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I. Introduction
The early approach to the finite element analysis of plates relied mostly on the Kirchhoff thin plate
theory. The plate finite element based on Kirchhoff plate theory requires the displacement and its
derivatives to be continuous across element boundaries. This required quite an ingenious procedure for
constructing the interpolation of this kind with a limited number of possible choices. Therefore, many
recent works (e.g. see [1-5]) have turned towards the Reissner [6]-Mindlin [7] plate theory as a starting
point of the finite element discretization in order to reduce the continuity requirements on the
displacement interpolation.
Another very important reason for favoring the Reissner-Mindlin versus Kirchhoff plate theory is
that we normally obtain a more reliable representation of the three-dimensional solution. Namely, the
Kirchhoff plate model does not take the shear deformations into account, so that it should not be used
in an analysis of thick plates. Moreover, Babugka and Scapolia [8] pointed out the inaccuracy of the
Kirchhoff plate model which occurs in the analysis of skewed plates, even when they are thin.
In the finite element implementation of Reissner-Mindlin plates, however, one is faced with the
problem of the incapability of the discrete model to capture the limit behavior of thin plate model, i.e.
the Kirchhoff constraint. Typically a very stiff response is obtained and this phenomenon is referred to
as shear locking. The first completely successful solution to the shear locking problem emerged as a
clever ad-hoc engineering approach of 'assumed strain method' of Hughes and Tezduyar [3], which
considers a direct interpolation for shear strain not necessarily consistent with the interpolation schemes
for the displacements and rotations. Subsequently, the assumed strain method was put into proper
variational framework by Simo and Hughes [9]. The relationship of the assumed strain method and the
mixed method are discussed in [5] and the convergence study of several Reissner-Mindlin plate
elements which employ an assumed shear strain interpolation is performed by Brezzi and co-workers
[21.
However, in the assumed strain method, the underlying displacement interpolation of the order
which is consistent with the assumed shear strain field is not clearly identified and it is not clear what is
the proper definition of the consistent loading and the consistent mass. In this work, we present two
quadrilateral plate elements with explicitly defined hierarchical displacement and rotation interpolations
which appear consistent with the assumed strain field. For one of these elements, the displacement
interpolation is given as a concise form of the expressions that appeared in [4]. The corresponding shear
Correspondence to: Dr. Adnan Ibrahimbegovid, LSC/EPFL, GC Az/Ecublens, CH 1015 Lausanne, Switzerland.
0045-7825/93/$06,00 (~) 1993 Elsevier Science Publishers B.V. All rights reserved
196
strain interpolation is capable of reproducing the constant shear strain state and the Kirchhoff
constraint in the limit case of a thin plate. As a by-product of this work, we arrive at a consistent
displacement interpolation for the well-known discrete Kirchhoff element [10].
The outline of the paper is as follows. The motivation for the present methodology is briefly
explained in Section 2 on the pertinent problem of a Timoshenko [11] beam. In Section 3, we discuss
the Reissner-Mindlin plate elements. In the same section we give a new derivation for the discrete
Kirchhoff plate element. Numerical evaluation of the plate elements is presented in Section 4. Some
closing remarks are stated in Section 5.
We first consider a two-node Timoshenko beam presented in Fig. 1. The reference configuration is
determined with
(2.1)
x = N , ( r ) x I + N2(r)x 2 ,
where
N,(r) = ~ ( 1 - r ) ,
Nz(r)=~(1 +r),
(2.2)
r E[-1,1].
In order to construct the displacement and rotation interpolation free of shear locking, the 'Kirchhoff
mode' [12] must be attainable. Therefore the displacement interpolation should be polynomial of order
one degree higher than the polynomial which interpolates the rotations. Hence, if the assumed rotation
field is linear,
(2.3)
O = N , ( r ) O , +Nz(r)Oz,
(2.4)
N3(r ) = 1 - r z
(2.5)
where
1
l (02-0')'
(2.6)
l=x 2-x I
, +Oz)+r
[1
2(0,-02)-
Aw 3 .
11.
