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Article history: This paper presents a general two-dimensional approach for solving doubly-curved laminated composite
Available online 20 May 2014 shells using different kinematic expansions along the three orthogonal directions of the curvilinear shell
model. The Carrera Unied Formulation (CUF) with different thickness functions along the three orthog-
Keywords: onal curvilinear directions is applied to completely doubly-curved shells and panels, different from
Doubly-curved shells and panels spherical and cylindrical shells and plates. Furthermore, the fundamental nuclei for doubly-curved struc-
Laminated composites tures are presented in their explicit form for the rst time by the authors. These fundamental nuclei also
Higher-order shear deformation theory
allow to consider doubly-curved structures with variable thickness. In addition, the theoretical model
Thickness functions
Local Generalized Differential Quadrature
includes the Murakamis function (also known as zig-zag effect). For some problems it is useful to have
method an in-plane kinematic expansion which is different from the normal one. The 2D free vibration problem is
numerically solved through the Local Generalized Differential Quadrature (LGDQ) method, which is an
advanced version of the well-known Generalized Differential Quadrature (GDQ) method. The main
advantage of the LGDQ method compared to the GDQ method is that the former can consider a large
number of grid points without losing accuracy and keeping the very good stability features of GDQ
method as already demonstrated in literature by the authors.
2014 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.compstruct.2014.05.008
0263-8223/ 2014 Elsevier Ltd. All rights reserved.
638 F. Tornabene et al. / Composite Structures 116 (2014) 637660
Historically speaking the most common tool for the solution of along the shell middle surface. In the present paper that nuclei
plate and shell structures is the Finite Element Method (FEM) are generalized considering each kinematic expansion separately.
[23,40,50,51,56,57]. However in the last 20 years, other techniques In other words, in the work [106] the thickness functions were
based on the strong formulation of the governing equations of the same for the generic kinematic order, whereas in the present
beams, plates and shells have been afrmed [54,55,67129]. paper each displacement parameter can have its own function.
Initially it was called Differential Quadrature Method (DQM), This is a very important aspect because most of the times it is bet-
which history is summarized in the good work by Bert and Malik ter to have an in-plane kinematic expansion different from the
[69]. Nevertheless, Shu [67] generalized the DQM concepts and thickness one. For instance the thickness stretching can be deeply
developed the Generalized Differential Quadrature (GDQ) method, studied using the present formulation, because it is possible to
which leads to more stable, accurate and reliable results than the enrich the through-the-thickness behavior reducing the degrees
classic DQM. It is impossible to cite all the vast bibliography con- of freedom of the in-plane parameters, as it will be shown in the
cerning the applications of DQM and GDQ method in engineering. following sections. In conclusion the following manuscript is struc-
To the best of authors knowledge it is worth reading the following tured as follows. Firstly, the shell fundamental nuclei within a gen-
papers [70119]. Thus, it was proven that GDQ method yield good eralized application of the thickness functions are shown.
results not only for structural systems, but also when applied to Secondly, the discretization and solution of the present theoretical
uid-dynamics problems. The authors have focused their research model is described by means of LGDQ method. Thirdly, several
on plates and shells over the years [54,55,7278,8084,88,90 applications are shown and compared to the Finite Element
93,9599,101119]. They gave their personal contributions on Method (FEM).
the subject proposing among others a stress and strain recovery
procedure [55,95,104,105,117], a shell description using the differ- 2. Shell fundamental equations
ential geometry [54,55,9093,119] and a nite element methodol-
ogy using strong formulation based elements [99,109115]. The present work presents a 2D Equivalent Single Layer (ESL)
In the present manuscript, all the previous knowledge was model to analyze doubly-curved shells and panels. The position
employed for developing a new theoretical formulation applying vector R(a1, a2, f) of an arbitrary point within the shell medium is
an advanced form of GDQ method. Firstly it must be cited that a dened by orthogonal curvilinear principal co-ordinates
good reference for a survey of the advanced techniques which were a1 a01 6 a1 6 a11 , a2 a02 6 a2 6 a12 upon the middle surface or
developed from the GDQ method is given on the book by Zong and reference surface r(a1, a2). f is directed along the outward normal
Zhang [68]. One of these advanced numerical approaches is the so- n(a1, a2) to the reference surface r(a1, a2) and it is measured from
called Local Generalized Differential Quadrature (LGDQ) method the reference surface ( h/2 6 f 6 h/2). h(a1, a2) is the total thick-
[120128], which is employed in this manuscript for the solution ness of the shell (Fig. 1). The position vector, written in the global
of doubly-curved laminated composite shells. The GDQ method is reference system using the differential geometry [106], describes
able to discretized a derivative at a point as a linear weighted the shell structure:
sum of all the domain points. On the contrary LGDQ method
discretizes in the same way the derivatives but uses only the ha1 ; a2
Ra1 ; a2 ; f ra1 ; a2 zna1 ; a2 1
neighboring points of the current one. This approach is useful 2
especially when the unknown function has singularities such as where z = 2f/h(a1, a2) and z 2 [1, 1]. For a laminated composite
stress concentrations or abruptly curvature changes. doubly-curved shell structure made of l laminae or plies, the total
As far as the theoretical model is concerned, a general approach thickness h (Fig. 1) can be dened as:
based on CUF is presented. In the work [106] the authors presented
for the rst time the CUF fundamental nuclei for solving doubly- X
l
h hk 2
curved shells with variable thickness and mechanical properties k1
where hk = fk+1 fk is the thickness of the kth lamina or ply. The allows to study moderately thick and thick shells, for which the fol-
position vector of the reference surface is dened through its three lowing relations are valid:
components along the three global axes Ox1x2x3 as:
1 h h 1
ra1 ; a2 r 1 a1 ; a2 e1 r 2 a1 ; a2 e2 r 3 a1 ; a2 e3 3 6 max ; 6 7
100 Rmin Lmin 5
e1, e2, e3 represent the unit vectors of the global reference system The displacement eld considered in the present study assumes the
Ox1x2x3. The Lam parameters can be derived: following form, similar to that previously presented by the authors
p [106]:
A1 a1 ; a2 r;1 r;1
p 4
A2 a1 ; a2 r;2 r;2 X
N1
U Fs us Fs us 8
from the denition of the rst fundamental form [106] of the refer- s0
ence surface r(a1, a2). The symbol represents the scalar product
U U 1 a1 ; a2 ; f; t U 2 a1 ; a2 ; f; t U 3 a1 ; a2 ; f; t T is the displace-
and the comma stands for the partial derivative with respect to
ment component vector for the three-dimensional shell and
a1, a2 co-ordinates. Furthermore, the normal vector n(a1, a2) can h iT
be expressed as: us u1s a1 ; a2 ; t u2s a1 ; a2 ; t u3s a1 ; a2 ; t is the sth order
r;1 r;2 generalized displacement component vector of points lying on the
na1 ; a2 5 middle surface (f = 0) of the shell, whereas t represents the time
A1 A2
variable. Fs is the thickness function matrix dened as follows:
The symbol denotes the vector product. Finally, the principal radii 2 3
of curvature can be evaluated as: F as 1 0 0
6 7
r;1 r;1 Fs 4 0 F as 2 0 5 9
R1 a1 ; a2 a3
r;11 n 0 0 Fs
6
r;2 r;2
R2 a1 ; a2 It should be noted that the thickness function matrix Fs is different
r;22 n
from that previously presented in the work by the authors [106],
since an orthogonal curvilinear co-ordinate system O0 a1a2f has due to the fact that the thickness functions F as i f; ai a1 ; a2 ; a3 ,
been considered. The theoretical development under consideration are different for each direction.
Table 1
Several thickness functions F as i f for ai a1 ; a2 ; a3 proposed in literature [106].
