FINITE ELEMENT ANALYSIS

IN STRUCTURES

Ch t 9
Chapter
SHELL ELEMENTS

Zahit Mecitoğlu

© 2009 İstanbul
İ t b lT Technical
h i lU University
i it
SHELL THEORIES

Thin shell theories:

… Deep shell theories
… Shallow shell theory
y

I thi
In this section:
ti
… Flat-facet elements
… Specialization of solid elements
 FLAT-FACET
FLAT FACET ELEMENTS q’i2 q’i3
y’
y’ q’i5
q’i1
z’ 3 z’ 3
i

v’
+ w’

u’’
1 1

x’ (d) x’
(c) 2 2

qi6

qi3
q’i5 qi2 qi5
q’i3
y’ qi1
q’i2 i
z’’ 3 qi4
i 3
q’i1
q’i4
v’

≡ ≡
w’ w
z v
u’ u
z 1 1

x’ y
2
x
y (d) 2
(e)
x
 AXES TRANSFORMATION

Before assembling the triangular elements shown in the Figure,

it is necessary to convert actions and displacements from local
directions to global directions.

For this purpose we can use the following rotation-of-axes

transformation of nodal displacements
 AXES TRANSFORMATION
{q′}i = [ λ ]{q}i (i = 1,
1 22,3)
3)  qi′1 
 q′ 
 i2 
In this expression the vector of local
{q′}i =  qi′3 
 
displacements {q’}i has five terms  qi′4 
 qi′5 

 qi1 
q 
 i2 
However, the vector of global  qi 3 
displacements {q}i has the six terms {q}i =  
 qi 4 
 qi 5 
 
 qi 6 
 AXES TRANSFORMATION
Thus we see that the transformation matrix [λ]i is of size 5 x 6, as follows

 l1 l2 l3 0 0 0
m m m3 0 0 0 
 1 2
[ λ ]i =  n1 n2 n3 0 0 0
 
0 0 0 l1 l2 l3 
 0 0 0 m1 m2 m3 

This matrix
Thi t i contains
t i rows off direction
di ti cosines
i off the
th local
l l ((primed)
i d) axes
with respect to the global (unprimed) axes
AXES TRANSFORMATION w
3

We can find the direction cosines (or components)

z v
u
off a unitit vector
t ex’ in
i th
the di
direction
ti off x’’ axis.
i 1

y
x12 y12 z12 x
l1 = l2 = l3 =
2

L12 L12 L12

Similarly, the coordinates of points 1 and 3 yield the components of a
unit vector e13 in the direction of side 1-3
1 3 of the triangle
x13 y13 z13
cx13 = c y13 = cz x13 =
L13 L13 L13

Then the components of a unit vector ez’ in the direction of axis z’

may be found as the result of the normalized vector product.
e x′ × e13
e z′ =
sin θ
which
hi h gives
i n1, n2, andd n3.
AXES TRANSFORMATION
Finally, the components of a unit vector eyy’ in the direction of axis y’ are
obtained from
e y′ = e z′ × e x′
which
hi h yields
i ld m1, m2, andd m3.
The transpose of the transformation matrix [λ] serves to convert nodal
actions from
f local to global directions. Thus,
{f ′}i = [ λ ]{f }i (i = 1, 2,3)

In addition, submatrix [k’ij] of the element stiffness matrix may be

transformed as follows
k ij  = [ R ]T k ′ij  [ R ] ( i = 1, 2,3; j = 1, 2,3)
  i   j

which generates a 6 x 6 array from a 5 x 5 matrix.

FLAT FACET ELEMENTS
FLAT-FACET
While flflat-facet
Whil t f t elements
l t are easy tot fformulate
l t
and use, their accuracy is not very good
because of modeling defects.
defects

Slope discontinuities normal to adjacent edges result in poor values

for internal stresses.

Therefore, the curved type of element described in the next section

is preferred.
SPECIALIZATION OF HEXAHEDRON
In this section we specialize the isoparametric hexahedron H20 to
become a thin, curved quadrilateral element for the analysis of general
shells.
ζ
4
η
8 7

w
3
u v
1

5 6 ξ

2
 SPECIALIZATION OF HEXAHEDRON
Generic
G i di
displacements
l t att any point
i t iin the
th shell
h ll element
l t are taken
t k tot be
b
in the directions of global axes.

