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 Engineering Structures 106 (2016) 299–316

Contents lists available at ScienceDirect

Engineering Structures
journal homepage: www.elsevier.com/locate/engstruct

Torsional warping eigenmodes including the effect of the secondary

torsion moment on the deformations
Mehdi Aminbaghai a,⇑, Justin Murin b, Juraj Hrabovsky b, Herbert A. Mang a,c,1
a
Vienna University of Technology, Institute for Mechanics of Materials and Structures, Karlsplatz 13, A-1040 Vienna, Austria
b
Department of Applied Mechanics and Mechatronics, IAMM FEI STU in Bratislava, Ilkovičova 3, 812 19 Bratislava, Slovakia
c
Tongji University, Siping Road 1239, Shanghai, China

a r t i c l e i n f o a b s t r a c t

Article history: In this paper the influence of torsional warping of cross-sections of twisted beams on their eigenvibra-
Received 11 May 2015 tions is investigated, considering the secondary deformations due to the angle of twist. The investigation
Revised 9 October 2015 is based on the analogy of second-order bending beam theory, including the effect of the deformations
Accepted 11 October 2015
due to the shear forces on the deformations, and the non-uniform torsion theory of thin-walled open
and closed cross-sections, including the secondary torsion moment deformation effect. The solutions of
the underlying differential equations are used for setting up the transfer matrix relations. The numerical
Keywords:
investigation is focused on modal analysis of straight beams with and without consideration of warping
Non-uniform torsion
Warping torsional eigenvibrations
of doubly symmetric open and closed cross-sections. The influence of the secondary torsion moment on
Secondary torsion moment deformation the non-uniform torsional eigenfrequency is also studied and evaluated. The obtained results are com-
effect pared with the ones calculated by standard solid and warping beam finite elements.
Closed and open section beams Ó 2015 Elsevier Ltd. All rights reserved.

1. Introduction
It is well known that the effect of non-uniform torsion must be
considered in structural analysis of thin-walled beams with open
cross-sections. The maximum normal stress caused by the bimo-
ment occurs at the points action of the external torques (except
for a free end of the beam) and at the cross-sections of restrained
warping (e.g. clamped cross-sections). In the past, several theories
have been developed specifically to deal with non-uniform torsion
by means of analytical and semi-analytical methods. The best
known theories are the Vlasov theory for the calculation of beams
with thin-walled cross-sections [1] and the analogy between
second-order beam theory for bending (including the effect of
the tensile axial force) and non-uniform torsion, elaborated by Roik
and Sedláček) [2]. These theories are designed for torsion of beams
with open thin-walled cross-sections. It was proved that warping
is analogous to the first derivative of the angle of twist (also
denoted as the bicurvature). It is worth of mention that in technical
practice as well as in the National Eurocodes 3 (EC3) [3] the effect
of non-uniform torsion of steel beams with closed cross-sections is
⇑ Corresponding author.
E-mail addresses: mehdi.aminbaghai@tuwien.ac.at (M. Aminbaghai), justin.
murin@stuba.sk (J. Murin), juraj.hrabovsky@stuba.sk (J. Hrabovsky), herbert.
mang@tuwien.ac.at (H.A. Mang).
1
National RPGE Chair Professor.
not considered and very often the Saint–Venant theory of torsion
(uniform torsion) is applied.
Based on the above mentioned theory and on the analogy with
non-uniform torsion of open cross-sections, special finite beam
elements with warping have been developed and implemented
into FEM computational software, e.g. into [4–7], and into other
commercial FEM codes. With the exception of [6], the influence
of non-uniform torsion was included by an additional 7th degree
of freedom at the nodal points: the angle of twist per unit length
(bicurvature). This degree of freedom was associated with the
nodal bimoment in the frame work of the finite element equations.
However, in some of the existing packages, the warping degree of
freedom cannot be used in the constraint equation. The obtained
finite elements with a 14
14 stiffness matrix provide good results
for non-uniform torsion of beams with open sections, but they may
yield unreliable results for non-uniform torsion of closed-section
beams [27]. In [6], warping is taken into account, employing
an additional independent degree of freedom (other than the
bicurvature).
However, most recent theoretical research results have shown
that the effect of non-uniform torsion must be considered also
for steel beams with closed sections. In the literature, papers can
be found which deal with advanced approaches for elastostatic
analysis of beams with open and closed sections, subjected to
non-uniform torsion. They are concerned with semi-analytic and
FEM solutions [8–21]. The analogy between 2nd order beam theory

http://dx.doi.org/10.1016/j.engstruct.2015.10.022
0141-0296/Ó 2015 Elsevier Ltd. All rights reserved.
300 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316
for bending (including the effect of a tensile axial force) for
consideration of shear forces and between non-uniform torsion,
considering the effect of the deformations due to the secondary
torsion moment (for the secondary torsion moment deformation
effect the acronym STMDE will be used in the following), is used
[22–25]. The authors of these works compiled the transfer rela-
tions for non-uniform torsion of beams with open and closed
cross-sections, defining the warping degrees of freedom as the
warping part of the first derivative of the angle of twist, caused
by the bimoment. The calculations have shown that the impact
of the STDME is especially significant for non-uniform torsion of
beams with closed cross-sections. Based on results by Rubin, a
new semi-analytical procedure was developed for the solution of
non-uniform torsion of straight beams with closed and open
cross-sections by the transfer matrix method. This procedure was
implemented into the software IQ-100 [26]. Moreover, in [27] a
new finite element stiffness matrix was derived for non-uniform
torsion of prismatic bars with open and closed cross-sections,
where a new warping degree of freedom – the part of the first
derivative of the angle of twist caused by the bimoment – was con-
sidered. This allowed using the new warping degree of freedom for
satisfaction of boundary conditions at the clamped end of beams.
The results from the performed analysis and the experimental
measurements have shown that the maximum normal stress
caused by the bimoment reaches a value that is comparable with
the shear stress caused by the torque. Therefore, this stress cannot
automatically be neglected as stated in EC3. Consequently, the
STMDE and the new degree of freedom were considered in
[28,29]. This was done in the framework of the boundary element
method. Both, in the theoretical part of [30] and in the numerical
investigation, STMDE was taken into account in the analysis of
closed hollow section bars.
Again, in [31] the finite element stiffness matrix for non-
uniform torsion [27] was implemented into the 14
14 stiffness
matrix of 3D Timoshenko finite beam elements, which were used
in elastostatic analyses of 3D beam structures. An experimental
device [32] was built for measurement of warping effects. Finally,
in [33–36] general formulations for non-uniform shear warping
were presented, and an advanced 20
20 stiffness matrix and
the corresponding nodal load vector of a beam element with an
arbitrary cross-section were developed, taking shear lag effects
due to both flexure and torsion into account.
Beam structures are often exposed to time-dependent loads.
Commercial FEM codes allow performing modal and transient
dynamic analysis by 3D finite beam elements with and without
consideration of the warping effect. Very often an improved
Saint–Venant theory of torsion is used and special mass matrices
are proposed. In general, the bicurvature is chosen as an additional
warping degree of freedom, and the STMDE is not considered.
The beam element in [5] can be used with a lumped or a consis-
tent mass matrix. The consistent mass matrix includes warping
effects and does not include the effect of shear deformations. For
standard beam elements, the consistent mass matrix is based on ref-
erence [37] with the exception of additional terms arising from the
warping constant Ix . For the warping element, lumped masses for
the warping degree of freedom (bicurvature) are defined [38]. As
stated in [5], for solid and closed thin-walled sections, the standard
finite beam element can be used without significant error. However,
for open thin-walled sections, the warping finite beam element
should be used. In [6], however, the warping finite beam element
is recommended only for use for open thin-walled section beams.
In the most recent literature relatively little information is
provided concerning the solution of free and forced torsional
vibrations of beams with hollow cross-sections that include non-
uniform torsion effects. In [39] a boundary element method is
developed for the non-uniform torsional vibration problem of
doubly symmetric composite bars with arbitrarily variable cross-
sections. Dynamic analysis of 3D beam elements, restrained at their
edges, subjected to arbitrarily distributed dynamic loading is pre-
sented in [40]. In [41], Ref. [39] is extended by taking geometrical
nonlinearity into account, and in [42], the effect of rotary and warp-
ing inertia is considered. Non-linear torsional vibrations of thin-
walled beams, exhibiting primary and secondary warping, are
investigated in [43]. A solution for the vibration of Timoshenko
beams by the isogeometric approach is presented in [44]. Warping
effects, however, are not considered. In [45], geometrically non-
linear free and forced vibrations of beams with non-symmetrical
cross-sections are investigated by the Saint–Venant theory of tor-
sion. Axial–torsional vibrations of rotating pre twisted thin-walled
composite box beams, exhibiting primary and secondary warping,
are investigated in [46]. A new formulation of a 3D beam element
is presented with a new method of describing the transverse
deformation cross-section of the beam and of its warping in [47].
As follows from the above overview of research papers on non-
uniform torsion, the effect of warping should be considered also for
torsion of beams with closed thin-walled cross-sections. This was
also proved experimentally by elastostatic torsional loading of
hollow-section beams [31]. It was also shown that the effect of
the secondary torsion moment has to be taken into account for
closed-section beams. Because the bicurvature cannot be used in
the constraint equations, see. e.g. [5], it is straightforward to con-
sider the part of the first derivative of the angle of twist caused
by the bimoment as the warping degree of freedom also for modal
analysis. This is the motivation for the investigation, documentedin
the following chapters of this paper.
In chapter 2, a brief summary of the differential equations for
axial, flexural, and Saint–Venant torsional eigenvibrations is pre-
sented. In chapter 3, the differential equations of 4th order for
non-uniform torsional eigenvibrations are formulated. The part of
the bicurvature caused by the bimoment is taken into account as
the warping degree of freedom, and the STMDE is also considered.
A general semi-analytical solution of the differential equation is
presented and the transfer matrix relation is established. Chapter
4 contains the numerical investigations. The results from modal
analysis of beams with open I cross-sections and rectangular
hollow cross-sections are presented and compared with the ones
obtained by commercial FEM codes. The STMDE is evaluated.
The final assessment of the proposed method is contained in the
conclusions and the summary.
The main novelty of this paper is inclusion of the STMDE into
the differential equation for non-uniform torsion-free vibrations
based on the analogy between second order beam theory (with
the shear force deformation effect) and non-uniform torsion (with
the STMDE). This approach leads to a split of the bicurvature into
the primary and the secondary part caused by the bimoment and
the secondary torsion moment. The transfer relations are derived
for the calculation of the torsional eingenfrequencies of single
beams including warping. The bimoment and the primary part of
the bicurvature are taken to specify boundary conditions. The pro-
posed approach is used for non-uniform torsion modal analysis of
beams with open and closed cross-sections.
2. Axial, flexural, and torsional eigenvibrations of beams
In the following, a brief summary of the state of the art is given.
It contains the differential equations for the axial, flexural, and
torsional eigenvibrations of beams.
2.1. Eigenvibrations in the longitudinal direction
Fig. 1 refers to the determination of the axial eigenvibrations.
Fig. 1(a) shows the axial force N and the corresponding axial
 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316 301

