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Theories of Plate
Theories of Plate
Theories of Plate
Lecture Notes
Winter Semester 2001/2002
Lehrstuhl fr Statik
Technische Universitt Mnchen
kub@bv.tum.de
http://www.statik.bauwesen.tu-muenchen.de/
Many parts and figures of the present manuscript are taken from the German
lecture notes on Platten by Prof. E. Ramm [9], University of Stuttgart.
Special reference is also made to the books of O.C. Zienkiewicz and R.L. Taylor.
Lehrstuhl fr Statik
Technische Universitt Mnchen
80290 Mnchen
October 2000
REFERENCES ..................................................................................................................... 5
0 References
Books in English Language:
[1]
Gould, Philipp L.: Analysis of Shells and Plates. Springer Verlag New York, 1988.
[2]
[3]
Reddy, J. N.:Theory and Analysis of Elastic Plates. Taylor and Francis, London, 1999.
[4]
Szilard, R.: Theory and Analysis of Plates. Prentice-Hall, Englewood Cliffs, 1974.
[5]
[6]
Zienkiewicz, O.C., Taylor, R.L.: The Finite Element Method. Vol. 1: Basis, Vol. 2:
Solid Mechanics, Vol.3 Fluid Dynamics. 5. Auflage. Butterworth and Heinemann,
2000.
[8]
[9]
[10] Hake, E. und Meskouris, K.: Statik der Flchentragwerke, Springer, 2001.
Finite Element Method (in German):
[11] Werkle, H.: Finite Elemente in der Baustatik. Vieweg Verlag, Wiesbaden, 1995.
[12] Bathe, K.-J.: Finite-Element-Methoden. Springer-Verlag, 1986.
[13] Link, M.: Finite Elemente in der Statik und Dynamik. Teubner-Verlag, Stuttgart, 1984.
[14] Ramm, E.: Finite Elemente fr Tragwerksberechnungen. Vorlesungsmanuskript, Institut
fr Baustatik, Universitt Stuttgart, 1999.
Tables (in German):
[15] Czerny, F.: Tafeln fr vierseitig und dreiseitig gelagerte Rechteckplatten. Betonkalender, 1987 1990, 1993 I. Teil drillsteife Platten mit Gleichlast und linear vernderlicher Last
[16] Pieper, K., Martens, P.: Durchlaufende vierseitig gesttzte Platten im Hochbau. Betonund Stahlbetonbau (1966) 6, S. 158-162, Beton- und Stahlbetonbau (1967) 6, S. 150151.
[17] Pucher, A.: Einflufelder elastischer Platten. 2. Auflage. Springer-Verlag, Wien, 1958.
5
2.8
Finite Element Formulation
The subject of bending of plates was one of the first to which the finite element method was
applied in the early 1960s. At that time the various difficulties that were to be encountered
were not fully appreciated and for this reason the topic remains one in which research is active to the present day.
Plates are but a particular form of a three-dimensional solid. However, the thickness of such
structures is very small which motivated to introduce several assumptions to ease solution (as
demonstrated in the previous chapters) and, finally, resulted in the theories of Kirchhoff, Reissner/Mindlin and others. The finite element method is additionally applied to any of those
theories. The numerical results of a finite element analysis, therefore, are affected by the chain
of assumptions and simplifications from the real structure to the finite element model.
mathematical model
(Kirchhoff,
Reissner/Mindlin)
real structure
modelling
errors
finite element
formulation
discretization
errors
numerical solution
solution
errors
Fig. 2.71: : Modeling and dicretization errors of the finite element method
It turns out that the thick plate theory (Reissner/Mindlin) is simpler to implement the finite
element method, although for analytical treatment it presents more difficulties.
2.8.1 Matrix formulation of the governing equations, thick and thin plates
Again, we start from the shear deformable theory of Reissner and Mindlin and the related
kinematical definitions:
x, u
P
xz
w
x
w(x) = w0(x)
z, w
u(x) = z x(x)
The strains may be separated into bending (in-plane components) and transverse shear groups
and can be collected in the following matrices:
x
x
= y = z 0
xy
x
= zL = z
y y
and
w +
x
xz x
= =
= w +
yz w
+ y
y
The stress resultants can also be grouped into bending and shear. For isotropic elasticity we
can write:
mx
m = my = Db L
m xy
q
q = x = Ds
q y
1
D b = K 1
0 0
0
0 ;
(1 ) / 2
K=
E t3
12(1 2 )
and
D s = G t 10 01
Again, E, , G, and are Youngs modulus, Poissons ratio, shear modulus, and the shear
correction factor, respectively.
