Applied Mathematical Modelling 34 (2010) 898–918

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Applied Mathematical Modelling

journal homepage: www.elsevier.com/locate/apm

Nonlinear transient thermal stress and elastic wave propagation analyses

of thick temperature-dependent FGM cylinders, using a second-order
point-collocation method
M. Shariyat *, S.M.H. Lavasani, M. Khaghani
Faculty of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran

a r t i c l e i n f o a b s t r a c t

Article history: Nonlinear transient thermal stress and elastic wave propagation analyses are developed for
Received 9 September 2008 hollow thick temperature-dependent FGM cylinders subjected to dynamic thermomechan-
Received in revised form 7 June 2009 ical loads. Stress wave propagation, wave shape distortion, and speed variation under
Accepted 22 July 2009
impulsive mechanical loads in thermal environments are also investigated. In contrast to
Available online 28 July 2009
researches accomplished so far, a second-order formulation rather than a first-order one
is employed to improve the accuracy. The FDM method (as a point-collocation FEM
Keywords:
method) is used. It is known that other FEM methods cannot show the actual trend jumps
Thick-walled cylinder
Thermoelastic stresses
due to distributing the abrupt changes in the quantities as the numerical errors and the
Wave propagation residuals of the governing equations among the nodal results. Furthermore, the required
Point-collocation computational time and allocated computer memory are much reduced by the present
FGM solution algorithm. The cylinder is not divided into isotropic sub-cylinders. Therefore, arti-
Temperature-dependency ficial wave reflections from the hard interfaces are avoided. Time variations of the temper-
atures, displacements, and stresses due to the dynamic or impulsive loads are determined
by solving the resulted highly nonlinear governing equations using an iterative updating
solution scheme. A sensitivity analysis includes effects of the volume fraction indices,
dimensions, and temperature-dependency of the material properties is performed. Results
reveal the significant effect of the temperature-dependency of the material properties on
the thermoelastic stresses and present some interesting characteristics of the thermoelas-
tic and wave propagation behaviors.
Ó 2009 Elsevier Inc. All rights reserved.

1. Introduction

Functionally graded materials (FGMs) are generally employed in mechanical components experiencing elevated temper-
atures and severe thermal shocks. Low thermal conductivity, low coefficients of thermal expansion, core ductility, and
smooth stress distribution have enabled the functionally graded materials to withstand higher thermal and mechanical
shocks [1,2].
Among various FGM structures, cylindrical components have been of special interest. Transient thermoelastic analysis is a
vital stage in development of strength investigations such as dynamic thermal buckling, fatigue life assessment under cyclic
thermal loads, dynamic crack propagation, etc. Majority of the well-known thermoelastic analyses performed so far for thick
FGM cylinders are generally restricted to uniform heating (e.g. [3]) or steady-state heat transfer conditions (e.g. [4–9]). Some
of these researches have been accomplished based on the multi-layer discretization approximation [8].

* Corresponding author. Tel.: +98 91 22727199; fax: +98 21 88674748.

E-mail addresses: m_shariyat@yahoo.com, shariyat@kntu.ac.ir (M. Shariyat).

0307-904X/$ - see front matter Ó 2009 Elsevier Inc. All rights reserved.
doi:10.1016/j.apm.2009.07.007
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 899

Nomenclature

a1, a2, a3 coefficients of the numerical time integration methods

C specific heat
C, K, M, Q, R matrices of the final thermoelastic governing equations
E the elastic modulus
G_ the shear modulus of elasticity
h; h coefficient of the convection heat transfer, radial increment
hi, ho coefficients of the convection heat transfer at the internal and external boundaries
j the node number
n number of the radial nodes
N volume fraction index
pi, po internal and external pressures
P, Pi, Po material property, material properties of the inner and the outer layers
P0, P1, P2, P3 temperature-dependency constants of the material
P0i, P0o material constants of the internal and external layers
r, ri, ro, rj radius, internal radius, external radius, and radius of the j-th node point
t time
T, T temperature, nodal temperature vector
T1, T0 temperature of the medium, ambient temperature
Ti1, To1 temperatures of the internal and the external media
u radial displacement component
_ U
U; U; € nodal radial displacement, velocity, and acceleration vectors
e0
U the prescribed nodal displacement vector
Vi, Vo volume fractions of the constituent materials of the inner and outer boundary layers
V0 the prescribed nodal velocity vector
Xj, Yj, Zj, Vj, Wj complex expressions of the j-th node that may be determined comparing Eqs. (12) and (18)
a thermal expansion coefficient
j thermal conductivity
q mass density
m Poisson’s coefficient
rr, rh radial and hoop stresses
s period time corresponding to the fundamental natural frequency of the FGM cylinder
n a modification coefficient

