Engineering Structures 34 (2012) 314–329

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Engineering Structures
journal homepage: www.elsevier.com/locate/engstruct

Modal analysis of the FGM-beams with continuous transversal symmetric

and longitudinal variation of material properties with effect of large axial force
M. Aminbaghai a, J. Murín b,⇑, V. Kutiš b
a
Institute of Mechanics of Materials and Structures, Vienna University of Technology, Karlsplatz 13, 1040 Vienna, Austria
b
Department of Applied Mechanics and Mechatronics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava,
Ilkovićova 3, 812 19 Bratislava, Slovakia

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

Article history: In this contribution we deal with modelling and simulation of a free vibration of the 2D functionally
Received 25 January 2011 graded material (FGM) beams with continuous spatial variation of material properties. The fourth-order
Revised 7 July 2011 differential equation of the second order beam theory has been presented which was used in modal anal-
Accepted 1 September 2011
ysis with effect of large axial force. The continuous variation of the effective elasticity modulus and mass
Available online 4 November 2011
density can be caused by continuous variation of both the volume fraction and material properties of the
FGM constituents in the transversal and longitudinal direction. The polynomial variation of these param-
Keywords:
eters has been considered. Homogenization of the varying material properties and the calculation of
Modal analysis
FGM beams
other parameters have been done by two methods. In the first one, the extended mixture rules and lam-
Spatial continuous variation of material inate theory have been used, where the real composite beam has been transformed to the multilayer
properties beam. In the second one, the direct integration method has been used. Not only the shear force deforma-
Effect of large axial force tion effect and the effect of consistent mass distribution and mass moment of inertia but also the effect of
large axial force has been taken into account. Numerical experiments have been done concerning the cal-
culation of the eigenfrequencies and eigenmodes of chosen FGM beams. Effect of division fineness of the
beam to the layers in transversal direction on the solution results has been evaluated. The solution results
obtained by the both methods have been discussed and compared with the ones obtained using very fine
meshes of 2D solid elements of a FEM commercial program.
Ó 2011 Elsevier Ltd. All rights reserved.

1. Introduction
Novel engineering technologies face the task of answering the
still more and more ambitious questions about the functionality
of developed systems. In material science, one of such ground-
breaking technologies is the functionally graded material (FGM)
where material properties are spatially graded.
Natural biomaterials often posses the structure of FGM which
enables them to satisfy the requirements like the corrosion resis-
tance, thermal conductivity, strength, elastic stability, fatigue
durability, dynamic stability, etc. Fabrication of such materials is
complicated but a development in this area has progressed signif-
icantly in recent years. FGM is built as a mixture of two or more
constituents which have almost the same geometry and dimen-
sions. The plasma spraying, powder metallurgy and other technol-
ogies are used for fabrication of such materials. From macroscopic
point of view, FGMs are isotropic in each material point but the
material properties can vary continuously or discontinuously in
one, two or three directions. The variation of macroscopic material
⇑ Corresponding author.
E-mail addresses: mehdi.aminbaghai@tuwien.ac.at (M. Aminbaghai), justin.mur-
in@stuba.sk (J. Murín), vladimir.kutis@stuba.sk (V. Kutiš).
properties can be caused by varying the volume fraction of the con-
stituents or with varying constituents material properties (e.g. by
non-homogeneous temperature field). In [1], a development of
the functionally graded dental implant is presented as a typical
example of the FGM application to biomaterials. In [2], a new fab-
rication method for artificial FGM component has been presented.
In [3], a crack-free functionally graded TiC/Ti composite material is
presented. In [4], preparation of a continuous functionally graded
alumina–zirconia composite is presented with the ink jet printer.
Important classes of structural components, where FGM are
used, are beams. Beams play important role not only in structural
applications, but we can find many applications of beams in ther-
mal, electric-thermal or electric-thermal-structural systems (e.g.
MEMS actuators). In all these applications, using new materials like
FGM can greatly improved efficiency of a system.
Many papers deal with free vibration analysis of composite
sandwich beams with predominantly transversal variation of
material properties. Sankar [5] presented an elasticity solution
for simply supported FG beams subjected to sinusoidal transverse
loading. The Young’s modulus is assumed to vary in an exponential
fashion through the beam thickness. Chakraborty et al. [6] devel-
oped a new beam element to study the thermo-elastic behavior

