Continuum Mech. Thermodyn.

https://doi.org/10.1007/s00161-023-01231-x

O R I G I NA L A RT I C L E

Alexander Grigorenko · Igor Loza · Svetlana Sperkach ·

Anna Bezuglaya

Propagation of axisymmetric electroelastic waves in

a homogeneous and a continuously inhomogeneous
piezoceramic solid cylinder under the mechanical excitation

Received: 23 September 2022 / Accepted: 25 May 2023

© The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023

Abstract The propagation of the axisymmetric electroelastic waves under the mechanical excitation in the solid
homogeneous and inhomogeneous piezoceramic cylinders with axial polarization based on the linear theory
of elasticity and the linear electromechanical coupling was investigated. The following boundary conditions
are defined: on the lateral surface the mechanical load is applied and the surface is free of the electrodes.
The basic relation at the singular point is applied. The solid cylinder made of the continuously inhomoge-
neous piezoceramic cylinder material is considered. An efficient discrete and continual numerical–analytical
approach is based on reducing a problem to the ordinary differential equations, and application of the discrete
orthogonalization method has been proposed. The problem under different electrical boundary conditions on
the lateral surface of the piezoceramic solid cylinder has been solved. The article presents the distribution of
the amplitude of the displacements, the stresses, the electrical potential and the dielectric permeability. The
influence of the heterogeneity on the kinematic characteristics of propagating waves was investigated.

Keywords 3D electroelasticity · Wave propagation · Axial polarization · Mechanical excitation solid

heterogeneous piezoceramic cylinder

Communicated by Andreas Öchsner.

Igor Loza, Svetlana Sperkach and Anna Bezuglaya have contributed equally to this work.
A. Grigorenko (B)
Computational Methods Department, S.P. Timoshenko Institute of Mechanics of NAS of Ukraine, 3, Nesterov Street, Kyiv 03057,
Ukraine
E-mail: ayagrigorenko1991@gmail.com

I. Loza
Department of Theoretical and Applied Mechanics, National Transport University, 1, Mykhaila Omelianovycha-Pavlenka Street,
Kyiv 01010, Ukraine
E-mail: lozaigor1956@gmail.com

S. Sperkach · A. Bezuglaya
Technical Center of NAS of Ukraine, 13, Pokrovs’ka Street, Kyiv 04070, Ukraine
E-mail: svetlana@nasu.kiev.ua
A. Bezuglaya
E-mail: bezuglaya.anna24@gmail.com
 A. Grigorenko et al.

1 Introduction

The dynamical processes in the piezoceramic cylindrical structures have received considerable attention by
many researcher because of its great potential in mechanical, aerospace, aeronautical and civil engineering
[1,4,17,25–27].
The small vibrations of piezoelectric bodies are governed by the equations of the linear theory of piezo-
electricity. In piezoelectricity, the quasistatic electric field is coupled to the dynamic mechanical motion.
The mathematical difficulties in solving the boundary value problems for describing piezoelectric plates
and shells by approximate models are described in easily available literature [23]. In study analysis of the
dynamic processes in piezoelectric bodies based on the three-dimensional theory of electroelasticity, these
difficulties increase significantly. Considering that this work deals precisely with processes of that kind, note the
studies based on analytical approaches concerned with three-dimensional description of dynamic processes in
piezoelectric homogeneous and inhomogeneous cylindrical bodies [12,14–16,18–22]. In this work, the results
extending of the developments of the investigation presented in the monograph [9] are described. The novel
aspect of that extension pertains to the studies of the dynamic processes in the piezoceramic solid cylinder.
When solving such problems, it becomes necessary to formulate the boundary conditions at the singular point
r = 0 of the cylinder. With those conditions specified, the propagation of the axisymmetric electroelastic
waves under the mechanical excitation in the solid, homogeneous and inhomogeneous piezoceramic cylinders
based on the three-dimensional electroelasticity theory is considered. Such a model formulation of the problem
is proposed for the first time, in contrast with the analytical approach [18–20], to solve of the problems of the
spatial electroelasticity theory for the wave propagation processes in the homogeneous and in the continually
inhomogeneous piezoceramic solid cylindrical bodies. At present, functionally gradient piezoelectric materials,
which combine advantages of the bimorphs and free interface materials, find ever-widening application. The
attempt to allow for continually varying properties of a material leads to the situation when the material moduli
are not constants but functions with respect to one coordinate [2,3,13], etc. The results of calculations of the
dynamical behavior of the solid piezoceramic homogeneous and inhomogeneous cylinders demonstrate the
efficiency of the discrete–continuous approach [5–8]. The efficient numerical–analytical discretely continual
approach to studying the dynamical behavior of homogeneous and inhomogeneous piezoceramic hollow
cylinders and spheres is outlined in [9].
The influence of the mechanical and electric parameters of the material on the kinematic (mechanical
displacement and electrostatic potential) and dynamic (mechanical stress and electric displacement) charac-
teristics is analyzed. As before, significant attention is paid to the validation of the reliability of the results
obtained by numerical calculations.

