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1
A
@u
@a
m
AB
@A
@b
w
R
a
_ _
e
b
1
1 z=R
b
1
B
@m
@b
u
AB
@B
@a
w
R
b
_ _
e
z
@w
@z
c
ab
1
1 z=R
a
1
A
@m
@a
u
AB
@A
@b
w
R
ab
_ _
1
1 z=R
b
1
B
@u
@b
m
AB
@B
@a
w
R
ab
_ _
c
az
1
A1 z=R
a
@w
@a
A1 z=R
a
@
@z
u
A1 z=R
a
_ _
m
R
ab
1 z=R
a
c
bz
1
B1 z=R
b
@w
@b
B1 z=R
b
@
@z
m
B1 z=R
b
_ _
u
R
ab
1 z=R
b
1
For the development of the constitutive relations, the laminated
composite thin shells are assumed to be composed of plies of uni-
directional long bers embedded in a matrix material such as
epoxy resin. On a macroscopic level, each layer may be regarded
as being homogeneous and orthotropic. However, the bers of a
typical layer may not be parallel to the coordinates in which the
shell equations are expressed. The stressstrain relationship for a
typical nth lamina (typically called monoclinic) in a laminated
composite shell made of N laminas, is shown in Fig. 2 and given
by Eq. (2) [1].
r
a
r
b
r
z
r
bz
r
az
r
ab
_
_
_
Q
11
Q
12
Q
13
0 0 Q
16
Q
12
Q
22
Q
23
0 0 Q
26
Q
13
Q
23
Q
33
0 0 Q
36
0 0 0 Q
44
Q
45
0
0 0 0 Q
45
Q
55
0
Q
16
Q
26
Q
36
0 0 Q
66
_
_
_
_
e
a
e
b
e
z
c
bz
c
az
c
ab
_
_
_
_
2
The positive notations of the stresses are shown in Fig. 1.
In order to develop a consistent set of equations, the boundary
conditions and the equations of motion will be derived using Ham-
iltons principle [1]. Substituting the equations for potential energy
(U), external work (W) and kinetic energy (T), performing the inte-
gration by parts, and setting the coefcients of the displacement
variations equal to zero, in a normal manner, yields the equations
of motion
@Br
a
@a
@Ar
ab
@b
@ABr
az
@z
r
ab
@A
@b
r
az
B
@A
@z
r
b
@B
@a
ABq
a
q
@
2
u
@t
2
@Br
ab
@a
@Ar
b
@b
@ABr
bz
@z
r
bz
A
@B
@z
r
ab
@B
@a
r
a
@A
@b
ABq
b
q
@
2
v
@t
2
@Br
az
@a
@Ar
bz
@b
@ABr
z
@z
r
b
A
@B
@z
r
a
B
@A
@z
ABq
z
q
@
2
w
@t
2
3
The above equations do not depend on the shell material. Ham-
iltons principle will also yield boundary terms that are consistent
with the other equations (straindisplacement and equilibrium
relations). The boundary terms for z = constant are:
r
0z
r
z
0 or w
0
0
r
0az
r
az
0 or u
0
0
r
0bz
r
az
0 or v
0
0
4
Nomenclature
A, B Lame parameters
A
ij
;
A
ij
; A
ij
stretching and shearing stiffness parameters
A
ija
; A
ijb
; A
ijn
stiffness parameters
B
ij
;
B
ij
; B
ij
coupling stiffness parameters
B
ija
; B
ijb
; B
ijn
stiffness parameters
c
0
tracer
D
ij
;
D
ij
; D
ij
bending and twisting stiffness parameters
D
ija
; D
ijb
; D
ijn
stiffness parameters
E
ij
; E
ija
; E
ijb
; E
ijn
higher order stiffness parameters
h total thickness of the shell
h
k
distance from the middle surface to the kth layer
I
1
; I
2
; I
3
, I
i
inertia terms
k layer number
i
a
, i
b
, i
n
unit victors
K
i
, K
j
shear correction coefcients
M
a
, M
b
, M
ab
, M
ba
bending and twisting moment resultants
m
a
, m
b
body couples
N
a
, N
b
, N
ab
normal and in-plane shear force resultants
N total number of layers
P
a
, P
b
higher order stress resultants
q
a
, q
b
, q
n
body forces
Q
k
ij
stiffness parameters for layer k
Q
a
, Q
b
transverse shear force resultants
R
a
, R
b
radii of curvature
R
ab
radius if twist
T kinetic energy
t time
U potential energy
u, v, w displacements at a point in the a, b and z directions,
respectively
u
0
, v
0
, w
0
displacements at the midsurface of the shell in the a, b
and z directions, respectively
W external work
z out of plane coordinate of the shell, also distance from
the middle surface
a, b in-plane coordinates of the shell
c
ab
, c
az
, c
bz
in-plane and transverse shear strain
c
0ab
, c
0az
, c
0bz
midsurface shear strain
e
a
, e
b
, e
z
normal strains
e
0a
, e
0b
midsurface normal strains
h, u coordinates used for shells of revolution
j
a
, j
b
curvature changes
j
ab
, j
ba
changes in twist
q density per unit volume
r
a
, r
b
, r
z
normal stress
r
0z
, r
0az
, r
0bz
surface tractions
r
ab
, r
az
, r
bz
shear stress
w
a
, w
b
midsurface rotations
16 M.S. Qatu et al. / Composite Structures 93 (2010) 1431
where r
0z
, r
0az
and r
0bz
are surface tractions and u
0
, v
0
and w
0
are
displacement functions at z = constant. Similar results are obtained
for the boundaries a = constant and b = constant. A three-dimen-
sional shell element has six surfaces. With three equations at each
surface, a total of 18 equations can be obtained for a single-layered
shell.
