A COMPARISON OF LAGRANGIAN AND SERENDIPITY

MINDLIN PLATE ELEMENTS FOR FREE

VIBRATION ANALYSIS

E. HIN-roNt
University College, Swansea, Wales

and

N. BII~ANICS
Gradjevinski Institut, Zagreb, Yugoslavia

(Received 28 November 1971; received for publication 16 May 1978)

‘&street-The performance of five Lagrangian and Serendipity (4,8,9,12 and 16 noded) isoparametric elements in
the free vibration finite analysis of Mindlin plates is evaluated. The results are compared with well established
analytical and numerical solutions based on Mindlin’s thick plate theory and three dimensional elasticity solutions.

INTRODUWION For example, nonconforming elements in which the CI

Over the years the Poisson-Kirchhoff, classical thin
plate theory (CTPT) has held the unique position as the
most widely used basis for the development of solution
procedures for plate bending problems. Timoshenko and
Krieger[l] and Leissa[2] for example, have catalogued
many important analytical solutions based on CTPT.
However, with the development of powerful numerical
methods, such as the finite element method, it is im-
portant to consider any alternative theories, which may
offer greater flexibility or be more convenient to use than
CTPT.
Mindlin plate theory (MPT)[3,4] provides a more
powerful alternative to CTPT. Plates in which transverse
shear deformations are important can be easily catered
for using MPT and by a suitable choice of plate rigidities,
the analysis of a wide variety of homogenous, sandwich,
laminated and cellular plates presents no major difficulty.
When CTPT is adopted there are notional and practical
problems associated with the prescription of boundary
conditions. The use of MPT avoids these difficulties.
By comparison with CTPT and in spite of its apparent
advantages, relatively few analytical solutions based on
MPT have been reported. However, in recent years an
increasing number of numerical solution schemes based
on MPT have started to appear and several finite
differenceiS], finite strip[6] and finite element Mindlin
plate solutions have been presented 17-101.
In the context of the finite element displacement
method MPT has a very important advantage over
CTPT. One of the main difficulties in the development of
thin plate elements is the stringent requirement of C,
continuity. Mindlin plates on the other hand only require
Co continuity, which is a much easier condition to
satisfy.
Several ingenious thin’ plate elements have been
conceived in order to avoid the C, continuity restriction.
tlecturer, Civil Engineering Department.
SResearch Assistant: presently visiting scholar University
College, Swansea.
483
continuity condition is relaxed are sometimes successful,
but for complete credibility they are required to pass the
“patch test” for arbitrary patches[ll]. In the search for
useful thin plate elements, several elements have been
formulated using the discrete Kirchhoff hypothesis. This
involves constraining to zero the transverse shear strains
at various points within a Mindlin plate element. Some-
times the constraints are used to eliminate unwanted
nodal variables [ 121.
The use of Mindlin plate elements began with the
development of some isoparametric element shell
elements[l31. However, it was only the use of
reduted[l4] and selective[l5] integration that allowed
limiting thin, as well as thick plate behaviour to be
modelled accurately with the 8-noded element.
Subsequent studies have highlighted some reasons for
the success of reduced and selective integration[lB and
have also suggested some further areas of difficulty.
Free vibration studies by Rock and Hinton[8] were
based on the 8-noded isoparametric Mindlin plate ele-
ment, which has subsequently been found to have certain
deficiencies. It was therefore felt that because Mindlin
plate elements appear to show some potential there was
a need for a comprehensive study of several piomising
members of the Serendipity and Langrangian
isoparametric families. Consequently, in this paper the
performance of the five isoparametric Mindlin plate
elements-the 4,8,9, 12 and 16 noded elements.shown in
Fig. l-is studied in the free vibration analysis of several
plate bending problems involving simply supported,
clamped and initially stressed plates. Various mass
representation schemes, all of which include the effects
of rotatory inertia, are examined. Element performance
in limiting thin plate situations is investigated and the
influence of mesh distortion is also considered. A parallel
study with static analysis has also been undertaken [9].
Mindlin plate theory and the development of an 8-noded
Mindlin element was described in detail in a previous
paper[8] and therefore only a brief description of the
theoretical development will be given here.
484 E. HINTON and N. BICANIC

i-7 8 noded serendlpety quodrotic quadrilateral

n 0 9 noded logrong,on q”Odrqt,c quodrdateral

Normal lo mdplone
after delormotnn 7 /
Fig. 2. Deformation of cross section of homogeneous plate.
12 noded serendop,,y cubic quqdrolalerql

