Kirchhoff Plates: BCs and Variational Forms

Transcription

1 21 Kirchhoff Plates: BCs and Variational Forms 21 1

2 Chapter 21: KIRCHHOFF PLATES: BCS AND VARIATIONAL FORS TABLE OF CONTENTS Page Introduction Boundary Conditions for Kirchhoff Plate Conjugate Quantities The odified Shear Corner Forces Common Boundary Conditions Strong Form Diagram The Total Potential Energy Principle The TPE Functional Finite Element Conditions The Hellinger-Reissner Principle Finite Element Conditions The Curvature-Displacement Veubeke Principle The Freaijs de Veubeke Functional Finite Element Conditions

3 21.2 BOUNDARY CONDITIONS FOR KIRCHHOFF PLATE Introduction In this Chapter e continue the discussion of the governing equations of Kirchhoff plates ith the consideration of boundary conditions (BCs) and variational forms of the plate equations. When plates and shells are spatially discretized by FE the proper modeling of boundary conditions can be a tough subject. To factors contribute. First, displacement derivatives in the form of rotations are no involved in the kinematic boundary conditions. Second, the correlation beteen physical support conditions and mathematical B.C.s can be tenuous. Some mathematical BC used in practice are nearly impossible to reproduce in the laboratory, let alone on an actual structure Boundary Conditions for Kirchhoff Plate One of the mathematical difficulties associated ith the Kirchhoff model is the Poisson paradox : The plate deflection satisfies a fourth order partial differential equation (PDE). For the isotropic homogeneous plate this is the biharmonic equation 2 = q/d. A fourth order PDE can only have to boundary conditions at each boundary point. But three conjugate quantities: normal moment, tist moment and transverse shear appear naturally at a boundary point. The reduction from three to to requires variational methods. This as done first by Kirchhoff, thus achieving mathematical closure. But it is not necessary to look at a complete functional such as the TPE. The procedure can be explained directly through virtual ork principles Conjugate Quantities Conside a Kirchhoff plate of general shape as in Figure 21.1(a). Assume that the boundary Ɣ is smooth, that is, contains no corners. Under those assumptions the exterior normal n and tangential direction s at each boundary point B are unique, and form a system of local Cartesian axes. The kinematic quantities referred to these local axes are, n = θ s, s = θ n, (21.1) here θ n and θ s denote the rotations of the midsurface at B about axes n and t, respectively, see Figure 21.1(b). The ork conjugate static quantities, shon in Figure 21.1(c), are Q n, nn, ns, (21.2) respectively. By conjugate it is meant that the boundary ork can be expressed as the line integral ( W B = Q n + ns Ɣ s + ) ) nn ds = (Q n + ns θ n nn θ s ds (21.3) n Ɣ here ds dɣ denotes the differential boundary arclength. This integral appears naturally in the process of forming the energy functionals of the plate. Given the foregoing configuration of W B,it appears at first sight as if three boundary conditions can be assigned at each boundary point, taken from the conjugate sets (21.1) and (21.2). For example: Simply supported edge = 0 θ n = 0 nn = 0, (21.4) Free edge Q n = 0 ns = 0 nn =

4 Chapter 21: KIRCHHOFF PLATES: BCS AND VARIATIONAL FORS (a) Γ A z y Ω B x deflection and rotations positive as shon dx (b) θs s dy ds B n θn Q x (c) xy y yx yy Q y Q n B n ns nn forces & positive as shon s xx x Figure BCs at a smooth boundary point B of a Kirchhoff plate: n = external normal, s = tangential direction. (a) boundary traversed in the counterclockise sense (looking don from +z) leaving the plate proper on the left; (b) edge kinematic quantities, θ s and θ n ; (c) conjugate force and moment quantities Q n, nn and ns on the boundary face. The boundary conditions for a free edge ere indeed expressed by Poisson in this form. 1 As noted previously, this is inconsistent ith the order of the governing PDE. Kirchhoff shoed 2 that three conditions are too many and in fact only to are independent The odified Shear The reduction to to independent conjugate pairs may be demonstrated through integration of (21.3) by parts ith respect to s, along a segment AB of the boundary Ɣ: B [ ( W B B A = Q n ) ] ns + nn dt + ns B A s n. (21.5) Introducing the modified shear 3 e may rerite (21.5) as A V n = Q n ns s, (21.6) B ( ) W B B A = V n + nn dt + ns B A A n. (21.7) This transformation reduces the conjugate quantities to to ork pairs: V n, and nn, n = θ s. (21.8) 1 See for example I. Todhunter and K. Pierson, History of Theory of Elasticity, Vol. I. 2 G. Kirchhoff, publications cited in Also called Kirchhoff equivalent force, a translation of Kirchhoffische Ersatzkräfte. 21 4

