28

CHAPTER-3
STATIC ANALYSIS

3.1 INTRODUCTION

Many complexities are involved in developing a curved shell element using the general shell
theory. If 8 node solid elements are used, more than one layer of elements is to be used to
simulate the bending behaviour of shells. As an alternative, higher order solid elements (i.e.
20 node isoparametric elements) can be used. But these approaches to teat the analysis of axi-
symmetric shells as 3 Dimensional stress analyses are very costly. For axi-symmetric shells,
axial symmetry of geometry and loading are considered and accordingly axi-symmetric shell
elements have been developed and documented in the literature.

3.2 DEGENERATED AXI-SYMMETRIC SHELL ELEMENT

There are basically two concepts that are used to derive good number of finite elements, for
analysis of shells. They are i) The classical approach which uses the shdl theory and ii) The
method of degeneration. In the classical method, the reduction from the 3 dimensional to 2
dimensional problem is combined with the analytical integration over die shell thickness. The
surface geometry and field variables are discretized and approximated to the nodal values
based on some suitable assumptions. Degeneration method was introduced by Ahmed, Irons
and Zienkiewic/z for the linear analysis of shells to overcome the difficulties due to the
application of the three dimensional elements to thin structures leading to the following
problems.
• The difficulties in computation due to increase in stiffness in the shell thickness direction.
• The errors caused by the strain energy of the normal stresses in the thickness direction.
• The order of interpolation in the thickness direction is too high and surface direction is too
low, causing inefficiency in the results.
The degeneration elements were introduced, with two assumptions in addition to the
assumption in the shell theory i.e. the normal to the mid surface of the ^iell remains straight
and inextensible during deformation and the strain energy of the stresses or the elastic
modulus, normal to the middle surface of the shell is taken as zero, to avdd normal stresses.

3.2.1 Degeneration Concept

The concept of degeneration can be explained by forming a beam elenrent (line element) from
a plane element (i.e. 2Delement) as shown in Fig 3.1
 29

u4* = ui- tGi "\

2
Ui* = Ui + 19i

2
> (3.1)
u3* = u?- 19?
2
U2* = u2+ 16?
J
2
(3.2)
and Vi* = v4* = V], v2* = v3* = \2

1 0 0 0
2
u\ t_
U2:
0 0 1 0
2 U\

w3
0 0 1 0 L Vl
~2
m4 (3.3)
t
1 0 -- 0 0 0 «2
2
v2
0 1 0 0 0 0
v3' 02
0 0 0 0 1 0
v4:
0 0 0 0 1 0
0 1 0 0 0 0

3.2.2 Advantages and Disadvantages of Degeneration Concept

The following are advantages of degeneration element

• The theoretical concept is very simple.

• The complicated theory of shells is avoided

• The poor performance of 3 D elements in the thin shells is considerably improved. The
degenerated element may be used in thin as well as moderately thick shell structures.

• The rotations are referred to as quasi-normal, so that the discontinuities of the middle
surface can be accounted for more easily.

But the interpretation is not easy since the traditional concepts such as the membrane effects
and the bending effects are missing.
 30

3.3 CO-ORDINATE SYSTEM FOR AN AXI-SYMMETRIC ELEMENT

Fig. 3.2 shows a system of curvilinear co-ordinates rj defined inside the element with

typical node pairs itop and bottom The normal direction as defined by such points is in

general only approximately normal to the mid-surface. However, it is in this direction that

the linearity constraint is imposed. The co-ordinates ‘r’ and ‘z’ al any point within the
element are linked to the nodal coordinates using the curvilinear coordinates by

0 + 5) Ni
(1-0 (3.4)
'-hop bot

where N* is shape function in terms of ‘rf only for i* element.

The element extends from £ = -1 to % = 1 and q = -1 to r| = 1 in the usual manner

’*1 ri
) are coordinates in r, z direction of i,h node at top and bottom surface of
zi zi
top

the element respectively.

