ) + 2 ,
2
2
(6.8)
where is the mass density per unit length, and is a constant to be determined later. The electric enthalpy is a quadratic form of the measures of
elongation, bending, and twist and of the electric field, which, in the general
case, is given by
0 (, , , F ).
=
212
u|t=t1 = u1 ,
|t=t1 = 1 ,
M M G 0 ] dx dt.
(6.9)
, M =
,
M=
, G=
.
T =
(6.10)
= 0 e u0 $u .
Substituting these formulae into (6.9) and assuming the regularity of all the
quantities under the integral sign, we integrate the latter by parts for the
variations vanishing at x = 0, L to obtain
Z t1 Z L
J =
{(
u + T 0 + M0 e M $ )u + [
u T
+
t0
M00
0
0
0
e.
. (M $ + (M $) (M ) ) (M $ M )$]u
+ (
+ M 0 e M ) + G0 } dx dt = 0.
213
Since the variations of u, u , and are arbitrary inside the region (0, L)
(t0 , t1 ), we conclude that
u = T 0 + M0 e M $ ,
0
0
0
u = T + M00 e.
. [M $ + (M $) (M ) ]
(M $ M )$,
(6.11)
= M 0 e M ,
G0 = 0.
These are the 1-D equations of motion of the piezoelectric rod without electrodes on the lateral boundary. Substituting the constitutive equations (6.10)
into (6.11), we obtain five differential equations with respect to the five unknown functions u, u , and .
Letting the variations of the unknown functions be arbitrary at x = 0, L,
we derive, in a similar manner as in Chapter 4, the free edge boundary
conditions:
T = 0, M = 0, M0 = 0, M = 0.
(6.12)
Besides, the electric potential satisfies the conditions
= 0 (t)/2,
for x = 0, L.
It is not difficult to write down the boundary conditions for the clamped or
fixed edge.
Case ii) For a piezoelectric rod with partially electroded lateral surface the
one-dimensional action functional depends only on the displacements u and
rotation
Z t1 Z L
J[u, ] =
( ) dx dt,
(6.13)
t0
1 (, , ) the
where is the kinetic energy density given by (6.8) and =
electric enthalpy, which depends only on the measures of elongation, bending
and rotation correspond to the staand twist. The true displacements u
tionary points of the functional (6.13). Thus, this variational principle leads
to the same equations of motion and boundary conditions as in the theory
of elastic rods (cf. equations (4.16) and (4.17)). However, the constitutive
equations will be changed.
Case iii) Let c0 be a portion of the central line, the lateral surface of which is
fully unelectroded, and c1 the remaining part. Assume, for definiteness, that
214
c0 lies strictly inside c(x) and c0 is the boundary between these two regions.
The 1-D action functional can be presented as a sum of two integrals
Z t1 Z
0 (, , , F )] dx dt
[
J[u, , ] =
t0
c0
(6.14)
Z t1 Z
[ 1 (, , )] dx dt.
+
t0
c1
We admit the displacement fields with discontinuous first and second derivatives at the boundary c0 . However we require that u , u and as well as
the first derivative u0 should be continuous there. Concerning the 1-D admissible electric potentials we require that they vanish at the boundary c0 .
The true diplacement field, rotation and electric potential correspond to the
stationary points of the functional (6.14). Varying this action functional
with the vanishing variations at the boundary c0 , we obtain the equations
of motion (6.11) in the region c0 and (4.16) in c1 . The boundary conditions
at the free edge of the shell x = 0, L are given by (6.12). For the variations
not vanishing at the boundary c0 we obtain the following jump conditions
[[T ]] = 0,
[[M ]] = 0,
[[M0 ]] = 0,
[[M ]] = 0,
where [[.]] denotes the jump of the corresponding quantity across the point
x0 c0 : [[A]] = A+ A , the indices + and indicating the limiting values
of A as x x0 0. Since the electric potential vanishes at c0 there is no
jump condition for the electric induction field.
1-D electric enthalpy.
Case i) We assume that the rod is made of a linear homogeneous piezoelectric
material. It turns out that, within the first-order approximation, the electric
enthalpy density of the rod is given by
1
0 = (cK |S| 2 + A + 2B + C2
2
(6.15)
2
2eK |S|F K |S|F ).
The coefficient cK |S| plays the role of the effective Youngs modulus, A
correspond to the flexural rigidities, C the torsional rigidity, K |S| the
1-D effective dielectric permittivity. The remaining coefficients B and eK |S|
characterize the coupling effects between bending and torsion and between
elongation and 1-D electric field, respectively.
Case ii) For homogeneous piezoelectric rods the 1-D electric enthalpy is given
by
1
1 = (cK |S| 2 + cK I ) + (, , , (i) ),
(6.16)
2
215
6.2
Asymptotic analysis
Three-dimensional action functional. Assume that the domain B defined by (6.1) is occupied by a linear piezoelectric rod in its stress-free undeformed state. The 3-D co- and contravariant components of the metric
tensor in the chosen curvilinear co-ordinate system x , x can be calculated
with the help of the formulae (4.20)-(4.23). Denote by L the total length
of the central line c(x), by h the diameter of S, and by R the characteristic
radius of curvatures and torsion of the rod. When
h/L 1 and h/R 1,
(6.17)
216
In accordance with the variational principle (2.45), (2.47) the true displacement field wi and the electric potential are sought as stationary points
of the action functional
Z t1 Z L Z
[T W (ab , Ea )] g da dx dt
I=
(6.18)
t0
under the constraints (6.2) in case i), and the constraints (6.3) in case ii),
where T and W are the 3-D kinetic energy and electric enthalpy densities,
respectively. The kinetic energy density T is given by (4.25), while the electric
enthalpy W (ab , Ea ) is the quadratic form (5.28).
The problem is to replace the three-dimensional action functional (6.18)
by an approximate one-dimensional functional for a thin rod, whose kinematics is specified by functions depending only on the longitudinal co-ordinate x
and time t. The possibility of passing from the three- to the one-dimensional
problem is related to the smallness of h/R and h/l, where l is the characteristic scale of change of the electroelastic state in the longitudinal direction
x. We also restrict ourselves to those dynamical processes for which the
inequality
h
1
(6.19)
c
holds, with the characteristic scale of change of the function wi in time and
c the minimal velocity of plane waves in the piezoelectric material. According
to (6.19) only low-frequency vibrations of the piezoelectric rod are considered
here. By using the variational-asymptotic method, one-dimensional action
functionals will be constructed in which terms of the order h/R and h/l are
neglected compared with unity.
Before starting the asymptotic analysis of the functional (6.17) it is convenient to introduce the dimensionless co-ordinates
x
, S,
=
h
where S does not depend on h and has the diameter 1. Then h enters the
action functional explicitly through the components of the strain tensor ab
and the electric field Ea . In terms of , x the components of ab and Ea read
1
w(|) ,
h
1
1
.
3 = [w,x w $e.
. w + (1 + h )w| + $e. w| ],
2
h
.
33 = (1 + h )(w,x + w ) + h$e.
. (w,x w $e. w ),
1
E = | , E3 = ,x .
h
=
217
We use the vertical bar preceding a Greek index to denote the differentiation
with respect to . The integral over S will be denoted by h.i.
Another form of the electric enthalpy. We now transform the electric
enthalpy density to another form more convenient for the asymptotic analysis. Note that among terms of W (ab , Ea ) the derivatives w| /h and w| /h
in and 3 as well as E = | /h are the main ones in the asymptotic sense. Therefore we shall group principal terms and principal cross
terms containing , 3 and E in the electric enthalpy. To this end let us
decompose the electric enthalpy (5.28) as follows
W = W + Wk ,
(6.20)
where
Wk = min max W.
,3 E
(6.21)
= + k 33 t E3 ,
= 23 + r 33 s E3 ,
F = E + p 33 + q E3 .
(6.22)
where
3
eK = e333
H p H ,
3
K = 33
H q H ,
H 3
q =
H ,
H 33
p =
eH ,
H
1
= (
H ) ,
c3333
= c3333 f c333 , e333
333 g c333 ,
H
H = e
e33
33 g c333 , a
a + g ea3 ,
H = e
H =
218
f = s c333 ,
g = s e3 ,
s = (
c33 )1 ,
(6.23)
a3
c
=
f c33
, c3a3 = c3a3
f
cE ,
E
E
a3
3a3
a3
a3
a3
e = e h cE , e = e g cE ,
3
a
,
, 33 = 33
a = a
S + h e
S + g e
f = b c33
, f
= b c3
, g
= b e ,
E
E
h = b e3 , r = f + g p , s = g g q ,
q ,
s g
p , t = h f
r + g
k = f f
3333
c3333
E
3a3
e = e ,
c3
= c3
,
E
E
S = S .
219
We note some special symmetry cases, where the independent electroelastic constants can be reduced in number.
Mirror planes perpendicular to the central line. If the electroelastic
properties are invariant under reflections relative to planes perpendicular to the central line, then the following relations
c3
= 0,
E
e3 = 0,
q = 0,
t = 0,
r = 0,
and
eK = e333
H ,
K = 33
H,
hold true.
n-fold rotation axis that is tangential to the central line. When n is
even, all 2-D tensors of odd rank vanish.
Transverse isotropy. When the electroelastic properties are invariant
under rotations about the tangent to the central line (model of a piezoceramic rod polarized along the central line with symmetry m), it
can be shown that all 2-D tensors of odd rank vanish; the tensor c
E
has the form
c
= a a + (a a + a a ),
E
and all the 2-D tensors of second rank are spherical.
From the definition of Wk one can also obtain the following interesting
formulae
k2
1
,
e
=
,
K
2
g33 (1 + k 2 )
sD
33 (1 + k )
1
(g33 )2
2
K = T
,
k
=
,
T
33 (1 + k 2 )
sD
33 33
1
da3
a3 b3
ab
= E , ea3
=
, ab
H
H = T d eH ,
s33
sE
33
cK =
c33
H
(6.24)
where the abbreviated indicial notation is used for the components of the
fourth and third rank tensors. Indeed, using the definition (2.49) for the
elastic enthalpy F (, D) we have
F ( ab , Da ) = min max[Da Ea ab ab + W (ab , Ea )].
ab
Ea
220
E3
w = u(x, t) he.
. (x, t) + hy( , x, t),
= (x, t) + h( , x, t),
(6.25)
hyi = 0,
hy| ie = 0,
hi = 0.
(6.26)
According to (6.26) u , u and describe the mean displacements and electric potential of the rod, respectively, while corresponds to the mean rotation of the cross section. Equations (6.25) and (6.26) set up a one-to-one
correspondence between w , w, and the set of functions u , u, , , y , y,
and can be regarded as the change in the unknown functions {w , w, }
{u , u, , , y , y, }.
Asymptotic analysis enables one to determine the order of smallness of
y , y, . If these functions vanished, then the electroelastic state of a rod
would be characterized by the measures of elongation , bending and
221
twist as well as the 1-D electric field F = 0 as given by (6.4) and (6.6),
respectively. We introduce the following notations
p
= h max + 2 , fF = max |F |,
x
x
x
q
q
= max y | y| + y | y| , = max | | .
= max ||,
B
h?? = h/l 1.
(6.27)
We assume that the remaining portion cb is localized at the edges of the rod
and its width is of the order h (boundary layer). The functional (6.18) can
then be decomposed into the sum of two functionals, an inner one for which
an iteration process will be applied, and a boundary layer functional. It turns
out that the latter can be neglected in the first-order approximation. Therefore, the problem reduces to finding stationary points of the inner functional
that can be identified with the functional (6.18).
Keeping u , u, , fixed, we seek y , y, . Substituting (6.25) into the
action functional (6.18) and taking (6.19) into account, we neglect the time
rates of y , y in the kinetic energy. Proceeding with the estimations based
on the inequalities (6.27) similar to those provided in (4.35)-(4.37) we derive
the asymptotic formulae
= y(|) , 23 = y| he ,
33 = + h ,
E = | , E3 = F.
This means that the partial derivatives of y , y and with respect to x do
not enter the action functional. Besides, the functions y , y and do not
enter the longitudinal energy. With (6.21), (6.22) the determination of these
222
inf
sup h( , , F )i,
(6.28)
y ,y(6.26) (6.26)
1
( , , F ) = (c
+ c33
+ 2c3
E
E
E
2
2e F 2e3 F
S F F ),
(6.29)
where
= y(|) + k ( + h ) t F,
= y| he + r ( + h ) s F,
F = | + p ( + h ) + q F.
(6.30)
E3 = F.
The average longitudinal electric enthalpy per unit length of the piezoelectric
rod is thus given by
k =
h2
hcK ( + h )2 2eK ( + h )F K F 2 i
2
1
= (cK |S| 2 + cK I 2eK |S|F K |S|F 2 ), (6.31)
2
(6.32)
223
w = u(x, t) he.
. (x, t) + hy( , x, t),
= h( , x, t).
(6.33)
hyi = 0,
hy| ie = 0,
|c(i)
= (i) (t)/h,
e
(i)
(6.34)
(i)
(6.36)
224
With (6.33) and (6.36) the asymptotic analysis of the action functional (6.18)
can be done. Not going into the details of this analysis, which is similar to
that given in case i), we present the results below. Within the first-order
approximation the 3-D action functional (6.18) can be replaced by the 1-D
functional (6.13), where
1
1
= |S|(u 2 + u u ) + Ip 2 ,
2
2
1
= (cK |S| 2 + cK I ) + (, , ).
2
(6.37)
The average transverse electric enthalpy per unit length of the piezoelectric
rod (, , ) must be determined by solving the cross section problem
= h2
inf
sup h( , , F )i,
(6.38)
y ,y(6.34) (6.34)
(6.39)
If the extremizers y , y and are found, the asymptotics of the 3-D electroelastic state of the rod can be restored according to the formulae (6.33) and
(6.36).
Problems
1. Derive the additive decomposition of the electric enthalpy (6.20)-(6.21)
and obtain the formulae (6.22) for the 2-D electroelastic moduli.
2. Follow the variational-asymptotic scheme to determine the set N and
to justify the change of unknown functions (6.25) in the problem i).
3. Perform a similar procedure to justify (6.33) in the problem ii).
6.3
225
hzi = 0,
hz| ie = 0,
h i = 0.
(6.40)
It is easy to check that the variational problem (6.28), (6.29) reduces to the
following problem
= h4
inf
sup h( , , F )i,
(6.41)
z ,z(6.40) (6.40)
(6.42)
226
where
= z(|) ,
= z| e ,
F = | .
(6.43)
(6.44)
e3 (z| e )
S | = be c ,
(6.45)
(6.46)
3 1
S e c ),
A = c1
33 (ae c + be
3 1
3 1
B = 1
c33 e c + b(e3 c1
S e c e c )],
S [ae
33 e
and
3 3
c33 = c33
+ 1
e .
E
S e
e B = 0.
227
C = (c33
A A + 2e3 A B
E
S B B )I ,
1313
(cE
55 = cE ).
Summing up, for the piezoelectric rod of the elliptical cross section that
possesses the even-fold symmetry axes along the central line, we obtain the
expression for the 1-D electric enthalpy in the form
1
= (cK |S| 2 + cK I + C2 2eK |S|F K |S|F 2 ).
2
Partially electroded lateral surface. This case differs from the previous
one by the greater variety of types of piezoactive vibrations. Here we need
to solve the variational problem (6.38). It can be simplified by making the
change of unknown functions {y , y, } {z , z, } according to
h i
1
y = k a (
) + z ,
2
|S|
y = r + z, =
where
a = (k + k k ).
The variational problem (6.38) then reduces to
= h2
inf
sup h( , , F )i,
(6.47)
z ,z(6.48) (6.48)
hzi = 0, hz| ie = 0,
|ce(i) = (i) (t)/h,
(6.48)
228
(6.49)
(6.50)
i = 1, . . . , n,
(6.51)
0
= z|
,
F = 0| + p .
sup h( , , F )i,
z ,z 00 (6.53)
(6.52)
i = 1, . . . , n,
with
00
= z(|)
,
00
= z|
he + r h ,
F = 00| + p h .
(6.53)
229
1 = h
inf [h( , , Q ) Q p i +
0 ,z 0 ,Q
z
Z
2
X
i
i=1
(i)
ce
Q ds],
(6.54)
Q = 0 on cd ,
(6.55)
230
sup h? ( , , F )i,
(6.56)
, ,0
| = 0,
| = 0,
= 0, = 0 on S,
0
|c(i)
= i /h,
e
where ? ( , , F ) is the Legendre transformation of the quadratic form
with respect to and
? ( , , F ) = max [ + ( , , F )].
,
(6.57)
These dual variational problems enable one to establish the upper and lower
bounds for the function 1 .
Let us choose the trial functions in (6.54) as follows
1
z0 = a ,
2
z 0 = a ,
Q1 = a,
Q2 = 0.
0
].
b
a ,a
H
which follows from the definition (6.55) and the formula (6.29), with
the
|S|
H
(p1 0 /b)2 /11
.
2
0 =
0 1
1
+ a cos 2 ,
b
b
(6.58)
231
and then minimize the right-hand side of the obtained inequality with respect
to a. Recalling the following useful relation
1
F F ,
? (0, 0, F ) =
2 H
which follows from the definition (6.57) and the formula (6.29), we find that
1
|S|
[ (p + G )(p + G ) + A2 /B],
2 H
(6.59)
where
G1 =
A=
0
,
b
G2 = 0,
2 22
0
[H p2 + 12
)],
H (p1
B=
22
11 2
H
+ H 2 .
2
24b
The upper and lower bounds (6.58) and (6.59) coincide, when 12
H = 0, p2 =
0.2 In this case
1 =
|S| 11 2 2
0
0
H [p1 2p1
+ ( )2 ].
2
b
b
(6.60)
1
,
sE
33
e = e13
H =
d13
.
sE
33
(6.61)
0
.
b
(6.62)
232
h
p1 1 [( 1 )2 b2 /4] + .
2
One can then see that 3 ( , 0 ) does not depend on 1 and can be found
by solving the following minimax problem
1
hcE 2e F
S F F i,
2
(6.63)
3 = h2 inf
sup
00
z
| 1 =b/2 =
| 1 =b/2
2
for 2 0,
for 2 0,
This is the case for the rod with the even-fold rotation axis parallel to 1 .
(6.63)
233
where
00
,
= z(|)
F1 = |1 + p1 h2 1 ,
F2 = |2 .
Passing to the dual maximization problem, one can easily prove that
1
3 h2 sup h
F F i
2 H
(6.63)
|S|[
where
1 11
0
911 0
H (p1 h2 + 3 )2 (A H )( )2 ], (6.64)
24
b
24
b
1
2
A = sup h 11
H | | i/(b(0 /b) ).
2
(6.63)
From the other side, changing to the dual minimization problem and performing the same procedure as in the previous case, we obtain the upper
bound
3 |S|
1 11
0
H (p1 h2 + 3 )2 .
24
b
(6.65)
1 11
0
0
[H (p1 h2 + 3 )2 + c( )2 ]
24
b
b
This result is remarkable because of the fact that the solution of the cross
section problem is not known, and nevertheless 3 was found exactly up to
the unimportant constant.
Problems
1. Consider piezoceramic rods polarized along their central lines, with
unelectroded lateral surfaces. Establish the following upper bound for
the torsional rigidity
4cE
C 155
(I )
for arbitrary cross sections.
2. Show that for the piezoceramic rod of rectangular cross section polarized along the axis 1 , with the electrodes as in example 1, 3 = 0.
234
6.4
Frequency spectra
u = (cK u0 + eK 0 )0 ,
(eK u0 K 0 )0 = 0,
(6.66)
(6.67)
(6.68)
where d0 is a constant. Solving this equation with respect to 0 and substituting the result into the first equation, we obtain
u = cK u00 ,
cK = (cK + e2K /K ).
(6.69)
1/2
Using the relations (6.24) one can check that a = (
cK /)1/2 = (1/sD
33 )
corresponds to the velocity of the longitudinal waves in rods. The harmonic
solution to (6.69) gives longitudinal displacement of the form
u = (b1 sin
x
x it
+ b2 cos
)e .
a
a
At the free ends of the rod the tension is zero (boundary condition (6.67)1 ),
which can be used to evaluate b1 and b2 , giving
u=
a
x
L
x it
g33 d0 (sin
tan
cos
)e .
a
2a
a
(6.70)
2a
0
235
2
T
where k 2 = e2 /
cK K = g33
/sD
33 33 is the piezoelectric coupling factor. From
this equation one can determine the remaining unknown coefficient d0
d0 =
2
T
L[ kf
33
0
,
tan f (1 + k 2 )]
(2n 1),
2
n = 1, 2, . . . .
Straight and untwisted side-electroded rod. Consider a rod of rectangular cross section, with electrodes on the lateral surface as in example 1,
Section 6.3. We assume also that 12
H = p1 = 0, and the 1-D electric enthalpy
is given by (6.60). Again, for the naturally straight and untwisted rod the
longitudinal and flexural-torsional vibrations are uncoupled, and only the
former is piezoelectrically active. The equation of motion takes the simple
form
u = cu00 .
For 0 (t) = 0 eit , we seek u = ueit as the harmonic solution of this equation
with the frequency giving
u = (b1 sin
x
x
+ b2 cos
),
a
p
where a
= c/ is the velocity of the longitudinal waves in rods with the
pair of electrodes on the lateral surface. Since the rod ends are free we have
to satisfy the following boundary conditions at x = 0, L
c
u0 + e
0
= 0,
b
yielding
b1 =
a
e 0
,
c b
b2 =
a
e 0
L
tan
.
c b
2
a
236
c
b
2
a
b
0
The resonant frequencies are determined from the condition that the total
charge becomes infinite giving
tan fr = fr =
(2n 1),
2
n = 1, 2, . . . ,
where f = L/2
a is the dimensionless frequency. The antiresonant frequencies are determined from the condition that the total charge is zero. This
leads to the equation
k2 1
1
tan fa = 13 2 ,
fa
k13
2
T
3
where k13
= d213 /sE
33 11 is the piezoelectric coupling factor.
In acoustics [9] the direction of polarization is normally denoted by x3 and the coordinate along the rod axis by x1 , so the piezoelectric coupling factor in this case should
2
T
be k31
= d231 /sE
11 33 .
237
electroded on its outer and inner faces (see Figure 6.3). From the previous
section it follows that the 1-D enthalpy of such a rod should have the form
0
1
+ C2 ),
= (c|S| 2 + cK I + 2e|S|
2
b
where 0 (t)/2 are the given values of the electric potential on the electrodes.
Thus, in this case the plane and flexural-torsional vibrations turn out to be
uncoupled, and only the former is piezoelectrically active. Choosing the triad
t , t as given by (4.94) and deriving the equations of motion describing the
plane vibrations in a similar manner as for the elastic ring, we obtain
1
1 00
1 0
u1 ) cK I11 (u000
u ),
1
R
R
R
1 000
1
1
0
|S|
u1 = |S|[c(u0 u1 ) + e ] + cK I11 (u0000
u ).
1
R
R
b
R
Introducing the dimensionless quantities
r
t c
x
cK I11
=
, = , ? =
.