displacement u at x 2 ð0; LÞ. L is the length of the bar. The symbol i

denotes the starting (initial) point of the bar (at x = 0). Fig. 1(b)
illustrates an infinitesimal element of the beam. It is loaded by
the line load qAx2 uðxÞ, where q is the density of the material, A
denotes the cross-sectional area of the beam, and x is the circular
frequency. The line load represents the static equivalent of the
dynamic action.
The differential equation for the longitudinal displacement is
given in [48], considering damping to be zero:

EAu00 ðxÞ þ qAx2 uðxÞ ¼ 0; ð1Þ

where E is the modulus of elasticity. Here and in the following,
0
:¼ d=dx. Fig. 2. Flexural eigenvibrations: (a) forces and displacements at x and (b)
An algorithm of the axial eigenfrequency calculation is equivalent static line load and line moment acting on an infinitesimal beam
described in detail in [49]. element.

2.2. Eigenvibrations in the transverse direction

Fig. 2 refers to the determination of flexural eigenvibrations.
Fig. 2(a) shows the forces and the corresponding displacements
at x. Fig. 2(b) illustrates an infinitesimal element of the beam. It
is assumed that the coordinate system is principal (decoupling
with the flexural vibrations at the other transverse direction) and
that the beam is doubly symmetric (decoupling with the torsional
vibrations). It is loaded by the line load qAx2 wðxÞ and the line
moment qIx2 uðxÞ, where I denotes the second moment of area.
The line load and the line moment represent static equivalents of
the dynamic action.
Concerning the beam element shown in Fig. 2, the equilibrium
relations for its deformed position (second-order beam theory) is
given as follows [50]:
transverse force equilibrium : R0 ðxÞ ¼ qAx2 wðxÞ;
moment equilibrium : M 0 ðxÞ ¼ RðxÞ  NðxÞw0 ðxÞ þ qIx2 uðxÞ
¼ VðxÞ þ qIx2 uðxÞ:
where AS is the shear area and G is the shear modulus. For the spe-
cial case of (a) a shear-rigid beam, (b) disregard of the mass inertial
momentum, and (c) restriction to first-order beam theory, Eq. (7)
degenerates to [51].
EI w ðxÞ  qAx2 wðxÞ ¼ 0:
0000
ð8Þ
An algorithm for calculation of the flexural eigenfrequency is
described in detail in [49].
2.3. Eigenvibrations due to uniform torsion (Saint–Venant torsion)
Fig. 3 refers to the determination of the eigenvibrations due to
torsional vibrations (Saint–Venant torsion). Fig. 3(a) shows the tor-
sional moment M T ðxÞ and the corresponding twist angle wðxÞ of an
element of the beam. It is loaded by the torsional line moment
ð2Þ qIp x2 wðxÞ, where Ip denotes the polar moment of area. This line
moment represents the static equivalent of the dynamic action.
The differential equation for the rotation about the axis of the
ð3Þ beam is taken from [58] and [60]:

Here, RðxÞ and MðxÞ are the transverse force and the bending GIT w00 ðxÞ þ qIp x2 wðxÞ ¼ 0; ð9Þ
moment; wðxÞ and uðxÞ denote the vertical displacement and the
where IT denotes the torsion constant.
total angle of the cross-sectional rotation. The relation between
The homogeneous differential Eqs. (1), (7), and (9) can be solved
the transverse force RðxÞ and the shear force VðxÞ is given as
analytically, see e.g. [52], or numerically, see e.g. [53]. The
RðxÞ ¼ VðxÞ þ NðxÞw0 ðxÞ: ð4Þ generation of the stiffness matrices, the mass matrices, and the
Furthermore, transfer matrices is described in [1,50,31].
The presented differential equations were solved in [54].
VðxÞ The algorithm for the calculation of the Saint–Venant torsional
w0 ðxÞ ¼ uðxÞ þ ð5Þ
GAS eigenfrequency calculation is described in [49].
and
MðxÞ 3. Eigenvibrations due to non-uniform torsion (warping
u0 ðxÞ ¼  : ð6Þ eigenvibrations)
EI
If the axial force N remains constant along the bar, the differential Fig. 4 refers to determination of the eigenvibrations due to
equation for the deflection in equal to the one given in [50] non-uniform torsion. It shows the torsional moment M T ðxÞ,



 
N EI N representing the sum of the primary torsional moment M Tp ðxÞ and
qAx2 þ 1 þ qIx2  N w00 ðxÞ
0000
EI 1 þ w ðxÞ þ
GAS GAS GAS the secondary torsional moment M Ts ðxÞ, and the bimoment M x ðxÞ.