(2.7)
197
To obtain a beam element with cubic displacement field, we proceed from the interpolations (2.3)
and (2.8) extending them in a natural way to obtain the hierarchical rotation interpolation in the form
of a quadratic polynomial
(2.9)
(2.10)
(2.11)
where
An additional rotation interpolation parameter A03 is relative to the rotation field given by (2.3) and
ot in (2.10) is a yet undetermined parameter. If we impose again the same constant shear strain
constraint along the beam
dw
1
1
3, = ~ - 0 = 7 (w_, - w~) + 2a(1 - 3r 2) A03 - ~ (0~ + 02) - (1 - r 2) A03 ,
(2.12)
we find that a = 1/6. Therefore, the hierarchical displacement interpolation (2.10) becomes
l
(2.13)
It is easy to check that the interpolation (2.13) for w is the exact solution for the adjoint differential
equation of the Timoshenko beam. Therefore, using this interpolation, the exact solution for the
displacements at the nodal points is obtained for an arbitrary loading (see [13, p. 601]). Indeed, this was
manifested in all the numerical examples presented in [12], where the beam element of this kind was
developed.
The presented interpolation schemes are next extended to the Reissner-Mindlin plate elements. This
is considered ip the next section.
-fn
ff)fdO=0,
i,y,k, lE{1,2},
(3.1)
198
1 ( 0[3i
Kij .~-"~~~Xj -t- ~ )
(3.2)
and the director rotation is related to the right-hand-rule rotation vector via an alternating tensor eq
/3i=e#Oj,
e#=
+1
"
(3.3)
= Oxi /3i.
(3.4)
For simplicity, in (3.1) we assumed linear elastic constitutive equations and the Dirichlet boundary
value problem with the homogeneous boundary conditions. However, the discussion to follow applies
to more general constitutive equations and other kinds of boundary conditions as well.
The discrete formulation which corresponds to (3.1) is
DH(wh,Oh)'( ~h, oh)= fa,,~chtctJKh dg-2+ fa,, ~,htcSyh dg2-- fa,, ~hf dO=O.
(3.5)
The mapping of generalized strain measures which is introduced in the discrete formulation (3.5), i.e.
,,,,--, K" = ( -oo2 / ox , ; oo,/Ox2; oo~ / ox ,
(3.6)
oo,../ Ox2 ) t
and
(3.7)
determines the form of the constitutive matrices C B and C s. For example, in the case of an isotropic
linear elastic plate
CB _
Et 3
1 2 ( 1 - v 2)
ro0u l 01,
L
--5--d
'
cs
Etc
2(1+v)
Earl '
(3.8)
where t is the plate thickness, E is Young's modulus and v is Poisson's ratio. The shear correction factor
c is usually set to 5/6.
Superscript h in (3.5) is the mesh parameter which is usually used to denote the quantities in the
discrete approximation. To simplify the notation in the subsequent discussion of the discrete
formulation, we drop superscript h.
An appropriate variational framework for the kind of interpolations described in the following
section, should also include the shear forces as additional dependent variables (see [9]). However,
imposing the orthogonality condition (see [9]), the shear force field is eliminated from the final form of
variational equations, and one need not consider its interpolation.
x = ~, N,(r, s)x,,
I=1
(3.9)
M2ti~
199
1112
\.7 ....
0~
,,
4i ~
,r"I
u,
.ci
where x = (xt; X2) t is the vector of the local coordinates, x I are nodal values of that vector, and Nl(r, s)
are standard bilinear shape functions (e.g. see [13])
1
Nt(r,s)=~(l+r#r)(l+sls
),
I=1 .....
4.
(3.10)
(3.11)
for the discrete approximation of the rotation field in terms of nodal rotations 0t and
w=
I=1
IjK
L=5
NL(r, s) y
njK(O~ -- Or)
(3.12)
for the hierarchical displacement interpolation, where l~r and n~r are, respectively, the length and the
outward unit normal vector for the plate element edge between the corner nodes J and K (see Fig. 2),
defined by
I j K = ( ( X K I - - X ~ I ) 2 "q-(XK2--Xj2)2) (112) ,
[ cOS OtJK]
(3.13)
J=L-4,
K=mod(L,4)+l.
(3.14)
NL(r,s)=~'(1--r2)(I
1
NL(r,s)=-~(1--s2)(l
+SLS ),
L=5,7,
(3.15)
+ rLr ),
L=6,8,
(3.16)
The displacement interpolation (3.12) can be rewritten as a more compact form of the interpolations
suggested in [4]
200
(3.17)
w = E Nt(r,s)wt + E filt(r,s)Ot,
/=1
/=l
where
(3.18)
filt(r,s)=NM(r,s)~ntts--NL(r,s)~-nttK,
with indices in (3.18) being defined as
I = 1 . . . . . 4, J = m o d ( l , 4 ) + l ,
K=l-l+4int(1/l),
L=K+4,
M=I+4.