D
expression

III 0 0 16 noded h3Qk,nQ,O,, cubic quodr~loteral Ni.ai (4)

Fig. 1. Serendipity and Lagrangian isoparametric Mindlin plate

elements. where

8i = [Wi, &ir e,il’

FINtTEELEMENTiNtEEWBRATKlNANALYSL9
OF-YSTltWD-PLA~ is the vector of displacement parameters at node i, and
Following a finite element spatial discretization, the
problem of the free vibration of the initially stressed Ni = Nib
Mindlin plates can be expressed in the matrix equation
where NI is the shape function for node i expressed in
[K’-w’Ml a’=0 i=l,...r (1) terms of the local coordinate system (6.7). In an iso-
parametric formulation, the same interpolation functions
in which are used to describe the geometry and displacement
variation. Thus
K’=KtKG

where K is the global stiffness matrix; KG is the global (5)

geometric stiffness or initial stress matrix; hi is the global
mass matrix; wl is the ith natural frequency; a’ is the ith where
mode shape; and t is the total number of degrees of
freedom. N, = NJ2

and xl and yi are the coordinates of the ith node.

Displacement representation
The displacement field in a Mindhn plate theory can be Strain-displacement relationship
fully described by the components of the vector The generalized straindisplacement relationship for
the Mindlin plate element may be written as
44 Y) = [wk Y), 84x, Y), By(x, Yf (2)

where tv denotes the lateral displacement and 19,and 0,

are the rotations of the midsurface normal in the xz and
E=
cn-t
B,ai (6)

yz planes respectively, as shown in Fii. 2. According to where

MPT normals to the midsurface before deformation
remain straight, but not necessarily normal’, to the e = k-e,,, -e,.,, -(e,, + e,,), -6, -4X
midsurface after deformation, and the rotations 0, and 8,.
can be expressed as and

(3) 0 -Ni.x

I
0 0 _;.
where & and dY are the average additional normal Bfi 0 -Ni., -N;:
rotations due to transverse shear in the xz and yz plane
and W, = (awlax), etc.
Bi =
[ Bsi I
----_ r ~~_~~~________-_____~~~~~____
Ni, -Ni
For the general case of an n-noded Mindlii plate Ni,y 0 -ii
element with 3 degrees of freedom per node the dis-
placement variation over the element is given by the Bfi is the strain matrix associated with flexural defor-
 A comparisonof Lqrangian and SerendipityMindlinplate elements 48s
I 1
mation and B., is the strain matrix associated with shear
strain. The Cartesian shape function derivatives Nti =
(aNJ&r) and N, y = (aNJay) can be obtained by the chain
K’=
I*t
B=DBdA=
II -1 -I
BTDB det J d,$dg (12)

rule of differentiation. Thus where det J is the determinant of the Jacobian matrix
J(I; 7). The stiffness terms linking nodes i and j are
Ni, = I’& * 6.x+ NL, 9t,.x obtained from the expression
(7)
Ni.? = Ni.t * Z.y+ Nt.v * ~.r 1 I
K;= BiT D Bi det J d[ dn. (13)
where & = (a[/&), etc. can be obtained from J-‘, the II-I --I
inverse of the Jacobian matrix. The Jacobian matrix can
Provided that D can be partitioned as described in (11)
be written as
then (13) can be written as
I
(8)
K;= ’ Bi Df Bfj det J d,$dn
II-I -I
1 1
where the components of J can be obtained from the t Bi D. B, det J d[ dq (14)
expressions II-I -1
= K;, t K$.

