Chapter 13 Structural Analysis and Hydroelasticity of Ships

CHAPTER 13

THE BUCKLING STRUCTURAL ANALYSIS BASED ON

THE FINITE ELEMENT METHOD

13.1.Generalities

The buckling (lost of stability) for the beam (1D) and plate (2D) elements can occur as
an structure answer to the membrane forces, that are acting on axial direction at the beam
elements and in the middle plane at the plate elements.
The buckling occurs when an element or a structure is converting the membrane
internal deformation energy into bending internal deformation energy, without changing the
external loads. A condition of critical level when the buckling occurs, exist and is the
possibility that the deformation state is changing very little, so that the lost of the membrane
deformation energy is numerically equal with the increase of the bending deformation energy.
As example, at the truss elements with axial loads, having length l , the axial rigidity
EA l is much bigger as the bending rigidity EI l 3 . Analogue, in the structures with thin
walls, the membrane rigidity is bigger as the plate bending rigidity. So, small membrane
deformations can store a large quantity of deformation energy, and the large transversal
deformations and rotation angles of the transversal section are necessary to absorb this
bending deformation energy.
So, it can be considered that the membrane forces modify the bending rigidity of the
structure. So, the buckling occurs when the compression membrane forces are enough large in
order to induce zero bending rigidity for some of the eigen deformation modes of the
structure. If the membrane forces become tensile forces, then it results an increase of the
bending rigidity and this effect is called hardening by stressing.
In order to take into account the effect of the membrane forces, it is considered a
matrix [K ] that increase the conventional rigidity matrix [K ] and it is called the pre-
stressing rigidity matrix (the geometrical rigidity matrix). The matrix [K ] is obtained based
on the element geometry, the displacements and stresses fields, and in consequence there are
[ ]
not directly function to the element elasticity properties. The structure matrix K g is obtained
[ ]
in the same way as the conventional rigidity matrix K g is obtained, using the assembling
finite element techniques that are idealizing the structure. In order to exemplify the structure
buckling analysis it is considered the case of a truss element with axial load from (fig.13.1)
with simple supports on the ends.

Fig.13.1. Simple supported beam, with axial load P (truss element)

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There is used an energetic method in order to outline the effect of the stressing rigidity
(P>0 tensile) and to obtain the critical compression force that leads to the buckling condition
Pcr = 2 EI l 2 .
The internal bending deformation energy has the standard expression for the problem
from fig.13.1:
l
1
(13.1) U b = EI v '2xx dx
20
If a small transversal displacement v = v(x ) occurs, then the beam elements have a
supplementary length dx ds , because the distance between the support points cannot
change:
v2
(13.2) ds = 1 + v '2x dx 1 + 'x dx
2
the approximation is valid if v '2x << 1 , representing the small rotations hypothesis.
From relation (13.2), the beam membrane (axial) strain has the expression:
ds dx v '2x
(13.3) m =
dx 2
Obs. In the case of linear elasticity theory, are ignored the terms of order v '2x , but in
the case of buckling problems some of the higher order terms will be kept, based on physical
background.
During the small transversal displacements occurrence v = v(x ) , the axial force P in
beam remains constant. On each element dx the P force has the mechanical work P m dx ,
that it is stored as membrane internal deformation energy:
l l
1
(13.4) U m = P m dx = P v '2x dx
0
20
It is considered the deformation v of sinusoidal form, resulting:
x 4 EI 2 2P 2
(13.5) v(x ) = v c sin Ub = v c and U m = vc
l 4l 3 4l
where v c is the displacement at the middle of the beam.
For the buckling analysis, if is considered the transversal load q = 0 and the
membrane energy is changed in bending energy without other external mechanical work, it
results the following expression:
2 EI
(13.6) U b + U m = 0 P = 2
l
where P is the Euler buckling force that is independent to the maxim displacement vc, in the
hypothesis small vc .
It is considered the case q 0 distributed as a sinusoidal law, where the mechanical
work is:
x
l
ql
(13.7) q = q c sin W = q vdx = c v c
l 0
2
The total potential and the equilibrium value of vc have the expressions:
p
(13.8) p = U b + U m W p min =0
v c

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U b 4 EI U m 2 P W q c l
= v c = k v c = vc = k vc =
v c 2l 3
v c 2l v c 2

