Acta Mech 223, 6379 (2012)

DOI 10.1007/s00707-011-0536-5

Mohammad Arefi G. H. Rahimi

Three-dimensional multi-field equations of a functionally

graded piezoelectric thick shell with variable thickness,
curvature and arbitrary nonhomogeneity

Received: 26 April 2011 / Published online: 13 September 2011

Springer-Verlag 2011

Abstract The present research develops a three-dimensional multi-field formulation of a functionally graded
piezoelectric thick shell of revolution by using tensor analysis. An orthogonal curvilinear coordinate system was
employed, and basic geometric equations were derived for an arbitrary thick shell of revolution with variable
thickness and curvature. Mechanical and electrical properties were assumed to vary along a three-dimensional
orthogonal coordinate system with arbitrary functional distribution. The functional of the introduced shell
was derived by using kinetic and potential energy of the structure based on three orthogonal displacement
components, electric potential and material properties. The final differential equations were derived in general
state for every arbitrary structure and material property distributions. The obtained equations were reduced
for functionally graded and functionally graded piezoelectric cylindrical shells and the mentioned reduced
equations were verified by comparison with the literature. Trueness and generality of the present results can
be justified by capability of these equations for different geometries and material properties.
List of symbols
Ai , Bi , Ci (i = 1, . . . , 40),
Di (i = 1, . . . , 39)
Ci jkl
Di
E
 Ei
E,
ei jk
F(u , u z , u , , t)
gi
gi
gi j

The coefficients of the partial time-dependent differential

equation of system
Elastic stiffness coefficient
Physical components of electric displacement
Modulus of elasticity
Vector and components of electric field, respectively
Piezoelectric coefficient
Functional of the system
Covariant base vector
Contra-variant base vector
Covariant metric vector

gi j
l
r

Contra-variant metric vector

Nonhomogenous index
Radius of revolution for any arbitrary point

M. Arefi G. H. Rahimi (B)

Department of Mechanical Engineering, Tarbiat Modares University, 14115-143 Tehran, Iran
E-mail: rahimi_gh@modares.ac.ir
M. Arefi
E-mail: arefi63@gmail.com

64

r
ds
Si , Si j
u , uz , u
u
up
uk
u , u z , u
dV
X
qi , X i
y
z
v

1
2
i jk , ikj
i j
i j

i j
i j




M. Arefi, G. H. Rahimi

Radius of revolution of mid-plane

Differential distance in meridian direction
A symbolic tensor of order one and two, respectively.
Orthogonal components of displacement in orthogonal
coordinate system
Total energy per unit volume of the structure
Potential energy per unit volume of the structure
Kinetic energy per unit volume of the structure
Velocity components in the curvilinear coordinate system
Unit volume of the structure
Position vector of an arbitrary point
Component of position vector in Cartesian coordinate system
Vertical distance of mid-plane
Second component in the curvilinear coordinate system that describes normal distance of
an arbitrary point from the mid-plane
Poisson ratio
First component in the curvilinear coordinate system that describes the angle between
normal to mid-plane and vertical axis (axis of revolution)
Third component in the curvilinear coordinate system that
describes circumferential direction and its angle
Distance between mid-plane and axis of revolution along normal to mid-plane
Meridian radius of curvature
= + z
= + z
Christoffel symbols of first and second kind
Tensor component of strain
Physical component of strain
Electric potential
Physical components of stress tensor
Dielectric coefficient
Del operator
Describes the magnitude of a component

1 Introduction
Long ago, a new group of materials named Ceylon Magnet was found in India, attracting tiny particles when
heated. Piezoelectric materials were discovered by Pierre and Jacques Curie in 1880. They are deformed under
electric potential and conversely can be electrified under mechanical loads. A piezoelectric structure such as
a plate or shell can be actuated under the effect of an electric potential and performs a defined and predictable
actuation. The range of application and controlling of the components can be increased by using functional
materials. Manufacturing of the functional materials was performed for the first time by a Japanese group of
material scientists in a laboratory [22].
Chen et al. [5] investigated the mechanical and electrical analysis of a spherical shell. The material properties were considered homogenous. Liu et al. [15] investigated the analytical model for free vibration analysis
of a cylindrical shell under mechanical and electrical loads. Mindlins theory was investigated for analysis, and
a sinusoidal function was used for the simulation of the electric potential distribution. Peng-Fei and Andrew
[17] studied the piezoelectric analysis of a cylindrical shell. They used the theory of elasticity for evaluating
the behavior of piezoelectric structure.
Lee and Lu [16] studied the exact solution of a functionally graded piezoelectric cylinder under bending.
They supposed that the material properties are graded along the radial coordinate system. Dai et al. [8] analyzed
the electro-magneto-elastic behavior of functionally graded piezoelectric cylindrical and spherical pressure
vessels. All material properties were assumed variable along the radial coordinate based on a power function.
Kang [13] employed the three-dimensional formulation of elasticity for the analysis of a thick shell of
revolution with variable thickness and curvature. The analysis was performed using the tensor formulation in
a curvilinear coordinate system. The achieved formulation in that study was valid for an isotropic material.

