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1. INTRODUCTION
In this chapter, a hierarchical finite element model for geometrically non-linear vibration in unsymmetrical laminated plates made of composite materials is developed. The model will be presented in the time domain. 2. MATHEMATICAL MODEL
2.1 - Field Equations In this section, a hierarchical finite element method for asymmetric composite plates is presented. The plate with constant thickness h, width a and length b, is composed of orthotropic layers oriented at different angles . The origin of the co-ordinate system is located at the middle plane with the z-axis being normal to the mid-plane. Using the first order shear deformation theory (FSDT), Kirchhoffs hypothesis is relaxed by removing the third part, i.e., the transverse normals do not remain perpendicular to the midsurface after deformation. The inextensibility of transverse normals requires that w is not a function of the thickness coordinate, z. The displacement field (Figure 1) of the first-order theory is of the form [2.1] u(x, y, z, t ) = u0(x, y, t )+zy (x, y, t ) v(x, y, z, t ) = v0(x, y, t) -zx (x ,y ,t ) w(x, y, z, t) = w0(x, y, t) (2. 1) (2. 2) (2. 3)
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y x, , u0 x
where (u0, v0, w0) are the displacements along the coordinate lines of a material point on the xy plane, therefore in the mid-plane (z=0), and where x and y are
u v = y , = x z z
the rotations of a transverse normal about the x-axis and the y-axis, respectively. The functions (u0, v0, w0, x, y) are unknown and are to be determined. For thin plates, i.e., when the plate in-plane characteristic dimension to thickness ratio is on the order 50 or higher (a/h50) [2.2], the rotation functions x and y should approach the respective slopes of the transverse deflection: x =
w w0 , y = 0 x y
In this case, the first order shear deformation theory becomes identical to the classical plate theory where Kirchhoffs hypothesis is followed [2.5]. The non-linear strains associated with the displacement field in Figure 1 are
x x0 zx 0 y y z y 0 xy = xy z xy 0 0 zx zx 0 0 yz yz
(2. 4)
28
where x 0 , y 0 and xy 0 are the in-plane strain components at z = 0 defined by the von Krmn non-linear strain-displacement relationships[2.3]:
1 1 x 0 = u,0x + ( w,0x ) 2 , y 0 = v,0y + ( w,0y ) 2 , xy 0 = u,0y + v,0x + w,0x w,0y 2 2 where u,0x represents the partial derivate Figure 2 shows these displacements.
y
Deformed Shape
(2. 5)
u0 . x
y
Deformed Shape
v y0 x0 u z y x
xy xy
v x Shear Strains
Normal displacement
The terms x , y and xy in equation (2. 4) are the curvatures or bending strains, which are given by:
y 0 0 x x + , y = and xy = x = y y x x 0 y
0
(2. 6)
(2. 7)
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For each element, the middle plane in-plane displacements and the rotations are expressed in the form:
qu u0 q 0 v v 0 q w = [N ] w 0 q y y 0 x q x
where {qu } ,
(2. 8)
{qv }
and
{qw }
displacements, and q y
{ } and {q }
0 0 0 0 0
{ N u }T 0 [N ] = 0 0 0
{N }
0 0 0
u T
{N }
0 0
w T
{N }
y
0 0 0 x T N
0
(2. 9)
is constituted by the row vectors of bi-dimensional in-plane, out-of-plane and rotational shape functions, which are, respectively,
{ N } = { g ( ) g ( ) , g ( ) g ( ) ,..., g ( ) g ( )}
u T 1 1 1 2 pi pi
{ N } = { f ( ) f ( ) , f ( ) f ( ) ,..., f ( ) f ( )}
w T 1 1 1 2 po po
{N }
y
= y1 ( ) y1 ( ) , y1 ( ) y2 ( ) , , y p ( ) y p ( )
y y
(2. 12)
(2. 13)
{N }
x
= x1 ( ) x1 ( ) , x1 ( ) x2 ( ) ,..., xp
( ) x ( )
p x
The vectors {g}, {f}, { y } and { x } are the vectors of in-plane, transverse, and rotational one dimensional displacement shape functions; po, pi, p y and p x are the
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numbers of respective transverse, middle plane, rotation about y and rotation about x, displacement shape functions employed; and are the local coordinates, which are given by:
= 2x a , = 2 y b
(2. 14)
In the hierarchical finite element method, one is free to choose the number and set of displacement shape functions to be applied in the definition of the element. Increasing the order of the shape functions that represent the displacements within the element increases the accuracy of the element. In a plate element, there is a set of shape functions for the transverse displacements, a set of shape functions for the inplane displacements and one set of shape functions for each rotation. An element of a layer is now considered and the plate geometric axes are x and y, as in Figure 3. The principal material axes are labelled 1 and 2, that is, the 1 direction is parallel to the fibbers and the 2 direction is normal to them.