X,6= 2 Ni.rXi Y, = ” Ni.qxi Full, selective and reduced integration schemes based on
i-l 7-I
(9) Gauss-Legendre product rules are indicated in Table 1
n
for the five elements under consideration. Unless
~.a = Ni.~yi Y,n= 8, NI,qyi*
c-I otherwise indicated the reduced integration rules are
used for all but the dnoded element in which the selec-
Stress-strain relationship tive integration is adopted. The full integration scheme is
The stress-strain relationship may be written as exact for Mindlin plate elements in which det J is
constant (i.e. parallelogrammic plate elements). The
a=Dr (10) selective and reduced integration schemes are only ap-
proximate and an eigenvalue study of the individual
where the vector of generalised stresses element stiffness matrices reveals some zero energy
modes other than those associated with the three rigid
u = [M,, M,, M,,, Qx, Q,l’ body modes. In the 8 and 12 noded elements these modes
are nontransmittable when a mesh of elements is consid-
contains bending moments, twisting moments and shear ered. However, when 9 and 16 noded elements are used
forces. The matrix of elastic rigidities can be partitioned wnn reduced integration, mechanisms (or transmittable
so that zero energy modes) can form in problems which have
few boundary conditions. To reduce the likelihood of
this difficulty Hughes et al. [ 171have suggested the use of
(11) selective integration schemes. In the examples consid-
ered later in this paper, reduced integration schemes
where for an isotropic homogenous material, the matrix have been used for the 9 and 12 noded elements since the
of flexural rigidities can be written as boundary conditions prevent the development of
mechanisms. The use of selective integration gives
comparable results and is recommended for general use.
There is another important phenomenon associated
with Mindlin plate elements. In certain cases there is a
tendency for the serendipity 8 and 12 noded elements to
give overstiff solutions when reduced integration is
adopted for thin plates. Apart from a few special cases,
while the matrix of shear rigidities is given as Lagrangian 9 and 16 noded elements do not exhibit this
“locking” phenomenon even when full integration is
used for thin plates.
Locking has been described in detail elsewhere[9,171

where E, v and t are Young’s modulus, Poisson’s ratio

Table I. Full, selective and reduced integration schemes for
and the plate thickness respectively. The constant a is Mindlinplate elements
included in the expression for D, to allow for warping of
the plate cross section and is usually given a value of 1.2 IntegrationGauss-Legendreproductrules
for homogenous isotropic plates. For non-homogenous Full Selective Reduced
plates, other appropriate plate rigidity matrices can be
substituted for D. Element Kf K, Kf K, Kf K,
4 noded 2x2 2x2 2x2 1x1 1x1 1x1
8 noded 3x3 3x3 3x3 2x2 2x2 2x2
9 nodcd 3x3 3x3 3x3 2x2 2x2 2x2
Element stiffness matrix
12 noded 4x4 4x4 4x4 3x3 3x3 3x3
The stiffness matrix for element e is defined in the 4x4 4x4 4x4 3x3 3x3 3x3
16 noded
usual way
4% E. HINTON
and N. BW~ANIC

04OlS

O*OOlb

WcD 0 0013
v
!!& 0,0012

qLb
0.0011

0 0020

0 0009
10 50 100 1000

Ilt

WcD
p-

WcD
qLL

10 !a 100 1000 10 50 100 1000

‘0 ‘0
Fig. 3. Solution behaviour for central deflection of uniformly loaded clamped square plates with increasing
span-to4hickness(i/r ratios NES = 8).