Three-dimensional multi-field equations

65

Due to this incompleteness, the present paper proposes a general formulation for the electro-elastic analysis
of a functionally graded thick shell of revolution with variable thickness and curvature. The outcome of this
paper can be employed for a complete anisotropic structure. The present formulation can be validated with
other case studies on functionally graded piezoelectric or functionally graded cylinders.
Arciniega and Reddy [1,2] suggested the finite element formulation for nonlinear analysis of a shell structure based on tensor analysis. A curvilinear coordinate system with higher order elements was employed for
this purpose. The thickness strain was considered and therefore, a three-dimensional analysis was employed.
It was assumed that the shear stresses and strains did not have any effect on the normal strains and stresses,
respectively. The results of our work can improve previous limited assumptions and propose a general formulation for a complete anisotropic material, since all shear and normal strains are functions of all shear and
normal stresses.
Babaei and Chen [3] presented the exact solution of an infinitely long magneto-elastic hollow cylinder
and a solid rotating cylinder that are polarized and magnetized radially. They supposed that the cylinder was
orthotropic. They also investigated the effect of angular velocity on the hoop and radial stresses. Jabbari et al.
[12] investigated thermo-elastic behavior of a functionally graded cylinder under thermal and mechanical
loads using the two-dimensional theory of elasticity. The proposed solution in that paper was valid only for
the simply supported boundary conditions. Khoshgoftar et al. [14] investigated the thermo-elastic analysis of
a functionally graded piezoelectric cylindrical pressure vessel and supposed that all mechanical and electrical properties have to be variable based on a power function. This analysis was performed using the plane
elasticity theory. An analytical solution for electro-magneto-thermo-elastic behaviors of a functionally graded
piezoelectric hollow cylinder under a uniform magnetic field and subjected to thermo-electro-mechanical loads
was investigated by Dai et al. [9]. All mechanical, electric, magnetic and thermal properties were considered
as a power function along the thickness direction. They presented benefits of material nonhomogeneity for
design optimization of electro-mechanical structures and systems. Thermo-elastic vibration and buckling characteristics of a functionally graded piezoelectric cylindrical shell were investigated analytically by Sheng and
Wang [20]. First-order shear deformation theory was studied for the simulation of deformation in the structure.
Electric potential was considered as a quadratic function along the thickness. The Hamiltons principle and
Maxwells equation were considered for solving of the problem. The critical values of axial load, temperature
and voltage were investigated for different boundary conditions.
Some appropriate and useful relations about tensor analysis and piezoelectric structures are available in
literature [1,2,4,6,7,19,21].
The main purpose of the present research is to improve the level of studies about multi-field structures
through derivation of the general formulation for an arbitrary thick shell of revolution. As mentioned above, all
previous studies about piezoelectric structures have dealt with special structures such as cylindrical or spherical shells. To our knowledge, there is no published work about the comprehensive multi-field formulation
of a functionally graded piezoelectric shell of revolution by using tensor analysis in a curvilinear coordinate
system. The present paper proposes a complete set of partial time-dependent differential equations for an arbitrary thick shell of revolution with variable thickness and curvature, which is graded along the three orthogonal
components of displacement. Hamiltons principle was employed for obtaining the functional of the system.
Substitution of the functional in the Eulers equation led to the final multi-field equations of the system. All
mechanical and electrical properties were graded along the three components of curvilinear coordinate system,
arbitrarily. The present formulation can be employed for geometries with variable thickness and curvature.
Furthermore, the present formulation can predict the behavior of a completely anisotropic material graded
along all directions of the three-dimensional coordinate system.
2 Formulation
2.1 Basic equations for the tensor analysis of an arbitrary structure in a curvilinear coordinate system
The general analysis of a functionally graded piezoelectric structure in a curvilinear coordinate system was
presented using the tensor analysis. For this purpose, primarily we defined the appropriate relation between
curvilinear and Cartesian coordinate systems. The components of the curvilinear coordinate system include
(, z, ), which are meridian, normal and circumferential components, respectively. The appropriate transformation from (q1 , q2 , q3 ) = (, z, ) to (X 1 , X 2 , X 3 ) is expressed as follows [13]:
X = 1 sin cos e1 + 1 sin sin e2 + (y z cos )e3 ,

(1)

66

M. Arefi, G. H. Rahimi

Fig. 1 The schematic figure of a thick shell of revolution with assumed curvilinear coordinate system

where 1 = + z and is the normal distance of the mid-plane from the vertical axis. Necessary parameters for the geometric description of the shell are presented in Fig. 1. By defining the position vector of an
arbitrary point in the curvilinear coordinate system, we can perform the tensor analysis through obtaining
the covariant base vector (gi ). The covariant base vector describes the components of the position vector X
along the corresponding component of the curvilinear coordinate system. For example, g1 or g describes the
components of the position vector along the meridian direction. This vector is tangential to the corresponding
component of the curvilinear coordinate system. The covariant base vector (gi ) along every component of the
curvilinear coordinate system can be obtained by using the partial derivative of the position vector with respect
to the respective component of the curvilinear coordinate system using Eq. (2) [1,2,13]:
X
= (1 sin ), cos e1 + (1 sin ), sin e2 + (y z cos ), e3 ,

X
=
= 1,z sin cos e1 + 1,z sin sin e2 cos e3 ,
z
X
=
= 1 sin sin e1 1 sin cos e2 .

g1 = X ,q1 =
g2 = X ,q2
g3 = X ,q3

(2)

There are three undefined expressions including (1 sin ), , (y z cos ), and 1,z in Eq. (2). For the
evaluation of these expressions using geometric relations of the curvilinear coordinate system, first the radius
of every point and the differential of the obtained radius have to be obtained:
dr = ds cos , dy = ds sin , ds = d, r = r + z sin = ( + z) sin = 1 sin ,
dr
dy
ds
ds
=
cos = cos ,
=
sin = sin ,
d
d
d
d

(3)

where is the radius of curvature, r is the radius of mid-plane of curve and r is the radius of an arbitrary
point with orthogonal distance z from the mid-plane.
Now, the undefined expressions can be evaluated as follows:
dr
= cos + z cos = 2 cos , 1,z = 1,
d
= sin + z sin = 2 sin ,

(1 sin ), =
(y z cos ),

(4)

Three-dimensional multi-field equations

67

where 2 = + z. The above geometric relations simplify the evaluation of the covariant base vector as
follows:
X
= 2 cos cos e1 + 2 cos sin e2 + 2 sin e3 ,

X
=
= sin cos e1 + sin sin e2 cos e3 ,
z
X
=
= r sin e1 + r cos e2 .

g1 = X ,1 =
g2 = X ,2
g3 = X ,3

(5)