qI x 2 Fig. 4 also shows the angle of twist, wðxÞ, corresponding to M Tp ðxÞ.
þ qAx2  1 wðxÞ ¼ 0; ð7Þ
GAS

Fig. 1. Axial eigenvibrations: (a) axial force and displacement at x and (b) Fig. 3. Torsional eigenvibrations: (a) torsional moment and angle of twist and (b)
equivalent static line load and axial force acting on an infinitesimal beam element. equivalent static line load acting on an infinitesimal beam element.
302 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316

It represents the sum of the angle of twist, resulting from

the primary deformation w0M ðxÞ and the secondary deformation
w0S ðxÞ.
Fig. 5 illustrates an infinitesimal element of the beam. It is
loaded by the torsional line moment qIp x2 wðxÞ and the line bimo-
ment qIx x2 w0M ðxÞ, where Ix stands for the warping constant. These
line moments represent the static equivalent of the respective
dynamic action. In the following, the equilibrium equations will Fig. 5. Non-uniform torsion: equivalent static line load and line moment acting on
be formulated, considering the analogy between non-uniform tor- an infinitesimal beam element.
sion and second-order beam theory, see chapter 2.2 and Table 1.
They are obtained as (see Fig. 6)
Table 1
M 0T ðxÞ ¼ qIp x2 wðxÞ; ð10Þ Analogy between non-uniform torsion and second-order beam theory.

M 0x ðxÞ ¼ M T ðxÞ  M Tp ðxÞ þ qIx x2 w0M ðxÞ ¼ MTs ðxÞ þ qIx x2 w0M ðxÞ;
ð11Þ
where
Non-uniform
M T ðxÞ ¼ M Tp ðxÞ þ M Ts ðxÞ: ð12Þ
It is worth of mention that Eqs. (10) and (11) are analogous to
Eqs. (2) and (3), respectively.
According to [55] and Table 1:
torsion
M x ðxÞ Second-order beam theory
w00M ðxÞ ¼  ð13Þ
EIx Angle of twist wðxÞ wðxÞ Deflection
Bimoment Mx ðxÞ MðxÞ Bending moment
and Torsional moment MT ðxÞ RðxÞ Transversal force
Primary torsional moment MTp ðxÞ Nw0 ðxÞ Without a
w0 ðxÞ ¼ w0M ðxÞ þ w0S ðxÞ ð14Þ mechanical meaning
Secondary torsional moment MTs ðxÞ VðxÞ Shear force
with
Derivative of the twist angle with w0 ðxÞ w0 ðxÞ Derivative of the
MTp ðxÞ respect to x deflection with
w0 ðxÞ ¼ ð15Þ respect to x
GIT Derivative of the twist angle from w0M ðxÞ uðxÞ Rotation of the cross-
and the primary deformation with section
respect to x
MTs ðxÞ Derivative of the twist angle from w0S ðxÞ c ¼ VðxÞ Shear force/Shear
w0S ðxÞ ¼ ; ð16Þ the secondary deformation
GAs
stiffness
GITs
with respect to x
where ITs denotes the secondary torsion constant. Torsional stiffness (Saint–Venant) GIT N Axial force according
to second-order
Differentiation of Eq. (14) with respect to x and consideration of
beam theory
the Eqs. (13) and (16) gives Secondary torsional stiffness GITs GAs Shear stiffness
00 M 0 ðxÞ M x ðxÞ M0Ts ðxÞ Warping stiffness EIx EI Bending stiffness
w ðxÞ ¼ w00M ðxÞ þ Ts ¼ þ : ð17Þ Warping inertia moment qIx qI Mass inertia moment
GITs EIx GITs
Primary torsional inertia moment qIp qA Mass inertia force
Making use of Eqs. (10) and (13) and of the derivative of Eq. (12)
in Eq. (17) yields
0 0
M 0Ts ðxÞ M x ðxÞ MT ðxÞ  MTp ðxÞ
w00 ðxÞ ¼ w00M ðxÞ þ ¼ þ
GITs EIx GITs
Mx ðxÞ qIp x2 wðxÞ  M Tp ðxÞ
0
¼ þ
EIx GITs
Mx ðxÞ qIp x2 wðxÞ  GIT w00 ðxÞ
¼ þ : ð18Þ
EIx GITs
Multiplication of Eq. (18) by EIx results in
EIx  
EIx w00 ðxÞ þ Mx ðxÞ þ qIp x2 wðxÞ þ GIT w00 ðxÞ
GITs


GIT EIx  
¼ EIx 1 þ w00 ðxÞ þ M x ðxÞ þ qIp x2 wðxÞ ¼ 0: ð19Þ
GITs GITs Fig. 6. Cantilever beam with an I cross-section (a) system and (b) cross-section.

Differentiation of Eq. (19) with respect to x and substitution of

Eq. (12) into the so-obtained relation yields


GIT EIx  
EIx 1 þ w000 ðxÞ þ qIp x2 w0 ðxÞ þ MT ðxÞ
GITs GITs
 M Tp ðxÞ þ qIx x2 w0M ðxÞ ¼ 0: ð20Þ
Fig. 4. Non-uniform torsion: torsional moments and angles of twist.
 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316 303



Table 2 GIT 0000 EIx
Cross-sectional parameters. EIx 1 þ w ðxÞ þ qIp x2 þ qIx x2  GIT w00 ðxÞ
GITs GITs
Cross-sectional parameters [56,57]: 0 qIx x2  0 
þ MT ðxÞ  MT ðxÞ  M0Tp ðxÞ ¼ 0: ð22Þ
Cross-sectional area [56]: A ¼ 2124  106 (m2) GITs
2
Shear area in the y-direction [56]: Ay ¼ 1334:7  106 (m )
Substitution of Eq. (10) and of the derivative of Eq. (15) into
Shear area in the z-direction [56]: Az ¼ 402:7  106 (m2)
Eq. (22) gives
Second moment of area about the y-axis Iy ¼ 3492  109 (m ) 4



 
[56]: GIT 0000 EIx GI
Second moment of area about the z-axis 9 (m4)
EIx 1 þ w ðxÞ þ qIp x2 þ 1 þ T qIx x2  GIT w00 ðxÞ
Iz ¼ 1338  10 GITs GITs GITs
[56]:

q I x x 2
Polar moment of area [56]: Ip ¼ Iy þ Iz ¼ 4830  109 (m4) þ qIp x2  1 wðxÞ ¼ 0: ð23Þ
Torsion constant [56]: IT ¼ 52:4  10 9 (m4) GITs
Secondary torsion constant [57]: ITs ¼ 2581:3  109 (m4)
Eq. (23) is a linear homogeneous differential equation of fourth
Warping constant [56]: Ix ¼ 258:1  10 11 (m6)
order for the angle of twist. It can be verified by means of the anal-
ogy between non-uniform torsion and second-order beam theory
(see Table 1). This is done by comparing the differential Eqs. (23)
Table 3
and (7), considering corresponding lines in Table 1.
Material properties.
For free-of-warping cross-sections, for which Ix ¼ 0, Eq. (23)
Material characteristics: degenerates to Eq. (9).
Young’s modulus: E ¼ 21  107 (kN/m2) The general semi-analytical solution of the differential Eq. (23)
Poisson’s ratio: v = 0.3 can be written as follows [52]:
Shear modulus: G ¼ 8:0769  107 (kN/m2)
wðxÞ ¼ b0 ðxÞwi þ b1 ðxÞw0i þ b2 ðxÞw00i þ b3 ðxÞw000
i ; ð24Þ
Mass density: r = 7.85 (t/m3)
where b0 ðxÞ; b1 ðxÞ; b2 ðxÞ; b3 ðxÞ denote the transfer functions [52]
and wi ; w0i ; w00i ; w000
i represent the integration constants referring to
Consideration of Eqs. (14)–(16) in Eq. (20) gives the starting point i (e.g. wi ¼ wi ðxÞ for x ¼ 0, etc.).