R
R
|S|cR2
|S|
u = c|S|(u00
(6.71)
u1 = u1 ei .
(6.74)
Eliminating the common factor ei in (6.72), one can show that its symmetric solution is given by
u =
3
X
i=1
ai sin i ,
u1 =
X
e 0
+
ai i cos i ,
c 1 2 i=1
(6.75)
238
(6.76)
(1 + ? )2i 2
.
i (1 + ? 2i )
For each there are three different roots of equation (6.75) up to the sign of
, which are calculated for ? = 0.001 and plotted in Figure 6.4. In a small
range near the zero frequency there are three different real roots, then up to
the frequency two complex conjugate roots and one real root, in the range
( , c ) two different imaginary roots and one real root, and, finally, above
the cut-off frequency c one imaginary root and two different real roots.
Cij aj = bi ,
i = 1, 2, 3.
j=1
239
and bi by
b1 =
e 0 2
,
c 1 2
b2 = b3 = 0.
)
cos
1],
(6.77)
i i
i
i
11
11
R cH i=1
cH 1 2
where a
i are the solution of the following system
3
X
Cij a
j = bi ,
i = 1, 2, 3,
j=1
b1 =
2
,
1 2
b2 = b3 = 0.
Integration of (6.77) gives the amplitude of the total charge on one of the
electrodes
Z 0
3
e2 X i i
e2
1
1
11
D Rd = 2H 0 [ 11
+ 1)0 ].
a
i
sin i 0 ( 11
cH i=1
i
cH 1 2
0
Thus, the resonant frequencies correspond to the roots of the equation
det Cij = 0,
240
2
X i i
1 k13
1
)
=
sin i 0 .
+
a
i
(
0
2
1 2
k13
i
i=1
6.5
Longitudinal impact
241
at 0 < x < l. Since the rods are straight and polarized longitudinally, their
motion in the longitudinal direction is described by
u = cK u00 + eK 00 ,
eK u00 K 00 = 0,
(6.78)
for l < x < l. At the free ends of the rods the traction free boundary
conditions as well as the conditions of vanishing electric potential should be
fulfilled
cK u0 + eK 0 = 0, = 0,
(6.79)
at x = l. At the ends of the rods that are in contact the continuity
conditions of the displacement, electric potential, stress and electric induction
are posed
u(0) = u(+0), (0) = (+0),
(cK u + eK 0 )|x=0 = (cK u0 + eK 0 )|x=+0 ,
(eK u0 K 0 )|x=0 = (eK u0 K 0 )|x=+0 ,
0
(6.80)
where u(0) denote the limiting values of u as x approaches 0 from the right
and the left, respectively. Besides, we admit solutions having discontinuous
derivatives. Then at the point of discontinuity the continuity conditions
of displacement, electric potential and induction, as well as the following
dynamic condition
V [[u]]
= [[cK u0 + eK 0 ]],
(6.81)
(6.82)
eK
u + C1 x + C2 .
K
242
1
eK
[u(l) u(l)] ,
K
2l
C2 =
1 eK
[u(l) + u(l)].
2 K
eK
1 eK
1 eK
u
[u(l) u(l)]x
[u(l) + u(l)].
K
2l K
2 K
(6.83)
u = cK u00 ,
cK = cK + e2K /K ,
(6.84)
u|t=0
(6.86)
(6.87)
[u(l)
u(l)]
243
a 2
lv0
(1 e l k t ).
2
ak
(6.88)
f |t=l/a =
lv0
2
(1 ek ).
2
ak
(6.89)
a 2
lv0
2 a 2
(1 e l k t + 2ek e l k t ).
2
ak
(6.90)
The values of f in (6.88) and (6.90) are already enough for our aim. Consider
now the equation(6.84). Its solution reads
u = F1 (at x) + F2 (at + x).
It follows from (6.85)1 that u0 |x=l = u0 |x=l , therefore
F10 (at + l) + F20 (at l) = F10 (at l) + F20 (at + l).
(6.91)
244
<
l,
0
0 < < l,
0
F10 () =
, F20 () =
0
l < < 0,
v0 /2a l < < 0.
Thus, on the interval (l, l) g 0 () = v0 /2a. Due to its periodicity g 0 () =
v0 /2a for all > l. Now the solution can be represented in the following
form
u = F (at x) F (at + x) +
v0
(at + x),
2a
(6.92)
k2
v0
= f (t).
2a
2l
(6.93)
k2
k2
k2
v0
(2 e l (3l) + e l (l) 2e l (2l) ),
2a
(6.94)
F 0 () =
for l 2l, and
F 0 () =
for 2l 3l. This procedure can be continued, but we need only the value
of F 0 () on the interval (l, 3l).
245
Impact interval and electroelastic state. The time interval after which
the rods separate is determined from the condition that u0 (+0, t) changes its
sign. According to the solution (6.92)
u0 (+0, t) =
v0
2F 0 (at).
2a
For 0 at l
u0 (+0, t) =
v0
< 0.
2a
Further, for l at 2l
u0 (+0, t) =
v0
v0 k2
e l (atl) < 0.
2a
a
For 2l at 3l
u0 (+0, t) =
Letting t
2l
a
k2
k2
k2
v0
[3 + 2e l (at3l) 2e l (atl) + 4e l (at2l) ].
2a
(6.95)
2l
v0
2
2
+ 0) = [1 + 2ek 2ek ].
a
2a
One can check directly that this expression is always positive, provided
0 < k 2 < 0.24,
(6.96)
2l
,
a
(6.97)
exactly as for elastic rods. The difference is that the kinetic energy of the
second rod will not be fully transmitted to the first one, and after their
separation they both continue to vibrate.
We now compute the difference of the electric potential on the electrodes
of the first rod during the impact. According to (6.83)
l
eK
l
1
1
( ) (l) =
{u( ) [u(l) u(l)] [u(l) + u(l)]}.
2
K
2
4
2
(6.98)
We find u(l/2) and u(l) + u(l) for 0 t 2l/a. From (6.92) we have
l
l
l
v0
l
u( ) = F (at ) F (at + ) + (at + ).
2
2
2
2a
2
246
Thus, the problem reduces to the computation of F (), which can be done by
the successive integration of F 0 (). For l 0 F () = 0. For 0 l
F () = v0 /2a. For l 2l
Z
v0 k2 (l)
v0 l
v0 l
1 k2
1
F () =
+
el
d =
(1 + 2 e l (l) 2 ).
2a
2a
k
k
l 2a
Similarly, for 2l 3l
l 2
l k2
v0
l
v0
l k2
(l + 2 ek 2 ) + [2 2 e l (3l) + 2 e l (l)
2a
k
k
2a
k
k
2l k2 (2l)
l k2
l k2 2l
2e l
4l + 2 e
2e 2]
k
k
k
k
F () =
e
( ) (l) =
[
2
2
K 4 ak
2
(1 e l k t )].
( ) (l) =
2
2
K 4a
4 ak
The maximum of the voltage can also be obtained. One can check that
|( 2l ) (l)| is attained at t = l/2a (the quarter of the impact time) and is
equal to
eK v0 l
1
l
2
|1 + 2 (1 ek /2 )|
|( ) (l)| =
2
K 4a
k
eK v0 l
=
+ O(k 4 ).
K 8a
(6.99)
247
Problems
1. Determine the electroelastic state of the rods after the impact interval
T.
2. Solve the impact problem of the piezoceramic rod fixed at one end and
struck longitudinally at the other.
3. Do the same for the piezoceramic rod free at one end and struck longitudinally at the other.
248
Part II
High-frequency vibrations
249
Chapter 7
Elastic shells
7.1
Two-dimensional equations
t1
Z
( ) da dt = 0,
J =
t0
(7.1)
where and are the 2-D kinetic and strain energy density, respectively.
The functional (7.1) is called, as before, the 2-D action functional.
In the classical theory of low-frequency vibrations of elastic shells the 2D action functional (3.9) depends only on the three functions u (x , t) and
u(x , t) describing the mean displacements of the shell. These functions will
subsequently be called external degrees of freedom, since they characterize
fully the kinematics of the shell middle surface. It is natural to assume that,
as the frequency increases, some internal degrees of freedom corresponding
to branches of the shell thickness vibrations will be excited and become more
and more involved, so that they should be included as unknown functions
in the 2-D kinetic and strain energy densities. Thus, the construction of the
2-D shell theory, from this point of view, reduces to the problem of finding
i) the list of external and most essential internal degrees of freedom, and ii)
251
252
the 2-D kinetic and strain energy densities depending on these degrees of
freedom. While doing so we require i) the linearity, ii) the hyperbolicity, and
iii) the asymptotical exactness of the 2-D Euler equations obtained from the
variational principle (7.1). By asymptotical exactness we mean the exactness
of the 2-D equations in the low- and high-frequency long-wave range up to
terms of the order h/R and h/L of smallness compared with 1, where R is
the characteristic radius of curvature of the shell middle surface and l the
characteristic wavelength in the longitudinal directions.
The essence of the proposed theory of high-frequency vibrations of elastic
shells can be expressed by the following formulae
=
h
(u 2 + u 2 + h2 2 + 2 + v 2 ),
2
(7.2)
h
h2
2
[s1 (A )2 + 2A A + (( )2 + ) + s2 ,
2
6
2
+ s3 (v;
) + 2v (;) v(;) + 2r1 h1 A + 2r2 h1 v;
+ 2r3 h1 v ,
+ f1 ( + )( + ) + f2 h2 2 + f3 h2 v v ], (7.3)
where = u, + b u , and the concise notation X2 = a X X is used
to denote the squared magnitude of the 2-D vector X. In (7.2)-(7.3) the
2-D densities of the kinetic and strain energy depend on the three functions
u , u corresponding to the external degrees of freedom and five additional
functions , and v, which represent the most essential internal degrees of
freedom within the range of frequencies of interest, where
A = u(;) b u,
= (;) + b( $) ,
1
$ = (u, u, ).
2
For the isotropic material the coefficients in (7.3) are found to be
2
1 2
=
, f1 = ( 2 a + h2 s
4 ),
2 24
2
f2 =
+ h2 s5 , f3 = (2)2 a + h2 s
4 ,
e
2 2
4
16
r1 =
, r2 = 2 , r3 = ,
2
e
3e
r3
2
8
1 2
s1 = 2 + 2 2 , =
, e=
,
e
1
2 2
(7.4)
(7.5)
253
16(1 + 2e2 )2
1
16e cot(/2e)
8 2
,
+ 2 2
s2 = 2 +
e
9 (4e 1)e2 2 e2
16(1 + 2e2 )2
8e tan(e)
s3 = 1
,
2 2
9 (4e 1)e2
2
s
+ 6Hb 2Ka ,
4 = (3H K)a
s5 = H 2 (1/e2 16) + K(1/e2 8),
while is the mass density, the shear modulus and Poissons ratio.
Let the shell be referred to the curvilinear co-ordinates system {x , x} as
described in Section 3.2. In order to clarify the geometrical meaning of the
functions , and v we point out the following approximate formulae that
restore the 3-D displacement field of the shell from the functions u , u, ,
and v
w = u + a(x),
w = u x + h( + )q(x) + v p(x),
where a(x), p(x) and q(x) are given functions of the transverse co-ordinate
x, x [h/2, h/2]. In the next sections it will be shown that a(x) =
254
t0
m q ( + u, + b u ) h(s2 ; , + s3 v;
v;
+ 2v (;) v; + r1 h1 A + r2 h1 v;
+ r2 h1 v;
+ r3 h1 v ,
+ r3 h1 ; v + f2 h2 + f3 h2 v v )] da dt,
where the following quantities are introduced
n =
= h(s1 A a + 2A + r1 h1 a ),
A
h3
= ( a + ),
m =
(7.6)
q = hf1 ( + u, + b u ).
Transforming J by the integration by parts and using the conditions of
vanishing variations at t0 and t1 , one can show that
Z t1 Z
u + q;
+ t b )u
J =
{(h
u + t
; q b )u + (h
t0
+ (h3 q m
; ) + [h
+ h(s2 2 r1 h1 A r23 h1 v;
f2 h2 )]
2
+ 2(v(;) ); + r23 h1 , f3
h v )]v } da dt
+ [h
v + h(s3 v;
Z t1 Z
+
[t u q u + m h(s2 ; + r3 h1 v )
t0
S
h(s3 v;
a + 2v (;) + r2 h1 a ) v ] ds dt, (7.7)
255
where
1
t = n + (b m b m ),
2
the constant r23 = r2 r3 and 2 is the 2-D Laplace operator. Due to
the arbitrariness of the variations of u , u, , and v inside S (t0 , t1 ) the
variational equation J = 0 yields
h
u = t
; q b ,
h
u = q;
+ t b ,
h3 = q m ,
(7.8)
f2 h2 ),
h = h(s2 2 r1 h1 A r23 h1 v;
2
+ 2(v(;) ); + r23 h1 , f3
h v ],
h
v = h[s3 v;
These are the 2-D equations of high-frequency vibrations for elastic shells.
Boundary-value problems. Let us consider the variant of the boundary
conditions for the system of equations (7.8) that correspond to the free edge.
In a manner similar to the classical shell theory we assume that the variations
of all the unknown functions are arbitrary at S. Then from (7.1) and (7.7)
the natural boundary conditions follow
t = 0, q = 0, m = 0,
(s2 ; + r3 h1 v ) = 0,
(7.9)
(s3 v;
a + 2v (;) + r2 h1 a ) = 0.
The other interesting variant of the boundary conditions for (7.8) can be
obtained if we assume, for instance, that u, , u2 , 2 and v2 vanish at S,
but the remaining functions may be varied arbitrarily there. In this case the
boundary conditions read
u = 0, = 0,
u2 = 0, 2 = 0, v2 = 0,
11
t = 0, m11 = 0, v 1;1 = 0,
(7.10)
where the index 2 denotes the tangential direction. It will be seen later which
physical situation these boundary conditions correspond to.
If the tractions act on the face surfaces, then the variational principle
(7.1) should be modified by adding the term associated with the work done
by the surface tractions:
Z t1 Z
J =
( + A) da dt = 0,
(7.11)
t0
256
where
A = {t }u + {t}u + a1 h[t ] + a2 h[t ]u, + a3 [t] a4 {t }v ,
(7.12)
a1 = 2 /24, a2 = 1/2 + 2 /24, a3 = a4 = 2.
In (7.12) {t} = t+ +t and [t] = t+ t . From (7.11) and (7.12) the following
equations can be derived
h
u = t
; q b + {t },
h
u = q;
+ t b + {t} a2 h[t; ],
h3 = q m + a1 h[t ],
;
h = h(s2 2 r1 h1 A r23 h1 v;
f2 h2 ) + a3 [t],
2
h
v = h[s3 v;
+ 2(v(;) ); + r23 h1 , f3
h v ] a4 [t ].
The constitutive equations (7.6) and the boundary conditions remain the
same.
To complete the formulation of the boundary-value problems we specify
also the initial conditions at t = t0
u |t0 = u0 , u|t0 = u0 , |t0 = 0 , |t0 = 0 , v |t0 = v0 ,
t = 1 , v |t = v 1 .
u |t0 = u1 , u|
t0 = u1 , |t0 = 1 , |
0
0
(7.13)
If the system of equations (7.6) and (7.8) is of the hyperbolic type with
respect to the unknown functions u , u, , and v, then they compose together with the boundary conditions (7.9) and the initial conditions (7.13)
the well-posed initial boundary-value problem. We shall return to this question in the next sections.
Problems
1. Show that the equations of motion and the boundary conditions for a
plate (with b = 0) break up into those of longitudinal and flexural
vibrations. Find the corresponding equations and boundary conditions
in terms of u , , v and u, .
2. Derive the balance equation of energy for a shell within the theory of
high-frequency vibrations. Using this equation, prove the uniqueness
of solutions of the boundary-value problem.
3. Formulate the variational principle for the eigenvalue problem and
prove the orthogonality of the eigenfunctions with respect to the energy.
7.2
257
h
2 w
, |x| ,
2
x
2
w
h
= 0, x = ,
x
2
(7.14)
and
2w
h
w
h
, |x| ,
= 0, x = .
(7.15)
2
x
2
x
2
Here w and w are the components of the displacements referred to the basis
{t , n}. The complete set of particular solutions of (7.14) and (7.15) follows
w = v 2 cos , w = 0, = 2n,
(F (n)),
(7.16)
w = 0, w = v 2 cos , = 2n,
(Lk (n)),
(7.19)
w = ( + 2)
with = x/h. The quantities and run through a countable set of values;
however, no indices are attached to
and in order to avoid complicated
notation. The normalization factor 2 is chosen so as to simplify the twodimensional kinetic energy. It is understood that the functions v, , , and
v correspond to each value of or ; these functions are also not numbered.
Furthermore, they depend harmonically on t with frequency determined
by appropriate values of or from the formulae
cd
cs
=
or =
.
(7.20)
h
h
258
Here cd and cs are the velocities of dilatational and shear waves, respectively.
The notation for series of different solutions is indicated in parentheses in
(7.16)-(7.19), where the symbols F and L stand for flexural (antisymmetric)
and longitudinal (symmetric) vibrations, and the subscripts and k denote
the thickness-stretch and thickness-shear branches, respectively.1
For functions v, , , v independent of x , each of the solutions given
above represents an exact solution of the equations of 3-D elasticity for an
infinite plate and corresponds to the synchronized vibrations of transverse
fibres along the plate (with the zero longitudinal wave number). The frequencies (7.20) will be called cut-off frequencies. For vibrations whose amplitude
and frequency vary slowly in the longitudinal directions of the plates and
shells, the equations (7.14)-(7.15) can be regarded as the zero approximations. The solutions (7.16)-(7.19) can be considered as the principal terms in
a certain asymptotic expansion in which v, , , v are functions of x and
t, where
v 2 v, 2 , 2 , v 2 v .
(7.21)
The values of in these estimations are taken for the same branch as the
corresponding function, with the exception of F (0) and Lk (0), for which it
is assumed that v cs v/l, v cs v /l, where l is the smallest wavelength
of the deformation patterns. The branches F (0) and Lk (0) correspond to
the low frequency vibrations when h/cs 1. The independence of the
displacements of these branches from x in the zero approximation is a part
of the Kirchhoff-Love hypotheses. All the remaining branches correspond to
vibrations with frequency cs /h. The propagation time for a perturbation
over the thickness for these branches of vibrations is of the same order as the
period of vibrations; therefore it is impossible to assume the displacements
polynomials in x even in a zero approximation. Since as h 0, the
corresponding vibrations are naturally called high-frequency (or thickness)
vibrations.
Taking for example n = 1, cs = 2500m/s (steel, e.g.), h = 3mm, we
have 1 ' 4.105 Hz for the branch Fk (0), i.e, 1 is in the ultrasonic domain.
Vibrations of elastic bodies at such a high frequency may be important in
problems of impact or in problems of vibrations caused by piezoelectric resonators. Note that for layered shells of sandwich type with a significant drop
in the elastic moduli, 1 is considerably smaller and can even be in the audio
frequency domain [51]. The high-frequency branches have the displacement
distributions which oscillate all the more rapidly over x as n grows. The
distribution of the branch n has 2n or 2n + 1 nodal points over the thickness.
Let us mention that the wavelength of the high-frequency branches in the
1
259
h3
)a .
R3
According to Hamiltons principle the displacement field of the free vibrations of the shell is a stationary point of the action functional
Z
t1
Z Z
h/2
(T W ) dx da dt,
I=
t0
(7.22)
h/2
w = 0 at S (h/2, h/2).
260
1 2
cs
=
=
.
(7.23)
= e, e =
cd
+ 2
2 2
Similarly, we also introduce in the series Fk and Lk the number by the
same formula (7.23).
Now we find the next refinement for the displacements of branches of the
series F . Considering v belonging to the branch F (n) a given function of
x and t satisfying the constraint
v = 0 at S,
(7.24)
1/2
with
1
1 = 2 w w w v, h1 2 sin
2
1 1
a (h w| + v, 2 cos )(h1 w| + v, 2 cos ).
2
Integration by parts was performed and terms that go to the boundary vanish
due to (7.24). Thus, the functional does not depend on the derivatives of
w with respect to x and t, and these enter it as parameters. Let us find
the stationary point of this functional. Varying (7.25) with respect to w we
obtain the boundary-value problem
+
w| + 2 w =
hv, 2 sin , || 1/2,
261
h
2(1)n e sin()
2(sin
).
cos(/2)
(7.26)
w = v 2 cos + w? .
Here w is considered fixed and defined by (7.26). By redefining v if needed,
the following constraint can be imposed on w?
Z
1/2
w? cos d = 0.
1/2
This corresponds to the assumption that v = hw 2 cos i, where h.i denotes the integration over from -1/2 to 1/2. After discarding small terms
containing w? and small cross terms as compared with those remaining, the
functional (7.22) takes the form (7.25) with a Lagrangian given by
1
1
1 = 2 (w? )2 2 2Hhv 2 cos w? 2 ( + 2)(w|? )2
2
2h
2H
2H ?
( + 2)
2Hv 2 sin w|? +
w,? v 2 cos
w v 2 sin .
h
h
h
Its stationary point has the form
1 4e2
w? = Hhv 2( cos +
sin ).
1 4e2
w = v 2 cos + Hhv 2( cos +
sin ),
h
2(1)n e sin()
w = v,
2(sin
).
cos(/2)
(7.27)
262
terms of w and the principal cross terms between w and v , we obtain the
functional (7.25) with
1
1
w| 2 cos
1 = 2 w2 ( + 2)h2 w|2 h1 v;
2
2
1
h v; w 2 sin .
The last term of this equation was also obtained after the integration by
parts taking into account that v vanish at the boundary. The stationary
point is easily found to be
w = v;
h
2(1)n e sin()
).
2( sin +
cos(/2)
w = v 2 cos + w? ,
where w? satisfy the following constraints
hw? cos i = 0.
Again, after discarding small terms containing w? and small cross terms as
compared with the remaining terms, the functional (7.22) takes the form
(7.25) with a Lagrangian given by
1
?
1 = 2 (w? )2 2 2Hhv 2 cos w? 2 (w|
)2
2
2h
?
?
v 2 cos + b w? v 2 sin .
b w|
2Hv 2 sin w|
h
h
h
Its stationary point is found to be
b
2(1) e sin()
h
w = v;
2( sin +
).
cos(/2)
(7.28)
263
Analogously, formulae are obtained for the displacements in the two remaining series
Fk :
L :
2(1) e cos()
h
w = ;
2(cos
),
sin(/2)
(7.29)
1 4e2
w = 2 sin + Hh 2( sin
cos ),
2(1)n e cos()
h
2( cos +
).
w = ,
sin(/2)
(7.30)
The distinguishing feature of shells as compared with plates [6] is that the
correction terms in the displacements are of the order h/R compared with the
principal term, while they are of the order (h/l)2 in plates. By continuing the
iteration process, the next corrections to w and w can be found. They are
not presented here since they yield no contribution to the average Lagrangian
of the first approximation.
