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D
epartement Acoustique et M
ecanique Vibratoire, Electricit
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eveloppement, 1 Avenue du G
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b
Samtech France S.A., 14 Avenue du Qu ebec, SILIC 618, 91945 Courtaboeuf, France
Accepted 1 February 2002
Abstract
In the present paper we discuss the total Lagrangian formulation for shell elements under large displacements and
rotations to perform nonlinear geometrical analyses. This formulation is applied to nine node and seven node quadratic
shell elements initially developed for small strain elasto-plastic analyses. The formulation we use is based on a three
dimensional continuum approach in which we introduce a linear dependence of displacements with respect to thickness
and a plane stress hypothesis. The measure of deformation we take is that of Green–Lagrange related to the second
Piola–Kirchhoff tensor for the stresses by a linear material law. Linear buckling is treated as a limit case of the nonlinear
geometrical analysis. Ó 2002 Elsevier Science Ltd. All rights reserved.
0045-7949/02/$ - see front matter Ó 2002 Elsevier Science Ltd. All rights reserved.
PII: S 0 0 4 5 - 7 9 4 9 ( 0 2 ) 0 0 0 5 0 - 0
836 P. Massin, M. Al Mikdad / Computers and Structures 80 (2002) 835–847
nonlinear geometrical analysis presented so far. Quite where nðn1 ; n2 Þ is given by:
a few classical examples from the literature are then
treated to validate our method. xP ;n1 ðn1 ; n2 Þ ^ xP ;n2 ðn1 ; n2 Þ
nðn1 ; n2 Þ ¼
xP ;n ðn1 ; n2 Þ ^ xP ;n ðn1 ; n2 Þ :
ð2Þ
1 2
2. Formulation
2.2. Kinematics equations
2.1. Geometric description
The position xuQ and displacement uQ (we denote u, v
The 3D shell is represented by the volume X of Fig. 1 and w the components of the displacement in a cartesian
occupied by the points Qðn3 6¼ 0). These points are lo- frame) of point Q in the deformed configuration of Fig.
cated on the middle surface x formed by the points 2 can also be given as a function of the position and
P ðn3 ¼ 0). At each point Q a local orthonormal frame displacement of its projection P on the initial middle
½t1 ðn1 ; n2 ; n3 Þ : t2 ðn1 ; n2 ; n3 Þ : nðn1 ; n2 Þ can be built. The surface:
vector nðn1 ; n2 Þ is normal to the middle surface x n3 is
the normalized coordinate with respect to the shell h
thickness h in the normal direction to the middle surface, xuQ ðn1 ; n2 ; n3 Þ ¼ xuP ðn1 ; n2 Þ þ n3 nu ðn1 ; n2 Þ; ð3Þ
2
and n1 , n2 are two curvilinear coordinates which describe
the middle surface.
On the initial configuration, the position of a point Q h
uQ ðn1 ; n2 ; n3 Þ ¼ uP ðn1 ; n2 Þ þ n3 ðnu ðn1 ; n2 Þ
nðn1 ; n2 ÞÞ;
located on a normal to the middle surface is given with 2
the help of the position of its projection P on the middle ð4Þ
surface as follows:
where nu is the unit vector resulting from the large ro-
h
xQ ðn1 ; n2 ; n3 Þ ¼ xP ðn1 ; n2 Þ þ n3 nðn1 ; n2 Þ; ð1Þ tation of the normal vector n. nu is usually not normal to
2 the deformed middle surface due to transverse shear. It
is related to the initial normal vector by the relation:
Fig. 1. Geometry of 3D shells. Local frames on the reference Fig. 2. Geometry of 3D shells. Large transformation of a fiber
configuration. initially normal to the middle surface.
P. Massin, M. Al Mikdad / Computers and Structures 80 (2002) 835–847 837
K ¼ exp½H and
sin h 1
cos h
¼ cos h½I þ ½H þ ½H
H ð6Þ
h h2 l1 ¼ t1 e1 m1 ¼ t1 e2 n1 ¼ t1 e3 ;
l2 ¼ t2 e1 m2 ¼ t2 e2 n2 ¼ t2 e3 ; ð12Þ
where ½H is the anti-symmetric operator correspond- l3 ¼ t3 e1 m3 ¼ t3 e2 n3 ¼ t3 e3 ;
ing to the rotation vector H:
2 3
0
Hz Hy where ½e1 : e2 : e3 is the global Cartesian frame.