The constitutive relations can be simply generalized to anisotropic or inhomogeneous behavior such as can be manifested if several layers of materials are assembled to form a composite.
10
The only difference is the structure of the constitutive matrices Db and Ds, which always can
be found by integration over the thickness.
The equilibrium conditions state the balance of vertical forces and moments:
q x
T
+ p = q + p = 0
y q y
m
y x q x
= LTm q = 0
m
y q y
m
x xy
These are the equations which are valid for thin as well as for thick plates. For thin plates the
shear deformations are suppressed and the Kirchhoff constraint applies:
w + = 0
2w
x 2
2w
= z L w = z
= z
y 2
2w
2
x y
where is the matrix of curvatures and twisting in the plate.
x
= y =
= L
y
xy + yx
y
x
y + x
Finally, the Kirchhoff PDE which represents the balance of vertical forces is written in matrix
form as:
(L)T (Db L w ) p = 0
11
stress resultants
constitutive equations
mx
0
x
0 y
m y = K 1
2
m xy
0 0
xy
2
m
Db
mx
q x
m y q
m xy y
m
q
q x
1 0 x
q = G t 0 1
y
y
q
Ds
equilibrium
q x
x y q y + p = 0
q +p= 0
x 0 y m x q x
my = 0
0 m q y
y x xy
LT
L: differential operator
LT : adjoint operator
x
=
y
=0
load
p
strains
x
y
2 xy y
geometry
x
x
0 x =
y y y
2 xy
y x
L
=
w + =
displacement and
rotations
w x
y
w
The internal virtual work written in matrix notation and separated into bending and shear
terms:
12
Wint = m dA + Tq dA
A
= D b dA + T Ds dA
T
= (L ) D b L dA + ( w + ) D s ( w + ) dA
T
where the kinematical unknowns are the displacement field w(x,y) and the rotations fields
x (x,y) and y (x,y).
The above equation further reduces to the case of thin plates if the Kirchhoff constraint
= w + = 0 is applied:
Wint = m dA
A
= T D b dA = (L ) D b L dA
T
= (L w ) D b L w dA
T
where
2
(L ) = 2 ,
x
2
2
,
2
y 2
x y
1
(L )T D b L dA + 1 (w + )T Gt (w + ) dA w p dA + bt minimum
2A
2A
A
Obviously, the thin case can be interpreted as the solution of the general principle with the
Kirchhoff constraint being imposed in a penalty manner with the shear rigidity Gt as penalty
parameter. As is physically evident, the thin plate formulation is simply a limiting case of a
general plate analysis where the thickness approaches zero. The penalty form can yield a satisfactory solution only when discretization of the corresponding mixed formulation satisfies
the necessary convergence criteria.
2.8.3 Discretization
Formally, the discretization for plate analysis follows the usual paths of the finite element
technique. Each of the unknown fields w, x , and y is approximated by a set of discrete values and shape functions which are related to the nodes of a finite element discretization:
13
w( x , y) = Ni ( x , y ) w i ;
i =1
( x , y) = N i ( x , y ) i ;
= x, y
i =1
w1
x1
y1
w = [N1 0 0 ... N n 0 0] ...
w n
xn
yn
w=
Nw
w1
x 1
x 0 N1 0 ... 0 N n 0 y1
= =
...
y 0 0 N1 ... 0 0 Nn w n
xn
yn
=
where v is the vector of nodal displacement and rotation values, Nw and N the matrices of
shape functions, arranged for the interpolation of the approximated displacement w(x,y) and
rotations x and y , respectively.