(k + k )v c = q c l v c = q c l
2 2(k + k )
In relation (13.8), the rigidity coefficient k + k is the sum of the conventional rigidity k and
the pre-stressing rigidity k . If P>0 tensile, it produces a decreasing of the maxim displacement vc,
representing the effect of stressing rigidity. In the case of P<0 compression, displacement vc
2 EI
increases and in case k + k = 0 it results P = 2 = Pcr where v c .
l
Obs. The stressing rigidity k can be expressed also based on the displacements field,
not only base on force P. In fig.13.1, the end x = l can have axial displacement and the
EA
compressing force is P = u l , where:
l
2 P 2 EA
(13.9) k = = ul
2l 2l 2
Following relation (13.9), the analysis is decomposed in two steps. In first step, using a
conventional static analysis (without k ) it is produced u l from P, resulting k . In the
second step, using the summed rigidity ( k + k ), from relation (13.8) is obtained the
transversal displacement vc , induced by the normal loads q.
An analysis in two steps is exact if the associated displacements with the first step are
not coupled with the displacements associated with the second step. The necessity of a two
steps analysis is that for the majority structures the membrane forces distribution is not
previous known and must be calculated in the first step, so that in the second step it is
obtained the effect on the loads or it is carried on a structure buckling analysis.

13.2. The pre-stressing (geometrical) rigidity matrix for truss and girder elements

13.2.1.The girder under bending in the xy plane and axial load

Fig.13.2. The elastic girder

The girder in fig.13.2 has the axial displacement u = u (x ) and the transversal
displacement v = v(x ) . The membrane strain based on relation (13.3) has the expression:
1
(13.10) m = u 'x + v '2x
2
At distance y from the girder element axis, from relation (4.34), the bending strain
has the expression:

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d2v
(13.11) b = y = y v 'xx
dx 2
From relation (13.10),(13.11), the total axial strain has the expression:
1
(13.12) x = m + b = u 'x + v '2x y v 'xx
2
The internal deformation energy of the element has the expression:
1
l
1
(13.13) U = E 2x dV = E 2x dA dx
2 (V ) 2 0 (A )

From relations (13.12),(13.13) it results:
1
l
1
(13.14) U = E u '2x + v '4x + y 2 v '2xx + u 'x v '2x 2 yu 'x v 'xx v '2x v 'xx dA dx
2 0 (A ) 4
where:
(13.15) dA = A ydA = 0 y dA = I z
2
Eu 'x dA = P
(A ) (A ) (A ) (A )
and neglecting the higher order terms in v and v '2x v 'xx , the internal deformation energy
4
'x
(13.14) has the expression:
l l l
1 1 1
(13.16) U = EAu '2x dx + Pv '2x dx + EI z v '2xx dx
20 20 20
For the element from fig.13.2, the nodal degrees of freedom vector is:
(13.17) {u k } = {u 1 v1 z1 u 2 v 2 z 2 }
T

From chapter 4, the displacements field has the relations:

x x
(13.18) u (x ) = N u1 (x )u 1 + N u 2 (x )u 2 N u 1 (x ) = 1 N u 2 (x ) = x [0, l ]
l l
v(x ) = N v1 (x )v1 + N v 2 (x ) z1 + N v 3 (x )v 2 + N v 4 (x ) z 2
x2 x3 x x2 x3 x2 x3 x2 x3
N v1 = 1 3 + 2 N v2 = 2 + N v3 = 3 2 N v4 = +
l2 l3 l l 2 l3 l2 l3 l2 l3
From relations (13.16),(13.17),(13.18) it can be written:
l l
1 1 1
(13.19) EAu '2x dx + EI z v '2xx dx = {u k } [K ]{u k }
T

20 20 2
where from chapter 4, the conventional rigidity matrix [K ] is:
EA EA
l 0 0 0 0
l
12EI z 6EI z 12EI z 6EI z
0 0
l3 l2 l3 l2
0 6EI z 4EI z 6EI 2EI z
0 2z
(13.20) [K ] = l 2
l l l
EA EA
0 0 0 0
l l
0 12 EI 6 EI 12EI z 6EI z
3 z
2 z
0 2
l l l3 l
6EI z 2EI z 6EI z 4EI z
0 0 2
l2 l l l