(3.19)
[wg
K = ~ Bt(r,s)u,,
u,=
Oft
(3.20)
LO2tj
,:,
Bi(r,s)=
0
0
0
0
aNt(r,s)/ax-,
aNt(r,s)/ax ,
- aNt(r, s ) / a x l ]
0
(3.21)
-aNt(r,s)lax-,I
For the Timoshenko beam element hierarchical displacement interpolation, (2.8) and (2.13) are
sufficient to alleviate shear locking. However, if the plate element is constructed with a similar
hierarchical interpolation [4], the shear locking is still present. Some remedies to shear locking are the
use of adjusted parameters [4] or an explicit enforcement of the constant shear strain [15]. However,
the most robust method for alleviating the shear locking is by using assumed shear strain (see e.g.
[1,3]), which is also adopted in this work.
We choose a bilinear distribution for the assumed shear strain in the form
3,i]
(3.22 /
/=1
where nodal parameters ~'t are computed to be consistent with the constant shear strain distribution
along each edge. For a typical node I, we obtain
"Yt - ttHnlh"
nHw~: + ~H ntKws --
nw +
ntK wt
(3.23)
where indices are again defined by (3.19). The detailed derivation of this equation is given in Appendix
A. We note that the proposed shear strain interpolation (3.22) corresponds to the T1 plate element of
Hughes and Tezduyar [3]. For undistorted configuration this element performs very similarly to that
presented by Ibrahimbegovi6 and Wilson [15].
After applying constraint (3.23) for each edge, we obtain
r=~
4 /~t(r,s)ut,
,='
ut=
FWg
0it .
(3.24)
LO2tj
Having defined the matrix notation (3.20) and (3.24), the element stiffness matrix can be obtained
from (3.5) as
A. lbrahimbegovid,Quadrilateralfinite elements
KH=
~.O
Bl(r,s)CSBj(r,s)d12+
f,O
At
S^
l , J = l . . . . . 4.
201
(3.25)
By using the matrix notation (3.17), the load vector can be computed as
fi = fa, [Nt(r' s); 1tit(r,s)]tf d O ,
(3.26)
I = 1. . . . . 4.
We will denote the loading vector in (3.26) as consistent, although the consistency does not strictly
apply in computation of the assumed shear strain in (3.24) with displacements in (3.11) and (3.12). The
term consistent is used rather to be able to distinguish from the commonly used lumped loading
approximation, which is obtained from (3.26) when/~/~ is omitted.
Similarly, if dynamic analysis is performed, we would compute the mass matrix with
I, J = 1 . . . . . 4,
(3.27)
At= |Nt~,s,)r (r
L
Nt(r,s)= Nt(r,s) I
~rt(r,s)]
Nt(r, s)J '
(3.28)
[]
l=1
(3.29)
L =5
where AOjr are hierarchical rotations, edge degrees of freedom, for the element edge between corner
nodes J and K, while Nt(r, s), I = 1 . . . . . 4, are bilinear and NL(r, s), L = 5 . . . . . 8, are serendipity
shape functions given by (3.10), (3.15) and (3.16). A unique unit normal vector njr must be selected
for each side between corner nodes J and K, so that AOjKis properly shared between adjacent elements.
The displacement interpolation is
4
8
IJr t
s
l~r
w= ~ Nt(r,s)wt + ~, NL(r,s)-~-njr(~--Or)+ ~ ML(r's) o A O ~ r '
/=1
where
L=5
ML(r,s ) = ~ ( I +sLs)r(1-r2),
1
ML(r,s)=~-(l+rLr)s(1--s2),
L=5
(3.30)
L=5,7,
(3.31)
L=6,8.
(3.32)
The indices in (3.29) and (3.30) are again determined by expressions in (3.14).
The assumed shear strain interpolation again has the bilinear form (3.22) and the nodal shear
interpolation parameters are given by
r, =
where y~' are given by (3.23). The indices in (3.33) are defined by (3.19).
(3.33)
202
Having defined the preceding interpolation schemes for the cubic element, the stiffness matrix, the
consistent mass matrix and the consistent load vector can be obtained in the same manner as for the
quadratic element. See (3.25), (3.26) and (3.27). In this case, however, the total number of element
degrees of freedom is increased by four mid-side hierarchical rotations.
3.3. Discrete Kirchhoff plate element
In this section, we give a new derivation for the well-known discrete Kirchhoff plate element [10].
First we consider the Timoshenko beam element with cubic displacement interpolation (2.13) and
quadratic interpolation (2.9) for the independent rotation field. If we impose that the shear strain in
(2.12) must be equal to zero, we obtain a condition for evaluating the hierarchical rotation,
3
(3.34)
Imposing the same constraint of vanishing shear strain along every side of the plate element, for a
typical element side between corner nodes J and K, we obtain
3 (w~
AOj~ = 2IjK
--
wj)- 3
-~n~K(Oj+OK).