and no further discussionwill be given here. Instead, the in which

phenomenonis shown graphicallyin Fig. 3 for the static
problem of a u~ormly loaded, clamped square plate
analysed using fine (8 x 8) meshes of the various ele-
ments under consideration. Convergence curves are
drawn for plates with incr~s~g sun-to-thickness ratios. and
As the plate becomes thinner the solution should
theoretically converge to the thin plate solution.
However, the 8 and 12 noded elements show a tendency
to give over& results even when reduced intention is In the case of thick plates K& should be includedin K,.
Wed. A typical submatrix of K& linkingnodes i and j can be
expressed as
Element ~e~rnet~c st~~~@ss matrix
If initial in-planestresses[6,18] t’
G&GJ, gdet Jdtdq (17)

where
act on the second order strains in the Mindlinplate, then
the geometricstiffness matrix KG must be includedin (1)
as
In the present study ah integrations were performed
Kq”=K”,+K”o,. (15) using the same schemes as the ones used to evaluate the
element stiffness matrix.
A typical submatrixof K& linkingnodes i and j can be
written as Element mass matrices
A typical element submattix which allows for the
effects of rotatory intertia and links nodes i and j can be
 A comparisonof Lagrangianand SerendipityMindlmplate elements 487

1
expressed as 6 -6 2 -8 3 -8 2 -6
32 -6 20 -8 16 -8 20
6 -6 2 -8 3 -6
32 -; _‘“, -; 1; ( ‘(19)

6 -6
32
32 -6 20 J
for elements of constant thickness. There are a number
of different schemes for evaluating Mt which all amount
to ways of calculating suitable values for C,. Three main If reduced (2 x 2 Gauss-Legendre) integration is used
approaches are shown schema&ally in Fig. 4 and lead to instead, then a different matrix of coefficients is given
consistent, diagonalised-consistent and lumped mass

1
matrices.
In diagonalised-consistent and lumped mass matrices, 16 -2 12 -4 8 -4 12
non zero coefficients only occur on the leading diagonal 2 -2 02 -4
-2 01 -4 01 -2
-4
of the matrices and such schemes are essential when
transient dynamic analysis is performed using an explicit . (20)
central difference formulation.
In all of the schemes described in Fig. 4, the total mass
of the element should be preserved. Unfortunately this is
not strictly true for elements which do not have a
constant det 1 at all points? (e.g. the distorted elements in
example 2 discussed later). One possible remedy would It is interesting to note that in both cases the total mass
be to evaluate the total mass of each element of the element is preserved even though the coefficients
are quite different. However, this is to be expected since
M’= pdetJd[dq i Nr = 1 and therefore
i-1

by a high order Gauss-Legendre product rule and scale

the mass matrix coefficients to sum to this total mass
value. It should be noted that, as shown later, ,i,* ,i,_ C,,

should give the total mass of the element, provided that

det J is constant within the element.
The various scheme outlined in Fig. 4 are now illus-
trated for an 8 noded element in which det J is constant.
If a consistent mass scheme is adopted with full (3 X 3
Gauss-Legendre) integration, then the resulting matrix of =
p det J dg dq = PA’. (21)
coefficients is given as

Equal lumping, of course, gives a coefficient matrix in

which the values on the leading diagonal are

diag C,’ = $ [I, 1,1,1,1,1,1,11 (22)

and all other coefficients are zero.

Special lumping scheme based on the consistent mass
matrix with full (3 x 3 Gauss-Legend@ integiation gives
a coefficient matrix with diagonal values

[3,16,3,16,3,16,3,16]. (23)

When the original consistent mass matrix upon which the

special lumping is based is evaluated using reduced (2 x 2
Gauss-Legendre) integration, then the diagonal values
are

Fii. 4. Schemes for evahiatingmass matrixcoefficients Cl,.

diag C ‘SL= ~[1,8,1,8,1,8,1,8]. (24)