Thick plate, Reissner/Mindlin theory:
Inserting the discretization of displacement and rotation fields into the thick plate virtual work
expression yields:
Wint = v T (L N ) Db L N v dA + v T (N w + N ) Ds (N w + N ) v dA
T
Bb = L N
and
B s = Nw + N
k = k b + k s = B Tb Db B b dA + B Ts Ds Bs dA
A
~ T
~
Wint = v T L N D b L N v dA
A
where the shape functions are modified to respect the Kirchhoff constraint:
~
= N v = w = N w v
leading to
Wint = v T (L N w ) Db L Nw v dA
T
and second order derivatives of the shape functions Nw in the work functional.
The stiffness matrix reduces to:
k = k b = BTb Db Bb dA
A
The external load vector f is derived from the external virtual work:
Wext = w p dA
A
= v T N Tw p dA
A
f = N Tw p dA
A
So far, the finite element technique is applied straight forward to the analysis of plates. Special problems, however arise from the special structures of the virtual work functionals with
respect to the mixture of shape functions and their first derivatives in the Reissner/Mindlin
thick plate case (ref. to Bs) and with respect to shape function continuity requirements because
of the second order derivatives in the case of the Kirchhoff thin plate formulation.
Finally, there is an important difference between thin and thick plates when point loads are
involved. In the thin plate case the displacement w remains finite at locations where a point
load is applied; however, for thick plates the presence of shear deformation leads to an infinite
displacement. In finite element approximations of thick plates one always predict a finite displacement at point locations with the magnitude increasing without limit as a mesh is refined
near the loads. Thus, it is meaningless to compare the deflections at point load locations for
different element formulations. It is, however, possible to compare the total strain energy for
such situations and here we immediately observe that for cases in which a single point load is
involved the displacement provides a direct measure for this quantity.
15
W = ( M w p) dx = ( EI w p ) dx = (( w ) EI ( w) w p) dx = 0
L
where w is the lateral displacement, L and EI are the length and the bending rigidity of the
beam, respectively.
x
p(x)
EI(x)
w(x)
L
where the boundary terms represent the natural boundary conditions at the beams start and
end points indicating either vanishing rotations and displacements or moments or shear forces.
Applied to two adjacent finite beam elements the terms at the common boundary have to vanish otherwise they would introduce additional spurious energy:
BT = (w M ) left + (w Q ) left = 0
right
right
In the absence of point loads moment and shear force are continuous, i.e. the same on both
sides of the boundary. The boundary terms can be transformed into:
BT = (w right w left ) M bt + (w right w left )Q bt = 0
w left = w right
and
w left = w right
16
The same conditions apply for the displacement function w itself. Since the function as well
as its first derivative have to be continuous, i.e. the same across the common boundary of adjacent elements, a function of that type is called C1 -continuous. Obviously, a cubic function
does the job. A finite element which satisfies the continuity conditions is also called conforming or compatible.
Now, let us take a look at the Kirchhoff plate. The virtual internal work is:
Wint = m dA = w T LT Db L w dA
A
w
w 2w
where (L ) w =
+2
+
x 2
x y y 2
2
Obviously, the highest derivative of w is of order 2, that means, proper shape functions for the
Kirchhoff plate have to be at least C1 -continuous. However, since the plate is a twodimensional structure and the displacement function w is a function of two co-ordinates (x, y)
the requirements for the shape functions are somewhat more complicated. This is preferably
explained by an example.
Incompatible rectangular element with 12 degrees of freedom (Adini-Clough-Melosh):
Nodal parameters:
4
1
1
x xy y 2
x3 x 2 y x y2 y3
x3 y
x y3
3
1
y
w , x
w , y
1
2
5
w, x
w, y
2
The following figure shows the displacement field generated by the given data:
node
1
2
3
4
5
6
x
0
1
1
0
0
1
y
0
0
1
1
-1
-1
w
0
0
0
0
0
0
w,x
1
1
0
0
0
0
w,y
0
0
1
-1
-1
1
y
1
x y
x 2 xy y2
x3 x 2 y x y2 y3
x 3y x 2 y 2 x y 3
x 3 y 2 x 2 y3
x 3 y3
2
x
18
x
0
1
1
0
0
1
y
0
0
1
1
-1
-1
w
0
0
0
0
0
0
w,x
1
1
0
0
0
0
w,y
0
0
1
-1
-1
1
w,xy
1
1
1
1
1
1
19
The problem, however, are the continuity conditions which in general are difficult to be satisfied for conforming, compatible elements. The BFS-element is the exception. It is, however,
restricted to a rectangular geometry. It is, therefore, not very much used in practice. The continuity conditions very often lead to different variables at the nodes. This is indicated in the
above figure by the different node symbols (bullets and circles). An example for that is the 21
degree-of-freedom triangle, which is independently described by Argyris et al., Bell, Cowper
et al., and Irons during 1968 and 1969. Mention of the element shape functions was made
earlier by Withum and Felippa.