Some authors have investigated the transient thermoelastic stresses in isotropic cylinders, using analytical [10,11], semi-
analytical [12], or numerical methods [13–16].
Researches presented in the transient heat transfer analysis of the FGM cylinders so far are very limited and almost all of
them have ignored the temperature-dependency of the material properties. Reddy and Chin [17] and Praveen et al. [18] have
developed Lagrangian finite element formulations to analyze the pseudo-dynamic thermoelastic responses of the function-
ally graded cylinders. A time integration method was adopted to derive the results. Obata et al. [19] analyzed the two-
dimensional unsteady thermal stresses in an FGM hollow circular cylinder by the Laplace transformation and the perturba-
tion methods. Using the finite difference method, Awaji and Sivakumar [20] analyzed the steady-state and transient temper-
ature distributions in an FGM cylinder. Based on the multi-layered cylinder approximation, Kim and Noda [21] studied
axisymmetric two-dimensional transient thermoelasticity of an infinite hollow circular FGM cylinder using Green’s function
approach. Using the numerical Laplace inversion method, Sladek et al. [22] studied the transient heat conduction in the FGM
cylinders. Wang et al. [23,24] used the first-order finite element method in conjunction with the finite difference method to
study the one-dimensional transient heat conduction. Hosseini et al. [25], and Shao and Ma [26] employed analytical meth-
ods to study the transient conduction heat transfer in FGM cylinders with material properties that follow an exponential law.
Recently, thermo-mechanical analysis of an FGM hollow circular cylinder subjected to a linearly increasing boundary tem-
perature is developed by Shao and Ma [27]. Thermo-mechanical properties of the functionally graded materials were as-
sumed to be temperature-independent. Laplace transform technique and a series method were employed to solve
ordinary differential equations of FGM cylinders with material properties that follow an exponential law.
Almost in all of the above mentioned researches, the temperature-dependency of the material properties is neglected.
Recently a transient thermal analysis taking the temperature-dependency of the material properties into account is intro-
duced by Shariyat [28]. Time integration and updating methods were used.
Heyliger and Jilania [29] adopted a variational method and a Ritz approximation to study the frequency responses of the
inhomogeneous cylinders and spheres. Steinberg [30] formulated the inverse spectral problem to determine properties of a
cylinder with inhomogeneous materials. Han et al. [31] presented a hybrid numerical method for analysis of transient waves
in an FGM cylinder. The displacement responses were determined by employing the Fourier transformations together with
900 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

the modal analysis. El-Raheb [32] studied the effects of the circumferential and radial inhomogeneities on the transient
waves of a plane-strain hollow cylinder. The cylinder was divided into isotropic subcylinders. The static-dynamic superpo-
sition method was employed to determine the transient response. Shakeri et al. [33] studied the vibration and the transient
behaviors of FGM thick hollow cylinders under axisymmetric dynamic loads using a first-order Galerkin finite element and
Runge–Kutta methods. The functionally graded cylinder was divided into isotropic subcylinders. In each interface between
two layers, stress and displacement continuity conditions were satisfied through modifying the generalized Hook’s law. Pon-
nusamy [34] discussed the wave propagation in a generalized thermoelastic solid cylinder with arbitrary cross-section. The
solid medium was assumed to be isotropic.
Some researchers have studied the dynamic characteristics of the cylindrical shells using various approaches. Wang and
Dong [35] and Dong and Wang [36] investigated the wave propagation phenomenon in cylindrical shells subjected to magn-
ento/electro-thermomechanical loads, analytically. Wang and Sheng [37] and Sheng and Wang [38] investigated vibration
and dynamic characteristics of functionally graded cylindrical shells subjected to thermomechanical loads, employing the
first-order shear deformation theory.
Majority of the finite element formulations presented in the thermelastic and elastic wave propagation analyses fields to
date, have been developed based on the first-order Lagrangian shape functions [17,18,23,24,33,39–42]. Therefore, the stress
components experience jumps at the mutual boundaries of the elements [43–45]. Therefore, virtual sources of concentrated
tractions or wave sources will form at the mutual boundaries of the elements that in turn may remarkably influence the re-
sults. Although the idea of dividing the FGM cylinder into some sub-cylinders is commonly used, it may induce successive
reflections and may affect the results. Bruck [46] and Samadhiya et al. [47] have proved that in FGM components with con-
tinuously varying properties, the pulse shape is distorted with time, the wave speed is not constant, and there is no sharp
interface that would cause wave reflection. The elastic wave propagation phenomenon in discretely layered FGMs is some-
what different. The transmitted wave and the waves reflected (perhaps through multiple reflections) from each sharp inter-
face between the discrete layers, may affect the stress distribution.
In the present paper, nonlinear transient thermal stress and wave propagation analyses of temperature-dependent FGM
cylinders subjected to dynamic thermo-mechanical loading conditions are presented. It is known that in contrast to the finite
difference method (FDM), as a point-collocation finite element method, other finite element methods distribute residuals of
the governing equations in the solution domain. Therefore, errors of the governing equation are not zero at the nodal points.
Therefore using a second-order point-collocation finite element method (i.e. a second-order FDM) may result in accelerated
as well as simpler computations and sometimes relatively more accurate results. For this reason, the finite difference method
is one of the main choices in some analyses such as the computational fluid mechanics [48]. An iterative updating time inte-
gration solution procedure is adopted to extract the results from the highly nonlinear governing equations. Over-relaxation
and under-relaxation techniques are used to accelerate the solution procedure in gradual time variations and enhance the
accuracy (preventing numerical instability due to abrupt changes in the quantities) in sensitive systems. Finally, results
based on the assumptions of temperature-dependency (TD) and temperature-independency (TID) of the material properties
are compared with each other and effects of various parameters on the transient responses, vibration, and wave propagation
characteristics are studied.