The covariant and contra-variant metric tensors and the relation between them are expressed as [1,2]
gi j = gi g j , gi  =

  
1
 
gii , g i j = g i g j , g i  = g ii , g i j =
, gi = gi j g j .
gi j

(6)

Substitution of Eq. (5) into Eq. (6) gives three components of covariant and contra-variant metric tensors as
follows [1,2,13]:
g11 = g1 g1 = 22 , g22 = g2 g2 = 1, g33 = g3 g3 = r 2 , g 11 =

1
1
, g22 = 1, g33 = 2 . (7)
r
22

The contra-variant base vector (g i ) is expressed as follows:

gi = gi j g j
1
g 1 = [cos cos e1 + cos sin e2 + sin e3 ],
2
g 2 = sin cos e1 + sin sin e2 cos e3 ,
1
g 3 = [ sin e1 + cos e2 ].
r

(8)

By using the obtained metric tensors, the relation between physical and tensor components of order one and
two is:

 
(9)
Si = g ii Si , Si j = g ii g j j Si j .
The covariant and contra-variant derivatives of a vector (v j and v j ) can be completed by defining the Christoffel
f
symbols of first and second kind (i j and  f i j ):
f

v j |i = v j,i v f i j , v j |i = v,i v f  f i j .

(10)

The appropriate Christoffel symbols are derived as

ikj = g k gi, j
,
1
r
1
1
1
=
, 12
= , 33
= cos ,
11
2
2
2
,
2
2
2
3
3
11 = 2 , 33 = r sin , 13 =
=
.
cos , 23
r
2

(11)

After defining all the necessary and basic equations of curvilinear coordinate system, the strain-displacement
relation can be expressed as [13]
i j =


1  
vi j + v j |i .
2

(12)

68

M. Arefi, G. H. Rahimi

Substitution
of the appropriate transformation relation between the physical and tensor components (i j =


g ii g j j i j ) will give the physical strain components as [13]
(u , + u z )
(u , + u z sin + u cos )
, =
, zz = u z,z ,

r
 2



(u u z, )
(u , u cos ) u ,
= 1/2 u ,z

, = 1/2
,
2
r
2


(u z, u sin )
+ u ,z .
z = 1/2
r

=
z

(13)

 which is expressed
The last step in the derivation of the basic equations is the evaluation of the electric field E,
by using the divergence of the electric potential with negative sign as [21]

E = .
The divergence of a scalar field such as may be evaluated by using the metric tensor as follows:


i

= g ii i
Ei = = g
q i
q




=
, Ez = g 22
= , E3 = g 33
=
.
E = g 11

2
z
z

(14)

(15)

2.2 Constitutive equations and Hamiltons principle

This section deals with the fundamental equations of a piezoelectric structure for prediction of the mechanical and electrical behavior. Two basic equations that are necessary for the identification of the behavior of a
piezoelectric structure are expressed in vector form [21] as
= C eE,
D = e + E,

(16)

where and are stress and strain tensors of order two, E and D are electric field and electric displacement
tensors of order one and C, e and are elastic stiffness, piezoelectric and dielectric tensors of order four, three
and two, respectively. The constitutive and piezoelectric relations are defined in terms of physical components
as [21]
i j = Ci jkl kl ei jk E k ,
Di = ei jk jk + ik E k .

(17)

Considering the symmetric condition for stress and strain tensors Ci jkl = Ckli j = C jikl = Ci jlk [1,2] results
in the extended constitutive relations as:

= C1111 +C1122 zz +C1133 +2C1112 z +2C1113 +2C1123 z e111 E e112 E ze113 E

zz = C2211 +C2222 zz +C2233 +2C2212 z +2C2213 +2C2223 z e221 E e222 E z e223 E

= C3311 +C3322 zz +C3333 +2C3312 z +2C3313 +2C3323 z e331 E e332 E z e333 E

z = C1211 +C1222 zz +C1233 +2C1212 z +2C1213 +2C1223 z e121 E e122 E z e123 E

= C1311 +C1322 zz +C1333 +2C1312 z +2C1313 +2C1323 z e131 E e132 E z e133 E

z = C2311 +C2322 zz +C2333 +2C2312 z +2C2313 +2C2323 z e231 E e232 E z e233 E

D = e111 + e122 zz + e133 + 2e112 z + 2e113 + 2e123 z + 11 E + 12 E z + 13 E

Dz = e211 + e222 zz + e233 + 2e212 z + 2e213 + 2e223 z + 21 E + 22 E z + 23 E

D = e311 + e322 zz + e333 + 2e312 z + 2e313 + 2e323 z + 31 E + 32 E z + 33 E
(18)
The present study employs the energy method for the derivation of the governing differential equations of
the system. The total energy of the system includes potential and kinetic energies. The potential energy is
decomposed into mechanical and electrical energies that can be defined per unit volume of the structure as
follows [19]:

Three-dimensional multi-field equations

69

u p = 1/2[i j i j Di E i ] f i u i ,

(19)

where f i (i = , z, ) is the component of body force per unit volume. The kinetic energy is due to the
resultant velocity of particles. The resultant velocity is equal to the sum of the square of the velocity components (u 2 + u 2z + u 2 ). The kinetic energy per unit volume of the structure is defined as [19]
u k = 1/2(, z, )[u 2 + u 2z + u 2 ],

(20)

where (, z, ) is the material density. By substituting the total nonzero components of i j , i j , Di and E i ,
we arrive at the potential energy per unit volume of the structure as:
u p = 1/2[ + zz zz + + 2 z z + 2 + 2z z D E Dz E z D E ]
(21)
f u f z u z f u .
The total energy of the system obtained by subtraction of the potential energy from the kinetic energy is [19]
u = uk u p .

(22)

The unit volume of the structure can be obtained physically by using Eq. (23.1) or mathematically using
Eq. (23.2):
dV = (2 d)(r d )dz = 2 r dd dz,

dV = g11 g22 g33 ddzd = 2 r dd dz.