2 Basic relation

The vibrations of piezoelectric bodies, as a mechanical process, are described by the continuum equations of
linearly elastic deformable solids and from the viewpoint of electric processes in a piezoelectric continuum.
The closed system of equations describing the nonaxisymmetric vibrations of axially piezoceramic polarized
solid cylinders in the cylindrical coordinates system (r, θ, z) (Fig. 1) consists of:
1. equations of motion are:
 
∂ T1 1 ∂ T6 ∂ T5 ∂ 2u1
+ + T1 − T2 + =ρ 2 ,
∂r r ∂θ ∂z ∂t
 
∂ T6 1 ∂ T2 ∂ T4 ∂ u2
2
+ + 2T6 + =ρ 2 ,
∂r r ∂θ ∂z ∂t
 
∂ T5 1 ∂ T4 ∂ T3 ∂ u3
2
+ + T5 + =ρ 2 , (1)
∂r r ∂θ ∂z ∂t
2. equations of electrostatics are:
∂ 1 ∂ ∂
E1 = − , E2 = − , E3 = −
∂r r ∂θ ∂z
 
∂ D1 1 ∂ D2 ∂ D3
+ + D1 + = 0, (2)
∂r r ∂θ ∂z
Propagation of axisymmetric electroelastic waves

Fig. 1 Cylindrical coordinate system

3. kinematic relations are:

∂u 1 ∂u 2 ∂u 3 ∂u 2 ∂u 3
S1 = − , S2 = + u 1r, S3 = − , 2S4 = + ,
∂r ∂θ ∂z ∂z ∂θ
∂u 3 ∂u 1 ∂u 2 ∂u 1 2
2S5 = + , 2S6 = + − u2. (3)
∂r ∂z ∂r ∂θ r
where Ti are the components of the stress tensor, ρ is the density of the material, u i are the components of the
displacement vector, Di are the components of the electric-flux density, E i are the components of the electric
field strength,  is the electrostatic potential, and Si are the components of the strain tensor.
The relations presented should be supplemented with polarized piezoceramics state equations, which
depend on the direction of preliminary polarization.
The constitutive equations for the different preliminary polarization are described in the case of axially
polarization as:

T1 = c11 S1 + c12 S2 + c13 S3 − e13 E 3 ; T2 = c12 S1 + c11 S2 + c13 S3 − e31 E 3 ;

T3 = c13 S1 + c13 S2 + c33 S3 − e33 E 3 ; T6 = 2c66 S6 ; T5 = 2c55 S5 − e15 E 1 ;
T4 = 2c55 S4 − e15 E 2 ; D1 = 2e15 S5 + ε11 E 1 ; D2 = 2e15 S4 + ε11 E 2 ;
D3 = e13 S1 + e13 S2 + e33 S3 + ε33 E 3 . (4)

where ci j are the components of the tensor of the elastic moduli, ei j are the components of the piezomodules
tensor, εi j are the components of the permittivity tensor. The above components are functions of the radial
coordinate in the case of a continuously inhomogeneous piezoceramic materials.
∂u 1 ∂u 3
When studying an axisymmetric problem (u 2 = 0; = = 0) about the longitudinal harmonic
∂θ ∂θ
vibrations of the piezoceramic cylinder, the basic relationships (1)–(4) take the following form:
1. equations of motion are:

∂ T1 1 ∂ T5 ∂ 2 u 1 ∂ T5 1 ∂ T3 ∂ 2u3
+ (T1 − T2 ) + =ρ 2 ; + T5 + =ρ 2 ; (5)
∂r r ∂z ∂t ∂r r ∂z ∂t
2. equations of electrostatics are:

∂ D1 1 ∂ D3 ˜
∂ ˜
∂
+ D1 + = 0; E 1 = − ; E3 = − . (6)
∂r r ∂z ∂r ∂z
3. kinematic relations are:
∂u 1 1 ∂u 3 ∂u 3 ∂u 1
S1 = ; S2 = u 1 ; S3 = ; S5 = + . (7)
∂r r ∂z ∂r ∂z
 A. Grigorenko et al.

The constitutive equations for different directions of the preliminary axially polarization of the piezoceramics
assume the form

T1 = c11 S1 + c12 S2 + c13 S3 − e13 E 3 ; T2 = c12 S1 + c11 S2 + c13 S3 − e13 E 3 ;

T3 = c13 S1 + c13 S2 + c33 S3 − e33 E 3 ; T5 = 2c55 S5 − e15 E 1 ;
D1 = 2e15 S5 + ε11 E 1 ; D3 = e13 S1 + e13 S2 + e33 S3 + ε33 E 3 , (8)

We will consider the following boundary conditions: on the lateral surface the load is applied T1 |r =R = 0,
T5 |r =R = Pei(kz−ωt) and the surface is free of electrodes D1 |r =R = 0.
The resolving vector of the mixed type is:

R̄ = {T1 , T5 , D1 , u 1 , u 3 , } (9)