2. The governing equations

The geometric parameters of the thick-walled FGM cylinder and the boundary parameters are shown in Fig. 1. Ti1, pi, hi
are the temperature of the internal medium, internal pressure, and the coefficient of the convection heat transfer at the inter-
nal boundary, respectively and To1, po, ho are their counterparts of the outer boundary.
It is assumed that the functionally graded material is made of a mixture of two constituent materials so that one of the
boundary layers is metal-rich whereas the other boundary layer is ceramic-rich. If the representative material property (e.g.
the elasticity modulus, the thermal expansion coefficient, etc.) of the inner layer is denoted by Pi while the representative
material property of the outer layer is denoted by Po, corresponding material property of the FGM cylinder at any arbitrary
point of the thickness may be expressed as

Fig. 1. Geometric and boundary parameters of the considered thick-walled FGM cylinder.
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 901

 N
ro  r
P ¼ P o þ ðP i  P o Þ ; ð1Þ
ro  ri

where N is the so-called volume fraction index. Variation of the material properties in terms of the temperature may be ex-
pressed as follows [49]:
 
P ¼ P0 1 þ P1 T þ P2 T 2 þ P3 T 3 ; ð2Þ

where P0, P1, P2 and P3 are some material constants.

Therefore, from Eqs. (1) and (2) one may conclude that:
   
P ¼ P0i 1 þ P1i T þ P2i T 2 þ P3i T 3 V i þ P0o 1 þ P1o T þ P 2o T 2 þ P3o T 3 V o ; ð3Þ

where Vi and Vo are the volume fractions of the constituent materials of the inner and outer boundary layers, respectively:
 N
ro  r
Vi ¼ ; V o ¼ 1  V i: ð4Þ
ro  ri
The governing equation of the transient axisymmetric heat transfer problem is
" #
1 oT oðjr Þ o2 T oT
þ jr 2 ¼ qC ; ð5Þ
r or or or ot

where q(r, T), j(r, T), and C(r, T)  Cv(r, T) are the mass density, the thermal conductivity, and the specific heat, respectively.
The governing equation of the vibration of the axisymmetric cylinder is

orr rr  rh o2 u
þ ¼q 2; ð6Þ
or r ot
where u is the radial displacement component.
In the present research, convection thermal boundary conditions are considered:
oT
j þ hðT  T 1 Þ ¼ 0 at r ¼ ri and ro : ð7Þ
or
Cases wherein temperature of one of the boundary surfaces is known may be satisfied by adopting a very large convection
heat transfer coefficient for the mentioned boundary.
It is assumed that all particles of the cylinder are initially at the ambient temperature:
T ðr; 0Þ ¼ T 0 : ð8Þ
The stress boundary conditions are assumed to be in the following forms:
½rr ðtÞr¼ri ¼ pi ðtÞ; ½rr ðtÞr¼ro ¼ po ðtÞ: ð9Þ

Based on the strain-displacement expressions, the generalized Hook’s law takes the following form [50]:
 
E ou u
rr ¼ ð1  mÞ þ m  ð1 þ mÞaDT ;
ð1 þ mÞð1  2mÞ or r
 
E u ou
rh ¼ ð1  mÞ þ m  ð1 þ mÞaDT ; ð10Þ
ð1 þ mÞð1  2mÞ r or
   
E u ou
rz ¼ m þ  ð1 þ mÞaDT :
ð1 þ mÞð1  2mÞ r or
Therefore, the governing thermoelasticity equations of a temperature-dependent FGM cylinder become:
 
o2 T oj j oT oT
j: þ þ ¼ qC ; ð11Þ
or 2 or r or ot
2    
o u oE 2mð2  mÞE om E ou m oE ð1 þ 2m2 ÞE om ð1  mÞE
Eð1  mÞ: 2 þ ð1  mÞ þ þ ð1  mÞ þ þ  u
or or ð1 þ mÞð1  2mÞ or r or r or ð1 þ mÞð1  2mÞr or r2
  
oE 2ð1 þ mÞEaDT oa oðaDTÞ
 ð1 þ mÞaDT þ þ Eð1 þ mÞ DT þ a ¼ ð1 þ mÞð1  2mÞqu€: ð12Þ
or 1  2m or or
As stated before, generally, the material properties are radius and temperature-dependent. Therefore, the resulted system
of governing equations (Eqs. (11) and (12)) is highly nonlinear. Derivatives of the material properties may be calculated
based on Eq. (3) as
902 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

 N
op N ro  r
¼ ðpi  po Þ
or r  ro ro  ri
( " N #)
oT   r  r N   
ro  r
2 o 2
þ P 0i P1i þ 2P2i T þ 3P 3i T þ P0o P1o þ 2P2o T þ 3P 3o T 1 ; ð13Þ
or ro  ri ro  ri

or determined based on a second-order finite difference expression.