C s ATII 2
F as i f fs for s 0; 1; . . . ; N
F as i f f sec h p f
h
f sec h p4 1 p2 tanh p4
CN1 Z E
F as i f ph sinh ph f f = cosh p2 1
F aN1
i
f 1k 2
fk1 fk f ffk1 fk
k1 fk
for sN1
Ls Gm
F as i f Ls for s 0; 1; . . . ; N F as i f m
h
arcsin h m
h
2f
f p
2 m 4
L0 C 0 1; L1
C1 f;
L2 12 3f2 1 ; L3 12 f 5f2 3 ; L4 18 35f4 30f2 3
LSTF PTd1 d2 d3
F as i f ph sin ph f F as i f d1 f dh2 f2 d23 f3
h
KI PA PT1=8;0;1=6
F as i f ph cos ph f d1 18 ; d2 0; d3 16
MIVm;k for k 0; 1 TI p
k f 2 F as i f 2h
p tan 2h f
F as i f fm1 2h
N TII
F as i f ph sinh ph f F as i f ph sinh ph f f
Sk for k 0; 1 TIII
F as i f 1k ph sinh ph f f cosh p2 F as i f ph cosh ph f 1
The kinematic model (8) can be put in expanded form, consid- the proposed General Higher-order Equivalent Single Layer Theory
ering s = N order of expansion: (GHESLT) (8) and (13). Moreover, it should be noted that the GHE-
SLT (8) and (13) is an extension of the CUF [50,5658]. In particular,
U 1 F a01 u1 F a11 u1 F a21 u1 F a31 u1 F aN1 u1 F aN1
0 1 2 3 N N1
1
u1
the aim of the present paper is to introduce the possibility of choos-
U 2 F a02 u2 F a12 u2 F a22 u2 F a32 u2 F aN2 u2 F aN1
0 1 2 3 N N1
2
u2 ing different thickness functions along the three co-ordinate lines
U 3 F a03 u3 F a13 u3 F a23 u3 F a33 u3 F aN3 u3 F aN1
0 1 2 3 3
u3
N N1 a1, a2, f of shell structure. This kind of choice could be useful due
to the fact that the mechanical behavior in the thickness direction
10
is different from the mechanical behavior in the other two direc-
The thickness functions F as i f;
ai a1 ; a2 ; a3 , can assume different tions. Thus, the possibility of choosing a different function in the
forms as reported in Table 1, which collects some of the thickness thickness direction allows to describe in a better way the deforma-
functions F as i f presented literature as reported in the previous tion process of the shell structure.
work by the authors [106]. These functions can be used to consider Using an orthogonal co-ordinate system [106], the 3D solid
various and general kinematic models such as: strains can be dened in the following manner for the kth lamina:
U 1 u1 fu1 f2 u1 f3 u1 f4 u1 1k zk u1
0 1 2 3 4 5 ek DU Df DX U 15
U 2 u2 fu2 f2 u2 f3 u2 f4 u2 1k zk u2
0 1 2 3 4 5
11 where:
0 1 2 3 4 k 5 2 3
U3 u3 fu3 f2 u3 f3 u3 f4 u3 1 zk u3 1
H1
0 0 0 0 0 0 0 0
6 1 7
and: 60 H2
0 0 0 0 0 0 07
6 7
p 6 7
h h p 60 0 1 1
0 0 0 0 07
f 1 u1 1k zk u1
0 1 2 3 H1 H2
U 1 u1 f u1
sinh cosh Df 6
60
7 16
p h
p
p h 6 0 0 0 1
0 @
0 07
7
h p H1 @f
h 6 7
0
U 2 u2 sinh
1
f u2 cosh f 1 u2 1k zk u2
2 3 60 0 0 0 0 1
0 @
07
p h p h 4 H2 @f 5
@
U 3 u3 fu3 f2 u3 f3 u3 f4 u3 1k zk u3
0 1 2 3 4 5 0 0 0 0 0 0 0 0 @f
12 and:
2 3 2 3
As it can be seen form the two proposed kinematical models (11) 1 @
0 0 0 1 @A1
0
A @a A1 A2 @ a2
and (12), the main differences are in the choice of the thickness 6 11 @A1 2 7 6 7
6 A A @a 0 07 6 1 @
07
functions F as i f in each directions a1, a2, a3 = f and in the different 6 1 2 1 7 60 A2 @ a2 7
6 7 6 1 @ 7
number of degrees of freedom u(s) of the assumed displacement 6 A11A2 @A 1
@ a2
0 07 60 A1 @ a1
07
6 7 6 7
model (8). As a matter of fact, the rst model (11) has 18 indepen- 6 1 @ 0 07 6 A11A2 @A 07
6 A2 @ a2 7 60 2
@ a1 7
dent variables, whereas the second one (12) only has 14 indepen- DX DaX1 DaX2 DaX3 6
6 1
76 7
6 R1
0 07 6
7 60 0 077
dent variables. Furthermore, the second model presents a 6
6 0 7
0 07 660 R12 077
different choice regarding the thickness functions in each co-ordi- 6 7 6 7
nate directions. In fact it has the same thickness functions
6 1 0 07 60 0 07
6 7 6 7
4 0 0 05 40 1 05
F as 1 f; F as 2 f in the a1, a2 co-ordinate directions and a different
thickness function F as 3 f in the thickness directions a3 = f. As it 0 0 0 0 0 0
2 1
3
has already done in the previous work by the authors [106], in order 0 0 R1
to simplify the notation, the following representation is introduced: 6 1 7
60 0 R2 7
6 7
a1 F 0 F 1 F 2 F 3 F N F N1 60 0 0 7
6 7
60 0 0 7
ED a2 F 0 F 1 F 2 F 3 F N F N1 13 6 7
6 1 @ 7
60 0 A1 @ a 1 7
17
fF 0 F 1 F 2 F 3 F N F N1 6 7
60 0 A12 @@a2 7
6 7
where E indicates that an Equivalent Single Layer theory is consid- 6 7
60 0 0 7
ered; D species that the governing equations are only expressed in 6 7
40 0 0 5
terms of generalized displacements; a1, a2, a3 = f denote the princi-
pal directions of the variable expansion in the kinematical model, 0 0 1
h iT
respectively; [Fs] stands for the type of thickness function F as i f ek a1 ; a2 ; f; t ek ek k
c12 k
c13 k
c23 e3k is the strain com-
1 2
chosen for the sth order of expansion (see Table 1) in each principal
ponent vector and the quantities H1, H2 are equal to H1 = 1 + f/R1,
direction; nally, [FN+1] = [CN+1] = [Z] represents the zig-zag func-
H2 = 1 + f/R2. R1, R2 and A1, A2 represent the curvature radii and
tion or Murakami function. As shown in the previous work [106],
the Lam parameters of the a1, a2 co-ordinate curves at the generic
the symbology (13) can be further simplied when the same thick-
point of the middle surface of the shell.
ness functions F as i f are chosen for each displacement of the kine-
Using the displacement eld (8) and the straindisplacement
matical model assumed (8). The previous kinematical models (11)
relations (15) the generalized strains can be dened:
and (12) can be now represented as:
a1 C0 C1 C2 C3 C4 Z
ek DU Df DX U Df DaX1 DaX2 DaX3 U
ED a2 C0 C1 C2 C3 C4 Z EDZ4 X
N1
Df DaX1 DaX2 DaX3 Fs us
fC0 C1 C2 C3 C4 Z s0
14
a1 C0 NTIII Z X
N 1
ED a2 C0 NTIII Z F as 1 Df DaX1 F as 2 Df DaX2 F as 3 Df DaX3 us
s0
fC0 C1 C2 C3 C4 Z
X
N 1 X
3
a
X
N1 X
3
As it has already been exposed in the previous work [106], most of Zsai DXi us Zsai esai 18
s0 i1 s0 i1
the theories presented in literature are included as special cases in
F. Tornabene et al. / Composite Structures 116 (2014) 637660 641
h iT
k
where esai a1 ; a2 ;t e1sai e2sai c1sai c2sai c13sai c23sai x13sai x23sai e3sai The material constants Enm are referred to the curvilinear reference
is the sth order generalized strain component vector and the matrix Zsai is system O0 a1a2f after the application of the proper equations of
k
dened as: transformation [40,55]. Furthermore, the elastic coefcients Enm
2 F ai 3 (22) could be the plane stress-reduced stiffnesses
k k
Enm Q nm
s 0 0 0 0 0 0 0 0
6 H1 a 7 [40,50,55,90,100,101,107] or the non-reduced ones
k k
Enm C nm
6 Fsi 7
60 H2
0 0 0 0 0 0 0 7 [40,50,55,106,116]. This distinction allows to consider those shear
6 7
6 a
Fsi
a
F si 7 deformation theories that neglect the stretching effect along the
sai ai 60 0 0 0 0 0 0 7
Z Df F s 6
6
H1 H2
a a
7
7 19 shell thickness, such as the First-order Shear Deformation Theory
F si @F s i
60 0 0 0 0 0 0 7 (FSDT or FSDTZ) [106] and the Third-order Shear Deformation The-
6 H1 @f 7
6 a
F si
a
@F s i 7 ory (TSDT or TSDTZ) [106]. In the present paper, the elastic con-
60 0 0 0 0 0 0 7
4 H2 @f 5 k
a
@F s i
stants Enm are equal to the plane stress-reduced stiffnesses
0 0 0 0 0 0 0 0 k k
@f Enm Q nm , when it is indicated the RS abbreviation. Otherwise,
k k k
The relationships between generalized strains esai and generalized Enm are equal to the non-reduced ones Enm C nm when it is not
displacements u(s) for a doubly-curved shell can be derived from indicated.
