Appendix A

Piezoelectric Constitutive Equations

A.1 Three-Dimensional Form of the Linear Piezoelectric Constitutive Equations

In general, poled piezoceramics (such as PZT-5A and PZT-5H) are transversely isotropic materials. To be in agreement with the IEEE Standard on Piezoelectricity [1], the plane of isotropy is dened here as the 12-plane (or the xy-plane). The piezoelectric material therefore exhibits symmetry about the 3-axis (or the z-axis), which is the poling axis of the material. The eld variables are the stress components (Ti j ), strain components ( Si j ), electric eld components ( E k ), and the electric displacement components ( Dk ). The standard form of the piezoelectric constitutive equations can be given in four different forms by taking either two of the four eld variables as the independent variables. Consider the tensorial representation of the strainelectric displacement form [1] where the independent variables are the stress components and the electric eld components (and the remaining terms are as dened in Section 1.4): Si j = siE jkl Tkl + dki j E k
T Di = dikl Tkl + ik Ek

(A.1) (A.2)

which is the preferred form of the piezoelectric constitutive equations for bounded media (to eliminate some of the stress components depending on the geometry and some of the electric eld components depending on the placement of the electrodes). Equations (A.1) and (A.2) can be given in matrix form as S sE = d D dt T T E (A.3)

where the superscripts E and T denote that the respective constants are evaluated at constant electric eld and constant stress, respectively, and the superscript t stands for the transpose.
Piezoelectric Energy Harvesting, First Edition. Alper Erturk and Daniel J. Inman. 2011 John Wiley & Sons, Ltd. Published 2011 by John Wiley & Sons, Ltd. ISBN: 978-0-470-68254-8

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Appendix A

The expanded form of Equation (A.3) is

E s11 E s12 E s13 0 0 0 0 0 d31 E s12 E s11 E s13 0 0 0 0 0 d31 E s13 E s13 E s33 0 0 0 0 0 d33

S1 S2 S3 S4 S5 = S6 D1 D2 D3

0 0 0 E s55 0 0 0 d15 0

0 0 0 0 E s55 0 d15 0 0

0 0 0 0 0 E s66 0 0 0

0 0 0 0 d15 0 T 11 0 0

0 0 0 d15 0 0 0 T 11 0

d31 T1 d31 T2 d33 T3 0 T4 0 T5 0 T6 E1 0 E2 0 E3 T 33

(A.4)

where the contracted notation (i.e., Voigts notation: 11 1, 22 2, 33 3, 23 4, 13 5, 12 6) is used so that the vectors of strain and stress components are S1 S11 S2 S22 S3 S33 = S4 2 S23 , S5 2 S13 S6 2 S12 T1 T11 T2 T22 T3 T33 = T4 T23 T5 T13 T6 T12

(A.5)

Therefore the shear strain components in the contracted notation are the engineering shear strains. It should be noted from the elastic, piezoelectric, and dielectric constants in E E Equation (A.4) that the symmetries of transversely isotropic material behavior (s11 = s22 , d31 = d32 , etc.) are directly applied.

A.2

Reduced Equations for a Thin Beam

If the piezoelastic behavior of the thin structure is to be modeled as a thin beam based on the EulerBernoulli beam theory or Rayleigh beam theory, the stress components other than the one-dimensional bending stress T1 are negligible so that T2 = T3 = T4 = T5 = T6 = 0 (A.6)

Along with this simplication, if an electrode pair covers the faces perpendicular to the 3-direction, Equation (A.4) becomes S1 D3
E s11

d31
T 33

d31

T1 E3

(A.7)

Appendix A

345

which can be written as

E s11 d31

0 1

T1 D3

1 0

d31 T 33

S1 E3

(A.8)

Therefore the stresselectric displacement form of the reduced constitutive equations for a thin beam is T1 D3 =
E 11 c 31 e

31 e S 33

S1 E3

(A.9)

where the reduced matrix of the elastic, piezoelectric, and dielectric constants is
E 11 = c C 31 e

31 e S 33

E s11 d31

0 1

1 d31 T 0 33

(A.10)

Here and hereafter, an overbar denotes that the respective constant is reduced from the threedimensional form to the plane-stress condition. In Equation (A.10),
E 11 c =

1 , E s11

31 = e

d31 , E s11

S T 33 = 33

2 d31 E s11

(A.11)

where the superscript S denotes that the respective constant is evaluated at constant strain.

