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Abstract
The numerical analysis of plates and shells using the finite element method (FEM) is a bro-
ad branch of modern structural mechanics. The knowledge of the theory and analytical
solutions is indispensable for creating finite element models and carrying out calcula-
tions. In the paper the attention is focused on FEM modelling of elastic shell structures
in membrane stress states, in bending and transverse shear. The search for optimal FE
approximations, quality and efficiency of numerical solutions has become the motivation
for the development of new formulations of FEM in the last 40 years. The work contains
a brief review of selected advanced approaches, among others multi-field finite elements
and hp-adaptivity.
Keywords: plates and shells, finite element modelling, advanced FE formulations, evalu-
ation of numerical solutions
Streszczenie
Numeryczna analiza płyt i powłok z użyciem metody elementów skończonych (MES)
jest szerokim działem nowoczesnej mechaniki konstrukcji. Znajomość teorii i rozwiazań
˛
analitycznych jest niezb˛edna do tworzenia modeli w MES i przy wykonywaniu obliczeń.
W pracy uwaga jest skupiona na modelowaniu MES spr˛eżystych konstrukcji powłoko-
wych w stanach: membranowym, gi˛etnym i poprzecznego ścinania. Poszukiwanie opty-
malnej aproksymacji w elementach skończonych oraz numerycznych rozwiazań˛ o dobrej
jakości i efektywności stało si˛e motywacja˛ do rozwoju nowych sformułowań w MES
w ciagu
˛ ostatnich 40 lat. Praca zawiera zwi˛ezły przeglad˛ wybranych zaawansowanych
koncepcji, mi˛edzy innymi opis wielopolowych elementów skończonych i hp-adaptacji.
Słowa kluczowe: płyty i powłoki, modelowanie w MES, zaawansowane sformułowania
ES, ocena rozwiazań
˛ numerycznych
∗ Assoc. Prof., PhD, marad@L5.pk.edu.pl
∗∗ PhD, A.Stankiewicz@L5.pk.edu.pl
∗∗∗ PhD, awosatko@L5.pk.edu.pl,
Institute for Computational Civil Engineering, Faculty of Civil Engineering, Cracow University of Technology
126
(a) (b)
Fig. 1. Two examples of shell structures: (a) spherical tank of natural gas in Esslingen am Neckar,
Germany
c Igelball at commons.wikimedia.org [24], (b) cooling towers of Dukovany Nuclear Power
Station, Czech Republic
c Frettie at commons.wikimedia.org [20]
Rys. 1. Dwa przykłady konstrukcji powłokowych: (a) zbiornik kulisty gazu naturalnego w Esslingen
am Neckar, Niemcy
c Igelball at commons.wikimedia.org [24], (b) chłodnia kominowa Dukovany
Nuclear Power Station, Czechy
c Frettie at commons.wikimedia.org [20]
x1 = x = ξ1
x2 = y
r(ϕ)
b
n R e1 i1 x1 = x
ξ1 = ϕ i2 P
P e2 e1
n i2
b e2 P
R e2 i1 r i x3 = z
3
i3 i1 e1 x1 = x n
i2 f
ξ2 = θ ξ2 = θ
x3 = z x2 = y a x2 = y x3 = z
Fig. 2. Geometry description for theoretical considerations for three types of surfaces: (a) spherical,
(b) cylindrical, (c) hyperbolic
Rys. 2. Opis geometrii w rozważaniach teoretycznych dla trzech typów powierzchni: (a) sferycznej,
(b) walcowej, (c) hiperbolicznej
128
Fig. 3. Finite element models for three types of surfaces: (a) spherical [19], (b) cylindrical [1], (c) hy-
perbolic [28]
Rys. 3. Modele MES dla trzech typów powierzchni: (a) sferycznej [19], (b) walcowej [1], (c) hiperbo-
licznej [28]
Completing the general remarks, one of the most recent and advanced computer techniqu-
es is worth mentioning: advanced hp-technology, described briefly in Subsection 2.7.7, based
on the works of Demkowicz et al. [18] and Tews and Rachowicz [42]. Very interesting is
the following quote from the latter paper, see p.1968: “We can also estimate accuracy of the
approximate solution. Moreover, we can direct the adaptivity to achieving high accuracy of
user-selected parameters characterizing the solution, usually called quantities of interest, like
local features of the solution, and accuracy of such parameters can be estimated. Adaptivi-
ty and error estimation working in this fashion are referred to as goal-oriented procedures.”