By resolving the system (5)–(8) for the vector and performing some transformations, we obtain:
   
∂ T1 1 c12 ∂ T5 1 ∂ 2 ∂2 3 ∂u 3
= − 1 T1 + − − 2 + ρ 2 u1 − ,
∂r r c11 ∂z r c11 ∂z r c11 ∂t r c11 ∂z
 
∂ T5 c13 ∂ T1 1 4 ∂ 2  3 5 ∂ 2 ∂2
= − T5 + + u 1 − − ρ u3,
∂r c11 ∂z r c11 ∂z 2 r c11 c11 ∂z 2 ∂t 2
∂ e15 c55 ∂u 1 1 e13 ∂ c12 c13
= T5 − D1 , = T1 + − u1 + u3,
∂r   ∂r c11 c11 ∂z r c11 c11
∂u 3 ε11 ∂u 1 e15
= T5 + + D1 ,
∂r  ∂z 
∂ D1 e13 ∂ T1 6 ∂ 2  1 ∂u 1 4 ∂ 2 u 3 D1
= + + + − . (10)
∂r c11 ∂z c11 ∂z 2 r c11 ∂z c11 ∂z 2 r

Here the designations are introduced:  = c55 ε11 + e15 2  = e (c − c ) = c2 − c2  =

1 13 11 12 2 11 12 3
c13 (c11 − c12 )4 = c13 e13 − c11 e33 5 = c13 − c11 c33 6 = c11 ε33 + e13
2 2 .

3 Method for solving problem

To solve the problem, we will employ an efficient the analytical - numerical approach. At the first step, we apply
the method of separating variables. Let us represent the components of the stress tensors and the vectors of
displacements, electric flux density and electrostatic potential as standing circumferential waves and traveling
axial waves. As a result, the original three-dimensional problem of electroelasticity for partial differential
equations is reduced to a boundary value eigenvalue problem for ordinary differential equations.
Let us search for the problem solution in the form of waves running in the axial direction:

{T1 , T5 , D1 , u 1 , u 3 , }
n
= {i T1 (r ), T5 (r ), D1 (r ), i u 1 (r ), u 3 (r ), (r )} ei(kz−ωt) (11)
i=1

ω is the circular frequency,

With (11), the original two-dimensional problem of electroelasticity in the partial derivatives can be reduced
to the system of a boundary value problem in the ordinary differential equations:
   
dT1 1 c12 k1 2 k3
= − 1 T1 + kT5 − − 2 + ρω u 1 −
2
u3;
dr r c11 r c11 r c11 r c11
 2 
dT5 kc13 1 k 2 4 k3 k 5
=− T1 − T5 − − u1 − + ρω2 u 3 ;
dr c11 r c11 r c11 c11
d e15 c55
= T5 − D1 ;
dr  
Propagation of axisymmetric electroelastic waves

du 1 1 ke13 c12 kc13 du 3 ε11 e15

= T1 + − u1 + u3; = T5 − ku 1 + D1 ;
dr c11 c11 r c11 c11 dr  
dD1 ke13 k 2 6 k1 u 1 k 2 4 D1
=− T1 − + − u3 − , (12)
dr c11 c11 c11 r c11 r
To solve the boundary value problem (12) in the interval 0 ≤ r ≤ R, it is also necessary to impose boundary
conditions at singular point r = 0.
Some terms in Eq. (12) become infinite when r = 0. Based on the peculiarities of the deformation of the
solid piezoceramic cylinder, we have the following conditions: T5 → 0, u 1 → 0, D1 → 0 when r → 0.
Since some unknown functions tend to zero together with the denominator, we have an indeterminate form.
To evaluate it, we will use the following limiting expressions ( Lopital Bernulia rule applied here) [10]:
T1 dT1 T5 dT5 u 1 du 1 D1 dD1
→ , → , → , → . (13)
r dr r dr r dr r dr
Thus, the system of Eq. (12) at the point r = 0 takes the form:
 
dT1 c12 dT1 k1 d 2 1 du 1 k3 du 3
= −1 + kT5 − − − ρω2 u 1 − ;
dr c11 dr c11 dr c11 r dr r c11 dr
 2 
dT5 kc13 dT5 k 2 4 k3 du 1 k 5
=− T1 − − − − + ρω u 3 ;
2
dr c11 dr c11 c11 dr c11
d e15 c55 du 1 1 ke13 c12 du 1 kc13
= T5 − D1 ; = T1 + − + u3;
dr   dr c11 c11 c11 dr c11
du 3 ε11 e15
= T5 − ku 1 + D1 ;
dr  
dD1 ke13 k 2 6 k1 du 1 k 2 4 dD1
=− T1 − + − u3 − . (14)
dr c11 c11 c11 dr c11 dr
After a set of the transformations, we get a resolving system of the equations at r the point r = 0:
dT1 du 3 d
= 0; = 0; = 0;
∂r dr dr
 