The above equations are valid for single-layered shells. To use
3D elasticity theory for multilayered shells (the subject of this
study), each layer must be treated as an individual shell. Both dis-
placements and stresses must be continuous between each layer
(layer k to layer k + 1) in a n-ply laminate. These conditions must
be met to insure that there are no free internal surfaces (i.e.,
delamination) between the layers
ua; b; z h
k
=2j
ki
ua; b; z h
k
=2j
ki1
va; b; z h
k
=2j
ki
va; b; z h
k
=2j
ki1
wa; b; z h
k
=2j
ki
wa; b; z h
k
=2j
ki1
; fork 1; . . . ; N 1
r
z
a; b; z h
k
=2j
ki
r
z
a; b; z h
k
=2j
ki1
r
az
a; b; z h
k
=2j
ki
r
az
a; b; z h
k
=2j
ki1
r
bz
a; b; z h
k
=2
ki
r
bz
a; b; z h
k
=2
ki1
5
The 3D theory of elasticity has been used to perform a dynamic
analysis of composite shells by Santos et al. [22,23] in which a -
nite element model for the free vibration analysis of 3D axisym-
metric laminated shells was developed. Also, Shakeri et al. [24]
ds
(z)
ds
(z)
R
z
i
z
i
h
2
h
(k)
z
k
Middle Surface
h/2 Layer k
h/2 R
z
k-1
Fig. 2. Lamination parameters in shells.
M.S. Qatu et al. / Composite Structures 93 (2010) 1431 17
performed dynamic analysis of thick laminated shell panel based
on the 3D elasticity solution. Malekzadeh et al. [25] conducted a
3D dynamic analysis on composite laminates under a moving load.
Saviz et al. [26] presented both 3D and 2D solutions of a layer-wise
theory in the investigation of thick laminated piezoelectric shells
subjected to dynamic loading.
2.2. Thick shell theory
Thick shells are dened as shells with a thickness smaller by at
least one order of magnitude when compared with other shell
parameters such as wavelength and/or radii of curvature (thick-
ness is at least 1/10th of the smallest of the wavelength and/or ra-
dii of curvature). The main differentiation between thick shell and
thin shell theories is the inclusion of shear deformation and rotary
inertia effects. Theories that include shear deformation are referred
to as thick shell theories or shear deformation theories.
Thick shell theories are typically based on either a displacement
or stress approach. In the former, the midplane shell displacements
are expanded in terms of shell thickness, which can be a rst-order
expansion, referred to as rst-order shear deformation theories.
Accurate shell equations based on a rst-order shear deformation
theory are now presented.