Average Lagrangian of thickness branches of vibrations. Let the displacements w, w be expressed by the infinite series of branches given above,
where v, , , v are arbitrary functions of x and t. After substituting these
series into the action functional (7.22) and integrating over the thickness we
neglect those small terms of the order h/R, h/l compared with 1. It turns out
that the thickness branches are orthogonal relative to the action functional
in the long-wave range, provided the shell edge is clamped [6, 7]. Therefore
the average functional has the form
Z
t1
J =h
t0
da dt,
(7.31)
= v 2 + l2 (h/)2 a v , v , + l4 (h/)2 v 2
2
( + 2)((/h)2 v 2 + l1 a v, v, + l3 v 2 ),
The average Lagrangian of the low frequency branches is given in Section 3.2.
264
where
2e2 tan(/2) 5 3e2
2e2
),
+
/2
1 e2
cos2 (/2)
3 e2 4e2 tan(/2)
4e2
l2 = 1
+
,
1 e2
/2
cos2 (/2)
3 2
8e2 ) + 4H 2 (1 5e2 + 4e4 ),
l3 = (3H 2 K)( +
2 12
1 2
2
l4 = (3H K)( + ) + 2H 2 (1 6e2 + 8e4 ).
2 12
l1 = 2(1
Within the first-order approximation one can further simplify this expression. Indeed, transforming the terms l2 (h/)2 a v , v , and l4 (h/)2 v 2 by
integration over t by parts and neglecting terms3 that go to the boundaries
t = t0 , t1 and do not affect the Euler equations inside (t0 , t1 ) we obtain instead
of them
l2 (h/)2 a v, v, l4 (h/)2 vv.
Because these terms are small correction terms in the average Lagrangian,
and because near the cut-up frequency equation (7.21) holds true, one can
replace v by 2 v. Now the average Lagrangians for the series F become
F :
= v 2 [(h2 2 + k2 )v 2 + k1 a v, v, ],
2
with
16 tan(/2)
1
,
e2
1
1
k2 = H 2 ( 2 16) + K( 2 8).
e
e
k1 =
2
= (a + (h/)2 l4 ) + l2 (h/)2 ( ;
)
2
2
) ],
[((/h)2 a + l3 ) + 2(;) (;) + l1 a (;
(7.32)
265
where
4e2
1 3e2 sin
),
(1
+
1 e2
sin2 (/2)
4e2
1 + e2 sin
),
l2 = 1 +
(1
1 e2
sin2 (/2)
2 1
l3 = (K 3H 2 )a ( ) + 3(3b H Ka ),
12 2
2 1
l4 = (K 3H 2 )a ( + ) + 3b H Ka .
12 2
l1 =
With the same deliberations one can replace the terms (h/)2 l4 and
2
) in the long-wave range by
l2 (h/)2 ( ;
l4
2
and l2 (;
),
= a [(h2 2 a + k2 )
2
2
+ 2(;) (;) + k1 (;
) ],
(7.33)
with
16e2 cot(/2)
,
k1 = 1 +
k2
= 2 [(h2 2 + k2 ) 2 + k1 a , , ],
2
with
k1 =
(7.34)
1
16 cot(/2)
+
,
2
e
and
Lk :
= a v v [(h2 2 a + k2 )v v
2
2
+ 2v(;) v (;) + k1 (v;
) ],
with
k1 = 1
16e2 tan(/2)
.
(7.35)
266
The coefficients k2 in the series L and the tensors k2 in the series Lk are not
written down here since they are identical in form with those in the series F
and Fk . Not only the principal terms containing the factor 1 in the kinetic
energy and the factor h2 in the strain energy but also terms of the next
order of smallness must be retained in the average Lagrangians (7.32)-(7.35),
due to the fact that, at the cut-off frequencies, the sum of the principal terms
turns out to be small.
from (7.32)-(7.35) we arrive
By varying the action functional (7.31) with
at the following equations of thickness vibrations
F :
v = [(h2 2 + k2 )v + k1 v],
(7.36)
and
Fk :
)
= [(h2 2 + k2
+k1 ;
+ 2((;) ); ].
(7.37)
The equations for the series L and Lk can be obtained from (7.36) and
(7.37) by making the respective substitutions: v , and v . These
equations coincide with those of [21] derived by the asymptotic method of
Goldenveizer.
267
This shows clearly that the correct asymptotic analysis does not always lead
to well-posed boundary value problems.
We shall see in the next section how this pathological feature of the
equations of thickness vibration could be removed by extrapolating them to
short waves taking into account the cross terms between branches.
Problems
1. Follow the variational-asymptotic procedure to derive the distributions
of displacements (7.29) and (7.30) for the series Fk and L , respectively.
7.3
Short-wave extrapolation
Derivation of the theory of high-frequency vibrations. Let us consider free vibrations of the shell, now with arbitrary boundary conditions
at its edge (clamped or free edge). We assume that these vibrations can
be regarded with sufficient accuracy as the superposition of the branches
F (0), Fk (0), Lk (0), L (0) and Lk (1). The branches F (0) and Lk (0), in the
long-wave range, correspond to low-frequency vibrations, the other ones to
thickness vibrations with the lowest frequencies. Such a choice is based on
the following reasoning. First, these branches possess the lowest cut-off frequencies,4 and, therefore, the most essential part of the vibrational energy
is concentrated in them. Second, the necessity of including also Lk (1) into
the theory is dictated by its strong interaction with the branch L (0) [41].
The dynamic equations contain eight unknown functions of the longitudinal
v (the symbols without the bar are recoordinates and time: u, u , , ,
served for the functions in the final equations). Despite the fact that the
theory involves more unknown functions than in the classical shell theory,
it should be regarded as a first approximation theory describing asymptotically exactly the vibrations of the shell in the range of long waves and high
frequencies ( 2cs /h).
4
This is true only for (0, 7/16), and we shall restrict ourselves to this condition.
268
w = u h A + h2 l() + a()
+ h
v;
g() + h;
q(),
w = u h + h3 m() + h3 n() + p ()
;
+
v d ()
+ h, f ().
(7.38)
In the right-hand side of equations (7.38) the first three terms of the first
equation and the first four terms of the second one describe the low-frequency
branches (cf. (3.51)).5 The 2-D measures of extension and bending are
expressed through u , u as follows
A = u(;) b u,
= (;) + b( $
) ,
1
u, u, ).
= u, + b u , $
= (
2
The functions l(), m(), n() have the form
1
3
1
l() = ( 2 1/12), m() = ( 3 ),
2
3
4
1 3 5
n() = ( ),
6
4
where = /(1 ). The functions a(), d (), f (), g() are given by the
formulae (7.28) and (7.30), which, in our case, read
1 4e2
cos ),
2 sin + Hh 2( cos
2
2e cos(/e)
f () =
( cos +
),
sin(/2e)
2
2e sin(2e)
g() =
( sin 2
),
2
cos(e)
a() =
(7.39)
The third and fourth terms in the right-hand side of (7.38)2 should be included for
the consequent account of all principal cross terms in the average Lagrangian. They
can be obtained as the correction terms in the third step of the variational-asymptotic
procedure [6].
269
sin ),
c
2e cos(e)
(cos
),
sin(e/2)
+ h v d| + , (f| + a) +
|
33 = A + h + h1 a
1
h
v;
g,
v;
g|
(7.40)
+
;
q| ,
where b() = 2 cos(2) and p() = c sin(). The vertical bar preceding
denotes the derivative with respect to . In the expression for 3 in
2
(7.40) we omit the term h;
q, which gives a contribution (;
) to the
average Lagrangian. This is due to an additional analysis, which shows that
a hyperbolic short-wave extrapolation describing exactly the curvature of the
dispersion curve near the cut-up frequency of the branch Fk (0) does not exist.
We substitute the formulae (7.38) into the action functional (7.22) and
integrate over the thickness. Discarding small terms in the asymptotic sense
and using the results of Chapter 3 and the previous section, after long but
otherwise standard calculations one obtains the average functional (7.31)
with
2
= 1 (u 2 + c 2 + u 2 + 2c1 hu ; + 2 + 2c2 h A + 2c3 h v + v 2
2
2
1
v
+ 2c4 hv ; ) [22 h2 2 + 32 h2 v2 + 2d1 h1 A + 2d2 h1
;
2
2
2
) + 2
v (;) v(;)
+ k3 (
v;
+ 2d3 h1 v , + 2(A )2 + 2A A + k2 ,
c2
h2
((
)2 + ) + 2hd4 ;
+ 2hd5 (;) + h2 12 2
6
2
2
2
270
2 = , 3 = 2,
e
1
8e
16e
k2 = 2 +
cot
, k3 = 1
tan(e),
e
2e
s
+ 6Hb 2Ka ,
4 = (3H K)a
s5 = H 2 (1/e2 16) + K(1/e2 8).
1 = ,
(7.42)
2 2
1
2e2
4
c1 = c2 = 2 , c3 = c4 = 2 + 2
,
3 e 1/4
d1 = 0, d2 = d3 = 22 c3 + r2 = 32 c3 + r3 ,
4
16
4c
4c
r2 = 2 , r3 = , d4 = d6 = 2 , d5 = d7 = 2 .
3e
3
(7.44)
271
(7.41) to
2
= 1 [u 2 + c 2 + (u + c1 h , )2 + ( + c1 hA + c3 hv )2
;
2
2
1
v )2
+ (v + c3 h , )2 ] [22 h2 ( + c1 hA + c3 h
2
v + 2r3 h1 v ,
v + c3 h, )2 + 2r1 h1 A + 2r2 h1
+ 32 h2 (
;
2 2
2
2 2
2
2
2
+ (k3 + c23 32 c23 22 )(
v;
) + 2
v (;) v(;) + (h
)
+ 6d5 ;
6
1
c2
+ (h
+ 6d5 (;) )(h
+ 6d5 (;) ) + h2 12 (
6
2
d5 3
d5 3 2
2
+ 2 h ; + 2 h ; ) + (c2 /2)s
v ], (7.45)
4 + s5 + s4 v
c
c
2
the type h2 (A )2 , A v;
, (;
) and h4 (
; )2 are neglected as small compared
with the remaining terms in the long-wave range. Besides, the small correc2
2
tion terms of the type h2 ,
and h2 (v ;
) are replaced by the asymptotically
2 2
2 2
equivalent terms 2 , and 3 (v; ) , as in the previous section.
In order to search for a short-wave extrapolation which does not contain
second and higher derivatives in the Lagrangian let us choose6 the constant
c = 2 /24 and make the following changes of unknown functions
u = u,
u = u + c1 h, ,
24
1 24
= + h1 ( ( 3 )2 h3 ; ( 3 )2 h3 ; ),
3
3
= + c1 hA + c3 h
v; ,
v = v + c3 h, .
(7.46)
The sense of these changes of unknown functions is to make all terms containing second derivatives of the new functions negligibly small in the long-wave
range. The Lagrangian (7.45) then becomes
= 1 (u 2 + h2 2 + u 2 + 2 + v 2 ) 1 [ 2 h2 2 + 2 h2 v 2
2
3
2
2
+ 2r1 h1 ( c1 hA c3 hv;
)(A c3 h2 ) + 2r2 h1 ( c1 hA
6
It is easy to show that the Lagrangian does not depend on this special choice.
272
c3 hv;
)(v;
c3 h2 ) + 2r3 h1 (v c3 ; )(, c1 hA, c3 hv;
)
2
+ (2 22 c21 )(A )2 + 2A A + (k2 + c21 22 + c23 22 c23 32 ),
h2
(( )2 + )
6
+ f1 ( + )( + ) + s5 2 + s
4 v v ], (7.47)
2
+ (k3 + c23 32 c23 22 )(v;
) + 2v (;) v(;) +
+[t]a(1/2) + {t }
v p(1/2).
From the formulae (7.39) one can see that
p(1/2) = 2.
(7.48)
273
Changing to the new unknown functions and keeping the main terms in (7.48)
we get for A the formula (7.12).
Hyperbolicity of the 2-D equations. Let us show that the 2-D theory of
high-frequency vibrations for shells obtained by the short-wave extrapolation
satisfies all the requirements posed at the beginning of Section 7.1. First, the
linearity of the 2-D equations is obvious due to the quadratic Lagrangian.
Second, the asymptotical exactness follows from the variational-asymptotic
procedure. What remains to prove is the hyperbolicity of the 2-D equations.
The type of the equations is characterized by terms containing the highest
derivatives [44]. Concerning the Euler equations of the functional (7.1) we
= depends only on
shall use the following result: if the Lagrangian
the unknown functions and their first derivatives with respect to x and t,
and if both the quadratic forms containing the time and spatial derivatives in
and are positive definite, then the system of equations of the functional
(7.1) is hyperbolic. It is obvious from (7.3) that is the strictly positive
definite quadratic form of u,
u , , and v . We now select in the
quadratic form that contains only the first derivatives with respect to x ,
which is given by
h2
1 =
+ 1 > 0,
s2 > 0,
s3 + 1 > 0.
The first two inequalities always hold true for [0, 1/2] ( is Poissons
ratio). Consider now the last two inequalities. According to (7.5) we have
s2 =
16e cot(/2e)
16(1 + 2e2 )2
8 2
1
+
+
,
e2
9 2 (4e2 1)e2 2 e2
8e tan(e)
16(1 + 2e2 )2
s3 + 1 =
2 2
.
9 (4e 1)e2
274
t1
+ 2r3 h1 v ,
[2r1 h1 A + 2r2 h1 v;
f1 (
t0
+ )( + ) + f2 h2 2 + f3 h2 v v ] da dt. (7.49)
275
h0
= ,
v =
r1
hA ,
2
2
r23
r1 r23
h, = 2 2 h2 A, .
2
3
2 3
(7.50)
Thus, in the low-frequency limit the internal degrees of freedom are determined by the external ones. Substituting (7.50) into (7.49) and keeping only
the principal terms, we arrive at the classical 2-D action functional (3.9).
Note also the similarity between this reduction and the reduction from Timoshenkos beams to Bernoulli-Eulers beams.
276
100
3 2
and s3 1 +
52
.
3 2
7.4
tcs
,
h
x
,
h
(7.51)
1 )
(7.52)
16 tan(/2)
1
.
2
e
The dispersion relation for L (n) has exactly the same form, with = (2n+
1)/e and
1
16 cot(/2)
k1 = 2 +
.
e
Figure 7.4 shows the dispersion curves of two branches L (0) and F (1) for
= 0.31. Note that the coefficient k1 of L (0) is negative for this Poissons
277
ratio so that the real dispersion curve for L (0) does not exist for > c .
It is also easy to check that the phase and group velocities are of opposite
signs in the long-wave range for L (0). Such wave motions carry energy in
one direction but appear to propagate in the other direction and are called
backward waves. This phenomenon plays an important role in posing the
conditions at infinity (principle of radiation) to select the unique solutions of
the boundary-value problems for semi-infinite plates.
Figure 7.4: Dispersion curves of L (0) and F (1) for = 0.31: 1L (0),
2F (1).
We now analyze the branch Fk (n). In terms of the dimensionless variables
(7.51) equation (7.37) reads
| = 2 + (k1 + 1)|
+ 2 .
(7.53)
1 )
(7.54)
Substituting (7.54) into (7.53), one can see that there are two possible types
of waves corresponding to
1 = a1 ei(
1 )
i( 1 )
2 = a2 e
2 = 0 F-wave,
1 = 0 AS-wave.
(7.55)
278
16e2 cot(/2)
,
(7.56)
We also obtain exactly the same dispersion relations (7.55) and (7.56) for the
L-waves and SS-waves of the branch Lk (n), respectively, with = 2n and
k1 = 1
16e2 tan(/2)
.
Figure 7.5 shows the asymptotics of dispersion curves of two branches Lk (1)
and Fk (0) for = 0.31.
e2 2 2 ,
p2 =
2 2 .
279
2 = x,
(7.58)
with x and y being small quantities. Expanding the left-hand side of the
equation (7.57) in the Taylor series of x and y and keeping only the principal
terms in accordance with Newtons rule, we obtain
4 cos
e
e
1
(y x) cos
+ 4xe 2 sin
cos = 0.
2 4
2
2
2
(7.59)
16e tan(e/2)
)x,
2
2
Solution of this equation with respect to y yields
y=(
1
16 cot(/2)
+
)x,
2
e
280
in the long-wave range leads to the equations (7.52) and (7.55) for the corresponding branches.
In the above consideration we implicitly assume the value of e such that
cos(en) 6= 0. In the opposite case the coefficient at y in the approximate
dispersion equation (7.59) vanishes, and the equation (7.55) fails to provide
the true asymptotics for long waves. Consider, for definiteness, the branch
Lk (n) and introduce the new variables
= + y,
2 = x.
e e 2
e
sin
y + 4xe 2 sin
cos = 0,
2
2 4
2
2
yielding
=
4
.
(7.60)
Take, for instance, e = 0.5 ( = 1/3). One can see from (7.60) that the
group velocity cg = d/d of Lk (1) does not vanish at = 0, but is equal
to cg = 2/, and consequently, the wave train moves without deformation
in the long-wave range. It is also interesting to observe that, for = 1/3,
the cut-off frequency of the branch Lk (1) coincides with that of the branch
L (0). The orthogonality between these branches in the long-wave range is
no longer valid in this case, and the account of their interaction becomes
essential. We shall see later how the dispersion curves in the whole range of
wavelength look like.
Dispersion of waves in the whole range of wavelength
Flexural waves. We shall derive and study the dispersion equation for waves
in an infinite plate based on the 2-D theory of high-frequency vibrations
of plates, for which the 2-D equations of motion (7.8) break up into the
equations of longitudinal and flexural waves. Introducing the dimensionless
variables (7.51) and the new unknown function = h , we can write down
the equations for flexural waves in the form
+ 2 u),
u| = 12 (|
1
+ 2 ].
= 12 ( + u| ) + [(2 + 1)|
12
(7.61)
(7.62)
281
i( 1 )
u = 1 = 0 AS(0),
, 2 = 0 F (0) + Fk (0).
1 2
.
12
(7.63)
According to 3-D elasticity the dispersion relation for waves of this type is
given by
2 = 12 + 2 .
(7.64)
Thus, the formula (7.63) correctly describes the cut-off frequency c = 1 (at
= 0), but not the curvature of the exact dispersion curve. This is in agreement with the derivation of the approximate 2-D theory. Note, however, that
1
= 16 ( 242 )2 0.9855. The
the error in (7.63) turns out to be small, because 12
approximate and exact dispersion curves are shown in Figure 7.6. If < 1 ,
the wave number becomes purely imaginary. Solutions associated with imaginary wave number decay exponentially with 1 and become important in the
problem of wave propagation in semi-infinite plates. Since the dispersion
curves are symmetric about the and axis, the negative half of the real
(Re, ) plane can be replaced by the positive half of the imaginary (Im, )
plane without losing any detailed information.
For the purely flexural waves (branches F (0) + Fk (0)) the following dispersion relation can be obtained from (7.61)
(12 2 2 )(
+1 2
+ 12 2 ) 2 14 2 = 0.
6
(7.65)
+1 4
+ O(6 ),
6
+1 2
) + O(4 ),
6
(7.66)
282
Figure 7.6: Dispersion curves of AS-waves: a) 2-D theory: dashed line and
b) 3-D theory: solid line.
for the branch Fk (0). Comparing this with the long-wave asymptotics (3.81)
and (7.55) derived from 3-D elasticity, we can see that the low-frequency
branch F (0) is described by the 2-D theory asymptotically exactly up to
terms of the order O(6 ), while the high-frequency branch Fk (0) according
to the 2-D theory admits the error O(2 ), in agreement with the chosen
approximation. This means that the corresponding dispersion curve has the
same cut-off frequency, but different curvature at = 0 as compared with
the exact dispersion curve. Note, however, that the coefficients of 2 in (7.55)
and (7.66) do not differ much from each other. Taking for example = 1/3
we have
k1 + 2 = 1 +
16 cot(e/2)
3.546,
12 +
+1
3.791.
6
+1
= 1 , =
,
6
in contrast to the classical 2-D theory. This property is characteristic for
hyperbolic systems. For = 1/3 the slopes of these lines are equal to
r
+1
1 0.9135 (cr /cs ),
1.7195 (1),
6
where the values in parentheses are obtained from 3-D elasticity, with cr
the Rayleigh velocity. The dispersion curves according to the 2-D and 3-D
283
| = s2 2 r1 u| r23 v|
22 ,
v| = (s3 +
1)v|
+ v + r23 |
(7.67)
32 v .
Harmonic plane waves propagating in the 1 direction also fall into two
classes. For SS-waves (symmetric shear waves) of the type
u2 = aei(
1 )
v2 = bei(
1 )
u1 = = v1 = 0,
(7.68)
Equations (7.68) coincide with the exact dispersion relations obtained from
3-D elasticity. The corresponding dispersion curves are plotted in Figure 7.8.
284
1 )
u2 = v2 = 0.
m11
m12
0
a
m12 m22 m23 b = 0,
0
m23 m33
c
(7.69)
(7.70)
where
m11 = S1 2 2 , m12 = ir1 , S1 = s1 + 2,
m22 = S2 2 2 + 22 , m23 = ir23 , S2 = s2 ,
m33 = S3 2 2 + 32 , S3 = s3 + 2.
(7.71)
Equation (7.70) has non-trivial solutions if and only if its determinant vanishes
m11 m22 m33 + m212 m33 + m11 m223 = 0.
(7.72)
Replacing mij in (7.72) by their expressions in (7.71), we obtain the dispersion equation
(S1 2 2 )(S2 2 2 + 22 )(S3 2 2 + 32 )
2 2
(S3 2 2 + 32 )r12 2 (S1 2 2 )r23
= 0.
(7.73)
285
cut-off frequencies of the three branches Lk (0), L (0) and Lk (1), respectively.
The asymptotics of the dispersion curves near the cut-off frequencies can be
derived by introducing the new variables 2 = 2c + y and 2 = x and
keeping in (7.73) the main terms of y and x in accordance with Newtons
rule. Standard calculations show that the asymptotic formulae (3.83), (7.52)
and (7.55) are also derivable from (7.73).
Figure 7.9: Dispersion curves of L-waves: a) 2-D classical theory: dotted line,
b) 2-D theory of high frequency vibrations: dashed line, and c) 3-D theory:
solid line.
Consider the special case = 1/3, for which the cut-off frequencies of the
branches L (0) and Lk (1) coincide. To derive the long-wave asymptotics of
these branches we introduce the variables = 2 + y and 2 = x. Expanding
(7.73) in y and x and keeping the main terms in accordance with Newtons
rule, we arrive at
2
424 y 2 + 22 r23
x = 0.
Taking into account that r23 = 8 for = 1/3, one can see that this equation
is nothing but the exact asymptotics (7.60). Thus, the asymptotic exactness
of (7.73) is proved for [0, 0.44).