{δ} = u v w

T

On the other hand,, nodal displacements

p consist of these same
translations (in global directions) as well as two small rotations αi and
βi about two local tangential axes x’ and y’.

{qi } = ui vi wi α i βi 
T
(i = 1,
1 22,...,8)
8)
 SPECIALIZATION OF HEXAHEDRON
βi
αi
z,w z’, ζ
ζ
j
y,v 4 y’
η βi
8 7 u’
x,u v’
w V2i
3
z’, ζi i
wi u ζti/2
1 v
βi y’

ti V1i
i vi 5 6 ξ V3i
ui αi
αi
x’ k
2
x’
 SPECIALIZATION OF HEXAHEDRON
Nodal Vectors
Let us define a thickness vector V3i that is normal to the middle surface
and spans the thickness ti of the shell at node i. Figure 9.3(b) shows this
vector, which is obtained as
 x j − xk   l 
   3i 
{V3 }i =  y j − yk  = m3i  ti
  n 
z −
 j k   3i 
z

Points j and k in the figure

f are at the surfaces
f off the shell. In a computer
program either the coordinates of points j and k or the direction cosines
for V3i must be given as data
SPECIALIZATION OF HEXAHEDRON
We can define two other vectors,
vectors V1i and V2i, which are orthogonal to
the vector V3i. In order to settle the directions of the last two vectors,
we let V = e ×V α i
β i

1i y 3i z’, ζ
j
y’
If V3i is parallel to ey in this Eq. , u’
u
βi

the latter is replaced by ez.

v’
V2i

i
ζti/2
Then V2i = V3i × V1i V1i
ti
V3i
αi
k
Figure shows local generic translations x’

u’ and v’ ( in the directions of V1i and ti ti

V2i) due to the nodal rotations βi and αi, u ′ = ζ βi v′ = −ζ α i
2 2
respectively. Their values are
SPECIALIZATION OF HEXAHEDRON
Contributions
C t ib ti off u’’ andd v’’ to
t th
the generic
i di
displacements
l t att any point
i t
can be determined using the direction cosines of V2i and V1i, vectors,
respectively.
respectively
u = N1u1 + N 2u2 + ... + N8u8
+ N1 ( −l21u1′ + l11v1′ ) + N 2 ( −l22u2′ + l12v2′ ) + ... + N8 ( −l28u8′ + l18v8′ )

v and w similar.
These equations can be written in matrix format,
 ti 
 N i ζ ( − l2 iα i + l1i β i ) 
  8  i i 8 
u N u 2

     ti 
 v  = ∑  Ni vi  + ∑  Niζ ( − m2iα i + m1i βi ) 
 w i =1  N w  i =1  2 
   i i  ti 
N
 i 2ζ ( − n α
2i i + n β
1i i  )
 
 SPECIALIZATION OF HEXAHEDRON
Or concisely,
concisely
u  8  ui  8
    ti α i 
  ∑ i i ∑ i
v = N v + N ζ µi  
 w i =1  w  i =1 2  βi 
   i

I this
In thi formula
f l th b l [µi] denotes
the symbol d t th the ffollowing
ll i matrix
ti
 −l2i l1i 
[µi ] = −m2i m1i 
 −n2i n1i 

Column 1 in this array contains negative values of the direction cosines of

the second tangential vector V2i, and column 2 has the direction cosines of
the first tangential vector V1i.
SPECIALIZATION OF HEXAHEDRON
F element
For l t SHQ8 we consider
id six
i ttypes off nonzero strains,
t i as ffollows
ll
∂u ∂x
 ε x  
0 0 
ε   0 ∂v ∂y 0 
 y 
0 0 ∂w ∂z 
{ε} = γ xy  =  
γ   ∂u ∂y ∂v ∂x 0 
 xz   0 ∂v ∂z ∂w ∂y 
γ yz   
 ∂ u ∂ z 0 ∂w ∂x 

The coordinates of any point in the SHQ8 element are

x 8  xi  8  l3i 
    ti  
 y  = ∑ Ni  yi  + ∑ Niζ m3i 
 z  i =1  z  i =1 2 
   i  n3i 