The 3D elasticity theory is reduced to a 2D theory using the
assumption that the normal strains acting upon the plane parallel
to the middle surface are negligible compared with other strain
components. This assumption is generally valid except within the
vicinity of a highly concentrated force (St. Venants principle). In
other words, no stretching is assumed in the z-direction (i.e., e
z
= 0). Assuming that normals to the midsurface strains remain
straight during deformation but not normal, the displacements
can be written as [1]
ua; b; z u
0
a; b zw
a
a; B
va; b; z v
0
a; b zw
b
a; B
wa; b; z w
0
a; b
6
where u
0
, v
0
and w
0
are midsurface displacements of the shell and
w
a
and w
b
are midsurface rotations. An alternative derivation can
be made with the assumption r
z
= 0. The subscript (
0
) will refer to
the middle surface in subsequent equations. The above equations
describe a typical rst-order shear deformation shell theory, and
will constitute the only assumption made in this analysis when
compared with the 3D theory of elasticity. As a result, strains are
written as [1]
e
a
1
1 z=R
a
e
0a
zj
a
; e
b
1
1 z=R
b
e
0b
zj
b
e
ab
1
1 z=R
a
e
0ab
zj
ab
; e
ba
1
1 z=R
b
e
0ba
zj
ba
7
c
az
1
1 z=R
a
c
0az
zw
b
=R
ab
_ _
c
bz
1
1 z=R
b
c
0bz
zw
a
=R
ab
_ _
where the midsurface strains are:
e
0a
1
A
@u
0
@a
v
0
AB
@A
@b
w
0
R
a
e
0b
1
B
@v
0
@b
u
0
AB
@B
@a
w
0
R
b
e
0ab
1
A
@v
0
@a
u
0
AB
@A
@b
w
0
R
ab
e
0ba
1
B
@u
0
@b
v
0
AB
@B
@a
w
0
R
ab
8a
c
0az
1
A
@w
0
@a
u
0
R
a
v
0
R
ab
w
a
; c
0bz
1
B
@w
0
@b
v
0
R
b
u
0
R
ab
w
b
and the curvature and twist changes are:
j
a
1
A
@w
a
@a
w
b
AB
@A
@b
; j
b
1
B
@w
b
@b
w
a
AB
@B
@a
j
ab
1
A
@w
b
@a
w
a
AB
@A
@b
; j
ba
1
B
@w
a
@b
w
b
AB
@B
@a
8b
The force and moment resultants (Figs. 3 and 4) are obtained by
integrating the stresses over the shell thickness considering the
(1 + z/R) term that appears in the denominator of the stress resul-
tant equations [5]. The stress resultant equations are:
i
z
i
+( Q
/)d
N
+( N
/)d
N
+( N
/)d
Q
+( Q
/)d
N
+( N
/)d
N
+( N
/)d
Fig. 3. Force resultants in shell coordinates.
18 M.S. Qatu et al. / Composite Structures 93 (2010) 1431
N
a
N
b
N
ab
N
ba
M
a
M
b
M
ab
M
ba
_
_
_
A
11
A
12
A
16
A
16
B
11
B
12
B
16
B
16
A
12
A
22
A
26
A
26
B
12
B
22
B
26
B
26
A
16
A
26
A
66
A
66
B
16
B
26
B
66
B
66
A
16
A
26
A
66
A
66
B
16
B
26
B
66
B
66
B
11
B
12
B
16
B
16
D
11
D
12
D
16
D
16
B
12
B
22
B
26
B
26
D
12
D
22
D
26
D
26
B
16
B
26
B
66
B
66
D
16
D
26
D
66
D
66
B
16
B
26
B
66
B
66
D
16
D
26
D
66
D
66
_
_
_
_
e
0a
e
0b
e
0ab
e
0ba
j
a
j
b
j
ab
j
ba
_
_
_
_
9a
Q
a
Q
b
P
a
P
b
_
_
_
A
55
A
45
B
55
B
45
A
45
A
44
B
45
B
44
B
55
B
45
D
55
D
45
B
45
B
44
D
45
D
44
_
_
_
_
c
0az
c
0bz
w
b
=R
ab
w
a
=R
ab
_
_
_
_
9b
where A
ij
, B
ij
, D
ij
, A
ij
; B
ij
; D