3. The finite difference form of the governing equations

The derivative expressions appeared in Eqs. (11)–(13) may be substituted based on the corresponding central difference
expressions [51]. To this end, the thickness of the cylinder may be discretized to n radial nodes. Therefore:
_ _ ro  ri
rj ¼ r i þ ðj  1Þ h ; h¼ : ð14Þ
n1
The central finite difference expressions are used for the interior nodes, e.g.
  !
oT T jþ1  T j1 o2 T T jþ1  2T j þ T j1
¼ _ ; ¼ _ ; ð15Þ
or r¼rj or2
2h r¼r j h2
and the backward and the forward second-order finite difference expressions are used for the boundary nodes:
   
oT 3T 1 þ 4T 2  T 3 oT T n2  4T n1 þ 3T n
¼ _ ; ¼ _ : ð16Þ
or r¼ri or
2h r¼r o 2h
Therefore, the finite difference form of the governing equations of the temperature distribution will be as follows:
8 
3ji 2ji ji
>
> _ þ hi T i  _ T 2 þ _ T 3 ¼ hi T i1 ; j ¼ 1;
> 2h
> h 2h
< T 2T þT oj j T jþ1 T j1
jj jþ1
_
j j1
þ or þ r _ ¼ qj C j T_ j ; 2 6 j < n; ð17Þ
>
> h2
 2h

>
>
: j_o T 2jo 3jo
n2  _ T n1 þ _ þ ho T o ¼ ho T o1 ; j ¼ n:
2h h 2h

The material properties appeared in Eq. (17) themselves are dependent on the nodal temperatures. Therefore, Eq. (17)
may be solved using iterative and updating methods described in the next section. To derive the FDM form of the governing
equation of the vibration, Eq. (12) is rewritten in the following form for each nodal point:
!  
_
2 o2 u _ ou
h Xj þ 2 h Yj €j :
þ Zj uj þ Vj ¼ Wj u ð18Þ
or 2 or j
j

The boundary conditions appeared in Eq. (9) may be imposed directly based on Eq. (10). Therefore, the governing equa-
tions of the displacement distribution take the following form:
8 _ _ _
>
> 3ri ðmi 1Þþ2 h mi
ui þ 2ð1  mi Þu2  12mi u3 ¼ ð1 þ mi Þ h ai DT i  Ehi ð1 þ mi Þð1  2mi Þpi ; j ¼ 1;
>
< 2r i
  
Wj u € j  Xj þ Yj ujþ1 þ 2Xj  Zj uj þ Yj  Xj uj1 ¼ Vj ; 2 6 j < n; ð19Þ
>
>
>
: 1mo _ _ _

2
un2  2ð1  mo Þun1 þ 3ro ð1m2ro Þþ2
o
h mo
uo  ¼ ð1 þ mo Þ h ao DT o  Eho ð1 þ mo Þð1  2mo Þpo ; j ¼ n:

Eqs. (17) and (19) may be written respectively in the following matrix forms:
_
C½TðtÞTðtÞ þ K½TðtÞTðtÞ ¼ Q ðtÞ; ð20Þ
€ þ K½TðtÞUðtÞ ¼ RðtÞ;
M½TðtÞUðtÞ ð21Þ
where T(t) and U(t) are the nodal temperature and displacement vectors, respectively.

4. The proposed numerical solution procedure

In a thermoelastic analysis, usually a two step solution procedure is employed: (a) a thermal analysis; (b) a stress analysis.
A Crank–Nicolson time integration method is adopted to solve the resulted highly nonlinear governing equations of the
heat transfer through a Picard-type iterative solution scheme [45]. Based on Eq. (20), one may write:

Ci T_ i þ Ki Ti ¼ Q i ; Ciþ1 T_ iþ1 þ Kiþ1 Tiþ1 ¼ Q iþ1 ; ð22Þ

where i is the time step counter. According to Crank–Nicolson time integration scheme [52] for the first-order systems, one
has:
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 903