Eq. (18): The generalized internal actions, or resultants, of sth order can
be derived using the Hamiltons principle for the 3D doubly-curved
esai DaXi us for s 0; 1; 2; . . . ; N; N 1 and ai a1 ; a2 ; a3
solid:
20
l Z
X fk1
The stressstrain relations for the kth lamina are the well-known T
Ssai Zsai rk H1 H2 df for
relations [106]: fk
k1
rk Ck ek 21 s 0; 1; 2; . . . ; N; N 1 and ai a1 ; a2 ; a3 23
h iT
where r a1 ; a2 ; f; t r
k k k
is the k k k k h iT
r s s s 1 r 2 12 13 23 3 where Ssai a1 ; a2 ;t N1sai N2sai N 12sai N 21sai T 1sai T 2sai P 1sai P 2sai S3sai
stress component vector and Ck is the constitutive matrix for the is the sth order resultant or internal action vector. Therefore, the sth order
k-th lamina: resultants in terms of the generalized sth order strains esaj a1 ; a2 ;t can be
2 k k k k 3 dened by using Eq. (23), (21), (20) and (18):
E11 E12 E16 0 0 E13
6 k k k k 7
6 E12 E22 E26 0 0 E23 7 X
N1 X
3
6 7
6 k k k k 7 Ssai Assai aj esaj for s 0; 1; 2; . . . ; N; N 1 and
6 E16 E26 E66 0 0 E36 7
Ck 6
6 k k
7
7 22 s0 j1
6 0 0 0 E44 E45 0 7 ai ; aj a1 ; a2 ; a3 24
6 7
6 k k 7
4 0 0 0 E45 E55 0 5
k k k k where:
E13 E23 E36 0 0 E33
x1 x2 xi xN 1 xN
Ni Ni Ni
Fig. 2. One-dimension problem representation and neighborhood of the generic point xi. Distinction between core and cortical points.
642 F. Tornabene et al. / Composite Structures 116 (2014) 637660
(e) Shell of Translation (doubly-curved shell) (f) Panel of Translation (doubly-curved panel)
(an elliptic curve slides on an elliptic curve) (an elliptic curve slides on an elliptic curve)
l Z
X
The elastic coefcients of the constitutive matrix (25) assume the s
~sa a
fk1
k a @F as i H1 H2 for s;s 0;1;2;...;N;N 1
following aspect:
i j
Anmpq jfEnm Fs j df
k1 fk @f Hp1 Hq2 for n;m 4;5
l Z
X fk1 l Z a
ssai aj k aj ai H1 H2 s~sai aj
X fk1
@F s j ai H1 H2 for p;q 0;1;2
Anmpq Enm Fs Fs df Anmpq k
jfEnm F df
k1 fk Hp1 Hq2 fk @f s Hp1 Hq2 for ai ; aj a1 ; a2 ; a3
k1
l Z
X @F as i H1 H2 l Z
fk1
s
~sai aj k aj for s; s 0; 1; 2; . . . ; N; N 1 s
X fk1 a
@F s j @F as i H1 H2
Anmpq Enm Fs df ~~sa a
i j
Anmpq k
jfEnm df
k1 fk @f Hp1 Hq2 for n; m 1; 2; 3; 6 @f @f Hp1 Hq2 26
k1 fk
l Z
X fk1 aj
s~sa a
i j k @F s ai H1 H2 for p; q 0; 1; 2
Anmpq Enm F df
k1 fk @f s Hp1 Hq2 for ai ; aj a1 ; a2 ; a3 where s, s, ai, aj indicate the corresponding thickness function
l Z
X fk1 j a
ai a
F as i ; F s j . The superscripts s
~; ~s denote the derivatives of the corre-
s
~~sai aj k @F s @F s H 1 H 2
Anmpq Enm df a
fk @f @f Hp1 Hq2 sponding thickness function F as i ; F s j with respect to f (@F as i =@f or
k1
a
l Z
X fk1 @F s j =@f). The subscripts p, q represent the exponents of the quanti-
ssa a a H1 H 2
i j
Anmpq k
jfEnm F s j F as i df ties H1, H2, whereas n, m are the indices of the material constants
k1 fk Hp1 Hq2 k k k k
Enm Q nm or Enm Enm for the kth lamina. Furthermore, the shear
function j(f) allows to consider the shear correction needed in
Table 2
Position vector of the reference surface of the eight structures shown in Fig. 2 and their geometric parameters.
(b) Parabolic Cylindrical Panel (singly-curved panel) (a parabolic curve slides on a inclined straight line)
p
k 2; a1 a01 ; a11 1:107149; 1:107149; a2 a02 ; a12 0; L; L 20 m; a ; h 0:5 m
18
ra1 ; a2 a cos a1 a2 sin a sin ua1 e1 a2 cos ae2 b sin a1 a2 sin a cos ua1 e3
8
>
> cos a1
> ua1 arctan pb
< 2
for a1 0; p
a 1cos a1
>
> b cos a1
>
: ua1 p arctan p for a1 p; 2p
2
a 1cos a1
q r
2 2a b2 tan2 a2
c b 1 b2aatan 1
2 tan2 a
a 1 1 a2 b2 tan2 a
cos a1 e3
1 2
(e) Shell of Translation (doubly-curved shell) (an elliptic curve slides on an elliptic curve)
c 1 for a1 2 ; 2 ; c 1 for a1 2 ; p2
(f) Panel of Translation (doubly-curved panel) (an elliptic curve slides on an elliptic curve)
h p pi
5p 5p h p pi
a 10 m; b 7 m; a1 a01 ; a11 ; ; a2 a02 ; a12 ; ; h 1m; c 1 for a1 ;
2 2 18 18 2 2
(g) Free-Form Cylinder (singly-curved panel) (a Bzier curve slides on a straight line)
(h) Free-Form Cylinder with Variable Thickness (singly-curved panel) (a Bzier curve slides on a straight line)
those shear deformation theories that consider a non-parabolic dis- tions can be derived. The three motion equations for each sth order
tribution of the shear stresses along the shell thickness, such as the of displacement expansion in terms of internal actions assumes the
First-order Shear Deformation Theory (FSDT and FSDTZ) [106]. The following aspect for a doubly-curved shell structure:
shear function j(f) can be a constant function j(f) = 1/v = 5/6 with X
3 X
N 1
a
v = 1.2 (in that case it represents the well-known shear correction DX i Ssai Mss u
s for s 0; 1; 2; . . . ; N; N 1 29
factor) or a parabolic function j(f) = 5/4 5f2/h2 (see [104,55]). In i1 s0
the present paper, the shear function j(f) is assumed to be constant. The motion or equilibrium operators DX i are:
a
Table 3
First ten frequencies for a (30/45) FC spherical shell of Fig. 2(a) and Table 2(a) using uniform grid distributions with IN = 30, IM = 60, Ni = Mj = 11.