0141-0296/$ - see front matter Ó 2011 Elsevier Ltd. All rights reserved.
doi:10.1016/j.engstruct.2011.09.022
 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329
of functionally graded beam structures. The element is based on
the first-order shear deformation theory and it accounts for vary-
ing elastic and thermal properties along its thickness. Both expo-
nential and power-law variations of material property
distribution are used to examine different stress variations.
In [7], the fundamental frequency of functionally graded beams
having different boundary conditions is analyzed within the classi-
cal, the first-order and different higher-order shear deformation
beam theories. The material properties of the beams vary continu-
ously in the thickness direction according to a power-law form. In
[8], a new beam theory different from the traditional first-order
shear deformation beam theory is used to analyze free vibration
of functionally graded beams. The beam properties are assumed
to be varying with thickness following a simple power law distri-
bution in terms of volume fraction of material constituents. In
[9], exact solutions are presented to study the free vibration of a
beam made of symmetrically functionally graded materials. The
formulation used is based on a unified higher order shear deforma-
tion theory. Material properties are considered temperature-
dependent, and vary continuously along the thickness according
to a power law distribution, or an exponential law distribution or
a sigmoid law distribution (S-FGM).
In [10], a refined sandwich model for vibration of beams with
embedded shear piezoelectric actuators and sensors is presented.
In paper [11], the dynamic analysis of 3-D composite beam ele-
ments restrained at their edges by the most general boundary con-
ditions and subjected in arbitrarily distributed dynamic loading is
presented.
The longitudinal stiffness of the beam can be graded with vary-
ing cross-sectional area and with varying material properties. In
[12], dynamic characteristics of a functionally graded beam with
axial and transversal material graduation along the thickness on
the power law have been studied. But we are not found in the lit-
erature paper which consequently deals with beams with longitu-
dinal and transversal variation of material properties. There is but
more papers dealing with the FGM shells.
Homogenization of material properties in longitudinal direction
is not possible to do without to loss of the solution accuracy and
solution effectiveness. The length of the beam to its height should
be large, and using of averaged value of appropriated longitudinal
stiffness parameter can lead to inaccuracies by modelling of bars
with varying stiffness with only one finite element, for example.
In our previous papers we dealt mainly with the longitudinal poly-
nomial variation of material properties in beams, where no direct
homogenization to constant effective material properties was
needed. With longitudinal variation of the FGM constituents a sim-
ilar effect can be reached as with the longitudinal varying cross-
sectional area. Our method is very effective because it uses the
concept of transfer matrices and transfer constants (well known
from the transfer matrix method and the analytical methods in
structural mechanics). Our new beam finite element with longitu-
dinal varying stiffness is very effective, because solution accuracy
does not depend on the mesh fineness. That means, we can effec-
tively model the bars with complicated longitudinal variation of
its stiffness with only one our finite element. In [13], new 3D-beam
Euler–Bernoulli finite element has been introduced for an analysis
of beams with an arbitrary continuous smoothly varying cross-
section. The finite element fulfills all the main beam equations
not only in the nodes, but also in the field of the element. Then,
we have extended this approach for beams with continuous longi-
tudinal variation of material properties for an application to elec-
tro-thermal-structural problems. Combination of transversal
(continuous or discontinuous) and continuous longitudinal varia-
tion of material properties in the multiphysical analysis of FGM
beams is included in our work [14]. Following from the very posi-
tive experiences and response we have reached in our previous
315
work, the application of this method in the dynamic analyses of
FGM beam was straightforward.
In contribution [15], a fourth-order differential equation of the
homogenized multilayer beam deflection with longitudinal varia-
tion of the effective material properties has been presented.
Homogenization of the varying material properties of the multi-
layer beam was done by the extended mixture rules and laminate
theory. The shear forces deformation effect through the constant
shear correction factor (according to the Timoshenko beam theory)
and the effect of consistent mass distribution and mass moment of
inertia have been additionally taken into account. Numerical
experiments have been carried out concerning the calculation of
the eigenfrequencies and corresponded eigenmodes of chosen
FGM one-layer and multilayer beam. In contribution [16,17], which
is a continuation of [15], a fourth-order differential equation of the
multilayer beams deflection with longitudinal variation of effective
material properties has been derived where the second order beam
theory has been used for establishing the equilibrium and kine-
matic beam equations. Not only the shear force deformation effect
and the effect of consistent mass distribution and mass inertia mo-
ment but also the effect of large axial force has been taken into ac-
count. Numerical experiments have been conducted concerning
the calculation of the eigenfrequencies and corresponded eigen-
modes of chosen one layer beams and multilayer FGM sandwich
beams. The effect of axial forces on the free vibration has been
studied and evaluated. In paper [18], a low-dimensional mathe-
matical model is presented, which is capable of computing buck-
ling loads of uniform and non-uniform functionally graded
columns in the axial direction. The columns with spatial variation
of flexural stiffness (e.g. due to material grading and/or non-
uniform shape) are approximated by an equivalent column with
piecewise constant geometrical and material properties.
In this paper, which is a continuation of the paper [15] and an
extension of the work [16] (in those papers, the constant or discon-
tinuous transversal variation of material properties has been con-
sidered – as a single-layer or multilayer beam), we deal with the
calculation of the free vibration of a 2D functionally graded mate-
rial (FGM) beam with continuous spatial polynomial variation of
material properties by a fourth-order differential equation of the
second order beam theory. The aim of this publication is also to
present a new concept for expanding the second order bending
beam theory considering the shear deformation according to
Timoshenko beam theory. The shear deformation effect in FGM
beam with spatial continuous variation of material properties is in-
cluded here originally by means of the average shear correction
factor that has been obtained by an integration of the shear correc-
tion function. The continuous polynomial spatial variation of the
effective elasticity modulus and mass density can be caused by
continuous polynomial spatial variation of both the volume frac-
tion and material properties of the FGM constituents. A choice of
the polynomial gradation of material properties enables an easier
integration of the derived differential equation and allows to mod-
el common variations of material properties. Homogenization of
the varying material properties and the calculation of other param-
eters have been done using two methods: layering method and di-
rect integration method. The first one implements extended
mixture rules and laminate theory where the real beam has been
transformed to a multilayer beam. In the second one, a direct inte-
gration has been used without any division of the beam into layers
in transversal direction. The effect of consistent mass distribution
and mass inertia moment and the effect of large axial forces have
been taken into account. The large axial force of the second order
beam theory [30] can be practically induced with structural, ther-
mal or electro-magnetic forces. Numerical experiments have been
done concerning the calculation of the eigenfrequencies and eigen-
modes of chosen FGM beams. Effect of division fineness of the
316 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329
beam to the layers in transversal direction on the solution accuracy
has been evaluated. Also the effect of large axial forces and shear
force deformation effect have been studied. Solution results of both
methods – the layering and direct integration method – are dis-
cussed and compared with the ones obtained using a very fine
mesh of the 2D solid elements of a FEM commercial program.
2. Calculation of the effective elasticity modulus and mass
density
2.1. The layering method
Let us consider a two nodal straight beam element with pre-
dominantly rectangular cross-sectional area A and quadratic mo-
ment of inertia I (Fig. 1). The following approach can be used
also for other cross-sectional area types.
The composite material of this beam/link arises from mixing
two components (matrix and fibres) that are approximately of
the same geometrical form and dimensions (for example by pow-
der metallurgy or plasma spraying).
Both the fibre volume fraction vf(x, y) and matrix volume frac-
tion vm(x, y) are chosen as a polynomial function of x, and with
continuous and symmetrical variation through its height h with
respect to the neutral plane of the beam element. The volume
fractions and material properties of the FGM constituents are as-
sumed to be constant through the cross-section depth b. At each
Fig. 1. FGM beam with spatial variation of material properties.
point of the beam it holds: vf(x, y) + vm(x, y) = 1. The values of the
volume fractions at the nodal points are denoted by indices i and
j.
Material properties of the constituents (fibres – pf(x, y) and ma-
trix – pm(x, y)) can vary analogically (depending on inhomogeneous
temperature field for example) as it was stated by variation of the
volume fractions. Homogenization of the material properties (the
reference volume is the volume of the whole beam) will be done
in two steps. In the first step, the real beam (Fig. 1a) will be trans-
formed into a multilayer beam (Fig. 1b). Material properties of the
layers will be calculated with the extended mixture rules [19].
Each layer will have constant volume fractions and material prop-
erties of the constituents along the beam height. They are calcu-
lated as an average value from their values at the boundaries of
the respective layer. Polynomial variation of these parameters will
appear in the longitudinal direction. Sufficient accuracy of the pro-
posed substitution of the continuous lateral variation of material
properties by the layer-wise constant lateral distribution of mate-
rial properties will be reached when the division to layers is fine
enough. In the second step, the effective longitudinal material
properties of the homogenized beam will be derived using the lam-
inate theory. These homogenized material properties are constant
throughout the beam height but they vary continuously along the
longitudinal beam axis. Accordingly, the differential equation will
be established for the homogenized beam (Fig. 1c) in order to cal-
culate effective beam variables.
 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329 317