A.3

Reduced Equations for a Moderately Thick Beam

If the piezoelasticity of the structure is to be modeled as a moderately thick beam based on the Timoshenko beam theory, the stress components other than T1 (the stress component in the axial direction) and T5 (the transverse shear stress) are negligible so that T2 = T3 = T4 = T6 = 0 is applied in Equation (A.4). Then, E s11 S1 S5 = 0 D3 d31 which can be written as
E s11 0 d31

(A.12)

0 E s55 0

T1 d31 0 T5 T 33 E3

(A.13)

0 E s55 0

1 0 d31 S1 T1 0 0 T5 = 0 1 0 S5 T 1 D3 E3 0 0 33

(A.14)

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Appendix A

Therefore the stresselectric displacement form of the reduced constitutive equations is E 11 c T1 T5 = 0 31 D3 e 0 E 55 c 0 31 e S1 0 S5 S E3 33

(A.15)

Here, the reduced matrix of the elastic, piezoelectric, and permittivity constants is
E 11 c 0 C= 31 e

0 E 55 c 0

E 31 e s11 0 = 0 S d31 33

0 E s55 0

1 1 0 0 0 1 0

0 d31 1 0 T 0 33

(A.16)

where
E 11 c =

1 , E s11

E 55 c =

1 , E s55

31 = e

d31 , E s11

S T 33 = 33

2 d31 E s11

(A.17)

Note that the transverse shear stress in Equation (A.15) is corrected due to Timoshenko [2,3]
E 55 T5 = c S5

(A.18)

where is the shear correction factor [212].

A.4

Reduced Equations for a Thin Plate

If the thin structure is to be modeled as a thin plate (i.e., Kirchhoff plate) due to two-dimensional strain uctuations, the normal stress in the thickness direction of the piezoceramic and the respective transverse shear stress components are negligible: T3 = T4 = T5 = 0 Equation (A.4) becomes sE 11 S1 E S2 s = 12 S6 0 D3 d31 which can be rearranged to give
E s11 sE 12 0 d31 E s12 E s11 0 d31 E s12 E s11 0 d31

(A.19)

0 0 E s66 0

d31 T1 d31 T2 0 T6 E3 T
33

(A.20)

0 0 E s66 0

1 0 T1 0 0 T 2 = 0 T6 0 D3 0 1

0 1 0 0

0 0 1 0

d31 S1 d31 S2 0 S6 T E3 33

(A.21)

Appendix A

347

The stresselectric displacement form of the reduced constitutive equations becomes c E 11 T1 E T2 12 c = T6 0 D3 31 e where
E 11 c c E = C 12 0 31 e E 12 c E 11 c 0 31 e

0 0 E 66 c 0

31 S1 e 31 e S2 0 S6 E3 S
33

(A.22)

E 12 c E 11 c 0 31 e

0 0 E 66 c 0

E 31 e s11 E 31 s12 e = 0 0 S d31 33

E s12 E s11 0 d31

0 0 E s66 0

1 1 0 0 0 0 0 0 1

0 1 0 0

0 0 1 0

d31 d31 (A.23) 0 T 33

Here, the reduced elastic, piezoelectric, and permittivity constants are

E 11 c = E s11 E E s11 s12

E s11

E s12

(A.24)

E 12 = c

E s12 E E E E s11 s11 + s12 s12

(A.25)

E 66 = c

1 E s66 d31 E + s12

2 2d31 E E s11 + s12

(A.26)

31 = e

E s11

(A.27)

S T 33 = 33

(A.28)

where the rst term (Equation (A.24)) is the elastic constant that is related to the bending stiffness of a piezoelectric plate (accounting for the Poisson effect) in the absence of torsion.

References
1. Standards Committee of the IEEE Ultrasonics, Ferroelectrics, and Frequency Control Society (1987) IEEE Standard on Piezoelectricity, IEEE, New York. 2. Timoshenko, S.P. (1921) On the correction for shear of the differential equation for transverse vibrations of prismatic bars. Philosophical Magazine, 41, 744746. 3. Timoshenko, S.P. (1922) On the transverse vibrations of bars of uniform cross-section. Philosophical Magazine, 43, 125131. 4. Mindlin, R.D. (1951) Thickness-shear and exural vibrations of crystal plates. Journal of Applied Physics, 22, 316323.

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Appendix A

5. Mindlin, R.D. (1952) Forced thickness-shear and exural vibrations of piezoelectric crystal plates. Journal of Applied Physics, 23, 8388. 6. Cowper, G.R. (1966) The shear coefcient in Timoshenko beam theory. ASME Journal of Applied Mechanics, 33, 335340. 7. Kaneko, T. (1975) On Timoshenkos correction for shear in vibrating beams. Journal of Physics D: Applied Physics, 8, 19271936. 8. Stephen, N.G. (1978) On the variation of Timoshenkos shear coefcient with frequency. ASME Journal of Applied Mechanics, 45, 695697. 9. Stephen, N.G. (1980) Timoshenkos shear coefcient from a beam subjected to gravity loading. ASME Journal of Applied Mechanics, 47, 121127. 10. Stephen, N.G. and Hutchinson, J.R. (2001) Discussion: shear coefcients for Timoshenko beam theory. ASME Journal of Applied Mechanics, 68, 959961. 11. Hutchinson, J.R. (2001) Shear coefcients for Timoshenko beam theory. ASME Journal of Applied Mechanics, 68, 8792. 12. Puchegger, S., Bauer, S., Loidl, D., Kromp, K., and Peterlik, H. (2003) Experimental validation of the shear correction factor. Journal of Sound and Vibration, 261, 177184.