 Eq. (24) and its first three derivations with respect to x are
GIT EIx  
EIx 1 þ w000 ðxÞ þ qIp x2 w0 ðxÞ þ MT ðxÞ  GIT w0 ðxÞ integrated into the following matrix equation:
GITs GITs

 2 3 2 3 2 3
M Ts ðxÞ wðxÞ b0 ðxÞ b1 ðxÞ b2 ðxÞ b3 ðxÞ wi
þ qIx x2 w0 ðxÞ  ¼ 0: ð21Þ 6 w0 ðxÞ 7 6 b0 ðxÞ b3 ðxÞ 7 6 0 7
0 0 0
GITs 6 7 6 0 b1 ðxÞ b2 ðxÞ 7 6 wi 7
6 00 7 ¼ 6 00 00 00 00 7  6 00 7
4 w ðxÞ 5 4 b0 ðxÞ b1 ðxÞ b2 ðxÞ b3 ðxÞ 5 4 wi 5 ð25Þ
Differentiation of Eq. (21) with respect to x and consideration of 000 000 000 000
Eq. (12) results in w000 ðxÞ b0 ðxÞ b1 ðxÞ b2 ðxÞ b3 ðxÞ w000
|fflfflfflfflfflffl{zfflfflfflfflfflffl} |fflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflffl{zfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflfflffl} |fflfflffl{zfflfflffl}
i

wðxÞ BðxÞ wi

Table 4
Eigenfrequencies of a cantilever beam with an I cross-section.

Type of eigenvibrations Eigenfrequencies (Hz)

fj Proposed method RSTAB [7] ANSYS [4] SO-

LID186/BEAM188
Bending about the z-axis, f1 18.1 18.1 18.1/18.6
with shear deformations f2 112.3 112.6 112.5/115.6
f3 309.2 310.9 309.8/318.4
Bending about the z-axis, f1 18.1 18.1 –
without shear deformations f2 113.5 113.8 –
f3 316.7 318.6 –
Bending about the y-axis, f1 28.9 28.9 29.0/29.1
with shear deformations f2 168.1 169.0 170.4/165.5
f3 426.1 430.3 435.6/435.4
Bending about the y-axis, f1 29.3 29.3 –
without shear deformations f2 182.6 183.8 –
f3 506.8 514.8 –
Axial deformations in the f1 646.5 646.6 647.0/646.5
x-direction f2 1939.5 1943.2 1939.6/1939.6
f3 3232.6 3249.8 3239.2/3233.0
Saint–Venant torsion about the f1 41.7 41.7 –/36.3
x-axis f2 125.2 125.5 –/109.1
f3 208.8 209.9 –/181.9
Warping torsion about the f1 51.4 – 50.8/–
x-axis including deformations f2 177.4 – 172.8/–
due to the secondary torsional moment f3 366.2 – 356.8/–
Warping torsion about the x-axis without deformations due f1 51.6 – –/46.5
to the secondary torsional moment f2 178.7 – –/165.5
f3 373.0 – –/356.7
304 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316

Fig. 7. Mode shapes corresponding to the 1st, 2nd and 3rd warping eigenfrequencies [4].

Fig. 8. Angle of twist wðxÞ for the three corresponding torsional modes obtained by the proposed method.

ZðxÞ ¼ F xi ðxÞ  Z i ; ð27Þ

where Z i is the static vector at the starting point i and F xi ðxÞ is the
transfer matrix, given as

F xi ðxÞ ¼ T  BðxÞ  T 1 : ð28Þ

Calculation of the warping eigenfrequencies consists of the fol-
lowing steps: At first, Eqs. (25) and (26) and the transfer matrix
F xi ðxÞ are specialised for the beam length L. The transfer Eq. (27)
is specialised for the nodes i and k of the transfer matrix
F ki ðx ¼ LÞ. Taking the boundary conditions into account, a reduced
system of two homogeneous algebraic equations is obtained. The
relevant boundary conditions are described in detail in the numer-
Fig. 9. Cantilever beam with a rectangular hollow cross-section: (a) system and (b) ical investigation.
cross-section. The circular natural frequencies xj ; j ¼ 1; 2; . . ., follow from the
zeros of the determinant of the reduced system of equations. An
iterative method was used to find these zeros as described in
In Eq. (25), BðxÞ is a matrix containing the solution functions Appendix B.
and its first three derivatives at x; wðxÞ is a vector containing the The natural frequencies f j ¼ xj =2p; j ¼ 1; 2; . . ., are determined
angle of twist and its first three derivatives at x, and wi is a vector
subsequently.
containing the angle of twist and its first three derivatives at the
The above our algorithm was implemented into the software
starting point i. The transformation matrix T in the following
MATHEMATICA [54]. The eigenfrequencies were calculated for
matrix equation relates the vector wðxÞ to the ‘‘static vector” ZðxÞ,
selected cantilever beams with thin-walled open cross-sections
containing wðxÞ; w0M ðxÞ; M x ðxÞ, and M T ðxÞ: and closed cross-sections. In chapter 4, the results of the numerical
2 3 2 3
wðxÞ wðxÞ experiments are presented and compared with the results
6 w0 ðxÞ 7 6 w0 ðxÞ 7 obtained from the available commercial software.
6 M 7 6 7
6 7 ¼ T  6 00 7
4 M x ðxÞ 5 4 w ðxÞ 5 ð26Þ
000
M T ðxÞ w ðxÞ 4. Numerical investigation
|fflfflfflfflfflfflffl{zfflfflfflfflfflffl
ffl} |fflfflfflfflfflffl{zfflfflfflfflfflffl}
ZðxÞ wðxÞ
4.1. Eigenfrequencies and mode shapes of a cantilever beam with an I
where cross-section
2 3
1
0  0 0
6 7
6
6
x4 EIx qIp qIx
þ
x4 qI2x
7
7
The length of the beam, L, is 2 m. The cross-section is the one of
6 ð
GITs GITs x2 qIx Þ GITs x2 qIx
x2 EIxðGIT þGITs ÞqIx 7
0 0
6
T¼6 
x2 GITs qIx
þ
x4 qI2x
GITs x2 qIx GITs x2 qIx
GITs ðGITs x2 qI x Þ 
x2 GITs qIx
þ
x4 qI2x 7
7 a HEA-100 [56]. In Tables 2 and 3 the cross-sectional parameters
6 GITs x2 qIx GITs x2 qIx
7
6 EIx 7 and the material properties, respectively, are listed. The geometric
6  GI qIT x2 0  EIx ðGIGITTsþGITs Þ 0 7
6 Ts 7
4 5
0
GIT GITs þx2 ðEIx qIp þðGITs þGIT ÞqI x Þ
0 EIx ðGIT þGITs Þ constants of Table 2 are computed by means of the TTT.
ðqIx x2 GITs Þ qIx x2 GITs
The axial, flexural, Saint–Venant torsional and warping
Details concerning determination of T are given in Appendix A. eigenfrequencies were calculated for the cantilever beam.
By substituting Eq. (25) into Eq. (26), the static vector ZðxÞ at x is For modal analysis, the following boundary conditions were
obtained as specified:
 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316 305

Table 5
Cross-sectional parameters for t = 5 and 10 mm.