In the short-wave range ( ) all the dispersion curves according to
(7.65) approach the asymptotes
=
S2 ,
p
S3 ,
p
S1 ,
286
confirming the hyperbolicity of the 2-D equations (7.67). For = 1/3 the
slopes of the asymptotes are
p
p
p
S2 = 0.789 (cr /cs ),
S3 = 1.6602 (1),
S1 = 1.9521 (1),
where the values in parentheses are exact. The dispersion curves according to
the 2-D and 3-D theories are plotted in Figure 7.9 for = 0.31. When > 3
all the three branches according to the 2-D theory are real. For between
the two cut-off frequencies 2 and 3 the third branch forms a loop in the
imaginary plane. For (? , 2 ) the third branch becomes real again, but
its phase and group velocities are opposite. Finally, when < ? the second
and third branches are complex conjugate. Their projections onto the real
(Re, ) and imaginary (Im, ) planes are marked with r and i, respectively.
One can see that, in addition to the long-wave range, the 2-D theory of highfrequency vibrations describes satisfactorily the first complex branches of
the dispersion curves, which gives reason to expect a good prediction of the
exponentially decayed boundary layer by this theory.
Problems
1. Plot the dispersion curves according to (7.73), including the imaginary
and complex branches, for > 1/3.
2. Do the same as in problem 1 for = 1/3.
7.5
( , ) = ( )ei ,
12 (|
+ 2 u) + 2 u = 0,
1
+ 2 ] + 2 = 0.
12 ( + u| ) + [(2 + 1)|
12
(7.74)
287
= a1 1| + a2 2| + .
. | ,
(7.75)
(7.76)
2 2 + 22 2 = 0,
(7.77)
2 12 21
,
12 21
a2 =
2 12 22
,
12 22
+1 2
+ 12 2 ) 2 14 2 = 0.
6
The equations (7.76) and (7.77) can be solved by the separation of variables as in Section 3.4. Referring the plate to the polar co-ordinates %, ,
one can represent the general solutions by
(
(
cos n
cos n
1 = b1 Jn (1 %)
, 2 = b2 Jn (2 %)
,
(7.78)
sin n
sin n
and
(
sin n
= b3 Jn (3 %)
cos n
(7.79)
(7.80)
288
%
[(1 + a1 )
a1 21 [
( + 1)J0 (1 r)] = 0.
2
1 r
289
The first seven frequencies of this equation as functions of the ratio r = r/h
are computed for = 0.31. The spectra are shown in Figure 7.10. As r
increases, all the frequencies diminish and approach Poissons frequencies as
computed by equation (3.92) of the classical plate theory and shown by the
dashed lines in this figure.
Longitudinal vibrations. The longitudinal vibrations of the plate are
described by the equations (7.67). Looking for solutions of the form
u = u ( )ei ,
)ei ,
= (
v = v ( )ei ,
we reduce (7.67) to
(s1 + 1)
u| + 2 u + r1 | + 2 u = 0,
s2 2 r1 u r23 v + (2 2 ) = 0,
|
(s3 +
1)
v|
+ v + r23 | + (
2
2
2
3 )
v
(7.82)
= 0.
(7.83)
where 2i , i = 1, 2, 3, are the three roots of the equation (7.73) and the constants ai , bi are chosen as follows
S1 2i 2
,
r1
r23 ai
bi =
,
2
S3 i + 32 2
ai =
(7.84)
with S1 , S3 taken from (7.71). The solutions of (7.83) are given in the form
(
cos n
i = ci Jn (i %)
, i = 1, 2, 3,
(7.85)
sin n
290
and
(
sin n
= c4 Jn (%)
cos n
(
sin n
$ = c5 Jn (5 %)
cos n
(7.86)
)
+
r
+
2(
ai i ]|%=r = 0,
1
i
%2
% % %2
2 2 X
2 X
2
[
i 2
i + 2 2 2 ]|%=r = 0,
% %
%
%
X
X
r3 $
[s2
]|%=r = 0,
(7.87)
i + r3
i +
%
%
%
X
X
1 $
2 X
1 2$
[s3 2
2
) + r2
bi i + 2 2
bi i + 2(
ai i ]|%=r = 0,
%
% % %
2 2 X
2 X
2$
[
bi i 2
bi i + 2 $ 2 2 ]|%=r = 0,
% %
%
%
[s1 2
i + 2
where all the sums are over i running from 1 to 3. Substituting (7.85) and
(7.86) into these conditions, we obtain the system of five homogeneous linear
equations with respect to the five unknown coefficients c1 , c2 , c3 , c4 , c5 , the
determinantal equation of which determines the frequencies of vibrations.
We further restrict ourselves to the axisymmetric vibrations, for which
n = 0 and
i = ci J0 (i %), i = 1, 2, 3, = $ = 0.
In this case the second and the fifth boundary conditions of (7.87) are satisfied
identically. From the remaining ones we can obtain the following frequency
equation
det Cij = 0,
(7.88)
291
where
i
J1 (i r) 2 J0 (i r),
r
C2i = (S2 ai + r3 bi )i J1 (i r),
i
C3i = (r2 ai S3 bi 2i )J0 (i r) + 2bi J1 (i r),
r
C1i = 2
i = 1, 2, 3,
i = 1, 2, 3,
i = 1, 2, 3.
292
(7.89)
(7.90)
293
(7.91)
i = 1, 2, 3,
(7.92)
with 2i , i = 1, 2, 3, being the roots of the equation (7.73), and the constants
ai , bi chosen according to (7.84). Formula (7.91) is convenient in the sense
that it enables one to separate waves with different i . Let the frequency
< ? , i.e. the cubic equation (7.73) has one positive real root 21 and two
complex conjugate roots 22 and 23 . The solutions of (7.92) can be written
as
1
1 = ei1 + c1 ei1 ,
1
2 = c2 ei2 ,
3 = c3 ei3 ,
294
(7.93)
j = 1, 2, 3,
j = 1, 2, 3.
295
296
|c2 | passes through a finite maximum and does not reach infinity. This means
that the large edge-deformation is coupled with a non-decaying branch for
that particular value of . The special case = 0, where a pure edge mode
exists, is worthy of mention. Since = r1 = r2 = 0, the boundary-value
problem (7.89) and (7.90) breaks into two problems. The first problem
S1 u1|11 + 2 u1 = 0,
u1|1 = 0 at 1 = 0
(7.94)
(7.95)
(7.96)
1 = c1 ei1 ,
2 = c2 ei2 ,
where 1 , 2 should lie in the upper half of the complex plane (Re,Im).
Substituting the solution into the free edge boundary conditions (7.95) and
equating the determinant to zero, we obtain the equation determining the
frequency of the edge mode
(S2 + r3 b1 )2 b2 = (S2 + r3 b2 )1 b1 .
(7.97)
297
Figure 7.16: Deformed shape of the trip at the edge resonance frequency e .
After some algebra we can transform it to
S2 (S2 S3 )4e + S2 (S3 22 S2 32 + 2r32 S2 32 + S3 32 )2e
+ [r34 S2 32 (S3 22 S2 32 + 2r32 )] = 0.
(7.98)
For = 0 equation (7.98) gives two roots 3.9387 and 8.8812. The first root
e = 3.9387 corresponds to the frequency of the edge mode.7 In Figure 7.16
the deformed shape of the strip is shown. One can see that the solution decays exponentially, and the width of the boundary layer, where the intensive
motion of the edge can be observed, is of the order h.
Problems
1. Study the frequency spectra of the flexural vibrations of circular plates
for n = 1.
2. Study the frequency spectra of the longitudinal vibrations of circular
plates for n = 1. Does the edge resonance exist? If yes, find the
frequency corresponding to this mode of vibrations.
3. Determine the edge resonance frequency of the circular plate for = 0
and compare it with that of the strip. Does an exponentially decayed
solution exist? If so, find it.
7.6
2-D equations of motion. In this section we apply the theory of highfrequency vibrations to study the dispersion of waves in an infinite circular
7
298
Christoffel symbols
vanish, the covariant derivatives coincide with the
corresponding partial derivatives. It is easy to compute the measures of
extension as given by (7.4)1
1
A12 = (u1,2 + u2,1 ),
2
A11 = u1,1 ,
A22 = u2,2 +
u
.
R
(7.99)
1
u)
R
t22 = n22 ,
m12
m12
, t21 = n12
,
= n12 +
2R
2R
299
f32 = f322 .
The equations (7.99) should be complemented by the constitutive equations expressing the membrane stresses n , the bending moments m and
q through the measures of extension A , bending and rotations + .
These constitutive equations, in component form, are given by
r1
u
n11 = h[s1 (u1,1 + u2,2 + ) + 2u1,1 + ],
R
h
u
r1
u
n22 = h[s1 (u1,1 + u2,2 + ) + 2u2,2 + 2 + ],
R
R
h
1
n12 = 2h (u1,2 + u2,1 ),
2
3
h
m11 =
[(1,1 + 2,2 ) 1,1 ],
6
h3
m22 =
[(1,1 + 2,2 ) 2,2 ],
6
h3 1
1
m12 =
[ (1,2 + 2,1 )
(u2,1 u1,2 )].
6
2
4R
q1 = hf11 (1 + u,1 ),
u2
q2 = hf12 (2 + u,2 ),
R
(7.100)
where
15 2 2
h /R ),
4
3
= ( 2 + h2 /R2 ).
4
f11 = f111 = ( 2 +
f12 = f122
tcs
,
h
x
,
h
= h ,
h? =
h
,
R
(7.101)
300
form
u1| = [s1 (u1|1 + u2|2 + h? u) + 2u1|1 + r1 ]|1 + (u1|2 + u2|1 )|2
h? 1
h?
+ [ (1|2 + 2|1 ) (u2|1 u1|2 )]|2 ,
12 2
4
h?
h? 1
u2| = (u1|2 + u2|1 )|1 [ (1|2 + 2|1 ) (u2|1 u1|2 )]|1
12 2
4
+[s1 (u1|1 + u2|2 + h? u) + 2u2|2 + 2h? u + r1 ]|2 + h? f12 (2 + u|2 h? u2 ),
u| = f11 (1 + u|1 )|1 + f12 (2 + u|2 h? u2 )|2
h? [s1 (u1|1 + u2|2 + h? u) + 2u2|2 + 2h? u + r1 ],
1
1| = f11 (1 + u|1 ) [(1|1 + 2|2 ) 1|1 ]|1
6
h?
1 1
(7.102)
[ (1|2 + 2|1 ) (u2|1 u1|2 )]|2 ,
6 2
4
h?
1 1
2| = f12 (2 + u|2 h? u2 ) [ (1|2 + 2|1 ) (u2|1 u1|2 )]|1
6 2
4
1
[(1|1 + 2|2 ) 2|2 ]|2 ,
6
| = s2 (|11 + |22 ) r1 (u1|1 + u2|2 + h? u)
r23 (v1|1 + v2|2 ) f2 ,
v1| = (s3 + 1)(v1|11 + v2|21 ) + v1|11 + v1|22 + r23 |1 f31 v1 ,
v2| = (s3 + 1)(v1|12 + v2|22 ) + v2|11 + v2|22 + r23 |2 f32 v2 ,
where
15 2
h,
4 ?
3
= 4 2 + h2? .
4
f31 = f311 = 4 2 +
f32 = f322
(7.103)
n = 0, 1, 2, . . .
301
Hij (, )wj = 0,
i = 1, . . . , 8,
(7.104)
j=1
h2? 2
+ 2 ,
48
h2? 2
(s1 + 2) 2 h2? f12 + 2 ,
48
H33 = f11 2 f12 2 h2? (s1 + 2) + 2 ,
+1 2
1
H44 = f11
2 + 2 ,
6
12
1 2 +1 2
+ 2 ,
H55 = f12
12
6
H66 = s2 (2 + 2 ) f2 + 2 ,
H77 = (s3 + 2)2 2 f31 + 2 ,
H88 = (s3 + 2) 2 2 f32 + 2 ,
H22 = 2
(7.105)
302
= H46
(7.106)
The system (7.104) has non-trivial solutions if and only if the determinant
of Hij vanishes
G = det Hij = 0.
(7.107)
This is the dispersion relation for the waves (7.103) propagating in the cylindrical shell. One can see that for every fixed n and every real and fixed
the determinant in (7.107) is a polynom of eighth degree with respect to 2
giving eight values of in the upper half of the , -plane.
Asymptotics of the cut-off frequencies. Before studying the dispersion
of waves in the whole range of wavelength, we first consider the asymptotics
of the cut-off frequencies of high-frequency branches and then compare them
with those obtained from 3-D elasticity. Consider for simplicity the case
n = 0. Since the cut-off frequencies are found by the condition = 0, it
is easy to see that there are five cut-off frequencies of the high-frequency
branches. For the branch Fk (0) the cut-off frequencies are given by
15
f11
= 2 + h2? ,
4
3
f12
= 2 + h2? ,
2c =
2c =
1 6= 0,
(7.108)
2 6= 0.
1
2c = f2 = ( )2 + h2? (4 2 ),
e
4e
6= 0.
(7.109)
2c = f31 = 4 2 +
2c = f32
v1 6= 0,
(7.110)
v2 6= 0.
303
dispersion relation (3.125) according to 3-D elasticity breaks into three determinants
det Cij = D1 D3 D4 = 0,
where D1 is given by (3.127)1 and
C35 C36
,
D3 =
C65 C66
C11 C12
.
D4 =
C41 C42
(7.111)
where = 1/h? +1/2, = 1/h? 1/2. For thin cylindrical shells h? 1, and
under the assumption of non-zero it is seen that 1 and 1. Using
the Hankel-Kirchhoff asymptotic approximations of the Bessel functions for
large argument |z|
r
2
15
[ cos(z ) +
sin(z )],
J2 (z)
z
4
8z
4
r
15
2
[ sin(z )
cos(z )],
Y2 (z)
z
4
8z
4
we transform the equation (7.111) to
sin
15
cos = 0.
8
This leads to the formulae (7.108)2 and (7.110)2 . In a similar manner, from
the equation D3 = 0, which is equivalent to
J1 ()Y1 () Y1 ()J1 () = 0,
we can derive the asymptotic formulae (7.108)1 and (7.110)1 . We now turn
to the equation D4 = 0 which describes vibrations with w 6= 0. It can be
written in the form
1
1
)J0 (e)][Y2 (e) + (1 2 )J0 (e)]
2
e
e
1
1
[J2 (e) + (1 2 )J0 (e)][Y2 (e) + (1 2 )J0 (e)] = 0. (7.112)
e
e
[J2 (e) + (1
304
e2
8e
The asymptotics of one of the cut-off frequencies of this equation coincides
with (7.109).
Dispersion of waves in the whole range of wavelength
Axisymmetric waves. For waves independent of the angular co-ordinate 2
(n = 0), the determinant in (7.107) breaks into the product of three determinants, so that
G = G1 G2 G3 = 0,
where
G1 = H88 ,
H22 H25
,
G2 =
H52 H55
H11
H13
G3 = 0
H16
0
H13 0
H33 H34
H34 H44
H36 0
0
0
H16 0
H36 0
0
0 ,
H66 H67
H67 H77
and the terms Hij are given by (7.105) and (7.106) with n = 0. The equation
G1 G2 = 0 describes the dispersion of the torsional waves, for which
u1 = 1 = v1 = u = = 0.
In Figure 7.17 the dispersion curves of the torsional waves according to
the 2-D (dashed lines) and 3-D theories (solid lines, equation (3.129)) are
shown. The parameters chosen for the numerical calculations are equal to
= 0.31,
h/R = 1/10.
On can see that, up to the third branch, the dispersion curves according to
the 2-D and 3-D theories are practically identical, even for very short waves.
The dimensionless phase velocity for all branches decreases monotonically
from infinity to 1 as . At the same time the dimensionless group
velocity increases monotonically from zero to 1.
The equation G3 = 0 describes the dispersion of the AR-waves, with
u2 = 2 = v2 = 0.
305
h/R = 1/10,
n = 1,
we plot the dispersion curves in Figure 7.19 (dashed lines). The lowest branch
for n = 1 corresponds to the flexural waves whose frequency approaches
zero as the wave number tends to zero. The second and third branches are
identified as the lowest longitudinal shear branch and the ring-extensional
(breathing) branch, respectively. All branches higher than the third are
referred to as thickness branches. To be able to compare them with the analogous results from the three-dimensional theory, we show also the dispersion
curves obtained from Gazis dispersion relation (3.125) (the solid lines in
Figure 7.19). One can see that, up to the eighth branch, both curves are
almost identical in the long-wave range. Moreover, even in the short-wave
range there is a qualitatively good agreement between them.
306
3. Plot the first eight branches of the dispersion curves for n = 2 according
to Gazis equation (3.125) and compare them with the result of the first
problem.
4. Study the curvatures of the dispersion curves near the cut-off frequencies from the dispersion equation (7.107).
5. Compare the result of the previous problem with that obtained from
Gazis equation.
7.7
307
(7.113)
(7.114)
This means the error of order 1 for the dimensionless frequencies = R/cs .
308
One sees that this method does not work in the low-frequency range, since the error
is comparable with the eigenfrequencies.
309
Figure 7.20: Frequency spectra of elastic strips with free edges ( = 0.31).
m
,
2l
(7.115)
the boundary conditions (7.10) are readily seen to be satisfied exactly. The
eigenfrequencies are determined by the dispersion equation (7.107), where
310
Figure 7.22: Frequencies of the cylindrical shell with the shear diaphragms
at both edges (n = 1, = 0.31, h/R = 0.1): a) 2-D theory: dashed line, and
b) 3-D theory: solid line.
is replaced by m according to (7.115). Typical nodal patterns are shown in
Figure 3.22.
As was mentioned in Section 3.6, the same problem can be solved exactly
within the framework of 3-D elasticity. The three-dimensional boundary
conditions corresponding to this situation read
w2 = w3 = 0,
11 = 0,
at 1 = l.
The solution is given in the form of the standing waves (see formulae (3.145)).
The frequencies are determined from Gazis dispersion equation (3.125) with
replaced by m ; that means that they are determined by the points of
intersection of the dispersion curves with the equidistant vertical lines. The
frequencies according to the 2-D and 3-D theories are plotted in Figure 7.22
for n = 1, = 0.31, h/R = 0.1. The 2-D theory of high-frequency vibrations
works very well in both the low- and high-frequency long-wave ranges. One
observes a qualitatively good agreement between the theories even in the
short-wave range.
Problems
1. Determine the high-frequency spectra of the closed cylindrical shell
with the free edges for n = 1.
311
312
Chapter 8
Elastic rods
8.1
One-dimensional equations
where L is the length and and are the 1-D kinetic and strain energy
density of the rod, respectively. The functional (8.1) is called the 1-D action
functional. Assuming, for simplicity, that the rod is straight and untwisted
in the natural state, and its cross section is centrally symmetric, we shall
construct for it the average Lagrangians of high-frequency longitudinal and
flexural vibrations.
Longitudinal vibrations. In the classical theory of low-frequency longitudinal
vibrations of naturally straight and untwisted rods the following formulae
hold true
1
1
= h2 u 2 , = Eh2 (u0 )2 ,
2
2
where u(x, t) is the longitudinal displacement averaged over the cross section (up to a normalization constant). It is natural to expect that, as the
313
314
(8.2)
1
= h2 [s1 (u0 )2 + s2 (10 )2 + s3 (v 0 )2 + 2r1 h1 1 u0
2
+2r2 h1 1 v 0 + 2r3 h1 v10 + 22 h2 12 + 32 h2 v 2 ].
(8.3)
and
In (8.2) and (8.3) u(x, t) is the average longitudinal displacement (with some
normalization weight), 1 (x, t) and v(x, t) describe the two thickness-stretch
and thickness-shear branches of longitudinal vibrations, the principal terms
of which can be regarded, in the long-wave range, as the first eigenfunctions
of vibrations of the cross section as a two-dimensional continuum. It is
assumed that these unknown functions are continuous and have continuous
derivatives with respect to x and t. The density of the 1-D kinetic energy
represents the simplest quadratic form of u,
1 and v that is positive definite.
The density of the 1-D strain energy , in contrast to the general quadratic
forms of u, 1 , v and u0 , 10 , v 0 , possesses some special features, namely, i) there
are no terms of the type u2 , 10 u, u0 v, uv 0 , u0 v 0 , u0 10 , and ii) the quadratic
form containing only the derivative with respect to x is positive definite.
The construction of the theory is completed by specifying the constants
s1 , s2 , s3 , r1 , r2 , r3 , 2 , 3 , which depend only on the material constants and
the geometry of the cross section, and indicating the way to restore the 3-D
displacement field of the rod from the functions u, 1 and v. The next three
sections will be devoted to this problem.
Flexural vibrations. We assume, additionally, that the rod has a plane of
symmetry and that vibrations occur in that plane. Then the kinetic and
strain energy of the rod are given by
1
= h2 (u 21 + h2 2 ),
2
(8.4)
315
and
1
= h2 [sh2 ( 0 )2 + 12 ( + u01 )2 ].
2
(8.5)
Here u1 is the transverse displacement of the rod averaged over the cross
section with some weight and h( + u01 ) describes the first thickness-shear
branch of vibrations. It is also understood that u1 and are continuously
differentiable with respect to x and t. One recognizes immediately in (8.4)
and (8.5) Timoshenkos theory of flexural vibrations of beams proposed in
[57,58]. The variational-asymptotic method can be used here to calculate the
coefficients , s, 1 , as well as to restore the three-dimensional displacement
field of the rod from the functions u1 and .
1-D equations of motion
Longitudinal vibrations. We derive now the equations of high-frequency vibrations for the elastic rod from the variational principle (8.1), (8.2), (8.3).
Calculating the variation of the action functional, we have
2
t1
[(u
u + 1 1 + v
v)
(s1 u0 u0 + s2 10 10
J = h
t0
0
0
0
+ s3 v v + r1 h1 1 u0 + r1 h1 u0 1 + r2 h1 1 v 0 + r2 h1 v 0 1
+ r3 h1 10 v + r3 h1 v10 + 22 h2 1 1 + 32 h2 vv] dx dt.
Performing the integration by parts and remembering that u, 1 and v are
specified at t = t0 , t1 , we obtain
2
t1
J = h
t0
{[
u + (s1 u00 + r1 h1 10 )]u + [1 + (s2 100
r1 h1 u0 r23 h1 v 0 22 h2 1 )]1 + [
v + (s3 v 00
Z t1
+ r23 h1 10 32 h2 v)]v} dx dt h2
[(s1 u0 + r1 h1 1 )u
t0
+(s2 10
x=L
+ r3 h v)1 + (s3 v + r2 h1 1 )v]x=0 dt, (8.6)
1
u = (s1 u00 + r1 h1 10 ),
1 = (s2 00 r1 h1 u0 r23 h1 v 0 2 h2 1 ),
1
00
v = (s3 v + r23 h
10
32 h2 v).
(8.7)
316
Flexural vibrations. The equations of flexural vibrations for the rod can be
derived in a similar manner and are of the form
u1 = 12 ( 0 + u001 ),
h2 = [sh2 00 12 ( + u01 )].
(8.8)
Boundary-value problems
Longitudinal vibrations. Consider the variant of the boundary conditions for
the system (8.7) that corresponds to the free edges of the rod. Similar to the
classical rod theory we assume that the variations of u, 1 , v are arbitrary at
x = 0, L. Then from (8.6) the following boundary conditions can be obtained
at x = 0, L:
s1 u0 + r1 h1 1 = 0,
s2 10 + r3 h1 v = 0,
s3 v 0 + r2 h1 1 = 0.