The above Eqn (3.4) can also be written in terms of mid surface coordinates and angle of the
normal ‘<|>j’ and the scalar length of the normal or the thickness of the efernent at ith node ‘t,\

1 ">t ’ +i Ij 1 JL
I*. 2 _Zj_ 2 zi
+2> 2 zi 2 Zj
top bot

V 1 IL JL
+—
Zi ttop 2 zi .Zi. bot_
Jbot

COS<Pi
(3.5)
mid
2 sin q>j

r.b+n, +.
i.e 'imid “imid ’ Tt T ib h OOS (j)], Zj, - zft = ti sin (Jj,

For cubic displacement,

r1
r 2
[>] Nt N2 N3 Na 0 0 0
0 Ns cos$, N6 cos<j>2 N7 cos$3 Ng cos04 r 3
r 4
[zj 0 0 0 0 vV, N2 N3 N4 Ns sin0, N6 sin<j>2 N7 sin$3 N& sin04
r1
r2
r3
:4
1
1
1
1

(3.6)
 31

>5' 'NlS h'2‘

N2$t2l2
where n7 Ntfh/2
Yg _N4%t4/2_

r
(3.7)
z

3.4 DISPLACEMENT PATTERN UNDER AXI-SYMMETRIC LOADING

The general displacement u, v are defined by the displacement of mid surface nodes in the r, z
directions and the rotation of the normal at such nodes u„ v„ a, as in Fig. 3.3 The general
displacement is based on the assumption that the normal are straight and nan-extensible.

u ui - sintpj
(3.8)
v vi coscpj
where ai is the angle of rotation of the normal
u1
u2
u3
u4
NiN2NJN4 0 0 0 0 -N5 sin fa - N6 sin fa - N7 sin fa - Ng sin fa vl
u (3.9)
v2
v 0 0 0 0N] N2 N7 Na Ns cos fa N6 cos fa N7 cos fa Ng cos<04
v3
v4
al
a2
a3
a4

__ u
u
=M V (3.10)
V
a

3.5 SHAPE FUNCTION FOR LINEAR, PARABOLIC AND CUBIC ELEMENTS

For Linear element (Fig. 3.4)

Ni = Vt. (1-rj); N2 = ,/2(l+ri)
Generally it can be written as Nj =Vi (l+rj0)
where ri0 =t|t|i and rj, = ±1
 32

For Quadratic (Parabolic) element

For end nodes, N| = 'A (r)2 -r|); N2 = 'A (r|2+r|)
Generally it can be written as Ni = '/2 (1+Ti0)ri0
Where t|0 =t|r|j and r|j=+ 1
For middle nodes, N3 = (1 -rj2)
For Cubic element
For end nodes, N, = -1/16 (r|-l) (9rj2-l); N2 = 1/16 (t|+l) (9r|2-l)
Generally it can be written as Ni = (1/16) (l+r|0) (-l+9r|20)
Where r|0 = Tyry and r|j=+l
For inter nodes N3 = (9/16) (l-rj2) (l+3ri); N4 = (9/16) (1 -t|2) (1 -3t|)
Generally it can be written as Ni = (9/16) (l-r|2) (l+9r|0)
Where ri0= tyrii and iy=±l/3

3.6 EVALUATION OF ELEMENT CHARACTERISTICS

The element characteristics such as stiffness matrix can be determined in the usual manner.
The stiffness matrix is defined as.

(3.11)

where [B] = Strain displacement matrix

[C] = Constitutive matrix
[K] = Stiffness matrix
The [B] matrix relates the local strains [e] to the nodal displacements.
[e] = [B][8]
Now, consider local orthogonal co-ordinates z1 parallel to a surface.
^ = Constant with in the shell and r1 created truly normal to this, with the corresponding
displacement components v1 and u1.
Neglecting the strain normal to the mid surface in accordance with the shell assumptions and
writing hoop strain directly in global coordinates, the strain in these l#cal co-ordinates are
given by,
 33

dV_
£z' dz'
u
(4 ee' r
(3.12)
_Y r'z' _ du' 0v'
dz' + dr'

It is necessary to write these strains in terms of nodal displacements and focal coordinates £;,
q. The second term of Eqn (3.12) can be obtained from previous Eqn (3.6) and Eqn (3.9).