(3.35)
Utilizing (3.35) to eliminate mid-side hierarchical rotations in the Reissner-Mindlin plate element,
from (3.29) we obtain a new interpolation for the rotation field
L=5
(3.36)
with indices in (3.36) varying according to (3.14). Note that in (3.36), Nl(r,s ), I = 1 . . . . . . 4, are
bilinear and NL(r, s), L = 5 . . . . . 8, are serendipity shape functions defined by (3.10), (3.15) and (3.16),
which give an 8-node serendipity element interpolation, but written in hierarchical form. The
expression for the rotation field interpolation of Batoz and Tahar [10] is recovered, if one uses the
classical form of the shape functions in the 8-node serendipity element (see [13]). Therefore, the
interpolation for the rotation field (3.36) is precisely the one for the discrete Kirchhoff plate element.
This expression can be used [16] to derive a unified formulation for both triangular and quadrilateral
discrete Kirchhoff plate elements. The triangular discrete Kirchhoff plate element [17] is recovered by
simply degenerating the quadrilateral.
Similarly, we can use the constraint (3.35) to eliminate mid-side rotations in the displacement
interpolation (3.30) of the Reissner-Mindlin plate element and obtain a consistent displacement
interpolation for the discrete Kirchhoff plate element
4
Ij K
+ ~. ML(r,s)
L=5
L=5
(WK--Wj)----~--njK(Oj+OK)
(3.37)
where ML(r , s), L = 5 . . . . . 8, are hierarchical cubic shape functions defined by (3.31) and (3.32).
The interpolations for the displacement (3.37) and the rotations (3.36) can be used in computing the
consistent loading and consistent mass matrix for the discrete Kirchhoff plate element, in the same way
as defined in (3.26) and (3.27).
Note that the chosen displacement and rotations interpolations yield vanishing shear strain along
every element side. Thus, following the procedure presented in Appendix A, we obtain the assumed
shear strain interpolation with all the nodal shear interpolation parameters "/i equal to zero, and the
contribution of the shear strain to the element stiffness matrix in (3.25) drops out. Therefore, the
203
discrete Kirchhoff plate element fits in a consistent way within a more general framework of
Reissner-Mindlin plate elements discussed above.
4. Numerical examples
Several numerical examples are solved with both elements presented. The plate element with
quadratic displacement interpolation is denoted PQ2 and the element with cubic displacement
interpolation is denoted PQ3. We have solved the problems for both thick and thin plates to
demonstrate that the presented elements do not exhibit shear locking. All computations are performed
using the computer program FELINA [18] on a VAX11/780 under the VMS operating system.
It is important to note that 2 x 2 Gaussian quadrature is used on both elements in all the
computations we performed.
%
HS: w=O,O. = 0
II.q"
O~ :01 = 0
H,'
204
Table 1
Uniform loading on a thin square plate
PQ2
Element
Mesh / load
PQ3
Lumped
Consistent
Lumped
Center displacement
1x 1
22
4x4
88
16 x 16
31915
39712
40436
40593
40631
53172
43835
41411
40834
40692
37874
40478
40621
40640
40643
"Exact' Thick
'Exact' Thin
40644
40623
40644
40623
DKQ
Consistent
Lumped
Consistent
56393
44481
41590
40880
40703
37847
40456
40600
40619
40622
56366
44459
41569
40859
40682
40644
40623
40644
40623
40644
40623
40644
40623
5.527
5.153
4.877
4.810
4.794
6.031
5.010
4.839
4.801
4.792
6.994
5.342
4.923
4.822
4.797
6.031
5.010
4.839
4.801
4.792
6.994
5.342
4.923
4.822
4.797
4.793
4.793
4.793
4.793
4.793
4.793
Energy
1x 1
2x2
44
8x8
16 16
99732
182118
205026
210948
212440
276887
227711
216461
213807
213516
118356
187798
206564
211340
212539
282322
232288
217923
214195
213254
118273
187684
206441
211215
212414
282239
232174
217800
214070
213128
'Exact" Thick
'Exact' Thin
212939
212814
212939
212814
212939
212814
212939
212814
212939
212814
212939
212814
205
Table 2
Uniform loading on a thick square plate
PQ2
Element
Mesh / load
PQ3
DKQ
Lumped
Consistent
Lumped
Consistent
Lumped
Consistent
Center displacement
1x 1
2x 2
44
8x8
16 x 16