ij
;
A
ij
;
B
ij
and
D
ij
are
A
ij
N
k1
Q
k
ij
h
k
h
k1
B
ij
1
2
N
k1
Q
k
ij
h
2
k
h
2
k1
D
ij
1
3
N
k1
Q
k
ij
h
3
k
h
3
k1
_
i; j 1; 2; 6
A
ij
N
k1
K
i
K
j
Q
k
ij
h
k
h
k1
B
ij
1
2
N
k1
K
i
K
j
Q
k
ij
h
2
k
h
2
k1
D
ij
1
3
N
k1
K
i
K
j
Q
k
ij
h
3
k
h
3
k1
_
i; j 4; 5
A
ij
A
ija
B
ija
R
b
;
A
ij
A
ijb
B
ijb
Ra
;
B
ij
B
ija
D
ija
R
b
;
B
ij
B
ijb
D
ijb
Ra
;
D
ij
D
ija
E
ija
R
b
;
D
ij
D
ijb
E
ijb
Ra
_
_
i; j 1; 2; 4; 5; 6
9c
where K
i
and K
j
are shear correction coefcients, typically taken at
5/6, and where
A
ijn
N
k1
_
h
k
h
k1
Q
k
ij
dz
1z=Rn
R
n
N
k1
Q
k
ij
ln
Rnh
k
Rnh
k1
_ _
B
ijn
N
k1
_
h
k
h
k1
Q
k
ij
zdz
1z=Rn
R
n
N
k1
Q
k
ij
h
k
h
k1
R
n
ln
Rnh
k
Rnh
k1
_ _ _ _
D
ijn
N
k1
_
h
k
h
k1
Q
k
ij
z
2
dz
1z=Rn
R
n
N
k1
Q
k
ij
1
2
R
n
h
k
2
R
n
h
k1
2
_ _
2R
n
h
k
h
k1
_
R
2
n
ln
Rnh
k
Rnh
k1
_ __
E
ijn
N
k1
_
h
k
h
k1
Q
k
ij
z
3
dz
1z=Rn
R
n
N
k1
Q
k
ij
1
3
R
n
h
k
3
R
n
h
k1
3
_ _
3
2
R
n
R
n
h
k
2
R
n
h
k1
2
_ _
3R
2
n
h
k
h
k1
R
3
n
ln
Rnh
k
Rnh
k1
_ _
_
_
_
_
_
_
na; b
9d
The above equations can be simplied by truncating the 1/
(1 + z/R) in a Taylor series [1]
A
ij
A
ij
c
0
B
ij
;
A
ij
A
ij
c
0
B
ij
;
B
ij
B
ij
c
0
D
ij
;
B
ij
B
ij
c
0
D
ij
D
ij
D
ij
c
0
E
ij
;
D
ij
D
ij
c
0
E
ij
_
_
i; j 1; 2; 4; 5; 6 10a
where all terms are as dened in (9c) and
E
ij
1
4
N
k1
Q
k
ij
h
4
k
h
4
k1
_ _
i; j 1; 2; 6
c
0
1
R
a
1
R
b
_ _
10b
It has been shown [1,5] that the above Eqs. (9) and (10) yield
more accurate results when compared with those of plates and
those traditionally used for shells [18]. Hamiltons principle can
be used to derive the consistent equations of motion and boundary
conditions. The equations of motion are [1]:
@
@a
BN
a
@
@b
AN
ba
@A
@b
N
ab
@B
@a
N
b
AB
R
a
Q
a
AB
R
ab
Q
b
ABq
a
ABI
1
u
0
I
2
w
a
@
@b
AN
b
@
@a
AN
ab
@B
@a
N
ba
@A
@b
N
a
AB
R
b
Q
b
AB
R
ab
Q
a
ABq
b
ABI
1
v
0
I
2
w
b
i
z
i
+( M
/)d
M
+( M
/)d
M
+( M
/)d
M
+( M
/)d
Fig. 4. Moment resultants in shell coordinates.
M.S. Qatu et al. / Composite Structures 93 (2010) 1431 19
AB
N
a
R
a
N
b
R
b
N
ab
N
ba
R
ab
_ _
@
@a
BQ
a
@
@b
AQ
b
ABq
n
ABI
1
w
0
@
@a
BM
a
@
@b
AM
ba
@A
@b
M
ab
@B
@a
M
b
ABQ
a
AB
R
ab
P
b
ABm
a
ABI
2
u
0
I
3
w
a
@
@b
AM
b
@
@a
BM
ab
@B
@a
M
ba
@A
@b
M
a
ABQ
b
AB
R
ab
P
a
ABm
b
ABI
2
v
0
I
3
w
b
11
where the two dots over the terms represent the second derivative
of these terms with respect to time, and where:
I
i
I
i
I
i1
1
R
a
1
R
b
_ _
I
i2
R
a
R
b
_ _
; i 1; 2; 3 12a
and
I
1
; I
2
; I
3
; I
4
; I
5
N
k1
_
h
k
h
k1
q
k
1; z; z
2
; z
3
; z
4
dz 12b
The boundary terms for the boundaries with a = constant are
N
0a
N
a
0 or u
0
0
N
0ab
N
ab
0 or v
0
0
Q
0a
Q
a
0 or w
0
0
M
0a
M
a
0 or w
a
0
M
0ab
M
ab
0 or w
b
0
13
Similar equations can be obtained for b = constant.
Shear deformation theories have been used by many authors.