Transformations are required for obtaining other two terms, which are given below.
Firstly the r, z derivatives of u, v are derived from their tj derivatives. This process is well
known as

' dv du ' dv du
dz dz d£,
(3.13)
dv du dv du
.dr dr . d 1} d 1}

where the Jacobian matrix [ J] is defined as

dz dr
[•/] = ~dT a?
dz dr
dr} dr}

Secondly, changing to local orthogonal coordinates one can write

dv dir dv du
dzx dzx dz dz (3.14)
dv1 dux
+ 1' dv du
[4
dr1 drx dr dr

where [0] is the matrix of direction cosines of the z1 aid r1 axes as shown in Fig. 3.5.
Parametrically these may be obtained at any value of ^ and rj (Fig. 3.6.), noting that directions
z1 and q coincide, as

dr
dr|
dz (3.15)

drj
 34

In the Eqn (3.15), all the derivatives are obtained numerically frorr Eqn (3.6). The [B1]
matrix, which defines the local strains in terms of the nodal displacemeit, now be evaluated at
any point with the element.
"uf
vl
al

[«’] = [B] [B]' (3.16)

U1

vi
ai

The corresponding constitutive matrix [C] for an isotropic material is new easily written

1 0 0
(3.17)
[C] = (1-D2) 1 0 0
1 -v
0 0 ~2k~.

Where E and u are the elastic modulus and Poisson’s ratio respectvely. The factor k is
included to account more accurately for shear strain energy. As tie displacements vary
linearly across the thickness of the shell, the shear stresses are sensi 5ly constant. However
they are known to be approximately parabolic, and the factor k = 1.2 s iicluded to improve
the representation.
Finally the volume integration for an annular element is defined as,
d (volume) = 2n r (I J | . dr). d%) (3.18)
The actual integration is numerically carried out within the limits of =1 using several gauss
points, 2 gauss points are required in the thickness direction (£- direetbn) and 3 to 4 in the q
direction, depending upon whether the element is parabolic or cubic.

3.7 TRANSFORMATION OF AXI-SYMMETRIC PRESSURE LOAD AS

CONSISTENT NODAL LOADS
Consider an infinitesimal element with length dz and width rd0 in 0 direction with pressure p
and the virtual displacement u in the normal direction.
By the principle of virtual work
Internal virtual work = External virtual work
 35

Iw= jSsT<7dv
v

= 8<ux v{ax......... > pi\c\B\u}dv

V

External virtual work

= J(3wr prd <f> dZ

A
1
= 2 *k jduT prdZ

t
-,-\T
2Vj d<uv >
cos 9
prdZ
sin0
i
-2*n J<3wr pcosdrdZ + jdvTp sin Or dZ'
-0 0
1
=2*n 8<ux v,a,... ....> J[a^]j pcosO rdZ+ 2* n 8<ux v,^........> JM psinOrdZ
o
+i
+i +i

■2*n d<ux v, a,......> pcosQrdr) + J[/V]2 psinOrdrj

From the above equation we have
Internal virtual work = External virtual work
+i +i
Ktw {w} dv=2?r J[2V], pcosOrdt] + jpv]2 psmOrdrj (3.19)
v L-i -i

Left hand side of the above equation is [K] {u} and the right side is the consistent load vector
or the work equipment nodal loads.

3.8 NUMERICAL INTEGRATION SCHEMES

Numerical Integration Schemes are used for the evaluation of element stifftiss matrix and the
load vector. The various integration schemes available are
> Gauss Quadrature
> Newton-cote’s formulae
> Simpson’s rule
 36

In this work, Gauss - Quadrature technique is used for evaluating the element stiffness matrix
and the load vector.
Gauss - Quadrature
A very important numerical integration in which both the positions of sampling points and the
weights have been optimized is Gauss quadrature. In general, such formulae are exact for
polynomials having ‘n’ coefficients (i.e of degree < n-1). Gauss treated both the ‘n’ sampling
points and the ‘n’ weights as variables. One should be able to make exact for polynomials of
2n coefficients (i.e degree 2n-l). Formulae resulting from this strategy are called Gauss-
Legender (or) simply Gauss Quadrature.
The general form of the equation is given by
X0
Jf(x)dx = £Wi.f(Xi) + Rn (3.20)
Xn
Where X, are sampling points and Wj are the weight at these points and R, is the error.
The sampling points and weights are given in the Table 3.1