(8.9)
If the tractions act on the lateral surface, then the variational principle (8.1)
should be modified by adding the term associated with the work done by the
surface tractions:
Z t1 Z L
J =
( + A) dx dt = 0,
(8.10)
t0
where
A = h(p1 u + p2 1 + p3 v).
(8.11)
The quantities p1 , p2 , p3 depend only on the surface traction ti ; their expressions will be determined later. These quantities should be included in the
equations of longitudinal vibrations
u = (s1 u00 + r1 h1 10 + h1 p1 ),
1 = (s2 00 r1 h1 u0 r23 h1 v 0 2 h2 1 + h1 p2 ),
1
00
v = (s3 v + r23 h
10
32 h2 v
2
1
+ h p3 ).
(8.12)
1 |t0 = 10 ,
1 |t0 = 11 ,
v|t0 = v 0 ,
v|
t0 = v 1 .
317
If the coefficients s1 , s2 , s3 are positive, then the system (8.7) (or (8.12)) is
hyperbolic, and the corresponding initial boundary-value problem is wellposed.
Flexural vibrations. The free-edge boundary conditions read
+ u01 = 0,
0 = 0.
(8.13)
If the tractions act on the lateral surface, then the variational principle (8.10)
should be used instead of (8.1), where
A = h(q1 u1 + hq2 + hq3 u01 ).
The quantities q1 , q2 , q3 depend only on ti and will be found later. The
equations of vibrations then read
u1 = 12 ( 0 + u001 + h1 q1 q30 ),
h2 = [sh2 00 2 ( + u0 ) + q2 ].
1
(8.14)
|t0 = 0 ,
t = 1.
|
0
The system (8.8) (or (8.14)) is hyperbolic if s > 0, and the corresponding
initial boundary-value problem is well-posed in that case.
Problems
1. Derive the balance equation of energy for a rod within the 1-D theory
of high-frequency vibrations. Using this equation, prove the uniqueness
of solutions of the boundary-value problems.
2. Find out the conditions which guarantee the hyperbolicity of the equations (8.7) and (8.8).
3. Formulate the variational principle for the eigenvalue problems and
prove the orthogonality of the eigenfunctions with respect to the energy.
318
8.2
3-D variational formulation. We first formulate the problem of free vibrations of the rod that is straight and untwisted in its natural state. Consider
the domain B E specified by
B = {(x1 , x2 , x3 )|(x1 , x2 ) S, x3 x (0, L)},
where {xi } is a cartesian co-ordinate system (the superscript 3 of x3 is usually omitted for short). Concerning the plane figure S we assume that it
is connected (but need not be simply connected), centrally symmetric (if
(x1 , xR2 ) S then (x1 , x2 ) S) and (x1 , x2 ) = (0, 0) is its centroid, so
that S x da = 0. A linear elastic body occupying the domain B in its stressfree undeformed state is called an elastic rod, with S its cross section. The
diameter of S is denoted h; when h L the rod is said to be thin.
To be specific, we will assume that the lateral surface of the rod is free
from surface tractions. Then the true displacements of the rod w , w are
sought as the stationary points of the three-dimensional action functional
Z
t1
I=
da dx dt,
t0
2
) + 2w;
w,x + ( + 2)w,x
= (w 2 + w 2 ) [ (w;
2
2
+ 2w(;) w(;) + (w; + w,x )2 ].
The variations of w , w should vanish at t = t0 , t1 and at the rod ends x = 0, L
which are assumed to be clamped.
The first step of the variational-asymptotic procedure. We analyze the action functional given above in the long-wave range, for which the
parameter h/l is small everywhere inside the rod, with l the characteristic
wavelength in the longitudinal directions. However, we do not assume that
the frequency of vibrations is small. By stretching the transverse co-ordinates
with = x /h we get the Lagrangian which depends on h explicitly
1
1
2
2
= (w 2 + w 2 ) [h2 (w|
) + 2h1 w|
w,x + e2 w,x
2
2
+ 2h2 w(|) w(|) + (h1 w| + w,x )2 ],
(8.15)
319
p
where = / and e = /( + 2). We use the vertical bar preceding
a Greek index to denote the partial differentiation with respect to . The
action functional becomes
Z t1 Z L
2
hi dx dt,
(8.16)
I=h
0
t0
t1
h0 i dx dt,
I0 = h
t0
(8.17)
1
1
2
2
0 = (w 2 + w 2 ) [h2 (w|
) + 2h2 w(|) w(|) + h2 w|
].
2
2
Observe that, in contrast to the low-frequency vibrations, the kinetic energy
must already be retained in the first step of the variational-asymptotic procedure since the frequencies are no longer small. The derivatives with respect
to x do not enter the functional
R t(8.17); therefore its stationary points coincide
with those of the functional t01 h0 idt. The latter are linear superpositions
of vibrations, which fall into two series, namely:
w = v(n) f(n) ( ), w = 0,
(F Lk (n)),
(8.18)
(8.19)
2
2 f(n) = k(n)
f(n) ,
f(n)| = 0 at S,
(8.20)
and
T F L :
2
f(n) ,
( + 1)f(n)|
2 f(n) = (n)
f + 2f((n)|) = 0 at S.
(8.21)
(n)|
The more detailed classification is possible for centrally symmetric cross sections, for
which w and w are decomposed into even and odd functions.
320
Here = h/cs , 2 is the 2-D Laplace operator, and are the components
Without restricting the generality, one
of the unit normal to the contour S.
can impose on f(n) and f((n) the following normalization conditions
2
hf(n)
i = 1,
hf(n) f(n)
i = 1.
(8.22)
2
(n) (n)
(n) ,
(8.23)
except those corresponding to the zero frequency (they belong to the kernels of the operators). The displacements of these classical low-frequency
branches of vibrations, in the first step of the variational-asymptotic procedure, turn out to be independent from, or linear functions of, (see
Chapter 4). All the remaining branches correspond to vibrations with frequency cs /h. Since as h 0, the corresponding vibrations
are naturally called high-frequency (or thickness) vibrations. We rewrite the
eigenvalue problems (8.20), (8.21) as the following variational problems
F Lk :
hf| f | i = k2 hf f i,
(8.24)
hf 2 i = 1,
and
T F L :
hf| f|
+ 2f(|) f (|) i = 2 hf f i,
(8.25)
hf f i = 1.
In the following the eigenvalues and the corresponding eigenfunctions are no
longer numbered in order to avoid complicated notations.
The second step of the variational-asymptotic procedure. At this
step we find the next refinement for the displacements of each branch of
vibrations. Consider a branch belonging to the series F Lk . Regarding v as
a given function of x and t satisfying the constraints
v = 0 at x = 0, L,
(8.26)
321
1
1
0
2
vf
1 = k2 w2 [h2 (w|
) + 2h1 w|
2
2
+2h2 w(|) w(|) 2h1 w v 0 f| ].
The first and last terms of 1 are obtained after the integration by parts with
respect to t and x, respectively. While doing so, the term w
is replaced by
k2 w since we are interested in the long-wave asymptotics near the cut-off
frequency. The terms that go to the boundaries x = 0, L vanish due to (8.26).
From (8.27) it follows that the displacements of the branch F Lk are given by
w = vf ( ),
w = hv 0 g ( ),
(8.28)
hg|
g|
+ 2g(|) g (|) + f g|
f| g i = k2 hg g i.
(8.29)
(8.30)
we seek w for that branch. To do this we must retain the principal terms
containing w and the principal cross terms between w and in (8.16). As a
result we obtain the functional (8.27) with the following Lagrangian
1 2 2 1
2
1 =
w (h2 w|
+ 2h1 0 f w| 2h1 0 f|
w).
2
2
Again, the first and last terms in this Lagrangian were obtained by the
integration by parts taking the condition (8.30) into account. Consequently,
the following asymptotic formulae hold true for the displacement distribution
of the branch T F L
w = f ( ),
w = h 0 g( ),
(8.31)
hg| g | + f g | f|
gi = 2 hggi.
(8.32)
322
Average Lagrangian of an individual thickness branch. Before performing the short-wave extrapolation it is first convenient to find the principal
terms of the average Lagrangian of each branch in the long-wave range. We
examine a branch in the series F Lk , whose displacements are given by the
asymptotic formulae (8.28). Let v(x, t) now be an arbitrary function of x
and t. Substituting (8.28) into the 3-D action functional (8.16), retaining
the principal terms and averaging over the cross section, we obtain
= 1 [v 2 + h2 (v 0 )2 hg g i] 1 [h2 v 2 hf| f | i
2
2
0 2
2
(|)
+ (v ) (h(g| ) + 2g(|) g
+ 2f g|
2g f| i + e2 )].
Due to the variational equations (8.24), (8.29) and the normalization condition we have
hf| f | i = k2 ,
2
h(g|
) + 2g(|) g (|) + f g|
f| g i = k2 hg g i = ck2 ,
where c = hg g i. Consequently
= 1 [v 2 + ch2 (v 0 )2 ] 1 [k2 h2 v 2 + (v 0 )2 (ck2 + kk )],
2
2
(8.33)
kk = e2 + hf g|
g f| i.
(8.34)
where
Since v describes harmonic vibrations in the long-wave range near the cut-off
frequency k , for which the estimation (8.23) holds in the first approximation,
the small correction term ch2 (v 0 )2 in (8.33) can be replaced by ck2 h2 (v 0 )2 .
Then the principal terms of the branch F Lk in the average Lagrangian are
given by the following final formula
= 1 v 2 1 [ 2 h2 v 2 + kk (v 0 )2 ].
k
2
2
(8.35)
Should this branch be uncoupled from the other branches, the Euler equation
of (8.35) would be of the form
v = (kk v 00 k2 h2 v).
(8.36)
One can show that (8.36) is asymptotically exact in the long-wave range near
the cut-off frequency k .
Consider now a branch in the series T F L , whose displacement field in
the long-wave range is given by (8.31). We substitute these formulae into
323
the action functional (8.16). After discarding the small terms and averaging
over the cross section we arrive at
= 1 [ 2 + h2 ( 0 )2 hg 2 i] 1 [h2 2 h(f )2 + 2f(|) f (|) i
|
2
2
2
g + 2f g| i + 1)].
2f|
+ ( 0 )2 (hg|
Making use of the variational equations (8.25) for f and (8.32) for g one can
show that
2
) + 2f(|) f (|) i = 2 ,
h(f|
2
hg|
f|
g + f g| i = 2 hg 2 i = 2 d,
where d = hg 2 i. Thus,
= 1 [ 2 + h2 d( 0 )2 ] 1 [h2 2 2 + (k + d2 )( 0 )2 ],
2
2
where
k = hf g| f|
gi + 1.
(8.37)
With the same deliberation as in the previous case one can replace the term
2 2
dh2 ( 0 )2 in this Lagrangian by d
h ( 0 )2 . Thus, we derive the final formula
for the average Lagrangian of the branch T F L
= 1 2 1 [h2 2 2 + k2 ( 0 )2 ].
2
2
(8.38)
Not only the principal terms containing the factor 1 in the kinetic energy
and the factor h2 in the strain energy, but also terms of the next order of
smallness must be retained in the average Lagrangians (8.35) and (8.38), due
to the fact that, at the cut-up frequencies, the sum of the principal terms
turns out to be small. Regarding the branch T F L as uncoupled from the
other branches, we would obtain for the following Euler equation
= (k 00 h2 2 ) = 0,
(8.39)
which is asymptotically exact in the long-wave range near the cut-off frequency of this branch.
Problems
1. Derive the equations and boundary conditions for g from (8.32) and
for g from (8.29).
324
2. Find out the conditions which guarantee the hyperbolicity of the equations (8.36) and (8.39).
3. Prove the orthogonality between different thickness branches with respect to the energy in the long-wave range, provided the edges of the
rod are clamped.
8.3
Short-wave extrapolation
(8.40)
325
problem
he| e| + 2e(|) e(|) + ce| i = 0,
he i = 0,
(8.41)
he e i = 0.
(8.42)
1
1
1
2
1
[22 h2 12 + 2a1 h1 1 u0 + 2a2 h1 1 v0 + 2r1 h1 u0 1
2
+ 2r2 h1 1 v0 + 2r3 h1 v10 + 32 h2 v2 + 2a3 h1 v10
+ k1 (
u0 )2 + k2 (10 )2 + k3 (
v 0 )2 ]. (8.43)
Here 2 and 3 are the first eigenvalues and k of the longitudinal vibrations in problems (8.24) and (8.25) (they are numbered analogously to the
case of longitudinal vibrations of plates). The formulae for the remaining
coefficients have the form
b1 = hcgi, b2 = hf e i, b3 = hf g i, b4 = hf gi,
a1 = hf|
e| + 2f(|) e(|) i, a2 = hf|
g| + 2f(|) g (|) i,
a3 = hf| g | i, r1 = hf|
ci, r2 = hf|
f i,
r3 = hf| f i,
(8.44)
k1 = E/ = 2(1 + ).
The coefficients k2 , k3 are given by the formulae (8.37) and (8.34), respectively.
It turns out that the following relationships between the coefficients
b1 = b2 , b3 = b4 , a1 = b2 22 , a2 = b3 22 , a3 = b4 32 ,
r1 = b1 22 = a1 , r2 r3 = b3 (32 22 ) = a3 a2
(8.45)
hold true. This can be proved by using the variational problems (8.24),
(8.25), (8.29), (8.32) and (8.41), without calculating the coefficients. Indeed,
326
(8.46)
hf|
ci = 22 hgci = 22 b1 .
(8.47)
It follows from (8.44), (8.46) and (8.47) that the equalities a1 = 22 b2 and
r1 = 22 b1 are valid. Subtracting (8.47) from (8.46), we obtain the equality
ci = 22 (b2 b1 ).
hf| e| + 2f(|) e(|) + f|
(8.48)
The left-hand side of (8.48) coincides with the variational equation (8.41)
for e , when we substitute therein e = f . Therefore 22 (b2 b1 ) = 0, or
b2 = b1 .
The substitutions f = g in (8.24), f = g in (8.25), g = f in (8.29)
and g = f in (8.32) yield
hf| g | i = 32 hf gi = 32 b4 ,
(8.49)
hf| g|
+ 2f(|) g (|) i = 22 hf g i = 22 b3 ,
hg|
f| + 2g(|) f (|) + f f|
f| f i
(8.50)
= 32 hg f i = 32 b3 ,
(8.51)
hg| f
+ f f
f|
fi
22 hf gi
22 b4 .
(8.52)
hf| f f f|
i = b3 (22 32 ).
(8.53)
327
1
1
2
1
(b22 + b23 )h2 ( 10 )2 b22 h2 (u 0 )2 b23 h2 (v 0 )2 ] [22 h2 (1 + b2 h
u0 + b3 h
v 0 )2
2
v + b3 h10 )2
+ 2r1 h1 u0 1 + 2r2 h1 1 v0 + 2r3 h1 v10 + 32 h2 (
+ (k1 b22 22 )(
u0 )2 + (k2 b23 32 )(10 )2 + (k3 b23 22 )(
v 0 )2 ]. (8.54)
When transforming (8.43) to (8.54) the cross terms h2 u 0 v 0 and u0 v0 are neglected as small compared with other cross terms. In (8.54) the terms in
the kinetic energy 1/2(b22 + b23 )h2 ( 10 )2 and 1/2b23 h2 (v 0 )2 at long waves
v 0 )2 (as was done in
can be replaced by 1/2(b22 + b23 )22 (10 )2 and 1/2b23 (
2 2 0 2
Section 8.2). The term 1/2b2 h (u ) is small at long waves and can be
omitted. The Lagrangian then has the form
= 1 [(u + b2 h 0 )2 + ( 1 + b2 hu 0 + b3 hv 0 )2 + (v + b3 h 0 )2 ]
1
1
2
1
u0 + b3 h
v 0 )2 + 2r1 h1 u0 1 + 2r2 h1 1 v0
[22 h2 (1 + b2 h
2
+ 2r3 h1 v10 + 32 h2 (
v + b3 h10 )2 + (k1 b22 22 )(
u0 )2
+ (k2 b23 32 + (b22 + b23 )22 )(10 )2 + (k3 b23 22 + b23 32 )(
v 0 )2 ]. (8.55)
In order to search for a short-wave extrapolation which does not contain
second and higher derivatives in the Lagrangian let us make the changes of
unknown functions u u, 1 1 and v v, where
u = u + b2 h10 ,
1 = 1 + b2 h
u0 + b3 h
v0,
v = v + b3 h10 .
Keeping the principal terms of u, 1 , v in (8.55), we arrive at
= 1 (u 2 + 12 + v 2 ) 1 [22 h2 12 + 32 h2 v 2 + 2r1 h1 u0 1
2
2
0 2
2r1 b2 (u ) 2r1 b2 1 100 + 2r2 h1 1 v 0 2r2 b3 1 100 2r2 b3 (v 0 )2
328
By adding a null Lagrangian, we can replace terms of the type 1 100 and
vv 00 by (10 )2 and (v 0 )2 , respectively, and derive finally the formulae (8.2)
and (8.3) for and , where the coefficients s1 , s2 , s3 are given by
s1 = k1 b22 22 2r1 b2 ,
s2 = k2 b23 32 + (b22 + b23 )22 + 2r1 b2 + 2r2 b3 2r3 b3 ,
s3 = k3 b23 22 + b23 32 2r2 b3 + 2r3 b3 .
Making use of relations (8.45) again, we obtain
r12
s1 = k1 + 2 ,
2
r2
r2
s2 = k2 12 + 2 23 2 ,
2
3 2
2
r
s3 = k3 2 23 2 .
3 2
(8.56)
When the tractions ti act on the lateral boundary of the rod we must add
the work A done by ti to the action functional. With the displacements from
(8.40), the principal terms of A are found to be given by (8.11), where
Z
Z
Z
1
1
1
tc ds, p2 =
t f ds, p3 =
tf ds.
p1 =
S
S
S
Thus, the formulae of the 1-D theory of high-frequency longitudinal vibrations is justified by the short-wave extrapolation procedure, which consists of
the operations of adding or removing i) terms that are small in the long-wave
range, or ii) null Lagrangians. Besides, by solving the cross section problems
we can calculate all the coefficients of the theory.
Flexural vibrations. Assume that (x1 , x) is the plane of symmetry of the
cross section, and vibrations occurring in that plane can be regarded with
sufficient accuracy as the superposition of the first two branches of the flexural vibrations. The branch F (0) correspond to low-frequency vibrations, the
other one to thickness-shear vibrations with the lowest cut-off frequencies.
The dynamic equations contain two unknown functions of x and t: u1 and
(the symbols without the bar are reserved for the functions in the final
equations). The theory should be regarded as a first approximation theory
describing asymptotically exactly the flexural vibrations of the rod in the
329
range of long waves and high frequencies (up to the cut-off frequency of the
thickness-shear branch).
We represent the displacement field in the form
w = u1 (x, t)c + h2 u001 m ( ),
t)f ( ).
w = h
u01 c1 1 + (x,
(8.57)
The function u1 describes the means displacement (with some weight) of the
rod in the plane (x1 , x), where c are constants chosen so that
1/2 ,
c1 = |S|
c2 = 0.
(8.58)
We substitute (8.57) into the 3-D action functional (8.16) and integrate over
Using the decomposition (4.29) and (8.58) one can see
the cross section S.
that the transverse energy is small compared with other terms in the average
Lagrangian. Keeping in the latter the principal terms, we obtain
= 1 (u 21 + 2 ) 1 [sh2 (
u001 )2 2r1 h
u001 0
2
2
1 2
2
+ 1 2 + 2r2 h
u000
1 ],
h
(8.59)
330
r2 = hm f | i.
(8.60)
It can be shown that, if the next correction term for the classical branch
were taken into account, all the cross terms in (8.59) would form a null
Lagrangian. However, here we shall keep the cross-terms and try to seek
appropriate changes of unknown functions to get rid of terms containing the
higher order derivatives. For this aim let us transform (8.59) to
r1 1 0 2
= 1 (u 2 + 2 ) 1 [sh2 (
u001
)
1
2
2
sh
1
r2
2
+ 12 2 ( + 2 h3 u000
1 ) ].
h
1
(8.61)
2
Small terms of the type (0 )2 and h4 (
u000
1 ) are neglected when passing from
(8.59) to (8.61). We now choose the normalization condition for f such that
r1
hc1 1 f i
= 2 1 2 = 1.
s
c1 h( ) i
(8.62)
r2
1
=
u01 + ( + 2 h3 u000
1 ),
h
1
and keeping in the average Lagrangian only the principal terms, we arrive at
the formulae (8.4), (8.5).
Problems
1. Check the validity of (8.56).
2. Prove that the short-wave extrapolations proposed are asymptotically
equivalent to the classical theory of vibrations of rods in the lowfrequency limit.
3. Find the expressions of the work done by the tractions acting on the
lateral boundary of the rod in the case of the flexual vibrations.
8.4
331
1 d dp
(% ) = 22 p,
% d% d%
2 = 2 e.
f% = c2 2 J1 (2 %).
(8.63)
1 d dp
d2 p
(% ) + 2 2 = 0,
% d% d%
d%
at % = 1/2.
f%2 %d% = 1.
hf f i = 2
0
21
,
2 J0 (2 /2)
2e
1 = p 2
.
2 /4 4(1 e2 )
(8.64)
332
We now turn to the function f , which should satisfy problem (8.20). Since
f depends only on %, problem (8.20) in the polar co-ordinates becomes
1 d df
(% ) = 32 f,
% d% d%
df
= 0 at % = 1/2.
d%
c3 = 2/ J0 (3 /2).
Thus, the function f is found to be
f=
2
J0 (3 %).
J0 (3 /2)
(8.65)
2 g ( + 1)f|
= 22 g,
(g| + f ) = 0 at S.
1 d dg
2( + 1)1 2
(% ) + 22 g =
J0 (2 %),
% d% d%
J0 (2 /2)
dg
21 J1 (2 /2)
=
at % = 1/2.
d%
J0 (2 /2)
(8.66)
(8.67)
333
43
2
J1 (3 %).
J1 (3 %)
2
J0 (3 /2)3
(3 J0 (3 /2) + 43 J1 (3 /2))
Having found all the functions, we now use the formulae (8.34), (8.37)
and (8.44) to determine all the coefficients of the 1-D theory. After long,
but otherwise standard, calculations we arrive at the following expressions
for r1 , r2 , r3
22
r1 = hcf|
i = p 2
,
2 /4 4(1 e2 )
2e2 23
p
r2 = hf|
fi = 2
,
(3 22 ) 22 /4 4(1 e2 )
2 2
p 3 2
r3 = hf f| i = 2
.
(3 22 e2 ) 22 /4 4(1 e2 )
(8.68)
The coefficients k2 and k3 are determined from (8.34), (8.37) and are given
by
42 J0 (2 /2)
22 /(4e2 ) 12
+ 2
,
2
2
2 /4 4(1 e ) (2 /4 4(1 e2 ))J1 (2 /2)
43 J1 (3 /2)
k3 = 1 +
.