The 21 degree-of-freedom triangle
Referring to the BFS-element, we saw that a conforming element can be derived by prescribing the following data at each node: the displacement, both first derivatives in (x,y) direction,
and the second mixed derivatives, indicating the twist of displacement. With respect to an
arbitrarily orientated edge, now, the first and second derivatives have to be prescribed normal
and tangential to the edge. Compare with the following figure.
y
3
t
n
x
2
dy
dn
dy
dt
2w 2 w dx dx 2 w dx dy dx dy 2w dy dy
=
+
n t x 2 dn dt x y dn dt dt dn y 2 dn dt
It follows that all second derivatives with respect to the global coordinates (x,y) have to be
supplied at the nodes. At any node the following data has to be prescribed: w w, x w,y w,xx
w,xy w,yy . Together at all three corners of the triangle that are in total 3x6 = 18 degrees of
freedom.
20
1
1 deg ree of freedom
x y
3
2
2
x xy y
6
3
2
2
3
x x y xy y
10
4
3
2 2
3
4
x x y x y xy y
15
5
4
3 2
2 3
4
5
x x y x y x y x y y 21
Fig. 2.78: Pascals triangle up to polynomial of 5th order.
A quick glance at Pascals triangle shows, however, that an ideal, complete polynomial as
shape function with at least 18 free parameters must be of 5th order or more. As additional
variables which fill up the remaining 3 parameters up to 21 the normal derivatives at the midsides are chosen. Finally, we end up with an 6 node triangle where at the vertices : w w,x w,y
w,xx w,xy w,yy are prescribed and at mid-sides the cross derivative w, n .
degrees of freedom
w
x
w
y
2 w
x 2
2w
x y
2w
y2 k
n k
21
w
t =
, w
t
m
n
d + m ntt d + q n w d = 0
e
For constant moments the shear force qn is zero and the last term of the above equation vanishes. The remaining expression is satisfied if each straight side e of the element the following holds:
d = 0
and
d = 0
t
where the second integral usually is identically satisfied. This is the motivation for the formulation of several non-conforming elements which converge to the correct solution and indeed
show to very effective. Preferable are elements which are defined in terms of nodal displacement and rotational parameters.
t
mn
n
qn
mnt
22
x 4
y 4
y 3
2w
a b y 2 dy dx = a ( y1 y 2 + y 3 + y 4 )
a b
x 2
2b
x 1
y 1
x 3
1
4
I=
which contributes to the edge integrals 1-2 and 4-3 after integration by parts:
y 2
a w
a w
I =
dx
dx
= a (3 + 4 ) a (1 + 2 )
1424
3 1424
3
y
a
y =b a
y= b
edge 4 3
edge 12
y
2a
x
Obviously, the inspected edge integrals 1-2 and 4-3 of element 2 are functions of parameters
which are defined on the related edge. The same argument applies to elements 1 and 3 which
means that the difference of common edge integrals of adjacent elements just cancels out. The
relaxed continuity conditions for the ACM-element are satisfied.
2.8.4.4 Other Kirchhoff elements
Besides the presented types of elements there exist e.g. quasi-conforming elements and rotation free elements where other arguments are used to satisfy the continuity conditions.
Discrete Kirchhoff elements are formulated via the refined Reissner/Mindlin theory where
the Kirchhoff constraint is used to eliminate the shear effect. Insofar they have a position
between Kirchhoff and Reissner/Mindlin elements which will be discussed next. In all cases
the constant moment patch test has to be satisfied to guarantee convergence.