The terms l3i, m3i, and n3i are the direction cosines of the vector V3i.
SPECIALIZATION OF HEXAHEDRON
We need certain derivatives with respect to local coordinates,
coordinates which are
collected into the following 3 x 3 matrix:
∂u ∂x   Γ11 Γ12 Γ13   ∂u ∂ξ 
    
∂u ∂y  = Γ 21 Γ 22 Γ 23  ∂u ∂η 
  Γ33  ∂u ∂ζ 
 ∂u ∂z   Γ31 Γ32

where [Γ] is the inverse of the Jacobian matrix given by

8 8
 ∂x ∂y ∂z  ∂x ∂Ni ∂N t
=∑ xi + ∑ i ζ i l3i
 ∂ξ ∂ξ  ∂ξ i =1 ∂ξ
∂ξ i =1 ∂ξ 2

 ∂x ∂y ∂z  where ∂x 8
∂Ni 8
∂N t
[ ] 
J = =∑ xi + ∑ i ζ i l3i
 ∂η ∂η ∂η  ∂η i =1 ∂η i =1 ∂η 2
 ∂x ∂y ∂z  8
∂x t
 ∂ζ
 ∂ζ ∂ζ  = ∑ Niζ i l3i and so on
∂ζ i =1 2
SPECIALIZATION OF HEXAHEDRON
We need certain derivatives of the generic displacements with respect
to local coordinates. These derivatives are listed in a column vector of
nine terms, as follows

 ∂u ∂ξ   ∂Ni ∂ξ 0 0 −ζ l2i ∂Ni ∂ξ ζ l1i ∂Ni ∂ξ 

 ∂u ∂η  ∂N ∂η 0 0 −ζ l2i ∂Ni ∂η ζ l1i ∂Ni ∂η   u 
   i i
 ∂u ∂ζ   0 0 0 − Ni l2i Ni l1i  v 
    i 
 ∂v ∂ξ  8  0 ∂Ni ∂ξ 0 −ζ m2i ∂Ni ∂ξ ζ m1i ∂Ni ∂ξ   w 
   i 
 ∂v ∂η  = ∑  0 ∂Ni ∂η 0 −ζ m2i ∂Ni ∂η ζ m1i ∂Ni ∂η   t 
 ∂v ∂ζ  i =1  0 0 0 − Ni m2i Ni m1i
  i αi 
   2 
 ∂w ∂ξ   0 0 ∂Ni ∂ξ −ζ n2i ∂Ni ∂ξ ζ n1i ∂Ni ∂ξ   ti 
     βi 
∂w ∂η   0 0 ∂Ni ∂η −ζ n2i ∂Ni ∂η ζ n1i ∂Ni ∂η   2 
∂w ∂ζ   − Ni n2i 
 0 0 Ni n1i 
SPECIALIZATION OF HEXAHEDRON
Transformation of these derivatives to global coordinates requires
that the inverse of the Jacobian matrix be applied. Therefore,

 ∂u ∂x   ∂u ∂ξ 
 ∂u ∂y  [ Γ ] [ 0] [ 0]   
     ∂u ∂η 
  =  [ 0] [ Γ] [ 0]   
 . . .   [ 0] [ 0] [ Γ] 
. . . 
∂w ∂z   ∂w ∂ζ 
 SPECIALIZATION OF HEXAHEDRON
Multiplying the terms in this equation,
equation we obtain
obtain,

∂Ni ∂N
 ∂u ∂x   ai 0 0 − di l2i di l1i  ai = Γ11 + Γ12 i
∂ξ ∂η
 ∂u ∂y  b 0 0 −ei l2i ei l1i 
   i ti
 ∂u ∂z   ci 0 0 − gi l2i gi l1i   ui  di = ( aiζ + Γ133 Ni )
2
   
 ∂v ∂x  8 0 ai 0 − di m2i di m1i   vi  ∂N ∂N
    bi = Γ 21 i + Γ 22 i
 ∂v ∂y  = ∑  0 bi 0 −ei m2i ei m1i   wi  ∂ξ ∂η
 ∂v ∂z  i =1  0 ci 0 − gi m2i

gi m1i  α i  t
     ei = i ( biζ + Γ 23 N i )
∂w ∂x  0 0 ai −di n2i 
di n1i  βi  2
    ∂N ∂N
∂w ∂y  0 0 bi −ei n2i ei n1i  ci = Γ31 i + Γ32 i
 ∂w ∂z  0 0 ci − gi n2i gi n1i  ∂ξ ∂η

t
gi = i ( ciζ + Γ33 Ni )
2
SPECIALIZATION OF HEXAHEDRON
Th ith partt off matrix
The t i [B] can be
b given
i as ffollows
ll
 ai 0 0 −di l2i di l1i 
0 bi 0 −ei m2i ei m2i 

