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5.1 Introduction
The problem of stress distribution in bodies of revolution (axisymmetric solids) under axisymmetric loading is of considerable practical interest. The mathematical problems presented are very similar to those of plane stress and plane strain as, once again, the situation is two dimensional.1,2 By symmetry, the two components of displacements in any plane section of the body along its axis of symmetry define completely the state of strain and, therefore, the state of stress. Such a cross-section is shown in Fig. 5.1. If r and z denote respectively the radial and axial coordinates of a point, with u and u being the corresponding displacements, it can readily be seen that precisely the same displacement functions as those used in Chapter 4 can be used to define the displacements within the triangular element i,j , m shown. The volume of material associated with an element is now that of a body of revolution indicated in Fig. 5.1, and all integrations have to be referred to this. The triangular element is again used mainly for illustrative purposes, the principles developed being completely general. In plane stress or strain problems it was shown that internal work was associated with three strain components in the coordinate plane, the stress component normal to this plane not being involved due to zero values of either the stress or the strain. In the axisymmetrical situation any radial displacement automatically induces a strain in the circumferentialdirection, and as the stresses in this direction are certainly non-zero, this fourth component of strain and of the associated stress has to be considered. Here lies the essential difference in the treatment of the axisymmetric situation. The reader will find the algebra involved in this chapter somewhat more tedious than that in the previous one but, essentially, identical operations are once again involved, following the general formulation of Chapter 2.
Element characteristics 1 13
ai={;}
and the element displacements by the vector
ae =
ai aj am
,
etc.
(5.1)
Obviously, as in Sec. 4.2.1, a linear polynomial can be used to define uniquely the displacements within the element. As the algebra involved is identical to that of Chapter 4 it will not be repeated here. The displacement field is now given again by Eq. (4.7):
u=
with
{ :}
= [IN,,INj, INm]ae
(5.3)
N.=
ai bir
+ + c,z ,
bi = zj - Z ,
ci = r, - rj
(5.4)
etc., in cyclic order. Once again A is the area of the element triangle.
su
Using the displacement functions defined by Eqs (5.3) and (5.4) we have E = Ba' = [Bi,B,, Bm]ae
in which
B.=
Fig. 5.2 Strains and stresses involved in the analysis of axisymmetric solids.
Element characteristics 1 15
With the B matrix now involving the coordinates r and z , the strains are no longer constant within an element as in the plane stress or strain case. This strain variation is due to the EO term. If the imposed nodal displacements are such that u is proportional to r then indeed the strains will all be constant. In addition, constant E, and -yrr strains may be deduced from a linear displacement. This is the only state of displacement coincident with a constant strain condition and it is clear that the displacement function satisfies the basic criterion of Chapter 2.
Eo =
(5.7)
Trio
Although this can, in general, be variable within the element, it will be convenient to take the initial strain as constant there. The most frequently encountered case of initial strain will be that due to thermal expansion. For an isotropic material we shall have then
where 8 is the average temperature rise in an element and a is the coefficient of thermal expansion. The general case of anisotropy need not be considered since axial symmetry would be impossible to achieve under such circumstances. A case of some interest in practice is that of a stratified material, similar to the one discussed in Chapter 4,in which the plane of isotropy is normal to the axis of symmetry (Fig. 5.3). Here, two different expansion coefficients are possible: one in the axial direction a, and another in the plane normal to it, ar. Now the initial thermal strain becomes
Practical cases of such stratified anisotropy often arise in laminated or fibreglass construction of machine components.
( r
{ ".)
Trz
= D(E- E ~ )
+ (ro
needs now to be derived. The anisotropic 'stratified' material will be considered first, as the isotropic case can be simply presented as a special form.
Or =-----" 2 0 2
v100
& = - - + - -v2ar -
az
u20R
El El
E2
vlur
El
"202
E2
E2
E2
E#=----
+2
El
(5.10)
E2
Ti-z
=-
Ti,
G2
Element characteristics 1 17
Writing again
D,!!?
Isotropic material
n(vl
(5.11)
sym .
For an isotropic material we can obtain the D matrix by taking El=E2=E or n=l and VI = v = v 2 and using the well-known relationship between isotropic elastic constants
G2 _ -_ = m = -
1 2( 1
+ v)
(5.12)
1 - v, v, v, v, 1 - v, v, v, 1-v,
6:
0,
0,
0 ( 1 - 2v)/2
KG = 27r BTDBjr dr dz
with B given by Eq. (5.6) and D by either Eq. (5.1 1) or Eq. (5.12), depending on the material. The integration cannot now be performed as simply as was the case in the plane stress problem because the B matrix depends on the coordinates. Two possibilities exist: the first is that of numerical integration and the second of an explicit multiplication and term-by-term integration. The simplest numerical integration procedure is to evaluate all quantities for a centroidal point ri + r j +r, z zj z , i r= and ?= 3 3
(5.13)
+ +
with A being the triangle area and B the value of the strain-displacement matrix at the centroidal point. More elaborate numerical integration schemes could be used by evaluating the integrand at several points of the triangle. Such methods will be discussed in detail in Chapter 9. However, it can be shown that if the numerical integration is of such an order that the volume of the element is exactly determined by it, then in the limit of subdivision, the solution will converge to the exact a n ~ w e rThe one point inte.~ gration suggested here is of this type, as it is well known that the volume of a body of revolution is given exactly by the product of the area and the path swept around by its centroid. With the simple triangular element used here a fairly fine subdivision is in any case needed for accuracy and most practical programs use the simple approximation which, surprisingly perhaps, is in fact usually superior to exact integration (see Chapter lo). One reason for this is the occurrence of logarithmic terms in the exact formulation. These involve ratios of the type ri/rm and, when the element is at a large distance from the axis, such terms tend to unity and evaluation of the logarithm is inaccurate.
