Structural Vibration

Guoyong Jin Tiangui Ye

• •

Zhu Su

Structural Vibration
A Uniform Accurate Solution for Laminated
Beams, Plates and Shells with General
Boundary Conditions

123
Guoyong Jin Zhu Su
College of Power and Energy Engineering College of Power and Energy Engineering
Harbin Engineering University Harbin Engineering University
Harbin Harbin
China China

Tiangui Ye
College of Power and Energy Engineering
Harbin Engineering University
Harbin
China

ISBN 978-3-662-46363-5 ISBN 978-3-662-46364-2 (eBook)

DOI 10.1007/978-3-662-46364-2
Jointly published with Science Press, Beijing
ISBN: 978-7-03-043594-1 Science Press, Beijing

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Preface

In practical applications that range from outer space to the deep oceans, engineering
structures such as aircraft, rockets, automobiles, turbines, architectures, vessels, and
submarines often work in complex environments and can be subjected to various
dynamic loads, which can lead to the vibratory behaviors of the structures. In all
these applications, the engineering structures may fail and collapse because of
material fatigue resulting from vibrations. Many calamitous incidents have shown
the destructive nature of vibrations. For instance, the main span of the famous
Tacoma Narrows Bridge suffered severe forced resonance and collapsed in 1940
due to the fact that the wind provided an external periodic frequency that matched
one of the natural structural frequencies of the bridge. Furthermore, noise generated
by vibrations always causes annoyance, discomfort, and loss of efficiency to human
beings. Therefore, it is of particular importance to understand the structural
vibrations and reduce them through proper design to ensure a reliable, safe, and
lasting structural performance. An important step in the vibration design of an
engineering structure is the evaluation of its vibration modal characteristics, such as
natural frequencies and mode shapes. This modal information plays a key role in
the design and vibration suppression of the structure when subjected to dynamics
excitations. In engineering applications, a variety of possible boundary restraining
cases may be encountered for a structure. In recent decades, the ability of predicting
the vibration characteristics of structures with general boundary conditions is of
prime interest to engineers and designers and is the mutual concern of researchers in
this field as well.
Beams, plates, and shells are basic structural elements of most engineering
structures and machines. A thorough understanding of their vibration characteristics
is of great significance for engineers to predict the vibrations of the whole structures
and design suitable structures with low vibration and noise radiation characteristics.
There exists many books, papers, and research reports on the vibration analysis of
beams, plates, and shells. In 1969, Prof. A.W. Leissa published the excellent
monograph Vibration of Plates, in which theoretical and experimental results of
approximately 500 research papers and reports were presented. And in 1973, he
organized and summarized approximately 1,000 references in the field of shell

v
vi Preface

vibrations and published another famous monograph entitled Vibration of Shells.

New survey shows that the literature on the vibrations of beams, plates, and shells
has expanded rapidly since then. Based on the Google Scholar search tool, the
numbers of article related to the following keywords from 1973 up to 2014 are:
315,000 items for “vibration & beam,” 416,000 items for “vibration & plates,” and
101,000 items for “vibration & shell.” This clearly reveals the importance of the
vibration analysis of beams, plates, and shells.
Undeniably, significant advances in the vibration analysis of beams, plates, and
shells have been achieved over the past four decades. Many accurate and efficient
computational methods have also been developed, such as the Ritz method, dif-
ferential quadrature method (DQM), Galerkin method, wave propagation approach,
multiquadric radial basis function method (MRBFM), meshless method, finite
element method (FEM), discrete singular convolution approach (DSC), etc.
Furthermore, a large variety of classical and modern theories have been proposed
by researchers, such as the classical structure theories (CSTs), the first-order shear
deformation theories (FSDTs), and the higher order shear deformation theories
(HSDTs).
However, after the review of the literature in this subject, it appears that most
of the books deal with a technique that is only suitable for a particular type of
classical boundary conditions (i.e., simply supported supports, clamped boundaries,
free edges, shear-diaphragm restrains and their combinations), which typically
requires constant modifications of the solution procedures and corresponding
computation codes to adapt to different boundary cases. This will result in very
tedious calculations and be easily inundated with various boundary conditions in
practical applications since the boundary conditions of a beam, plate, or shell may
not always be classical in nature, a variety of possible boundary restraining cases,
including classical boundary conditions, elastic restraints, and their combinations
may be encountered. In addition, with the development of new industries and
modern processes, laminated beams, plates, and shells composed of composite
laminas are extensively used in many fields of modern engineering practices such as
space vehicles, civil constructions, and deep-sea engineering equipments to satisfy
special functional requirements due to their outstanding bending rigidity, high
strength-weight and stiffness-weight ratios, excellent vibration characteristics, and
good fatigue properties. The vibration results of laminated beams, plates, and shells
are far from complete. It is necessary and of great significance to develop a unified,
efficient, and accurate method which is capable of universally dealing with lami-
nated beams, plates, and shells with general boundary conditions. Furthermore, a
systematic, comprehensive, and up-to-date monograph which contains vibration
results of isotropic and laminated beams, plates, and shells with various lamination
schemes and general boundary conditions would be highly desirable and useful for
the senior undergraduate and postgraduate students, teachers, engineers, and indi-
vidual researchers in this field.
In view of these apparent voids, the present monograph presents an endeavor to
complement the vibration analysis of laminated beams, plates, and shells. The title,
Preface vii