2.8.5 Reissner/Mindlin plate elements
2.8.5.1 Continuity requirements
The Reissner/Mindlin theory allows shear deformation, i.e. rotations and displacement derivatives are not directly coupled and differ by the shear deformation. Consequently, rotation
fields x (x,y) and y (x,y) as well as displacement field w(x,y) are independently introduced
into the virtual work expression:
Wint = m dA + Tq dA
A
= (L ) Db L dA + ( w + )T Ds ( w + ) dA
T
By inspection we see that the highest derivatives of displacements and rotations are of first
order. Finite element approximations must be not more than C0 -continuous. That is an important simplification compared to the Kirchhoff theory and was one of the major motivations to
develop Reissner/Mindlin plate elements.
23
Because of that there exist no real restrictions for the kind of element geometry used for the
implementation. Iso-parametric elements allowing for curved boundaries and arbitrarily composed patches are standard. Further more, the Reissner/Mindlin theory is the basis for up-todate shell elements on curved surfaces.
several iso-parametric elements used for Reissner/Mindlin plates
bi-linear
linear
bi-quadratic
8-node serendipity
9-node Lagrange
quadratic
bi-cubic
cubic
12-node
16-node Lagrange
0.0044
0.0043
wcK / qL 4
0.0042
0.0041
0.0040
0.0039
0.0038
0.0037
1
10
10
10
L/t
Fig. 2.82: Performance of quadratic serendipity elements with varying span-to-thickness L/t
ratios, shear locking for L/t > 102
The reason of shear locking becomes obvious if we take a look at the shear part of the virtual
internal work:
Wint = (L ) D b L dA + ( w + ) D s ( w + ) dA
A
14442444
3 A144444244444
3
T
bending
shear
Recall, that the bending and shear parts are characterized by K = Et3 /12(1- 2 ) and GtL2 , respectively. As the thickness t becomes smaller GtL2 becomes larger than the bending rigidity
K and the shear deformation dominates the internal work. In theory this tendency is counterbalanced by activating the Kirchhoff constraint w + = 0. Therefore, the shear part fades
out of the internal work. If the finite element technique would properly work this effect
should, of course, also take place after discretization. Introducing shape functions and nodal
displacement parameters v the virtual work expression displays as:
Wint = v T (L N ) Db L N v dA + v T (N w + N ) Ds (N w + N ) v dA
T
( N
or
N1
x
N1
y
N n
x
N n
0 0 ...
y
0 0 ...
+ N )v = B s v = 0
0 0
0 N
+ 0 01
0 0
0
N1
... 0 N n
... 0 0
0
v=0
N n
As displacement w and rotations x y are interpolated by the same shape functions we see
that the discretized Kirchhoff constraint implies that the linear combination of polynomials of
different order (N i and its derivatives) must identically vanish as t approaches zero. That is in
general impossible for polynomial shape functions. As a consequence, even at the Kirchhoff
limit t = 0, some shear energy remains, which dominates the bending energy and causes shear
locking. The numerical effect is more severe for lower order functions.
25
Two general lines of modification have evolved to overcome the above deficiency: (i) replacement of Bs by some modification Bs which indeed is known as B-bar-method, or (ii)
to modify the integration of the shear strain energy such that the constraint is weakly satisfied.
The latter approach leads to the concept of reduced integration. So called assumed natural
(ANS) or, enhanced assumed (EAS) strain concepts modify the strain fields and lead at the
end also to modified Bs-matrices.
2.8.5.3 Reduced integration
The concept is briefly sketched for the example of a Timoshenko beam where the identical
problem of shear locking arises. Because of the aspects of convergence we can restrict ourselves to the case of a beam subjected to constant moment loading. The beam shall be discretized by a two node, linear element:
approximation by 2-node linear interpolation
of displacement w and rotation
real structure
M
1 =
2 =
w1 = 0
-L-
w(x) = 0
w2 = 0
2 =
z, w
1 =
= + 2
x
L
shear strain
0
Obviously, the shear strain approximation h is not identical zero along the whole beam as it
should be with regard to theory. There is just one location at the beam center x = L/2 where
this is the case. If this location is used as integration point or Gauss point (GP) of a numerical integration of the shear strain energy the finite element approximation would be correct.