∂ T5 kc13 k2 2c12 c13 e13
=− T1 − e33 − 
∂r c11 + c12 2 c11 (c11 + c12 )
   
k2 2c132
2
− c33 − + u3;
2 c11 + c12 2
du 1 1
= [T1 + k (e13  + c13 u 3 )] ;
dr c11 + c12
 
∂ D1 ke13 k2 e13 1
=− T1 + 6 − 
∂r c11 (c11 + c12 ) 2c11 c11 + c12
 
k 2 e13 2c12 c13
+ 1− u3 (15)
2 c11 (c11 + c12 )
As a result, we get the systems of the ordinary differential equations (12) in the interval 0 < r ≤ R and
the systems (15)—at the point r = 0.
Introduce the dimensionless values:

ρ ci j ei j εi j r
= ωR ci j =
;  ei j = √
;  εi j =
; ; x = ; ζ = k R.
λ λ ε0 λ ε0 R
R–radius of the cylinder; ρ—density of the material of the cylinder; ε0 —vacuum permittivity; λ = 1010 mH2
Finally, we get to the boundary value problem in ordinary differential equations of the form:
d R̄
= A (x, ) R̄ (16)
dx
 A. Grigorenko et al.

where R̄ = {T1 , T5 , D1 , u 1 , u 3 , }
MatrixA has the form at x = 0:

0 0 0 0   0

   0
ζ ζ 2 ζ 2 2

− c
− − 2c c e
− −
2c 13 c13 e13
0
c11 (c11 +c12 ) +
13 12 13 13
c11 +c12 0 2 e33 c11 (c11 +c12 ) 0 2 c 33 2

0 0 0 0 0 0
A= ζ e13 ζ c13 (17)
1
0 0 0
c11 +c12 c11 +c12 c11 +c12
0 0 0 0 0 0



ζ e13 ζ2 6 −e13 5 ζ 2 e13 2c12 c13
− c11 (c11 +c12 ) 0 2c11 c11 +c12 0 2 1 − c11 (c11 +c12 ) 0

MatrixA has the form at x ∈ (0, 1]:



1 c12 ζ 
x c11 − 1 ζ − xc111 − x 2c211 + 2 0 0

ζ 2 0
− x1 − ζc11
2
− c1113
c 4
− ζxc113 ζ 2 5
 −

c11
A=
0 e15
 0 0 0 − c55
(18)
1
0 ζe13
− c12 ζc13
0
c11 c11 xc11 c11

ε11
−ζ e15

0  0 0 

− ζe13 0 − ζc11
2 ζ 1 ζ 2 4
c11
6
xc11 − c11 − x1

with boundary conditions

B1 R̄ (0) = C1 , B2 R̄ (1) = C2 , (19)
where
⎛ ⎞ ⎛ ⎞
000100 000
B1 = ⎝ 0 1 0 0 0 0 ⎠ , C1 = ⎝ 0 0 0 ⎠ ,
001000 000
⎛ ⎞ ⎛ ⎞
100000 0 0 0
B2 = ⎝ 0 1 0 0 0 0 ⎠ , C2 = ⎝ 0 P 0 ⎠
001000 0 0 0

To solve problem (16)–(19), we use the stable discrete orthogonalization method.


ρ
At the same time, in equations (17) and (18) instead of ζ = k R and = ω R we substitute the values
∗ ∗
λ
ζ and are the values of the dimensionless wave number and frequency, which are obtained from the
homogeneous boundary conditions (19), when Ci = 0. That is, we determine of the amplitude values that
∗ ∗
are as close as possible to resonant ones. The boundarycondition then takes the form T5 |r =R = Peiζ (z −t ) ;
z t λ
here the dimensionless quantities z ∗ = and t ∗ = are introduced and are also related by the relation
R R ρ
π
z∗ = t ∗ + .
4
When k = 0, the system (12) splits into two independent groups of equations
   
dT1 1 c12 2
= − 1 T1 − 2 + ρω2 u 1 ;
dr r c11 r c11
du 1 1 c12
= T1 − u1; (20)
dr c11 r c11
with boundary conditions
u 1 |r =0 = 0 and T1 |r =R = 0 (21)
Propagation of axisymmetric electroelastic waves

and
dT5 1 d e15 c55
= − T5 − ρω2 u 3 ; = T5 − D1 ;
dr r dr  
du 3 ε11 e15 dD1 D1
= T5 + D1 ; =− , (22)
dr   dr r
with boundary conditions

T5 |r =0 = 0, D1 |r =0 = 0 and T5 |r =R = 0, D1 |r =R = 0 (23)

The first boundary value problem (20), (21) is described by the elastic radial vibrations, and the second
value problem (22), (23) electroelastic longitudinal vibrations. After set transformations of the equations of
the system (20), we have:
 2 
d2 u 1 1 du 1 ρω 1
+ + − 2 u 1 = 0. (24)
dr 2 r dr c11 r