Structural Vibration: A Uniform Accurate Solution for Laminated Beams, Plates

and Shells with General Boundary Conditions, illustrates the main aim of this book,
namely:
(1) To develop an accurate semi-analytical method which is capable of dealing with
the vibrations of laminated beams, plates, and shells with arbitrary lamination
schemes and general boundary conditions including classical boundaries, elastic
supports and their combinations, aiming to provide a unified and reasonable
accurate alternative to other analytical and numerical techniques.
(2) To provide a summary of known results of laminated beams, plates, and shells
with various lamination schemes and general boundary conditions, which may
serve as benchmark solutions for the future research in this field.
The book is organized into eight chapters. Fundamental equations of laminated
shells in the framework of classical shell theory and shear deformation shell theory
are derived in detail, including the kinematic relations, stress–strain relations and
stress resultants, energy functions, governing equations, and boundary conditions.
The corresponding fundamental equations of laminated beams and plates are spe-
cialized from the shell ones. Following the fundamental equations, a unified
modified Fourier series method is developed. Then both strong and weak form
solution procedures are realized and established by combining the fundamental
equations and the modified Fourier series method. Finally, numerous vibration
results are presented for isotropic, orthotropic, and laminated beams, plates, and
shells with various geometry and material parameters, different lamination schemes
and different boundary conditions including the classical boundaries, elastic ones,
and their combinations. Summarizing, the work is arranged as follows:
The theories of linear vibration of laminated beams, plates, and shells are well
established. In this regard, Chap. 1 introduces the fundamental equations of lami-
nated beams, plates, and shells in the framework of classical shell theory and the
first-order shear deformation shell theory without proofs.
Chapter 2 presents a modified Fourier series method which is capable of dealing
with vibrations of laminated beams, plates, and shells with general boundary
conditions. In the modified Fourier series method, each displacement of a laminated
beam, plate, or shell, regardless of boundary conditions, is invariantly expressed as
a new form of trigonometric series expansions in which several supplementary
terms are introduced to ensure and accelerate the convergence of the series
expansion. Then one can seek the solutions either in strong form solution procedure
or the weak form one. These two solution procedures are fully illustrated in this
chapter.
Chapters 3–8 deal with laminated beams, plates, and cylindrical, conical,
spherical and shallow shells, respectively. In each chapter, corresponding funda-
mental equations in the framework of classical and shear deformation theories for
the general dynamic analysis are developed first, which can be useful for potential
readers. Following the fundamental equations, numerous free vibration results are
presented for various configurations including different boundary conditions, lam-
inated sequences, and geometry and material properties.
viii Preface

Finally, the authors would like to record their appreciation to the National
Natural Science Foundation of China (Grant Nos. 51175098, 51279035, and
10802024) and the Fundamental Research Funds for the Central Universities of
China (No. HEUCFQ1401) for partially funding this work.
Contents

1 Fundamental Equations of Laminated Beams,

Plates and Shells. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..... 1
1.1 Three-Dimensional Elasticity Theory in Curvilinear
Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Fundamental Equations of Thin Laminated Shells . . . . . . . . . . 3
1.2.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.2 Stress-Strain Relations and Stress Resultants . . . . . . . 5
1.2.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2.4 Governing Equations and Boundary Conditions . . . . . 11
1.3 Fundamental Equations of Thick Laminated Shells . . . . . . . . . 16
1.3.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3.2 Stress-Strain Relations and Stress Resultants . . . . . . . 18
1.3.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.3.4 Governing Equations and Boundary Conditions . . . . . 26
1.4 Lamé Parameters for Plates and Shells. . . . . . . . . . . . . . . . . . 29

