A TORSION BENDING ELEMENT FOR THIN-WALLED

BEAMS WITH OPEN AND CLOSED CROSS SECTIONS

H. Shakourzadeh, Y. Q. Guo and J.-L. Batoz
Universitt de Technologie de Compidgne, Laboratoire LG2MS-URA CNRS 1505, UTC B.P. 649,
60206 CompiBgne, France

(Received 4 December 1993)

Abstract-A finite element is formulated for the torsion problems of thin-walled beams. The element is
based on Benscoter’s beam theory, which is valid for open and also closed cross-sections. The
non-polynomial interpolation presented in this paper allows the exact static solution to be obtained with
only one element. Numerical results are presented for three thin-walled cantilever beams, one with a
channel cross-section and the two others with rectangular cross-sections. The influence of the transverse
shear strain is investigated and the different models of torsion are compared. For one example, the
results obtained with one-dimensional torsion elements are compared with those obtained using shell
elements.

NOTATION not remain plane. The original plane cross-section

surface becomes a warped surface.
warping axial displacement
sectorial coordinate In Saint-Venant torsion theory, the cross-section is
angle of twist assumed to warp freely out of its plane and the rate
rate of twist of torsion of the cross-section 13~,,is assumed to be
warping fun&ion
constant. This leads to some error in the case of
unit vectors of the local coordinate system on
the mid-surface non-uniform torsion, where the rate of twist O,Y,,
displacements in the local directions x, s and [ varies along the length of the beam.
derivative of u with respect to x The general torsion theory for the thin-walled open
sectorial moment of inertia cross-sections was developed in its final form by
rotational moment of inertia with respect to C
Vlasov [2-51 where the non-uniform warping defor-
torsional moment of inertia
strains mation effect is considered but the transverse shear
stresses strain is neglected. The warping axial displacement u,
interpolation base functions in that theory is the product of the sectorial coordi-
generalized parameters
nate o and the rate of twist 0,,X:
vector of degrees of freedom
length of an element
equivalent load vector 4 = w (Y? Z)&,,X(x ). (1)
concentrated torsional moment
concentrated bimoment In this equation the sectorial coordinate o is
Saint-Venant shear stress
warping shear stress
obtained by neglecting the transverse shear defor-
superscript for virtual quantities mations through the wall thickness. This is admissible
for open cross-sections, where the effect of the sec-
1. INTRODUCTION
ondary shear stress on the warping of the cross-sec-
tion is negligible. The general theory becomes more
Thin-walled beams are widely used in metallic struc- complex for beams with closed cross-sections, where
tures such as transmission towers, bridges and build- the shear stresses are statically indeterminate. The
ings construction. They appear in different forms, problem can be overcome by using a fictitious shear
from simple hot rolled steel I beams to the complex deformation. Benscoter [3,5-71 introducted this
hull of a ship. In the fields of bridges and advanced method by using another warping function Y instead
constructions, torsion is an important factor for the of 0.X,X.So the warping axial displacement is obtained
design. as follows:
In 1853 the French engineer AdhCmar Jean Barr&
de Saint-Venant presented to the French Academy of u = w(s, {)Y (X). (2)
Science the classical torsion theory which is the basis
for present-day analysis [l]. Saint-Venant proved In this equation, the sectorial coordinate w is
that, after twisting, a transverse planar section does assumed to be the same one as that in eqn (l), but the

1045
1046 H. Shakourzadeh et al.

shear transverse strains are no longer neglected and

a fictitious shear deformation is considered. De Ville
De Goyet derived some examples to compare the
three models for some closed sections [3]. He used
shell elements to verify the results obtained by
the analytical solution based on Benscoter theory.
These examples show the efficiency of the Benscoter
model.
Several finite element models have been proposed
using Vlasov theory. They differ by the shape func-
tions and the number of nodes for each element. The
classical hermitian interpolation [8] has been used by
most authors [2]. However, some non-polynomial
interpolations have been used [2,9] in order to obtain
a more powerful element. In Ref. [2], Batoz and c: Shear center
0: Centerof gravity of the cms~-section
Dhatt compared the results obtained by polynomial
Fig. 1. Curvilinear coordinates for a thin-wailed section.
and non-polynomial interpolations with analytical
solutions for a beam with open cross-section. In Ref.
[lo], Chen and Hu used a cubic approximation to If 4 Vqr, and uyn are the components of uq in the
develop an element suitable for closed cells using eqn directions x, s and [, eqn (5) gives:
(2). Chen and Blandford [12] developed a Co finite
element formulation including shear deformation and r&L s, i) = w(s, i)Y(x)
using numerical integration.
In this paper Benscoter’s model is adopted for a r+r(X, s, i) = -(r,(s) + i)Q,(x)
finite element beam. The non-polynomial interp-
olation is used to obtain exact results using only one ayn(x, s, i ) = r, (s )& (x ). (6)
element for open or closed cross-sections. The el-
ement does not require numerical integration. The 3. STRAINS AND STRESSES