Dt  _ 
Tiþ1 ¼ Ti þ Ti þ T_ iþ1 : ð23Þ
2
Therefore, combining Eqs. (22) and (23) leads to the following equation:
 
b 1 K
Tiþ1 ¼ K e i Ti þ Q ð24Þ
iþ1 i;iþ1 ;

where
b iþ1 ¼ Ciþ1 þ a1 DtKiþ1 ; K
K e i ¼ Ciþ1 ½I  ð1  a1 ÞDtC1 Ki ;
i
h i ð25Þ
Q i;iþ1 ¼ Dt ð1  a1 ÞCiþ1 C1
i Q i þ a Q
1 iþ1 ; a1 ¼ 0:5:

The solution begins with an estimated nodal temperature victor, T. Values of the material properties are determined
based on this vector. After each iteration, a modified nodal temperature victor is obtained and is used to update the material
properties for the next iteration. So that Eq. (24) takes the following form in the iterative solution:
n o1  
Tiþ1;k ¼ Kb iþ1 ðTiþ1 Þ e i Ti þ Q
K ð26Þ
k i;iþ1 ;

where k is the iteration counter.

The iterative solution continues till convergence is achieved. In this regard, a convergence criterion like the following one
may be used [53–56]:

T l;iþ1  T l;i

max

6 d; ð27Þ

T l;iþ1

where Tl is a representative nodal temperature and d is a sufficiently small number (e.g. 0.001). The nodal temperature vector
obtained is used as a first estimate for the nodal temperature vector of the end of the next time step.
According to Runge–Kutta time integration method for the second-order systems, the displacement and the velocity vec-
tors of the end of the i-th time step may be determined through the following equations [52]:
2h i
Uiþ1 ¼ Ui þ Dt U _ i þ ðDtÞ ð1  a2 ÞU € iþ1 ;
€ i þ a2 U
h 2 i ð28Þ
U_ iþ1 ¼ U
_ i þ Dt ð1  a3 ÞU € iþ1 ;
€ i þ a3 U

where for Runge–Kutta time integration method:

a2 ¼ a3 ¼ 0:5: ð29Þ

Table 1
Material properties of the constituent materials of the FGM cylinder [17].

Material Property P0 P1 P2 P3
Si3N4 E (Pa) 348.43e9 3.70e4 2.160e7 8.946e11
m 0.24 0 0 0
a (K1) 5.8723e6 9.095e4 0 0
j (W/mK) 13.723 0 0 0
q (kg/m3) 2370 0 0 0
Cv (J/kg K) 555.11 1.016e3 2.92e7 1.67e10
SUS304 E (Pa) 201.04e9 3.079e4 6.534e7 0
m 0.3262 2.002e4 3.797e7 0
a (K1) 12.330e6 8.086e4 0 0
j (W/mK) 15.379 0 0 0
q (kg/m3) 8166 0 0 0
Cv (J/kg K) 496.56 1.151e3 1.636e6 5.863e10

Table 2
The fundamental natural frequencies of the considered cylinders.

Cylinder type Metallic Ceramic FGM (metallic internal layer) FGM (ceramic internal layer)
N = 0.5 N=1 N=5 N = 0.5 N=1 N=5
Fundamental natural frequency (Hz) 5949 13,150 6252 8106 10,841 11,142 8159 6631
904 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

To incorporate effects of the higher natural frequencies, it is recommended to chose the size of the integration time step
as [51,52]:
s
Dt 6 ; ð30Þ
20
where s is the period time corresponding to the fundamental natural frequency of the FGM cylinder. Therefore, based on Eq.
(28), one may conclude that:

Fig. 2. Time variations of the: (a) temperatures, (b) radial stresses, and (c) hoop stresses of the homogeneous isotropic thick cylinder.
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 905

Fig. 2 (continued)

( )1 ( ! )
ðDt Þ2 _ ð Dt Þ 2 € ðDt Þ2
Uiþ1 ¼ Miþ1 þ a2 Kiþ1 Miþ1 Ui þ DtUi þ ð1  a2 ÞUi þ Riþ1 ; ð31Þ
2 2 2
" #
2
€ iþ1 2 _ i  ðDtÞ ð1  a2 ÞU€i ;
U ¼ 2
Uiþ1  Ui  Dt U ð32Þ
a2 ðDt Þ 2
_ iþ1
U ¼ U_ i þ Dt ð1  a3 ÞU€ i þ a3 Dt U€ iþ1 : ð33Þ
Eqs. (31)–(33) should be solved based on the prescribed initial values such as

e 0;
U0 ¼ U _ 0 ¼ V0 ;
U € 0 ¼ M1 R0  K0 U0 :
U ð34Þ
0

Although the displacement boundary conditions may be imposed directly, incorporation of the stress boundary condi-
tions (Eq. (9)) requires some efforts. A stress boundary condition may be incorporated in two ways: (i) replacing the row
of the corresponding node of the global matrices by the first or the end equation of Eq. (19); (ii) using the penalty method
[57] to incorporate the mentioned equation in the final system of equations (Eq. (21)).
To accelerate the numerical solution and subsequently reduce the total computational time or to prevent numerical insta-
bility for sensitive systems, one may choose the following modification after each iteration within a specified integration
time interval [53–56]:
Tiþ1 ¼ Ti þ nðTiþ1  Ti Þ; ð35Þ
where n is less than unity for the first purpose and is greater than unity for the second purpose.