2 Modified Fourier Series and Rayleigh-Ritz Method . . . . . . ..... 37

2.1 Modified Fourier Series . . . . . . . . . . . . . . . . . . . . . . . ..... 38
2.1.1 Traditional Fourier Series Solutions. . . . . . . . . ..... 39
2.1.2 One-Dimensional Modified Fourier
Series Solutions . . . . . . . . . . . . . . . . . . . . . . ..... 43
2.1.3 Two-Dimensional Modified Fourier
Series Solutions . . . . . . . . . . . . . . . . . . . . . . ..... 48
2.2 Strong Form Solution Procedure . . . . . . . . . . . . . . . . . ..... 53
2.3 Rayleigh-Ritz Method (Weak Form Solution Procedure) ..... 58

3 Straight and Curved Beams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

3.1 Fundamental Equations of Thin Laminated Beams . . . . . . . . . 64
3.1.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 64
3.1.2 Stress-Strain Relations and Stress Resultants . . . . . . . 65
3.1.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 66

ix
x Contents

3.1.4 Governing Equations and Boundary Conditions . . . . . 68

3.2 Fundamental Equations of Thick Laminated Beams. . . . . . . . . 71
3.2.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 71
3.2.2 Stress-Strain Relations and Stress Resultants . . . . . . . 72
3.2.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.2.4 Governing Equations and Boundary Conditions . . . . . 74
3.3 Solution Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.3.1 Strong Form Solution Procedure . . . . . . . . . . . . . . . . 77
3.3.2 Weak Form Solution Procedure
(Rayleigh-Ritz Procedure) . . . . . . . . . . . . . . . . . . . . 80
3.4 Laminated Beams with General Boundary Conditions . . . . . . . 83
3.4.1 Convergence Studies and Result Verification . . . . . . . 83
3.4.2 Effects of Shear Deformation and Rotary Inertia . . . . . 85
3.4.3 Effects of the Deepness Term (1 + z/R). . . . . . . . . . . 87
3.4.4 Isotropic and Laminated Beams with General
Boundary Conditions. . . . . . . . . . . . . . . . . . . . .... 90

4 Plates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..... 99
4.1 Fundamental Equations of Thin Laminated
Rectangular Plates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.1.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 100
4.1.2 Stress-Strain Relations and Stress Resultants . . . . . . . 102
4.1.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.1.4 Governing Equations and Boundary Conditions . . . . . 105
4.2 Fundamental Equations of Thick Laminated
Rectangular Plates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.2.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 108
4.2.2 Stress-Strain Relations and Stress Resultants . . . . . . . 108
4.2.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.2.4 Governing Equations and Boundary Conditions . . . . . 111
4.3 Vibration of Laminated Rectangular Plates. . . . . . . . . . . . . . . 113
4.3.1 Convergence Studies and Result Verification . . . . . . . 116
4.3.2 Laminated Rectangular Plates with Arbitrary
Classical Boundary Conditions . . . . . . . . . . . . ..... 117
4.3.3 Laminated Rectangular Plates with Elastic
Boundary Conditions. . . . . . . . . . . . . . . . . . . ..... 122
4.3.4 Laminated Rectangular Plates with Internal
Line Supports. . . . . . . . . . . . . . . . . . . . . . . . ..... 125
4.4 Fundamental Equations of Laminated Sectorial, Annular
and Circular Plates . . . . . . . . . . . . . . . . . . . . . . . . . . ..... 131
4.4.1 Fundamental Equations of Thin Laminated
Sectorial, Annular and Circular Plates . . . . . . . ..... 134
4.4.2 Fundamental Equations of Thick Laminated
Sectorial, Annular and Circular Plates . . . . . . . ..... 137
Contents xi

4.5 Vibration of Laminated Sectorial, Annular

and Circular Plates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.5.1 Vibration of Laminated Annular
and Circular Plates . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.5.2 Vibration of Laminated Sectorial Plates . . . . . . . . . . . 144