explicit form of the torsional stiffness matrix can be

The linear components of strains are:
obtained in a simple form and is presented in this
paper. The numerical performance of the proposed
t,= u 3.v= w(s, i)Y,,
element has been tested for several examples, which
demonstrate the efficiency of the element for open
26.X,= u,, + “yL.~= a,, Y - (r,, + i )e,,
and closed cross-sections.

2t.vi = u,i + “yn,r= o.( Y + r,O,.,. (7)

2. KINEMATICS OF THIN-WALLED BEAMS IN TORSION
In this expression L, is the axial strain, and E,,~and
We consider a thin-walled straight beam with t,( are the shear strains in the s and [ directions.
longitudinal axis x and principal axes y and z (origin Considering elastic torsion, stresses are obtained
0). The point C (y,, zc) is the centre of twist. At any by Hooke’s law, so that:
point p on the middle surface of the thin-walled
section, we define a local coordinate system i, t, n o, = EwY 9
(coordinates X, s and [, Fig. I) such that:
cn = G(o,,Y - (r, + iIS,,)
r = Cp = r,t + r,n (3)
Q,: = G(o,< Y + r,Q,,,). (8)

rg = Cq = Cp + in = r,t + (r, + On, (4)

Note that the warping function o is the same as in
Vlasov model where Y = f3,,,. In that model, o(s, [)
where < = 0 defines the middle surface of the
is defined explicitly by letting E.,-= 0 over the cross-
section.
section and t,_ = 0 for c = 0 [2] and is such that
For non-uniform torsion, we consider the follow-
o,[ = -r, and wyl = r,, - c for a prismatic cross-
ing displacement field at a point q(x, s, [) in the
section.
cross-section:

4. APPLICATION OF THE PRINCIPLE OF VIRTUAL WORK

u&, 3, i) = %(x)i Arq(s, c) + a($, OY(x)I, (5)
The principle of virtual work is used in order to
with 0, = rotation of the cross-section around the derive the torsional stiffness matrix. The expression is:
longitudinal axis x, Y = warping function (with re-
spect to x), w = warping function for a given x. wi,, - w,,, = 0, (9)
 Torsion bending element for thin-walled beams 1047

where W,,, and W,, are the virtual work done by the Then two equations can be rewritten as:
internal and external forces.
The internal virtual work on an element is given Y = ~.~.,+ c4.,,, Wa)
by:
e .r..r.y.T.y
- 7 2e,r,x.r= 0, (14b)
Km = (6: 6, + 26 :T, + Wp4 dv, (10) with
sI
E4”1, GJ(I, - J)
where the superscript * defines a virtual quantity. y*=
Substituting eqns (7) and (8) into eqn (IO) ’ = G(J - 1,)2 EL 4 ’
gives:
5. PRESENTATION OF AN EXACT HYBRID ELEMENT

(a) StifSness matrix

Our torsional beam element has two nodes and two
nodal variables, 0, and Y, per node (see Fig. 2). In
+G(I,-J)Y'Y*+G(J-I,)
order to obtain an exact or super-convergent element
so that one element can exactly model the non-uni-
(II) form torsion of beams, we use the following hyper-
bolic interpolation:
with

0, = <%a) (15)
I,“= 02dA,
sA with

sectorial moment of inertia; (a>= (a, a2 a3 4)

1 - Chyx yx - Shyx
I,= [(r,,+1)2+r:]dA = r,,‘qdA,
sA s ‘4 (p)= ( 1 x --7-- Y3 >

rotational moment of inertia; The above interpolations are chosen such that eqn
(14b) is exactly satisfied and in such a manner that
when y-+0 then (p)+(l s -.w’,i2 -s’/6).
J=
JA
[(r,r+i)2+rT-W,1(r,,+i)+0,ir,1dA, Using eqn (14a) the following expression is ob-
tained for Y:
Saint-Venant’s torsional moment of inertia.
Y = (<P.,> + x<P.,,, >){a}. (16)
The constants I,,,, I, and J are geometrical proper-
ties of the cross-section and they are given in the Substituting 8, and Y into eqn (12). w,,, is ex-
Appendix for some open and closed cross-sections. It pressed in terms of boundary terms only:
should be noted that eqn (I I) requires a Co continuity
for Y and O,, as well as for Y* and 0:. Integration IV,, = LEA,,Yy, Y *lo”+ [Cr,(),., 0: I,:
by parts of eqn (1 I), leads to:
+[C(J-I,)Y():]: (17)
L
WF”,=
5 0
{[- EI,,, Y,,, + G(J - r,)(e,, - v)]v* or