Square+ rectangubr and parallelogrammicekments all have Whenra diagonalised-consistent matrix is formed using
constant det J foi all 6, r) values, whereas general quadrilateral the integration scheme in which the sampling points
and elements with curved edges do notU91. coincide with the nodal points, the resulting diagonal
488 E. HINTON
and N. BICANIC
values are
diagC&=@$[-1,4,-1,4,-1,4,-1,4].
(25)
These values coincide with values obtained if row
lumping is used and are in the same proportions as the
consistent nodal forces for a uniformly applied pressure
loading. Unfortunately, the negative values are an un-
desirable feature. However, it can be shown that similar
schemes for 9 and 16 noded elements have positive
values[17]. Furthermore, Fried and Malkus[20] have
shown that if a 3 x 3 Lobatto rule is used to evaluate the
consistent mass matrix for the 9 noded element then the
rate of convergence thereby achieved is the same as that
achieved when full integration is adopted. It is interesting
to note that for rlnoded elements with constant det J the
diagonalised-consistent scheme and all of the lumping
schemes lead to a matrix in which the only non zero
coefficients are the diagonal values, which are all equal to
(pA’/4).
From all the schemes considered, three have been
selected for further examination in the present studies.
1. Scheme C: in which a consistent mass matrix is
evaluated using full integration.
2. Scheme E: in which an equal lumping scheme is
used.
3. Scheme S: in which a special lumping scheme is
used.
The factors are obtained from consistent mass
matrices evaluated using full integration.
Eigenvalue evaluation
Initially the eigenvalue analyses were performed using
a power method with a condensation procedure.
Subsequently results obtained by the power method were
checked and extended by the subspace iteration method
with Sturm sequence checks, described and coded by
Bathe and Wilson[21].
Example 1
Simply supported square plate. The first problem to be
considered is the free vibration of a moderately thick
simply supported square plate of span/thickness ratio of
10. A convergence study of the lowest frequency is
performed for the five elements with each mass
representation scheme refining the mesh up to NES = 10
(where NES is the Number of Elements per Side of the
plate). The results shown in Fig. 5 demonstrate the
convergence properties of the elements.
The higher frequencies are obtained for all elements
by choosing NES = 4, except for the 4 noded element
where NES = 8 is adopted. The results for alI three mass
matrix representation are compared in Fig. 6 with solu-
tions based of MPT and 3dimensional elasticity[22]. The
parameters m and n indicate the number of half waves in
the x and y directions respectively. It is interesting to
note that scheme C overestimates the frequencies, whife
scheme E underestimates them. The frequencies
obtained using the special lumping approach, scheme S,
fall within the bounds set by the values obtained by
schemes C and E.
tThis symmetrywas not anticipated but found from numerical
experiments.
Example 2
Simply supported square plate-distorted mesh. In this
example the influence of mesh distortion on the solution
accuracy is investigated. For all elements NES is chosen
as 4 and again mass representation schemes C, S and E
are adopted. With reference to Fig. 7(a), the mesh dis-
tortion parameter is defined as
DP(a)=f=$.
L L
In this way it is possible to have a continuous range of
distortion parameters from 0 to 2 whik also using ele-
ments with equal distortion throughout the mesh.
The percentage error of the finite element solution
when compared with solutions based on MPT, are
presented in Fig. 7(b) for only one half of the DP range;
the results for the other half are symmetrict. As in
example 1, there is a tendency for frequencies obtained
using schemes C and E to provide bounds within which
the frequencies using scheme S fall.
Example 3
Simply supported square plate-limiting type solution.
As mentioned earlier, when Mindlin plates are used for
the analysis of thin plates, overstiff results are sometimes
obtained, this so called “locking” phenomenon has been
investigated for static problems and it has been found
that Serendipity 8 and IZnoded elements can give prob-
lems in certain cases even when reduced integration is
used. Here, locking is investigated in the context of free
vibration analysis. For each element (NES = 4 for all but
the 4 noded element, where NES = 8 is adopted), the free
vibration of a simply supported square plate is studied
for increasing span/thickness ratios. The results given in
Fii. 8 show the same pattern as the static results shown
earlier in Fig. 3. The &m&d and 1Znoded elements
“lock” when L/t is increased.
Example 4
Clamped square plate. A convergence study is per-
formed for the l/l, l/3 and 313 modes of vibration for a
clamped square plate, using aU 5 elements with reduced
integration. The results obtained for each mass
representation scheme are compared in Fig. 9 with the
average converged sol&n obtained by Ramani[23]. In
nearly all cases the frequencies obtained by schemes C
and E bound the value given by scheme S and are in
good agreement with Ramani’s solution.
Example 5
Initially stnssed simply supported rectangular plate.
Frequencies obtained for an initially stressed, simply
supported rectangular plate of aspect ratio V/2 and
span~thickness ratio 10 are compared with frequencies
given by Reismann and Tendorf[24] in Fig. 10. The three
mass representation schemes are examined for a whole
range of initial stress values V~
It should be noted that in keeping with the analysis of
Reismana and Ten&f, a value for the shear correction.
factor a of l/O.86 was used in this part of the analysis,
rather than the value quoted in (11). For all but the 4
noded element, excellent results are obtained with all
mass representation schemes and elements, with meshes
NES = 4.
 A comparisonof Lagrangianand SerendipityMindlinplate elements 489