5. Results and discussions

In the present section, some examples relevant to transient thermoelastic and vibration analyses of thick-walled FGM cyl-
inders are presented. With the exception of Example 1, that is a validation example, in all examples, thick cylinders with the
following geometric specifications:
ri ¼ 0:1 m; ro ¼ 0:2 m;
and material properties given in Table 1 are investigated for one or some of the following four distinct types of cylinders:

Type 1: A pure metallic cylinder.

Type 2: A pure ceramic cylinder.
906 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

Type 3: An FGM cylinder with metallic internal layer.

Type 4: An FGM cylinder with ceramic internal layer.

As stated before, the FGM cylinders are assumed to be made of two constituent materials (they are Si3N4/SUS304 FGM
cylinders).
The size of the time integration step is chosen based on Eq. (30). The fundamental natural frequencies are computed base
on the transient responses of the cylinders as it is explained in Example 4 and are given in Table 2.
Based on the material properties given in Table 1, it is evident that cylinders with higher ceramic volume fractions have
higher rigidities and subsequently have higher fundamental natural frequencies.

Fig. 3. Time variations of the: (a) temperatures, (b) radial displacements, (c) radial stresses, (d) hoop stresses, and (e) axial stresses, of the inner, middle, and
outer points of the thickness of the FGM cylinder. In this figures, curves shown with dotted, solid, and dashed lines are corresponding to N = 0.1, N = 1, and
N = 5, respectively.
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 907

Sensitivity analyses performed prior extracting the main results have revealed that adopting over than 30 radial nodal
points almost does not enhance the results further. However, 50 radial nodal points are chosen to extract the results. Since
less comprehensive works have been presented in the subject of the present paper, the present results are presented as ref-
erences for future comparisons.
Example 1. To validate results of the present approach, a preliminary example of a hollow homogeneous isotropic cylinder
of Ref. [11] is re-examined. The following data are considered for the problem:

T o1 ¼ 0 C; r i ¼ 1 m; q ¼ 7800 kg=m3 ; m ¼ 0:3;

ro ¼ 2 m;
G ¼ 80 GPa; a ¼ 12  106 C1 ; a ¼ 105 m2 =s;
where a* is the thermal diffusivity. Inner and outer surfaces of the cylinder are assumed to be subjected to the following
traction boundary conditions:
rr ðri ; tÞ ¼ pi ¼ 100 MPa; rr ðro ; tÞ ¼ po ¼ 10 MPa:
The internal boundary of the pre-stressed cylinder is suddenly heated. The thermal boundary condition and the initial
conditions of the cylinder are
DTðri ; tÞ ¼ 100 C; DTðro ; tÞ ¼ 0 C; DTðr; 0Þ ¼ 0:
Figs. 2 and 3 show the steady as well as the transient radial and hoop stresses distributions through the thickness of the
cylinder, respectively. Results of Ref. [11] show remarkable oscillations and trend jumping for the hoop stress with time in
the vicinity of the hot boundary. Indeed, the temperature distribution curves presented in Ref. [11] exhibit numerical oscil-
lations too. The results are somewhat close but the present results show variation trends that are more consistent with the
physical sense and the works presented for more complicated problems. No jump in the trend of the time variations of the
hoop stresses is noticed in the present results.

Fig. 4. Time variations of the: (a) temperatures and (b) radial displacements of the inner, middle, and outer points of the thickness of the FGM cylinder. In
this figures, curves shown with dotted, solid, and dashed lines are corresponding to N = 0.1, N = 1, and N = 5, respectively.
908 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

Example 2. To evaluate the influence of the temperature-dependency of the material properties on the thermoelastic
behavior of the thick FGM cylinders, a cylinder of type 4 subjected to a convection heat transfer with a medium with
temperature 600 K in the neighborhood of the inner boundaries while the external boundary is subjected to a convection
heat transfer with the ambient (300 K) is considered. It is assumed that all points of the cylinder are initially at the ambient
temperature and the initial displacements are zero. The thermomechanical parameters of the present problem are

hi ¼ ho ¼ 1000 W=m2 K; Tðr; 0Þ ¼ 300 K; T i1 ¼ 600 K; T o1 ¼ 300 K; pi ¼ po ¼ 0:

Fig. 5. Effect of the temperature-dependency of the material properties on time variations of the: (a) temperatures, (b) radial displacements, (c) radial
stresses, (d) hoop stresses, and (e) axial stresses of the middle point of the thickness of the FGM cylinder for N = 1.
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 909