+[-Gf,e,.,.v - G(J - 4)Y,,lQ) dx

+Gl,(j,,,o:+G(~- I,)Yo:),. (18)

+[G(J - I,)YOS]f. (12)
where the subscripts I. 2 dcfinc the local nodes at
A hybrid form of WT,,,is defined if we choose Y and _y = 0, L,
0, so that they satisfy the two equilibrium differential
equations:
1,LJ.L,E,G L
+
-El,,, Y,.v., + W - Ir)(e,, - ‘f’) = 0 (134 *;; 8x2
4 x
y2

- Glr %.r-
r G(J - I,)Y,, = 0. (t3b) Fig. 2. Degrees of freedom of a beam element.
1048 H. Shakourzadeh et al.

Using eqns (15) and (16) expression (18) can be where [k] is the exact torsional stiffness matrix of a
rewritten in matrix form: thin-walled beam with open and closed cross-section.
The internal force vector is:
W,, = W>[k,l{~) + W, - J)(u,* )WJIUn) (19)
{J;nt) = (--WI --MA Mx2 Mu,) (23)
with
M,= cs,w dA
(U”) = m, YY, Q,, y* > sA

M, = L-o&,+ 0 + o,;r,l dA, (24)

00 0
-Cl, 0B 00 1
where M,, and M,, denote the bimoment and the
kl = o ,,-I
r -GIry GI.(' -;‘;“‘“)/ torsional moment acting at the boundaries x = 0 and
x = L.
1 0 0 - j?ChyL -f ShyL
J (b) Equivalent load vector

010 0 Neglecting the body forces, the external virtual

work can be expressed as:
000 0
M = 0 0 0 -1
000 0

where M, and M, are the concentrated bimoment

p=-. EL 4 and the torsional moment acting at the boundaries
I, - J
x = 0 and x = L defined by eqn (24). Here m, is the
The relation between the nodal variables (u,) and distributed torsional moment per unit length. The
the generalized parameters (a) is obtained by using equivalent load vector due to the distributed torsional
eqns (15) and (16) so that moment can be obtained from:

(un*>{fn} = ‘m,Q: dx
s0
where
=<u,*) Lm,U’,l-r{pJdx, (26)
100 0 s0

a=
1 - ChyL
Y2
[PA =

i
0
1La
Olc

b = YL - ShyL
1

Y3
0 --c(
b
Cl 1 (21)
where [P,] and {P} are given by eqns (21) (15) and
{fj} is the equivalent load vector. If m, is constant
over the element, we then obtain:

where
<h>=(fi f2 fl -f2>3 (27)

h=mxg (28)

Substituting eqn (20) into eqn (19) we obtain: 4

.h= a(d + a) - c(b + aL)

1,
W”, = <u: Xkl{unj = <u,*>&I (279

[
-
x (b+aL)b-$(2a+L2+aL2y2)
with

with a, b, c and d given by eqn (21).

GI,uc -fi(d + a) GI,uc

1 B(b -Ld) B(d+a)

[kl=
a(d + 01)- c(b + CLL) - GI, ac

Symm.
 Torsion bending element for thin-walled beams 1049

6. STRESSES

Finite element analysis allows nodal variables and

their associated internal force to be obtained. The
stresses at a point x can be given by eqn (8) in terms
of the strains. Combining eqn (24) with eqn (8), we
obtain:

M, = EL Y., (29)

The shear stresses on the cross-section consist of

two parts: (i) pure torsion shear stress a::, caused by h
the free torsion of the cross-section; and (ii) shear
stress a:$, caused by warping due to the axial stress
ox. The first part (a~~) is defined by eqn (8):
Fig. 3. Cantilever beam with a thin-walled open section.
c:: = G(w,,Y - (r,, + W,,), (31)
or
in which 0,,, can be determined by the interpolation
relations (15) and (20). In terms of the nodal vari-
ables:

6, = <fY~nl-‘{hJ (32)
M,=GY
I A s
rna,, dA - Ge,, A(r, + Cl2dA

- E’Y,, S, dA + (uFS)o dA. (39)

@,,V= <~,xx~nI-sJ. (33)

The second part of the shear stress, uzS is obtained
by using the local equilibrium equation:
a:, + a& = 0,
In the previous equation only the initial shear stress
(u:$)~ is unknown. The valuation of (u$~),, allows the
shear stress caused by warping uFS to be obtained by
eqn (36).
(34)