5 21.2 BOUNDARY CONDITIONS FOR KIRCHHOFF PLATE s (a) s (arclength) (b) ns _ R c + ns Simple Support, No Edge Anchorage C Figure Effect of modified shear at a plate corner: (a) force-pairs do not cancel, producing a corner force R c ; (b) physical manifestation of modified shear as corner lifting forces Corner Forces The last term in (21.7) deserves analysis. First consider a plate ith smooth boundary as in Figure 21.1(a). Assuming that ns is continuous over Ɣ, and e go completely around the plate so that A B, ns B A = 0. (21.9) Next consider the case of a plate ith a corner C as in Figure 21.2(a). At C the tisting moment jumps from, say, ns to + ns. The transverse displacement must be continuous (if fact, C1 continuous). Place A and B to each side of C, so that A C from the minus side hile C B from the plus side. Then ns B A = R c = ( + ns ns ), ith R c = + ns ns. (21.10) This jump in the tisting moment is called the corner force R c, as shon in Figure 21.2(a). Note that R c has the physical dimension of force, because the tisting moment ns is a moment (force times length) per unit length. Remark The physical interpretation of modified shears and of corner forces is ell covered in Timoshenko and Woinosky-Krieger. 4 Suffices to say that if a plate corner is constrained not to move laterally, a concentrated force R c called the corner reaction, appears. If the corner is not held don the reaction cannot be transmitted to the supports and the plate ill have a tendency to move aay from the support. This is the source of the ell knon corner lifting phenomenon that may be observed on a laterally loaded square plate ith simply supported edges that do not prevent lifting. See Figure 21.2(b). Notice that if the boundary is smooth, as in a circular plate, the phenomenon ill not be observed. This effect does not appear if the edges meeting at C are free or clamped, because if so the tist moment ns on both sides of the corner point are zero Common Boundary Conditions Belo e state homogeneous boundary conditions frequently encountered in Kirchhoff plates as selected combinations of the conjugate quantities (21.8). Some BCs are illustrated in the structures depicted in Figure Theory of Plates and Shells monograph cited in previous Chapter 21 5

6 Chapter 21: KIRCHHOFF PLATES: BCS AND VARIATIONAL FORS Free edge ;;;;;; ater ;;;;;; Clamped "Point support" for (fixed) edges reinforced concrete slab ;; Figure Boundary condition examples. ; ; Clamped or Fixed Edge (ith s along edge): = 0, n = θ s = 0. (21.11) Simply Supported Edge (ith s along edge): = 0, nn = 0. (21.12) Free Edge (ith s along edge): Symmetry Line (ith s along line): V n = 0, nn = 0. (21.13) V n = 0, n = θ s = 0. (21.14) Point Support: = 0 (21.15) Non-homogeneous boundary conditions of force type involving prescribed normal moment ˆ nn or prescribed modified shear ˆV n, are also quite common in practice. Non-homogeneous B.C. involving prescribed nonzero transverse displacements or rotations are less common Strong Form Diagram The Strong Form diagram of the governing equations, including boundary conditions, for the Kirchhoff plate model is shon in Figure We are no ready to present several energy functionals of the Kirchhoff plate that have been used in the construction of finite elements. 21 6

7 21.3THE TOTAL POTENTIAL ENERGY PRINCIPLE deflections & rotations, θs = θ s = θs Displacement BCs Deflection Lateral load q Γ Ω Kinematic κ = P κ Constitutive = D κ Equilibrium Bending T P = q = nn nn V n = V n Force BCs & shears, V nn n Figure The Strong Form diagram for the Kirchhoff plate, including boundary conditions The Total Potential Energy Principle The only master field is the transverse displacement. The departure Weak Form is shon in Figure The eak links are the internal equilibrium equations and the force boundary conditions The TPE Functional Starting from the Weak Form flocharted in Figure 21.5, and proceeding as in previous chapters one finally arrives at the Total Potential Energy (TPE) functional. Processing of the boundary terms is laborious. Timoshenko and Woinosky-Krieger s book takes 6 pages in getting to the final destination. 5 Here e just state the final result. The TPE functional ith the conventional forcing potential is TPE [] = U TPE [] W TPE [] (21.16) The internal energy is U TPE [] = 1 ( ) T κ d = (κ ) T D κ d = 1 2 (P T )D (P) d, (21.17) here P = [ 2 / x 2 2 / y / x y ] T is the curvature-displacement operator. The groupings P in the last of (21.17) emphasize that P is to be applied to to form the slave curvatures κ. The external ork W TPE [] is more complicated than in plane stress and solids. It is best presented as the sum of three components. These are due to apply lateral loads, applied edge and transverse shears, and to corner loads, respectively: W TPE [] = W q [] + W B [] + W C [], (21.18) The first to terms apply to all plate geometries and are W q [] = q d, W B [] = ( ˆV n ˆ nn θs Ɣ V ) dɣ. (21.19) 5 Part of the length is due to use of full notation. 21 7