Variations of the temperatures, radial displacements, radial stresses, hoop stresses, and axial stresses with time are plot-
ted for the inner, middle, and outer points of the thickness of the FGM cylinder in Fig. 3 for various volume fraction indices.
Since the thermal diffusivity of the ceramic material is higher, the temperature gradient and the temperature rise are higher
in the ceramic region. Comparison of Figs. 3a and 4a reveals this evident. Comparison of Figs. 3b and 4b reveals that since the
ceramic layer serves as a stiff boundary, when the cylinder is heated (either through the internal or external boundaries), the
internal regions of the FGM cylinder of type 3 contract (move inward to attain the required thermal expansion) whereas all
regions of the FGM cylinder of type 4 move outward. The boundary conditions of the present problem are so that influence of
the temperature-dependency on the temperature results is small (it is not always the case). Even in this case, effect of the
temperature-dependency of the material properties on the displacement and stress results is remarkable. This effect is much
more remarkable in higher temperature differences between the internal and the external boundaries. Fig. 5 shows effect of
the temperature-dependency of the material properties on the radial displacements, radial stresses, hoop stresses, and axial
stresses time histories of the middle point of the thickness for N = 1. In this special case, employing a yield criterion such as
Tresca criterion reveals that the temperature-independent cylinder fails earlier. Therefore, the temperature-independency
assumption leads to an overdesigned cylinder for the present particular case.

Example 3. Vibration of an FGM cylinder of type 4 under a pressure shock at the internal boundary is investigated in the
present example. It is assumed that all the particles are initially at the ambient temperature (300 K). Time history of the
applied pressure shock is illustrated in Fig. 6. Therefore, the loading data are as follows:

Tðr; tÞ ¼ 300 K; uðr; 0Þ ¼ 0; pi ¼ 100ð1  e2000t Þ MPa; po ¼ 0:

Time variations of the radial displacements, radial stresses, hoop stresses, and axial stresses of the inner, middle, and out-
er points of the thickness are depicted in Fig. 7. As Fig. 7 shows, transient oscillations that are results of superimposed effects
of the modes of the vibration (especially the fundamental mode) have been occurred due to the impact loading. In Fig. 8, the
mentioned distributions are plotted for all particles of the cylinder for N = 1, to present a better visualization. A comparison
among the magnitudes of the mechanical stresses of the present example and the thermal stresses of the previous example
implies that stresses caused by relatively low or moderate temperature gradients in the thick cylinders may be more con-
siderable than mechanical stresses cause by high external or internal pressures.

Example 4. In the previous example, transient forced vibration behavior of an FGM cylinder is investigated. In the present
example, the transient free vibration responses as well as the fundamental natural frequency of an FGM cylinder with the
following dimensions are derived:
ri ¼ 0:1 m; ro ¼ 0:15 m:
For this purpose, an FGM cylinder of type 4 is considered. The cylinder is subjected to an internal pressure that is
increased gradually and linearly to a specified value where thereafter the cylinder is unloaded abruptly (Fig. 9). Therefore,
the time history of the internal pressure is
(
2  105 t MPa; 0 6 t < 0:0005 s;
pi ¼
0; t > 0:0005 s;

Other boundary and initial boundary conditions are

T ðr; tÞ ¼ 300 K; uðr; 0Þ ¼ 0; po ¼ 0:

Fig. 6. Time history of the pressure shock applied to the internal boundary of the FGM cylinder.
910 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

Fig. 7. Time variations of the: (a) radial displacements, (b) radial stresses, (c) hoop stresses, and (d) axial stresses of the inner, middle, and outer points of
the thickness of the FGM cylinder, under the applied pressure shock. In this figures, curves shown with dotted, solid, and dashed lines are corresponding to
N = 0.1, N = 1, and N = 5, respectively.
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 911

Fig. 7 (continued)

Displacement responses of the inner, middle, and outer points of the thickness of the FGM cylinder are depicted in Fig. 10
for N = 0.2, 1, and 5. Fig. 11 illustrates the time variation of the radial displacement for all points of the thickness of the men-
tioned cylinder. The fundamental natural frequency may be determined based on measuring the period of the oscillations.
The fundamental frequencies of the present cylinder are given in Table 3.

Fig. 8. Time variations of the: (a) radial displacements, (b) radial stresses, (c) hoop stresses, and (d) axial stresses of all points of the thickness of the FGM
cylinder, under the applied pressure shock (N = 1).
912 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

Fig. 9. Time history of the internal pressure.

Fig. 10. Time variations of the radial displacements of the inner, middle, and outer points of the thickness of the FGM cylinder, due to the abrupt unloading.
In this figures, curves shown with dotted, solid, and dashed lines are corresponding to N = 0.1, N = 1, and N = 5, respectively.

Fig. 11. Time variations of the radial displacements of all points of the thickness of the FGM cylinder, under the applied pressure shock (N = 1).

Table 3
The fundamental natural frequencies of the considered cylinder with various values of the volume fraction indices.