Cross-sectional parameters [4,57]:

Cross-sectional area [4]: h=b=t ¼ 40=40=5 A ¼ 7  104 m2

h=b=t ¼ 40=40=10 A ¼ 12  10 4

h=b=t ¼ 50=40=5 A ¼ 8  104

h=b=t ¼ 50=40=10 A ¼ 14  104

h=b=t ¼ 60=40=5 A ¼ 9  104

h=b=t ¼ 60=40=10 A ¼ 16  104

h=b=t ¼ 70=40=5 A ¼ 10  104

h=b=t ¼ 70=40=10 A ¼ 18  104

h=b=t ¼ 80=40=5 A ¼ 11  104

h=b=t ¼ 80=40=10 A ¼ 20  104

Polar moment of area [4]: h=b=t ¼ 40=40=5 Ip ¼ Iy þ Iz ¼ 29:167  108 m4

h=b=t ¼ 40=40=10 Ip ¼ Iy þ Iz ¼ 40:000  10 8

h=b=t ¼ 50=40=5 Ip ¼ Iy þ Iz ¼ 43:333  108

h=b=t ¼ 50=40=10 Ip ¼ Iy þ Iz ¼ 61:833  108

h=b=t ¼ 60=40=5 Ip ¼ Iy þ Iz ¼ 61:500  108

h=b=t ¼ 60=40=10 Ip ¼ Iy þ Iz ¼ 90:667  108

h=b=t ¼ 70=40=5 Ip ¼ Iy þ Iz ¼ 84:167  108

h=b=t ¼ 70=40=10 Ip ¼ Iy þ Iz ¼ 127:500  108

h=b=t ¼ 80=40=5 Ip ¼ Iy þ Iz ¼ 111:833  108

h=b=t ¼ 80=40=10 Ip ¼ Iy þ Iz ¼ 173:333  108

Torsion constant [4]: h=b=t ¼ 40=40=5 IT ¼ 23:111  108 m4

h=b=t ¼ 40=40=10 IT ¼ 33:068  108

h=b=t ¼ 50=40=5 IT ¼ 33:099  108

h=b=t ¼ 50=40=10 IT ¼ 48:812  108

h=b=t ¼ 60=40=5 IT ¼ 43:641  108

h=b=t ¼ 60=40=10 IT ¼ 65:382  108

h=b=t ¼ 70=40=5 IT ¼ 54:561  108

h=b=t ¼ 70=40=10 IT ¼ 82:473  108

h=b=t ¼ 80=40=5 IT ¼ 65:753  108

h=b=t ¼ 80=40=10 IT ¼ 99:913  108

Secondary torsion constant [57]: h=b=t ¼ 40=40=5 ITs ¼ 0:169  108 m4

h=b=t ¼ 40=40=10 ITs ¼ 9:836  109

h=b=t ¼ 50=40=5 ITs ¼ 0:374  108

h=b=t ¼ 50=40=10 ITs ¼ 8:040  109

h=b=t ¼ 60=40=5 ITs ¼ 2:048  108

h=b=t ¼ 60=40=10 ITs ¼ 28:418  109

h=b=t ¼ 70=40=5 ITs ¼ 4:503  108

h=b=t ¼ 70=40=10 ITs ¼ 62:903  109

(continued on next page)

306 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316

Table 5 (continued)

h=b=t ¼ 80=40=5 ITs ¼ 7:910  108

h=b=t ¼ 80=40=10 ITs ¼ 12:754  108

Warping constant [4]: h=b=t ¼ 40=40=5 Ix ¼ 0:160  1012 m6

h=b=t ¼ 40=40=10 Ix ¼ 46:796  10 14

h=b=t ¼ 50=40=5 Ix ¼ 1:080  1012

h=b=t ¼ 50=40=10 Ix ¼ 23:901  1013

h=b=t ¼ 60=40=5 Ix ¼ 4:652  1012

h=b=t ¼ 60=40=10 Ix ¼ 92:648  1013

h=b=t ¼ 70=40=5 Ix ¼ 12:371  1012

h=b=t ¼ 70=40=10 Ix ¼ 23:610  1012

h=b=t ¼ 80=40=5 Ix ¼ 25:762  1012

h=b=t ¼ 80=40=10 Ix ¼ 47:890  1012

(a) axial vibrations (according to subchapter 2.1) The mesh was selected in order to achieve a high accuracy of
uðxÞjx¼0 ¼ 0; NðxÞjx¼L ¼ 0: ð29Þ the results. As expected, the differences between the axial and
the flexural eigenfrequencies obtained by the proposed method
(b) flexural vibrations (according to subchapter 2.2): and the commercial programs are negligible. The same applies to
wðxÞjx¼0 ¼ wi ¼ 0; uðxÞjx¼0 ¼ ui ¼ 0; the comparison of the authors’ results for the torsional eigenfre-
quencies (Saint–Venant) with the ones obtained by RSTAB [7].
However, there are visible deviations of the BEAM188 (warping
MðxÞjx¼L ¼ M k ¼ 0; RðxÞjx¼L ¼ Rk ¼ 0: ð30Þ
unrestrained) results. They are caused by the fact that in the FEM
(c) Saint–Venant torsional vibrations (according to subchapter model, based on the BEAM188 element, a non-round transition
2.3): between the web and the flange of the I-profile was assumed,
which has a small influence on the cross-sectional characteristics.
wðxÞjx¼0 ¼ wi ¼ 0; MT ðxÞjx¼L ¼ M T;k ¼ 0: ð31Þ
In the non-uniform torsion analysis without consideration of
(d) Warping vibrations (according to the chapter 3): STDME – both by the proposed approach and the BEAM188 ele-
ment with restrained warping – the difference of the eigenfrequen-
wðxÞjx¼0 ¼ wi ¼ 0; w0M ðxÞjx¼0 ¼ wiM;i ¼ 0; cies decreased. Both results agree also relatively well with the
SOLID186 solution.
Mx ðxÞjx¼L ¼ Mx;k ¼ 0; MT ðxÞjx¼L ¼ M T;k ¼ 0: ð32Þ The proposed non-uniform torsion approach with and with-
out consideration of STMDE produces nearly the same results.
This proves the fact, that the secondary torsion moment does
Important remark: According to the analogy between non-
not play a significant role for torsion of beams with open
uniform torsion and second-order beam theory (Table 1), the fol-
cross-sections. On the other hand, the non-uniform torsional
lowing conditions hold at the clamped end of the beam:
eigenfrequencies with STMDE are closer to the SOLID186 solu-
@w
for the case of flexural vibrations : ¼ w0i – 0 but ujx¼0 tion results.
@x x¼0 It is worthy of note that the STMDE is not considered in the
¼ ui ¼ 0; BEAM188 finite element and in the RSTAB BEAM finite element.
The first three torsional modes of the beam, obtained by means
of the SOLID186 finite element [4], and the angle of twist wðxÞ for
@w @w0M
for the case of warping vibrations : ¼ w0i – 0 but
@x x¼0 @x x¼0 three corresponding torsional modes, obtained by the proposed
method, are shown in Figs. 7 and 8. It is seen that the cross-
¼ w0M;i ¼ 0: section satisfies the deformation conditions for non-uniform tor-
sion of thin-walled cross-sections. The torsional eigenmodes can
After taking the boundary conditions into account, a be evaluated by means of the transfer relations (26), but the
reduced system of two homogeneous algebraic equations graphical representation is quite cumbersome (as is also the case
with the unknowns M x ðxÞjx¼0 ¼ Mx;i and M T ðxÞjx¼0 ¼ M T;i is for the finite beam elements). This problem will be treated in
established. future work.
Table 4 contains a comparison of the results for the first three
natural frequencies, with corresponding results obtained by the
computer programs RSTAB [7] and ANSYS [4]. In order to verify 4.2. Warping eigenfrequencies and mode shapes of a cantilever beam
the proposed method, the results presented in Table 4 are not with a rectangular hollow cross-section, with a constant length
restricted to the warping eigenfrequencies. All values were L = 500 mm and a variable ratio of h/b and wall thickness t
obtained by the mentioned computer programs, with the following
element types: The cross-sectional parameters and the mechanical cross-
sectional characteristics are calculated by ANSYS [4] (by numerical
– 39,700 elements of type SOLID186 and 200 of type BEAM188 – integration) and [57] (by TTT) for t = 5 mm and t = 10 mm.
ANSYS [4]; The material characteristics are listed in Table 3. The boundary
– 50 elements of type BEAM – RSTAB [7]. conditions are the same as in Section 4.1, Eqs. (31) and (32).
 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316 307

Table 6
Torsional eigenfrequencies of a cantilever with a rectangular hollow cross-section (Fig. 9) with t = 5 mm and a varying ratio h=b: (a) Saint–Venant torsion. (b) Warping torsion
including deformations due to the secondary torsion moment.