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From relations (13.18) as matrix form it can be written:

(13.21) v(x ) = [N ]{u k } v 'x = [N 'x ]{u k } = [G ]{u k }
[N] = [0 N v1 N v 2 0 N v3 N v 4 ] [G ] = [0 N v1'x N v 2'x 0 N v 3'x N v 4 'x ]
6 x x2 x x2 6 x x2 x x2
N v1'x = + 2 N v 2 'x = 1 4 + 3 2 N v 3'x = 2 N v 4 ' x = 2 + 3 2
l l l l l ll l l l
For the second integral from relation (13.19) it results:
l
1 1
(13.22) P v '2x dx = {u k } [K ]{u k }
T

20 2
where the pre-stressing rigidity matrix has the expression:
l
(13.23) [K ] = P [G ] [G ]dx
T

0 0 0 0 0 0
0 N 2v1'x N v1'x N v 2 'x 0 N v1'x N v 3'x N v1'x N v 4 'x

0 N v1'x N v 2 'x N 2
0 N v 2 'x N v 3 ' x N v 2 'x N v 4 'x
[G ]T [G ] = v 2 'x

0 0 0 0 0 0
0 N v1'x N v 3'x N v 2 'x N v 3 ' x 0 N 2v 3'x N v 3 ' x N v 4 'x

0 N v1'x N v 4 'x N v 2 ' x N v 4 'x 0 N v 3 'x N v 4 ' x N 2v 4'x
From relation (13.21) the terms have the expressions:
l l l l
36 1 3 36 1 3
(13.24) N 2v1'x dx = ; N v1'x N v 2'x dx = ; N v1'x N v 3'x dx = ; N v1'x N v 4 'x dx =
0
30 l 0
30 0
30 l 0
30
l l l
4l 3 l
N dx = N N v 3'x dx = N N v 4 'x dx =
2
v 2 'x ; v 2 'x ; v 2 'x
0
30 0
30 0
30
l l l
36 1 3 4l
N v3'x dx = ; N v 3'x N v 4 'x dx = ; N 2v 4 'x dx =
2

0
30 l 0 30 0
30
From relations (13.23),(13.24), it results the pre-stressing rigidity matrix:
0 0 0 0 0 0
0 36 3l 0 36 3l

P 0 3l 4l 0 3l l 2
2

(13.25) [K ] =
30l 0 0 0 0 0 0
0 36 3l 0 36 3l
2
0 3l l 0 3l 4l
2

Obs. Relation (13.25) is approximate, because the transversal displacement field

v = v(x ) with cubic variation is not the exact solution of the problem from fig.13.2 . In order
to increase the precision it is necessary to divide the elastic beam into more finite elements.

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13.2.2. The truss element

Fig.13.3.The truss element

The axial strain is equal to the membrane strain, for the beam element without bending
rigidity ( EI z = 0 ):
1
(13.26) x = m = u 'x + v '2x
2
where the internal deformation energy of the element is:
1 1 2 1 4
l l

(13.27) U = E x dA dx = E u 'x + v 'x + u 'x v '2x dx ; v '4x 0 ; Eu 'x dA = P
2

2 0 (A )
2 0 (A ) 4 (A )
l l
1 1
U = EA u '2x dx + P v '2x dx
20 20
For the element from fig.13.3 the nodal degrees of freedom vector is:
(13.28) {u k } = {u 1 v1 u 2 v 2 }
T

The interpolation functions of the displacements field are linear:

x x
(13.29) u = N1 u 1 + N 2 u 2 v = N 1 v1 + N 2 v 2 N1 = 1 ; N2 = ; x [0, l ]
l l
From relations (13.29),(13.27) it can be written:
l
1 1
(13.30) EA u '2x dx = {u k } [K ]{u k }
T

20 2
where the conventional rigidity matrix [K ] associated with vector {u k } has the expression:
1 0 1 0

EA 0 0 0 0
(13.31) [K ] =
l 1 0 1 0

0 0 0 0
From relations (13.29),(13.27) it results:
(13.32) v(x ) = [N ]{u k } [N] = [0 N1 0 N 2 ]
v 'x = [N 'x ]{u k } [G ] = [N 'x ] = [0 N1'x 0 N 2'x ] = 0 1 0 1
l l
l
1 1
P v '2x dx = {u k } [K ]{u k }
T