0 0 ci − gi n2i gi n2i 
[ B ]i =  b ai 0 −ei l2i − di m2i ei l1i + di m1i 

i = 1,2,…,8
 i
0 ci bi − gi m2i − ei n2i gi m1i + ei n1i 
 
 ci 0 ai −di n2i − gi l2i di n1i + gi l1i 
SPECIALIZATION OF HEXAHEDRON
Stress-strain
St t i relationships
l ti hi iin llocall directions
di ti ffor either
ith orthotropic
th t i or
isotropic materials take the form

 E xx Exy 0 0 0 0 
σ x   E E yy 0 0 0

0   εx 
σ   yyx ε 
 y  0 0 0 0 0 
0  y
σ z    
   0 0 0 Gxy 0 0   εz 
τ  =   γ xy 
 xy   G yz  
τ   0 0 0 0 0  γ 
 yz   1.2
  yz

τ xz   Gxz  γ xz 
0 0 0 0 0
 1.2 
 SPECIALIZATION OF HEXAHEDRON
Now we are ready to formulate the element stiffness matrix
matrix, as follows
1 1 1

∫ ∫ ∫ [E][B] J dξ dη dζ
[ ]T
[k ] = B
−1 −1 −1

In this expression
p matrices [[B]] and [[J]] are functions of ξ, η, and ζ.
Integration of Eq. through the thickness* of the element gives
1 1 1

∫ ∫ ∫ ([B]a + ζ [B]b ) [E] ([B]a + ζ [B]b ) J dξ dη dζ

T
[k ] =
−1 −1 −1

∫ ∫( [E][B ]b ) J dξ dη
1 1
2 [ B ]a [E][B]a + 23 [B ]b
T T
=
−1 −1

* Terms in matrix [J] containing z are neglected for the purpose of simplifying integration through the thickness.
J
.

SPECIALIZATION OF HEXAHEDRON
Here the matrices [B]a and [B]b are both of size 6 x 40,
40 but the latter
array contains only terms that are to be multiplied by ζ.

The integrals in Eq. must be evaluated numerically, using two integration

points in each of the ξ and η directions.

In this process the factor 2 multiplies ti/2 which is a common term in the
third row of |J| .

Equivalent nodal loads due to body forces on element SHQ8 may be

found as:
1 1
{fb } = ∫ [ N ] {b} dV = 2 ∫ ∫ [ N ] {b} J dξ dη
T T

V −1 −1
SPECIALIZATION OF HEXAHEDRON
In this expression the load vector {b} is assumed to contain components
of force (per unit volume) that are uniform through the thickness of the
shell Thus
shell. Thus,
T
{b} = bx by bz 

Also, the shape functions in Eq. are drawn from the first part of Eq. ,
as follows:

1 0 0 0 0 
[ N ]i = 0 1 0 0 0 Ni ( i = 1, 2,...,8)
0 0 1 0 0 
SPECIALIZATION OF HEXAHEDRON
Note that such body forces do not cause any equivalent nodal
moments. In addition, the equivalent nodal loads caused by initial
strains are
{f0 } = ∫ [B ]T [E]{ε0 } dV
V
1 1 1

∫ ∫ ∫ ([B]a + ζ [B]b ) [E]{ε0 } J dξ dη dζ

T
=
−1 −1 −1
1 1

∫ a [E]{ε0 } J dξ dη
[ ] T
= 2∫ B
−1 −1

where
T
{ε0 } = ε x0 ε y 0 ... γ zx0 
SPECIALIZATION OF HEXAHEDRON
After the nodal displacements in vector {q} have been obtained,
stresses in the element may be calculated from

{σ} = [ E] ([B ]{q} − {ε 0 })

Such stresses should be determined at the sampling points for
numerical
i l iintegration.
t ti