BTDEordr dz
(5.15)
Element characteristics 1 19
or noting that
is constant,
fp = -2II( [BTrdrdz)D&o
(5.16)
The integration should be performed in a similar manner to that used in the determination of the stiffness. It will readily be seen that, again, an approximate expression using a centroidal value is
fp = -27rBTD&oFA
(5.17)
{ i:}
::}rdrdr
(5.18)
per unit volume of material in the directions of r and z respectively. By the general equation (2.13) we have
fp
-2n[IN,(
(5.19)
Using a coordinate shift similar to that of Sec. 4.2.7 it is easy to show that the first approximation, if the body forces are constant, results in (5.20) Although this is not exact the error term will be found to decrease with reduction of element size and, as it is also self-balancing, it will not introduce inaccuracies. Indeed, as will be shown in Chapter 10, the convergence rate is maintained. If the body forces are given by a potential similar to that defined in Sec. 4.2.8, Le., (5.21) and if this potential is defined linearly by its nodal values, an expression equivalent to Eq. (4.42) can again be determined. In many problems the body forces vary proportionately to r. For example in rotating machinery we have centrifugal forces
b, = w2 pr
(5.22)
Fig. 5.4 Stresses in a sphere subject to an internal pressure (Poissons ratio v = 0.3: (a) triangular mesh - centroidal values; (b) triangular mesh - nodal averages; (c) quadrilateral mesh obtained by averaging adjacent triangles.
= DBae -
DE^ + oo
(5.23)
It will be found that a certain amount of oscillation of stress values between elements occurs and better approximation can be achieved by averaging nodal stresses or recovery procedures of Chapter 14.
--
--
__
--
Fig. 5.5 Displacements of internal and external surfaces of sphere under loading of Fig. 5.4.
Fig. 5.6 Sphere subject to steady-state heat flow (100 "C internal temperature, 0C external temperature): (a) temperature and stress variation on radial section; (b) 'quadrilateral' averages.
Fig. 5.7 A reactor pressure vessel. (a) 'Quadrilateral' mesh used in analysis; this was generated automatically by a computer. (b) Stresses due to a uniform internal pressure (automatic computer plot). Solution based on quadrilateral averages. (Poisson's ratio v = 0.15).
In Fig. 5.6 thermal stresses in the same sphere are computed for the steady-state temperature variation shown. Again, excellent accuracy is demonstrated by comparison with the exact solution.
Fig. 5.8 A reactor pressure vessel. Thermal stresses due to steady-state heat conduction. Contours of major principal stress in pounds per square inch. (interior temperature 400 "C, exterior temperature 0 "C, a = 5 x 10-6/"C.E=2.58x 1061b/in2, v=O.15).
the plane strain formulation becomes available from the axisymmetric plane strain directly. Plane stress conditions can similarly be incorporated, requiring in addition substitution of the axisymmetric D matrix by Eqs (4.13) or (4.19) augmented by an appropriate zero row and column. Thus, at the cost of additional storage of the fourth stress and strain component, all the cases discussed can be incorporated in a single format.
Fig. 5.9 (a) A pile in stratified soil. Irregular mesh and data for the problem. (b) A pile in stratified soil. Plot of vertical stresses on horizontal sections. Solution also plotted for Boussinesq problem obtained by making E, = E2 = EP,l,, and this is compared with exact values.
References
1. R.W. Clough. Chapter 7 of Stress Analysis (eds O.C. Zienkiewicz and G.S. Holister), Wiley, 1965. 2. R.W. Clough and Y.R. Rashid. Finite element analysis of axi-symmetric solids. Proc. ASCE, 91, EM.l, 71, 1965. 3. S. Timoshenko and J.N. Goodier. Theory of Elasticity. 2nd ed., McGraw-Hill, 1951. 4. B.M. Irons. Comment on Stiffness matrices for section element by I.R. Raju and A.K. Rao. JAZAA, 7, 156-7, 1969. 5. E.L. Wilson. Structural analysis of axisymmetric solids. JAZAA, 3, 2269-74, 1965. 6. O.C. Zienkiewicz. The Finite Element Method. 3rd ed., McGraw-Hill, 1977.