3 J1 (3 /2) 32 J0 (3 /2)/4
k2 =
(8.69)
Finally, the coefficients s1 , s2 , s3 are calculated from k2 , k3 and r1 , r2 , r3 according to (8.56). In the following table we present the values of 2 , r1 , r2 ,
r3 , s1 , s2 , s3 as functions of
2
r1
r2
r3
s1
s2
s3
0
5.21
0
0
6.19
2
0.63
1.89
0.5
5.47
0.52
0.17
6.22
2.11
0.62
1.95
0.1
5.77
1.17
0.39
6.25
2.24
0.62
2.03
0.15
6.14
1.98
0.71
6.28
2.40
0.62
2.13
0.2
6.59
3.04
1.17
6.31
2.61
0.61
2.24
0.25
7.17
4.49
1.85
6.34
2.89
0.59
2.38
0.3
7.95
6.63
2.95
6.38
3.29
0.56
2.58
0.35
9.1
10.11
4.89
6.43
3.92
0.48
2.87
0.4
11.04
16.96
8.96
6.48
5.16
0.16
3.42
334
One can see that for [0, 0.4] the coefficients s1 , s2 , s3 are positive
and the Euler equations (8.7) are hyperbolic. As a consequence, one can
also prove the well-posedness of the corresponding initial boundary-value
problems. For (0.4, 1/2) the coefficient s2 is a quickly oscillating function
of , which changes its sign infinitely many times. The situation is similar
to that of the plate theory and can be explained by the fact that, as
increases, the cut-off frequency 2 of the branch L (0) also increases and
crosses the regions of strong interaction with other high-frequency branches
(Lk (2), Lk (3), and so on). Due to this reason the short-wave extrapolation
proposed above becomes unsatisfactory.
Flexural vibrations. In order to determine the constants , 1 , s of the
theory of flexural vibrations we need to solve the only eigenvalue problem
(8.20) subject to the normalization condition (8.62) for which, in contrast to
the previous case, many solutions are known. The determination of and 1
is thus reduced to an interpretation of these solutions and some additional
computations. Results are given for the cross sections bounded by the circle,
rectangles and ellipses.
Circle. For the circular cross section the equation (8.20), in the polar coordinates %, , admits an antisymmetric solution
f = bJ1 (1 %) cos .
Then the boundary condition f /% = 0 at % = 1/2 leads to the equation
for 1
J10 (1 /2) = 0 = 1 = 3.682.
b=
64
R 1/2
0
%2 J1 (1 %)d%
= 0.8217.
= b
1/2
335
f = b sin 1 1 , 1 = .
a
For the rectangular cross section c1 = 1/ a and s = Ea2 /12. The coefficient b is determined from the normalization condition (8.62) and is equal
to
2
c1 h( 1 )2 i
=
c
a
.
b= 1
1
h sin 1 1 i
24
The coefficient can now be calculated
1 2
= b2 hsin2 ( 1 )i = ( )2 a2 0.0846a2 .
a
2 24
According to Mindlin-Deresiewiczs correction =
[41]).
1 2
a
12
0.0833a2 (see
Ellipses. Consider now an elliptical cross section with the major axis 1 and
the minor axis a, and let a 1 (see Figure 8.1). A solution of the cross
2 = e cosh u cos v,
(8.70)
336
cosh 2v.
+
+
f1 du2
2
f2 dv 2
2
Thus, we see immediately that both sides of this equation should be a constant, which we denote by b. The function f2 , which must be periodic of
period 2, satisfies Mathieus equation
d2 f 2
+ (b 2q cos 2v)f2 = 0,
dv 2
(8.71)
(8.72)
at u = tanh1 a.
(8.73)
The solutions of these equations are given in terms of Mathieus and radial
337
where se1 (b1 , q, v) is the odd periodic Mathieu function with the characteristic
value b1 and parameter q. Substituting b = b1 (q) into (8.72), we find its
general solution in the form
f1 (u) = cSe(b1 , q, u),
with Se(b1 , q, u) the radial Mathieu function with the parameter b1 and q.
Combining these formulae and substituting the solution into (8.73), we obtain
the equation determining the cut-off frequency 1 . In Figure 8.2 the graph of
1 versus a is plotted. Then we should use the normalization condition (8.62)
to determine the constant c. Finally, knowing f we calculate according to
the formula (8.60). In Figure 8.3 we plot as a function of a, where the
dashed curve corresponds to Mindlin-Deresiewiczs correction = a2 /16.
Problems
1. Solve the cross section problems for the longitudinal vibrations of rods
with a cross section bounded by a circular ring and determine the
corresponding coefficients.
2. Determine Poissons ratio c for which 2 = 3 (c 0.2833).
3. Show that, as c , the coefficients k2 and k3 approach infinity, but
s2 and s3 remain finite. Find them.
4. Plot the eigenfunctions at the cut-off frequencies for the circular cross
section.
338
8.5
Dispersion of waves
tcs
,
h
x
,
h
(8.74)
may be written as
u| = s1 u00 + r1 10 ,
1| = s2 100 r1 u0 r23 v 0 22 1 ,
v| = s3 v 00 + r23 10 32 v.
(8.75)
Note that the prime is used here to denote the derivative with respect to .
We seek solutions of (8.75) in the form
(u, 1 , v) = (a, b, c)ei( ) ,
(8.76)
(8.77)
Analogously, the asymptotic formulae of the dispersion curves in the longwave range (small ) for the three branches Lk (0), L (0) and Lk (1) read
2 = (s1 r12 /22 )2 + O(4 ) = 2(1 + )2 + O(4 ),
2
2 = 22 + (s2 + r12 /22 r23
/(32 22 ))2 + O(4 )
= 22 + k2 2 + O(4 ),
2
2 = 32 + (s2 + r23
/(32 22 ))2 + O(4 )
= 32 + k3 2 + O(4 ),
(8.78)
339
relation (4.85). Since p1 and p2 are real near the cut-off frequencies, the
Pochhammer equation takes the form
4p1 (p22 + 2 )J1 (p1 /2)J1 (p2 /2) (p22 2 )2 J0 (p1 /2)J1 (p2 /2)
42 p1 p2 J1 (p1 /2)J0 (p2 /2) = 0, (8.79)
2 = x, 2 = y, p1 = e2 y x, p2 = y x,
(x, y) = 4p1 yJ1 (p1 /2)J1 (p2 /2) (y 2x)2 J0 (p1 /2)J1 (p2 /2)
4xp1 p2 J1 (p1 /2)J0 (p2 /2).
Expand the function (x, y) near the point (x, y) = (0, 32 ) to obtain
(x, y) = ax + b(y 32 ) + o(x, y 32 ) = 0,
where
a=
,
x (0, 2 )
3
(8.80)
b=
.
y (0, 2 )
3
a = J0 (3 /2)3 [
(8.81)
(8.82)
340
where, now,
a=
,
x (0, 2 )
b=
.
y (0, 2 )
(8.83)
s2 ,
s3 ,
s1 ,
341
(8.84)
(8.85)
s 2
) + O(4 ),
s
= 1 , =
,
342
8.6
Frequency spectra
1 = 1 ()ei ,
v = v()ei ,
(8.86)
s3 v + r2 1 = 0.
343
b1 01
b2 02
(8.88)
b3 03 .
It turns out that u, 1 , v given by (8.88) are the solutions of equations (8.86)
if the potentials i satisfy the following equations
00i + 2i i = 0,
i = 1, 2, 3,
(8.89)
where i are the roots of the dispersion relation (8.77) and ai , bi are expressed
through i by
s1 2i 2
,
r1
r23 ai
bi =
.
2
s3 i + 32 2
ai =
3
X
ci i sin i +
i=1
1 =
3
X
di i cos i ,
i=1
ai ci cos i +
i=1
v =
3
X
3
X
ai di sin i ,
(8.90)
i=1
3
X
bi ci i sin i +
i=1
3
X
bi di i cos i .
i=1
Cij cj = 0,
i = 1, 2, 3,
Dij dj = 0,
i = 1, 2, 3,
j=1
and
3
X
j=1
344
where
C1j = cos j d,
C2j = j (s2 aj + r3 bj ) sin j d,
C3j = (s3 2j bj + r2 aj ) cos j d,
and
D1j = sin j d,
D2j = j (s2 aj + r3 bj ) cos j d,
D3j = (s3 2j bj + r2 aj ) sin j d.
Thus, the free longitudinal vibrations of the rod fall into two classes, namely,
symmetric vibrations whose eigenfunctions contain ci and antisymmetric ones
whose eigenfunctions contain di . We further restrict ourselves to the symmetric vibrations, the eigenfrequencies of which are determined as the roots
of the equation
det Cij = 0.
(8.91)
345
by using the classical theory of longitudinal vibrations are also shown (the
dashed hyperbolas). They are given by
p
2(1 + )
1
(n ).
(8.92)
n =
d
2
One can see that the frequencies n (d) computed in accordance with (8.91)
and (8.92) differ litle for . 3, and the hyperbolas (8.92) become asymptotes for the curves obtained from (8.91) as 0 (d ). For & 3
fairly strong divergence between the curves obtained from (8.91) and (8.92)
is observed.
Edge modes. We want to show that the zone of frequencies, where the
typical terrace-like structure of the spectra begins to develop, contains the socalled edge resonance frequency. Since the latter cannot be described within
the classical rod theory, the frequency spectra as obtained by the theories
of low and high frequency vibrations diverge strongly in its neighborhood.
Indeed, take the point (d, ) = (2, 5.6427) lying on the third terrace in Figure
8.6 and compute the amplitudes of the displacements u, 1 , v according to
(8.90). The results are presented in Figure 8.7. One can see that u, 1 , v
346
of vibrations as d changes, i.e., there is no pure edge mode for finite rods,
whose frequency is a continuous function of d that does not tend to zero as
d . In order to understand this mode switching, let us first analyze
the degenerate case = 0. From (8.68) it follows then that r1 = r2 = 0;
consequently, the eigenvalue problem breaks into the two following problems
s1 u00 + 2 u = 0,
u0 = 0 at = d,
(8.93)
and
s2 100 + r3 v0 + (2 22 )1 = 0,
v = 0,
s3 v00 r3 10 + (2 32 )
0
0
s2 1 + r3 v = 0, v = 0, at = d.
(8.94)
Thus, for = 0 the classical and thickness branches of vibrations are uncoupled. The symmetric modes of vibrations of (8.93) possess the eigenfrequencies given by (8.92). The symmetric solution of (8.94) have the form
1 = c1 cos 1 + c2 cos 2 ,
v = b1 c1 1 sin 1 b2 c2 2 sin 2 ,
(8.95)
(8.96)
i = 1, 2.
Substituting the general solution (8.95) into the free edge boundary conditions and equating the determinant to zero, we obtain the frequency equation
in the form
tan(1 d)
(s2 + r3 b2 )1 b1
=
.
tan(2 d)
(s2 + r3 b1 )2 b2
(8.97)
(8.98)
347
348
Figure 8.9: Edge resonance frequencies in semi-infinite rods versus Poissons ratio .
Flexural vibrations. The flexural vibrations of the rod in the plane 1 ,
are governed by the equations (8.84). For free harmonic vibrations of the
type
u1 = u1 ()ei ,
= ()e
,
(8.99)
2
X
bi cos i +
2
X
i=1
2
X
ci sin i ,
i=1
ai bi i sin i +
i=1
2
X
ai ci i cos i ,
i=1
where bi , ci are arbitrary constants, 2i are the roots of the quadratic equations
(8.85), and ai are given by
ai =
2 12 2i
,
12 2i
i = 1, 2.
We substitute this general solution into the free edge boundary conditions at
= d
+ u01 = 0,
0 = 0.
349
Bij bj = 0,
i = 1, 2,
Cij cj = 0,
i = 1, 2,
j=1
and
2
X
j=1
where
1
sin j d,
j
B2j = (2 12 2j ) cos j d,
B1j =
and
1
cos j d,
j
C2j = (2 12 2j ) sin j d,
C1j =
The free flexural vibrations of the rod also fall into two classes, namely, symmetric vibrations whose eigenfunctions contain bi and antisymmetric ones
350
whose eigenfunctions contain ci . We further restrict ourselves to the symmetric vibrations, the eigenfrequencies of which are determined as the roots
of the equation
det Bij = 0.
In Figure 8.10 we plot the roots of this equation as functions of the
dimensionless length of rods d for = 0.29. In contrast to the previous case,
the terrace-like spectra begins to develop at the frequencies larger than the
cut-off one 1 ,2 and no edge mode is observed in this case.
Problems
1. Study the frequency spectra of the antisymmetric longitudinal vibrations of rods.
2. Study the frequency spectra of the antisymmetric flexural vibrations of
rods.
3. Derive the equation determining the edge resonance frequency of the
semi-infinite rod. In which case does an exponentially decayed solution
exist? Find it.
Chapter 9
Piezoelectric shells
9.1
Two-dimensional equations
t1
Z
( ) da dt = 0,
J =
t0
(9.1)
where and are the 2-D kinetic energy and electric enthalpy density, respectively. The functional (9.1) is called, as before, the 2-D action functional.
In the theory of low-frequency vibrations of fully electroded piezoelectric
shells the 2-D action functional, as it was shown in Section 5.1, depends only
on the three functions u (x , t) and u(x , t) describing the mean displacements of the shell. It is natural to assume that, as the frequency increases,
some internal degrees of freedom corresponding to branches of the shell thickness vibrations will be excited and become more and more involved, so that
they should be included as unknown functions in the 2-D kinetic energy and
electric enthalpy densities. Within this approach the most important steps
consist in finding i) the list of external and internal degrees of freedom, and
ii) the 2-D kinetic energy and electric enthalpy densities depending on these
351
352
degrees of freedom. Since we are concerned here with the resonant vibrations,
whose frequencies are among mechanical eigenfrequencies under short-circuit
conditions, we can set 0 = 0. The essence of the proposed theory of highfrequency vibrations of piezoceramic shells is then expressed by the following
formulae
h
(9.2)
= (u 2 + u 2 + h2 2 + 2 + v 2 ),
2
and
h
h2
2
G[s1 (A )2 + 2A A + (N ( )2 + 2 ) + s2 ,
2
12
2
+ s3 (v;
) + 2v (;) v(;) + 2r1 h1 A + 2r2 h1 v;
+ 2r3 h1 v ,
+ f1 ( + )( + ) + f2 h2 2 + f3 h2 v v ], (9.3)
where = u, + b u , and the short notation X2 = a X X is used to
denote the squared magnitude of the 2-D vector X. In (9.2)-(9.3) the 2D densities of the kinetic energy and electric enthalpy depend on the three
functions external degrees of freedom u , u and on five additional functions
, and v, which represent the most essential internal degrees of freedom
within the range of frequencies of interest. It is assumed that these unknown
functions are continuous and have continuous derivatives with respect to x
and t. The measures of extension and bending are expressed by
A = u(;) b u,
= (;) + b( $) ,
1
$ = (u, u, ).
2
The derivation of (9.2) and (9.3) as well as the determination of the
constants will be given in the next two sections.
Boundary-value problems. Up to the coefficients, the 2-D kinetic energy and electric enthalpy densities (9.2) and (9.3) are of the same form as
the corresponding densities (7.2) and (7.3) for elastic shells. Therefore the
equations of motion for piezoceramic shells can immediately be derived
h
u = t
; q b ,
h
u = q;
+ t b ,
h3 = q m ,
(9.4)
h =
h
v =
Gh(s2 r1 h
r23 h1 v;
f2 h2 ),
2
Gh[s3 v;
+ 2(v(;) ); + r23 h1 , f3
h v ],
2
353
q = Ghf1 ( + u, + b u ).
If the shell edge is free, the following boundary conditions should be satisfied
t = 0, q = 0, m = 0,
(s2 ; + r3 h1 v ) = 0,
(s3 v;
a
+ 2v
(;)
(9.5)
+ r2 h a ) = 0.
Problems
1. Derive the equations of motion and the boundary conditions for a plate
(with b = 0) in terms of u , , v and u, .
2. Find out the conditions for which the system of equations (9.4) is hyperbolic.
3. Formulate the variational principle for the eigenvalue problem and
prove the orthogonality of the eigenfunctions with respect to the energy.
9.2
354
t1
(T W ) dx da dt
I=
t0
(9.6)
h/2
w = ni wi .
The electric enthalpy density W is the quadratic form of the strain ab and the
electric field Ea , which, for the piezoceramic shell with thickness polarization,
is given by
W =
G
[(g )2 + 2g g + 4g 3 3 + c233 + 2g 33
2
2dg E3 2e33 E3 4f g 3 E g E E E32 ],
cE
55 ,
(9.7)
355
The components of the strain tensor are expressed in terms of the displacements in accordance with (3.39), while the components of the electric field
read
E = , ,
E3 = ,x .
G
[(g )2 + 2g g + 4g 3 3 + c233
2
+ 2g 33 + 2dh1 g | + 2eh1 33 | + 4f g 3 ,
g , , h2 (| )2 ], (9.8)
where the components of the strain tensor are given by (3.40). The displacements w , w and the potential are the stationary points of the functional
(9.6) with W from (9.8) under the constraints
|=1/2 = 0.
(9.9)
w = 0 at S (1/2, 1/2).
t1
Z Z
I0 = h
t0
1/2
1
1
G
{ w 2 + a w w [ch2 (w| )2
2
2
1/2 2
356
The potential should satisfy the constraints (9.9). The stationary points
of the functional (9.10) fall into four classes corresponding to four series of
vibrations. The series of thickness-stretch vibrations are characterized by
w = q(),
= (),
w = 0,
(9.11)
(9.12)
Here and below the angle brackets h.i denote the integration over within
the interval [1/2, 1/2]. The series with the odd solutions is denoted by L
(longitudinal thickness-stretch vibrations), that with the even solutions by
F (flexural thickness-stretch vibrations). The thickness-shear vibrations are
characterized by
w = = 0, w = v p(),
(9.13)
where p() are odd or even solutions of the variational problem
hp| p| k2 ppi = 0.
(9.14)
The series with the odd solutions is denoted by Fk , that with the even solutions by Lk . The eigenvalues and k run through a countable set of values; however, indices are attached neither to them nor to the corresponding
eigenfunctions in order to avoid complicated notations. Since the solutions
of the variational problems (9.12) and (9.14) are determined uniquely up to
a constant factor, the following normalization conditions can be imposed
hq 2 i = hp2 i = 1.
(9.15)
They are chosen so as to simplify later the average kinetic energy. Further,
the functions , v depend harmonically on t with frequency determined
from the appropriate values of or k according to
=
cs
h
or k =
k cs
,
h
(9.16)
p
where cs = G/. For functions , v independent of x , each of the solutions given above represents an exact solution of the equations of 3-D piezoelectricity for an infinite plate and corresponds to the synchronized vibrations
of transverse fibres along the plate (with the zero longitudinal wave number). The frequencies (9.16) will be called cut-off frequencies. For vibrations
357
(9.17)
1/2
with
1 2 2 G 2
1 =
w [h (w| )2 + 2h1 w| , q 2h1 w , q|
2
2
1
2dh w , | + 2f h1 w| , q].
Integration by parts was performed and terms that go to the boundary vanish
due to (9.17). Thus, the functional does not depend on the derivatives of
w with respect to x and t, and the last two enter it as parameters. The
extremal of (9.18) has the form
w = h, s(),
(9.19)
(9.20)
= () + ? .
358
order h2 vanish due to the variational equation (9.12), and the functional
(9.6) takes the form (9.18) with a Lagrangian given by the formula
G
1 2 ? 2
2
(w ) 2
Hhqw? [ch2 (w|? )2 + 2eh2 w|? ?|
1 =
2
2
h2 (?| )2 + 4Hh1 (cq| w|? q| w? qw|?
d| w? dq?| eq| ?| e| w|? + | ?| )].
Its extremal has the form
w? = hHz(),
? = hH(),
(1/2) = 0.
(9.22)
(9.23)
+ 2dh1 v;
p| + 2eh2 w| | 2f h1 v;
p| h2 (| )2 ].
Integration by parts was performed taking into account that v = 0 at the
boundary. The extremal is easily found to have the form
w = hv;
r(),
= hv;
(),
359
(9.24)
(9.25)
w = hv;
r(), = hv;
().
(9.27)
Average Lagrangians of individual branches of vibrations. We represent the displacements w, w and the electric potential in the form of the
infinite series of branches given above, where , v are now arbitrary functions of x and t. After substituting these series into the action functional
360
(9.6) and integrating over the thickness we neglect those small terms of the
order h/R, h/l compared with 1. It turns out that the thickness branches are
orthogonal relative to the action functional in the long-wave range, provided
the shell edge is clamped. Therefore the average functional has the form
Z
t1
J =h
t0
da dt,
(9.28)
2
G 2 2 2
(h + l1 a , , + l3 2 ),
2
(9.29)
(9.30)
2
2
1
(9.31)
361
Making use of the variational equations (9.20) and (9.21), we can simplify
the expressions for k and i leading to
k = hqs| + q 2 sq| ds| + f s| + 2f q 2 i,
i = 4H 2 + 4(2H 2 K) + hcK 2 (q| )2 + 4Kqq|
+4dKq| + 2eK 2 q| | K 2 (| )2 cH 2 (z| )2
+H 2 (| )2 2 K 2 q 2 + 2 H 2 z 2 i.
(9.32)
;
k
2
2
2
+l1 (v;
) + 2v (;) v(;) + l3 v v ],
(9.33)
(9.34)
+2b v py| + c v v p + 2b v p| y
4(b Ha )b v v 2 (p| )2 2c v v pp| + c v v 2 (p| )2 i,
l4 v v = ha K 2 p2 v v 4a H 2 v py + a y y i.
2
) and l4 h2 v v over t by parts and replacIntegrating the terms l2 h2 (v ,
ing v by k2 v , we reduce the average Lagrangian for the thickness-shear
branch to
= v 2 G [(h2 2 a + i )v v
k
k
2
2
(9.35)
(;)
2
+2v
v(;) + kk (v; ) ].
Making use of the variational equations (9.24) and (9.26), we can simplify
the expressions for kk and i
k yielding
kk = hp2 rp| + pr| + dp| f p| i,
2
2
2
i
k v v = h(Ka (p| ) 2Ka pp| + c p
k2 a K 2 p2 )v v a y| y| + k2 a y y i.
(9.36)
362
9.3
Short-wave extrapolation
(9.37)
= h2 () + ()
+ h
v;
().
Strictly speaking, terms of the type h3 ; l() should be included for the consequent
account of all principal cross terms in the average Lagrangian. However, one can show
that the answer does not depend on this, and such terms are dropped here for short.
363
j () = y ,
(9.39)
h12gi = 1,
(9.40)
p()
() = () + hH(),
hy (),
y ()
v = y .
The functions q, and z, should be determined from the variational problems (9.12) and (9.21), respectively, while the functions p, y are the solutions
of the corresponding problems (9.14) and (9.26) derived for these branches
in the previous section.