Type of eigen-vibrations Eigenfrequencies (Hz)

fj Proposed method Type of elements RSTAB [7] ANSYS [4]

h=b=t = 40/40/5 L = 500 (mm) (a) f1 1427.7 WW-E 1427.8 1427.7

f3 4283.0 WW-E 4283.4 4283.4
f3 7140.1 WW-E 7139.1 7140.1

(b) f1 1427.9 W-E – 1427.7

3D-E – 1429.0
f2 4282.8 W-E – 4283.7
3D-E – 4284.5
f3 7137.8 W-E – 7141.7
3D-E – 7132.3

h=b=t = 50/40/5 L = 500 (mm) (a) f1 1401.7 WW-E 1401.7 1401.7

f2 4205.1 WW-E 4205.2 4205.5
f3 7008.5 WW-E 7008.7 7010.3

(b) f1 1402.5 W-E – 1401.8

3D-E – 1400.7
f2 4208.4 W-E – 4207.1
3D-E – 4010.9⁄
f3 7015.9 W-E – 7017.6
3D-E – 7251.3⁄

h=b=t = 60/40/5 L = 500 (mm) (a) f1 1351.0 WW-E 1351.0 1351.0

f2 4053.1 WW-E 4053.1 4053.5
f3 6755.2 WW-E 6755.2 6756.9

(b) f1 1354.1 W-E – 1351.2

3D-E – 1341.3
f2 4064.6 W-E – 4058.3
3D-E – 4793.3⁄
f3 6781.1 W-E – 6779.2
3D-E – 7352.4⁄

h=b=t = 70/40/5 L = 500 (mm) (a) f1 1291.3 WW-E 1291.3 1291.3

f2 3874.0 WW-E 3873.9 3874.3
f3 6456.5 WW-E 6456.5 6458.2

(b) f1 1296.9 W-E – 1291.7

3D-E – 1264.9
f2 3895.3 W-E – 3884.0
3D-E – 4755.3⁄
f3 6505.5 W-E – 6502.8
3D-E – 7423.3⁄

h=b=t = 80/40/5 L = 500 (mm) (a) f1 1229.8 WW-E 1229.7 1229.8

f2 3689.4 WW-E 3689.2 3689.7
f3 6149.0 WW-E 6148.7 6150.5

(b) f1 1238.2 W-E – 1230.4

3D-E – 1179.3
f2 3371.9 W-E – 3705.4
3D-E – 4738.3⁄
f3 6224.5 W-E – 6222.5
3D-E – 7467.5⁄

The aim of this investigation is the evaluation of the influence of
warping and of the STMDE on the eigenfrequencies of beams with
closed cross-sections, with different wall thicknesses t.
Tables 6 and 7 contain a comparison of the results for the first
three torsional eigenfrequencies obtained by the proposed method
(Saint–Venant torsion), in lines (a) and non-uniform torsion with
consideration of STMDE, in lines (b) and with corresponding
results obtained by the computer programs RSTAB [7] and ANSYS
[4] for t = 5 mm and t = 10 mm, respectively. The results from
RSTAB [7] are based on 50 Saint–Venant torsion finite beam ele-
ments (denoted WW-E).The results from the ANSYS [4] solution
are based on 37,500 SOLID186 elements (denoted as 3D-E) and
on 100 BEAM188 elements (Saint–Venant torsion with unre-
strained warping), denoted as WW-E, and non-uniform torsion
(warping restrained, without consideration of STMDE), denoted
as W-E.
The main conclusion drawn from Tables 6 and 7 is that the
influence of warping and of the STMDE on the torsional eigenfre-
quencies of the beam with a rectangular hollow cross-section is
insignificant. This influence increases with increasing ratio h=b
for the two considered wall thicknesses. This can be explained by
the fact that only locally the beam stiffness is strongly affected
308 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316

Table 7
Torsional eigenfrequencies of a cantilever with a hollow cross-section (Fig. 9) with t = 10 mm and a varying ratio h=b. (a) Saint–Venant torsion. (b) Warping torsion including
deformations due to the secondary torsion moment.

Type of eigen-vibrations Eigenfrequencies (Hz)

fj Proposed method Type of elements RSTAB [7] ANSYS [4]

h=b=t = 40/40/10 L = 500 (mm) (a) f1 1458.3 WW-E 1458.3 1458.3

f2 4374.8 WW-E 4374.9 4375.1
f3 7291.3 WW-E 7291.8 7293.1

(b) f1 1458.8 W-E – 1458.3

3D-E – 1460.4
f2 4376.1 W-E – 4375.8
3D-E – 4381.2
f3 7293.1 W-E – 7296.4
3D-E – 7301.5

h=b=t = 50/40/10 L = 500 (mm) (a) f1 1425.0 WW-E 1425.0 1425.0

f2 4275.0 WW-E 4275.1 4275.3
f3 7125.0 WW-E 7125.4 7126.7

(b) f1 1426.3 W-E – 1425.1

3D-E – 1427.9
f2 4279.9 W-E – 4277.7
3D-E – 4273.9
f3 7136.0 W-E – 7137.7
3D-E – 7081.7

h=b=t = 60/40/10 L = 500 (mm) (a) f1 1362.0 WW-E 1362.0 1362.0

f2 4086.0 WW-E 4086.0 4086.2
f3 6809.8 WW-E 6810.3 6811.5

(b) f1 1365.4 W-E – 1362.2

3D-E – 1365.6
f2 4098.9 W-E – 4092.7
3D-E – 4049.2
f3 6839.6 W-E – 6841.3
3D-E – 6537.7⁄
h=b=t = 70/40/10 L = 500 (mm) (a) f1 1289.9 WW-E 1289.9 1289.9
f2 3869.7 WW-E 3869.8 3870.1
f3 6449.5 WW-E 6450.0 6451.2