½H ¼ 4 Hz 0
Hx 5 ð7Þ The expression for E is:
Hy Hx 0
0 1
Exx
and ½H
H the symmetric operator given by ½H
H ¼ B Eyy C
B C
HHT . Details concerning the treatment of large rota- B Ezz C
E¼B C
B cxy C
tions and its numerical implementation may be found in B C
Al Mikdad [2]. @ cxz A
cyz
0 1 0 1 2 1
2.3. Constitutive law u;x u þ v 2
þ w 2
B v;y C B
2
;x ;x ;x
C
B C B B 1
u 2
þ v 2
þ w 2 C
C
We consider a hyper-elastic behavior along with a B w;z C B 2 ;y
B C B
;y ;y
C C
plane-stress hypothesis. The constitutive law relates the B C
¼ B u;y þ v;x C þ B 1 u2;z þ v2;z þ w2;z C; ð13Þ
second Piola–Kirchhoff local stresses to the local Green– B u;z þ w;x C B 2 C
B C B B u u
;x ;y þ v v
;x ;y þ w w C
;x ;y C
Lagrange strains: @ v;z þ w;y A @
u;x u;z þ v;x v;z þ w;x w;z A
u;y u;z þ v;y v;z þ w;y w;z
e ¼ DE
S e ð8Þ
where the symbol indicates that quantities are ex- which can be reduced to [5]:
pressed in the local orthonormal frame ½t1 ðn1 ; n2 ; n3 Þ :
t2 ðn1 ; n2 ; n3 Þ : t3 ðn1 ; n2 Þ ¼ nðn1 ; n2 Þ. D is the material 1 ou ou
tensor for shells under plane stress conditions in elas- E¼ Qþ A ð14Þ
2 ox ox
ticity in the case of Reissner’s theory:
2 E mE
3
1
m2 1
m2
0 0 0 with
6 E
0 0 0 7
6 1
m2 7
6 E
0 0 7 T
D¼6 2ð1þmÞ 7; ð9Þ ou ou ou ou ov ov ov ow ow ow
6 sym Ek
0 7 ¼ ; ; ; ; ; ; ; ; ð15Þ
4 2ð1þmÞ 5 ox ox oy oz ox oy oz ox oy oz
Ek
2ð1þmÞ
and
where E is Young’s modulus, m is Poisson’s coefficient
and k is the shear correction coefficient 5/6. 2 3
1 0 0 0 0 0 0 0 0
We use a vectorial expression of the Green–Lagrange 60
6 0 0 0 1 0 0 0 077
strain for which a transformation from the local frame 60 0 0 0 0 0 0 0 17
to the global one is proposed by [3]: Q¼6
60
7 ð16Þ
6 1 0 1 0 0 0 0 077
40 0 1 0 0 0 1 0 05
51 5661
e ¼ H E
E ð10Þ 0 0 0 0 0 1 0 1 0
with and
2 3
l21 m21 n21 l1 m1 m1 n1 n1 l1
6 2
m22 n22 7
56 6 l2 l2 m2 m2 n2 n2 l2 7
H ¼6 2l
6 l21 2m1 m2 2n1 n2 l1 m2 þ l2 m1 m1 n2 þ m2 n1 n1 l2 þ n2 l1 7
7 ð11Þ
4 2l2 l3 2m2 m3 2n2 n3 l2 m3 þ l3 m2 m2 n3 þ m3 n2 n2 l3 þ n3 l2 5
2l3 l1 2m3 m1 2n3 n1 l3 m1 þ l1 m3 m3 n1 þ m1 n3 n3 l1 þ n1 l3
838 P. Massin, M. Al Mikdad / Computers and Structures 80 (2002) 835–847
2 3
ou=ox 0 0 ov=ox 0 0 ow=ox 0 0
6 0 ou=oy 0 0 ov=oy 0 0 ow=oy 0 7
6 7
ou 6 0 0 ou=oz 0 0 ov=oz 0 0 ow=oz 7
A ¼6
6 ou=oy
7: ð17Þ
ox 6 ou=ox 0 ov=oy ov=ox 0 ow=oy ow=ox 0 7 7
4 ou=oz 0 ou=ox ov=oz 0 ov=ox ow=oz 0 ow=ox 5
0 ou=oz ou=oy 0 ov=oz ov=oy 0 ow=oz ow=oy
eight nodes (NB1), while the normal is interpolated on frame of main axes (ox, oy, oz). The height of the hook
seven and nine nodes (NB2). Hence the interpolation of is 0.508 m ð0 6 z 6 0:508Þ and its thickness is 0.0508 m.