One thin layer of the composite or FGM is depicted in Fig. 2.
Constant rectangular cross-sectional area of the layer has been as-
sumed. The layer length is L. Longitudinal variation of the constit-
uent volume fractions and longitudinal variation of the constituent
elasticity modules will be assumed. These parameters will be con-
sidered constant along the layer height and width. The fibre (con-
stituent 1) volume fraction vf(x) will be obtained as a polynomial
function of x:
!
X density, respectively.
v f ðxÞ ¼ 1  v m ðxÞ ¼ v fi gv f ðxÞ ¼ v fi 1þ gv fk x k
k
The matrix (constituent 2) volume fraction vm(x) is then
X
v m ðxÞ ¼ 1  v f ðxÞ ¼ v mi gv m ðxÞ ¼ v mi 1þ gv mk x
k usage of the elementary theory of homogeneous isotropic beams
where vfi and vmi are the fibre and matrix volume fractions at node i,
respectively. gvf (x)and gvm(x) are the polynomials of fibre and ma-
trix volume fractions variation, respectively. Constants gvfk and
gvmk, where k = 1, . . ., r, and the order r of these polynomials depend
on the fibre and matrix volume fractions variation.
Also the fibre material property pf(x) and the matrix material
property pm(x) are chosen as a polynomial function of x:
!
X we get one layer beam with a longitudinal variation of homoge-
k
pf ðxÞ ¼ pfi gpf ðxÞ ¼ pfi 1 þ gpfk x
k beam – such as the beam length L, height h and width b – remain
!
X conserved.
pm ðxÞ ¼ pmi gpm ðxÞ ¼ pmi 1 þ gpmk xk
k
where pfi and pmi are the fibre and matrix material properties at
node i, respectively. gpf(x) is the polynomial of fibre material prop-
erty variation. Its constants gpfk, where k ¼ 1; . . . ; t, and the order t
of this polynomial depend on the fibre material property variation.
gpm (x) is the polynomial of matrix material property variation. The
constants gpmk, where k ¼ 1; . . . ; s, and the order s of this polynomial
depend on the matrix material property variation.
Then the effective material property of the composite one-layer
beam is given by
pL ðxÞ ¼ v f ðxÞpf ðxÞ þ v m ðxÞpm ðxÞ
Similarly to (4), we can obtain
pL ðxÞ ¼ pLi gpL ðxÞ
here, pLi is the effective longitudinal material property at node i, and
the expression
pL ðxÞ
gpL ðxÞ ¼ ð7Þ
pLi
is the polynomial of effective longitudinal material property
variation.
The indices are: p  E and q – for elasticity modulus and mass
ð1Þ Expressions (5)–(7) can be used by the effective material prop-
erties calculation of the one-layer FGM beams.
Let us replace the initial beam (Fig. 1a) by a multilayer FGM
! beam (Fig. 1b). Lamination is symmetric according to the geometry
k
ð2Þ of the layers and material properties. This symmetry allows the
for all solutions, however, material properties have to be replaced
by their effective values [20]. From the mechanical coupling point
of view, axial loading is not coupled with transversal loading.
Individual layers are built of FGM composite with longitudinal
variation of the volume fractions and material properties of the
constituents as described above.
Homogenization of material properties of the multilayer beam
will be done using the theory of laminates [20,19,16]. In this way
ð3Þ nized longitudinal material properties. Main dimensions of the
ð4Þ
(a) Homogenized elastic properties
If we denote the effective longitudinal elasticity modulus of the
kth layer with superscript k, then, according to (6), it holds
EkL ðxÞ ¼ EkLi gEk ðxÞ ð8Þ
L
Index k 2 h1, ni represents the layer number in the upper and lower
symmetrical part of the beam/link. The number of layers of the
symmetrical part is n. If the cross-sectional area of the kth layer is
Ak, then the volume fraction of the pair of these symmetrical areas
ð5Þ
is vk = 2Ak/A.
Then, the effective longitudinal elasticity modulus for axial
loading of the homogenized beam can be derived using the
ð6Þ expression

X
n
ENH
L ðxÞ ¼ v k EkL ðxÞ ¼ ENH
Li gE NH ðxÞ ð9Þ
L
k¼1
Pn k k
where ENHLi ¼ k¼1 ELi v is the effective longitudinal elasticity modu-
lus in the axial loading of the homogenized beam at node i, and
gENH ðxÞ ¼ ENH NH
L ðxÞ=ELi is the polynomial of its variation. This effective
L
longitudinal elasticity modulus has to be used for the calculation of
axial free vibrations of the FGM beam.
According to the notation in Fig. 1 the effective longitudinal
elasticity modulus for flexural loading of the homogenized beam
of rectangular cross-section has been derived [25]:
3
!
12 X
n
hk 2
EMH
L ðxÞ ¼ 3 þ 2dk hk EkL ðxÞ ¼ EMH
Li gEMH ðxÞ ð10Þ
h k¼1 6 L

where EMH Li is the value of the effective longitudinal elasticity mod-

ulus in the flexural loading of the homogenized beam at node i, and
gEMH ¼ EMH MH
L ðxÞ=ELi is the polynomial of its longitudinal variation.
L
This effective longitudinal elasticity modulus has to be used for
the calculation of a flexural free vibration of the FGM beam.
In a similar way, effective longitudinal elasticity modules can be
Fig. 2. One thin layer of FGM. derived for other types of cross-sectional areas.
318 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329

(b) Homogenized mass density

If we denote q with superscript k the effective longitudinal

mass density of a chosen layer k, then, according to (5)–(7), it holds

qkL ðxÞ ¼ qkLi gqkL ðxÞ ð11Þ

Index k, the cross-sectional area of the kth layer Ak, and the volume Fig. 3. Variation of the beam parameters.

fraction v k = 2Ak/A have the same meanings as it was in the elastic

properties derivation.
Then, the homogenized effective longitudinal mass density is
X
n ment of inertia, EI ¼ j¼0
qHL ðxÞ ¼ v k qkL ðxÞ ¼ qHLi gq
H ðxÞ
L
k¼1
P j
where qHLi ¼ nk¼1 qkLi v k is the effective longitudinal mass density at
node i of the homogenized beam, and gqH ðxÞ ¼ qHL ðxÞ=qHLi is the poly-
L
nomial of its longitudinal variation.
All the homogenized effective longitudinal properties are de-
noted by upper right index H in this chapter. As assumed, their var-
iation along the homogenized beam is polynomial.
Sufficient accuracy of the substitution of continuous lateral
variations of material properties by a layer-wise constant lateral
distribution of material properties will be reached when division
to layers is fine enough. The constant value of the material prop-
erty in the assumed layer at position x will be calculated as a mean
value from its values at the top and the bottom of this layer. The
same method will be used also by the calculation of the compo-
nents volume fractions in the competent layer.
2.2. The direct integration method
A chosen FGM property in real beam p(x, y) can be expressed as
a function of the planar varying volume fractions and material
properties of FGM constituents
pðx; yÞ ¼ v f ðx; yÞpf ðx; yÞ þ v m ðx; yÞpm ðx; yÞ
For example, the planar varying elasticity modulus is
varying mass density (also defined by (12), and indices L, H are
omitted for simplicity), A is the cross-sectional area, I is the mo-
PpE
EIj aj is the varying bending stiffness
ð12Þ caused by varying elasticity modulus (see (10)) E  EMH L ðxÞ,
 ¼ PpG GA
 j aj is the varying shear stiffness with G ¼ GH ðxÞ, and
GA j¼0 L
f ¼ GEIA ¼ const:, and finally, aj ¼ xj! is the polynomial function.
EI
The assumption f ¼ GA ¼ const: is a simplification, and it holds ex-
actly only for one – layer FGM beams with only longitudinal vari-
ation of the material properties. In addition, the condition
E
G
¼ const: must be fulfilled. For the initial beam (Fig. 1a) both the
s  s
shear correction factor k ¼ AA ¼ k ðxÞ and the factor f = f(x) are
the functions of x. In our consideration the parameters ksand f will
be assumed as a mean value of their functional variation. The
assumption f = f(x) would make the FGM beam deflection differen-
tial equation very complicated. The same longitudinal polynomial
variation of the homogenized shear modulus G has been assumed
as stated for the homogenized elasticity modulus E. In the follow-
ing derivation of the differential equation, indices L, M, H have been
omitted for simplicity.
In Fig. 4 the distributed loads and the nodal internal forces are
shown.
Ppm
m is the distributed bending moment – m ¼ j¼0 mj aj , q is the
Pp q
distributed transversal force – q ¼ j¼0 qj aj , je is the bending cur-
vature, M is the bending moment, N is the axial force (a constant
axial force Ni = Nk = NII has been assumed) and R is the transversal
force, w0 and w0 are the imperfections of the second order beam
ð13Þ
theory.
Fig. 5 shows the beam nodal point displacements.

Eðx; yÞ ¼ v f ðx; yÞEf ðx; yÞ þ v m ðx; yÞEm ðx; yÞ ð14Þ

where Ef(x, y) is the varying elasticity modulus of the fibres, and
Em(x, y) is the varying elasticity modulus of the matrix.
By the direct integration method the transformation of FGM
beam with continuous planar variation of material properties
(Fig. 1a) to the one layer beam with longitudinal variation of the
effective material properties (Fig. 1c) will be made in a single step.
The homogenized effective elasticity modulus for bending will be
obtained from the condition that the bending stiffness of the real
and the homogenized beam (Fig. 1a and c) have to be equal. For
rectangular cross-sectional area (where I = bh3/12 is the moment
of inertia) the homogenized effective elasticity modulus yields
R h=2 2
h=2
by Eðx; yÞdy
EMH
L ðxÞ ¼ ð15Þ
I Fig. 4. The loads and nodal internal forces.
The homogenized mass density will be obtained from the formula
R h=2
h=2
bqðx; yÞdy
qHL ðxÞ ¼ ð16Þ
A
There, q(x, y) is the varying mass density of the real beam.