ρ
If we introduce a substitution z = ωr , we have at the Bessel differential equation of the first order:
c11
 
d2 u 1 1 du 1 1
+ + 1 − 2 u 1 = 0. (25)
dz 2 z dz z
The general solution of this equation is a linear combination of the Bessel functions of the first and second
types
u 1 = A J1 (νr ) + BY1 (νr ) (26)
ρ 2
where ν 2 = ω . We determine the constants in (26) based on the boundary conditions (27):
c11
 
du 1 1 
u 1 |r =0 = 0 and T1 |r =R = c11 + c12 u 1  = 0. (27)
dr r r =R

When r → 0, Y1 → −∞, we have B = 0, and therefore, u 1 = A J1 (νr ). Substituting this value into the
second boundary condition, we obtain the frequency equation
1
c11 ν J0 (ν R) + (c12 − c11 ) J1 (ν R) = 0, (28)
R
Now we find the frequencies of the radial vibrations (symbol U (n)):

U (n) = 2, 99244; 7, 40409...n = 0, 1, 2, ... (29)

The first step of the solution of the boundary value problem (22), (23) is based on the last equation of the
system (22)
dD1 D1 1 d dD1 D1
=− → · (r D1 ) = +
dr r r dr dr r
1 d D0
→ · (r D1 ) = 0 → D1 = (30)
r dr r
du 3 d
where D0 —arbitrary constant. From the fourth equation of system (8), we have: T5 = c55 + e15 .
dr dr
Substituting the values from the second equation of the system (20) and taking into account (30), we have:
 
2
e15 du 3 e15 D0
T5 = c55 + − . (31)
ε11 dr ε11 r
 A. Grigorenko et al.

Substituting (31) into the first equation of system (20), we have

d2 u 3 1 du 3 ρε11 ω2
+ + u 3 = 0. (32)
dr 2 r dr 

ρε11
Using substitution y =  ωr , we have the differential Bessel equation of zero order

d2 u 3 1 du 3
+ + u 3 = 0. (33)
dy 2 y dy
The general solution of this equation is a linear combination of the Bessel functions of the first and second
types:
u 3 = C J0 (ϑr ) + DY0 (ϑr ). (34)
ρε11 2
where ϑ 2 = ω , based on the fact that the function must be limited u 3 = C J0 (ϑr ). From the boundary

conditions, we determine the frequencies of the longitudinal vibrations W (n)
J1 (ν R) = 0, (35)
W (n) = 0; 2, 87348; 5, 69952; 8, 16467...n = 0, 1, 2, ... (36)
Therefore, the branches of the dispersion equations will be further denoted by the corresponding symbols
U (n) or W (n) depending on the variant of the vibrations at (k = 0): elastic radial or electroelastic longitudinal.
Comparison with the results obtained in [19] shows a complete coincidence of the results obtained by this
method and the results obtained on the basis of the method using Bessel functions.

4 Numerical results

We will numerically solve the boundary value problem (16) (19) based on the stable discrete orthogonalization
method for the homogeneous and the heterogeneous solid cylinder made of piezoceramic PZT 4: ρ = 7, 5 ·
103 kg/m 2 ; c11 = 13, 9·1010 N/m2 ; c12 = 7, 43·1010 N/m2 ; c13 = 7, 78·1010 N/m2 ; c33 = 11, 5·1010 N/m2 ;
c55 = 2, 56 · 1010 Nm2 ; e13 = −5, 2C/m2 ; e15 = 12, 7C/m2 ; e33 = 15, 1C/m2 ; ε11 = 730ε0 ; ε33 = 635ε0 ;
V0 = 1; ε0 − is vacuum permittivity.

4.1 Homogeneous piezoceramic material

We will study the influence of the type of electrical boundary conditions on the behavior of the dispersion curves
(Fig. 2). The wide lines correspond to the dispersion curves for the piezoceramic cylinder free of electrodes,
and the narrow lines correspond to the case of the electrode-covered cylinder. It can be seen from Fig. 2 the
influence of the type of electrical boundary conditions is greater for the frequency generated by elastic, i.e.,
branches U (n).
Moreover, the greatest influence of the type of electrical boundary conditions can be seen in the long-
wavelength region. As the wavelength decreases, the influence of the type of electrical boundary conditions
on the dispersion waves is practically absent.
We will consider the amplitudes of the natural vibrations (k = 0) of the piezoceramic solid cylinders
for the first five frequencies of the free vibrations of the solid piezoceramic cylinder. Figure 3 shows the
stress distribution T1 andT5 for the second and fifth natural frequencies of the piezoceramic cylinder. The fifth
frequency is the overtone of the second natural frequency of the vibration of the cylinder. In this case, we have
the elastic radial vibrations. The solid lines correspond to the component T1 of the stress tensor; stroke lines
correspond to the component T5 of the stress tensor. These components of the stress tensor can be calculated
based on the Bessel functions and serve as an additional way to verify the results obtained by the method we
offer. You can note the full coincidence of the results obtained in two described ways.
We have got a complete agreement with of the results based on an analytical and numerical approach. This
is one way to verification of the reliability of the results based on the numerical calculations.
It can be seen from Fig. 4 the distribution of the displacements u 1 and u 3 for the second and the fifth of the
resonant frequencies of the solid piezoceramic cylinder. The solid lines correspond to the displacement u 1 ;
Propagation of axisymmetric electroelastic waves