(23.1)
(23.2)

Substituting Eqs. (20) and (21) into Eq. (22) and then considering Eqs. (23.1) or (23.2), we can define the total
energy and the energy functional of the system as follows:
  
U=

  
r uddzd =

F(u , u z , u , , t)ddzd F(u , u z , u , , t) = 2 r u.

(24)

The obtained functional of the system (Eq. 24) can be substituted in the Eulers equations in order to derive
the final governing differential equations of the system as follows:









u
t u ,t
u ,
z u ,z
u , = 0,










F
u

= 0,

t
u

u
z
u

u
z
 z,t 
 z, 
 z,z 
 z, 
(25)
F

=
0,

u
t u ,t
u ,
z u ,z
u ,










F
F F

t ,t
,
z ,z
, = 0,
where F(u , u z , u , , t) = 2 r u is defined as the functional of the system. By performing the appropriate
operations and simplifications, we will have the final energy functional as:
F(u , u z , u , , t) = 2 r u
1
2
2
2
2
2
= 1/22 r [u 2 + u 2z + u 2 ] 2 r [C1111
+C2222 zz
+C3333
+4C1212
z +4C 1313
2
2
+4C2323 z
+ 2C1122 zz + 2C1133 + 2C2233 zz
+4 (C1112 z + C1113 + C1123 z ) + 4zz (C2212 z + C2213 + C2223 z )
+4 (C3312 z + C3313 + C3323 z ) + 8C1213 z + 8C1223 z z
+8C1323 z 2e111 E 2e222 zz E z 2e333 E 2e112 E z
2e113 E 2e221 E zz 2e223 E zz 2e331 E 2e332 E z
4E (e112 z + e113 + e123 z ) 4E z (e212 z + e213 + e223 z )
4E (e312 z + e313 + e323 z ) 11 E 2 22 E z2 33 E 2
212 E z E 213 E E 223 E z E ] + 2 r ( f u + f z u z + f u ).

(26)

70

M. Arefi, G. H. Rahimi

Substituting Eq. (26) into Eq. (25) gives four field equations of an arbitrary thick shell of revolution for a
general nonhomogenous piezoelectric material as follows:
A1 u , + A2 u z,zz + A3 u , + A4 , + A5 ,zz + A6 , + A7 u z, + A8 u , + A9 u ,zz
+A10 u ,zz + A11 u , + A12 u z, + A13 u z,z + A14 u , + +A15 u ,z
+A16 u , + A17 u z, + A18 u ,z + A19 u , z + A20 u , z + A21 u z, z + A22 ,z + A23 ,
+A24 , z + A25 u , + A26 u z,z + A27 u , + A28 u ,z + A29 u z, + A30 u , + A31 u , + A32 u z,
+A33 u ,z + A34 , +A35 ,z + A36 , + A37 u + A38 u z + A39 u + 2 r f = A40 u ,

(27.1)

B1 u , + B2 u z,zz + B3 u , + B4 , + B5 ,zz + B6 , + B7 u z, + B8 u , + B9 u ,zz

+B10 u ,zz + B11 u z, + B12 u , + B13 u ,z + B14 u z,z + B15 u , + B16 u , + B17 u z, + B18 u ,z
+B19 u , z + B20 u , z + B21 u z, z + B22 ,z + B23 , + B24 , z + B25 u , + B26 u z,z + B27 u ,
+B28 u ,z + B29 u z, + B30 u , + B31 u , + B32 u z,
+B33 u ,z + B34 , + B35 ,z + B36 , + B37 u + B38 u z + B38 u + 2 r f z = B40 u z ,

(27.2)

C1 u , + C2 u z,zz + C3 u , + C4 , + C5 ,zz + C6 , + C7 u , + C8 u z, + C9 u ,zz

+C10 u ,zz + C11 u , + C12 u z, + C13 u , + C14 u z,z + C15 u , + C16 u ,z + C17 u z,
+C18 u ,z + C19 u z, z + C20 u , z + C21 u , z + C22 ,z + C23 , + C24 , z + C25 u , + C26 u z,z
+C27 u , + C28 u , + C29 u , + C30 u z, + C31 u ,z + C32 u ,z
+C33 u z, + C34 , + C35 ,z + C36 , + C37 u + C38 u z + C39 u + 2 r f = C40 u ,

(27.3)

D1 u , + D2 u z,zz + D3 u , + D4 , + D5 ,zz + D6 , + D7 u z, + D8 u , + D9 u ,zz + D10 u ,zz

+D11 u , + D12 u z, + D13 u z,z + D14 u , + D15 u ,z + D16 u , + D17 u z, + D18 u ,z + D19 u , z
+D20 u , z + D21 u z, z + D22 ,z + D23 , + D24 , z + D25 u , + D26 u z,z + D27 u , + D28 u z, + D29 u ,z
+D30 u , + D31 u , + D32 u z, + D33 u ,z + D34 , + D35 ,z + D36 , + D37 u + D38 u z + D39 u = 0,

(27.4)

where Ai , Bi , Ci , Di are variable coefficients presented in the Appendices 1-4. Eqs. (27.1), (27.2), (27.3) and
(27.4) are the complete set of partial differential equation, which describes the time-dependent behavior of a
functionally graded piezoelectric thick shell of revolution.
3 Results and discussion
This section presents two applied problems of functionally graded materials. These problems are solved using
the obtained differential equations (Eqs. 27.1, 27.2, 27.3 and 27.4) with some assumptions.
3.1 Simplification of general multi-field equations for a rotating functionally graded piezoelectric
cylindrical shell
For validation of the obtained differential equations and applying them for well-known applied problems,
it is convenient to investigate the relation between mechanical and electrical components in a rotationally
symmetric functionally graded piezoelectric cylinder with stable conditions [14].