3.9 EXTENSION TO LAYERED SHELL ELEMENT

3.9.1 Constitutive Matrix for Laminated Shell

A laminate is an integral structural element that is bonded together with two or more fiber
reinforced composite laminae such as Boron/Epoxy, Carbon/Epoxy, Glass/Epoxy, etc. The
principal material directions of a lamina shown in Fig. 3.7 can be tailored to achieve the
required stiffness and strength. With reference to the middle plane #f the laminate, the
stacking sequence of the laminae is classified as symmetric or anti-symmetric. Symmetric
orientation is possible for all odd and even layers whereas an anti-symmetrical orientation is
possible only for even layers. In the finite element analysis, the lammated cylindrical shells
can be modeled using a layered shell element by extending Ahmed’s degenerated axi-
symmetric shell element with 3 degrees of freedom per node. The following assumptions are
made. Ahmed (1970)
a. The layers are perfectly bonded together
b. Each layer is of uniform thickness
c. The material of each layer is linearly elastic
d. The strain and displacements are small.
During the analysis, the constitutive matrices of composite materials at element integration
points must be calculated before the stiffness matrices are assembled from element level to
 37

global level. For fiber reinforced composite laminated materials, each lamina can be
considered as an orthotropic layer as shown in Fig. 3.8.
The stress strain relation for a lamina in the material co-ordinate (1, 2, 3) at an element
integration point can be written as
£}=[q]M (3.21)

E„ u!2E22
0 n 0
°1 1-Di2d2] l-t)l2U2| «i

o2iEu e22
°2 *2
0 0 0
1-u12d21 Et>l2U21
T12 ,= ¥12
0 0 G12 0 0
% If 13

X23, 0 0 0 Sf G,3 0

0 0 0 0 sf G23_

where Sf is the shear correction factor (5/6) to account for the shear being parabolic and

E1,,E22,G12,G)3,G23,Ui2,i>2i are elastic constants. The constitutive equation for the lamina

in the element co-ordinate (z', 0', r') becomes,

{o'}=[Q]{s'} (3.23)

[Q ] = I I ]T [Q][T] (3.24)

COS20 sin20 sin 0 cos 0 0 0

sin20 cos20 -sin 0 cos 0 0 0

-2sin0cos 0 2sin0cos 0 cos20-sin20 0 0 (3.25)

0 0 0 cos 0 sin0
0 0 0 -sin 0 c«s 0

where } ipz'

(3.26)
{e'}={£z.,e0*,Yz'e’,YzV> Yev)

and ‘0 ’ is measured counterclockwise about the element r' axis from the dement local z'
axis to the material ‘1’ axis (refer Fig. 3.8). The element coordinate system is a
(r', z', 0') system different from the structural global coordinate (r, z, 0) system. Eqn (3.24)

results in the transformation of out-of-plane shear stresses, independent of the transformation

of the in-plane normal and shear stresses. Because of axi-symmetric property the in-plane

shear stress (tz>q> ) and the out-of-plane shear stress (t^q, ) associated with 0' direction are
 38

zero. If G]3 and G23 are taken equal to G12, the shear stress (x ) can he directly written as

sfGj2 Therefore the resulting transformed constitutive relation in the element coordinate is

°z' Qji Q12 0 £z'

°0' •= Q12 Q22 0 £0'

O
C/2

l__ _ _
.V* Yr'z'.

fo
jP
r
where Q11 > Q12 > Q 22 obtained from Eqn (3.24) are given as

Q11 =Qn cos40 + 2Q12 cos20 sin20 + Q22 sin40 + 4Q33 cos20sin20
Q12 =Qn cos20 sin20 + Q12(cos40+sin40)+Q22 cos20 sin20-4Q33 cos20sin20 ■

Q22 = Qn sin40 +2Q12 cos20 sin20 + Q22 cos40+4Q33 cos20sin2f

(3.28)
3.9.2 Element Stiffness Matrix for Layered Shell
The integral equations can be evaluated using Gauss-Quadrature formate. But in the case of
layered shell, the constitutive matrix varies from layer to layer. In order to apply Gauss
Quadrature integrals the limit should vary from -1 to 1. This is achieved by modifying the
variable % to in any i,h layer such that ^ varies between -1 and 1 in that layer. Thus [Ke ] is

defined as

[K,]=2*t f f[B]iT[Q]i[B]i det[j] rdE.idr,!

N1
“1 f (3.29)
[Kc]=2*t I 2 f(^,rii) W^W^detlJ]
= 1 Hi = 1

where ‘n’ is the total number of layers and ‘ng’ is the number of gauss points. 3-point Gauss
Quadrature has been applied for numerical integration. Layers lave to be numbered
sequentially starting from inner surface of the shell.