20 2
and the pre-stressing rigidity matrix is:
l
(13.33) [K ] = P [G ] [G ]dx
T

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0 0 0 0 0 0 0 0
0 N12'x 0 N1'x N 2 'x 0 1 0 1
[G ]T [G ] = [K ] = P
0 0 0 0 l 0 0 0 0

0 N1'x N 2 'x 0 N 22 'x 0 1 0 1

Obs. Relation (13.33) is exact for small transversal displacements v(x) of the beam
element that can rotate at both extremities, but the bending rigidity is not neglected.
Obs. When there are considered the conventional rigidity matrix [K ] and the pre-
stressing rigidity matrix [K ] , then for a element the total rigidity matrix is [K ] + [K ] and for
[ ] [ ]
the global structure results K g + K g . It is not necessary to introduce supplementary degrees
of freedom, so that the structure law at the static analysis becomes:
[ ] [ ] [ ]
(13.34) K g {u g } = {Qg } ( K g + K g ){u g } = {Qg }
so it is taken into account the effect of the axial loads over the bending rigidity.

13.3. The pre-stressing rigidity matrix for a rectangular thin plate finite element

For a plane plate, analogue to the truss, girder case, it can be obtained a expression for
the pre-stressing matrix [K ] , based on the calculation of the mechanical work made by the
constant membrane forces, with the small transversal displacements.

Fig.13.4. The thin plate element, membrane forces

The membrane forces (fig.13.4) are defined with the following relations:
t 2 t 2 t 2

(13.35) N x = dz
t 2
x Ny = dz
t 2
y N xy = N yx =
t 2
xy dz

where the membrane stresses x , y , xy are previous known, or there are calculated based a
standard static analysis.
The membrane strains, associated with small rotation angles w 'x , w 'y of the middle
surface, have the expressions:
1 1
(13.36) x = w '2x y = w '2y xy = w 'x w 'y
2 2
Considering the membrane forces N x , N y , N xy independent of the transversal
displacement w = w (x , y ) , the associated mechanical work has the expression:

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( )( N x + y N y + xy N xy )dA =
1 1
U = ( ) 2 w N x + w '2y N y + w 'x w 'y N xy dA =
2
x 'x
A A
2
(13.37) T
1 w 'x N x N xy w 'x 1
dA = {u k } [K ]{u k }
T
=
2 (A ) w 'y N xy N y w 'y 2
The nodal degrees of freedom vector has the expression:
(13.38) {u k } = {w 1 w 1'x w 1'y w 2 w 2 'x w 2'y w 3 w 3'x w 3'y w 4 'y }
T
w4 w 4 'x
and from chapter 6 the form functions have the following expressions:
x y
(13.39) w = [N ]{u k } = [0,1] = [0,1] J = ab
a b
[N] = [N1 N 2 ... N12 ]
N1 = 1 2 (3 2 )(1 ) 2 (3 2)(1 )
N 2 = a(1 ) (1 ) N 3 = b(1 ) (1 )
2 2

N 4 = 2 (1 )(3 2 ) + (1 )(1 2)
N 5 = a 2 (1 )(1 ) N 6 = b(1 )
2

N 7 = 2 (3 2 ) (1 )(1 2)
N 8 = a 2 (1 ) N 9 = b2 (1 )
N10 = 2 (1 )(3 2) + (1 )(1 2 )
N11 = a(1 ) N12 = b2 (1 )(1 )
2

w 'x [N ] N i 1 N i N i 1 N i
(13.40) = [G ]{u k } [G ] = 'x = =
w 'y [ ]
N 'y x a
;
y b

a [N ' ]
1
[G ] = 1
[N ' ]
b
where the [G ] matrix terms are obtained by derivation of relations (13.39).
From relations (13.37),(13.40), it results for the pre-stressing rigidity matrix the
expression:
N N xy 1 1
N N xy
[K ] = [G ]T x [G ]dA = ab [G ]T x [G ]dd =
(A ) N xy N y 0 0 N xy N y
(13.41)
( )
1 1
= N x [N ' ] [N ' ] + N y [N ' ] [N ' ] + N xy [N ' ] [N ' ] + [N ' ] [N ' ] dd
b T a T T T
0 0
a b
Obs. The membrane forces have variation in the plate element field N x (, ) ,
N y (, ) , N xy (, ) and due to the functions complexity, the terms in relation (13.41) [K ]
are calculated using numerical integration procedures.