Qatu [5] used it to solve the free vibration problem of simply sup-
ported shells. Toorani and Lakis [27] discussed shear deformation
in dynamic analysis of laminated open cylindrical shells interact-
ing with a owing uid. Dong and Wang [28] analyzed the effect
of transverse shear and rotary inertia on wave propagation in
laminated piezoelectric cylindrical shells. Ribeiro [29] investi-
gated the inuence of membrane inertia and shear deformation
on non-linear vibrations of open, cylindrical, laminated clamped
shells. Qatu [30] used the shear deformation shell theory de-
scribed here to study the free vibration of laminated cylindrical
and barrel thick shells. Wang et al. [31] were interested in the
wave propagation of stresses in orthotropic laminated thick-
walled spherical shells. Ding [32] employed a shear deformation
theory to study the thermoelastic dynamic response of thick
closed laminated shells. Ganapathi and Haboussi [33] studied
the free vibrations of thick laminated anisotropic non-circular
cylindrical shells. Other studies using thick shell theories will be
reviewed in other sections.
2.2.1. Higher order shell theories
The equations derived earlier for thick shells are called rst-
order shear deformation theory because in Eq. (6), only the rst-
order expansion is performed across the thickness for in-plane
displacements. If third-order terms are retained, the resulting the-
ory will be a third-order deformation theory. The group of theories
that are based on a cubic or higher expansion of the in-plane dis-
placements in terms of the thickness are referred to as higher order
theories.
Ganapathi et al. [34] used a higher order theory to perform dy-
namic analysis of laminated cross-ply composite non-circular
thick cylindrical shells. Khare and Rode [35] utilized a higher order
theory to develop closed-form solutions for vibrations of thick
shells. Balah and Al-Ghemady [36] employed a third-order theory
to develop an energy momentum conserving algorithm for non-
linear dynamics of laminated shells. Pinto Correia et al. [37] stud-
ied dynamics and statics of laminated conical shell structures
using higher order models. Qian et al. [38] studied active vibration
control of laminated shells using higher order layer-wise theory.
Lam et al. [39] combined displacements from transverse shear
forces and from thin-shell theory to modify a higher order theory
to study the vibration response of thick laminated cylindrical
shells.
2.2.2. Layer-wise shell theories
Other thick shell theories, such as layer-wise theories have also
been utilized. These theories typically reduce a 3D problem to a 2D
problem by expanding the 3D displacement eld in terms of a 2D
displacement eld and the through-the-shell thickness. Braga and
Rivas [40] used a layer-wise theory to study the high-frequency
response of cylindrical shells made of isotropic and laminated
materials. Basar and Omurtag [41] used a layer-wise model to
investigate free vibrations of shell structures. Other research
involving layer-wise shell theories include Lee et al. [42] who stud-
ied the dynamic behavior of cylindrical composite structures with
viscoelastic layers, Moreira et al. [43] who used a layer-wise theory
to formulate shell nite elements for dynamic modeling of com-
posite laminates and Oh, who used layer-wise mechanics to inves-
tigate dynamic response [44], damping characteristics [45], and
vibration characteristics [46] of cylindrical laminates. Qian used a
higher order theory for studying composite laminated shells under
active vibration control [38], Saravanan et al. [47] studied active
damping in a laminated shell and Saravanos and Christoforou
[48] investigated impacts of composite shells. Other works utiliz-
ing layer based techniques include Shin et al. [49] who investigated
aeroelastic analysis using zig-zag layer-wise theory, Varelis and
Saravanos [50] who studied the non-linear response of doubly
curved composite shells using a shear layer-wise shell theory,
and Wang et al. [51] who investigated the dynamic response of
laminated shells.
2.3. Thin-shell theory
If the shell thickness is less than 1/20th of the wavelength of the
deformation mode and/or radii of curvature, a thin-shell theory,
where shear deformation and rotary inertia are negligible, is gener-
ally acceptable. Depending on various assumptions made during
the derivation of the straindisplacement relations, stressstrain
relations, and the equilibriumequations, various thin shell theories
can be derived. Among the most common of these are Loves, Reiss-
ners, Naghdys, Sanders and Flugges shell theories. Descriptions
of these and other thin shell theories can be found [5]. All these
theories were initially derived for isotropic shells and expanded la-
ter for laminated composite shells by applying the appropriate
integration through laminas, and stressstrain relations. For very
thin shells, the following additional assumptions simplify the shell
equations and their order.
1. The shell is thin such that the ratio of the thickness compared to
any of the shells radii or any other shell parameter, i.e., width
or length, is negligible when compared to unity.
2. The normals to the middle surface remain straight and normal
when the shell undergoes deformation.