The Reader is also referred to the work of Bischoff et al. [13], where the broad knowledge
on the mathematical and mechanical foundations of FE models for thin-walled structures is
included.
The following functionals are taken into account in the formulation of FE models: poten-
tial energy Ip [u], complementary energy Ic [σ σ ], functionals of Hellinger-Reissner IHR [u, σ ]
or IHR [u, ǫ ] and Hu-Washizu IHW [u, ǫ , σ ]. The constraint equations, formulated on inter-
element lines and associated with: i) continuity of generalized displacements or ii) equili-
brium of tractions, can be introduced into original functionals by additional suitable com-
ponents with Lagrange multipliers, generating new functionals. They have their mechanical
interpretation of tractions t(ef) or displacements u(ef) on common inter-element boundaries.
The multipliers are treated as additional functions, approximated on element edge. This is
the basis of the formulation of the class of hybrid FEs.
When FEM is applied in the shell structure analysis, the following two-dimensional fields
are approximated depending on FE formulation (one-, two-, three-field as well as hybrid mo-
dels are possible): i) within element domain Ωe the following fields: ue (x) , ϕ e (x) – genera-
lized displacements (translations and rotations), ǫ e (x), κ e (x), γ e (x) – membrane, bending,
transverse shear strains, ne (x), me (x), te (x) – stress resultants (membrane forces, moments,
transverse forces), and ii) on inter-element lines dΩ(ef) : u(ef) (s) – boundary displacements
or t(ef) (s) – interactions between the elements (tractions). The physical (qu , qσ , qǫ ) or ma-
thematical (α α) degrees of freedom (dofs) are used as coefficients of the approximating func-
tion combinations.
In the general Hu-Washizu principle all variables u, ǫ , σ can be freely varied
Z
1 T
Z
ǫ C ǫ − σ T (ǫǫ − ∂u) − p̂T u dΩ −
T
IHW [u, ǫ , σ ] = t̂ u d(∂Ω) (1)
Ω 2 ∂Ωσ
From the stationarity conditions of this functional with respect to variations of three fields u,
ǫ , σ – the set of equations for locally formulated BVP is obtained:
σ = C ǫ, ǫ = ∂ u, ∂ Tσ + p̂ = 0 (2)
According to the standard procedure, after applying in FEM independent approximation
of three fields u, ǫ , σ using qu , qσ , qǫ dofs:
u(x) = N(e) (e)
u (x) qu , ǫ (x) = Nǫ(e) (x) qǫ(e) , σ (x) = Nσ(e) (x) qσ(e) , x ∈ Ωe (3)
the following matrix equation for three-field FE is derived (see details in [35]):
(e) (e)T
(e)
0 0
Fǫǫ Eσ ǫ qǫ
(e) (e) (e) 0
Eσǫ 0 Gσ u qσ = (4)
(e)T (e) p̂ (e) t̂ (e)
0 Gσ u 0 qu fu + fu
The number of FEs based on different formulations is huge and the literature is very bro-
ad. The Reader interested in more details is referred to the following papers: Yang, Saigal
and Liaw [48] (287 items of literature), Gilewski and Radwańska [21] (329 items of lite-
rature), MacNeal [30], Yang et al. [47] (379 items of literature), Chróścielewski, Gilewski
and Kreja [15].