Due to assumed symmetry (

= 0) and disregarding of any axial mechanical and electrical loads (
= 0),
the only nonzero components of displacement are the radial displacement u r = u r (r )  = 0, which is only a
function of the radial coordinate. Based on the above assumptions, the electric potential is a function of the
radial coordinate, = (r ). By applying the above simplifications, within the numerous coefficients, only
six coefficients remain nonzero through the analysis procedure. They include C2222 , C3333 , C2233 , e222 , e332
and 22 . Considering the above assumptions and then the geometric relations for a cylindrical shell ( =
/2, 2 , , + z = r, = const, fz = r2 , /r = /z), we will have strain-displacement and
electric potential-electric field relations as follows:
zz = rr = u r,r =

u r
ur
, = ,
r
r

Er =

.
r

(28)

Three-dimensional multi-field equations

71

The corresponding components of stress and electric displacement may be obtained using the above relation
and the variable distribution of material properties as follows:

rr = C2222 (r )rr + C2233 (r ) e222 (r )Er

= C2233 (r )rr + C3333 (r ) e332 (r )Er
(29)
D = e (r ) + e (r ) + (r )E
r
222
rr
332

22
r
The variable material properties can be considered as a power function along the thickness direction of the
cylinder [14]:
C2222 (r ) = C2222 0 r l , C2233 (r ) = C2233 0 r l , C3333 (r ) = C3333 0 r l ,

(30)

e222 (r ) = e222 0 r l , e332 (r ) = e332 0 r l , 22 (r ) = 22 0 r l , (r ) = 0 r l .

By applying the assumptions mentioned in this section, only Eqs. (27.2) and (27.4) remain nonvanishing. The
coefficients of two nonvanishing differential equations are evaluated as follows:
B2 = (C2222 2 r ) = C2222 0 r l+1 2 ,

B5 = e222 2 r = e222 0 r l+1 2 ,

B26 = (rC1122 2 C2233 sin +(rC2212 ),

+ (C2222 2 r ),z +C1122 r +C2233 2 sin +(2 C2223 ), ) = (C2222 2 r ),r = (C2222 0 r l 2 r ),r = (l +1)2 r l C2222 0 ,
B35 = (2 sin e332 + (e222 2 r ),z ) = (2 e332 0 r l + (e222 0 r l 2 r ),z ) = r l 2 ((l + 1)e222 0 e332 0 ),



2 C3333
rC1111
rC1112
sin2 C1133 sin
B38 =
+
+ C3312, sin
r
2
2
,



2 C3323
sin
+C3312 cos + (C1122 r ),z + (C2233 2 ),z sin + C1123, +
r
,


2 C3333 0 r l
2
l
=
sin + (C2233 0 r 2 ),r sin = r l1 2 (C3333 0 + lC2233 0 ).
r

In order to attain to appropriate results and better comparison with the literature, it is better to divide all the
expressions by 2 r l1 . Therefore, the first differential equation can be composed as:
r 2 C2222 0 u r,rr + e222 0 r 2 ,rr + (l + 1)rC2222 0 u r,r + r ((l + 1)e222 0 e332 0 ),r
+(C3333 0 + lC2233 0 )u r + 0 r 3 2 = 0.

(31)

The second equation must be evaluated using Eq. (27.4). The appropriate coefficients can then be calculated
as
D2 = 2 r e222 = 2 e222 0 r l+1 ,

D5 = 2 r 22 = 2 r l+1 22 0 ,



l
l
D26 = ((2 r e222 ),z + 2 e332 sin ) = 2 r e222 0 r
+ 2 e332 0 r
,r

 
l
l
= 2 r ((l + 1)e222 0 + e332 0 ), D35 = ((2 r 22 ),z ) = 2 r 22 0 r
,r

= (l + 1)22 0 r ,
l

D38 = (2 e332 ),z sin = (2 e332 0 r ),r = l2 r

l

l1

e332 0 .

Therefore, the second equation can be composed as follows:

e222 0 r 2 u r,rr 22 0 r 2 ,rr + r ((l + 1)e222 0 + e332 0 )u r,r (l + 1)22 0 r ,r + le332 0 u r = 0.

(32)

It is observed that the present general multi-field formulation can predict exactly the behavior of a functionally
graded cylinder. The obtained simplified equations indicate that the present formulation using the curvilinear
coordinate system and Hamiltons principle for arbitrary nonhomogeneity and variable thickness and curvature is identical with that of the literature that has been derived using the plane elasticity theory (Khoshgoftar
et al. [14]). This case study justifies the capability and necessity of the present study in the derivation of the
governing differential equations of the curvilinear coordinate system for piezoelectric structures with arbitrary
geometry and material properties.

72

M. Arefi, G. H. Rahimi

Fig. 2 The distribution of the electric potential along the thickness for four values of angular velocity (free rotation boundary
condition)

The responses of a rotating FGP cylindrical shell can be studied by using the concurrent solution of Eqs. (31)
and (32). Considering the numerical values for material properties as follows [14]:
C22220 = 83.6 Gpa, C33330 = 74.1 Gpa, C22330 = 39.3 Gpa,
e2220 = 0.347 C/m2 , e3320 = 0.16 C/m2 , 220 = 9.03 1011 C2 /Nm2 ,

(33)

and, therefore, applying a free rotation and short-circuited condition for mechanical and electrical boundary
conditions, respectively, we will have:
rr (r = a) = 0, rr (r = b) = 0,
(r = a) = 0, (r = b) = 0.