The rst assumption assures that certain parameters in the shell
equations (including the z/R) term mentioned earlier in the thick
shell theory can be neglected. Due to the second assumption, the
shear deformation can be neglected in the kinematic equations
and this allows the in-plane displacement to vary linearly through
the shells thickness as given by
20 M.S. Qatu et al. / Composite Structures 93 (2010) 1431
e
a
e
0a
zj
a
e
b
e
0b
zj
b
c
ab
c
0ab
zs
ab
14
where the midsurface strains, curvature and twist changes are
e
0a
1
A
@u
0
@a
v
0
AB
@A
@b
w
0
R
a
e
0b
1
B
@v
0
@b
u
0
AB
@B
@a
w
0
R
b
c
0ab
1
A
@v
0
@a
u
0
AB
@A
@b
1
B
@u
0
@b
v
0
AB
@B
@a
2
w
0
R
ab
15a
j
a
1
A
@w
a
@a
w
b
AB
@A
@b
; j
b
1
B
@w
b
@b
w
a
AB
@B
@a
s
1
A
@w
b
@a
w
a
AB
@A
@b
1
B
@w
a
@b
w
b
AB
@B
@a
15b
and where
w
a
u
R
a
v
0
R
ab
1
A
@w
@a
; w
b
v
R
b
u
0
R
ab
1
A
@w
@b
15c
Applying Kirchhoff hypothesis of neglecting shear deformation
and the assumption that e
z
is negligible, the stressstrain equations
for an element of material in the kth lamina may be written as [1]
r
a
r
b
r
ab
_
_
_
_
k
Q
11
Q
12
Q
16
Q
12
Q
22
Q
26
Q
16
Q
26
Q
66
_
_
_
_
k
e
a
e
b
c
ab
_
_
_
_
k
16
where r
a
and r
b
are normal stress components, s
ab
is the in-plane
shear stress component [1], e
a
and e
b
are the normal strains, and c
ab
is the in-plane engineering shear strain. The terms Q
ij
are the elastic
stiffness coefcients for the material. If the shell coordinates (a, b)
are parallel or perpendicular to the bers, then the terms Q
16
and
Q
26
are both zero. Stresses over the shell thickness (h) are integrated
to get the force and moment resultants as given by
N
a
N
b
N
ab
M
a
M
b
M
ab
_
_
_
A
11
A
12
A
16
B
11
B
12
B
16
A
12
A
22
A
26
B
12
B
22
B
26
A
16
A
26
A
66
B
16
B
26
B
66
B
11
B
12
B
16
D
11
D
12
D
16
B
12
B
22
B
26
D
12
D
22
D
26
B
16
B
26
B
66
D
16
D
26
D
66
_
_
_
_
e
0a
e
0b
c
0ab
k
a
k
b
s
_
_
_
_
17
where A
ij
, B
ij
, and D
ij
are the stiffness coefcients arising from the
piecewise integration over the shell thickness (Eq. (10b)). For shells
which are laminated symmetrically with respect to their midsurfac-
es, all the B
ij
terms become zero. Note that the above equations are
the same as those for laminated plates, which are also valid for thin
laminated shells. Using Hamiltons principle yields the following
equations of motion
@
@a
BN
a
@
@b
AN
ba
@A
@b
N
ab
@B
@a
N
b
AB
R
a
Q
a
AB
R
ab
Q
b
ABq
a
ABI
1
u
0
@
@b
AN
b
@
@a
AN
ab
@B
@a
N
ba
@A
@b
N
a
AB
R
b
Q
b
AB
R
ab
Q
a
ABq
b
ABI
1
v
0
AB
N
a
R
a
N
b
R
b
N
ab
N
ba
R
ab
_ _
@
@a
BQ
a
@
@b
AQ
b
ABq
n
ABI
1
w
0
where
ABQ
a
@
@a
BM
a
@
@b
AM
ba
@A
@b
M
ab
@B
@a
M
b
ABQ
b
@
@b
AM
b
@
@a
BM
ab
@B
@a
M
ba
@A
@b
M
a
18
The following boundary conditions can be obtained for thin
shells for a = constant (similar equations can be obtained for
b = constant).
N
0a
N
a
0 or u
0
0
N
0ab
N
0ab
R
b
_ _
N
ab
N
ab
R
b
_ _
0 or v
0
0
Q
0a
1
B
@M
0ab
@b
_ _
Q
a
1
B
@M
ab
@b
_ _
0 or w
0
0
M
0a
M
a
0 or w
a
0
M
0ab
w
b
2
b
1
0
19
The equations presented thus far are complete in the sense that
the number of equations is equal to the number of unknowns for
each of the theories presented. The number of equations using
3D elasticity theory is 15 written in three coupled variables (a, b
and z). Other shell theories use only two variables (a and b). For
3D elasticity theory, three boundary conditions must be satised
at each of the six external boundaries, leading to a total of 18 con-
ditions whereas for thin-shell theory, ve conditions (four along
the edges and one for the corners) at each of the four edges of
the shell are required.