N 0.2 1 5
fn1(Hz) 12845 9533 7684
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 913

Results show that as the ceramic volume fraction increases, the rigidity of the FGM cylinder increases and subsequently
the fundamental natural frequency increases and the radial oscillations decrease.
Example 5. Finally, elastic wave propagation, reflection and interference phenomena are investigated for a thick cylinder
subjected to an initial impulsive internal pressure and a uniform temperature rise. Variation of the impulsive internal
pressure with time is assumed to be a rectangular function of magnitude 100 MPa and a Dt ¼ s =100 time duration where s 
is the fundamental natural period of the cylinder. Radial displacements are depicted for T = 300 K in Fig. 12 for all
mentioned types of cylinders (for the FGM cylinders, N = 1 is chosen) for equal time intervals of s =100. To present clear
figures, only early short times of the wave propagation are considered in Fig. 12. As time elapses, more reflections and
interferences will occur. The corresponding radial stress variations are illustrated in Fig. 13. As it is noticed form Figs. 12
and 13, in very short times after the impact, the radial displacements and stresses in points far from the internal boundary
are zero. As the elastic wave propagates through the thickness of the cylinder, displacements and stresses of the mentioned
points become nonzero. Figs. 12 and 13 imply that the speed of the elastic wave is higher in the ceramic regions of the
cylinder. Fig. 14 shows the radial displacements and stresses for a uniformly preheated cylinder (T = 600 K), of type 4
(N = 1). Due to the degradation occurred in the stiffness of the FGM cylinder due to the preheating, the displacement
components are greater for this case. To present a better visualization for the wave propagations, reflections and
interferences, 3-D plots of the results of the type 4 FGM cylinder are illustrated for the uniformly preheated FGM cylinder
(T = 600 K) in Figs. 15 and 16 for N = 0.2, 1, and 5 for interval times equal to one fundamental natural period time. In
derivation of the results, temperature-dependency of the material properties is taken into account. As it may be noticed
from Fig. 15, number of the interferences grows with time. Furthermore, especially in the radial displacement vibration, the
local vibrations are a part of a more general vibration with a grater period time. The oblique wave formation due to the

Fig. 12. Radial displacements of a thick-walled cylinder, subjected to an impulsive internal pressure, immediately after the loading, for: (a) type1, (b) type
2, (c) type 3, and (d) type 4 cylinders (N = 1). The i-th curve corresponds to t ¼ 0:01is
ðsÞ after the impact where s
 is the fundamental natural period of the
cylinder.
914 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

Fig. 13. Radial stresses of a thick-walled cylinder subjected to an impulsive internal pressure, immediately after the loading, for: (a) type1, (b) type 2, (c)
type 3, and (d) type 4 cylinders (N = 1). The i-th curve corresponds to t ¼ 0:01is ðsÞ after the impact where s is the fundamental natural period of the
cylinder.

Fig. 14. Radial displacements and stresses of a uniformly preheated thick-walled cylinder of type 4(N = 1) due to the applied impulsive internal pressure.
The i-th curve corresponds to t ¼ 0:01is
ðsÞ after the impact.
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 915

Fig. 15. Wave propagation in a preheated thick FGM cylinder of type 4 subjected to an impulsive load, for: (a) N = 0.2, (b) N = 1, and (c) N = 5.

repeated reflections is apparent in Figs. 15 and 16. Furthermore, since the boundary particles have more freedom to move,
the displacements are greater at the boundary surfaces.
916 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918

Fig. 16. Stress wave propagation in a preheated thick FGM cylinder of type 4 subjected to an impulsive load, for: (a) N = 0.2, (b) N = 1, and (c) N = 5.
 M. Shariyat et al. / Applied Mathematical Modelling 34 (2010) 898–918 917

6. Conclusions

In the present paper, nonlinear thermoelastic and wave propagation analyses of thick-walled FGM cylinders made of two
constituent materials are performed. In contrast to works presented so far, temperature-dependency of the material prop-
erties is taken into account and higher order approximations (second-order approximations instead of first-order approxi-
mations) are employed. The first-order approximations employed by other authors may cause abrupt changes and
discontinuities in the strain and stress components at the mutual boundaries of the elements. Therefore, virtual sources
of stress wave propagation will form and the results may not be reliable. This phenomenon is avoided in the present anal-
yses. A Picard-type iterative updating algorithm is proposed to update the material properties in the resulted highly nonlin-
ear formulation. Results show that the temperature-dependency of the material properties may have significant influence on
the radial displacements and radial and hoop stresses distributions. Generally, it may not be claimed whether ignoring the
temperature-dependency of the material properties leads to an overestimated or an underestimated design prior analyzing
the component. Results also reveal that sometimes, the ceramic layer may serve as a rigid medium. Therefore it may cause
the internal layers of the cylinder to shrink (when the ceramic layer is the external layer) or cause more remarkable reflec-
tions. Besides, the temporal elastic waves may be parts of a more general wave with a greater period time.

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