3. Differential equation for the FGM beam deflection

Variations of the homogenized beam properties and the loading

are shown in Fig. 3.
l = qA is the mass distribution, l ¼ qI is the mass moment of Fig. 5. Nodal displacements.
Ppq
inertia distribution, q ¼ j¼0 qj aj  qHL ðxÞ is the homogenized
 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329 319

u is the varying shears-section rotation, w is the deflection, and 4. Numerical experiments

u is the longitudinal displacement.
The static and kinematic relations for harmonic vibration are 4.1. Free vibration analysis of the FGM beam with spatial variation of
[31]: material properties: Case I

R0 ¼ q  lx2 w ð17Þ
A composite beam has been considered (as shown in Fig. 6). Its
pm
X
0 2 2 square cross-section is constant with height h = 0.01 m and width
M ¼Q þmþl
x u ¼ Q þ mj aj þ l
x u ð18Þ
0
b = 0.01 m. Length of the beam is L = 0.1 m. Material of the beam
M consists of two components: NiFe – as a matrix and denoted with
u0 ¼   je ð19Þ index m; Tungsten – as a fibre and denoted with index f.
EI
Q Q Material properties of the components are constant and their
w0 ¼ u þ ¼uþf ð20Þ values are: Tungsten (fibres) – elasticity modulus Ef = 400 GPa,
GA EI
mass density qf = 19,300 kg/m3; NiFe (matrix) – elasticity modulus
x is the circular frequency and f ¼ 2xp is the frequency. Em = 255GPa, mass density qm = 9200 kg/m3 [23]. Here, the cross-
The dependence between the transversal force R and the shear sectional area A = 0.0001 m2; the moment of inertia I = bh3/
force Q is: 12 = 0.014/12 m4; and the reduced cross-sectional area A  ¼ ks A
2 s
[m ]. The shear correction factor k can be computed such that
Q ¼ R  NII w0  NII wv 0 ð21Þ the strain energy of the classical transverse shear stress equals
0
and wv ¼ a1 wv1 þ a2 wv2 , with wv1 ¼ w0 þ 4 wl , and wv2 ¼ 8 wl2
0 the strain energy in the first order shear deformation theory
v 0 v v
Then w ¼ a w þ a w , and w ¼ a w . v 00 v [27,28]. According to the notation in Fig. 1, it is possible to extend
0 1 1 2 0 2
The imperfections of the second order beam theory will be en- the calculation of shear stresses [29] for a symmetrically layered
forced by the structural analysis of the beam with effect of large beam with longitudinal variation of material properties of layers.
axial force as the additional transversal load. The shear stress at point (x, y) of the relevant layer is a function
After some rearrangements described in [16] we obtain a differ- of its position. It varies only throughout the height and length of
ential equation of 4th order for the beams deflection with longitu- the layer. There is no jump of the shear stresses at the interface
dinal variation of effective material properties of the layers. Especially, for a rectangular cross-section – see
Fig. 1, the shear stress in the kth layer for k 2 h1, ni and
g4 wIV þ g3 w000 þ g2 w00 þ g1 w0 þ g0 w y 2 hdk  hk/2,dk + hk/2i is !
 2
¼ K q q þ K q0 q0 þ K q00 q00 þ K m m þ K m0 m0 þ K j je þ K wv1 wv1 þ K wv2 wv2 QðxÞ EkL ðxÞ hk
sk ðx; yÞ ¼ dk þ  y2
ð22Þ DðxÞ 2 2
X  2  2 !!
All parameters and terms in the Eq. (22) are explained in more de-
n
Ejþ1
L ðxÞ hjþ1 hj
þ djþ1 þ  dj þ ð24Þ
tail in [16]. The derivation of the differential equations was carried j¼k
2 2 2
out analytically and the solution of these differential equations can where Q(x) is the shear force, DðxÞ ¼ EMH
L ðxÞI is the effective bending
be solved both analytically and numerically. stiffness of the multilayer FGM beam at position x [29]. If not con-
The above-mentioned differential equation for the beam deflec- sidering the layering method, the shear stress has to be calculated
tion can be solved in many different ways. using expression (see also Fig. 7) [26],
One way is the new concept of solving linear differential equa- Z h=2
tions with non-constant coefficients which is based on [21]. The
Q ðxÞ
sðx; yÞ ¼ Eðx; yÞydy ð25Þ
other solving possibility, which was used in this contribution in BI ðxÞ y

the modal analysis of the numerical experiments, uses the soft-
ware ‘‘Mathematica’’ [22]. The numerical Gauss integration was
chosen in the numerical experiments. Under the boundary condi-
tions assumption, the reduced homogenous system of equations
will be always established. By setting the determinant of this sys-
tem to zero, the eigenvalue problem has been defined. By its solu-
tion, the circular eigenfrequency xi can be obtained. Then, the
eigenfrequency can be calculated as
xi
fi ¼
2p
R h=2 2
where BI ðxÞ ¼ h=2 by Eðx; yÞdy is the effective bending stiffness of
the real FGM beam at position x obtained by the direct integration
method.
Using the expression (24) by the layering method for calcula-
tion of the strain energy in the rectangular cross-sectional area of
the multilayer beam and putting it equal to the strain energy of
the first order shear deformation theory (see Eq. (26)), the shear
correction factor function ks(x) (27) can be calculated. (Note that
because of the longitudinal variation of the material properties in
ð23Þ
layers, the shear correction factor is a function of x as well.) Then

where index i denotes the frequency number. By setting the compe- Z Z

1 sk ðx; yÞ2 1 s2 ðxÞ2
tent eigenfrequency, axial force and average shear correction factor dA ¼ s dA ð26Þ
2 A GHL ðxÞ 2 A k ðxÞGHL ðxÞ
into the beam deflection function, the eigenform will be obtained.

Fig. 6. Composite beam with spatial variation of material properties.

320 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329

Table 1
Parameters of the fibres volume fractions variation for n = 5.

Layer k 1 2 3 4 5

v k
fi ½
0.55 0.65 0.75 0.85 0.95
g k
1 ½
4.545 5.384 6.000 6.470 6.842

of these parameters for n = 5 is given in Table 1. The fibre volume

Fig. 7. Boundary for integral in Eq. (25).
fractions in layer k.
Using the expressions (5)–(7) the effective longitudinal elastic-
ity modulus of the layers can be calculated.
Using the expressions (10) and (28), the effective elasticity
modulus and the average shear correction factor of the homoge-
nized beam for transversal loading have been calculated, and we
have got:

(a) n ¼ 1 : EMHL ðxÞ ¼ 363:75  652:500x [GPa]

where s2 ðxÞ ¼ Q AðxÞ is the constant shear stress of the first order shear ksm = 5/6 = 0.833333
deformation theory at position x. (b) n ¼ 2 : EMHL ðxÞ ¼ 377:34  788:437x [GPa]
After some rearrangements the shear correction function ksm = 0.835334
becomes (c) n ¼ 5 : EMHL ðxÞ ¼ 381:15  826:500x [GPa]
ksm = 0.836594
R
s s2 ðxÞ2 dA (d) n ¼ 10 : EMH
L ðxÞ ¼ 381:69  831:937x [GPa]
A
k ðxÞ ¼ R ð27Þ ksm = 0.836798
s ðx; yÞ2 dA
A k