y y yx
2
dx
x dy
xy
1
x
xy
yx y
Mohrs circle analysis in basic strength of materials can be applied to establish that
1 2 = [T ]CL 6
x y xy
(2. 15)
31
x y , xy
(2. 16)
where
m2 n2 +2mn 2 2 2mn [T ]CL = n m mn mn (m 2 n 2 )
(2. 17)
where m = cos ( ) , n = sin ( ) , and is the positive angle defined, and CL refer to the 1-2 plane only. The effects of transverse shear deformation are shown in the inclusion of the relations 4 4 and 5 5 in composite materials [2.4], therefore the equations (2. 15)-(2. 17) are modified to:
x x 1 1 y y 2 2 4 = [T ] yz and 4 = [T ] yz 5 5 zx xz xy 6 6 xy
(2. 18)
Where
m2 2mn n2 0 0 2 2 0 0 m 2mn n 0 [T ] = 0 0 m n 0 n m 0 0 mn mn 0 0 (m 2 n 2 )
(2. 19)
x x 1 1 y y 2 2 1 1 yz = [T ] 4 and yz = [T ] 4 zx xz 5 5 6 6 xy xy
(2. 20)
32
m2 0 0 n2 2mn 2 2 0 0 2mn n m 1 [T ] = 0 0 m n 0 0 0 n m 0 mn mn 0 0 (m 2 n 2 )
(2. 21)
Using Hookes law that relates stresses and strains, the general equations for a lamina of composite material in terms of the principal material directions (1, 2, 3), where 3 would represent the z-axis, are given by:
1 2 4 = 5 6 Q11 Q 12 0 0 0 Q12 Q22 0 0 0 0 0 2Q44 0 0 0 0 0 2Q55 0 0 1 0 2 0 . 4 0 5 2Q66 6
(2. 22)
(2. 23)
where = 1 12 21 23 32 3113 2 21 32 13 . Displacements in the z-direction are not considered, therefore 23 = 32 = 31 = 13 =0 and (2. 23) comes
33
(2. 24)
Here, E1 and E2 are the major and minor Youngs moduli; 12 and 21 are the Poissons ratios; G12 is the shear modulus. [2.4] 1 and 2 denote the principal directions of the plate layer. A shear correction factor, =5/6, that accounts for the fact that the shear stresses are not constant across the section, was introduced in (2. 24). Multiplying equation (2. 20) by [T ] and substituting in equation (2. 22), we have
x Q11 Q12 y [T ] yz = 0 0 zx 0 xy
x Q11 Q y 12 1 yz = [T ] 0 0 zx 0 xy
Q12 Q22 0 0 0
0 0 2Q44 0 0
0 0 0 2Q55 0
0 x 0 y 0 [T ] yz 0 xz 2Q66 xy
0 x 0 y 0 [T ] yz 0 xz 2Q66 xy
which is equivalent to
Q12 Q22 0 0 0 0 0 2Q44 0 0 0 0 0 2Q55 0
1
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0 0 Q16 x x Q11 Q12 Q 0 0 Q 26 y Q 22 12 y 2 (2. 25) = 0 0 0 Q Q yz 44 45 yz , 0 Q 45 Q 55 0 2 xz zx 0 2 xy xy 0 0 Q Q Q 26 66 16 1 1 1 Considering yz = yz , xz = xz , and xy = xy , equation (2. 25) comes 2 2 2
(2. 26)
(2. 27)
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Q16 x Q 26 y Q 66 xy
(2. 28)
Q 45 yz Q 55 zx
At this point the quantities Qij and Q ij can be determined relating stresses and strains in either coordinate system. Equations (2. 28) are the constitutive equations of laminae. In the following, N is the number of laminae that composes the laminate. For the kth laminae, equation (2. 26) can be written as
x y yz = Q k zx xy
k
x y yz xz xy
(2. 29)
where all matrices must have the subscript k due to the orientation of the particular
lamina with respect to the plate x-y coordinates and its unique Q .
Consider equations (2. 1) to (2. 13), and a laminated plate, elastic, with uniform thickness h, and each layer of the plate is homogeneous and orthotropic; hk is the vectorial distance from the mid-plane, to the upper surface of the kth lamina.
