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Abstract
This paper presents an improvement and an extension to modal analysis of an existing multilayered composite shell finite element.
Generalising the formulation to a set of elements, the proposed models are based upon the first- and higher-order shear deformation theories
and are well suited for evaluating the global dynamic response of thin and thick laminated shells respectively. Characterized by a throughthe-thickness displacement approximation of a freely chosen order, they display excellent convergence properties when the polynomial order
is increased and present a higher computational effectiveness in comparison to the classical layerwise models. The models considered are
compared to closed-form solutions based on the layerwise plate theory and the so-called zig zag formulation. Experimental and numerical
modal test cases on thin and thick plates are next investigated in order to validate the proposed shell models. Good agreement is found with
the analytical, experimental and numerical references.
q 2004 Elsevier Ltd. All rights reserved.
Keywords: A. Layered structures; B. Vibration; C. Finite element analysis (FEA); D. Mechanical testing
1. Introduction
The fundamental natural frequencies and associated
mode shapes of fibre-reinforced composite structures
considered as thin to moderately thick shells can often
be accurately determined using the equivalent single-layer
(ESL) laminate theory. In this approach, which has led to
more or less sophisticated finite elements, the heterogeneous laminated shell component is treated as a
statically ESL, reducing the 3D-continuum problem to a
2D-one. In the classical laminated shell theory, which
forms the simplest ESL approach, problems are based on
the Kirchhoff hypothesis, which amounts to neglecting
both transverse shear deformation and transverse normal
effects. Since the ratio of the shear modulus to the inplane elastic moduli for composite materials is much
lower than that of isotropic materials, the shear deformation effect must be included in the analysis of
moderately thick laminated structures. The next approach
in the hierarchy of ESL shell finite element models is so
the first-order shear deformation theory (FSDT) [1 4],
which includes a rudimentary form of shear deformation
in the kinematic assumptions. In order to further increase
* Corresponding author. Tel.: 41-21-693-2924; fax: 41-21-693-3509.
E-mail address: thomas.gmuer@epfl.ch (T. Gmur).
1359-835X/$ - see front matter q 2004 Elsevier Ltd. All rights reserved.
doi:10.1016/j.compositesa.2004.01.014
978
j
p t
3
i
2 i
i1
!2
!p
)
j23 e t3i e 2
jp3 e t3i e p
pi t
pi t
2! 2
p! 2
1
where hi j1 ; j2 i 1; 2; ; p represents the i-th polynomial shape function of the parent or master element a V
a
3
e j
qi t
979
Fig. 3. HSDT shell element with 3p 1 degrees of freedom per nodal point.
and the last three ones are the normalized p-th derivatives of
the displacements at nodal point iall the components
being measured in the global reference system, Eq. (4)
may be expressed in the following compact form
Fig. 2. Transformation of a multilayered solid element into a laminated porder HSDT shell element.
e 0 e 0 e 1 e 1 e 1
e p e p e p T
qi {e q0
1;i ; q2;i ; q3;i ; q1;i ; q2;i ; q3;i ;; q1;i ; q2;i ; q3;i }
5
in which the first three components are the displacements at
node i; the next three terms are the normalized rotations or
first derivatives of the displacements at the same point
u j; t
e h
p
X
a
Hi je qi t a Hje qt
i1
with
a
H a H1 ; a H2 ; ; a Hi ;; a Hep
7a
q {e q1 ; e q2 ;; e qi ; ; e qep }T
7b
i
7
6
p!
7
6
7
6
6
2
j3 a 7
7
6
a
a
60
hi 0
0 j 3 hi 0
0
hi 7
a
7
6
2!
Hi 6
7
7
6
p
7
6
j
3a
7
6
0
0
h
0
i
7
6
p!
7
6
7
6
a
a
60
0
hi 0
0 j 3 hi 0
0 7
7
6
7
6
7
6
p
2
5
4
j3 a
j3 a
h 0
0
h
2! i
p! i
8
980
p
X
a
u j; t
e h
e 1
hi j1 ; j2 {e q0
i t j3 qi t}
i1
e
p
X
a
Hi je qi t
10
i1
hi
j 3 a hi
e 0 e 0 e 1 e 1 e 1 T
qi {e q0
1;i ; q2;i ; q3;i ; q1;i ; q2;i ; q3;i }
11b
p
X
a
Hi je qi t
12
i1
e
where e q0
i t i 1; 2; ; p stores the three global
displacements at node i; whereas the two components
e
located in e q1
i t i 1; 2; ; p are the rotations of the unit
e i
vector v3 ; normal to the e-th element mid-surface at node i;
about two mutually orthogonal unit vectors e vi1 and e vi2
which form a plan normal to e vi3 at nodal point i (Fig. 4). The
interpolation submatrices a Hi i 1; 2; ; e p and the subvectors e qi i 1; 2; ; e p are now expressed as
2a
3
hi 0 0 2j3 e gi1;2 j3 e gi1;1
6
7
6
7
a
13a
Hi 6 0 a hi 0 2j3 e gi2;2 j3 e gi2;1 7
4
5
a
e i
e i
0 0 hi 2j3 g3;2 j3 g3;1
e
e 0 e 0 e 1 e 1 T
qi {e q0
1;i ; q2;i ; q3;i ; q1;i ; q2;i }
13b
e h
with
e i
gj;k
Fig. 4. FSDT shell element with 5 degrees of freedom per nodal point.