5 Cylindrical Shells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... 153

5.1 Fundamental Equations of Thin Laminated
Cylindrical Shells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
5.1.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 156
5.1.2 Stress-Strain Relations and Stress Resultants . . . . . . . 157
5.1.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 158
5.1.4 Governing Equations and Boundary Conditions . . . . . 159
5.2 Fundamental Equations of Thick Laminated
Cylindrical Shells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
5.2.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 162
5.2.2 Stress-Strain Relations and Stress Resultants . . . . . . . 163
5.2.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 165
5.2.4 Governing Equations and Boundary Conditions . . . . . 167
5.3 Vibration of Laminated Closed Cylindrical Shells . . . . . . . . . . 169
5.3.1 Convergence Studies and Result Verification . . . . . . . 172
5.3.2 Effects of Shear Deformation and Rotary Inertia . . . . . 175
5.3.3 Laminated Closed Cylindrical Shells
with General End Conditions . . . . . . . . . . . . . . .... 177
5.3.4 Laminated Closed Cylindrical Shells
with Intermediate Ring Supports . . . . . . . . . . . . .... 184
5.4 Vibration of Laminated Open Cylindrical Shells . . . . . . . .... 188
5.4.1 Convergence Studies and Result Verification . . . .... 192
5.4.2 Laminated Open Cylindrical Shells
with General End Conditions . . . . . . . . . . . . . . .... 193

6 Conical Shells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

6.1 Fundamental Equations of Thin Laminated Conical Shells . . . . 200
6.1.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 201
6.1.2 Stress-Strain Relations and Stress Resultants . . . . . . . 201
6.1.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 202
6.1.4 Governing Equations and Boundary Conditions . . . . . 202
6.2 Fundamental Equations of Thick Laminated Conical Shells . . . 207
6.2.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 208
6.2.2 Stress-Strain Relations and Stress Resultants . . . . . . . 209
6.2.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 210
6.2.4 Governing Equations and Boundary Conditions . . . . . 211
6.3 Vibration of Laminated Closed Conical Shells . . . . . . . . . . . . 215
6.3.1 Convergence Studies and Result Verification . . . . . . . 217
xii Contents

6.3.2 Laminated Closed Conical Shells with General

Boundary Conditions. . . . . . . . . . . . . . . . . . . ..... 219
6.4 Vibration of Laminated Open Conical Shells . . . . . . . . ..... 225
6.4.1 Convergence Studies and Result Verification . . ..... 227
6.4.2 Laminated Open Conical Shells with General
Boundary Conditions. . . . . . . . . . . . . . . . . . . ..... 228

7 Spherical Shells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

7.1 Fundamental Equations of Thin Laminated Spherical Shells . . . 237
7.1.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 237
7.1.2 Stress-Strain Relations and Stress Resultants . . . . . . . 238
7.1.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 238
7.1.4 Governing Equations and Boundary Conditions . . . . . 239
7.2 Fundamental Equations of Thick Laminated Spherical Shells. . . 241
7.2.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 241
7.2.2 Stress-Strain Relations and Stress Resultants . . . . . . . 242
7.2.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 243
7.2.4 Governing Equations and Boundary Conditions . . . . . 245
7.3 Vibration of Laminated Closed Spherical Shells . . . . . . . . . . . 250
7.3.1 Convergence Studies and Result Verification . . . . . . . 251
7.3.2 Closed Laminated Spherical Shells with General
Boundary Conditions. . . . . . . . . . . . . . . . . . . . . . .. 252
7.4 Vibration of Laminated Open Spherical Shells . . . . . . . . . . .. 257
7.4.1 Convergence Studies and Result Verification . . . . . .. 260
7.4.2 Laminated Open Spherical Shells with General
Boundary Conditions. . . . . . . . . . . . . . . . . . . . . . .. 263

8 Shallow Shells. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

8.1 Fundamental Equations of Thin Laminated Shallow Shells. . . . 273
8.1.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 274
8.1.2 Stress-Strain Relations and Stress Resultants . . . . . . . 275
8.1.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 275
8.1.4 Governing Equations and Boundary Conditions . . . . . 276
8.2 Fundamental Equations of Thick Laminated Shallow Shells . . . 279
8.2.1 Kinematic Relations . . . . . . . . . . . . . . . . . . . . . . . . 279
8.2.2 Stress-Strain Relations and Stress Resultants . . . . . . . 280
8.2.3 Energy Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 280
8.2.4 Governing Equations and Boundary Conditions . . . . . 281
8.3 Vibration of Laminated Shallow Shells . . . . . . . . . . . . . . . . . 284
8.3.1 Convergence Studies and Result Verification . . . . . . . 286
8.3.2 Laminated Shallow Shells with General
Boundary Conditions. . . . . . . . . . . . . . . . . . . . . . .. 288

References and Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305