Fig. 2 Dispersion curves for the solid homogeneous piezoceramic cylinders under different electrical boundary conditions

Fig. 3 Distribution of the stresses for the second U (1) and the fifth U (2) of the resonant frequencies of piezoceramic solid
cylinders

the stroke line corresponds to the displacement u 3 . You can note the property of increasing the vibration of
the function for the more overtone number. It can be seen from Fig. 5 the distribution of the component of the
stress tensor T3 and T4 for the third and the fourth of the free vibrations of the solid piezoceramic cylinder. The
fourth proprietary frequency is the overtone of the third of the resonant frequencies of the solid piezoceramic
cylinder. We have the electrically elastic longitudinal vibrations. The solid lines correspond to the stresses T1 ;
the stroke line corresponds to stresses T5 . It can be seen from Fig. 6 the distribution of the displacements u 1 and
 A. Grigorenko et al.

Fig. 4 Distribution of the displacements for the second U (1) and the fifth U (2) of the resonant frequencies (k = 0) of solid
piezoceramic cylinders

Fig. 5 Distribution of the stresses for the third W (1) and the fourth W (2) the resonant frequencies (k = 0) of solid piezoceramic
cylinder

u 3 for the third and the fourth of the resonant frequencies. The solid lines correspond to the displacement u 1 ;
the stroke line corresponds to the displacement u 3 .
We will use the of the electromechanical coupling coefficient [17]. Its value makes it possible to estimate
the effectiveness of the excitation of the vibrations of piezoceramic bodies on the forms of the free vibrations.
The definition of this coefficient is based on the value of resonance fr and antiresonance frequencies f a :
f a2 − fr2
kd2 = (37)
f a2
Propagation of axisymmetric electroelastic waves

Fig. 6 Distribution of the displacement distribution for the third W (1) and the fourth W (2) natural frequencies (k = 0) of
piezoceramic cylinders

In the case of the longitudinal electromechanical vibrations, the corresponding resonance frequencies are
obtained based on the equation (31)
fr (n) = 3, 146197; 5, 760469; 8, 353392; 10, 94003...n = 0, 1, 2, ... (38)
and the frequency of antiresonance based on the equation:
J1 (ν R) = 0, (39)
f a (n) = 4, 53252; 7, 1056; 9, 68197; 12, 25971...n = 0, 1, 2, ... (40)
As a result, we have the value of the electromechanical coupling coefficient:
kd2 (n) = 0, 518172; 0, 342775; 0, 255614; 0, 2037n = 1, 2, 3, ... (41)
We can see that the efficiency of the vibrations excitation falls with the increase in the own frequency
number.
The values fr and f a are easily determined experimentally. The investigation of the use of the Mason
formulas showed that for homogeneous deformation (radial oscillation of a thin cylindrical and spherical
shells) [11,12,17] the values of the dynamic electromechanical coupling coefficient and the values of the static
e2
electromechanical coupling coefficient (ks2 = 15 = 0, 975191) are the same. The value of the dynamic of
c55 ε11
the electromechanical coupling coefficient is lower, and at high frequencies it is much lower than the static of
the electromechanical coupling coefficient for the inhomogeneous deformation in the terms of the volume of
the piezoelectric body. Such situation we have in the study problem.
It can be seen from Fig. 7 the distribution of the displacements by cylinder thickness for the first dispersion
curve W (0). The solid lines correspond to the displacement u 1 ; the stroke line corresponds to the displacement
u 3 . We have the piston vibrations at k = 0. We can see availability displacement in the radial and the axis
directions with decreasing of the wavelength. In the shortwave range, the distribution of displacements by
thickness can be qualitatively compared with the surface wave of the "Rayleigh type" [11,24]. The energy of
the motion is localized to the outer surface of the cylinder. In this case, the lines are wider.
Figure 8 shows the stress distribution by the thickness of the cylinder. The solid lines correspond to the
stresses T1 ; the stroke line corresponds to stresses T5 . Note that the longitudinal vibrations with a decrease in
wavelength will be a surface wave of the "Rayleigh type." In Fig. 7, the lines are thick in the shortwave range.
 A. Grigorenko et al.