any point Q on the reference or current configuration Side AB is clamped. The value of Young’s modulus
may be written as: is 22 752 510 Pa and Poisson’s coefficient is 0.35. The
0 u1 linear loading F ¼ F ez, where F ¼ 8:7594 N/m is ap-
x
X
NB1
ð1Þ B C plied on the C-side of the hook. We look at the deflec-
xu ðn1 ; n2 ; n3 Þ ¼ NI ðn1 ; n2 Þ@ y u A tion for point C for which z ¼ 0. We give in Table 1
I¼1
zu I the results we obtained for different elements and dif-
0 u1 ferent meshes. The reference result is obtained with
nx
h XNB2
ð2Þ B uC linear 3D cubic elements in [10]. The value of the de-
þ n3 N ðn1 ; n2 Þ@ ny A: ð31Þ
2 I¼1 I flection is then 0.1252 m. The two elements described
nuz stand this test fairly well. As the thickness was decreased
from 1=10 to 1=1000 of the hook’s height no locking
The interpolation for the positions, being alike on the
effects were observed and the results were similar to
reference or current configurations, remains valid for
those of [10].
the displacement. The nodal normal is obtained with the
help of Eq. (2).
4.2. Rotation around the normal
Table 2 Table 3
Critical load of a H-shaped beam under transverse loading Critical buckling pressure of a cylinder under external pressure
(analytical Ref. [12]) (analytical Ref. [12])
Critical load Result (N) Ref. [12] (N) Difference Critical load Result Ref. [12] Difference
(%) (MPa) (MPa) (%)
Triangle 107753.49 104797.82 2.820 Triangle 1.6862 1.523 10.715
107878.78
104797.82
2.940 Quadrangle 1.558 1.523 2.272
Quadrangle 97636.39 104797.82
6.834
97636.39
104797.82 6.834
long, 1 m wide and 0.1 m thick. The value of Young’s 5.2.3. Skew plate under transverse loading
modulus is 12 MPa and Poisson’s coefficient is 0.0. With The value of Young’s modulus is 2.1 MPa and Pois-
this classical test from the literature [11] we reach a ro- son’s coefficient is 0.3. The transverse loading F ¼
F ez
tation of 2p for the free end of the beam presented on is applied on the tip P of the beam on Fig. 16. The
Fig. 9 meshed with quadrangles and of p for the beam reference solution for the in-plane x and out-of-plane z
meshed with triangles. A rotation beyond 2p is not ex- displacements against the load level F is given again by
pected with the formulation presented in Section 2 due to the commercial code Samcef using a corotational for-
the singularity of the differential rotation matrix TðHÞ of mulation [5] with a DSQ type element [9]. Our match on
(25) for h ¼ 2p. However we were not able to go past displacements for a given load level is <5% from the
h ¼ p for triangles, which is still under investigation and reference solution as may be seen in Table 5.
could be linked to the approximation involved to obtain
(37) from (36). The deformed beam shape with quad- 5.2.4. Pinched hemispherical cap
rangles is shown in Fig. 10. The in-plane and out- Nodal forces are applied at points P1, F ¼ F ex, P6,
of-plane beam displacements plotted against the angle of F ¼
F ex, P7, F ¼ F ey and P2, F ¼
F ey of the
rotation are shown in Fig. 11 and match the analytical hemispherical cap on Fig. 17. The value of Young’s
solution to perfection. The linear evolution of the angle modulus is 68.25 MPa and Poisson’s coefficient is 0.3.