For the integration of the shear energy we now use one instead of two integration points. We
speak of reduced integration instead of full integration. If at the same time the bending
term is fully integrated the scheme is called selective reduced integration. The bending
terms are sometimes also reduced integrated although this is not necessary with respect to
shear locking. The same procedure applies analogously for higher order beams and plates.
integration order of some selective reduced integrated plate elements
element
bending term
shear term
4-node bi-linear
2x2
1x1
8-node bi-quadratic
3x3
2x2
9-node bi-quadratic
3x3
2x2
Note, that reduced integration may introduce additional internal zero energy modes (physically meaningless displacement modes without strain energy) and the elements may also not
be completely locking free.
26
w( x , y ) = [1 x
x ( x , y ) = [1 x
y ( x , y ) = [1 x
y
y
y
xy ] a where aT = [a1
xy ] b where b = [b1
T
a2
a3
b2
b3
xy ] c where c = [c1 c 2
T
c3
a4 ]
b4 ]
c4 ]
x
= [0 1 0 y] b
x
yy = y = [0 0 1 x ] c
y
xx =
1 x y 1
+
= ([0 0 1 x ] b + [0 1 0 y] c )
2 y
x 2
w
x =
+ x = [0 1 0 y ] a + [1 x y xy ] b
x
w
y =
+ y = [0 0 1 x ] a + [1 x y xy ] c
y
xy =
Bending and shear terms shall be reduced integrated, i.e. consider 1 integration point at the
element center (x,y) = (0,0) instead of 2x2 points. At the center we get the strains:
xx = b 2
yy = c3
1
(b 3 + c 2 )
2
x = a 2 + b1
y = a 3 + c1
xy =
12
3
5
-8
12 8 = 4
There are 4 parameters which cannot be determined and can be chosen arbitrarily. They are
related to 4 displacement modes of zero strains and internal energy although they are no rigid
body modes. Therefore, they are called zero energy modes (ZEM). On the other hand, that
means, that the (reduced integrated) stiffness matrix is not definite, i.e. det(k) = 0:
27
all
int
point. s
= Tk = T BT D B dA = T BTi DiBi = 0
i =1
where represents the zero energy modes. They are the solution of the eigenvalue problem
(k I ) = 0 with zero eigenvalues .
When using reduced integration to prevent shear locking there exists always the possibility of
zero energy modes.
The minimum number of zero energy modes can easily be evaluated. E.g., consider a reduced
(2x2) integrated 8-node serendipity element:
Number of degrees of freedom:
5 strain equations at each integration point
3 rigid body modes
min. number of zero energy modes
8x3
5x(2x2)
= 24
= 20
=3
24 20 3 = 1 ZEM
4x3
5x(1x1)
= 12
=5
=3
12 5 3 = 4 ZEM
Fig. 2.83: Two zero energy modes of the reduced (1x1) integrated 4-node plate element.
28
discretization
8.00 m
p = 10 kN/m2
8.00 m
29
4-node element.
Fully integrated the element shows extreme shear locking, the results are useless. Shear locking disappears if the element is reduced integrated, in addition is numerically very efficient.
However, there are 4 ZEM (as shown above). These modes can be controlled by so called
stabilizing matrices. The one point integrated 4-node elements are favorably used for large
dynamic analyses, e.g. crash simulations in automotive industries. The selectively reduced
integrated elements has only 2 ZEM, however, is considerably ineffective because of the necessary four integration points (integration of bending part).
30
31
32
12-node element.
It behaves similar as the 8-node serendipity element. Shear locking cannot be avoided by any
integration scheme. ZEM do not appear, even reduced integrated. It is less efficient than the
8-node element since 9 integration points are necessary for reduced integration. Therefore, it
is not much used. If so it should be reduced integrated.
33
general remark:
The quality of iso-parametric elements very much depends on the element geometry. They are
worse the more the geometry is distorted. Opposite side should be as close to parallel as
possible, mid-side nodes and center nodes should be placed as close as possible to the real
center of side or element, respectively.