Fig. 7 Distribution of the displacements for the first branch of the dispersion curve W (0) of the solid piezoceramic cylinders

Fig. 8 Distribution of the stresses for the first branch of the dispersion curve W (0) of solid piezoceramic cylinder

Figure 9 shows the distribution of the components of the electric field electric induction and electrostatic
potential by the thickness of the cylinder. The solid lines correspond to electrostatic potential ; the stroke
lines correspond to electric induction D1 . Note that as a constant electrostatic potential with a decrease in
wavelength, a surface wave of the "Rayleigh type" is obtained. In the shortwave range, the lines are wider. We
have a similar transformation with the electrical induction (Fig. 9).
Figure 10 shows the distribution of the displacements u 1 , u 3 by cylinder thickness for the second dispersion
curve U (1). The narrow lines correspond to the amplitude of the displacements u 1 , and stroke corresponds to
the amplitudes of the displacements u 3 .
Propagation of axisymmetric electroelastic waves

Fig. 9 Distribution of the electrostatic potential and electrical induction for the first branch of the dispersion curve W (0) of
piezoceramic solid cylinder

Fig. 10 Distribution of the displacements for the second branch U (1) of the dispersion curve of the homogeneous cylinders

Comparing the displacement distribution for the first (Fig. 7) and second dispersion curves, it can be seen
that the number of vibration nodes in the displacement distribution of the second dispersion curve increases
compared to the first. Figure 11 shows the distribution in the thickness of the radial stresses T1 and the tangential
stresses T5 for the second branch of the dispersion curve by the thickness of the cylinders. Comparing the
stresses distribution for the first (Fig. 8) and second dispersion curves, it can be seen that the number of vibration
nodes in the stresses distribution of the second dispersion curve increases compared to the first. Figure 12 shows
the distribution of the electrostatic potential  and the dielectric permittivity D1 for the second branch of the
 A. Grigorenko et al.

Fig. 11 Distribution of the stresses for the second branch U (1) of the dispersion curve of the homogeneous cylinder

Fig. 12 Distribution of the electrostatic potential and electrical induction for the second branch U (1) of the dispersion curve of
the homogeneous cylinder

dispersion curve by thickness of the cylinder. Solid lines indicate electrostatic potential  and stroke dielectric
permittivity D1 .
Figures 13, 14, 15, 16, 17, 18, 19 and 20 show the distribution of the displacements u 1 and u 3 , the stress T1
andT5 , and electric induction D1 and electrostatic potential  for the higher branches of the dispersion curve
W (5), W (6) and U (6). We have the classical overtones of the lower dispersion curve in the short-wave range.
Note the existence of the property of increasing the number of nodes per unit with increasing the number of
the dispersion curve. (In Figs. 13, 14, 15, 16, 17, 18, 19 and 20, we can see the wider line.)
Propagation of axisymmetric electroelastic waves

Fig. 13 Distribution of the displacements for the third branch W (1) of the dispersion curve of the homogeneous cylinders

Fig. 14 Distribution of the stresses for the third branch W (1) of the dispersion curve of the homogeneous cylinder

4.2 Nonhomogeneous piezoceramic materials

Now consider the study of the dynamical processes in the solid cylinder made of the continuously heteroge-
neous piezoceramic material. This material consists of two components: the steel and the piezoceramic. The
characteristics of the material vary across the thickness as follows:

P(r ) = (Pm − Pp )V (r ) + Pp , (42)

 A. Grigorenko et al.

Fig. 15 Distribution of the electrostatic potential and electrical induction for the third branch W (1) of the dispersion curve of the
homogeneous cylinder

Fig. 16 Distribution of the displacements for the fourth branch W (2) of the dispersion curve of the homogeneous cylinders

where V (z)is the volume fraction of the ceramics, which is described as

 n
r − R0 1
V (r ) = + . (43)
2h 2

Here, n is parameter of inhomogeneity.

The change of the physical and the mechanical characteristics along the thickness of the cylinder for the
example of the elastic module c11 is shown in Fig. 22.
Propagation of axisymmetric electroelastic waves

Fig. 17 Distribution of the stresses for the fourth branch W (2) of the dispersion curve of the homogeneous cylinder

Fig. 18 Distribution of the electrostatic potential and the electrical induction for the fourth branch W (2) of the dispersion curve
of the homogeneous cylinder

We will study the distribution of amplitudes for the first branch of the dispersion curve U (0). Figures 23,
24 and 25 present the distribution of displacements u 1 and u 3 (Fig. 23), stresses T1 and T5 and (Fig. 24),
electrostatic potential  and dielectric permittivity D1 (Fig. 25) for the first dispersion branch of the cylinder
made of the continuously heterogeneous piezoceramic material. The solid lines correspond to the distribution
of displacement u 1 , tension T1 , electrostatic potential ; stroke lines, the distribution of displacement u 3 ,
tension T5 , dielectric permeability D1 . As can be seen, this wave is not superficial in the shortwave region
and mechanical and electrical energy is shifted into the zone of a softer material in the shortwave region; this
wave is not surface. The mechanical and the electrical energy is shifted into the zone of a softer (piezoceramic)
 A. Grigorenko et al.