Mechanical properties of the two laminae: E1 = 137.9 GPa, E2 = E3 = 8.96 GPa, G12 = G13 = 7.1 GPa, G23 = 6.21 GPa, m12 = m13 = 0.3, m23 = 0.49, q = 1450 kg/m3,
h1 = h2 = 0.05 m
Mode [Hz] FSDTRS
v1:2 TSDTRS ED1v=1.2 ED2v=1.2 ED3 ED4
FSDTZRS
v1:2 TSDTZRS EDZ1v=1.2 EDZ2v=1.2 EDZ3 EDZ4
ssai 2 32 3
in which the mass inertia terms I0 are dened as: L00 L01 L02 L03 L04 L05 u0
l Z fk1
X 6 10 76 7
ssai
I0 qk F asi F as i H1 H2 df for 6L
6 L11 L12 L13 L14 L15 76 u1 7
76 7
6 20 21 22 23 76 7
k1 fk
6L L L L L24 L25 76 u2 7
6 76 7
s; s 0; 1; 2; . . . ; N; N 1 and ai a1 ; a2 ; a3 32 6 30
6L L31 L32 L33 L34
76 7
L35 76 u3 7
6 76 7
(k)
In expression (32) q represents the mass density of the material 6 40 76 7
4L L41 L42 L43 L44 L45 54 u4 5
per unit of volume of the kth ply. Finally, the kinematic (20), consti- 50 51 52 53
tutive (25) and motion (29) equations can be combined to give the L L L L L54 L55 u5
2 00 01 02 03 04 32 3
fundamental system of equations, also known as the governing sys- M M M M M M05 0
u
tem of equations: 6 10 76 1 7
6M
6 M11 M12 M13 M14 M15 7
76
7
6u
7
X
N 1 X
N1 6 20 25 76 2 7
Lss us Mss u
s for s 0; 1; 2; . . . ; N; N 1 33 6M M21 M22 M23 M24 M 76 u 7
6
6 30 31 32 33
76 7
76 3 7 35
s0 s0 6M M M M M34 M35 76 u 7
6 76 7
where: 6 40 45 76 4 7
4M M41 M42 M43 M44 M 54 u 5
2 ssa a ssa a ssa a
3
L 1 1 L12 1 2 L13 1 3 M50 M51 M52 M53 M54 M55 5
u
ss
XX a ssa a aj 6 11
3 3 7
L DX A
i i j 6 ssa2 a1
DX 4 L21 ssa a
L22 2 2
ssa a
L23 2 3 7 34
5 In order to solve the differential system (35), the boundary condi-
i1 j1 ssa a ssa a ssa a
L31 3 1 L32 3 2 L33 3 3 tions have to be introduced. The fully clamped edge boundary con-
ssa a
dition (C) and the free edge boundary condition (F) are considered
The equilibrium operators Lfg i j , f, g = 1, 2, 3, s, s = 0, 1, 2, . . . ,N, N + 1, in the following. The equations describing the boundary conditions
ai, aj = a1, a2, a3 are derived for the rst time by the authors and are can be written as:
reported in Appendix A.
The total number of motion equations depends on the order of
Clamped edge boundary conditions (C)
expansion s = 0, 1, 2, . . . , N, N + 1. It can be obtained by using the
fundamental nuclei reported in Eq. (33) and is equal to s s s
u1 u2 u3 0 for s 0; 1; 2; . . . ; N; N 1; at
3 (N + 2). The complete system of equations for the fourth order 0 1
N = 4 of expansion (s, s = 0, 1, 2, 3, 4, 4 + 1) can be written in matrix
a1 a 1 or a1 a 1; a 6 a2 6 a12
0
2 36
form as follows:
Table 4
First ten frequencies for an isotropic FCFC parabolic cylindrical panel of Fig. 2(b) and Table 2(b) (a parabolic curve slides on a inclined straight line) using uniform grid
distributions with IN = 60, IM = 30, Ni = Mj = 11.
s s s sa sa
u1 u2 u3 0 for s 0; 1; 2; . . . ; N; N 1; at N21 1 a1 ; 0; t N21 1 a1 ; 2p; t
sa2 sa2
a2 a02 or a2 a2 ; a1 6 a1 6 a11
1 0
37 N2 a1 ; 0; t N2 a1 ; 2p; t
sa sa
Free edge boundary conditions (F) a
T 2 3 1 ; 0; t T2 3 1; 2 a p; t for s 0; 1; 2; . . . ; N; N 1;
sa
N1 1 0;
sa
N12 2 0;
sa
T 1 3 0 for s 0; 1; 2; . . . ; N; N 1; a01 6 a1 6 a11
0 1 0 1 41
at a1 a 1 or a1 a 1; a a
2 6 2 6 2 a 38
In order to consider a toroidal shell it is necessary to introduce the
sa1 sa2 sa3 kinematic and physical compatibility conditions between the two
N21 0; N2 0; T2 0 for s 0; 1; 2; . . . ; N; N 1;
computational parallels with a01 0 and with a11 2p:
at a2 a02 or a2 a12 ; a01 6 a1 6 a11 39
Kinematic compatibility conditions along the closing parallel
In addition to the external boundary conditions (36)(39), the (a1 = 0,2p)
kinematic and physical compatibility conditions have to be s s
u1 0; a2 ; t u1 2p; a2 ; t
satised at the common closing meridians dened by a2 = 0,2p,
s s
when a complete shell of revolution is considered: u2 0; a2 ; t u2 2p; a2 ; t
Kinematic compatibility conditions along the closing meridian s
u3 0; a2 ; t u3s 2p; a2 ; t for s 0; 1; 2; . . . ; N; N 1;
(a2 = 0,2p)
a02 6 a2 6 a12
s s
u1 a1 ;0; t u1 a1 ; 2p; t 42
s s
u2 a1 ;0; t u2 a1 ; 2p; t
Physical compatibility conditions along the closing parallel
s s
u3 a1 ;0; t u3 a1 ; 2p; t for s 0; 1; 2;. .. ;N; N 1; a01 6 a1 6 a11 (a1 = 0,2p)
40 sa sa
N12 1 0; a2 ; t N 12 1 2p; a2 ; t
Physical compatibility conditions along the closing meridian sa2 sa2
N1 0; a2 ; t N 1 2p; a2 ; t
(a2 = 0,2p) sa sa
T 1 3 0; a2 ; t T 1 3 2 p; a2 ; t for s 0; 1; 2; . . . ; N; N 1;
a02 6 a2 6 a12 43
Table 5
First ten frequencies for an orthotropic (30) FC elliptic cylinder of Fig. 2(c) and Table 2(c) using uniform grid distributions with IN = 60, IM = 30, Ni = Mj = 11.
Mechanical properties: E1 = 137.9 GPa, E2 = E3 = 8.96 GPa, G12 = G13 = 7.1 GPa, G23 = 6.21 GPa, m12 = m13 = 0.3, m23 = 0.49, q = 1450 kg/m3
Mode [Hz] FSDTRS
v1:2 TSDTRS ED1v=1.2 ED2v=1.2 ED3 ED4
3. Discretization and numerical solution j indicates the neighboring points of xi. The denition (44) intro-
duces the notion that the derivative of a smooth function does
The differential quadrature law (28) allows to approximate the not linearly depend on the function values of all the domain points,
derivatives of a smooth function [67]. This method evaluates a deriv- but only on the neighboring points of the point itself. The weighting
n
ative of a generic order at a point as a linear combination of the func- coefcients 1ij are evaluated inside the local interval in the same
tion values in all the domain points [67]. However, for a few manner used in the GDQ method (see [71] for a brief review). To
functions this method could need a discretization made of a lot of nd the neighboring points xl of the point of interest xi the dimen-
nodal points and so the computation cost could be very high. The sionless distance between xi and any other point xl is considered:
LGDQ method [68,120128] has to be introduced for these cases.
jxi xl j Ni 1
Consider a one-dimensional problem where a sufciently smooth ril 6 i 1; 2; . . . ; N for Ni odd 45
function f(x) is dened in a closed interval [a, b] and suppose that jxN x1 j 2N 1
the domain is discretized into N equally spaced points of co-ordi-
Since the grid collocation is equally spaced, Ni should be odd in order
nates a = x1, x2, . . . , xN1, xN = b as depicted in Fig. 2. According to the
to have the same number of points on the left and right sides of the
differential quadrature law (28), the derivative at a generic point xi
current point xi. Moreover, the present LGDQ implementation is
can be evaluated using differential quadrature method, but in a dif-
explained with reference to Fig. 2. In a LGDQ implementation there
ferent way without considering all the domain points N. Only the Ni
two sets of points: the core nodes (inside the domain) and the cortical
points, that belong to the neighborhood of the point, xi are used. The
nodes (near the boundaries). The rst group of nodes, from the index
nth order derivative of the function f(x), with respect to x at the gen-
i = (Ni + 1)/2 to the index i = N (Ni 1)/2, is indicated by a
eric nodal point xi, is approximated through a weighted linear sum of
rectangle with a dashed line, whereas the second group of nodes,
the function values at the neighboring points of the point xi itself:
from the index i = 1 to the index i = (Ni 1)/2 and from the index
Ni i = N (Ni 3)/2 to the index i = N, is indicated by a rectangle with
n
d f x
X
1n a solid line. For example if Ni = 5, as in Fig. 2, it is obvious that the
n
ij f xj i 1; 2; . . . ; Ni 44
dx xxi j1 core nodes are the points xi with the index i = 3(=(Ni + 1)/
2),4, . . . , N 3,N 2(=N (Ni 1)/2) and the cortical nodes are the
n
where the constants 1ij are the weighting coefcients of the sum, points xi with the index i = 1, 2(=(Ni 1)/2) and i = N 1(=N
f(xj) represent the function values at the points xj that are the neigh- (Ni 3)/2),N. Thus, there are two group of cortical nodes: one on
n
boring points of the point xi. The coefcients 1ij have two sub- the left boundary and one on the right boundary. By denition the
scripts i and j. The global subscript i indicates the domain point in cortical nodes have Ni < Ni points in their neighborhood, but the
which the generic derivative is evaluated, where the local subscript implemented algorithm considers Ni neighborhood points for all
Table 6
First ten frequencies for an orthotropic (30) FC elliptic cone of Fig. 2(d) and Table 2(d) using uniform grid distributions with IN = 60, IM = 30, Ni = Mj = 11.