The average shear correction factor is If the homogenized material properties have been calculated by
the direct integration (15) (without the division into layers), fol-
Z lowing parameters have been obtained:
L
sm 1 s s
k ¼ k ðxÞdx  k ð28Þ sm
L EMH
0 L ðxÞ ¼ 381:875  833:750x ½GPa k ¼ 0:836868
which has been then used for calculation of the constant parameter
The above listed parameters show that the division of the beam into
f included in the differential Eq. (22)
n = 10 layers gives enough accurate results.
EMH
L ðxÞ
The ratio GH
¼ 2:6 has been used for the effect of shear forces
EMH
L ðxÞI
L ðxÞ
f¼ s ð29Þ assumption in this example.
k GHL ðxÞA Longitudinal distributions of the homogenized elasticity modu-
lus and the effective elasticity modules in the respective layers for
The shear stress (25) must be used in the expression (26) instead of
n = 5 are shown in Fig. 8.
the stress sk(x, y) if the direct integration method has been applied.
Longitudinal distributions of the homogenized elasticity mod-
If the effect of shear forces will not be considered, the parame-
ules for division to layers n = 1, 2, 5, 10 are shown in Fig. 9.
ter f = 0. If the non-continuous distribution of the shear stresses
The homogenized mass density has been calculated by expres-
(24) and the longitudinal variation of material properties in the
sions (11) and (12):qHL ¼ 16775:0  45450:0x, [kg/m3], and it is the
layers will not be accounted, then ks = 5/6. Otherwise, the average
same for all the divisions n and for the direct integration, as well.
value of the shear correction factor (28) depends on the layering
Longitudinal distributions of this mass density in the homogenized
fineness. By increasing number of the layers, the average shear cor-
beam and the effective mass densities distribution in respective
rection factor will converge to the value which approximately fits
layers of the multilayer beam for n = 5 are shown in Fig. 10.
the continuous variation of the material properties in transversal
and longitudinal direction.
The fibre volume fraction at node i varies linearly and symmet- GPa
rically according to neutral plane in the transversal direction
(vfi 2 h0.5, 1.0i) and continuous linearly in the longitudinal direc-
tion to the value vfj = 0.3.
Both halves of the height h of this beam have been divided into
n = 1, 2, 5, 10 layers symmetrically to the beam neutral axis in such
a way, that all the layers have the same thickness hk, where
k 2 h1, ni. The transversally constant fibre volume fractions of the
assumed layers have been calculated from its values on the top
and the bottom of the competent layer.
Pairs of the symmetrical layers in all cases were built as a mix-
ture of the two components. The volume fraction of the compo-
nents is constant along the height and width of the given layer
but it varies linearly along the layer length: v kf ðxÞ ¼ v kfi ð1 þ gk1 xÞ ¼ x m
1  v km ðxÞ, where index k is the number of symmetrical layers, v kfi
is the volume fraction of the fibres in the kth layer at node i, and Fig. 8. Longitudinal distributions of the homogenized elasticity modulus and the
gk1 is a parameter of variation of the fibres volume fraction. The list effective elasticity modules in respective layers for n = 5.
 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329
Fig. 9. Longitudinal distributions of the homogenized elasticity modules for n = 1, 2,
5, 10.
Fig. 10. Effective mass density distribution along the homogenized beam and the
effective elasticity mass density in respective layers for n = 5.
Fig. 11. Shear stress correction functions for the Case I.
In Fig. 11 the shear stress correction functions have been shown
for different number of layers and for the direct integration
method.
4.1.1. Example 1 – cantilever beam
The homogenized beam (Fig. 6), clamped at the left side, has
been studied by modal analysis. The first three bending eigenfre-
quencies have been found using the differential Eq. (22) and appro-
priate boundary conditions. The same problem for chosen cases
has been solved using a very fine mesh – 12,000 of 2D PLANE42
elements of the FEM program ANSYS [24] – see Fig. 12, where
321
6x100 elements in each layer
10
10
Fig. 12. Multilayer beam and the mesh of 2D solid elements (for ANSYS solution).
variation of material properties in the competent layers has been
used as shown in Figs. 8–10. With the very fine mesh, sufficient
accuracy of the longitudinal and transversal variation of the elas-
ticity modulus and the mass density has been guarantied in the
real multilayer beam. The results of ANSYS as well as the results
of the differential equation solution for n = 10 and for chosen com-
pression and tensional axial force are presented in Tables 2a and
2b, respectively. Here, the critical buckling force is N IIKi ¼ 72:68
kN.
Eigenfrequencies for different number of the layers and for
N= 51 kN are shown in Table 2c.
The results in Tables 2a, 2b, 2c show very good convergence of
the eigenfrequencies in dependence on the number of division of
the beam with spatial variation of material properties. For n = 10
the results obtained by the layering method agree very well
with the results obtained by the direct integration method (last
column in Table 2c). These results also show a significant effect
of the large axial forces on the eigenfrequencies. As expected, the
tensional forces increase and the compression forces decrease the
eigenfrequencies. The best agreement of the results obtained by
the ANSYS and the differential equation is for the first
eigenfrequency.
4.1.2. Example 2 – beam clamped at both sides
Homogenized beam (Fig. 7) clamped at both sides has been
studied by modal analysis.
The solution results of ANSYS as well as the solution results of
the differential Eq. (22) for n = 10 are presented in Tables 3a and
3b. Here, the critical buckling force is N IIKi ¼ 1010:7 kN.
Eigenfrequencies for different number of the layers and for
N = 780 kN are shown in Table 3c.
For n = 10 the results obtained by layering method agree very
well with the results obtained by the direct integration method
(last column in Table 3c).
4.1.3. Example 3 – simply supported beam
Homogenized beam (Fig. 7) simply supported at both sides has
been examined by modal analysis.
The solution results of ANSYS as well as the solution results of
the differential Eq. (22) for n = 10 are presented in Tables 4a and
4b. Here, the critical buckling force is: N IIKi ¼ 271:9 kN.
Eigenfrequencies for different number of the layers and for di-
rect integration method for N = 195 kN are shown in Table 4c.
For n = 10 the results obtained by layering method agree very
well with the results obtained by the direct integration method
(last column in Table 4c).
4.2. Free vibration analysis of the FGM beam with spatial variation of
the material properties: Case II
A composite beam has been considered as shown in Fig. 13. The
geometry and material properties of its constituents are the same
322 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329

Table 2a
Eigenfrequencies in Example 1 for compression for n = 10.

Freq. [Hz] N[kN]

1st order theory N = 0 2nd order theory N = 51 ANSYS N = 51 2nd order theory N = 34 2nd order theory N = 17
f1 845.6 477.7 478.80 630.4 748.0
f2 4779.6 4462.6 4426.4 4571.1 4676.7
f3 12357.6 12090.3 11827.0 12180.1 12269.2

Table 2b Table 3b
Eigenfrequencies in Example 1 for tension for n = 10. Eigenfrequencies in Example 2 for tension.

Freq. N[kN] Freq. [Hz] N[kN]

[Hz]
2nd order theory 2nd order theory 2nd order theory
2nd order theory ANSYS 2nd order theory 2nd order theory
N = 780 N = 520 N = 260
N = 51 N = 51 N = 34 N = 17
f1 6113.3 5677.6 5199.0
f1 1072.7 1067.6 1005.0 930.1
f2 14164.7 13474.9 12743.5
f2 5073.5 5004.2 4977.9 4880.0
f3 24272.6 23427.6 22549.3
f3 12618.9 12278.0 12532.5 12445.4

Table 2c Table 3c
Eigenfrequencies in Example 1 for different number of the layers and for direct Eigenfrequencies in Example 2 for different number of the layers and for direct
integration. integration.