of rotation as a function of the applied moment M is also The reference solution for the x and z displacements
shown in Fig. 12. against the load level F is given by the commercial code
P. Massin, M. Al Mikdad / Computers and Structures 80 (2002) 835–847 843
Fig. 11. In-plane (ux) and out-of-plane (uz) displacements (m) of a beam clamped at one end under linear moment.
Table 4
Rotation (DRY in rad) and in-plane (DX in m) and out-of-plane (DZ in m) displacements of a cantilever plate under follower pressure
(in Pa)
Pressure (Pa) Result DX (m) Reference DX (m) Difference (%)
Triangle 11
6.964
7.366 5.45
Triangle 22
14.03
13.51
2.81
Quadrangle 13
8.854
9.037 2.026
Quadrangle 26
14.03
14.15 0.841
Result DZ (m) Reference DZ (m)
Triangle 11
8.45
8.37 0.93
Triangle 22
5.78
6.17 6.69
Quadrangle 13
8.410
8.427 0.203
Quadrangle 26
4.547
4.434
2.554
Result DRY (rad) Reference DRY (rad)
Triangle 11 1.921 1.692 3.09
Triangle 22 2.734 2.821
3.12
Quadrangle 13 1.921 1.943
1.153
Quadrangle 26 3.070 3.098
0.896
Reference is a corotational formulation applied to DSQ elements.
Table 5
In-plane (DX) and out-of-plane (DZ) displacements (m) of a skew plate under transverse loading (N)
Force F (N) Result DX (m) Reference DX (m) Difference (%)
Triangle 250
37.44
38.07 1.648
Triangle 500
52.27
52.00 3.003
Quadrangle 250
39.02
38.07
0.517
Quadrangle 500
54.32
52.00
4.470
Result DZ (m) Reference DZ (m)
Triangle 250
70.44
72.40 2.705
Triangle 500
81.03
80.73
1.930
Quadrangle 250
72.18
72.40 0.307
Quadrangle 500
79.17
80.73 0.371
Reference is a corotational formulation applied to DSQ elements.
Table 6
Displacements at P1 and P2 (units m) for the pinched hemispherical cap for a given load level compared with a reference corotational
formulation applied to DSQ elements
Force F (N) Result DX at P1 (m) Reference DX at P1 (m) Difference (%)
Triangle 20 1.479 1.484
0.345
Triangle 50 2.559 2.579
0.748
Triangle 100 3.348 3.39
1.250
Quadrangle 20 1.486 1.484 0.107
Quadrangle 50 2.571 2.579
0.262
Quadrangle 100 3.362 3.39
0.827
within 5% but the load level obtained for the first point
Fig. 20. Relative in-plane w and out-of-plane u displacements
is clearly under-estimated (around 70%) and the load in m for a beam under axial compressive load. The load level is
level for the second point is clearly over-estimated normalized by the critical load.
(around 20%). After the second limit load point the re-
sults we obtained are identical to the reference.
introduced Hencky–Mindlin plane stress kinematics
and a linear variation of displacements over the thick-
ness of the shell. This weak formulation is purely La-
6. Conclusion grangian. The strain tensor of Green–Lagrange is
linearly associated with the second Piola–Kirchhoff
The seven (triangle) and nine (quadrangle) node tensor for the stresses. Good results are obtained for
quadratic large transformation shell elements described linear buckling analyses and analyses with large rota-
so far are based on a 3D continuum approach in the tions with or without limit loads, snap-through and
weak formulation of the equilibrium of which we have snap-back.
P. Massin, M. Al Mikdad / Computers and Structures 80 (2002) 835–847 847
Fig. 21. Simply supported panel under concentrated load. Fig. 22. Load–deflection curve for a simply supported panel
under concentrated load. The deflection is in m and the load is
normalized by the maximum reference value of 600 N.
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