(b) f1 1296.0 W-E – 1290.4

3D-E – 1293.3
f2 3893.2 W-E – 3882.2
3D-E – 3761.4⁄
f3 6503.8 W-E – 6507.0
3D-E – 5798.7⁄

h=b=t = 80/40/10 L = 500 (mm) (a) f1 1217.7 WW-E 1217.7 1217.7

f2 3653.0 WW-E 3653.1 3653.3
f3 6088.3 WW-E 6088.8 6089.9

(b) f1 1227.2 W-E – 1218.4

3D-E – 1219.7
f2 3689.9 W-E – 3672.3
3D-E – 3443.2⁄
f3 6174.5 W-E – 6176.2
3D-E – 5061.7⁄

by warping. This local effect has a strong influence on the stress
state of the closed sectional beam through the bimoment and the
secondary torsion moment, but not through the eigenfrequency.
It is expected that the effect of the secondary torsion moment is
stronger for shorter beams, as will be shown in Section 4.3.
The best agreement of the results is obtained by the solid finite
elements (denoted as 3D-E) and the proposed method (as well as
by the Saint–Venant and the warping beam solutions), for the 1st
torsional eigenfrequency. For the higher modes, the difference
between the results increases. The 2nd and 3rd torsional
eigenfrequency (denoted as 3D-E and as ‘‘⁄” in Tables 6 and 7)
show the in-plane cross-sectional deformation of the beam walls.
This effect cannot be considered by the proposed method and by
finite beam elements with restrained and unrestrained warping.
These discrepancies become smaller for smaller section ratios h=b
and greater wall thicknesses. Figs. 10 and 11 serve the purpose
of elucidating these discrepancies in Tables 6 and 7.
4.3. Warping eigenfrequencies and mode shapes of a cantilever beam
with a rectangular hollow cross-section, with ratios h/b = 80/40 and h/b =
50/40, respectively, and with a variable length L and wall thickness
Fig. 12 refers to the investigated cantilever beam.
 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316
Fig. 10. Dependence of the eigenfrequencies on h=b (according to Table 6).
Fig. 11. Dependence of the eigenfrequencies on h=b (according to Table 7).
Fig. 12. Cantilever beam with a rectangular hollow cross-section: (a) system and
(b) cross-section.
The material characteristics and the cross-sectional parameters
are listed in Tables 3 and 5. The boundary conditions are the same
as in subsection 4.1, see Eqs. (31) and (32).
The aim of this investigation is an evaluation of the influence of
warping and of consideration of STMDE on the eigenfrequencies of
beams with closed cross-sections, with different lengths and wall
thicknesses. Tables 8–10 contain a comparison of the results for
the first three torsional eigenfrequencies with corresponding
results obtained by the proposed method and by the computer pro-
grams RSTAB [7] and ANSYS [4]. Modal analyses were performed
with finite element types mentioned in subchapter 4.2.
309
As follows from the tables, the influence of warping on the tor-
sional eigenfrequencies of the beam, albeit greater than in the pre-
vious example, is still relatively small. Expectedly, the influence of
the STMDE on the eigenfrequencies increases with decreasing
beam length L. For very small beam lengths the system is closer
to a 3D solid. Thus, beam theory is no longer suitable. For longer
beams, the influence of warping and of the STMDE on the torsional
eigenfrequencies is less significant. For a better understanding of
these dependencies in Tables 8–10, the Figs. 16–18 were added.
The large differences between the results for the warping eigen-
frequencies obtained by the proposed method, based on warping
finite beam elements and the ones obtained by means of 3D solid
elements (denoted as 3D-Eand by ‘‘⁄” in Tables 8–10) are attribu-
ted to the in-plane cross-sectional deformation of the slender side
walls of the beam, which is not considered by the proposed
method based on warping finite beam elements.
The best agreements of results, obtained with solid finite ele-
ments (denoted as 3D-E), with the ones obtained by the proposed
method (as well by the Saint–Venant and the warping beam solu-
tions) are the ones for the 1st torsional eigenfrequency. For the
higher modes the differences between the results are increased.
These differences are partially reduced for the beams with a
greater length and a smaller section ratio h=b and a greater wall
thickness t.
The first three torsional modes of the beam, obtained by means
of the SOLID186 finite element [4], and the angle of twist wðxÞ
for three corresponding torsional modes obtained by the pro-
posed method, are shown in Figs. 13 and 15 (evaluated for
h
b
t ¼ 80
40
10 and L = 400 [mm]). Except for the first
310 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316

Table 8
Torsional eigenfrequencies of a cantilever with a hollow cross-section (Fig. 10) with t = 5 mm and varying length L: (a) Saint–Venant torsion. (b) Warping torsion including
deformations due to the secondary torsion moment.

Type of eigen-vibrations Eigenfrequencies (Hz)

fj Proposed method Type of elements RSTAB [7] ANSYS [4]

h=b=t = 80/40/5 L = 100 (mm) (a) f1 6149.0 WW-E 6149.0 6149.0

f2 18446.8 WW-E 18447.3 18446.8
f3 30744.7 WW-E 30746.8 30744.7

(b) f1 6333.0 W-E – 6205.8

3D-E – 7493.8
f2 19017.8 W-E – 19827.0
3D-E – 22315.0⁄
f3 30530.2 W-E – 36090.0
3D-E – 40007.0⁄

h=b=t = 80/40/5 L = 200 (mm) (a) f1 3074.5 WW-E 3074.5 3074.5

f2 9223.4 WW-E 9223.5 9224.3
f3 15372.4 WW-E 15372.6 15376.0

(b) f1 3126.9 W-E – 3082.9

3D-E – 4041.8
f2 9417.1 W-E – 9442.7
3D-E – 10957.0⁄
f3 15825.5 W-E – 16322.0
3D-E – 18816.0⁄

h=b=t = 80/40/5 L = 300 (mm) (a) f1 2049.6 WW-E 2049.6 2049.7

f2 6148.9 WW-E 6148.9 6149.5
f3 10248.2 WW-E 10248.3 10251.0

(b) f1 2073.3 W-E – 2052.3

3D-E – 3306.8
f2 6240.9 W-E – 6218.9
3D-E – 7497.3⁄
f3 10463.0 W-E – 10562.0
3D-E – 11961.0⁄

h=b=t = 80/40/5 L = 400 (mm) (a) f1 1537.2 WW-E 1537.2 1537.3

f2 4611.7 WW-E 4611.7 4612.1
f3 7686.2 WW-E 7686.2 7688.2

(b) f1 1550.5 W-E – 1538.4

3D-E – 1430.8
f2 4663.4 W-E – 4642.3
3D-E – 5728.0⁄
f3 7807.2 W-E – 7825.3
3D-E – 9221.4⁄

h=b=t = 80/40/5 L = 500 (mm) (a) f1 1229.8 WW-E 1229.8 1229.8

f2 3689.4 WW-E 3689.4 3689.7
f3 6149.0 WW-E 6149.0 6150.5

(b) f1 1238.2 W-E – 1230.4

3D-E – 1178.8
f2 3721.9 W-E – 3705.4
3D-E – 4735.5⁄
f3 6224.5 W-E – 6222.5
3D-E – 7464.6⁄

torsional eigenmode, in-plane cross-sectional deformations of the
walls are signalled. However, a comparison of eigenfrequencies
obtained by tools based on beam theories with eigenfrequencies
resulting from3-D solid theory is not meaningful (see Figs. 14–18).
5. Conclusions
On the basis of the analogy of the beam theory and the non-
uniform torsion theory of thin-walled open and closed
cross-sections, the differential equation of 4th order for non-
uniform torsional eigenvibrations was established. The general
semi-analytical solution of the differential equation was presented
and the transfer matrix relation was formulated. The results
from modal analysis of open I beams and rectangular hollow
cross-sections by the proposed method were presented and com-
pared with the ones obtained by commercial FEM codes. In the the-
oretical investigations by the authors, the secondary torsion
moment deformation effect (STDME) was taken into account. A part
of the first derivative of the twist angle was chosen as the warping
degree of freedom. Contrary to the bicurvature, this warping degree
of freedom can be used for satisfaction of boundary conditions.
The main conclusions that can be drawn from this investigation
are as follows:
(1) Eigenvibrations of open I cross-sections:
– The results from modal analysis concerning non-uniform
and uniform torsion of beams with open cross-sections show
large differences of the eigenfrequencies. This proves the
 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316 311

Table 9
Torsional eigenfrequencies of a cantilever with a rectangular hollow cross-section (Fig. 10) with mm with varying length L: (a) Saint–Venant torsion. (b) Warping torsion
including deformations due to the secondary torsion moment.