Mechanical properties: E1 = 137.9 GPa, E2 = E3 = 8.96 GPa, G12 = G13 = 7.1 GPa, G23 = 6.21 GPa, m12 = m13 = 0.3, m23 = 0.49, q = 1450 kg/m3
Mode [Hz] FSDTRS
v1:2 TSDTRS ED1v=1.2 ED2v=1.2 ED3 ED4
the points on the grid. Thus, extra points are taken from the core Using the method of separation of variables, the generalized dis-
nodes for the cortical node neighborhood as represented in Fig. 2. placements can be written in the following form:
In this way a better approximation is found at the boundaries. There
are several ways of considering the cortical nodes in LGDQ rule, for
us a1 ; a2 ; t Us a1 ; a2 eixt 47
s
example using more than Ni points or others that can be found in where the vibration spatial amplitude values U U 1s 1 ;
a
[120128]. In conclusion, it is obvious that for Ni = N, LGDQ method a2 U 2s a1 ; a2 U 3s a1 ; a2 T full the fundamental differential system
becomes equal to GDQ method and it is not possible to have Ni > N. It (33). Each approximate equation is valid in a single sampling point.
is well-known that GDQ method has full stiffness matrices when the Thus, the whole system of differential equations can be discretized
fundamental system of equations is discretized, whereas with LGDQ and the global assembling leads to a set of linear eigenvalue prob-
method the same matrices are banded. Thus, it is a main advantage lem. The numerical problem is partitioned, dividing the boundary
for the current implementation in terms of numerical solution cost. algebraic equations b and the domain equations d. In this way it
The derivatives in the governing equations in terms of general- is possible to avoid numerical instabilities and ill-conditioned
ized displacements (33), as well as boundary conditions (36)(43) matrices. When the kinematic condensation of non-domain degrees
can be discretized transforming each space derivatives into a of freedom is performed, it is possible to write:
weighted sum of node values of independent variables using the
Local Generalized Differential Quadrature rule (44). Kdd Kdb Kbb 1 Kbd dd x2 Mdd dd 48
The uniform grid distribution is assumed. Thus, the co-ordi-
The natural frequencies of the structure fr = xr/2p can be deter-
nates of grid points (a1i, a2j) along the reference surface are in the
mined by solving the standard eigenvalue problem (48). Further-
discrete form:
more, the eigs function, embedded in MATLAB software, is used to
i1 1
obtain the results in terms of natural frequencies of the structures
a1i a1 a01 a01 ; i 1; 2; . . . ; IN ; for a1 2 a01 ; a11 under consideration.
IN 1
j1 1
4. Numerical results
a2j a a02 a02 ; j 1; 2; . . . ; IM ; for a2 2 a02 ; a12
IM 1 2
46 In the present section, the free vibration problem of laminated
composite doubly-curved shells and panels are considered and
where IN, IM are the total number of sampling points used to discret- some results and considerations will be presented. The following
ize the domain of the doubly-curved shell in a1 and a2 directions. convention is used to identify the geometrical boundary conditions
Table 7
First ten frequencies for a (30/45) FC shell of translation of Fig. 2(e) and Table 2(e) (an elliptic curve slides on an elliptic curve) using uniform grid distributions with IN = 60,
IM = 30, Ni = Mj = 11.
Mechanical properties of the two laminae: E1 = 137.9 GPa, E2 = E3 = 8.96 GPa, G12 = G13 = 7.1 GPa, G23 = 6.21 GPa, m12 = m13 = 0.3, m23 = 0.49, q = 1450 kg/m3,
h1 = h2 = 0.5 m
Mode [Hz] FSDTRS
v1:2 TSDTRS ED1v=1.2 ED2v=1.2 ED3 ED4
FSDTZRS
v1:2 TSDTZRS EDZ1v=1.2 EDZ2v=1.2 EDZ3 EDZ4
for a panel, as already introduce in the previous work by the tures: a spherical panel, a parabolic cylindrical panel, an elliptic
authors [106]. Having in mind Fig. 1, the relations cylinder, an elliptic cone, a shell of translation, a panel of transla-
a2 a02 ; a01 6 a1 6 a11 identify the West edge (W), whereas the tion a free-form cylinder and a free-form cylinder with variable
relations a2 a12 ; a01 6 a1 6 a11 characterize its opposite, the East thickness. The spherical shell of Fig. 3(a) is termed doubly-curved
edge (E). Likewise, the relations a1 a01 ; a02 6 a2 6 a12 dene the even though it has two equal radii of curvature. Thus, it should
North edge (N), whereas the relations a1 a11 ; a02 6 a2 6 a12 indi- be dened as shell with two constant curvatures. Each point on a
cate its opposite, the South edge (S). Thus, the following symbology sphere have two curvatures which are equal and that do not
WSEN represents the boundary condition sequence for a panel change point by point. The parabolic cylindrical panel (Fig. 3(b))
structure. In this way, the West edge is the rst side, the South is a singly-curved panel, made of a parabolic curve (curve with var-
edge is the second one, the East edge is the third one and nally, iable curvature) which slides on an inclined straight line (zero cur-
the North edge is the last one. The symbolism CFCF illustrates that vature). The elliptic cylinder of Fig. 3(c) is a singly-curved shell,
the West and East edges are clamped, whereas the South and North because only the elliptic section has a variable curvature, whereas
edges are free. Differently, the CF symbolism indicates that the the straight line has zero curvature. It should be noted the differ-
West and East edges are clamped and free for a toroidal shell, ence with the circular cylinder, where the curvature is constant
whereas the South and North edges are clamped and free for a rev- on the cross section. The elliptic cone in Fig. 3(d) is another sin-
olution shell. In this case, the other two boundary conditions are gly-curved shell, because it has a variable curvature in the cross
the kinematical and physical compatibility conditions. They are section and a zero curvature on the other co-ordinate. In Fig. 3(e)
applied at the West and East edges, the same closing meridians, a completely doubly-curved shell is shown. It is obtained by an
for a revolution shell and at the South and North edges, the same elliptic curve that slides on another elliptic curve. Thus, the curva-
closing parallels, for a toroidal shell. ture is variable on both directions and point by point. An analogous
The solution procedure, exposed in the third section and based structure is proposed in Fig. 3(f), where the same structure of
on the theoretical formulation proposed in the second section, has Fig. 3(e) is taken as a panel. Finally, the last two structures are
been implemented in a MATLAB code [129] in order to verify its obtained by Bzier curves which slide on straight lines. Thus, they
accuracy. The differential geometry [103,106108] is used in the are singly-curved shells. For the use of Bzier curves in differential
present work to evaluate the geometric parameters of the consid- geometry the interested reader can refer to the works [92,93]. Care
ered structures. Fig. 3 shows the eight investigated shell struc- must be taken for Fig. 3(h), because the drawn panel has a single
Table 8
First ten frequencies for a (30/45) FFCC panel of translation of Fig. 2(f) and Table 2(f) (an elliptic curve slides on an elliptic curve) using uniform grid distributions with IN = 60,
IM = 30, Ni = Mj = 11.