7. NUMERICAL EXAMPLES
where the superscript w signifies that the shear stress
is caused by warping. Three numerical examples are given here to illus-
Using eqns (8) and (34) leads to the following trate the accuracy of the torsional stiffness matrix
equation: derived in this paper. The first example is a cantilever
beam with a channel section (Fig. 3). It is subjected
a:<,, = - E,Y+ (35) to a uniformly distributed external torque
m, = -4.07x lo6 Nm m-l. The geometrical and
and after integration, mechanical properties are given below:

a’& - (cJ;~)~ = - EY,,y,S,,,

with SW= ‘w ds. (36) L=4m
s ‘I
h=0.833m b =0.917m t = 1/6m
The derivative Y,*, is calculated by using the
equilibrium differential equation (13a) for real quan-
tities, so that - .
E-20x 10”Nm-2 G=0.77 x 10”Nm-2

y _W--J) Table 1. Comparison between different models of torsion

)X1 ---(y -e,,). (37) for the open section of example 1
EL
Warping Bimoment
0, @ad) atx=L atx=O
The constant (a’$),, can be obtained by evalu-
atx=L (rad m-l) (N rne2)
ating the torsional moment caused by the shear
Saint-Venantt -0.103 - -
stresses:
Vlasovt -0.045 0,, = -0.01160 - 18.33 x IO6
Benscoter$ -0.04557 Y = -0.01157 -18.17 x IO6
M,= (rm+i)(“:J’+ua,JdA (38) t Analytical solution [2], [I I].
sA $ Our finite element results using one element.
1050 H. Shakourzadeh et al.

mx
sf-- ---;-
A uniformly distributed external torque
x
m, = IO6Nm m-l is applied to the beam. From the
Appendix the properties of the section are calculated
- 1.2 /
as:

2b’h’t
J=- = 6.4 x 10-5m4
b+h

, =b’h’t(h -b)’
II, _____ = 5.333 x 10ex m6
24 (h + b)

Fig. 4. Cantilever beam with a thin-walled
= 0.005 18mh
J = g (11+ 2b) = 0.0041 m4
I, = I,., + I;, = 0.3293 m4.
In Table 1 the analytical solutions of the Saint-
Venant and Vlasov models [l l] are compared with
our finite element results of the Benscoter model. We
note that the results obtained by our torsion finite
element are in good agreement with the exact solution
of the Vlasov model. This confirms that the apparent
shear-induced deformation is negligible in this
example. In fact, the Benscoter model approaches the
Vlasov model for long beams with open cross-sec-
tions, so the element is also reliable for beams with
open cross-sections.
To study the case of beams with closed cross-
section, WC consider a cantilever beam with a thin-
walled rectangular cross-section (Fig. 4).
closed section. In Figs 5-7 the results obtained by the exact
element presented in this paper (based on Benscoter’s
model) are compared with the results obtained by the
exact element presented by Batoz and Dhatt [2]
(based on Vlasov’s model). As can be seen in the
figures, the difference between the two models can be
important for a beam with a closed cross-section. So
the influence of the secondary transverse shear stress
is important, and the Vlasov’s model would not be
accurate for closed cross sections.
Note that the finite element results shown in Figs
557 coincide with the analytical solutions (Vlasov and
Benscoter models) by construction of the present
elements.
A third example is chosen in order to compare the
results of the beam models with those of a shell
model. The description of the problem is given in
Fig. 8. A cantilever box beam is loaded by a concen-
trated torsional moment at the free end. This problem
has already been analysed by De Ville De Goyet [3].
He used a non-uniform mesh of 154 quadrilateral
shell elements and compared the results with the
analytical beam solutions. Using the torsion bending
beam element presented in this paper, the numerical

_)

O,O 0.2 0.4 0.6 1.0 1.2

X (m)

* The results are obtained using 12 elements for presentation purposes. In fact
only one clement gives the MW results.

Fig. 5. Torsion along the beam length (example 2).

 Torsion bending element for thin-walled beams 1051

0.20

0.15

g
b
0.10
._?
e
s
0.05

0.00
0.0 0.2 O-4 0.6 0.8 1.0 1.2
X (ml

* The r~Ats are obtained using 12 elements for presentation purpose% In fact
only one element gives the same results.

Fig. 6. Warping function (e,, or Y) along the beam length (example 2).

vlasov *
-2cQOO
- Benscoter*
2

8 -30000
E
s
4cQoo

0.0 0.2 0.4 0.6 0.8 1.0 1.2

X
Cm)

* The results are obtained using 12 elements for presenration purposes. In fact
only One element gives the same results.