e i
t
hi 3 e vij;k
ep
X
i1
j 1; 2; 3; k 1; 2
14
7a Hi je qi t
ep
X
e
Bi je qi t
i1
7a Hje qt e Bje qt
15
B e B1 ; e B2 ; ; e Bi ; ; e Bep
16
For the p-order HSDT model, the 6 3p 1 submatrices e Bi i 1; 2; ; e p stored in matrix e B are derived
from the corresponding submatrices a Hi i 1; 2; ; e p
2 a
j3 e gi1;2
j3 e gi1;1
hi
0
0
2
6
6 x 1
x 1
x 1
6
6
e i
a
6
j3 g2;2
j3 e gi2;1
hi
6 0
0
2
6
6
x 2
x 2
x 2
6
6
6
j3 e gi3;2
j3 e gi3;1
a hi
6 0
0
2
6
x 3
x 3
x 3
6
e
Bi 6
6
6
j3 e gi2;2
j3 e gi3;2 j3 e gi2;1
j3 e gi3;1
a hi a hi
6 0
2
2
6
x 3
x 2
x 3
x 2
x 3
x 2
6
6
6 a
i
i
i
e
e
e
6 hi
j3 g1;2
j3 g3;2 j3 g1;1
j3 e gi3;1
a hi
6
0
2
2
6 x
x 1
x 3
x 1
x 3
x 1
6 3
6
6 a
i
i
i
e
e
e
a
4 hi hi
j3 g1;2
j3 g2;2 j3 g1;1
j3 e gi2;1
0
2
2
x 2
x 1
x 2
x 1
x 2
x 1
given by Eq. (8) as
2
a hi
6
6 x 1
6
6
6
6 0
6
6
6
6
6
6 0
6
6
6
6
6 0
6
6
6
6 a
6 hi
6
6
6 x 3
6
6 a
4 hi
x 2
a hi
x 2
a hi
x 3
a hi a hi
x 3 x 2
a hi
x 1
0
a
hi
x 1
3
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
19
with
jp3 a
hi
x1 p!
3
0
7
7
7
p
7
7
j3 a
7
0
hi
0
7
x2 p!
7
p 7
j3 a 7
7
0
0
h 7
x3 p! i 7
7
p
p 7
j3 a
j3 a 7
0
hi
h 7
7
x3 p!
x2 p! i 7
7
7
jp3 a
jp3 a 7
h
h 7
0
7
x3 p! i
x1 p! i 7
7
7
5
jp3 a
jp3 a
h
h
0
x2 p! i x1 p! i
17
with
xj
981
a hi
a hi e 21 a hi
e Jj221
Jj1
x j
j 1
j2
j3 e gik; e t3i e i
v
x j
2 k;
jk3 a
1 k e 21 a hi e 21 a hi
a
hi
j3 Jj1
Jj2
h
ke Jj321 jk21
i
3
k!
k!
j 1
j 2
j1;2;3; k 0;1;;p
18
where e Jj21
j; 1;2;3 denotes the j th component in the
inverse of the Jacobian matrix associated to the transformation mapping from the master element a V to the
geometrically deformed element e V: The 6 6 straindisplacement submatrices e Bi i1;2;; e p for an FSDT
element derived from the p-order HSDT formulation with
20a
hi e 21 a hi
Jj2
j3 e Jj321 a hi
j 1
j 2
e 21
Jj1
j 1;2; 3; k 1; 2; 3; 1;2
20b
21
k 1; 2; ; e q
where e Ck denotes the global 6 6 elasticity matrix for the
k-th ply. In order to align the global axes with the material
axes, e Ck must be expressed in the shell co-ordinate system
e
j 1; 2; 3
keQ
Ck e QTe C
22
k e Tk Te Dk e Tk
C
23
982
e
e a Ta e a
M
r H H j dV
24a
aV
e
aV
BTe Ce Be j a dV
24b
e
q
X
k1
e
(25) become
e
aV
k
e
q
X
k1
q
X
25a
e
e
aV
k
rk aHTa He j a dVk
k1
aV
k
BTe Ck e Be j a dVk
e
e Tk e Qe BTe Dk e Tk e Qe Be j a dVk
i e i
uk e t3k
= t3
i 1; 2; ; e p; k 1; 2; ; e q
25b
26
a
Vk
e
q
X
k1
e
q
X
k1
Vk
e e
e
e STe
k Dk Sk jlj3 j3 z uk dVk
27a
e e
e
e STe
k Dk Sk jlj3 j3 z uk dVk
27b
where e Sk e Tk e Qe B is the local fibre-oriented straindisplacement matrix for the k-th ply and where the natural coordinate j3 is related to variable z by the following expression
j3 21 2
kX
21
uj 1 ze uk
k 1; 2; ;e q
28
j1
which holds for every nodal point since the ratio between the
k-th lamina depth and the total shell element thickness is
assumed to be identical for each node within a given element.