3
364
2
1
v
+2b4 hv ; ) G[22 h2 2 +32 h2 v2 +2(a1 +r1 )h1 A +2(a2 +r2 )h1
;
2
2
2
) + 2
v (;) v(;)
+ k3 (
v;
+ 2(a3 + r3 )h1 v , + P (A )2 + 2A A + k2 ,
+
h2
(N (
)2 + 2
) + 2hc1 ;
+ 2hc2 (;) + h2 12 2
12
2
+ 2hc3 ; + i
v ]. (9.41)
1 + i2 + i3 v
In this Lagrangian the coefficients 1 , 2 , 3 are the eigenvalues of the variational problems for g, q, and p, respectively; the coefficients P , N should
have the form
P = + hm| i,
N = 12hn| + d| i,
(9.42)
while k2 , k3 , i
1 , i2 , i3 are calculated from the corresponding eigenfunctions
according to the formulae (9.32) and (9.36) for k , i and kk , i
k . The remaining coefficients are given by
(9.43)
It turns out that these coefficients satisfy the following noticeable relations
c1 = N /12, c2 = 2/12, b1 = b2 , b3 = b4 ,
a1 = r1 = b1 22 , a2 = b3 22 , a3 = b3 32 ,
r3 r2 = a2 a3 = b3 (22 32 ).
(9.44)
These relations are the direct consequences of the variational equations (9.12),
(9.14), (9.20), (9.24) and (9.38). For example, setting in (9.12) q = m, =
365
2
1
+ (v + b3 h , )2 ] G[22 h2 ( + b1 hA + b3 h
v )2
2
v + 2r3 h1 v ,
+ 32 h2 (
v + b3 h, )2 + 2r1 h1 A + 2r2 h1
;
2 2
2
2
+ (P 2 b )(A ) + 2A A + (k2 + b + b2 2 b2 2 )2
1
1 2
3 2
3 3
N
2
(h
;
)
12
2
c3
+
(h
(;) )(h
(;) ) + h2 12 ( + 2 h3 ; )2
12
1
2
+ i + i2 + i v v ]. (9.45)
2
+ (k3 + b23 32 b23 22 )(
v;
) + 2
v (;) v(;) +
2
While transforming (9.41) to (9.45) terms of the type h2 (A )2 , A v;
, (;
)
4
2
and h (
; ) are neglected as small compared with the remaining term in
2
the long-wave range. Besides, the small correction terms of the type h2 ,
2 2
2 2
and h (v ; ) are replaced by the asymptotically equivalent terms G2 ,
2
and G32 (v;
) , respectively.
We make the following changes of unknown functions
c3
u = u, = + h1 ( + 2 h3 ; ),
1
u = u + b1 h, , = + b1 hA + b3 h
v;
,
(9.46)
v = v + b3 h, .
(9.47)
366
Solutions of the thickness problems. We now solve the variational problems for the branches of vibrations under consideration, and then calculate
the coefficients of the 2-D theory.
Low-frequency branches. We determine the functions m, n, . From the first
variational problem of (9.38) it is easily seen that m = (/c). From the
second problem we can derive the following equations
cn| + e| = 0,
en| | d = 0,
(9.48)
(1/2) = 0.
(9.49)
(9.50)
g| = 0 at = 1/2.
1 = .
(9.51)
367
(9.52)
= 0.
(9.53)
The odd solution of (9.52) and (9.53) satisfying the normalization condition
hq 2 i = 1 is given by
p
q = Q sin 2 , Q = 2/(1 sin 2 /(2 )),
e
= Q(sin 2 2 sin(2 /2)),
(9.54)
e2
tan(2 /2).
(9.55)
Introducing x = 2 /2 and 2 = e2 /
c we can rewrite (9.55) in the form
x = 2 tan x. Its smallest positive root depends only on 2 .
We turn to the function s(). It follows from (9.20) that
s| + 22 s + (1 + )q| + (d + f )| = 0,
s| + q = 0 at = 1/2.
Substituting for q and their expressions (9.54) and solving this problem,
we obtain
s = S1 cos 2 + S2 + S3 cos 2 ,
where
S1 = Q1 /(2 ( 2 1)), 1 = 1 + + (d + f )e/,
S2 = 2Q(1 1 ) sin(2 /2)/22 ,
1 2 sin(2 /2)
S3 = Q(1 2
)
.
1 2 sin(2 /2)
368
Consider now the functions z(), (). Varying the functional (9.21), we
obtain the system of differential equations
cz| + e| + 22 z = 2cq| 2d| + 2e| ,
ez| + | = 2dq| + 2eq| 2| ,
and boundary conditions at = 1/2
cz| + e| = 2q,
= 0.
4de
2
Q sin
,
2
2
2
e
d Q
= Q sin(2 ) + 2
cos 2
2
e
e
2
+ Z cos 2 2 Q 2 sin
,
2
where
2ed e2
Q
2
1
(c
2)Q + cot
,
c2
2
2
2d Q
e
2
=(
+ Z) cos
.
2
2
Z=
(9.56)
p| = 0 at = 1/2.
The first even solution of this equation satisfying the condition hp2 i = 1 is
given by
p = 2 cos 2, 3 = 2.
(9.57)
Knowing p, we next find out r() and () by solving the equations
cr| + e| + 32 r + (1 + )p| = 0,
er| | + (d + f )p| = 0,
and the boundary conditions at = 1/2
cr| + e| + p = 0,
= 0,
369
where
2 2 2
/( 1),
R1 = 1
2
2 2
R2 =
[1 + 2 1 /(1 2 )]/( cos 2 sin ),
2
e
1 = 2 R2 sin ,
2 e
d+f
( 1 2 /( 2 1) +
).
2 =
2
2(H v cos 3
1
b v sin 3 ),
3
(9.58)
2
r3 = hp| (q + f )i = 2Q sin(2 /2)[24 2(1 + 4 ) 2 3 2 2 ],
3 2
370
i
1 , and i3 , we present their final formulae
k2 = 1 + Q2 [2 sin 2 + 3 sin2 (2 /2) cot(2 /2) + 4 sin2 (2 /2)],
2 2
1 2
k3 = + 3 + 2 1
+ 2 2R2 sin [1 +
],
1
1 2
2
i
+ 6Hb ],
1 = [3(H K)a
2
i
+ 6Hb ,
3 = 3(H K)a
where
2
+ 24 5 ,
1 2
1
4 5
2
]
+2
,
2 = [2 1 1 2
2
1 ( 1)
2
3 = 2[1 1 2 /( 2 1)]2 /2 ,
4 5
4 = 4(1 1 )(1 1 + )/22 8 2 2 5 /3,
2
2
2 2
3 = (d + f ) /, 5 = e / .
1 = 1 + 12
We do not present here the formula for i2 which cannot be reduced to a compact form. Note that this coefficient can be calculated numerically using the
formulae (9.58) and (9.56). Finally, the coefficients s1 , s2 , s3 are calculated
in accordance with (9.47).
The table below lists numerical values of the coefficients for shells made
of piezoceramics, whose experimental data are given in Appendix A3:
Material
PZT-4
PZT-5
BaTiO3
2
6.83
7.38
5.81
r1
8.62
10.6
4.39
r2
2.44
3.18
1.54
r3
-6.55
-6.57
-5.74
s1
2.76
3.22
1.39
s2
0.87
0.83
0.74
s3
0.95
1.05
0.54
1.19
1.07
0.97
Problems
1. Show that for the special case of isotropic elastic shells with
= = , = 1, c = + 2, d = e = f = = = 0,
the distributions of displacements over the thickness reduce to those in
Section 7.2.
2. Show that for isotropic elastic shells the coefficients of the 2-D theory
coincide with those given in Section 7.3.
9.4
371
Derivation of the frequency equation. When the frequency of the voltage increases approaching the first cut-off frequency of the piezoceramic plate,
the equation (5.74) describing its low-frequency vibrations can no longer be
applied. We now investigate the frequency spectra using the theory of highfrequency vibrations of piezoceramic plates. For the longitudinal vibrations
of the plate the equations of motion (9.4) become
u = G[(s1 + )u; + 2 u + r1 h1 ; ],
= G(s2 2 r1 u r23 h1 v 2 h2 ),
;
v = G[(s3 +
)v;
+ v + r23 h ; 32 h2 v ].
2
, =
,
=
h
h
we rewrite these equations in the form
u| = (s1 + )u| + 2 u + r1 | ,
| = s2 2 r1 u| r23 v|
22 ,
v| = (s3 +
)v|
+ v + r23 |
(9.59)
32 v .
Here and below the vertical bar preceding Greek indices denotes the derivatives with respect to the dimensionless co-ordinates and time .
For harmonic vibrations we seek the solution in the form
u = u ( )ei ,
)ei ,
= (
v = v ( )ei ,
(s3 +
)
v|
+ v + r23 | + (
2
2
2
3 )
v
(9.60)
= 0.
(9.61)
372
(9.62)
.
. $| ,
(9.63)
ai =
(9.64)
i = 1, 2, 3.
(9.65)
373
Referring now the plate to the polar co-ordinates, we write the boundary
conditions (9.61) at % = r/h = r for axially symmetric solutions in the form
u%
d
u% + (S1 2) + r1 = 0,
d%
r
d
S2 + r3 v% = 0,
d%
d
v%
S3 v% + (S3 2) + r2 = 0.
d%
r
S1
Cij cj = 0,
i = 1, 2, 3,
(9.66)
j=1
where
i
J1 (i r) 2 J0 (i r),
r
C2i = (S2 ai + r3 bi )i J1 (i r),
i
C3i = (r2 ai S3 bi 2i )J0 (i r) + 2bi J1 (i r),
r
C1i = 2
i = 1, 2, 3,
i = 1, 2, 3,
i = 1, 2, 3.
(9.67)
374
C11 = 2
C21
k1
I1 (k1 r).
r
The frequencies are plotted against the ratio radius to thickness r in Figure
9.2. As r increases all the frequencies diminish and approach the resonance
C31 = (r2 a1 S3 b1 21 )I0 (k1 r) 2b1
375
376
9.5
377
(9.69)
(9.70)
378
379
S2 = s2 ,
S3 = s3 + 2,
(9.71)
(9.72)
ai =
(9.73)
380
N + 2 2
+ 12 2 ) 2 14 2 = 0.
12
(9.74)
Figure 9.4: Frequency spectra of barium titanate strips with free edges.
The coefficients of the 2-D equations are taken from the table at the end of
Section 9.3. The determinants in (9.71) and (9.73) are evaluated by exactly
the same numerical procedures as applied to the frequency equations obtained
from (7.113). The computation depends on the behaviour of i , the roots of
the dispersion equations (9.72) and (9.74). In Figure 9.4 the eigenfrequencies
of these systems are plotted against the dimensionless length l = L/h of
the shell. The intersection points of the two sets of curves correspond to
the multiple frequencies in the degenerate case h? = 0. Now let h? be a
small number differing from zero. Taking the terms of oder h? in (9.68)
and (9.69) into account, we obtain the coupled system with small coupling
between u1 , , v1 and u, 1 . According to the theory of perturbations [45] the
multiplicity of the frequencies should disappear. Obviously, the solid lines
in Figure 9.4 change to the dashed lines, which, for the typical intersection
point, look like that shown in Figure 7.21. Thus, the high-frequency spectra
381
of piezoceramic cylindrical shells (in the axisymmetric case) differ from those
of piezoceramic strips only near intersection points by the mode switching
effect.5 Particularly, the edge resonance vibrations are also observed in semiinfinite piezoceramic cylindrical shells. For barium titanate cylindrical shells
the edge resonance frequency is equal to e = 4.37, which is the same as that
of the semi-infinite barium titanate strip.
One sees that this method does not work in the low-frequency range, since the error
is comparable with the eigenfrequencies.
382
Chapter 10
Piezoelectric rods
10.1
One-dimensional equations
t1
( ) dx dt = 0,
J =
t0
(10.1)
where x is the co-ordinate along the rod axis, and are the 1-D kinetic
energy and electric enthalpy density, respectively. The functional (10.1) is
called, as before, the 1-D action functional.
As the frequency increases, it is natural to assume that some internal
degrees of freedom corresponding to branches of the rod thickness vibrations
will be excited and become more and more involved, so that they should be
included as unknown functions in the 1-D kinetic energy and electric enthalpy
densities. Within this approach we have to specify i) the list of mostly
essential external and internal degrees of freedom, and ii) the 1-D kinetic
energy and electric enthalpy densities depending on these degrees of freedom.
383
384
Since we are concerned here with the resonant vibrations, whose frequencies
are among mechanical eigenfrequencies under short-circuit conditions, the
electric potential at both edges of the rod can be set equal to zero. The
essence of the proposed theory of high-frequency longitudinal vibrations of
piezoceramic rods is expressed by the following formulae
1
= h2 (u 2 + 2 + v 2 ),
2
(10.2)
1
= Gh2 [s1 (u0 )2 + s2 ( 0 )2 + s3 (v 0 )2 + 2r1 h1 u0
2
+2r2 h1 v 0 + 2r3 h1 v 0 + 22 h2 2 + 32 h2 v 2 ].
(10.3)
and
u = G(s1 u00 + r1 h1 0 ),
= G(s2 00 r1 h1 u0 r23 h1 v 0 2 h2 ),
2
00
v = G(s3 v + r23 h
(10.4)
32 h2 v),
385
conditions at x = 0, L
s1 u0 + r1 h1 = 0,
0 = 0, v = 0.
(10.5)
The boundary conditions of this type differ from those for elastic rods. We
will see later how these boundary conditions influence the frequency spectra of free rods. The formulation of the boundary-value problem should be
completed by specifying the initial conditions at t = t0
u|t0 = u0 ,
u|
t0 = u1 ,
|t0 = 0 ,
t = 1,
|
0
v|t0 = v 0 ,
v|
t0 = v 1 .
Problems
1. Establish the dispersion relation for waves propagating in the longitudinally polarized piezoceramic rod.
2. Prove that if s1 > 0, s2 > 0, s3 > 0, the system (10.4) is hyperbolic.
3. Formulate the variational principle for the eigenvalue problem and
prove the orthogonality of the eigenfunctions with respect to the energy.
10.2
386
the resonant vibrations, 0 can be set equal to zero. According to the variational principle (2.45), (2.47) the true displacement field w
i and the electric
potential satisfy the variational equation
Z t1 Z L Z
(T W ) da dx dt = 0,
(10.6)
I =
t0
(10.7)
G
[h2 (w| )2 + 2h2 w(|) w(|) + (h1 w| + w,x )2
2
+ c(w,x )2 + 2h1 w| w,x + 2dh1 w| ,x + 2ew,x ,x
+ 2f (h1 w| + w,x )h1 | h2 (| )2 (,x )2 ]. (10.8)
Here and in what follows the vertical bar preceding a Greek index denotes
the partial differentiation with respect to , while h.i denotes the integral
over S = { |x S}.
The first step of the variational-asymptotic procedure. We analyze
the variational equation (10.6) in the long-wave range, for which the parameter h/l is small everywhere inside the rod, with l the characteristic wavelength
387
t1
h
t0
1
G
h (w 2 + w 2 ) [h2 (w| )2 + 2h2 w(|) w(|)
2
2
2
2
+ h (w| ) + 2f h2 w| | h2 (| )2 ]i dx dt = 0. (10.9)
= v ( ),
w = 0,
(10.10)
(10.11)
w = p ( ),
(10.12)
(10.13)
(10.14)
They are chosen so as to simplify later the average kinetic energy. Further,
the functions v, depend harmonically on t with frequency which is determined from the appropriate values of k or according to
k =
k cs
h
or =
cs
,
h
(10.15)
p
where cs = G/. For functions v, independent of x, each of the solutions
given above represents an exact solution of the equations of 3-D piezoelectricity for an infinite rod and corresponds to the synchronized vibrations of
388
transverse cross sections along the rod (with the zero longitudinal wave number). The frequencies (10.15) will be called cut-off frequencies. For vibrations
whose amplitude and frequency vary slowly in the longitudinal directions of
the rods, the equations (10.10) and (10.12) can be regarded as the zero approximations, where
2
v k2 v,
,
(10.16)
except that corresponding to the zero cut-off frequency. The displacement
and electric potential of this classical low-frequency branch of longitudinal
vibrations, in the first step of the variational-asymptotic procedure, turn out
to be independent from (see Chapter 6).
The second step of the variational-asymptotic procedure. At this
step we find the next refinement for the displacements and electric potential
of each individual branch of vibrations near the cut-off frequencies. Consider
a branch belonging to the series Lk . Regarding v as a given function of x
and t satisfying the constraints
v = 0 at x = 0, L,
(10.17)
t1
1
1
h k2 w2 G[h2 (w| )2 + 2h2 w(|) w(|)
2
2
t0
0
1 0
1 0
2h v q| w + 2h v qw| + 2dh1 v 0 w| 2f h1 v 0 | w ]i dx dt = 0.
2
The first, fourth and last terms of this equation are obtained after the integration by parts with respect to t and x, respectively. In the long-wave range
near the cut-off frequency the term w can then be replaced by k2 w . The
terms that go to the boundaries x = 0, L vanish due to (10.17) which is also
consistent with the conditions (10.7). From this equation it follows that the
displacements and the electric potential of the branch Lk are given by
w = vq( ),
w = hv 0 s ( ),
= v ( ),
(10.18)
(10.19)
389
(10.20)
t1
1 2 2 1
w G[h2 (w| )2 + 2h1 0 p w| 2h1 0 p| w
h
2
2
t0
0
2dh1 0 p| + 2f h2 w| | + 2f h1 0 p | h2 (| )2 ]i dx dt = 0.
2
The first and fourth terms in this equation were obtained by the integration
over t and x by parts taking the boundary condition (10.20) into account.
Hence the following asymptotic formulae hold true for the distributions of
displacements and electric potential of the branch L
w = p ( ),
w = h 0 r( ),
= h 0 ( ),
(10.21)
(10.22)
(10.23)
Average Lagrangians of individual branches of vibrations. We represent the displacements w, w and the electric potential in form of the
infinite series of branches Lk and L given above, where v, are now arbitrary functions of x and t satisfying the constraints (10.17) and (10.20)
at the boundaries of the rod. After substituting these series into the action
functional and integrating over the cross section we neglect those small terms
of order h/l compared with 1. It turns out that the thickness branches are
390
orthogonal relative to the action functional in the long wave range, provided
the shell edge is clamped. Therefore the average functional has the form
Z t1 Z L
2
dx dt,
(10.24)
J =h
t0
w = hu0 m ( ),
= 0,
(10.25)
(10.26)
Substituting (10.25) into the 3-D action functional, retaining the principal
terms and averaging over the cross section, we obtain
G
= 1 (u)
2 c(u0 )2 ,
2
2
where the constant c is equal to
c = c + ham| i.
Consider a branch in the series of thickness-shear vibrations Lk , whose
displacements and electric potential are given by the asymptotic formulae
(10.18). Substituting (10.18) into the 3-D action functional, keeping the
principal terms and averaging over the cross section, we obtain the following
average Lagrangian
= [v 2 + l2 h2 (v 0 )2 ] G [k2 h2 v 2 + l1 (v 0 )2 ],
2
2
(10.27)
391
2
2
where, with the account of the variational equation (10.19), we obtain for kk
kk = hcq 2 + 2eq 2 i + hq| s + s| q
+ds| + 2eq f s | i.
(10.29)
2
2
where the coefficients are of the form
l1 = h(r| + p )2 2p| r 2dp|
+ 2f (r| + p )| 2| i, l2 = hr2 i.
Within the first-order approximation we can further simplify the average
Lagrangian. Indeed, by integrating the terms l2 h2 ( 0 )2 over t by parts and
2
, the average Lagrangian for this branch becomes
replacing by
= 2 G [h2 2 2 + k ( 0 )2 ].
2
2
(10.30)
Making use of the variational equations (10.22), we can simplify the expressions for k yielding
k = 1 + hp r| p| r dp| + f p | i.
(10.31)
By varying the 1-D action functional (10.24) with the average Lagrangians
from (10.28) and (10.30) one can easily derive the equations of high-frequency
long-wave vibrations, which are similar to those for elastic rods. Note that for
some range of material parameters the coefficient k may become negative or
infinite, which demonstrates still the true behaviour of the dispersion curves
in the long-wave range, but leads to the ill-posedness of the corresponding
boundary-value problem. This feature could be removed by extrapolating the
theory to short waves taking into account the cross terms between branches,
as we shall see in the next section.
392
a
2
c = c
.
2( + )
+
2. Derive the equations and boundary conditions for q and from (10.11)
and for p from (10.13).
3. Do the same as in the previous problem for s and r, .
4. Prove the orthogonality between different thickness branches with respect to the energy in the long-wave range, provided the edges of the
rod are clamped.
10.3
Short-wave extrapolation
(10.32)
393
2
2
2
v 0 + 2r3 h1 v0
v 0 + 2r1 h1 u0 + 2r2 h1
u0 + 2a2 h1
+ 2a1 h1
+ 32 h2 v2 + 2a3 h1 v0 + c(
u0 )2 + k2 (0 )2 + k3 (
v 0 )2 ]. (10.33)
Here 2 and 3 are the first eigenvalues and k of the longitudinal thickness
vibrations in problems (10.11) and (10.13). The formulae for the remaining
coefficients have the form
b1 = hari, b2 = hp m i, b3 = hp s i, b4 = hqri,
a1 = hp| m| + 2p(|) m(|) i,
a2 = hp| s| + 2p(|) s(|) i,
a3 = hq| r| + f q| | + f r| | | | i,
r1 = hp| ai, r2 = hp| q + dp| i,
r3 = hq| p + f p | i.
(10.34)
The coefficients k2 , k3 are given by the formulae (10.31) and (10.29), respectively.
It turns out that the following relationships between the coefficients hold
true
b1 = b2 , b3 = b4 , a1 = b2 22 , a2 = b3 22 , a3 = b4 32 ,
r1 = b1 22 = a1 , r2 r3 = b3 (32 22 ) = a3 a2 .
(10.35)
This can be proved with the help of the variational problems (10.11), (10.13),
(10.19), (10.22) and (10.26), without calculating the coefficients. Indeed, the
substitutions p = m for p in (10.13) and r = a, = 0 for r, in
(10.22) lead to
hp| m| + 2p(|) m(|) i = 22 hp m i = 22 b2 ,
hp| ai = 22 hrai = 22 b1 .
(10.36)
(10.37)
394
(10.38)
(10.39)
(10.40)
and
hr| q| + p q| p| q dp| + f r| |
+f | q| + f p | | i = 22 hrqi = 22 b4 ,
(10.41)
(10.42)
395
characteristics of the rod in the short-wave range (cf. Section 8.5). Therefore,
we will here keep all the cross terms and just try to seek the change of the
unknown functions that would simplify (10.33), i.e., would reduce (10.33) to
an expression without second and higher-order derivatives with respect to x
and t.