(34)

More information about the solution procedure and the employed symbols is available in the literature [14,18].
The radial distribution of dimensionless electric potential for different values of nonhomogenous index
and different nondimensional angular velocities  is presented in Fig. 2.
The radial distribution of dimensionless radial displacement for different values of nonhomogenous index
and angular velocity is presented in Fig. 3.
3.2 Simplification of general multi-field equations for a functionally graded cylindrical shell
The final governing differential equations (Eqs. 27.1, 27.2, 27.3, 27.4) can be employed for the derivation
of the governing differential equations of a functionally graded cylinder. The obtained formulation may be
verified with the literature [10,11]. For a cylindrical shell, only the following coefficients must be considered
as nonzero:
C2222 (r ) = C2222 0 r l , C2233 (r ) = C2233 0 r l , C3333 (r ) = C3333 0 r l ,

(35)

Three-dimensional multi-field equations

73

Fig. 3 The distribution of radial displacement along the thickness for four values of angular velocity (free rotation)
(1v)E
vE
where C2222 0 = C3333 0 = (1+v)(12v)
and C2233 0 = (1+v)(12v)
. By substitution of these coefficients in the
Appendices 14, we will have only the below nonzero coefficients:

B2 = (C2222 2 r ) = (C2222 0 r l 2 r ) =

B38

(1 v)E
2 r l+1 ,
(1 + v)(1 2v)

B26 = ((rC2212 ), + (C2222 2 r ),z

(1 v)E
+(2 C2223 ), ) = (C2222 2 r ),r = (C2222 0 r l 2 r ),r = (l + 1)
2 r l ,
(1 + v)(1 2v)



2 C3333
rC1111
rC1112
2
=
+
+C3312, sin +C3312 cos +(C1122 r ),z
sin C1133 sin
r
2
2
,
 



2 C3323
2 C3333 0 r l
+(C2233 2 ),z sin +C1123, +
sin =
sin2 +(C2233 0 r l 2 ),r sin
r
r
,
= r l1 2 (C3333 0 + lC2233 0 ) = r l1 2

(lv (1 v))E
.
(1 + v)(1 2v)

Substitution of the above coefficients in Eq. (27.2) will result in:

(1 v)E
(1 v)E
(1 v)E
vE
u r,rr + (l + 1)r
u r,r + (
+l
)u r = 0,
(1 + v)(1 2v)
(1 + v)(1 2v)
(1 + v)(1 2v)
(1 + v)(1 2v)
(l + 1)
lv (1 v)
u r,r +
u r = 0.
(36)
u r,rr +
r
(1 v)r 2

r2

By setting E = 2 1011 , v = 0.3, it is observed that the obtained results are exactly identical with the
literature [10,11]. Shown in Fig. 4 is the radial distribution of the radial displacement for different values of
nonhomogenous index for a pressurized functionally graded cylindrical shell identical with the literature [10].

74

M. Arefi, G. H. Rahimi

1.6
1.4
1.2

ur/ri*1000

1
0.8
0.6
0.4
n=-2

n=-1

n=0

n=1

n=2

0.2
0
1

1.1

1.2

1.3

1.4

1.5

r/ri

Fig. 4 Radial distribution of radial displacement for different values of non homogenous index

3.3 Application for two-dimensional analyses

The formulation developed in this study may be reduced for two-dimensional analyses based on the membrane
as well as first- and higher-order shear deformation theories.
For this purpose, we must
employ membrane or shear deformation theories using u(, z, ) = u 0 (, )
and u(, z, ) = u 0 (, ) + n=1 z n n (, ), respectively, where n describes the order of the shear deformation theory and n describes the n th components of rotation about the mid-plane of the shell. The assumed
simulation can be considered for each of the three components of displacement. By substitution of the defined
displacement based on the membrane or shear deformation theories in Eq. (13) and then in Eq. (26), the
appropriate equations can be obtained using the Eulers equation.
4 Conclusion
The most important conclusions of the present paper are:
1. Nonhomogeneity is considered for all mechanical and electrical components based on an arbitrary
functional distribution. This consideration can direct future research about novel structures with threedimensional distribution of nonhomogeneity.
2. The constitutive equations for different structures describe the relation between stress and strain in those
structures. As has been mentioned in most of the previously published studies, researchers considered
limitations on constitutive equations, while in the present paper, we did not consider any limitation on the
constitutive equations and rather presented the relations in a general state. Consequently, all strain and
electric field components showed explicit effects on all stress and electric displacements.
3. Strain-displacement and the other relations were derived for a general geometry in a curvilinear coordinate
system. Accordingly, the final differential equations can be applied for different geometries.
4. The Multi-field effect was considered in the present paper. Due to the usage of piezoelectric materials in
very applicable structures such as sensor and actuator, it is appropriate to present the governing equations
on such materials and structures.
5. For validation and justification of the present formulation for all applied problems in the scope of functionally graded piezoelectric and functionally graded materials, two applied problems were considered in this
work. Simplification of the general formulation for those problems justifies the capability and generality
of this formulation.
Appendix 1
A1 =

C3313 2
A2 = C2212 2 r, A3 =
,
r


rC1112
rC1113
A7 =
, A8 =
2
2

rC1111
,
2

A4 =

r e111
,
2

A5 = e212 2 r,

A6 =

2 e313
,
r

Three-dimensional multi-field equations

A9 = C1212 2 r,
A15
A20

A25

A10 = C1223 2 r u,

75

A11 =

C1313 2
,
r

A12 = 2

C1323 2
,
r

A13 = r (C1122 + C1212 ),

A14 = (C1133 + C1313 )

= r (C1112 + C1112 ), A16 = (C1113 + C1113 ), A17 = (C1123 + 2C1213 ), A18 = r (C1123 + C1213 ),
A19 = 2 (C3312 + 2C1323 )
= 2 (C1213 + 2C1213 ), A21 = 2 (C1223 + C2213 ), A22 = r (e112 + e112 ), A23 = (e113 + e113 ),
A = 2 (e312 + e213 )

 24


rC1112
rC1111
rC1112
= +
+

+ (C1112 r ),z + C1113,

2
2
2
,

A26 = (2 cos C2233 + rC2212 + (rC1122 ), + C1112 r + (C2212 2 r ),z + C3312 2 sin + (2 C2213 ), )