34
= (L ) Db L dA + ( w + )T Ds ( w + ) dA w p dA
T
we now write
W = m dA w p dA
A
= (L ) Db L dA w p dA
T
subject to + w = 0
The shear part of virtual work vanished identically since the constraint + w = 0 is satisfied
at any point in the plate.
We have seen before that in a finite element formulation the Kirchhoff constraint cannot be
identically satisfied everywhere in the plate which led to shear locking. But it is possible to
satisfy it at several discrete locations. Elements generated by this approach are, therefore,
called Discrete Kirchhoff elements. Prominent species of that type are known as DKT (Discrete Kirchhoff Triangle) and DKQ (Discrete Kirchhoff Quadrilateral). The elements combine
the advantages of both theories: shear locking free analysis of thin plates (Kirchhoff) and C0 continuity requirements for independently interpolated displacements and rotations (Reissner/Mindlin). The 3-node, 9 degree-of-freedom DKT element by Batoz is one of the best triangular plate elements known.
How to construct a Discrete Kirchhoff element?
Again, that is conveniently explained by the example of a Timoshenko beam. First, consider a
three node beam. Displacements and rotations are independently approximated by quadratic
shape functions:
1
2
x
w1
w3
w2
x
x
w(x ) = w 3 + (w 2 w1 ) + 2( w1 + w 2 2w 3 )
L
L
x
x
(x ) = 1 + (2 1 ) + 2(1 + 2 23 )
L
L
Next, the inner node variables (w3 ,3 ) are eliminated by proposing two discrete constraints at
the locations (x,x ):
w
x
+ (x ) = 0
and
x= x
35
w
x
+ (x ) = 0
x= x
1 L
are chosen the inner variables are evaluated as:
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1
1
w 3 = (w 1 + w 2 ) L(1 2 )
2
8
3
and 3 =
(w 1 w 2 ) 1 (1 + 2 )
2L
4
These are back substituted into the above approximations and a beam element remains with
all together 4 nodal parameters (w1 , 1 , w2 , 2 ) which satisfies the discrete Timoshenko
constraints at the two Gauss points. For the presented choice of (x,x ) it appears that the
stiffness matrix of the element is identical to that of a cubic Bernoulli element, i.e. the presented element is exact.
The construction of discrete Kirchhoff plate elements is analogous:
3
6
w
v i = x
y
6-node R/M
2
DKT
Development of the 3-node DKT element by elimination of the 9 variables at the mid-side nodes 4,5,6 of an
initially 6-node quadratic R/M element. 6 Kirchhoff
constraints are used w.r.t. the tangential side directions.
The normal slopes at the three mid-side nodes are linearly interpolated from the normal slopes at the corner
nodes.
and
= D b Tm,
respective ly
we get
~ = m T L w dA 1 m T D T m dA w p dA
b
A
A
2 A
~
= m T (DbT m + L w )dA w ( TLTm + p) dA = 0
A
Note, that in a weak form we can recognize the geometrical and the equilibrium equations
D b T m + L w = + L w = 0 and T LT m + p = Tq + p = 0 respectively.
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~
= m T Db Tm + (L m ) w dA ( w ) LTm + w p dA = 0
T
the expression is used as the basis of a mixed finite element formulation. The unknown fields
are now the displacement w(x) and the moments m(x) which have to approximated by proper
shape functions:
n
wh = N w i w i
i =1
mx
and m h = N m i m y
i =1
m xy
i
n
Since displacement and stress resultants are approximated the element is called mixed. The
highest degree of derivatives of w and m is 1 which indicates that C0 -continuous shape functions are sufficient which is of great advantage. Many very successful elements are available
which are based on that approach. The disadvantages are: (i) nodal variables are displacement
as well as moment components which makes it difficult to combine these elements with other
type of elements, and (ii) the system of equations shows zeros on the main diagonal why special kind of equation solvers are necessary.
The disadvantages of mixed elements are overcome by special variants the so called hybrid
elements. Here, the nodal moment components are eliminated by special procedures which
adapt the element interior mixed fields to an overlaying displacement field interconnecting the
element patch. Mixed elements have only nodal displacement components, they can easily be
connected to other kind of elements. The ideas go mainly back to Pian. Hybrid elements are
very successfully used in the practical analysis of thin plates.
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