(d) v
(a) (b) (c) ϕ w
u 1
ϕn
v 2
tnode v
Z v u u
Y ϕ2 ϕ2
u xnode w ϕ1
w ϕ1
X w
3
Fig. 4. Selected models: (a) 3D finite element, (b) degenerated FE, (c) curved 2D finite element, (d) „me-
ridian” 1D finite element
Rys. 4. Wybrane rodzaje elementów skończonych: (a) 3D, (b) zdegenerowany, (c) zakrzywiony 2D,
(d) „południkowy” 1D
quadrature is required. When the number of Gauss points guarantees exact integration we
speak about full integration (FI). The use of a smaller number of integration points than
in FI is called reduced integration (RI). If this reduced order quadrature is applied to all
mechanical actions the integration is called uniformly reduced (URI). If the integrand is a sum
of contributions and different quadrature orders are used for the particular components (for
instance FI for the stiffness associated with normal stresses and RI for the shear stiffness)
then so-called selective integration (SI) is carried out.
We now emphasize the fact that in the displacement-based FE model the use of FI often
leads to an excessive stiffness of the element and element assembly, which is called loc-
king, and as a result too small displacements are computed. On the other hand RI reduces
the stiffness but may imply matrix rank deficiency, i.e. its singularity and associated spurious
zero-energy deformation modes.
Overstiffness (locking) is a phenomenon which occurs in the analysis of both 1D beams
and 2D structures. Below we describe the shear locking (SL) phenomenon which occurs in
membrane finite elements, but also in plate elements, and membrane locking (ML) encoun-
tered in shell finite elements.
In the four-node membrane finite element in pure in-bending state the ensuing spurious
FEM
shear strains γxy are zero only at the element centre. One can conclude that selective inte-
gration (SI) with 1 Gauss point (center of the element with coordinates x = y = 0) provides
zero energy related to the shear strain and represents the correct stiffness and energy balance.
The application of SI for the four-node membrane element starts with the separation of stif-
fness contribution related to normal strains ǫx , ǫy from the contribution due to shear strain
γxy . In the former case 2 × 2 Gauss points are used (FI) and in the latter just one point (RI).
For instance this integration scheme leads to satisfactory results for the deep cantilever beam
known as an important test of in-plane bending.
The search for a finite element which could serve the purpose of plate discretization in
a wide range of plate thicknesses faced certain obstacles in FEM progress. The main problem
consists in the fact that a Mindlin-Reissner (M-R) plate does not behave like a Kirchhoff-
Love plate when its thickness is reduced (h → 0). The deflections obtained using the FE
based on the M-R theory do not converge to the results expected for thin plates: they are
too small. The phenomenon is called transverse shear locking (SL). On the other hand an
important advantage of FE (M-R) should be emphasized: it enables a reduction of continuity
requirements. Instead of C 1 -continuity of the deflection function we have C 0 -continuity of
the deflection and angles of rotation of the normal vector which are approximated indepen-
dently of the deflection.
The displacement element Q8/9 Heterosis, which makes use of both Serendipity and La-
grange shape functions, has a proper rank of matrices and, when used in the analysis of plate
bending for h → 0, is free from transverse SL.
The behaviour of elements Q8, Q9, Q8/9 Heterosis was also tested in the problem of cri-
tical load determination for plate buckling, cf. [34]. In the numerical analysis of uniaxially
compressed plate the accuracy of the solution was examined and the results were presented
in terms of normalized critical load pFEM anal
cr /pcr for different options of numerical integration
(FI, RI, SI) and two values of plate slenderness L/h = 80, 800.
The phenomenon of membrane locking (ML) is related to the occurrence of membrane
strains and stresses in pure bending, which means there are problems with reproducing inex-
tensional bending. The two locking types SL and ML intensify each other in curved shells.