Fig. 7. Bimoment along the beam element (example 2).

-ElI
1 20

0 a0 14

E = 21000 KN/cm2 Mt=lOOKN

*All length units in cm

v = 0.3

L=20cm
Fig. 8. Description of example 3.
1052 H. Shakourzadeh et al.

4e-4-

8 @ad)
x

3e-4-

Ze-4-

Fig. 9. Torsion along the beam.

2,50e-5 -
U/ W
A
(radkm)
1
Z,OOe-5-

0 2 4 6 8 10 12 14 16 18 20

X(cm)

Fig. 10. Warping with respect to X.

results coincide with the analytical solutions of Ref. the other hand, the Vlasov model leads to some
[3]. The numerical results are given in Figs 9-l 1 and important errors.
compared with the results of the shell model. These
comparisons show that the numerical values obtained
8. CONCLUSIONS
by our exact beam element (Benscoter model) are in
close agreement with the results of the shell model. In A two node, two degrees of freedom per node
particular the axial stress estimation is excellent. On finite element is derived for torsion problems of

& ( rad/cm* )
Al

0 2 4 6 a 10 12 14 16 18 20

X(cm)
Fig. Il. Axial stress estimation by different models.
 Torsion bending element for thin-walled beams 1053

beams. The element is based on Benscoter’s torsion REFERENCES

theory, which is valid for open and closed thin-walled 1. I. Todhunter and K. Pearson, A History of the Theory
cross-sections. The hyperbolic interpolation used in of Elasticity and of the Strength of Materials, Vol. 2,
this work allows the exact (analytical) solution to be pp. 17-51. Dover, New York (1960).
obtained with only one element. The expression of 2. J.-L. Batoz and G. Dhatt, Modelisation des structures
par elementsfinis, Poutres et Plaques. Editions Hermes,
the stiffness matrix is given in a compact explicit
Paris (1990).
form. 3. V. De Ville De Goyet, L’analyse statique non linbaire
Some numerical examples for open and closed par la methode des element finis des structures spatiales
sections are presented in this paper. In these examples form&es de poutres a section non symetrique: These
the influence of the transverse shear deformations orisentee a l’universitt de Liiae (1988-1989).
4. V. 2. Vlasov, Thin walled elasti beams. Israel Program
caused by torsion is studied and the different torsion for Scientific Translations, Jerusalem (1961).
models are compared. For the thin-walled open 5. A. Gjelsvik, The Theory of Thin Walled Bars. Wiley,
cross-sections, Vlasov’s and Benscoter’s models lead New York (1981).
to similar results, however, for closed sections 6. S. U. Benscoter, A theory of torsion bending for
multicell beams. J. appl. Mech. 21, 25-34 (1954).
Vlasov’s model may lead to some errors. The numeri-
7. R. Dziewolski, Torsion non uniforme des poutres a
cal results confirm that the use of one element obtains parois minces et a profils composes d’elements fermts et
the exact analytical solution. The results are in excel- ouverts. Construct. metall. 1 (1964).
lent agreement with the results of shell model. 8. G. Dhatt and G. Touzot, Unepresentation de la methode
The present torsion element can be combined with des elementsfinis. (Edited by S. A. Maloine) Paris (1984).
9. E. N. Dvorkin, D. Celentano, A. Cuitino and G. Gioia,
membrane and bending elements (with transverse A Vlasov beam element. Comput. Struct. 33, 187-196
shear effects due to shear forces) to obtain a super (1989).
convergent three-dimensional beam element with two 10. B. Chen and Y. Hu, The torsional stiffness matrix of a
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Acknowledgement--The authors wish to thank Professor G. 12 H. Chen and G. E. Blandford, A. Co finite element
Dhatt for his contribution to the formulation of the element formulation for thin-walled beams. Int. J. numer. Meth.
based on the Vlasov model presented in Ref. [2]. Engng 28, 2239-2255 (1989).

Appendix-see overleaf
1054 H. Shakourzadeh et al.

APPENDIX

h
y,= -h 2, zz -
4 4

w = -z( on DC t
+isf
o = -y[ on CF 2 2

tsh’ A’
.J=;hrl
‘“=18=144

~=---+---- e=CF
= h-!-66 h+2b

h=b’t 2h + 36
I,=----- J=ijl(h +2b)
12 hf66

for ED and GH

2b=h=r
J=- I,=$(b +h)
b-!-h

I _ tb’h*(h - b)I
t <”
24 (h+b)
Y

w =Sign(z)?y* on DF and HG

o=Sign(y)$!r*onFG and DH

for w,=w

* indicates for the middle surface.