AN EXPLICIT FINITE DIFFERENCE APPROACH FOR

THE MINDLIN PLATE ANALYSIS

ABDOLREZA ASSADI-LAMOUKI and TIWJDOR KRAUMAMMER
Department of Civil and Mineral Engineering, University of Minnesota, hiinneapolis, MN 55455, U.S.A.

(Received 15 January 1988)

Matract-An explicit finite dEerena method for the analysis of plates subjected to dynamic loads is
presented. The theoretical approach is based on the Mindlin plate theory which includes the effects of
shear deformation and rotatory inertia. Such a tool will enable the analyst to study plate vibration when
higher response modes are to be considered. A stability criterion for the numerical approach is given, the
method is then illustrated by an example, and a comparison to the classical plate theory is presented.

NOTATION under severe loadings, as described by several

length of the plate researchers[4-7j. When a structure is modeled as a
width of the plate plate under a severe dynamic load, a twofold problem
phase velocity of the wave arises. First, shear deformations become important
compression wave velocity of the plate
shear wave velocity of the plate
since the issue of direct shear may be one possible
W/12(1 -$) failure mechanism [8,9]. Secondly, the classical plate
E Youngs modulus of elasticity theory for flexural vibration of plates becomes an
shear modulus of elasticity inadequate approach when higher modes are to be
h plate thickness
considered since under transverse impulsive loads,
K shear deformation coefficient
Mxx1Myp1Mxy plate moments the propagation velocity of the disturbance ap
0 truncation error proaches infinity as its wavelength approaches
P forcing function zero [IO]. Thus, a second order theory is required,
pick pressure such as the so-called Mindlin plate theory that was
EL?! plate shear forces
I time shown to be a powerful tool for addressing the issue
T period of oscillation of plate vibration under such conditions [l 11.
Y displacement in the x direction The importance of the Mindlin plate theory will
11 displacement in the y direction require formulation of numerical techniques which
V wave group velocity
enable the engineers to achieve relatively accurate
displacement in the z direction
LF average displacement in the z direction solutions to such problems, since closed form solu-
(1 - 4)/2(l -II) tions to many physical problems are not always
rotation of the normal lo the undeformed possible, especially when complicated boundary
middle surface in the x and y directions, conditions, complex loadings and material non-
respectively
normal strains linearities are to be considered. Although finite ele-
shear strains ment formulations exist for the linear-elastic Mindlin
no-1 stresses plate [12-141, here the formulation is in a finite
shear stresses difference scheme which seems lo be more suitable for
wave length
complicated boundary conditions and material non-
P Poissons ratio
P mass density linearities. For that purpose a brief outline of the
C_,.C,.C2 intermediate value of x between nodes Mindlin plate theory is presented next.
A,, Ay. A, mesh sizes

MRODUCITON
Current analysis and design procedures of structural
systems, especially for reinforced concrete slabs, that
are employed in the U.S.A., Europe, Japan, Austra-
lia, and New Zealand are concerned with problems
related to the effect of shear on structural per-
formances, as presented in several publications [l-3].
An important and critical issue in structural vibration
corresponds to special cases where the structures
are expected to perform in the dynamic domain,
BACKGROUND
The effect of both shear deformation and rotatory
inertia was first applied to the bending of elastic
beams by Timoshenko [IS]. Later, the effect of shear
deformation on the bending of elastic plates was
introduced and formulated by Reissner [16] in the
static domain. It was Mindlin [I I] who extended the
Timoshenko theory into two-dimensional space and
deduced the new theory from the three-dimensional
theory of elasticity. The Mindlin theory can be
applied for sharp transients or for frequencies of
488 ABDOLREZAAsua~-L~~ovra and THEODOR
Iou~r+rart

modes of vibration of higher order, and it does not and the transverse shear strains are assumed to be
have the limitations of the classical plate theory. constant through the thickness
The basic assumption in the Mindlin plate theory
is that particles of the plate that were originally on a
Iine normal to the ~defo~~ middle surface will
remain on a straight line during deformation, but
that this line may not remain normal to the middle Following the Mindlin approach, the state of stress
surface [l 1,12,1Tj. With this assumption, the dis- in the plate corresponds to a plane stress condition,
placement ~mponents for the plate element in and is given as
Fig. 1 are given as follows [l4]:

u = -zB&*y, t) 04

c = -t&(x, y, t) (lb)

w = W(x,y, t), Oc)

where /.I, and /IJ are the rotations of the normal to the
undeformed middle surface in the x-r and y-z
planes, respectively, and are defined to be [13]:

where E = Youngs modulus of elasticity,

~1= Poissons ratio, G = shear modulus and K is a
factor introduced to account for the error stemming
from the fact that T,, and 7x; were assumed to be
yzX,yn = shear angles of the cross section in the x and
constant over the cross section. This coefficient de-
y directions, respectively. W = vertical displacement
pends on the distribution of the shear stress over the
of the midplane and W = average value of vertical
cross section, and hence on the shape of the member.
displacement.
Also, the shear stress distribution depends on the
In the Kirchhoff plate theory j?, - 8 Wj?x, and
mode shape, thus on the frequency of the vibration.
/?, = CWjdy, which means that the shear defor-
Since Mindlins approach is a second order theory, it
mations were excluded, while in the Mindlin plate
can predict two modes of vibration, a flexural-shear
theory, W, j,, and fi, are independent. A further
mode and a thickness-shear mode. The classical plate
assumption is that the strains L,,, cjJ, and y,, vary
theory is only concerned with the former, but not
linearly through the thickness
with the latter issue. Therefore, in order to achieve
accurate results, the value of K should be chosen from
two equations with respect to relative importance of
flexural- or thickness-shear modes. Mindlin showed
that the circular frequency of the first antisymmetric
mode of thickness-shear vibration could provide
good results, and his results for straight-crested
waves agreed well with previous studies[ll]. In this
case, the two equations are given as follows:

K = n2/l 2 (thickness-shear) (7a)

and
4&l - zK)fl - K)).= (2 -x)2

0 < K < 1 (flexure-shear), (7b)

where

Equation (7a) has been derived by equating the

frequency obtained based on the Mindlin plate theory
dx by dy to the frequency of the first thickness-shear mode
Fig. 1. Free body diagram. according to the theory of elasticity.
 Milidlin plate anaiysit
Performing integration over the cross section of the
plate, these stress components can be converted to the
plate-stress components
h2
(%a Tpvr) dz. Cdi9b)
(Qx.Q,)=
5- k!2
Utilizing eqns (5) and (a), one can obtain the
following:
where h = plate thickness. Note that a~~f~x, a~,l~~
and @I,& + a/I,,j&xare the x, y, and twisting curva-
tures respectively.
EQUATIONS OF MOTTON
Conside~ng the free body diagram of Fig. 1, and
applying the dynamic equi~ib~um in the Ldirection
and x and y rotations, one can obtain
(124
where p = mass density of the material and
P = forcing function normal to the plane of the plate.
Note that the right hand side of eqns (12a) and (12b)
show the effect of rotatory inertia and were obtained
through application of eqns (la) and (lb).
Xere, diversions from classical methods of solution
have been made. Instead of obtaining equations of
motion dependent upon the plate displacement com-
ponents IV, fl,, & only or dependent on a single
variable W,an effort has been made to solve eqn (12)
directly. This has two advantages. First, while the
derivative with respect to time still remains as a
second order, the highest geometrical derivative, with
respect to x and y, is only a first order. Thus, a higher
489
order approximation can be utilized easily to obtain
more accurate forward or backward finite differences.
Consequently, derivatives of moments and shear at
the sundaes can be found by difference formu-
lation dependent on the nodes on the boundary and
inside the plate, and do not require consideration of
imaginary nodes outside the plate. In this manner,
complicated boundary conditions, such as elastic,
elasto-plastic and non-linear supports, can be han-
dled easily. Secondly, non-linear material behavior
could also be considered since these equations are
independent of material constitutive laws.
FINITE DIFFERENCE FORMULATION
Finite difference and finite dement methods are
two widely used numerical techniques in plate prob-
lems and continue to gain more popularity due to
innovations in computer technology and devel-
opment of calculated algorithms. Researchers, while
many may disagree, have indicated that the difference
between the two c&d be in name only since sets of
equations resulting from particular problems are
essentially identical [18]. In this paper, the finite
difference approach has been used to provide a
solution scheme for this case, and the formulations
are presented next.
The method is based on expressing the derivatives
of a particular function in terms of differences of that
function at different nodes or different time steps,
when differentiations with respect to time are needed.
All errors introduced due to this approximation are
called truncation errors, and in this paper are
signified by the notation 0.
The following paragraph describes the devel-
opment of a second order difference formula for the
derivative of a function H= W(X,J; I) with respect to
x; the derivative with respect to y and I will follow
the same procedure.
Consider the Taylor series expansion for
H(X+ Ax, 1.r), H(X-Ax, J; t), and )t(x + 26x, y, t)
about (x, y, I)
w(x + AX,y, t) = W(X,_r,t) + Ax
aw,cxY, 1)
+ (Ax)*~*H.(x,Y,
f) + WI3 a3dit ,Y, t)
(13)
2 i.X2 6 2x3
w(x - Ax, y, t) = +, Y. 1) - Axah,ax Y, 1)
+(Ax)~*~(x,y,r) -- (Ax)~~~~(~_~,~,~) (14)
2 3X' 6 ax'
~(~+2Ax),y,t)=~(x,y,r)+2A.~
aw, Y, f)
ax
d%(X,.,; t) 4
+Z(Ax)? + +Ax)
&2
490 ABDOLREZAASSADI-LAMOUKI
and MODOR KRAU~HAHMER