132
20
15
x [m]
L 10
p1
5
x
pn
0
R −70 −60 −50 −40 −30 −20 −10 0 10 20
m1(x) [kNm/m]
Fig. 5. Long cylindrical shell with zone of local bending: (a) scheme of the shell, (b) plot of the meridian
bending moment function (analytical solution), (c) contour map of meridian moment (FEM solution
using [39])
Rys. 5. Długa powłoka walcowa z lokalnym źródłem stanu gi˛etnego: (a) schemat powłoki, (b) wykres
funkcji południkowego momentu zginajacego ˛ (rozwiazanie
˛ analityczne), (c) mapa warstwicowa połu-
dnikowego momentu (rozwiazanie˛ MES przy użyciu programu [39])
Finally, we briefly mention two examples of unexpected effects which occur in numerical
analysis. When a spherical shell loaded by internal pressure is modelled by a coarse mesh of
„meridian” conical shell elements a negative effects in the form of spurious bending moments
occurring at common nodes can take place. When a smoothly curved shell surface is modelled
using flat or slightly warped facets fold lines are formed at the element boundaries inducing
bending effects.
An example of long cylindrical shell with a clamped bottom edge subjected to its own we-
ight and hydrostatic pressure (Fig. 5(a)) shows that the knowledge of analytical solutions can
be very helpful in FEM modelling. A description of local effects in the analytical approach
is obtained using exponential-trigonometric functions. The distribution of meridian bending
moment (ploted in Fig. 5(b)) indicates the need of large density of FE mesh in a zone at
the bottom edge of the shell.
Extended information on the FEM modelling of plates and shells can be found in the works
of Cook et al. [16, 17] and Zienkiewicz and Taylor [49].
– a shell FE should properly reproduce displacements, strains and stresses (internal forces)
for arbitrary states: membrane dominated, bending dominated, bending with transverse she-
aring, mixed states;
– a FE approximation must ensure: i) the relevant class of continuity of the approximated
fields, ii) the balance of interactions at the lines between elements;
– a FE should have a proper stiffness/flexibility; should not produce unexpected spurious
forms of deformation; should not have a singularity i.e. the stiffness matrix should have a pro-
per rank (the correct number of zero eigenvalues related only to its rigid motions);
– geometry description should ensure: i) simplicity and accuracy of approximation of any
surface, ii) results independent of the adoption of local coordinates, iii) isotropy of surface
geometry with respect to two surface coordinates;
– a FE should not be sensitive to shape distorsion; however it is necessary to avoid the fol-
lowing shapes of quadrilateral FE: large aspect ratio, off-center node, highly skewed, near-
triangle quadrilateral, strongly curved sides;
– a FE should be able to model complex cases such as: sharp corners, multiple junctions,
the states described by functions with large gradients (e.g. zone of local bending, see Fig. 5).
Requirements of users of computer codes:
– a FE should be reliable, exclude nonphysical effects; very coarse mesh should not give
unreasonable results;
– the entire set of FEs should guarantee adequate accuracy of the solution on a user-specified
level (with acceptable inevitable error);
– for selected examples the numerical solutions should be consistent with the analytical ones;
– a FE formulation should not use numerical parameters, determined only during numerical
analysis;
– a FE should be user-friendly and optimized to get the results in a reasonable time, especially
when a sequence of calculation is needed.
Requirements addressed to developers of computer codes:
– a FE should be easy to implement in computer codes and combine with other types of FEs;
– FE subroutines should have their internal verification and be thoroughly checked and pro-
grammed legibly;
– a FE used in a computer code should be clearly described in user manuals;
– the documentation of FEM computer code should include the description of solution of se-
lected benchmark examples, given for example by NAFEMS (National Agency for Finite
Element Methods and Standards), see [31].