2
I
4
NES
I
6
I
6
4 tzk33
J
10
0 0600
2 4
NES
6 6

L noded element I2 noded element

NES NES
9 noded element 16 noded element

v = 0.3

L/h - 10
L =l.O

0.0600
2 4 6 6 10
NE!5
0 noded element

Fii. 5. Convergencestudy of the lowest nondimensionalfrequencyA for simply supportedsquarepk.

a=@ “.I).3

h/L.O.l L-1.0
NES =L (for 6.9.12 and
16 noded element1
NE5 = 8 I for 4 noded
element I
490 E. HINTONand N. BICANIC

Fig. 7(a). Mesh distortion parameter ZIP [0,2].

L noded element

8 noded element

-10 08 06 0‘ 01

10
DP Iii,
‘5

10 1
c

-1
* _-
____e--- 9 noded element
%
o_j*..-.........._5... . ...

‘I

10 E
% s 12 noded element
C
__..- ---
0
5 ._....... ...
*... . . . . . . . . . . . . . . .
-5

-w ~ 1.3
joy 06 OSDpo‘ 02 ,y

16 noded clement

Fig. 7(b). Percentage of error for l/l, l/2 and l/3 modes of vibration for simply supported square plate as a
function of distortion parameter DP.
 A comparison of Lagrangian aad Serendipity Mindlin plate elements 491

Fig. 8. Non-dimensional fundamental frequency of simply supported square plate vs increasing L/t ratio.
[CTPT-classical thin plate theory solution.1

CSE
R

Fig. 9. Conve~ce study for clamped square plate, non~mension~ frequencies A,~,A~, A,~.
492 and N. BICANIC
E. HINTON

E q 10920
h: 0.1
p=10

. Reismann ond Tendorf (25)

m :I
NES = 6 (L noded element I
NES L:4 (8.9.12 and 16 noded
element)
-ox0 -2w -100 0 100 2oo ax0
1 noded clement
200
T”

20 20
";I ":I
I 1 I I
-%sO -200 -100 0 100 mo ox0 -ox,-2az -100 0 100 200 as0
8 noded clement 9 nadcd clcmcnl

200 T” 200
T”

-ox0 -200 -100 0 100 200 ox0 -%,-zoo -100 0 100 200 Qxg
12 rwded clement I6 noded element

Fii. 10. Influenceof initial stress ax0on l/l, l/2 and l/3 frequenciesof vibrationof simply supportedrectangular
plate.

For the 4 noded element a mesh with NES = 8 is
required and even,with that mesh the consistent mass
representation still gives poor results, whereas the other
two schemes are in good agreement with previously
published results.
CONCUJSIONS
Five isoparametric (4grangian and Serendipity) ele-
ments have been studied in the context of the free
vibration analysis of thick plates. The performance of
the elements has been tested in various situations (simply
supported plate, clamped plate, distorted mesh, initially
stressed plate, limiting type solutions). The intluence of
different schemes for evaluating the element mass matrix
(consistent, special lumping, equal lumping) has been
investigated.
On the basis of this study m elements with
reduced or selective integration emerge as the best suited
for use with Mindlin plate theory.
However, for problems with few boundary constraints,
there exists the danger of the development of
mechanisms (or. near mechanisms). Recent work[251
suggests a means of avoiding this possibility.
The special lumping scheme showed very good per-
formance with all elements considered and this approach
may be attractive in explicit transient dynamic analysis.
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(1%9).
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493
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