3.10 NUMERICAL PROBLEMS AND VALIDATION

A general computer program was written for the procedure outlined above and it is suitable
for any laminated axi-symmetric shell under arbitrary static loading and boundary conditions.
In order to check the validity of the developed program, a few benchmark problems were
solved and the results compared with the available solutions. The number of elements and
gauss point considered are 8 and 3 respectively for all problems in this thesis.
 39

3.10.1 Cylinder with Internal Pressure

A simple Lame cylinder under internal pressure is considered to validate the accuracy of the
program result. The cylinder has the following geometric and material properties.
Radius (R) = 1.0m; Length (L)=4.0m; Thickness (t) = 0J5m; Young's Modulus (E)=
6.9xl010N/m2, Poisson’s Ratio (v) = 0.3.

Hoop Stress in the cylinder in MN/m2

Inner face Outer face
Lame’s Result 200.125 190.125
Computer Result 200.122 190.122

The above results show that the program result is indistinguishable from the exact solution.

3.10.2 Hemi Spherical Shell with External Pressure

A hemi spherical shell with hinged bottom subjected to unifarm external pressure with the
above material property has been analyzed for static condition and the result of normal
displacement at the top point is compared with the dcsed form solution given by
Raamachandran . Radius of the shell (R) = 1.0m; Thickness (t) = 0.01m; External pressure
(P) = 1 x 107N/m2

The normal displacement at top of sphere w =------ [v — l] Raamachandran (1993)

2E t

= 0.00507m
Closed form solution 0.00507m
Computer result 0.00505m
Percentage of difference 0.04%

It shows that the program result very well agrees with the theoretical solution.

3.10.3 Cylinder under Radial Edge Load

In this problem, a cylindrical shell with radius (R) = 0.127 m (5 in), Height (H) = 0.1524 m
(6in) and thickness (t) = 0.000254 m (0.01 in) with the boundary of one end is fixed and other
end is free has been analyzed for static condition and the result is compared with available FE
solution given by Ahmed . The Isotropic material constitutive properties of the shell are
Young’s Modulus (E) = 6.9x10iaN/m2 (107 psi) and Poisson’s Ratio (v) = 0.3. The shell is
subjected to radial edge load of 155.69 N (35 lbs).
 40

Fig. 3.9 shows the comparison between Ahmed’s' result and the solution obtained by the
computer program for radial displacements along the height of the cylindrical shell. It reveals
that the curve of the program result fits well to the Ahmed’s curve AJmed (1968)

3.11 SUMMARY

In this section FE formulation for static analysis of axi-symmetric shell with degenerated shell
element is discussed. The program developed for this formulation is validated with the
existing results. The next section explains about the FE formulation for dynamic analysis of
layered axi-symmetric shell and validation of program developed. The numerical
investigations for free vibration of axi-symmetric shell such as cylinder spherical, conical and
hyperbolic shell (refer Fig. 3.10) and the parametric study have been done.
 41

<------------------- L ---------------------->

Plane stress element (Real element)

A\
Uj

°<2

Beam element (Degenerated element)

Fig 3.1 Concept of Degeneration

Fig. 3.2 Coordinate System for Axi-syrmnetric shell

 42

Fig. 3.3 Global Displacements in Axi-symmetric Shell

Ty=l

Fig. 3.4 Linear, Parabolic and Cubic Shell Elements

 43

Fig. 3.5 Transformation of Axis System

Fig. 3.6 Co-ordinates for Axi-symmetric Element

 44

4 3

Fig. 3.7 Lamina Principal Material Direction

(i) Element Local Coordinate (r’, z\ 0’), (ii) Material (Layer orientationyCoordinate (1,2, 3)
Fig. 3.8 Coordinate Systems of Laminated Fiber Material
 45

GO
Radial Displacement (in x 10 3)
ho

• Programe
—L

■ Ahmed
O

0.8 1.2
O

Height (in)

Fig. 3.9 Comparison of Program Result with Ahmed’s Result

Table 3.1 Gaussian Quadarature Sampling Points and Its Weights

n Sampling Point Weights

1 0 2
2 + 0.57735 1
- 0.57735 1
3 + 0.77459 0.55555
0 0.88888
- 0.77459 0.55555
 46

4 ▲

c) Conical shell

Fig. 3.10 Axi-symmetric Shells and Its Dimensional Notions