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13.4. The general formulation for the pre-stressing rigidity matrix

For structural problems that involves large displacements, the strains-displacements

Cauchy relations are replaced by the Green-Lagrange relations:
1
(
(13.42) x = u 'x + u '2x + v '2x + w '2x
2
)
1
(
y = v 'y + u '2y + v '2y + w '2y
2
)
1
(
z = w 'z + u '2z + v '2z + w '2z
2
)
xy = u 'y + v 'x + (u 'x u 'y + v 'x v 'y + w 'x w 'y )
yz = v 'z + w 'y + (u 'y u 'z + v 'y v 'z + w 'y w 'z )
zx = w 'x + u 'z + (u 'z u 'x + v 'z v 'x + w 'z w 'x )
The supplementary terms from relations (13.42), as for Cauchy relations, become
significant if the displacement gradients increase. The Green-Lagrange strains are zero for
whatever displacement / rotation rigid body.
In equations (13.42), all the displacements derivates are calculated in the original
coordinates system, representing the complete Lagrange formulation. All the displacements
are measured into a fix reference system, called the material coordinates system.
It is considered that the applied stresses { 0 } are constant during the strains
occurrence {} and it can be associated the following mechanical work:
{} { }dV
T
(13.43) 0
( )V

where: {} = { ... zx } { 0 } = { x 0 ... zx 0 }

T T
x y y0
From relation (13.42), the strains vector can be rewritten:
(13.44) {} = {}C + {}GL
where are noted {}C the Cauchy strains and {}GL the supplementary Green-Lagrange
formulation. From relations (13.43),(13.44) it results:
(13.45) {} { 0 }dV = {}C { 0 }dV + {}GL { 0 }dV
T T T

(V ) (V ) (V )
where the first integral is the mechanical work of the nodal forces associated with { 0 } .
From the second integral, in the relation (13.45) it can be rewritten:
1
( )
(13.46) U = {}GL { 0 }dV = u '2x + v '2x + w '2x x 0 + ... + (u 'z u 'x + v 'z v 'x + w 'z w 'x ) zx 0 dV
T

(V ) (V ) 2
The displacement derivates vector is defined with the expression:
(13.47) {} = {u 'x u 'y u 'z v 'x v 'y v 'z w 'x w 'y w 'z }
T

and relation (13.46) has the matrix form:

s 0 0 x0 xy 0 zx 0
1 T
(13.48) U = {} 0 s 0{}dV where [s ] = xy 0 y0 yz0
2 (V )
0 0 s zx 0 yz0 z 0

There are considered known the interpolation functions of the displacements field for
the analysed finite element:
(13.49) {u} = [N ]{u k } {u} = {u v w}T {} = [G ]{u k }

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x 0 0
y 0 0

z 0 0

0 x 0 u
{} = 0 y 0 v = [D]{u} [G ] = [D][N]

0 z 0 w
0 0 x

0 0 y
0 0 z

From relations (13.48),(13.49), it results:
1
(13.50) U = {u k } [K ]{u k }
T

2
where the pre-stressing rigidity matrix, in a generalized form, has the expression:
s 0 0
(13.51) [K ] = [G ] 0 s 0[G ]dV
T

(V ) 0 0 s
As example, it is considered the case of the beam from fig.13.3:
x x
(13.52) u = N1u 1 + N 2 u 2 v = N 1 v1 + N 2 v 2 N1 = 1 N2 = x [0, l ]
l l
N1 N 2
N1 0 N 2 0 x 0 x 0 0
[N] = [D ] = 0 [G ] =
x
N 2
0 N1 0 N 2 x 0
N1
0
x x
1 0 1 0
{u k } = {u1 v1 u 2 v 2 }T {} = {u 'x v 'x }T [G ] = 1
l 0 1 0 1
[s] = x 0 The pre-stressing rigidity matrix has the expression:
1 0 1 0