A part of the above mentioned requirements have already been stated by Irons in the work
on Semiloof FE [25], see Subsection 2.7.4.
z
(a) (b) 1.0 (c) (d)
4 3 4 3 4 3
1.0
Ly Ly Ly 1.0
h h 1.0 h
1 2 1 2 1 2 R
1.0 x, u y
1.0 L
Lx Lx Lx m̂
Fig. 6. Selected examples of single-element models in typical states: (a) membrane in-plane bending
state, (b) plate in bending, (c) plate twisting, (d) pure bending of cylindrical shell
Rys. 6. Wybrane przykłady testów jednoelementowych w podstawowych stanach: (a) membrana w sta-
nie płaskiego zginania, (b) zginanie płyty, (c) spaczenie płyty, (d) czyste zginanie powłoki walcowej
2.6.4 Benchmarks
A set of benchmarks is discussed in the well-known article of MacNeal and Harder [31].
In other papers it is possible to find more advanced test problems, relevant for selected 2D
structures. Each publication describing a new finite element contains the results of test com-
putations which confirm the correctness of the FE formulation and the accuracy of the bench-
mark solution. In [17] this has been done for a so-called swept panel, a plane rectangular
cantilever, a square plate in bending with typical loads and boundary conditions, a cylindrical
shell roof, a pinched cylinder and a hemisphere, see Fig. 7.
135
A
A R F R
F
h
L h
400 h
900
R
F A F
F
Fig. 7. Three popular benchmarks: (a) cylindrical shell roof, (b) pinched cylinder, (c) hemisphere
Rys. 7. Trzy popularne przykłady testowe: (a) walcowe sklepienie, (b) powłoka walcowa, (c) powłoka
półkulista
is employed to avoid membrane locking. Both the triangular and quadrilateral shell elements
pass the patch test for uniform tension and uniform bending.
Fig. 8. Spherical container – contour maps of: (a) radial displacements in spherical coordinates, (b) stres-
ses σϕϕ , (c) stresses σθθ , with a fine hp-adaptive mesh (obtained from R. Tews and W. Rachowicz)
Rys. 8. Zbiornik kulisty – mapy warstwicowe: (a) przemieszczenia radialne we współrz˛ednych sferycz-
nych, (b) napr˛eżenia σϕϕ , (c) napr˛eżenia σθθ , dla końcowej siatki uzyskanej w hp-adaptacji (otrzymane
od R. Tewsa i W. Rachowicza)
3. Final remarks
The problem of FEM modelling of plates and shells is very broad. The new techniques and
interesting solutions are constantly developed. Due to the limited volume of the paper only
fundamental issues related to FEM analysis are focused on. The discussion is limited to linear
static analysis of plates and shells. The authors do not refer to the issue of stability (this aspect
is broadly covered in the book of Waszczyszyn, Cichoń and Radwańska [44]), the response to
other actions than static, multilayer structures or nonlinear problems. However, some remarks
included in this paper are general enough to be applied in various mechanical problems.
They are taken both from wide literature and own experience gained during the development
of FEM codes as well as analytical and numerical calculations.
The authors are researchers and teachers from the Institute for Computational Civil Engi-
neering of Cracow University of Technology. They have done research on mechanics of thin-
walled shell structures (theory, numerical analysis and advanced computational techniques)
for years: Radwańska [34–36], Waszczyszyn, Pabisek, Pamin and Radwańska [45], Wosa-
tko and Radwańska [46], Bielski and Radwańska [12] and also have years of experience
in teaching the subject to students. One of the results of this activity is the book in Po-
lish “Shell structures. Theoretical foundations, analytical and numerical solutions” [37].
The strength of this book results from the fact that it includes not only the theoretical formu-
lations of fundamental problems but also examples of both analytical and numerical solutions
of selected problems for different types of shell structures.
140
Acknowledgment
The authors are deeply indebted to Professor Zenon Waszczyszyn for his invaluable con-
tribution to their education and knowledge. Under his guidance they got to know the theory
of plates and shells, computational mechanics applied in civil engineering and modern nu-
merical methods, in particular FEM. The authors are grateful to Professor Jerzy Pamin for
helpful remarks and discussions during the preparation of this paper. We also thank Professor
Waldemar Rachowicz and Doctor Rafał Tews for the access to their results included in Fig. 8
as a final application in Subsection 2.7.7
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