C3313 2
2 C3333
C1313 2
C1323 2
A27 =
2
cos +C3312 +C1133, +(C3312 2 ),z
cos +
sin
r
r
r
r
,


A28 = (rC1112 ), + (C1212 2 r ),z + 2(2 C1213 ),




rC1112
rC1212
rC1111
A29 =
cos C3312 +
+ C1133 sin
+ (C1212 r ),z + 2C1213,
2
2
2
,




C1313 2
2C1213
A30 = +C1213 + C1113, + (C1213 2 ),z +
r
,




rC1113
rC1213
C1113 cos +
C1123 sin + (C1213r ),z + C1313,
A31 = cos C3313 +
2
2
,


 
C1323 2
2 cos C3323
C3313 2
+ C1223 + C1123, + (C1223 2 ),z + C1113 +
sin + 2
A32 =
r
r
r
,


A33 = 2 cos C3323 +rC1223 +(rC1123 ), C1213 2 cos C1223 2 sin +(C1223 2 r ),z +2(C1323 2 ),



r e111
r e112
A34 =
,
+ (e112 r ),z + (e113 ), cos e331
2 ,
2


A35 = (e112 r ), + (e212 2 r ),z + (2 e213 ), 2 cos e332 r e212


 e 
2 cos e333
2 313

A36 = e113, + (e312 2 ),z +

e312 ,
r
r
,



2 C3333 cos2
rC1112
rC1212
A37 =
+ 2 cos C3312 + C1133, cos C1133 sin

r
2
2
,



C3313 2
(C1212 r ),z + (C3312 2 ),z cos +
cos 2C1213,
r
,



2 C3333 cos sin
rC1112
rC1111
cos C1133 +
+ C3312 sin +
+ C1133, sin
A38 =
r
2
2
,



C3313 2
sin
+C1133 cos + (C1112 r ),z + (C3312 2 ),z sin + C1113, +
r
,

2 cos C3323
2 C3313 cos2
+
C1213 cos C1223 sin C1113 , cos + C1113 sin
A39 =
r
r


C1313 2
C1123, sin C1123 cos (C1213 2 ),z cos (C1223 2 ),z sin
cos
r
,

76

M. Arefi, G. H. Rahimi

C1323 2
2
r


,

sin ,

A40 = (, z, )2 r

Appendix 2
rC1112
2 C3323
r e112
2 e323
, B2 = (C2222 2 r ), B3 =
, B5 = e222 2 r, B6 =
, B4 =
,
2
r
2
r
rC1212
rC1213
, B8 =
, B9 = (C2212 2 r )
B7 =
2
2
2 C2323
2 C1323
B10 = C2223 2 r, B11 =
, B12 =
, B13 =r (C1212 + C1122 ), B14 = r (C2212 + C2212 ),
r
r
B15 = (C3312 + C1323 )
B16 = (C1213 + C1123 ), B17 = (C1223 + C1223 ), B18 = r (C1223 + C2213 ), B19 = 2 (C2233 + C2323 ),
B20 = 2 (C2213 + C1223 )
B21 = 2 (C2223 + C2223 ), B22 = r (e212 + e221 ), B23 = (e312 + e123 ), B24 = 2 (e223 + e223 )




rC1111 rC1212
rC1112

+
+ (C1122 r ),z + C1123, + C3312 cos
B25 =
2
2
2
,


B26 = (rC2212 ), + (C2222 2 r ),z + (2 C2223 ),




2 C3333
2 C2323
2 C1323
2 C3323
B27 =

sin C1133 +C3312, +(C2233 2 ),z

sin +
cos
r
r
r
r
,


B28 = rC1112 2 sin C3312 + (rC1212 ), + (C2212 2 r ),z C2212 r + (2 C1223 ), + C2233 2 cos



rC1212
B29 =
+ (C2212 r ),z + C1223,
2
,


 
2 sin C3313
2 C3323
2 C1323
B30 = C1113
+ C1213, + (C2213 2 ),z +
cos C1223 +
r
r
r
,




rC1113
rC1213
sin C3313 C1213 cos +
C1223 sin + (C2213r ),z + C1323,
B31 =
2
2
,




2 C2323
B32 = C1123 + C1223, + (C2223 2 ),z +
+ (2 C2323 ), + C1123
r
,


B33 = rC1123 2 sin C3323 + (rC1223 ), C2213 2 cos C2223 2 sin + (C2223 2 r ),z




r e111
r e112
B34 =
sin e331 +
+ (e221r ),z + e123, ,
2
2 ,


B35 = r e112 2 sin e332 + (r e212 ), + (e222 2 r ),z + (2 e223 ),

 e  
2 sin e333
2 323
+ e312, + (e223 2 ),z +
B36 = e113
r
r
,



2 C3333
rC1112
rC1212
B37 =
sin cos C1133 cos + V

+C3312, cos +(C2233 2 ),z cos

r
2
2
,



2 C3323
cos C1223,
(C2212 r ),z +
r
,
B1 =

Three-dimensional multi-field equations

77

B38

B39



2 C3333
rC1111
rC1112
2
=
+
+ C3312, sin + C3312 cos
sin C1133 sin
r
2
2
,



2 C3323
sin
+(C1122 r ),z + (C2233 2 ),z sin + C1123, +
r
,

2 sin cos C3313
2 sin2 C3323
= C1113 cos + C1123 sin +
+
C1213, cos + C1213 sin
r
r