Fig. 19 Distribution of the displacements for the fifth branch U (2) of the dispersion curve of the homogeneous cylinders

Fig. 20 Distribution of the stresses for the fifth branch U (2) of the dispersion curve of the homogeneous cylinder

material. In the case of the continuously heterogeneous piezoceramic cylinder, the dispersion appears even
in the shortwave region. It is important to note that the dispersion is absent in the case of the homogeneous
cylinder. It is obvious that in the short-wave region this wave is not a surface wave. And mechanical and
electrical energy is shifted to the zone of softer material.
The property of the displacement of the mechanical and the electrical energy in the area of a softer material
for the higher branch numbers of the dispersion curve is observed. Let’s get the results of the calculations.
Figures 26, 29, and 32 present the distribution of displacements u 1 and u 3 for the second, third, and fourth
branch of the dispersion curve. Figures 27, 30, 33 present the distribution of stresses T1 and T5 for the second,
third, and fourth branch of the dispersion curve. Figures 28, 31, and 34 present the distribution of and the
Propagation of axisymmetric electroelastic waves

Fig. 21 Distribution of the electrostatic potential and the electrical induction for the fifth branch U (2) of the dispersion curve of
homogeneous cylinder

Fig. 22 Distribution of the elastic modulus c11 by cylinder thickness depending on volume component of piezoceramic

electrostatic potential  and dielectric permittivity D1 for the second dispersion curve of the cylinder made
of the continuously heterogeneous piezoceramic material. The solid lines correspond to the distribution of
displacement u 1 , tension T1 , electrostatic potential ; stroke lines, the distribution of displacement u 3 , tension
T5 , dielectric permeability D1 . The lines corresponding to these values in the shortwave region are wider
(ζ = 10π).
The same trend can be observed for higher branch numbers of dispersion curve, namely the displacement
of mechanical and electrical energy in the zone of a softer material.
 A. Grigorenko et al.

Fig. 23 Distribution of the displacements for the first branch of the dispersion curve W (0) of the nonhomogeneous cylinders

Fig. 24 Distribution of the stresses for the first branch of the dispersion curve W (0) of the nonhomogeneous cylinder
Propagation of axisymmetric electroelastic waves

Fig. 25 Distribution of the electrostatic potential and the electrical induction for the first branch W (0) of the dispersion curve of
the nonhomogeneous cylinder

Fig. 26 Distribution of the displacements for the second branch U (1) of the dispersion curve of the nonhomogeneous cylinders
 A. Grigorenko et al.

Fig. 27 Distribution of the stresses for the second branch U (1) of the cylinder of the dispersion curve of the nonhomogeneous
cylinder

Fig. 28 Distribution of the electrostatic potential and the dielectric permittivity for the second branch U (1) of the dispersion
curve of the nonhomogeneous cylinder
Propagation of axisymmetric electroelastic waves

Fig. 29 Distribution of the displacements for the third branch of the dispersion curve W (1) of the nonhomogeneous cylinders

Fig. 30 Distribution of the stresses for the second branch of the dispersion curve W (1) of the nonhomogeneous cylinder
 A. Grigorenko et al.

Fig. 31 Distribution of the electrostatic potential and the electrical induction for the third branch W (1) of the dispersion curve of
the nonhomogeneous cylinder

Fig. 32 Distribution of the displacements for the fourth branch of the dispersion curve W (2) of the nonhomogeneous
Propagation of axisymmetric electroelastic waves

Fig. 33 Distribution of the stresses for the fourth branch of the dispersion curve W (2) of the nonhomogeneous cylinder

Fig. 34 Distribution of the electrostatic potential and the electrical induction for the fourth branch W (2) of the dispersion curve
of the nonhomogeneous cylinder

5 Conclusion

The problem of the axisymmetric electroelastic waves propagation under the mechanical excitation in the
solid homogeneous and inhomogeneous piezoceramic cylindrical bodies based on 3D electroelasticity theory
is studied. The axial polarization of the piezoceramic materials is considered. The boundary conditions for
mechanical and electrical components of the coupled field on the lateral surface of the piezoceramic solid
cylinder are formulated. The boundary conditions are obtained in the special point of the cylinder (r = 0 )
 A. Grigorenko et al.

based on the limit transition. The unknown functions characterizing the mechanical and the electric field are
presented in the form by running waves in an axial direction. The investigation of the problem defined above
is connected with large computational difficulties. The discretely continual analytical numerically approach
to solve the wide class of problems of the 3D electroelasticity theory for the force wave propagation in
the homogeneous and the continually inhomogeneous piezoceramic solid cylindrical bodies is proposed. In
the case of a piezoceramic cylinder made of continuously inhomogeneous material (FGPM), physical and the
mechanical properties change according to an exponential law. The influence of the mechanical and the electric
parameters of the material on the kinematic (mechanical displacement and electrostatic potential) and dynamic
(mechanical stress and electric displacement) characteristics is analyzed. The comparison of the distribution of
the components of the mechanical and the electric field for different values of resonance frequencies and order
of dispersion curves is carried out. New electromechanical effects of the behavior of the spectral characteristics
associated with the heterogeneous structure of the studied problem are determined. The mechanical and the
electrical energy is shifted into the zone of a softer (piezoceramic) material. In the case of the continuously
heterogeneous piezoceramic cylinder, the dispersion appears even in the shortwave region. The significant
attention is paid to the validation of the reliability of the results obtained by numerical calculations.

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