where
l$<x,Y, t + At)
= Wyk Y, 1) - t&9 Y, 1)
Subtracting eqn (14) from eqn (13). removing
-- WAt)* w,(x,Y, r) + EM,.(x,y, 1)
terms and dividing by 26x, one obtains the following
ph ax 6
second order central difference:

wx, y,1) =& - Q,.kY. 1) Gob)

[w(x +Ax,y, 1) 1
ax
- 4x -A-&Y, r)l, (16) W(x,y, t +At)

with a truncation error O[(Ax)*] depending on the ==2W(x,y,r)- W(x,y,t)

third derivative of w as discussed in [19,20]. Now,
+ (AY j2 aQxk Y, t 1 + aQ,.(x, ): t)
subtracting eqn (15) from four times eqn (13), re-
moving terms and dividing by 2Ax, the second order ph ax a)
forward difference is obtained
+ W,Y, 1) (2Oc)
1
ah Y, 1)
=A [-3w(x,y, t)
ax The explicit form appears as one can now find jX, /I,.,
+4~(x+Ax,y,t)-~(x+2Ax,y,t)], (17) and W in a typical node (x, y) at time t + At from
known quantities at the right hand side since they
again with a truncation error of second order. belong to the preceding times t and I - At. Therefore,
To obtain a backward difference, Ax is replaced by a progression through time is performed: from
-AX, and therefore known quantities at times t and t - At the variables
at time t + At are calculated.
aa, I, 1) To replace the moment and shear derivatives inside
= & [w.(x - 2As, J, t)
dX eqn (20) and eqns (16)-(18) are applied as follows.
-~w(.T - AX. J. t) + 3w(x, y, t)]. (18) Equation (16) is applied for all the nodal points
inside the plate. However, at the boundaries, eqns
(17) and (18) should be used as appropriate. For
EXPLICIT FORMCLATION FOR THE MINDLIN PLATE
instance, at the left boundary, eqn (17) will ensure
The equations of motion, eqns (12) are replaced by that the derivatives are found based on differences of
finite difference formulations, eqns (16)-(18), as the function at the nodal points inside and not
follows. outisde the plate; and therefore, any boundary condi-
Upon application of eqn (16) twice with the tions can be handled easily. As an example, consider
modification that half the central expansion with a point inside the plate, then
Ax = 1,2Aris used, one would arrive at the following:
dM,(x, y, t )
cx
= & (M,(x + Ax, Y> 1)

-MAX - Ax,y, I)], (21)