T 0 P 0 1 0 1
l
(13.53) [K ] = A [G ] x 0 [G ]
dx =
0 0 x0 l 1 0 1 0

0 1 0 1
where P = A x 0 and in compare to form (13.33) has supplementary 4 non-zero terms.
Obs. The supplementary terms have the same position as the non-zero terms in the
conventional rigidity matrix (13.31), so that for the total rigidity matrix it results:

1 1
(EA + P ) l 0 (EA + P )
l
0
P P
0 0
(13.54) [K ] + [K ] = l l
(EA + P ) 1 0 (EA + P ) 1 0
l l
P P
0 0
l l

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In practical conditions EA >> P and then the supplementary terms from relation
(13.53) in compare to relation (13.33) can be neglected:
EA EA
l 0 0
l
P P
0 0
(13.55) [K ] + [K ] = l l
EA 0
EA
0
l l
P P
0 0
l l
Obs. At the dynamic analysis, the motion equation system can be written as following:
[ ] [ ] [ ]
(13.56) ( K g + K g ){u g }+ M g {&u& g } = {Qg (t )} - forced vibrations
(([K ]+ [K ]) [M ]){u }= 0 - free vibrations
g

g
2
g g

and results that the tensile membrane stresses lead to the grow of the eigen frequencies, and
the compression membrane stresses lead to their reduction, until the case of = 0 , if the
buckling phenomena occurs.

13.5. The reduction of the buckling analysis to a equivalent mathematic

eigen values and vectors problem

It can be defined the splitting load at buckling, representing the loads case where a
reference configuration of the structure and a configuration very close this one (at the stability
lost) can represent both the equilibrium configurations.
When the buckling deformation occurs {du g } over the reference configuration {u g } ,
the loads are constant {d Qg } = 0 and from relation (13.34) on structure it can be written:
[ ] [ ]
(13.57) ( K g + K g ){u g } = {Qg } ([K ]+ [K ]){du }= {dQ }= 0
g

g g g

[ ]
It is necessary to obtain the stresses state (corresponding the matrix K g ), so that in
relation (13.57) it results a solution different to the zero one {du g } 0 , that represents the
condition for structure buckling.
In the following, there is presented the classical formulation of the structural buckling
analysis.
Initial it is applied to the structure a reference load {Qg }ref and based on a standard
linear static analysis there are obtained the elements membrane stresses, used at the
[ ]
calculation of the matrix K g ref .
For other load, having the scaling factor , it results:
[ ] [ ]
(13.58) {Qg } = {Qg }ref and K g = K g ref
so that by multiplying the load with factor it is modified the stresses value, but the
distribution of the stresses field remain the same.
In the following, because the external loads are constant during the occurrence of the
small displacements induced at buckling {du g }, it results from relation (13.57) the expression:
([ ] [ ] ){du }= 0
(13.59) K g + cr K g ref g

Equation (13.59) defines an eigen values and vectors problem, where the smallest
eigen value cr is associated with the phenomena of structural buckling.

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From relation (13.58) , the buckling critical force has the expression:
(13.60) {Qg }cr = cr {Qg }ref
The eigen vector {du g } associated with cr defines the form vector at buckling,
having a unknown amplitude.
From the physic point of view, relation (13.59) has the following meaning. The terms
[ ] [ ]
K g + cr K g ref = [K net ] represent the net rigidity matrix. As the forces [K net ]{du g } = 0 are
zero, it can be considered that the critical membrane stresses reduce the structure rigidity to
zero, having the structure deformation as the buckling form {du g }.
In order to obtain the critical values cr , there can be obtained several procedures for
the calculation of the eigen values and vectors, used also at free vibrations problems. There
must not to be used methods that require inverting the matrix [K ] , because this can be non-
positive defined.
[ ][ ]
Obs. Considering at the matrix calculation K g , K g the not deformed structure
geometry, there is neglected in relation (13.59) the dependence on the deformed structure
previous to the buckling occurrence. In order to improve the buckling prediction, there is
[ ][ ]
recommended to calculate the matrixes K g , K g based on the deformed structure geometry,
even before the buckling occurrence moment. So, it is necessary to use an iterative calculation
algorithm, which includes in each step the prediction of the deformation previous to buckling
occurrence and to solve the equation (13.59).

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