Mechanical properties of the two laminae: E1 = 137.9 GPa, E2 = E3 = 8.96 GPa, G12 = G13 = 7.1 GPa, G23 = 6.21 GPa, m12 = m13 = 0.3, m23 = 0.49, q = 1450 kg/m3,
h1 = h2 = 0.5 m
Mode [Hz] FSDTRS
v1:2 TSDTRS ED1v=1.2 ED2v=1.2 ED3 ED4
FSDTZRS
v1:2 TSDTZRS EDZ1v=1.2 EDZ2v=1.2 EDZ3 EDZ4
curvature which changes its sign on the same co-ordinates. Hence, the parallel one. It is obvious that more points are needed in the
there is a geometric point with zero curvature. This can be an issue parallel direction, because it is longer than the meridian one.
from the computational point of view. However, LGDQ method Table 3 reports in the rst two parts the classic higher-order theo-
helps in this kind of structural problems, because it is possible to ries, also used in the work [106], whereas in the last part new dis-
geometrically avoid the point with zero curvature. In addition, placement elds are presented. It is noted that for the theories,
the same structure of Fig. 3(h) has a linear variable thickness along such as FSDT, TSDT, FSDTZ and TSDTZ [106], the reduced elastic
the second co-ordinate curve a2. constants are used and the shear correction factor is taken equal
In Table 2, for the sake of completeness, the reader can nd all to j = 1/v = 1/1.2 = 5/6 until the in-plane expansion is of the sec-
the position vectors and geometric parameters which were used ond order (such as for FSDT, ED1, ED2, FSDTZ, EDZ1, EDZ2 formu-
for the denition of the shell structures of Fig. 3. lations [106]). It should be noted that the symbolism adopted in
Tables 310 present the rst ten natural frequencies obtained the present paper has been already introduced in the paper
by considering various ESL higher-order theories proposed in the [106]. In detail two aspects occur: rstly the in-plane expansion
present work. Numerical comparisons with 3D FEM results for dif- order is different from the out-of-plane ones, which was consid-
ferent lamination schemes and boundary condition combinations ered as classic with the power functions of fs. The meaning of
are also shown. Moreover, Figs. 411 illustrate the rst mode the symbols for the considered theories can be found in Table 1
shapes of the structures proposed in Fig. 3. For all the following where all the thickness functions implemented by the authors in
computations the same number of neighborhood points for the their code [129] are shown. In addition the rst mode shapes of
LGDQ method were taken as Ni = Mj = 11 along the two curvilinear the spherical shell under study are shown in Fig. 4.
directions, in order to have the same polynomial approximation. The results related to the second structure, a FCFC parabolic
The rst structure is a FC spherical shell made of a lamination cylindrical panel (Fig. 3(b)), are reported in Table 4. In this case a
scheme (30/45) of Graphite Epoxy. The mechanical properties of single isotropic ply made of Steel is considered and its geometric
Graphite-Epoxy are included in Table 3, where the natural frequen- properties are exhibited in Table 2(b). The mechanical properties
cies of several higher-order theories are reported and compared of the Steel are included in Table 4. The same number of grid points
with 3D FEM. The geometric properties are reported in of the previous case are considered 30 60. In this case the classic
Table 2(a). The structure has two laminae of equal thickness higher-order theories [106] are reported in the rst part of Table 4
h1 = h2 = 0.05 m for a total shell thickness h = 0.1 m. The collocation only without Murakamis function, because the panel has a single
points are taken as 30 60, 30 on the meridian direction and 60 on lamina. The same use of the reduced constants and shear correc-
Table 9
First ten frequencies for a (30/45/ 30/ 45/90/0/ 45/ 30/45/30) CCCC free-form cylinder of Fig. 2(g) and Table 2(g) (a Bzier curve slides on a straight line) using uniform
grid distributions with IN = 30, IM = 30, Ni = Mj = 11.
Mechanical properties of the ten laminae: E1 = 137.9 GPa,E2 = E3 = 8.96 GPa,G12 = G13 = 7.1 GPa, G23 = 6.21 GPa,m12 = m13 = 0.3, m23 = 0.49, q = 1450 kg/m3,
h1 = h2 = h3 = h4 = h5 = h6 = h7 = h8 = h9 = h10 = 0.05 m
Mode [Hz] FSDTRS
v1:2 TSDTRS ED1RS
v1:2 ED1v=1.2 ED2v=1.2 ED3 ED4
FSDTZRS
v1:2 TSDTZRS EDZ1RS
v1:2 EDZ1v=1.2 EDZ2v=1.2 EDZ3 EDZ4
Table 10
First ten frequencies for an isotropic CFFF free-form cylinder of Fig. 2h and Table 2h with a linear variable thickness (a Bzier curve slides on a straight line) using uniform grid
distributions with IN = 60,IM = 30,Ni = Mj = 11.
tion factor of the previous case is considered in the current exam- part of the same table. The through-the-thickness behavior was
ple. All the other new theories are reported in the second and third kept with the power functions of f and the in-plane behavior
652 F. Tornabene et al. / Composite Structures 116 (2014) 637660
was changes using different approaches. Very good agreement is The elliptic cone takes the same single orthotropic lamina and
observed for all the presented results. The rst mode shapes are the same boundary conditions of the elliptic cylinder. For all the
represented in Fig. 5 for the structure under study. geometric and mechanical properties the reader should refer to
The third example is related to a FC elliptic cylinder made of a Table 6 and Table 2(d). The rst mode shapes of the present struc-
single orthotropic lamina (30) of Graphite-Epoxy. The mechanical ture (Fig. 7) are similar to the ones given by the elliptic cylinder.
properties are included in Table 5 and the geometric properties The comparison in terms of natural frequencies can be found in
are written in Table 2(c). The classic higher-order theories are Table 6, where the 3D FEM solution is also reported.
placed in the rst part of Table 5 and the new approaches are The shell and panel of translation, where an elliptic curve trans-
placed below, where the same theories of the previous case have lates along another elliptic curve, are studied in the following. Both
been considered. For the present case the grid distribution is taken are made of a (30/45) lamination scheme of Graphite-Epoxy. The
as 60 30 since the elliptic description requires more points than mechanical properties of the material and the lamination scheme
the straight line. Finally, the rst mode shapes are depicted in thicknesses are reported in Tables 7 and 8, whereas the geometric
Fig. 6, where it is clear that the cylinder is clamped on an edge properties of both structures are indicated in Table 2(e) and (f).
and free on the other one. Classic higher-order theories also within Murakamis function are
F. Tornabene et al. / Composite Structures 116 (2014) 637660 653
used in the rst and second parts of Tables 7 and 8, while new mode shapes of the free-form panel are shown in Fig. 10. In conclu-
higher-order theories are proposed in the third part of the same sion, a free-form panel with variable thickness and variable curva-
tables. The same theories of the last part of Table 3 have been con- ture (from positive to negative) is investigated in the following.
sidered and very good agreement is observed. Moreover, the rst The control points of the Bzier curve denition are in Table 2h
mode shapes of both structures are illustrated in Figs. 8 and 9. within its geometrical properties. It is noted that the panel thick-
Finally, the free-form singly-curved panels generated by using ness on one hand is four times the one on the other and changes
rational Bzier curves are commented in the following. The control linearly. The panel at hand is isotropic made of Steel and the grid
points of both structures are reported in Table 2(g) and (h). The points are 60 30, since the Bzier curve needs more points than
rst panel is made of ten plies of Graphite-Epoxy and it is clamped the straight line to be described. Although the structure has a
on all its edges. Its natural frequencies, compared to 3D FEM, are change in the sign of the curvature, the results are in very good
reported in Table 9 as well as the ply thicknesses, the grid points agreement with the 3D FEM as reported by Table 10, using both
and the neighboring points are indicated. The LGDQ solution is in classic and new higher-order theories. The rst mode shapes of
very good agreement with the 3D FEM one using both classical the present structure are depicted in Fig. 11, where it is clear that
and higher-order theories with different thickness functions in the panel is clamped at the edge with larger thickness and free on
the in-plane and out-of-plane displacement parameters. The rst all the other edges.
654 F. Tornabene et al. / Composite Structures 116 (2014) 637660
In order to show the LGDQ convergence, accuracy and stability points IN = IM and neighborhood points Ni = Mj and it has very good
characteristics, the rst ten frequencies of the panel of translation convergence and accuracy characteristics.
of Fig. 2f and Table 2f with FCFC boundary conditions and a (30/45)
lamination scheme of Graphite-Epoxy is investigated by varying 5. Conclusions and remarks
the number of grid points IN = IM and neighborhood points Ni = Mj.
These results are presented in Table 11. The number of grid point In conclusion the present paper brought the following main
IN = IM varies from IN = IM = 16 to IN = IM = 46 maintaining the num- novelties. First of all the fundamental nuclei of CUF have been writ-
ber of neighborhood points Ni = Mj equal to Ni = Mj = 11, as it can be ten for doubly-curved shells with variable thickness and mechan-
seen from the rst two rows of Table 11. Otherwise, the last row of ical properties along the two curvilinear co-ordinates using
Table 11 shows the results obtained considering IN = IM = 32 and different thickness functions for the three displacement parame-
varying neighborhood points Ni = Mj from Ni = Mj = 5 to Ni = - ters of the CUF expansion. Second of all the LGDQ method has been
Mj = 19. From Table 11 it can be seen that the proposed numerical introduced for the study of doubly-curved shell structures and it
LGDQ procedure is stable while increasing the number of grid has been demonstrated to be a very good candidate for future
F. Tornabene et al. / Composite Structures 116 (2014) 637660 655
Table 11
First ten frequencies for a (30/45) FCFC panel of translation of Fig. 2f and Table 2f (an elliptic curve slides on an elliptic curve) using uniform grid distributions varying the number
of grid points IN = IM and neighborhood points Ni = Mj.