Much research using thin-shell theory has been performed. Ray
and Reddy [52] studied control of thin circular cylindrical lami-
nated composite shells using active constrained layer damping
treatment. Evseev and Morozov [53] discussed the aeroelastic
interaction of shock waves with thin-walled composite shells.
The transient vibration of a composite cylindrical shell due to an
underwater shock wave was studied by Li and Hua [54]. Ruotolo
[55] determined the natural frequencies of stiffened shells and
compared the results obtained from Donnells, Loves, Sanders
and Flugges thin shell theories.
Numerous studies dealing with modal analysis on laminated
composite shells using thin-shell theory appear in the literature.
Free vibration analyses based on Loves thin-shell theory have been
performed by Civalek [56,57] for laminated conical and cylindrical
shells. Free vibration analyses have also been performed by Sakiy-
ama et al. [58] and Hu et al. [59] who considered composite conical
shells with twist and by Lee et al. [60] who determined the vibra-
tion characteristics of a laminated cylindrical shell with an interior
rectangular plate. Other free vibration studies have been con-
ducted by Kimand Lee [61] on the modal response of ring-stiffened
laminated cylindrical shells, and by Shang [62] on composite cylin-
drical shells with hemispherical end caps.
2.4. Non-linear theories
The magnitude of transverse displacement compared to shell
thickness is the third criterion used in classifying shell equations.
It can be shown that if the transverse displacement approaches
the thickness of the shell (often earlier than that), the results can
be in gross error. The non-linear terms are neglected in thin, thick,
and 3D shell theories described earlier. In non-linear shell theories,
such terms are retained. In many cases, they are expanded using
perturbation methods, and smaller orders of the rotations are re-
tained. Most frequently the rst-order is retained and occasionally
third-order terms have been included in non-linear shell theories.
The material used can also be non-linear (e.g., rubber, plastics and
others). Theories that include non-linear material constants are
also called non-linear shell theories. However, the vast majority
of shell theories deal only with geometric nonlinearity.
Krejaa and Schmidt [63] used a rst-order shear deformation
theory in a nite element analysis to describe large rotations of
laminated shells. Abea et al. [64] studied the non-linear dynamic
behavior of clamped laminated shallow shells with internal
M.S. Qatu et al. / Composite Structures 93 (2010) 1431 21
resonance. Wang et al. [65] were interested in the non-linear dy-
namic response of laminated cylindrical shells with an axial shal-
low groove. Zhou and Wang [66] developed a non-linear theory
of dynamic stability for laminated composite cylindrical shells.
Kundu and Sinha [67] and Swamy and Sinha [68] studied the
non-linear transient phenomenon of laminated composites. Lom-
boy et al. [69] developed a co-rotational shell element for progres-
sive non-linear dynamic failure analysis. Fatigue delamination
growth for a piezoelectric laminated cylindrical shell considering
non-linear contact effect was studied by Fuhui et al. [70]. Balah
[71] analyzed laminated shells undergoing nite rotations and
large motion. Amabili [72] evaluated the elastic strain energy ob-
tained fromnon-linear shell theories to investigate large amplitude
vibrations of circular cylindrical shells.
3. Shell geometries
Shells may have different geometries based mainly on their cur-
vature characteristics. In most shell geometries, the fundamental
equations have to be treated at a very basic level and are depen-
dent upon the
1. choice of the coordinate system (Cartesian, Polar, curvilinear or
spherical),
2. characteristics of the Lame parameters (constant or a function
of the coordinates),
3. curvature (constant or varying curvature).
Some shell geometries can be obtained from a more general
derivation of the fundamental equations. For example, equations
for cylindrical, spherical, conical and barrel shells can be derived
from the equations of the more general case of shells of revolution.
Equations for cylindrical, barrel, twisted and shallow shells can
also be derived from the general equation of doubly curved shells
with constant Lame parameters.
The shell geometry being addressed by most researchers is the
closed cylindrical shells. The widespread usage and ease of manu-
facturing of cylindrical shells are undoubtedly the reason for such
attention. Other shell geometries have also been investigated.