+ /U-Y,r, r - At)1 (1%)
while at the left boundary, one should use eqn (17)
P/3, I as follows:
:=o:[B(r.~,r+A~)-28(x.?,r)
Ct
dM(.Y, ). 1)
+fl,k?..f -AI)] (19b) =&3M(x.y.r)
2.X
a2w 1 +4M(x+Ax,y,t)-M(x+2Ax,y,r)].
-Y=~[W(.Y,.L~ +Ar)-ZCt(x,y,t)
St
The most important advantage of the explicit finite
+ W(x,j. I - At)]. (19~)
difference technique over the implicit finite difference
formulation is that matrices are never formed and
Substituting eqn (19) into eqn (12) and removing
therefore memory requirements are always at a min-
terms, one should be able to obtain
imum. Another advantage is the fact that in the
Bx(x, Y. t + At) explicit formulation non-linear constitutive laws are
always followed in the current physical ways with
= 2&(x, y, t) - &(x, J, t - At) no additional computational efforts [ 18). A similar
12(A1)~ ?M,(x,.r, t) + ?M,,(x.y. t) conclusion can be reached when this approach is
-ph
l3.Y 2) compared to the implicit finite element method. Fur-
thermore, no additional computation is required for
- Qx(x. I, I 1 Wa) representing special boundary conditions, while in
1
 Mindlinplate analysis
the finite element method additional elements (and
therefore, additional computational efforts) are re-
quired to model the support conditions (linear or
non-linear).
SOLCTION PROCESS
(1) Knowing the initial and boundary conditions,
apply difference formulations of equations of mo-
tions, for example cqn (20); find new values for fl,,
/I, and w.
(2) The new values of jI,, &, and w can be
~bstitut~ into difference formulations of qns (10)
and (I 1) so that new values of moments and shears
for inside nodes are obtained. At the boundaries,
values of moment and shear are obtained through
boundary conditions, as follows:
where /i and g, define the boundary conditions at
the support i (these functions could be linear or
non-linear).
(3) Next, find new values of &, &, and w from the
equations of motion, eqn (20).
(4) Go to Step 2 and repeat the process.
STABILITYCRITERIA
Consider the difference fo~uiation of eqn (i0d)
for an inside node at time t
= _ D k&x + Ax,I, t )- &fx - Ax, 2.I)
2Ax
The above equation is not valid if long times are
considered. This is because over a long period of
time, the new moment will cause the two B,s and &s
on the right hand side to change. Therefore, in order
to utilize the explicit method, the time step should be
small enough so that this inter-dependence can be
ignored. This is possible only if the information (e.g.
disturbances) cannot travel from one node to another
within one time step. In other words. the fastest
disturbance should not reach from one node to
another within the time step At, or by mathematical
formulation we should have
At
and At cy.
InBX
where V,, = highest speed of disturbance propaga-
tion.
491
Now consider qn (1 i a)
The transverse shear strain, &/8x -b,, is as-
sumed to be constant throughout the thickness. /I,,
independent from &*/&c, is the rotation of the nodal
point and will be altered upon reflection of the waves
from the boundaries (top and bottom surfaces). In
other words, the thickness-shear wave should not be
allowed to travel the thickness of the plate within one
time step-this has been ignored in the classical plate
theory. Therefore
At <Til_.
mui
WAVE PROPAGATIONTHROUGH THE PLATE
If a wave of the type
2x
w =cos- I, (x - ct),
where ii is the wave length and c is the phase velocity,
is substituted into the free vibration of a Mindlin
plate, the following dispersion equation for the
velocity c is obtained [I 11:
~(~~(I-$)($- lJ= 1, (24)
where
There are two roots corresponding to the above
equation; one is the phase velocity of the
flexural-shear wave (smaller root) and the other is the
phase velocity of the thickness-shear wave. Therefore
there are two branches of curves corresponding to the
first and second modes [lo, 21,221. Here, we re-
produce from [21] such a graph for p = 0.5 as shown
in Fig. 2.
The dispersive behavior (i.e. dependence of c on ;I)
is due to reflection of waves from the boundaries. As
a matter of fact, the dispersion in an elastic medium
is an interface phenomenon and not a function of the
material property [IO].
Although the second mode (thickness-shear) veloc-
ity (phase velocity) approaches infinity for very. long
waves, the group velocity does not and is actually
bounded by the dilational wave speed [lo]. This is due
to the fact that energy and disturbances travel with
(22)
the group velocity and not the phase velocity, and the
greatest possible group velocity is indeed the di-
lational wave velocity [IO,231.The greatest limitation
of the classical plate theory in modeling transient
492 ABDOLREZA
ASSADI-- and T&ODORKRAWMER

C/C,

Tl----l
6.0
.,8,--/

1p
-
3.0
P

4.0

ii
8lMPLY-suPPoRTw
ALLAROUND
3.0

0.5 W)
(b)
4
2.0

1.0
a.6oim. P*.uJpri
b.4oh. l,,.O.O$SSC
II. lh.