Freq. [Hz] n=1 n=2 n=5 n = 10 Direct integration Freq. [Hz] n=1 n=2 n=5 n = 10 Direct integration

f1 448.6 470.8 476.9 477.7 478.0 f1 2148.1 2246.4 2273.4 2277.2 2278.5
f2 4385.1 4443.8 4460.3 4462.6 4463.4 f2 8973.3 9129.4 9173.8 9180.0 9182.3
f3 11911.7 12046.6 12084.9 12090.3 12092.2 f3 18269.2 18522.6 18595.9 18606.3 18609.9

as in Case I. Only the variation of fibre volume fractions has been

changed (see Fig. 6). The above listed parameters show that the division of the beam to
The fibre volume fraction at node i varies linearly and symmet- n = 10 layers gives enough accurate results which agree very well
rically according to neutral plane in the transversal direction with the ones obtained by a direct integration.
(vfi 2 h1.0, 0.5i) and continuous linearly in the longitudinal direc- The ratio
EMH
L ðxÞ
¼ 2:6 has been used for the assumption of the
GH
L ðxÞ
tion to the value vfj = 0.3.
By the same approach described in chapter 2 the fibres volume shear force effect in this example.
fraction have been obtained – see Table 5. Longitudinal distributions of the homogenized elasticity modu-
The effective elasticity modulus and the average shear correc- lus and the effective elasticity modules in the respective layers for
tion factor of the homogenized multilayer beams for transversal n = 5 are shown in Fig. 14.
loading have been calculated by using of the expressions (10) Longitudinal distributions of the homogenized elasticity mod-
and (28), and we have got: ules for division to layers n = 1, 2, 5, 10 are shown in Fig. 15.
The homogenized mass density has been calculated using
(a) n ¼ 1 : EMH expressions (11) and (12):qHL ¼ 16775:0  45450:0x, [kg/m3]. Note
L ðxÞ ¼ 363:750  652:500x [GPa]
ksm = 0.833333 that it is the same for all the divisions n as it was in the Case I.
(b) n ¼ 2 : EMH In Fig. 16 the shear stress correction functions have been shown
L ðxÞ ¼ 350:156  516:562x [GPa]
ksm = 0.831179 for different number of layers and for the direct integration
(c) n ¼ 5 : EMH method.
L ðxÞ ¼ 345:886  473:860x [GPa]
ksm = 0.828620
(d) n ¼ 10 : EMH
L ðxÞ ¼ 345:741  472:409x [GPa] 4.2.1. Example 1 – cantilever beam
ksm = 0.829392 The homogenized beam (Fig. 13) clamped at the left side has
been studied by modal analysis. The first three bending eigenfre-
If the homogenized material properties have been calculated by quencies have been found using the differential Eq. (22) and appro-
the direct integration method (without division into layers), fol- priate boundary conditions. The same problem for chosen cases
lowing parameters have been obtained: has been solved using a very fine mesh – 12,000 of 2D PLANE42
sm
elements in ANSYS [24], where variation of material properties in
EMH
L ðxÞ ¼ 345:625  471:250x½GPa k ¼ 0:829478 the competent layers has been used as shown in Figs. 14 and 15.

Table 3a
Eigenfrequencies in Example 2 for compression.

Freq. [Hz] N[kN]

1st order theory N = 0 2nd order theory N = 780 ANSYS N = 780 2nd order theory N = 520 2nd order theory N = 260
f1 4662.7 2277.2 2348.0 3293.3 4044.0
f2 11962.3 9180.0 9191.1 10200.8 11120.1
f3 21633.6 18606.3 18063.0 19669.0 20675.5
 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329 323

Table 4a
Eigenfrequencies in Example 3 for compression.

Freq. [Hz] N[kN]

1st order theory N = 0 2nd order theory N = 195 ANSYS N = 195 2nd order theory N = 130 2nd order theory N = 65
f1 2158.7 1148.7 1159.9 1559.9 1883.3
f2 8261.4 7422.2 7416.8 7712.2 7991.5
f3 17408.7 16554.9 16316.0 16844.4 17128.9

Table 4b
Table 5
Eigenfrequencies in Example 3 for tension.
Parameters of the fibres volume fractions variation for n = 5.
Freq. NII
Layer k 5 4 3 2 1
[Hz]
2nd order theory 2nd order theory 2nd order theory v kfi ½ 0.55 0.65 0.75 0.85 0.95
N = 195 N = 130 N = 65 gk1 ½ -4.545 -5.384 -6.000 -6.470 -6.842
f1 2828.1 2624.0 2402.7
f2 9022.6 8776.3 8522.8
f3 18222.2 1795.5 17684.0

Table 4c
Eigenfrequencies in Example 2 for different number of the layers and the direct
integration method.

Freq. [Hz] n=1 n=2 n=5 n = 10 Direct integration

f1 1095.4 1136.0 1147.1 1148.7 1149.2
f2 7301.7 7393.0 7418.6 7422.2 7423.5
f3 16312.4 16495.5 16547.6 16554.9 16557.5

With the very fine mesh, sufficient accuracy of the longitudinal and
transversal variation of the elasticity modulus and the mass den-
sity has been guarantied in the real beam. The results of ANSYS
as well as the results of the differential equation solution for
n = 10 and for chosen compression and tensional axial force are Fig. 14. Longitudinal distributions of the homogenized elasticity modulus and the
effective elasticity modules in respective layers for n = 5.
presented in Tables 6a and 6b, respectively. Here, the critical buck-
ling force is N IIKi ¼ 67:6 kN.
Eigenfrequencies for different number of the layers and for the
direct integration method are shown for N = 51 kN in Table 6c.
The Table 6c shows good convergence of the eigenfrequencies to
the ones obtained by the direct integration method. In comparison,
results in Tables 2a, 2b and 2c and Tables 6a, 6b and 6c point out
that the changed variation of the fibres volume fraction at node i
affected the eigenfrequencies considerably. It can be expected that
using a more complicated variation of the constituent volume frac-
tions the influence of this effect will be stronger.
For n = 10 the results obtained by the layering method agree
very well with the results obtained by the direct integration meth-
od (last column in Table 6c).

4.2.2. Example 2 – beam clamped at both sides

Homogenized beam (Fig. 13) clamped at both sides has been
studied by modal analysis. Fig. 15. Longitudinal distributions of the homogenized elasticity modules for 1, 2, 5,
The results of ANSYS as well as the results of the differential 10.

equation solution for n = 10 and for chosen compression and

Fig. 13. Composite beam with spatial variation of material properties.

324 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329

Table 6b
Eigenfrequencies in Example 1 for tension, Case II.

Freq. N[kN]
[Hz]
2nd order theory ANSYS 2nd order theory 2nd order theory
N = 51 N = 51 N = 34 N = 17
f1 1044.2 1040.3 975.3 898.6
f2 4929.4 4894.3 4832.0 4732.2
f3 12266.6 12106.0 12178.6 12089.8

Table 6c
Eigenfrequencies in Example 1 for different number of the layers and for direct
integration, Case II.