Mode [Hz] IN IM 16 IN IM 18 IN IM 20 IN IM 22 IN IM 24 IN IM 26 IN IM 28 IN IM 30
N i M j 11 N i M j 11 N i M j 11 N i M j 11 N i Mj 11 N i Mj 11 N i Mj 11 N i M j 11
and stable results using banded stiffness matrices instead of full L12
A21 @ a21 A31 @ a1 A21 A2 @ a2
matrices employed by GDQ method. It is remarked that using in-
plane thickness functions different from the out-of-plane ones ssa a ssa a ssa a ssa a
A16201 2 A1611
1 2
A2611
1 2 1 2
@A2 1 @A1620
the degrees of freedom can be reduced and the kinematic model 2
can be enriched, only if it is needed by the problem under consid-
2
A1 A2 @ a1 A1 @ a1
eration. In general it is more convenient to unlock the thickness !
ssa a ssa a ssa a
A1211 A6611 @2
1 2 1 2 1 2
function choice at the displacement eld level, because the stretch- 1 @A6611 @
ing effect usually behaves differently from the in-plane one, espe-
A1 A2 @ a 2 @ a1 A1 A2 @ a1 @ a2
cially when laminated composite materials are taken into account.
All the carried out computations were in very good agreement with ssa a ssa a ssa a ssa a
A26021 2 @ 2 A26021 2 @A2 A22021 2 A66021 2 @A2
the 3D FEM solutions obtained using a commercial FEM code
(Abaqus). It is recalled that all the present solutions are A2 @ a2
2 2
A32 @ a2 A1 A22 @ a1
two-dimensional solutions, where the FEM is modeled using
ssa a ssa a ssa a ssa a
three-dimensional elements. A direct future development of the A26021 2 A1611
1 2
A2611
1 2 1 2
@A1 1 @A2602
present formulation will be the study of the static analysis of
2
A1 A22 @ a2 A2 @ a2
doubly-curved structures including the stress and strain recovery
procedure, in order to see what happens when different thickness ssa a
!
@ 2 A1
1 2
1 @A1211 @ ssa a 1
functions are considered for the in-plane and out-of-plane A11201 2 2
A1 A2 @ a 1 @ a2 A1 A2 @ a 1 @ a2
displacement parameters.
!
Acknowledgments 1 @A1 @A1 ssa a 1 @ 2 A1 1 @A1 @A2
3 A1611
1 2
A1 A2 @ a1 @ a2 A1 A22 @ a22 A1 A32 @ a2 @ a2
The research topic is one of the subjects of the Centre of Study
!
and Research for the Identication of Materials and Structures 1 @A1 @A2 1 @ 2 A2 1 @A2 @A2
ssa a
(CIMEST)-M. Capurso of the University of Bologna (Italy). 3 2 A66021 2
A1 A2 @ a1 @ a1 A1 A2 @ a21 A1 A32 @ a1 @ a2
A1 A2 @ a1 @ a2 A22 @ a22 ssa a ssa a ssa a s~sa a s
~sa a !
! ssa1 a3
A1120
1 3
A44201 3 A1211
1 3
A13101 3 A4410
1 3
@
ssa a ssa a ssa1 a1 ssa1 a1 L13
A6602
1 1
@A2 A6602
1 1
1 @A6602
@A1 1 @A1611 @ A1 R1 A1 R 2 A1 @ a1
A2 @ a2 A1 A2 @ a2 A2 @ a2 A1 A2 @ a1 @ a2
3 2 2
ssa1 a1 ssa1 a1
! ssa1 a1 s~sa a s~sa a ssa a ssa a
1 @A1620 1 @A6611 @A1 2A2611 @A1 @A2
1 3
1 @A1310
1 3
1 @A3601 A1120
1 3
@R1 A1211 @R2
1 3
2
A1 @ a1 A2 @ a2 2 @a
A1 R 1 A1 R22 @ a1
A1 A2 @ a1 A1 A2 @ a2
2 @ a2 A21 A22 @ a2 @ a1 1
a a A1 A2 @ a2 A1 R1 @ a1 A1 R2 @ a1
A1 A22 @ 2 A22 @ 2
! ! ssa a
2 3 2 3 ssa a
2 3 s~sa a
ssa2 a1
1 @A6611 @ 1 @ 2 A1 1 @A1 @A1 1 @A1211 1 @A2202 1 @A3610
ssa2 a1
A6620
A 1 A 2 @ a1 @ a2 A2 R 1 @ a 2 A2 R2 @ a2 A1 @ a1
A21 A2 @ a1 @ a2 A31 A2 @ a1 @ a2 s~sa2 a3 ssa2 a3 ssa2 a3
1 @A2301 A1620 @R1 A2611 @R2
ssa a 1 @ 2 A1 1 @A1 @A2 1 @A1 @A2
A26112 1 A2 @ a2 A1 R21 @ a1 A1 R22 @ a1
A1 A22 @ a22 A1 A32 @ a2 @ a2 A31 A2 @ a1 @ a1 ssa2 a3 ssa2 a3
! ! A1211 @R1 A2202 @R2
1 @ 2 A2 1 @A2 @A2 1 @ 2 A2
2 A
ssa2 a1
2202 A2 R21 @ a2 A2 R22 @ a2
A1 A2 @ a21 A1 A32 @ a1 @ a2 A1 A22 @ a1 @ a2 !
! ssa a ssa a ssa a s
~sa a s~sa a
ssa2 a1 ssa2 a1 ssa3 a1
A11203 1 A44203 1 A1211
3 1
A13103 1 A44103 1
@
1 @A6620 1 @A2611 @A1 L31
A1 R 1 A1 R2 @ a1
A1
A21 A2 @ a1 A1 A22 @ a2 @ a2
!
ssa2 a1 ssa2 a1
! ssa3 a1
A1611
ssa3 a1
A4511
ssa a s
~sa a s~sa a
A26023 1 A36013 1 A45013 1
1 @A2611 1 @A2202 @A2 @
A21 A2 @ a1 A1 A22 @ a2 @ a1 A2 R 1 A2 R 2 A2 @ a2
ssa2 a1 ssa2 a1 ssa2 a1 ssa a ssa3 a1 ssa a s~sa a ~sa a !
s
A1211 A6611 @A1 @A2 A2602 @A2 2 A44203 1 A1211 A22023 1 A44103 1 A23013 1 @A2
2 2
2 2
A1 A2 @ a2 @ a1 A1 A2 @ a1 A1 A2 R 1 A1 A2 R2 A1 A2 @ a1
ssa2 a1 2 ssa2 a1 s
~sa a s~sa a ssa3 a1 ssa3 a1 ssa3 a1 s~sa3 a1 ~sa3 a1 !
s
A1620 @A1 A4511 A45102 1 A45012 1 s
~~sa a A1620 A4511 A2611 A4501 A3610 @A1
2 2 A45002 1
A1 A2 @ a2 R1 R2 R1 R2 A1 A2 R 1 A1 A2 R2 A1 A2 @ a2
ssa3 a1 s~sa3 a1 ssa3 a1
ssa a
A66202 2 @ 2
ssa a ssa a
A66202 2 @A1 A66202 2 @A2 1 @A6620 2 2 ssa a 1 @A4420 1 @A4410 1 @A4511 1
ssa a
L22 2 2 2 2
A1 R1 @ a1 A1 @ a1 A2 R1 @ a2 A2
2
A1 @ a 1 2
A1 @ a1
3
A1 A2 @ a1 A1 @ a1 s~sa a ssa a ssa a
ssa2 a2
! ssa2 a2 ssa a @A45013 1 A44203 1 @R1 A4511
3 1
@R1
1 @A2611 @ 2A2611 @2 A22022 2 @ 2
@ a2 2 @a
A1 R 1 1 A2 R21 @ a2
A1 A2 @ a2 @ a1 A1 A2 @ a1 @ a2 A22 @ a22
ssa a ssa a ssa a s
~sa a s~sa a
!
ssa a ssa a
A22022 2 @A2 A22022 2 @A1 1 @A22022 2
ssa a
ssa a
A16203 2 A2611
3 2
A4511
3 2
A36103 2 A45103 2 @
L32 3 2
A1 R1 A1 R 2 A1 @ a1
A32 @ a2 A1 A22 @ a2 A22 @ a2 ssa a ssa a ssa a s
~sa a s~sa a
!