2.4. Numerical integration
As each layer Vk k 1; 2; ; e q of the composite FSDT
or HSDT shell element is mapped into a normalized parent
domain, a Gauss Legendre numerical integration can be
efficiently used for evaluating the components of
Table 1
Single-layer material properties
Property
E1 =E2
()
E3 =E2
( )
G23 =E2
()
Value
40
0.6
0.5
0.25
k1
Vk
lj3 j3 z e uk dVk
q X
r X
s X
t
X
k1 1 m1 n1
983
n ;
v1 vm2 vne
3 uk lj1 j1 ; j2 jm
2 ; j3 j3 z
29
where
and j3 z n
1; 2;; t are the abscissae of the r;s and t Gauss points per
lamina in the j1 -; j2 - and j3 -directions, respectively, whereas
v1 1; 2;; r; vm2 m 1; 2; ; s and vn3 n 1; 2;; t
represent the corresponding Gaussian weights, the total
number of quadrature points per element being thus equal to
r s t e q: For a prismatic element, the numerical integration in the j1 - and j2 -directions is as usually performed
simultaneously in order to obtain an optimal quadrature
strategy, and the integration through the thickness (j3 direction) is carried out as for the hexahedral element.
It should be pointed out that the number of Gauss points
needed per layer for an exact integration in the j3 -direction
depends on the order of the polynomial approximation
chosen for the through-the-thickness displacement. For the
FSDT shell model, two integration points are thus sufficient,
but up to p 1 points are necessary with a p-order HSDT
formulation. It can be shown that despite the increased
number of integration pointsespecially with a high-order
HSDT modelin comparison to explicit through-thethickness integration schemes, an exact quadrature per ply
leads to results which are more accurate than with explicit
methods. Furthermore, with this standard integration
strategy, the shear locking phenomenon inherent in thin
shells can be circumvented as in the classical shell
formulation by splitting the strain-displacement matrix
into normal and shear components and by integrating
Table 2
p
Nondimensional natural frequency v a4 r=E2 h2 of the square plate
a=h
4
10
20
100
a
b
Numerical results ( )
FSDT
HSDT p 1
HSDT p 3
HSDT p 5
HSDT p 7
LW1a
LW3a
ESL1b
ESL3b
9.388
15.13
17.65
18.82
9.960
15.57
17.83
18.83
9.497
15.26
17.66
18.75
9.394
15.20
17.64
18.75
9.388
15.19
17.64
18.75
9.473
15.34
17.70
18.76
9.224
15.15
17.63
18.75
9.595
15.57
17.83
18.83
9.394
15.27
17.72
18.83
984
Property
E1
(GPa)
E2
(GPa)
G23
(GPa)
G31 G12
(GPa)
n23
()
n31
()
n12
( )
Value
23.5
9.4
1.8
2.5
0.38
0.14
0.08
1
2
3
4
5
6
7
Table 5
Carbon/epoxy single-layer material properties
Experimental
results (Hz)
FSDT
HSDT p 3
HSDT p 5
101.5
187.3
277.0
338.3
393.1
515.6
562.4
101.5
189.4
278.3
340.9
395.3
520.9
563.8
101.5
188.8
277.9
340.2
394.7
519.5
563.5
985
101.7
190.1
273.9
340.9
389.7
524.5
558.2
Property
E1
(GPa)
E2 E3
(GPa)
G23
(GPa)
G31 G12
(GPa)
n23
()
n31 n12
()
Value
114
8.0
2.9
3.1
0.44
0.29
1
2
3
4
5
6
7
8
9
Fig. 8. Relative errors on the computed natural frequencies for the thin
plate.
HSDT
p 1
HSDT
p 3
HSDT
p 5
HSDT
p 7
3D
3045
7104
7819
10726
11173a
11026a
11804
13247
14944
3045
7113
7824
10780
11219a
11030a
11807
13288
14961
3053
7333
8016
10259
10772
11560
12261
13078
14532
3052
7314
7997
10190
10705
11496
12198
13002
14430
3051
7306
7992
10140
10664
11482
12187
12968
14358
3051
7304
7990
10122
10648
11482
12184
12961
14343
986
Fig. 11. Seventh mode shape of the thick plate (3D model).
Fig. 9. Relative errors on the computed natural frequencies for the thick
plate.
4. Conclusions
Acknowledgements
This work was partially supported by the Swiss National
Science Foundation (FNS), grant No. 2000-068103.02.
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