Freq. [Hz] n=2 n=5 n = 10 Direct integration

Fig. 16. Shear stress correction functions for the Case II. f1 425.2 417.6 417.3 417.1
f2 4325.2 4305.8 4305.3 4304.8
f3 11774.1 11728.2 11727.7 11726.5
tensional axial force are presented in Tables 7a and 7b, respec-
tively. Here, the critical buckling force is N IIKi ¼ 959:1 kN.
Eigenfrequencies for layering method with different number of
Variation of the fibres volume fraction has been chosen as the
the layers and direct integration method are shown for
function:
N = 780 kN in Table 7c.
For n = 10 the results obtained by the layering method agree 400; 000; 000x3 y2 400x3
very well with the results obtained by the direct integration meth- v f ðx; yÞ ¼   20; 000; 000x2 y2 þ 200x2
3 3
od (last column in Table 7c). þ 40; 000y2
By comparison of results in Tables 3a, 3b and 3c and Tables 7a,
7b, 7c we can see that the changed variation of the fibres volume which is shown in Fig. 18.
fraction at node i influenced the eigenfrequencies in a similar Using the expression (13), a spatial distribution of the effective
way as in previous examples. elasticity modulus and mass density have been calculated:

58; 000; 000; 000x3 y2 580; 000x3

4.2.3. Example 3 – simply supported beam Eðx; yÞ ¼   2; 900; 000; 000x2 y2
3 3
Homogenized beam simply supported at both sides has been
studied by modal analysis. þ 29; 000x2 þ 5; 800; 000y2 þ 255 ½GPa;
The results of ANSYS as well as the results of the differential 4; 040; 000; 000; 000x3 y2 40; 400; 000x3
qðx; yÞ ¼ 
equation solution for n = 10 for chosen compression and tensional 3 3
axial force are presented in Tables 8a and 8b, respectively. Here,  202; 000; 000; 000x2 y2 þ 2; 020; 000x2
the critical buckling force is N IIKi ¼ 258 kN. 3
þ 404; 000; 000y2 þ 9200 ½kg=m :
Eigenfrequencies for the layering method with different num-
ber of layers and the direct integration method are shown for N
= 195 kN in Table 8c. The effective elasticity modules of the homogenized multilayer
For n = 10 the results obtained by the layering method agree beam for transversal loading have been calculated using expres-
very well with the results obtained via the direct integration meth- sions (10) and (28) (layering method) as:
od (last column in Table 8c).
By comparison of results in Tables 4a, 4band 4c and Tables 8a, (a) n ¼ 20 : EMH 2 3
L ðxÞ ¼ 341:8  14424:5x þ 96163:4x [GPa];
8b and 8c we can see that the changed variation of the fibre vol-
ume fraction at node i affects the eigenfrequencies in a similar (b) n ¼ 5 : EMH 2 3
L ðxÞ ¼ 339:6  13299:4x þ 88662:7x [GPa].
way as it was in the previous examples.
If the homogenized material properties have been calculated
4.3. Modal analysis of cantilever beam with planar variation of using direct integration method (without division into layers), fol-
lowing parameters would have been obtained (see expressions
material properties
(15), (25), (28)):
Cantilever beam (Fig. 17) of the same geometry as in previous EMH 2 3 sm
L ðxÞ ¼ 342:0  14; 500x þ 96666:6x ½GPa k ¼ 0:836
examples is made by a mixture of Tungsten (fibres) – elasticity
modulus Ef = 400 GPa, mass density qf = 19,300 kg/m3; NiFe (ma- The above listed parameters show that the division of the beam to
trix) – elasticity modulus Em = 255 GPa, mass density n = 20 layers gives enough accurate results which agree very well
qm = 9200 kg/m3 [23]. with these obtained by the direct integration method.

Table 6a
Eigenfrequencies in Example 1 for compression, Case II.

Freq. [Hz] N[kN]

1st order theory N = 0 ANSYS N = 0 2nd order theory N = 51 ANSYS N = 51 2nd order theory N = 34 2nd order theory N = 17
f1 811.7 811.38 417.3 418.5 585.7 710.1
f2 4629.7 4616.5 4305.3 4300.8 4416.4 4524.5
f3 12000.3 11914.0 11727.7 11641.0 11819.3 11910.2
 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329 325

Table 7a
Eigenfrequencies in Example 2 for compression, Case II.

Freq. [Hz] N[kN]

1st order theory N = 0 ANSYS N = 0 2nd order theory N = 780 ANSYS N = 780 2nd order theory N = 520 2nd order theory N = 260
f1 4539.1 4500.3 2008.0 2116.3 3115.8 3901.3
f2 11639.4 11401.0 8757.7 8947.7 9822.2 10773.1
f3 21040.5 20299.0 17918.8 17865.0 19018.2 20055.8

Table 7b Table 8b m-
Eigenfrequencies in Example 2 for tension, Case II. Eigenfrequencies in Example 3 for tension, Case II. esh
Freq. N[kN] Freq. N[kN] –
[Hz] [Hz] 12-
2nd order theory 2nd order theory 2nd order theory 2nd order theory 2nd order theory 2nd order theory ,0-
N = 780 N = 520 N = 260 N = 195 N = 130 N = 65
00
f1 6016.7 5574.7 5087.5 f1 2784.3 2577.0 2351.3 of
f2 13889.4 13186.6 12439.7 f2 8820.3 8568.5 8309.0
2D
f3 23741.5 22878.2 21979.5 f3 17773.1 17499.6 17221.8

Table 7c Table 8c
Eigenfrequencies in Example 2 for different number of the layers and for direct Eigenfrequencies in Example 3 for different number of the layers and for direct
integration, Case II. integration, Case II.

Freq. [Hz] n=2 n=5 n = 10 Direct integration Freq. [Hz] n=2 n=5 n = 10 Direct integration
f1 2043.9 2008.7 2008.0 2007.1 f1 1053.0 1039.2 1038.7 1038.4
f2 8812.8 8758.0 8757.7 8756.3 f2 7208.6 7187.1 7177.5 7176.7
f3 18009.3 17918.1 17918.8 17916.5 f3 16125.5 16062.6 16062.1 16060.4

EMH ðxÞ
The ratio GLH ðxÞ ¼ 2:6 has been used for the effect of shear forces
L
assumption in this example. The average shear correction factor
which was calculated via the direct integration method has also
been used in the analysis of the multilayer beams.
Longitudinal distributions of the homogenized elasticity modu-
lus and the effective elasticity modules in the respective layers for
n = 20 are shown in Figs. 19 and 20, respectively.
The homogenized mass density has been calculated by expres-
sions (11) and (12) for layering method:
(a) n ¼ 20 : qHL ðxÞ ¼ 12564:6 þ 337719:0x2
2:25146  106 x3 ½kg=m3 ;
(b) n ¼ 5 : qHL ðxÞ ¼ 12533:0 þ 353500:0x2
2:35667  106 x3 ½kg=m3 .
In the direct integration method the formula (16) has been used
making qHL ¼ 12566:6 þ 3:67  105 x2  2:245  106 x3 [kg/m3].
Longitudinal distributions of this mass density in the homogenized
beam and the effective mass densities in the competent layers of
the multilayer beam for n = 5 and n = 20 are shown in Figs. 21
and 22, respectively.
In Fig. 23 the shear stress correction function is shown for the
direct integration method.
The FGM cantilever beam (Fig. 17) clamped at the left side has
been studied by modal analysis. The first three bending eigenfre-
quencies have been found using the differential Eq. (22). The same
problem has been solved for some chosen cases using a very fine
PLANE42 elements of the FEM program ANSYS [24], where varia-
tion of material properties has been used as shown in Figs. 20
and 22. With the very fine mesh, sufficient accuracy of the longitu-
dinal and transversal variation of the elasticity modulus and the
mass density has been guarantied in the real FGM beam. The re-
sults of the differential equation solution for n = 20 and for chosen
compression and tensional axial force are presented in Tables 9a
and 9b, respectively. Here, the critical buckling force is
N IIKi ¼ 67:22 kN.
Eigenfrequencies obtained by the direct integration method and
by ANSYS are presented in Table 10a (for compression) and in
Table 10b (for tension).
As seen in these tables, the best agreement of both solution re-
sults is for the first eigenfrequency.
In Table 10c, an effect of the shear stress correction factor can be
observed for the case N = 51 kN. Both the layering (n = 20 layers)
and direct integration methods have been used.
The results in Table 10c show that the shear force deformation
effect is notable at higher eigenfrequencies. It should be also men-
tioned that the assumption of average shear stress correction fac-
tor can cause the difference of the higher eigenfrequencies
obtained by the differential equation solution and by a solution
using a very fine mesh of the classical plane finite elements. Exact
inclusion of the shear correction function into the differential
equation will be made in our future work.
Effect of axial force on the eigenmodes is shown in the Figs. 24–
26. The eigenmodes have been calculated with the transversal
force Ri = 1 (at node i).