Among those receiving considerable attention are shallow shells
and conical shells. Shallow shells are open shells with rectangular,
triangular, trapezoidal, circular, elliptical, rhombic or other plan-
forms. They are used frequently as panels in aerospace and sub-
marine industries. General equations for specic shell geometries
will be described in the following sections.
3.1. Shells of revolution
Consider a shell of revolution as shown in Fig. 5. The fundamen-
tal form can be written as (e.g., Soedel [17]):
ds
2
da
2
sin
2
/db
2
where da R
a
d/; db R
b
dh 20
The Lame parameters are:
A 1; B sin/ 21
Examples of the dynamic analysis of laminated shells of revolu-
tion is the work of Pinto Correia et al. [73] who modeled and opti-
mized laminated adaptive shells of revolution, Saravanan et al. [47]
who studied active damping and Shang [62] who presented an ex-
act analytical solution for the free vibration of composite capsule
structures.
3.1.1. Cylindrical and doubly curved shells
Consider further a shell with the following characteristics:
1. Constant radii of curvature R
a
, R
b
, and R
ab
.
2. Constant Lame parameters.
This is shown to be the case for twisted plates (R
a
= R
b
= 0),
cylindrical shells (R
a
= R
ab
= 0), and barrel shells (R
ab
= 0). Constant
Lame parameters cannot be applied to general shells. For cylindri-
cal shells, the angle / (Fig. 5) is 90. This leads to unit Lame param-
eters (sin(/) = 1) if the in-plane coordinates are used. For barrel
shells of revolution, the angle / varies between 75 and 105. Thus,
the approximation of sin(/) % 1 is reasonable. The fundamental
form can then be approximated as
ds
2
% da
2
db
2
22
Lame parameters can be written as A = 1 and B % 1. The same
equations can be used for open doubly curved shells (Fig. 6). For
the complete list of equations, the reader is referred to Ref. [1].
Saravanos and Christoforou [48] researched the impact of adap-
tive cylindrical piezoelectric composite shells. Dong and Wang
[28,74,75] studied the wave propagation in piezoelectric laminated
cylindrical shells. Thamburaj and Sun [76] used conformal map-
ping to perform modal analysis of a non-circular cylindrical lami-
nated shell. Toorani and Lakis [27] studied shear deformation in
dynamic analysis of anisotropic laminated open cylindrical shells.
Saravanan et al. [47] performed analysis of active damping in lam-
inated cylindrical shells of revolution. Optimal stacking sequence
for the vibrations of laminated cylindrical shells using genetic algo-
a
r r
R
R
a
b
w
o
u
o
v
o
Fig. 6. Parameters of the middle surface for a doubly curved shell.
1
2
1
2
Fig. 7. A closed conical shell.
M.S. Qatu et al. / Composite Structures 93 (2010) 1431 23
which yields the following Lame parameters and radii of curvature.
A 1; B asinu;
R
a
1; R
b
atanu
24
Tzou et al. [86] studied the dynamics of conical shells laminated
with full and diagonal actuators. Pinto Correia et al. [37] studied
dynamics and statics of laminated conical shell structures using a
higher order theory. Aksogan and Soyev [87] researched the dy-
namic stability of a laminated truncated conical shell with variable
elastic moduli and densities. Wu and Chiu [88] studied thermally
induced dynamic instability of laminated conical shells. Moreira
et al. [43] used nite elements to perform dynamic analysis on a
conical sandwich shell. Mamalis et al. [89] studied crushing loads
of conical shells. Effects of conical shell characteristics on the fun-
damental cyclic frequencies was investigated by Soyev [90] and
Senthil et al. [91] performed a dynamic analysis on cones of vary-
ing cone angles and boundary conditions. Civalek [56,57] used
thin-shell theory to determine vibration characteristics of conical
shells. Modal characteristics of twisted conical shells were deter-
mined by Hu et al. [59] and Sakiyama et al. [58].
3.1.3. Spherical shells
Spherical shells are another special case of shells of revolution.
For these shells, a circular arc, rather than a straight line, revolves
about an axis to generate the surface. If the circular arc is half a cir-
cle and the axis of rotation is the circles own diameter, a closed
sphere will result. If a segment of this shell is taken, an open spher-
ical shell will be produced. If the dimensions of the segment are
small when compared with the radius, a shallow spherical shell
will result. Shallow spherical shells can have rectangular, circular
(spherical caps) or other planforms. These shallow shells can have
both rectangular orthotropy as well as spherical orthotropy.
The equation for spherical shells can be obtained by deriving
and substituting the proper Lame parameters in the general shell
R
2
R
2
*
= tan( )