8 Chapter 21: KIRCHHOFF PLATES: BCS AND VARIATIONAL FORS deflections & rotations, θs = θ s = θs Displacement BCs Deflection aster Rotations θ Lateral load q Γ Ω Kinematic κ = P κ Constitutive = D κ Equilibrium Bending Force BCs & shears, V nn n Figure The Weak Form departure point to derive the TPE variational principle for a Kirchhoff plate. The last term: W C arises if the plate has j = 1, 2,...,n c corners at hich the displacement j is not prescribed. If so, n c n c W C = R cj j = ( ˆ ns + ˆ ns ). (21.20) j=1 If the transverse displacement of a corner is prescribed, the contribution of that corner to the functional vanishes because the displacement variation is zero. Remark If neither the corner displacement nor the tist ns and ns + at the corner are knon, the problem becomes nonlinear because the extent over hich the plate lifts from supports is not knon a priori. This problem becomes one of contact type and ill require an iterative method to be solved Finite Element Conditions The variational index of the TPE functional is m = 2 because second derivatives of (the curvatures) appear in U TPE. The classical-ritz convergence conditions for finite elements derived using this principle are: Completeness. The assumed over each element should reproduce exactly all {x, y} polynomials of order 2. Continuity. The assumed should be C 2 continuous inside the element and C 1 interelementcontinuous. Stability. Elements should be rank sufficient and the Jacobian determinant everyhere positive. The C 1 interlement continuity condition is the tough one to crack. It is not easy to satisfy using standard polynomial assumptions. These difficulties have motivated, since the early 1960s, the development of various techniques to alleviate (or totally get rid of) that continuity requirement The Hellinger-Reissner Principle The Weak Form useful as departure point for the HR principle is shon in Figure Both the transverse displacement and the bending moment field are chosen as master fields. The eak links are the internal equilibrium equations, j=1 21 8

9 21.5 THE CURVATURE-DISPLACEENT VEUBEKE PRINCIPLE deflections & rotations, θs = θ s = θs Displacement BCs Deflection aster Rotations θ Kinematic κ = P Equilibrium Lateral load q Γ Ω κ κ Constitutive = D κ Bending aster Force BCs & shears, V nn n Figure The Weak Form departure point to derive the Hellinger- Reissner (HR) variational principle for a Kirchhoff plate. The HR functional ith the conventional forcing potential is The internal energy is U HR [, ] = HR [, ] = U HR [, ] W HR [, ]. (21.21) ( T κ 1 2 T D 1 ) d = ( T κ U ) d. (21.22) Here U = 1 2 T D 1 ) is the complementary energy density (per unit of plate area) ritten in terms of the bending. Integration of this over gives the total complementary energy U. The external ork W HR is the same as for the TPE principle treated in the previous section Finite Element Conditions The variational indices of the HR functional are m = 2 for the transverse deflection and m = 0 for the bending. Consequently the completeness and continuity conditions for are the same as for the TPE, and nothing is gained by going to the more complicated functional. It is possible to balance the variational indices so that m = m = 1 by integrating the previous form by parts once. The resulting principle as exploited by Herrmann 6 to construct a plate element ith linearly varying, xx, yy, xy. This element, hoever, as disappointing in accuracy. Furthermore enforcing moment continuity can be physically rong. Progress in the construction of elements of this type as achieved later using hybrid principles. This advance ill not be covered here since the advent of the Post-1980 formulations (FF, ANDES, etc) have taken care of the problem. 6 L. R. Herrmann, A bending analysis for plates, in Proceedings 1st Conference on atrix ethods in Structural echanics, AFFDL-TR-66-80, Air Force Institute of Technology, Dayton, Ohio, pp ,

10 Chapter 21: KIRCHHOFF PLATES: BCS AND VARIATIONAL FORS deflections & rotations, θs = θ s = θs Displacement BCs Deflection aster Rotations θ Kinematic κ = P Lateral load q Γ Ω κ Constitutive = D κ Bending Equilibrium aster κ Constitutive κ = D κ Bending κ Force BCs & shears, V nn n Figure The Weak Form departure point to derive the Fraeijs de Veubeke curvature-displacement variational principle for a Kirchhoff plate The Curvature-Displacement Veubeke Principle This kind of principle (for elastic solids) as introduced by Fraeijs de Veubeke, and functionals ill be accordingly identified by a FdV subscript The Freaijs de Veubeke Functional In this case both the transverse displacement and the curvatures field κ are chosen as master fields. The departure Weak Form is shon in Figure The internal functional is FdV [, κ] = U FdV [, κ] W FdV [, κ]. (21.23) FdV [, κ] = The external ork is the same as for TPE Finite Element Conditions (κ T 1 2 κt Dκ) d. (21.24) The variational indices of the FdV functional is m = 2 for the transverse displacement and m κ = 0 for the curvatures. Consequently the completeness and continuity conditions for are the same as for the TPE, as nothing is gained by going to the more complicated functional. To get a practical scheme that reduces the continuity order one can either integrate by parts the internal energy, or proceed to hybrid principles. Since the latter are implicitly used in the Post-1984 advanced FE formulations, the procedure ill not be covered here