2 C2323
C1223, sin C1223 cos (C2213 2 ),z cos (C2223 2 ),z sin
sin
r
,



2 C1323
sin ,

r
,

B40 = (, z, )2 r

Appendix 3

rC1113
C3333 2
r e113
2 e333
, C4 =
,
, C2 = 2 rC2223 , C3 =
, C5 = 2 r e223 , C6 =
2
r
2
r
rC1313
rC1213
, C8 =
,
C7 =
2
2
2 C3313
2 C3323
, C12 =
, C13 = (C1313 + C1133 ),
C9 = C2323 2 r, C10 = C1223 2 r, C11 =
r
r
C14 = r (C2213 + C1223 ),
C15 = (C3313 + C3313 )C16 = r (C1213 + C1123 ), C17 = (C1323 + C3312 ), C18 = r (C1323 + C1323 ),
C19 = 2 (C2323 + C2233 ),
C20 = 2 (C3323 + C3323 )C21 = 2 (C1323 + C3312 ), C22 = r (e213 + e123 ), C23 = (e313 + e331 ),
C24 = 2 (e323 + e332 ),




rC1113
rC1213
+ C3313 cos
+ (rC1123 ),z + C1133, ,
C25 = C1113 cos + sin C1123 +
2
2
,
C1 =

C26 = (2 cos C2213 +2 sin C2223 +(rC2213 ), +rC1123 + (2 rC2223 ),z +2 C3323 sin +(C2233 2 ), ),




C3333 2
2 sin C3323
2 C3323
C27 = +

+ C3313, + (2 C3323 ),z +

sin ,
r
r
r
,


 
2 C3313
C1313 2 cos C1323 2 sin
C3333 2
,
+
+ C1313, (C1323 2 ),z +
cos C3312 +
C28 =
r
r
r
r
,



rC1313
C29 =
+ (C1323r ),z + C3313, ,
2
,


 
2 C3323
C2323 2 sin
C3333 2
C1323 2 cos
,
C30 =

+C1323, +(C2323 2 ),z +

sin +C1133 +
r
r
r
r
,


C31 = (rC1323 ), + (C2323 2 r ),z +(2 C3323 ), ,
C32 = (2 cos C1213 2 sin C1223 +(rC1213 ), +2 C3323 cos +(C1223 2 r ),z C1223r +(2 C3312 ), ),




rC1213
rC1113
C33 = cos C1213 sin C1223 +
+ C3313 sin +
+ (C1223r ),z + C3312, ,
2
2
,

78

M. Arefi, G. H. Rahimi

C34

r e113
= cos e113 sin e123 +
2


,

+ (r e123 ),z + e331,

C35 = (2 cos e213 2 sin e223 + (r e213 ), + (2 r e223 ),z + (2 e332 ), )


 e  
2 (cos e313 + sin e323 )
2 333
+ e313, + (2 e323 ),z +
C36 =
r
r
,

2
2 cos C3313 2 sin cos C3323
C37 =

+cos C1213 +sin C1223 +C3313, cos C3313 sin

r
r





C3333 2
rC1213
+ (2 C3323 ),z cos (C1223r ),z +
cos C3312,

2
r
,
,



rC1113
2 cos sin C3313
2 sin2 C3323
+C3313, sin
C38 = C1113 cos
sin C1123
+
r
r
2
,



C3333 2
sin + C1133,
+ C3313 cos + (rC1123 ),z + (2 C3323 ),z sin +
r
,

C1313 2 cos2
C2323 2 sin2
2 sin cos C1323
2 sin cos C1323

C39 =
r
r
r
r
C1313, cos +C1313 sin C1323, sin C1323 cos (C2323 2 ),z sin (C1323 2 ),z cos





2 C3313
2 C3323

cos
sin ,
r
r
,
,
C40 = (, z, )2 r

Appendix 4
r e111
e333
r 11
33 2
r e112
, D2 = 2 r e222 , D3 =
, D5 = 2 r 22 , D6 =
,
, D4 =
, D7 =
2
r
2
r
2
r e113
e313 2
e323 2
, D9 = e212 2 r, D10 = e223 2 r, D11 =
D8 =
, D12 =
, D13 =r (e221 +e212 ),
2
r
r
D14 = (e331 +e331 ), D15 =r (e112 + e112 ), D16 = (e113 +e313 ), D17 = (e123 +e312 ), D18 =r (e123 +e213 ),
D1 =

D19 = 2 (e332 +e323 ),

D24

D20 = 2 (e213 + e312 ), D21 = 2 e223 , D22 = r (12 + 12 ),




r e111
r e112
= 2 (23 + 23 ), D25 =
+ e331 cos
+ (r e112 ),z ,
2 ,
2

D23 = (13 + 13 ),

D26 = ((r e221 ), + (2 r e222 ),z + r e112 + 2 e332 sin ),




 e 
r e111
e323 2
e313 2
2 333
cos
sin , D28 =

+ e331 sin
D27 = (e331 ), + (2 e332 ),z +
r
r
r
2
,



r e112
+(e212 r ),z +e312, , D29 = ((r e112 ), +2 e332 cos +(e212 2 r )z e212 r +(e312 2 ), ),
+
2 ,

e  
2 e333
313 2
D30 = (e113 ), + (e213 2 ),z +
,
cos e312 +
r
r
,




r e113
e123 sin + (e213 r ),z + (e313 ), ,
D31 = e113 cos +
2 ,

e  
2 e333
323 2
sin +
,
D32 = (e123 ), + (e223 2 ),z +
r
r
,


D33 = (r e123 ), e213 2 cos e223 2 sin + (e223 2 r ),z + (e323 2 ),

Three-dimensional multi-field equations


D34 =

r 11
2

79


,

+ (r 12 ),z + (13 ), ,

D35 = ((r 12 ), + (2 r 22 ),z + (23 2 ), ),


  
33 2
D36 = (13 ), + (2 23 ),z +
r
,




 e 
r e112
2 333
D37 = (e331 ), cos e331 sin
+(2 e332 ),z cos (e212 r ),z +
cos e312,
2 ,
r
,



 e 
r e111
2 333
+ (e331 ), sin + e331 cos + (r e112 ),z + (2 e332 ),z sin +
sin
D38 =
2 ,
r
,

D39 = (e113 ), cos + e113 sin (e123 ), sin e123 cos (e213 2 ),z cos (e223 2 ),z sin

e 
e 
313 2
323 2

cos
sin
r
r
,
,

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