Using (10.35) we transform the Lagrangian (10.33) to
= 1 [(u + b2 h 0 )2 + ( + b2 hu 0 + b3 hv 0 )2 + (v + b3 h 0 )2
2
1
(b22 + b23 )h2 ( 0 )2 b22 h2 (u 0 )2 b23 h2 (v 0 )2 ] G[22 h2 ( + b2 h
u0 + b3 h
v 0 )2
2
v 0 + 2r3 h1 v0 + 2 h2 (
+ 2r1 h1 u0 + 2r2 h1
v + b3 h0 )2
3
+ (
c b22 22 )(
u0 )2 + (k2 b23 32 )(0 )2 + (k3 b23 22 )(
v 0 )2 ]. (10.43)
When transforming (10.33) to (10.43) the cross terms h2 u 0 v 0 and u0 v0 are
neglected as small compared with other cross terms. In (10.43) the terms in
the kinetic energy 1/2(b22 + b23 )h2 ( 0 )2 and 1/2b23 h2 (v 0 )2 at long waves
v 0 )2 . The term
can be replaced by 1/2(b22 + b23 )22 (0 )2 and 1/2b23 (
1/2b22 h2 (u 0 )2 is small at long waves and can be omitted. The Lagrangian
then has the form
= 1 [(u + b2 h 0 )2 + ( + b2 hu 0 + b3 hv 0 )2 + (v + b3 h 0 )2 ]
2
1
v 0
G[22 h2 ( + b2 h
u0 + b3 h
v 0 )2 + 2r1 h1 u0 + 2r2 h1
2
+ 2r3 h1 v0 + 32 h2 (
v + b3 h0 )2 + (
c b22 22 )(
u0 )2
+ (k2 b23 32 + (b22 + b23 )22 )(0 )2 + (k3 b23 22 + b23 32 )(
v 0 )2 ]. (10.44)
In order to search for a short-wave extrapolation which does not contain
second and higher derivatives in the Lagrangian let us make the changes of
unknown functions u u, and v v, where
u = u + b2 h0 ,
= + b2 h
u0 + b3 h
v0,
v = v + b3 h0 .
We require that the new unknown function v satisfy the constraints
v = 0 at x = 0, L.
396
2
2
2r1 b2 (u0 )2 2r1 b2 00 + 2r2 h1 v 0 2r2 b3 00 2r2 b3 (v 0 )2
u0 )2
+ 2r3 h1 v 0 2r3 b3 ( 0 )2 2r3 b3 vv 00 + (
c b22 22 )(
+ (k2 b23 32 + (b22 + b23 )22 )(0 )2 + (k3 b23 22 + b23 32 )(
v 0 )2 ].
By adding a null Lagrangian, we can replace terms of the type 00 and
vv 00 by ( 0 )2 and (v 0 )2 , respectively, and derive finally the formulae (10.2)
and (10.3) for and , where the coefficients s1 , s2 , s3 are given by
s1 = c b22 22 2r1 b2 ,
s2 = k2 b23 32 + (b22 + b23 )22 + 2r1 b2 + 2r2 b3 2r3 b3 ,
s3 = k3 b23 22 + b23 32 2r2 b3 + 2r3 b3 .
Making use of relations (10.35) again, we obtain
r12
,
22
r2
r2
s2 = k2 12 + 2 23 2 ,
2
3 2
2
r
s3 = k3 2 23 2 .
3 2
s1 = c +
(10.45)
Thus, the formulae of the 1-D theory of high-frequency longitudinal vibrations is justified by the short-wave extrapolation procedure, which consists of
the operations of adding or removing a) terms that are small in the long-wave
range, or b) null Lagrangians. Besides, by solving the cross section problems
we can calculate all the coefficients of the theory.
Problems
1. Prove that the short-wave extrapolations proposed are asymptotically
equivalent to the theory of vibrations of piezoceramic rods in the lowfrequency limit.
3. Derive the 1-D equations of high-frequency resonant vibrations for sideelectroded rods polarized along the thickness direction.
10.4
397
Determination of the eigenfunctions. We look for the axially symmetric solutions of the cross section problems. Let us introduce the polar
co-ordinates %, . For the axially symmetric vibrations obviously p s 0,
while p% , r, and q, , s% depend only on %. Therefore, variational problems
(10.11), (10.13), (10.19), (10.22) reduce to boundary-value problems for ordinary Bessel differential equations and are solved explicitly in terms of Bessels
functions.
We first determine the functions p of the branch L (0) satisfying variational problem (10.13). Varying (10.13), we obtain the Euler equation
( + )p| + 2 p = 22 p ,
(10.46)
p| + 2p(|) = 0 at S.
(10.47)
22 =
22
.
+ 2
(10.48)
p% = P 2 J1 (2 %).
(10.49)
1 d dp
d2 p
(% ) + 2 2 = 0,
% d% d%
d%
at % = 1/2.
(10.50)
e21 =
.
+ 2
21
,
2 J0 (2 /2)
2e1
1 = p
.
2
(2 /e1 ) /4 4(1 e21 )
398
(10.51)
(10.52)
Expressing 2 in the second equation of (10.51) through the other quantities, substituting the result into the first equation, and recalling that p| =
2 p, we obtain for r
2 r + 2 p + 22 r =
f
,
+ f2
(10.53)
where
1 + + f (d + f )/
,
=
1 + f 2 /
22
22
.
=
1 + f 2 /
(10.54)
(10.55)
R1 =
(10.56)
399
r+
p+ ,
| = 0.
2 =
(10.57)
(10.58)
f
d+f
%2
r+
p+
+ a,
where
= 4dP 2 J1 (2 /2),
and a is a constant which should be determined from the condition
hi = 0.
Substituting for p and r their expressions (10.49) and (10.56), we represent
in the form
= 1 + 2 J0 (2 %) + 3 J0 (2 %) + 4 %2 ,
where
2 =
f
d+f
R2 +
P,
3 =
f
R3 ,
4 =
,
4
and
1 = 2
4J1 (2 /2)
4J1 (2 /2)
3
4 /8.
2
2
We now turn to the functions q, , which should satisfy variational problem (10.11). The Euler equations of (10.11) read
2 q + f 2 32 q = 0,
f 2 q 2 = 0,
while the natural boundary conditions at S are of the form
(q| + f | ) = 0,
(f q| | ) = 0.
400
f
q.
(10.59)
(10.60)
Q = 2/ J0 (3 /2).
Knowing the functions q, , we can substitute them into the variational
problem (10.19) to derive the equations for s . Seeking s in the form s =
s| , where s depends only on %, the following boundary-value problem for s
is obtained
1 + + (d + f )f /
1 d ds
(% ) + 32 s =
q,
% d% d%
+ 2
1 d ds
d2 s
(% ) + 2 2 = ( + df /)q at % = 1/2,
% d% d%
d%
(10.61)
S1 =
401
Consequently, s% is given by
s% = S1 3 J1 (3 %) S2 3 J1 (3 %).
Calculation of the coefficients. Having found all the solutions of the cross
section problems, we now use the formulae (10.29), (10.31) and (10.34) to
calculate the coefficients of the 1-D theory. Note that for arbitrary functions
f (%) and g(%) independent from the angle , the following formula
Z 1/2
hf gi = 2
f (%)g(%)%d%
(10.62)
0
holds true. Substituting the functions a, p% and q, into (10.34) and making
use of the formula (10.62), we obtain the following expressions for r1 , r2 , r3
r1 =
1 2
,
e21
1 23
,
(32 22 )e21
1 2 2
r3 = (1 + f 2 /) 2 3 2 2 .
(3 2 )e1
r2 = ( + f d/)
The coefficients k2 and k3 are determined from (10.31) and (10.29), respectively. After long, but otherwise standard, calculations we arrive at the
following expressions
1
k2 = 1 + 2{P 22 (R2 + f 2 ) [J12 (2 /2) J0 (2 /2)J2 (2 /2)]
8
1
+ P 2 2 (R3 + f 3 )
[2 J0 (2 /2)J1 (2 /2) 2 J0 (2 /2)J1 (2 /2)]
2(22 22 )
J1 (2 /2)
1
+ P 2 (R1 + d1 )
+ P 22 (R2 + d2 ) [J02 (2 /2) + J12 (2 /2)]
2
8
1
[2 J1 (2 /2)J0 (2 /2) + 2 J1 (2 /2)J0 (2 /2)]
+ P 22 (R3 + d3 )
2(22 22 )
J2 (2 /2)
4J2 (2 /2) 2 J3 (2 /2)
+ P d4
P f 4
},
8
2
and
2ef
f2
k3 =c +
402
10.5
Frequency spectra
Derivation of the frequency equation. Consider the mechanical eigenvibrations of a piezoceramic rod of circular cross section under short-circuit
conditions, which are governed by the equations of motion (10.4). Introducing the dimensionless variables
s
t G
x
, = ,
=
h
h
we rewrite these equations in the form
u| = s1 u00 + r1 0 ,
| = s2 00 r1 u0 r23 v 0 22 ,
v| = s3 v 00 + r23 0 32 v,
(10.63)
= ()e
,
v = v()ei ,
(10.64)
403
(10.65)
It turns out that the solution of (10.64) can be expressed through three scalar
potentials i , i = 1, 2, 3 as follows
u = 01 + 02 + 03 ,
= a1 1 + a2 2 + a3 3 ,
v = b1 01 + b2 02 + b3 03 ,
provided the potentials i satisfy the following equations
00i + 2i i = 0,
i = 1, 2, 3,
(10.66)
ai =
3
X
ci i sin i ,
i=1
3
X
ai ci cos i ,
i=1
v =
3
X
i=1
bi ci i sin i ,
404
Cij cj = 0,
i = 1, 2, 3,
j=1
where
C1j = cos j l,
C2j = aj j sin j l,
C3j = bj j sin j l.
Thus, the eigenfrequencies of vibrations should be determined as the roots
of the equation
det Cij = 0.
(10.67)
405
n =
1
(n ).
l
2
(10.68)
One can see that the frequencies n (l) computed in accordance with the
frequency equations (10.67) and (10.68) differ litle for . 3, and the hyperbolas (10.68) approach asymptotically the curves obtained from (10.67)
as 0 (l ). For & 3 fairly strong divergence between the curves
obtained from (10.67) and (10.68) is observed. However, the terrace-like
spectra do not exist at the frequencies below the cut-off frequency 2 , and
no edge mode is observed in this range of frequencies. This behaviour is due
to the boundary conditions (10.65), and is specific for this type of electrode
arrangement. However, for side-electroded piezoceramic rod, polarized in the
thickness direction, the theory and experiment show that the edge mode does
exist.
Problems
1. Calculate the coefficients of the 1-D theory for PZT-4 and PZT-5 piezoceramics.
406
2. Calculate the frequency spectra of the longitudinal vibrations of piezoceramic rods with the clamped edges.
Appendix A
Material constants
A.1
Constant
E,
E
(1+)(12)
2
1
E
2(1+)
(3+2)
+
2(1+2)
1+
2(+)
1+
+2
2
12
2
1
p
/( + 2)
p
(1 2)/(2 2)
p
(1 )/2
407
408
A.2
Piezoelectric crystals
Electroelastic moduli for the 32 crystal classes
409
410
A.3
Piezoceramic materials
d31 ,
12 s11 s13
E
E
E
e33
s13 s13 s33
d33
E
E
where sE
12 = s11 s66 /2, and
1
d15
1
, cE
e15 = E ,
66 = E ,
E
s55
s66
s55
T
S
T
= 11 d15 e15 , 33 = 33 2d31 e31 d33 e33
cE
55 =
S11
The following table presents experimental data [9] for some piezoceramics
(0 = 8.854 1012 C2 /Nm2 is the dielectric constant of vacuum):
Quantity
PZT-4
PZT-5
BaTiO3
12 2
m /N
sE
11 , 10
12.3
16.4
9.1
sE
13
-5.31
-7.22
-2.9
sE
33
15.5
18.8
9.5
sE
55
39.0
47.5
22.8
sE
66
32.7
44.3
23.6
496
584
260
d31
-123
-172
-78
d33
-289
-374
-190
T11 /0
1475
1730
1450
635
830
1260
7.5
7.75
5.7
T33 /0
3
, 103 kg/m
Appendix B
List of notations
General
Time t
Dimensionless time
Three-dimensional Euclidean space E
Cartesian co-ordinates z i , i = 1, 2, 3
Curvilinear co-ordinates xa , a = 1, 2, 3
Vectors and tensors u, ua , t, tab , . . .
3-D metrics gab , g ab
Kronecker delta ij
Gradient u, ua;b
Time derivative of u u
3-D domain U, B
Boundary of B B
Volume element dv
2-D surface S
2-D co-ordinates x , = 1, 2
First and second fundamental forms of a surface a , b
Mean and Gaussian curvatures of a surface H, K
Covariant derivative on a surface u;
Area element da
1-D curve c(x)
Curvature and torsion of a curve , $
Length element ds or dx
Functional I[w]
Variation of w w
Stationary point w
Frequency and dimensionless frequency ,
411
412
Dimensionless co-ordinates ,
Derivatives with respect to the dimensionless co-ordinates u|
Wave number and dimensionless wave number k,
3-D elasticity
Displacements wa
Strains ab
Stresses ab
Mass density
Elastic moduli C abcd
Elastic moduli for isotropic bodies , or E,
Elastic energy density W (ab )
Kinetic energy density T (w a )
3-D piezoelectricity
Electric potential
Electric field Ea
Electric induction Da
cab
cab ab
, Sab
, S or cabcd
Electroelastic moduli cabcd
D ,h
E ,e
Electric enthalpy W (ab , Ea )
Internal energy U (ab , Da )
Complementary energy (Gibbs function) G( ab , E a )
Elastic enthalpy F ( ab , Da )
Elastic shells
Middle surface S
Thickness h
Characteristic radius of curvature R
Characteristic scale of change of the deformation pattern l
Displacements of the middle surface u , u
Internal degrees of freedom , , v
Measures of extension and bending A , B or A ,
Membrane stresses, bending moments N , M or n , m
2-D kinetic energy density
2-D elastic energy
Elastic rods
Central line c(x)
Cross section S
Diameter of the cross section h
413
Curvatures and torsion , $
Length L
Displacements of the central line u , u
Internal degrees of freedom , 1 , v
Rotation of the cross section
Measures of elongation, bending and twist , ,
Tension, bending and twisting moments T, M , M
1-D kinetic energy density
1-D elastic energy
Piezoelectric shells and rods
2-D
2-D
2-D
2-D
2-D
and
and
and
and
and
1-D
1-D
1-D
1-D
1-D
electric potential
electric field F , F
electric induction G , G
kinetic energy density
electric enthalpy 0 , 1
414
Bibliography
[1] M. Abramowitz and I. A. Stegun. Handbook of Mathematical Functions.
Dover Publications, New York, 1965.
[2] A. E. Armenakas, D. G. Gazis, and G. Herrman. Free vibrations of
circular cylindrical shells. Pergamon Press, New York, 1969.
[3] R. C. Batra and J. S. Yang. Saint-Venants principle in linear piezoelectricity. J. Elasticity, 38:209218, 1995.
[4] V. L. Berdichevsky. On the proof of the Saint-Venant principle for bodies
of arbitrary shape. Appl. Math. Mech. (PMM), 38:851864, 1974.
[5] V. L. Berdichevsky. Variational-asymptotic method for constructing
shell theory. Appl. Math. Mech. (PMM), 43:664687, 1979.
[6] V. L. Berdichevsky. Variational principles of continuum mechanics.
Nauka, Moscow, 1983.
[7] V. L. Berdichevsky and K. C. Le. High frequency, long wave shell vibration. Appl. Math. Mech. (PMM), 44:520525, 1980.
[8] V. L. Berdichevsky and K. C. Le. High frequency vibration of shells.
Soviet Physics Doklady, 27:988990, 1982.
[9] D. A. Berlincourt, D. R. Curran, and H. Jaffe. Piezoelectric and piezomagnetic materials and their function in transducers. In Physical acoustics, volume 1A. Academic Press, New York, 1964.
[10] V. A. Boriseiko, V. S. Martynenko, and A. F. Ulitko. On the theory of
vibrations of piezoceramic shells. Mathematical Physics, 21:7176, 1977.
[11] W. G. Cady. Piezoelectricity. Dover Publications, New York, 1964.
[12] R. Courant and D. Hilbert. Methods of Mathematical Physics, vols. 1
and 2. Interscience, New York, 1953.
415
416
BIBLIOGRAPHY
BIBLIOGRAPHY
417
418
BIBLIOGRAPHY
BIBLIOGRAPHY
419
420
BIBLIOGRAPHY
Index
2-D moduli, 172, 216
3-D equations
of motion, 31, 75, 80, 101
Characteristic
length, 72, 134, 175, 177, 219, 221,
255, 314, 383
radius of curvature, 68, 170
radius of curvatures and torsion,
129, 213
Characteristic scale, 46
Characteristics, 239
Charge, 39, 193, 196, 202, 205, 233,
236
Christoffel symbols, 22, 118
of a surface, 28
Clamped edge, 61, 63, 88, 92, 111,
126, 127, 257, 351
Co-ordinates
cartesian, 18, 80, 147
curvilinear, 19
cylindrical, 23, 101, 148
elliptical, 331
of a rod, 128
of a shell, 66
polar, 87, 285
spherical, 23, 118
Co-vector, 20
Compatibility, 58, 66
Completeness, 35
Constants
dielectric, 38
elastic, 37
piezoelectric, 38
Constitutive equations
421
422
for elastic rods, 126
for elastic shells, 65, 252
for piezoelectric rods, 210
for piezoelectric shells, 168, 349
Constraint, 33
Coupling, 37, 212, 232, 234, 240
Covariant derivative, 28
Cross section
centrally symmetric, 226
circular, 144, 330, 379
elliptical, 140, 223, 331
rectangular, 142, 227, 229, 331
Cross section problems, 138, 220, 222,
327, 393
Curvature
Gaussian, 27
mean, 27
Curve
binormal to, 24
curvature of, 24
moving triad of, 24
normal to, 24
tangent to, 24
torsion of, 25
INDEX
INDEX
Euclidean point space, 17
Euler equation, 52, 224
Extension
measures of, 58, 95, 116, 348
Fast variable, 52
Field
kinematically admissible, 183
statically admissible, 184
First approximation, 46
Fixed edge, 61, 63, 111, 127
Force, 30
Free edge, 61, 63, 89, 93, 111, 127,
198, 211, 253, 312
Frenet formulae, 25
Frequency, 32, 51, 77
antiresonant, 193, 202, 205, 232,
233, 237
cut-off, 99, 256, 300, 316, 352, 384
resonant, 193, 202, 205, 232, 233,
237
Frequency equation, 88, 90, 92, 93,
112, 120, 156, 158, 159, 192,
193, 196, 199, 202, 205, 232,
233, 237, 286, 288, 340, 342,
345, 369, 375, 400
Frequency spectra
of plates, 87, 191, 284, 367
of rods, 153, 231, 338, 398
of shells, 107, 115, 197, 304
Gauge invariance, 101
Gauss formula, 29
Gauss theorem, 23
Gibbs function, 41
Greek indices, 25
Group velocity, 78, 275
Hamiltons principle, 32, 40
for elastic rods, 125, 309
for elastic shells, 60, 61, 249
for piezoelectric rods, 210, 379
423
for piezoelectric shells, 164, 347
Helmholtzs decomposition, 91, 101,
147
Hookes law, 30
Hyperbolicity, 35, 271
Impact interval, 242
Initial conditions, 32, 39, 63, 127, 254,
312, 349, 381
Internal degrees of freedom, 249, 310,
379
Jacobian, 19
Jump conditions, 168, 212, 238
Kronecker delta, 20
Lagrangian, 45, 314
average, 73, 136, 176, 179, 261,
318, 355, 385
Lame constants, 31
Laplaces equation, 141
Legendre transformation, 40, 139, 189,
227
Legendres functions, 119
Legendres polynomials, 119
Length element, 28
Levi-Civita tensor, 101
Longitudinal impact, 238
Lower bound, 228
Mass density, 30
Mathieus equation, 332
Membrane stresses, 61, 96, 165
Metrics, 21, 27, 118
of a rod, 129
of a shell, 67
Minimizer, 49
Mirror plane, 173, 217
Mixed faces, 167, 194
Moments of inertia, 137, 220
Neumann problem, 139
424
Newtons rule, 47, 85
Normalization, 255, 352, 383
Null Lagrangian, 268, 324, 392
Orthogonality, 34, 261
Permutation symbols, 122
Phase, 51
Phase velocity, 77
Plane wave, 35
Plate, 76
circular, 87, 191, 367
elastic, 57
piezoelectric, 169
Pochhammer equation, 151, 335
Poissons equation, 140
Poissons ratio, 36
Prager-Synges identity, 181
Principal curvatures, 27
Principal terms, 49, 69, 70
Rayleigh velocity, 85
Rayleighs formula, 36
Reciprocal basis, 21
Reduction, 272
Resonance, 43
Rod
central line of, 121, 128, 207
cross section of, 121, 207, 314
curvatures of, 122
diameter, 129
displacements, 122, 208
elastic, 121, 309, 314
kinematics, 122, 208
piezoceramic, 217, 379
piezoelectric, 207
torsion of, 122
Rotation, 123, 208
Rotation axis, 173, 217
Scalar product, 17
Self-adjointness, 34
INDEX
Separation of variables, 87, 91
Series
asymptotic, 46
Shear diaphragms, 113, 307
Shell
cylindrical, 94, 107, 197, 295, 304,
372
displacements, 58, 162
elastic, 57, 249
face surface, 161
kinematics, 58, 162
middle surface of, 57, 161
piezoceramic, 174, 347
piezoelectric, 161
spherical, 66, 115
thickness, 57, 161
thickness parameter, 97
Shifter, 66
Short-wave extrapolation, 265, 320,
358, 388
Slow variables, 52
Small parameter, 45
Small terms, 45, 71, 73, 175
Spherical harmonics, 119
Spiral, 29
Stationary point, 33, 45
Strain, 29, 37, 69, 130, 171, 214
Stress, 30
Summation convention, 18
Superposition, 265
Surface
basicforms of, 26, 27, 95
co-ordinates, 25
divergence theorem, 28
moving triad of, 26
normal to, 26
tensors, 27
Symmetrization, 30
Symmetry properties, 31, 38
Tangential polarization, 189, 379
INDEX
Tension, 126, 210
Tensor, 20
contravariant, 20
covariant, 20
field, 21, 22
lowering index of, 21
product, 20
raising index of, 21
transpose of, 29
Tensor field
divergence of, 23
gradient of, 22
Tensors
contraction of, 22
Thickness polarization, 187, 191, 197,
234, 347
Timoshenko beam, 49
Torsional rigidity, 143
Traction, 32
Transverse isotropy, 173, 217
Triad, 122, 207
Twist
measure of, 124, 208
Twisting moment, 126, 210
425
Velocity, 30, 37, 60, 124, 209
Vibrations
axial-radial, 110
flexural, 87, 155, 284, 306, 310,
343
free, 32
longitudinal, 91, 191, 231, 287,
306, 309, 338
low-frequency, 70, 132, 171, 214
plane, 157, 234
radial-tangential, 118
tangential, 118
thickness-shear, 256, 315, 352, 383
thickness-stretch, 256, 315, 352,
383
torsional, 109, 154
Voltage, 162, 192, 195, 232, 235
Volume element, 23
of a shell, 67