ssa2 a2
! A12203 2 A2202
3 2
A55023 2 A23013 2 A5501
3 2
@
1 @A2611 @
A2 R 1 A2 R2 A2 @ a2
A1 A2 @ a1 @ a2 ssa a ssa a s~sa assa a ~sa3 a2 !
s
! A1611
3 2
A2602
3 2
A4511
A45103 2 A3601
3 2
@A2
1 @ 2 A2 1 @A1 @A2
ssa2 a2
A6611 A1 A2 R1 A1 A2 R 2 A1 A2 @ a1
A21 A2 @ a21 A31 A2 @ a1 @ a1 ssa a ssa3 a2 ssa a s~sa a ~sa3 a2 !
s
! A11203 2 A1211 A55023 2 A55013 2 A1310 @A1
1 @A1 @A1 1 @ 2 A1
ssa a
A16202 2 3 2 A1 A2 R1 A1 A2 R 2 A1 A2 @ a2
A1 A2 @ a1 @ a2 A1 A2 @ a1 @ a2 1 @A4511
3 2 ssa a
1 @A4510
3 2 s~sa a3 2
1 @A5502
ssa a
!
ssa2 a2 1 @A1 @A2 1 @ 2 A1 A1 R2 @ a1 A1 @ a1 A2 R2 @ a2
A1211 s~sa3 a2 ssa3 a2 ssa3 a2
A1 A32 @ a2 @ a2 A1 A22 @ a22 1 @A5501 A4511 @R2 A5502 @R2
!
A2 @ a 2 A1 R22 @ a1 A2 R22 @ a2
ssa a 1 @ 2 A2 1 @A2 @A2
A26022 2
A1 A22 @ a1 @ a2 A1 A32 @ a1 @ a2 ssa a
A44203 3 @ 2
ssa a ssa a
A44203 3 @A1 A44203 3 @A2 1 @A44203 3
ssa a
ssa3 a3
ssa2 a2 ssa2 a2
! L33 2
1 @A6611 1 @A2602 @A2 2
A1 @ a1 2
A31 @ a1 A1 A2 @ a1 A21 @ a1
ssa3 a3
! ssa3 a3 ssa a
A21 A2 @ a1 A1 A22 @ a2 @ a1 1 @A4511 @ 2A4511 @2 A55023 3 @ 2
!
1 @A1620
ssa2 a2 ssa2 a2
1 @A1211 @A1 A1 A2 @ a 2 @ a1 A1 A2 @ a1 @ a2 A22 @ a22
ssa a ssa a
A55023 3 @A2 A55023 3 @A1 1 @A55023 3
ssa a
2
A1 A2 @ a 1 A1 A22 @ a 2 @ a2
ssa2 a2
2A1611 @A1 @A2 A6602
ssa2 a2 2 ssa a
A11202 2 @A1 2
A32 @ a2 A1 A22 @ a2 A22 @ a2
@A2 ssa3 a3
! ssa a ssa a ssa3 a3
1 @A4511 @ A11203 3 A22023 3 2A1211
A21 A22 @ a2 @ a1 A21 A22 @ a1 A21 A22 @ a2
ssa a s~sa a s
~sa a A1 A2 @ a 1 @ a2 R21 R22 R1 R2
A55022 2 A55012 2 A55012 2 s
~~sa a s~sa a s
~sa a s~sa a s
~sa a
A55002 2 A1310
3 3
A13103 3 A23013 3 A23013 3 s
~~sa a
R22 R2 A33003 3
R1 R2
658 F. Tornabene et al. / Composite Structures 116 (2014) 637660
Finally, the explicit form of the sth order resultants Ssai a1 ; a2 ; t [23] Gould PL. Finite element analysis of shells of revolution. Pitman Publishing;
1985.
(25) for s = 0, 1, 2, . . . , N, N + 1 and ai = a1, a2, a3, in terms of the gen-
[24] Niordson FI. Shell theory. North-Holland; 1985.
eralized displacements u(s), useful for the imposition of the bound- [25] Marku . The mechanics of vibrations of cylindrical shells. Elsevier; 1988.
ary conditions (38), (39), (41) and (43), are reported in the [26] Tzou HS. Piezoelectric shells. Kluwer Academic Publishers; 1993.
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2 ssai a1 ssai a1 ssai a1 ssai a1 ssai a2 ssai a2 ssai a2 ssai a2 ssai a3 ssai a3 3
A1120 A1211 @A2 A1620 @A1 A1611 A1120 @A1 A1211 A1620 A1611 @A2 A1120 A1211 s~sai a3
@ @ @ @
6 A1 @ a1
A1 A2 @ a 1
A1 A2 @ a 2
A2 @ a2 A1 A2 @ a 2
A2 @ a2
A1 @ a1
A1 A2 @ a 1 R1
R2
A 1310 7
6 ssa a1 7
2 3 6 A1211i ssai a1
A2202
ssai a1
A2611
ssai a1
A2602
ssai a2
A1211
ssai a2
A2202
ssai a2
A2611
ssai a2
A2602
ssai a3
A1211
ssai a3
A2202 s~sai a3 7
7
sai 6 @
@A2
@A1
@ @A1
@
@
@A2
A
N1 6 A1 @ a1 A1 A2 @ a 1 A1 A2 @ a 2 A2 @ a2 A1 A2 @ a 2 A2 @ a2 A1 @ a1 A1 A2 @ a 1 R1 R2 2301 7
6 sa 7 6 ssa a 7
6N i 7 6A i 1 ssai a1
A2611
ssai a1
A6620
ssai a1
A6611
ssai a2
A1620
ssai a2
A2611
ssai a2
A6620
ssai a2
A6611
ssai a3
A1620
ssai a3
A2611 7
6 2 7 6 1620 @
@A2
@A1
@ @A1
@
@
@A2
A
s~sai a3 7
6 sai 7 6 A1 @ a1 A1 A2 @ a 1 A1 A2 @ a 2 A2 @ a2 A1 A2 @ a 2 A2 @ a2 A1 @ a1 A1 A2 @ a 1 R1 R2 3610 7
6N 7 6 ssa a 7
6 12 7 6A i 1 ssai a1
A2602
ssai a1
A6611
ssai a1
A6602
ssai a2
A1611
ssai a2
A2602
ssai a2
A6611
ssai a2
A6602
ssai a3
A1611
ssai a3
A2602 7
6 sai 7 6 1611 @
@A2
@A1
@ @A1
@
@
@A2
R2 A3601 7 s 3
s~sai a3 72
6 N 21 7 6 A1 @ a1 A1 A2 @ a 1 A1 A2 @ a 2 @ a2 A1 A2 @ a 2 @ a2 @ a1 A1 A2 @ a 1
6 N1 6
7 X
A2 A2 A1 R1
7 u1
6 sai 7 6 ssai a1 ssai a2 ssai a3 ssai a3 76 s 7
6 T1 7 6 A4420 s~sa a A4511 s~sa a A4420
A2 @ a2 7
A4511 6 7
6 7 6 R1
A4410i 1 R2
A4510i 2 A1
@
@ a1
@
74 u2 5
6 sai 7 s0 6 6
7 s
7
6 T2 7 6
ssai a1
A4511 s~sa a
ssai a2
A5502 s~sa a
ssai a3
A4511 A
ssai a3
7 u3
6 7 6 A4501i 1 A5501i 2 @
5502 @
6P i 7
s a 6 R1 R2 A1 @ a1 A2 @ a2 7 7
6 1 7 6 7
6 sa 7 6
ssai a1
~
A4410
ssai a2
~
A4501
ssai a3
~
A4410
ssai a3
~
A4501 7
6P i 7 6
s
~~sa a
A4400i 1
s
~~sa a
A4500i 2 @
@ 7
4 2 5 6 R1 R2 A1 @ a1 A2 @ a2 7
sai 6 ssai a1
~ ssai a2
~ ssai a3
~ ssai a3
~ 7
S3 6 A4510 s
~~sa a A5501 s
~~sa a A4510 A5501 7
6 A4500i 1 A5500i 2 @
@ 7
6 R1 R2 A1 @ a1 A2 @ a2 7
4 ~ssai a1 ssai a1
~ ssai a1
~ ssai a1
~ ssai a2
~ ssai a2
~ ssai a2
~ ssai a2
~ ssai a3
~ ssai a3
~ 5
A1310 A2301 @A2 A3610 @A1 A3601 A1310 @A1 A2301 A3610 A3601 @A2 A1310 A2301 s~~sai a3
@ @ @ @
A1 @ a1
A1 A2 @ a 1
A1 A2 @ a 2
A2 @ a2 A1 A2 @ a 2
A2 @ a2
A1 @ a1
A1 A2 @ a 1 R1
R2
A 3300
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