Table 8a
Eigenfrequencies in Example 3 for compression, Case II.

Freq. [Hz] N[kN]

1st order theory N = 0 ANSYS N = 0 2nd order theory N = 195 ANSYS N = 195 2nd order theory N = 130 2nd order theory N = 65
f1 2101.5 2099.1 1038.7 1053.4 1480.5 1817.8
f2 8041.1 8005.4 7177.5 7223.5 7476.5 7763.9
f3 16939.3 16787.0 16062.1 16037.0 16359.8 16652.1
326 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329

Fig. 17. Cantilever beam with planar variation of material properties.

Fig. 18. Planar fibres volume fraction variation.

Fig. 19. Longitudinal distributions of the homogenized elasticity modulus and the Fig. 20. Longitudinal distributions of the homogenized elasticity modulus and the
effective elasticity modules in the respective layers for n = 5. effective elasticity modules in the respective layers for n = 20.
 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329 327

Table 9b
Eigenfrequencies for tension for n = 20.

N [kN] Freq. 2nd order theory 2nd order theory 2nd order theory
[Hz] N = 51 N = 34 N = 17
f1 1028.6 960.0 883.7
f2 5049.3 4948.5 4845.7
f3 12717.2 12626.5 12535.1

As is shown, effect of axial force has been manifested most on

the first eigenmodes.

5. Conclusions

Fig. 21. Effective mass density and the effective elasticity mass density in The fourth-order differential equation of the beam deflection
respective layers for n = 5 distribution along the homogenized beam. with longitudinal variation of the homogenized effective material
properties has been present in the modal analysis of FGM beams
with a spatial continuous variation of material properties. The sec-
ond order beam theory was considered to establish the equilibrium
and kinematic beam equations. The shear forces deformation effect
and the effect of consistent mass distribution and mass moment of
inertia have been taken into account as well. The longitudinal var-
iation of the effective longitudinal elasticity modulus and mass
density in the homogenized beam was obtained by the homogeni-
zation of continuous longitudinal and symmetrical transversal var-
iation of the elasticity modulus, the mass density and the volume
fraction of the constituents in the real FGM beam. Homogenization
of these material properties has been done by: (i) the layering
method by using the extended mixture rules and laminate theory;
(ii) by the direct integration method. The disadvantage of the direct
integration method is that homogenized effective material proper-
ties are obtained via an integration of varying material properties
along the height of cross-section, but the results are very accurate.
As was shown in [14], any discontinuity in stress and displace-
Fig. 22. Effective mass density and the effective elasticity mass density in ments in structural analysis arises. When the variation of material
respective layers for n = 20 distribution along the homogenized beam.
properties is more complex the integration can bring some numer-
ical difficulties. The disadvantage of the multilayer method is that
the enough fine discretization in transversal direction on the layers
is needed to obtain a sufficient solution accuracy. As was shown in
[14], the discontinuity of the secondary variables of the structural
analysis arises at the layer interfaces. The discontinuity of these
variables (e.g. normal and tangential stress, thermal heat flux)
can be smoothed out with finer discretization at layers or with a
calculation of their average values. But the homogenization meth-
od is possible also for more complex systems without any solution
problems, and also for the real multilayer beams where the discon-
tinuity of secondary variables is present.
The results, obtained via the solution of the derived differential
equation concerning the calculation of eigenfrequencies and eigen-
modes of chosen FGM beams considering several boundary condi-
tions have shown a very high solution accuracy when the layer
division in transversal direction is fine enough. These solutions
converge to the ones obtained by the direct integration method.
Fig. 23. Shear stress correction function. Obtained results also show that an increase of the negative axial
force (compression) decreases the eigenfrequency. On the other
hand, an increase of the positive axial force (tension) increases
Table 9a the eigenfrequency very strongly. As expected, positive axial force
Eigenfrequencies for compression for n = 20. makes the beam more stiff and the eigenfrequency is higher than
Freq. N[kN]
in the case of a negative axial force. As expected, this well known
[Hz] fact from the structural mechanics of homogeneous material has
1st order 2nd order 2nd order 2nd order been confirmed also by the FGM beams. But here, the eigenfre-
theory N = 0 theory N = 51 theory N = 34 theory N = 17 quency can also be significantly affected by several spatial varia-
f1 797.3 405.0 572.7 696.4 tions of material properties.
f2 4740.8 4407.2 4521.4 4632.6 Originally here, the calculations of the shear stress correction
f3 12445.8 12165.3 12259.6 12353.0
function and the average shear stress correction factor have also
328 M. Aminbaghai et al. / Engineering Structures 34 (2012) 314–329

Table 10a
Eigenfrequencies obtained by the direct integration method compared to results from an FEM analysis in ANSYS (for compression).

Freq. [Hz] N [kN] Direct integration N = 51 ANSYS N = 51 Direct integration N = 34 ANSYS N = 34 Direct integration N = 17 ANSYS N = 17
f1 405.3 406.2 573.0 573.3 696.5 696.5
f2 4407.6 4363.0 4521.8 4471.8 4632.9 4577.3
f3 12165.8 11866.0 12260.0 11946.0 12353.5 12026.0

Table 10b
Eigenfrequencies obtained by direct integration method and those from an ANSYS analysis (for tension).

Freq. [Hz] N [kN] Direct integration N = 51 ANSYS N = 51 Direct integration N = 34 ANSYS N = 34 Direct integration N = 17 ANSYS N = 17
f1 1028.8 1022.9 960.2 955.8 883.9 881.04
f2 5049.7 4969.5 4949.4 4875.6 4846.6 4779.0
f3 12720.4 12336.0 12629.7 12260.0 12538.3 12183.0

Table 10c
Effect of the shear stress correction factor.

fi [Hz] (n = 20 layers) f = 0 (without (n = 20 layers) (n = 20 layers) Direct Integration ANSYS

shear stress effect) 
ks = 0:833 ksm = 0.836 ksm = 0.836

f1 410.9 405.0 405.0 405.3 406.2

f2 4593.1 4406.7 4407.3 4407.6 4363.0
f3 13237.3 12162.5 12165.4 12165.8 11866.0

Fig. 24. The first eigenmodes. Fig. 26. The third eigenmodes.

continuous. This effect is stronger for the real multilayer and

FGM sandwich beams [29], where the material properties in the
layer are more different.
Chosen results from differential equation analyses were com-
pared with the ones obtained for 2D plane stress finite elements
in the ANSYS software using a very fine mesh. Very good agree-
ment of both solution results has been achieved.
The proposed method will be applied for the new finite element
establishment in our future work, which can be used for very effec-
tive modal analysis of the FGM beam structures, e.g. the electro-
thermal actuators, sensors, micro-electro-mechanical systems
(MEMS), etc.

Acknowledgements

This work has been supported by Grant Agency VEGA (Grant

Fig. 25. The second eigenmodes. No. 1/0093/10), and by the Slovak Research and development
Agency under the contract No. APVV-0450-10.

been presented in this paper; both for multilayer FGM beams and
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