0
0 10 E.3OXdpl
p- 0.25
h/k m * o.ocm3 ltmc~ln'

Fig. 2. Phase velocity curves for elastic waves in plates Fig. 3. Example of simply supported rectangular plate under
predicted by the Mindlin plate theory, 1st mode (flcxural- transverse triangular loading.
shear) and 2nd mode (thickness-shear).

responses is that not only the phase velocity but also
the group velocity approaches infinity when 1 ap
proaches zero, and this is not physically possible.
This issue can be explained from the fact that the
group velocity, U, can be obtained through the
following formula:
u=c-Lg./
If the group velocity curve is constructed by eqn
(25). it can be seen that it is indeed bounded by
dilational wave speed [lo].
We can conclude that V,,,,, in eqn (23) is
the dilational wave speed and is given by
Timoshenko (231 as
ported rectangular plate subjected to a uniformly
distributed triangular pressure pulse, as illustrated in
Fig. 3. A value of 0.8453 was used for K, as obtained
by eqn (7b), so that the response could be compared
to the one obtained by the classical method which is
only capable of addressing the flexure-shear mode.
The time step Al was set to 4 x low6 sec. by eqn (27).
Two different finite difference grid sizes, a 6 x 4
mesh and a 12 x 8 mesh, were used and the
deflections of the mid-point are plotted along with the
results obtained by the solution based on the classical
plate theory j24). It can be Seen that the results are in
very good agreement, as shown in Figs 4 and 5. A
difference of 0.1 in. (about 14.9%) is observed at the
peak displacement which is accounted for by an
additional shear deformation since

Yma =
\i( E(1 -P1)
(1 + P)(l - 2P)P>
(26) (bending angle), dx

Usually h < Ax and A,r. therefore the stability crite-

+ (shear angle),dx
rion is given as 5
h = w(classical plate)
At < (27)
E(l-/J) .
(1 + PHI - 2P)P> 4 (shear angle), dx. (28)
s
The computations performed by the authors agree
very welt with this criterion as is discussed in the The periods of oscillations also agree well since
following section.
T(Mindlin) = T(classica1)
NUMERICAL EXAMPLE x [ 1 + correction for shear and
rotatory inertia). (29)
The computational method described above was
employed to calculate the response of a simply sup- Obviously, a 12 x 8 mesh provides much better val-
 Mindlin plate analysis 493

Fig. 4. Deflection at mid-point. Classical solid-Mindlin dashed, 6 x 4 mesh.

Fig. 5. Deflection at mid-point. Classical solid-Mindlin dashed. 12 x 8 mesh.

ues than a 6 x 4 mesh due to the fact that truncation
errors are reduced by 75%. However, both graphs
indicate a discrepancy as time progresses, producing
cumulative errors. This is inherent in the approach
and is manifested in the explicit formulation since the
errors do indeed propagate through time and ac-
cumulate. This shortcoming can be reduced to an
acceptable level by utilizing finer difference grids and
thus reducing the truncation errors. Furthermore.
the errors become negligible
- - when short duration
dynamic loads are considered in the presence of
damping when the motion dies out rapidly.
short and severe dynamic loads, because the main
disadvantage of the explicit method, a small time
step, is compensated for by the small duration of the
loads. Also, problems related to shear effects can be
addressed more accurately.
AcknoH,ledgemenrs-The authors wish to express their ap-
preciation for the cooperation and advice of L. E. Goodman
on this study. A special word of thanks is also extended to
the secretaries of the Department of Civil and Mineral
Engineering at the University of Minnesota.
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CONCLUSIONS
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