2.2 - Moment-Curvature and stress relations The in-plane stress resultants {Tx , Ty , Txy } and the moments {M x , M y , M xy } ,
per unit length are defined by:
{T ,
x
Ty , Txy } =
{ ,
x h 2
h 2
y , xy }dz ,
(2. 30)
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{M
, M y , M xy } =
{ ,
x
y , xy }zdz
(2. 31)
h 2
{Q ,
x
Qy } =
h 2
xz
, yz }dz
(2. 32)
h 2
For a laminated plate, the stress components can be integrated across each lamina and added together as follows, employing equations (2. 29), (2. 5) and (2. 6),
{Tx , Ty , Txy } =
N k =1
hk
hk 1
{ ,
x
y , xy } dz =
h
{
N k =1
k 0 Q {0 0 k y , kxy } zdz x , y , xy }k dz + h Q {k x , k hk 1 k k k 1
hk
(2. 33)
Since the derivatives of u0 and v0 (mid-surface displacements) and the Q s are not functions of z, (2. 33) can be rewritten as:
{T ,
x
N
Ty , Txy } =
0 x 0 0 y , xy }
{ Q { ,
k =1 k
hk
hk 1
dz + Q {kx , k y , kxy }
k
hk
hk 1
zdz
(2. 34)
[T ] = [ A][ 0 ] + [ B ][ k ]
where
Aij = (Q ij ) k [ hk hk 1 ] , [i,j = 1,2,6]
k =1 N
(2. 35)
Bij =
1 2
(Q
k =1
ij k
2 2 ) hk hk 1 , [i,j = 1,2,6]
37 y , xy } zdz =
h
{M x , M y , M xy } =
N k =1
hk
hk 1
{ ,
x
=
k =1
N
{ = { Q { ,
N hk
k =1 k 0 x
k 0 0 2 0 hk1 Q k { x , y , xy }k zdz + hk 1 Q k { x , y , xy }k z dz
}
(2. 38)
0 0 y, xy }
hk
hk 1
zdz + Q
{ ,
x
y , xy }
hk
hk 1
z 2 dz
[ M ] = [ B ][ 0 ] + [ D ][ ]
Where 3 3 Dij = 1 3 (Q ij ) k hk hk 1 ,[i,j = 1,2,6]
k =1 N
(2. 39)
(2. 40)
From (2. 22), (2. 5), and (2. 30) to (2. 32), xzk =2 Q 55k xz + 2Q 45k yz yzk = 2Q 45k xz + 2Q 44k yz hence
Qx = 2 ( A55 xz + A45 yz ) Qy = 2 ( A45 xz + A44 yz )
(2. 43)
we have
T [ A] = M [ B ]
[ B] = E { } [ ]{ } [ D ]
(2. 44)
which is equivalent to
1
The notation here used for the reduced form is equal to the representation of the mass matrix defined in section 2.3.
38
B12 B22 B26 D12 D22 D26 B16 0 x 0 B26 y B66 0 xy D16 x D26 y D66 xy
(2. 45)
where [A ] is the extensional stiffness matrix relating in-plane stress resultants (Ns) to the mid-surface strains ( 0 s); [ D ] is the flexural stiffness matrix relating the stress couples (Ms) to the curvatures (ks), and [ B ] is the bending-stretching matrix and relates Ms to 0 s and Ns to ks. The model presented is valid for laminated plates which may be not symmetrical about their mid-surface plane. 2.3 - Equations of Motion The equations of motion of the plate are derived by equating the sum of the virtual work of the inertia forces, of the elastic restoring forces, and of external forces to zero. In-plane and transverse external forces are considered. Combining equations (2. 4), (2. 5) and (2. 6), the strains are expressed as
x 1 0 0 z 0 0 y = 0 1 0 0 z 0 {} 0 0 1 0 0 z xy
(2. 46)
Where
p p 0 L {} = b + 0 0
(2. 47)
p The linear membrane and bending strains, {0 } and {b0 } , and the geometrically
p non-linear membrane strain, { L } , are defined as
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0 y ( w )2 2 x u, x ,x 0 2 p b p x {0 } = v, y , {0 } = y , { L } = ( w, x ) 2 u + v , y ,x 0 0 w, x w, y y x + x y
(2. 48)
Or, in terms of shape functions and generalized displacements, using relation (2. 8),
{ N u }T ,x {0p } = 0 u T { N , y } N y ,x {b0 } = 0 y N , y q u T u { N, y } q v u T { N, x } 0
T
(2. 49)
{ } {
0
x ,y x ,x
{N } } {N }
T
T q y q x T
(2. 50)
(2. 51)
N x
T
{ }
N
y
qw q y q x
(2. 52)
(2. 53)
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where Win , Wv and Wex are, respectively, the work done by the inertia, internal and external forces due to virtual displacements {d } . {d } is given by
u v w {d } = = [ N ]{q} x y
(2. 54)
Making use of dAlembert principle, we obtain the following expression for the virtual work of the inertia forces:
Win = h {d }
T