34.566
41.902
42.545
42.684
42.717
55.825
46.025
43.521
42.924
42.777
42.526
42.675
42.731
42.730
42.729
59.044
46.678
43.701
42.970
42.789
37.847
40.456
40.600
40.619
40.622
56.366
44.459
41.569
40.859
40.682
"Exact'
42.728
42.728
42.728
42.728
42.728
42.728
5.527
5.153
4.877
4.810
4.794
6.031
5.010
4.839
4.801
4.792
6.994
5.342
4.923
4.822
4.797
6.031
5.010
4.839
4.801
4.792
6.994
5.342
4.923
4.822
4.797
'Exact"
4.793
4.793
4.793
4.793
4.793
4.793
Energy
1 1
2x2
44
8x 8
16 16
108.020
193.429
217.166
223.302
224.849
285~174
239,023
228.601
226,161
225.564
126.643
199.104
218.703
223.694
224.947
290.609
243.594
230.062
226.549
225.662
118.273
187.684
206.441
211.215
212.414
282.239
232.174
217.800
214.070
213.128
'Exact"
225.365
225.365
225.365
225.365
225.365
225.365
Table 3
Point load on a thin square plate
Mesh / element
PQ2
PQ3
DK Q
Center displacement
1x 1
2x2
4x4
8x 8
16 x 16
1277
1152
1156
1160
1162
1515
1271
1195
1172
1165
1514
1269
1194
1170
1163
'Exact'
1160
1160
1160
206
.q'.k'
a
PQ2
DKQ
Center displacement
2x2
4x4
8x 8
16 x 16
0.02780
0.03918
0.03899
0.04187
0.04627
0.04271
0.03971
0.04206
0.20804
0.08303
0.05533
0.04835
'Exact'
0.04455
0.04455
0.04455
Mesh / element
modulus E = 10 x 106, Poisson's ratio v = 0.3, plate side a = 100 and plate thickness t = 1. The solution
for the center displacement under unit uniform load q = 1, obtained by Morley, is used for comparison
with numerical results. The numerical results are obtained using the plate element PQ2 and consistent
loading. They are also compared to the results obtained by using the T1 plate elements [3] and DKQ
element [10], which both use what we call lumped loading.
We observe in Table 4 that the element PQ2 gives consistently better results than the T1 element,
and that the consistent loading again is beneficial for accuracy. The accuracy of DKQ element is
significantly deteriorated.
S~,'
('t.
('t
It
207
Table 5
Uniform loading on a circular plate
No. elements
Clampedsupport
Simple support
3
12
48
192
10.553
11.367
11.505
11.536
43.776
42.201
41.750
41.634
'Exact'
11.55
41.60
5. Closing remarks
We have presented two plate elements which are versatile in the analysis of both thick and thin
plates. Both elements employ higher order non-conventional displacement interpolations and assumed
shear strain field, which prevent the occurrence of locking phenomena and render quite satisfactory
element performance.
It is shown that using the higher order displacement interpolations in computing the element load
vector, an enhanced rate of convergence can be obtained with respect to commonly used lumped
loading approximation.
Despite being somewhat non-conventional, all interpolations can be presented in an explicit form
well-suitable for implementation in a computer code.
We have also demonstrated how the well-known discrete Kirchhoff plate element fits in a consistent
way within the proposed framework. Moreover, one of the presented elements, PQ3, has provided a
starting point in the development of the thick-plate counterpart to the D K Q plate element (see [22]).
In this work, we have considered linear elastic problems only. However, since all interpolations are
explicitly defined, the extension to materially nonlinear analysis turns out to be straightforward (see
[23]).
Acknowledgment
This work was supported by the Swiss National Science Foundation, Grant No. 21-28942.90. The
help of Mr. B. Rebora in performing the numerical computations is appreciated.
1
1
3',, = ~ (w~ - w,) - -~ ntH(oj + 0,),
(A.1)
while the shear strain along edge IK, Y,,h.' is the constant equal to
r,,K =
(w, - wK) -
n',K(0, + OK).
(A.2)
We next impose that the projection of the shear interpolation nodal parameter ~/t on the edges H and
I K be equal, respectively, to ytH and ytl~, i.e.
t',,r, =
(A.3)
208
and
t'tK'/t = T,, K ,
(A.4)
1
Yl - ttijnth. (ntKT,,j - nljY,,,.) .
(A.5)
(A.6)
w h e r e ",/,,j d e n o t e s the c o n s t a n t h e a r s t r a i n f r o m ( A . 1 ) , a n d
2
Yt,h = Y ,]h - 3 AOth '
(A.7)
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