Type of eigen-vibrations Eigenfrequencies (Hz)

fj Proposed method Type of elements RSTAB [7] ANSYS [4]

h=b=t = 80/40/10 L = 100 (mm) (a) f1 6088.3 WW-E 6088.4 6088.4

f2 18265.0 WW-E 18265.4 18267.0
f3 30441.7 WW-E 30443.9 30449.0

(b) f1 6291.0 W-E – 6154.7

3D-E – 9096.3⁄
f2 18885.1 W-E – 19856.0
3D-E – 22694.0⁄
f3 38296.1 W-E – 36482.0
3D-E – 39558.0⁄

h=b=t = 80/40/10 L = 200 (mm) (a) f1 3044.2 WW-E 3044.2 3044.2

f2 9132.5 WW-E 9132.6 9133.3
f3 15220.8 WW-E 15221.1 15225.0

(b) f1 3102.8 W-E – 3054.2

3D-E – 2975.0
f2 9346.6 W-E – 9392.1
3D-E – 12326.0⁄
f3 15723.6 W-E – 16333.0
3D-E – 19293.0⁄

h=b=t = 80/40/10 L = 300 (mm) (a) f1 2029.4 WW-E 2029.4 2029.5

f2 6088.3 WW-E 6088.4 6088.9
f3 10147.2 WW-E 10147.3 10150.0

(b) f1 2056.1 W-E – 2032.6

3D-E – 2019.8
f2 6191.5 W-E – 6171.8
3D-E – 9200.8⁄
f3 10388.3 W-E – 10519.0
3D-E – 13346.0⁄

h=b=t = 80/40/10 L = 400 (mm) (a) f1 1522.1 WW-E 1522.1 1522.1

f2 4566.3 WW-E 4566.3 4566.7
f3 7610.4 WW-E 7610.5 7612.4

(b) f1 1537.0 W-E – 1523.5

3D-E – 1522.0
f2 4624.8 W-E – 4602.9
3D-E – 8037.7⁄
f3 7747.5 W-E – 7776.4
3D-E – 10592.0⁄

h=b=t = 80/40/10 L = 500 (mm) (a) f1 1217.7 WW-E 1217.7 1217.7

f2 3653.0 WW-E 3653.1 3653.3
f3 6088.3 WW-E 6088.8 6089.9

(b) f1 1227.3 W-E – 1218.4

3D-E – 1219.7
f2 3689.9 W-E – 3672.3
3D-E – 3443.2⁄
f3 6174.5 W-E – 6176.2
3D-E – 5061.7⁄

well-known fact that the warping effect must be taken into
account for torsion analysis of open cross-sections in static
and dynamic analysis. A comparison of the first mode shape
corresponding to the basic torsional eigenfrequencies for
Saint–Venant torsion of a beam with an I cross-section
(Fig. 19(a)) with the respective mode for warping torsional
eigenvibrations (Fig. 19(b)) elucidates the fundamental dif-
ference of the two modes. The proposed method for deter-
mination of warping eigenfrequencies and corresponding
eigenforms allows quantification of this difference.
– The proposed approach for calculation of non-uniform
torsional eigenvibrations with and without consideration
of STMDE produces nearly the same results. This proves
the fact that the secondary torsion moment does not
play a significant role in torsion of beams with open cross-
sections. On the other hand, the torsional eigenfrequencies
obtained in case of consideration of STMDE are very close
to the results obtained by 3D solid finite elements.
(2) Eigenvibrations of beams with rectangular hollow
cross-sections
312 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316

Table 10
Torsional eigenfrequencies of a cantilever with a hollow cross-section (Fig. 10) with mm and with varying length L: (a) Saint–Venant torsion. (b) Warping torsion including
deformations due to the secondary torsion moment.

Type of eigen-vibrations Eigenfrequencies (Hz)

Proposed method Type of elements RSTAB [7] ANSYS [4]

h=b=t = 50/40/10 L = 100 (mm) (a) f1 7124.9 WW-E 7125.0 7125.0

f2 21374.8 WW-E 21375.3 21377.0
f3 35624.6 WW-E 35627.1 35634.0

(b) f1 7154.1 W-E – 7135.1

3D-E – 7145.9
f2 21461.6 W-E – 21643.0
3D-E – 22261.0⁄
f3 35820.6 W-E – 36812.0
3D-E – 36583.0⁄

h=b=t = 50/40/10 L = 200 (mm) (a) f1 3562.5 WW-E 3562.5 3562.5

f2 10687.4 WW-E 10687.5 10688.0
f3 17812.3 WW-E 17812.7 17817.0

(b) f1 3570.7 W-E – 3563.8

3D-E – 3576.3
f2 10716.9 W-E – 10724.0
3D-E – 10435.0⁄
f3 17880.4 W-E – 17980.0
3D-E – 18632.0⁄

h=b=t = 50/40/10 L = 300 (mm) (a) f1 2375.0 WW-E 2375.0 2375.0

f2 7124.9 WW-E 7125.0 7125.6
f3 11874.9 WW-E 11875.0 11878.0

(b) f1 2378.6 W-E – 2375.4

3D-E – 2382.1
f2 7138.8 W-E – 7136.4
3D-E – 7092.7
f3 11906.7 W-E – 11928.0
3D-E – 11389.0⁄
h=b=t = 50/40/10 L = 400 (mm) (a) f1 1781.2 WW-E 1781.2 1781.2
f2 5343.7 WW-E 5343.7 5344.2
f3 8906.1 WW-E 8906.2 8908.4

(b) f1 1783.3 W-E – 1781.4

3D-E – 1785.6
f2 5351.5 W-E – 5348.8
3D-E – 5336.7
f3 8923.9 W-E – 8929.7
3D-E – 8793.5⁄

h=b=t = 50/40/10 L = 500 (mm) (a) f1 1425.0 WW-E 1425.0 1425.0

f2 4275.0 WW-E 4275.1 4275.3
f3 7125.0 WW-E 7125.4 7126.7

(b) f1 1426.3 W-E – 1425.1

3D-E – 1427.9
f2 4279.9 W-E – 4277.7
3D-E – 4273.9
f3 7136.1 W-E – 7137.7
3D-E – 7081.7

– In contrast to open cross-sections, the influence of

warping (with or without STMDE) on the non-uniform tor-
sional eigenfrequencies of beams with rectangular hollow
cross-sections is not significant. This is explained by the fact
that the beam stiffness is affected by warping only very
locally. This has a strong influence on the local stress state
at the restrained cross-sections but not on the eigenfrequen-
cies. As expected, the influence of the STMDE on the eigen-
frequencies increases with decreasing length of the beam.
For longer beams the influence of warping and of the STMDE
on the torsional eigenfrequencies is less significant.
Fig. 13. Mode shape corresponding to the 1st torsional eigenfrequency [4].
 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316 313

Fig. 14. Mode shapes corresponding to the 2nd and 3rd torsional eigenfrequency [4].

Fig. 15. Angle of twist wðxÞ for three corresponding torsional modes obtained by the proposed method.

Fig. 16. Dependence of the eigenfrequencies on the beam length L (according to Table 8).

Fig. 17. Dependence of the eigenfrequencies on the beam length L (according to Table 9).
314 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316

Fig. 18. Dependence of the eigenfrequencies on the beam length L (according to Table 10).

Fig. 19. Torsional eigenfrequencies: first mode shape for (a) Saint–Venant torsion and (b) warping torsion.


– The best agreement of results obtained by the solid finite GIT EIx  
EIx 1 þ w000 þ qIp x2 w0 þ MT  GIT w0
elements and the proposed method (as well by the Saint– GITs GITs
Venant and the warping beam solutions), is achieved for

ðM T  GIT w0 Þ
the 1st torsional eigenfrequency. For the higher modes the þ qIx x2 w0  ¼ 0; ð33Þ
differences between corresponding results are increasing. GITs
The higher torsional eigenmodes show in-plane cross-  
sectional deformations of the walls. This effect cannot be GIT GITs þ x2 EIx qIp þ ðGITs þ GIT ÞqIx 0
MT ¼ w
considered by the proposed method and by finite beam ele- ðqIx x2  GITs Þ
ments with restrained and unrestrained warping. The dis- EIx ðGIT þ GITs Þ 000
crepancies are partially smaller for beams of greater length þ w : ð34Þ
qIx x2  GITs
and a smaller section ratio h=b and with a greater wall
thickness. The third row of the transformation matrix T follows from
– Because of the discrepancies between the warping Eq. (19):
torsion eigenfrequencies of beams with a closed section

obtained by the beam theory and the 3D solid theory, an GIT EIx  
Mx ¼ EIx 1 þ w00  qIp x2 w: ð35Þ
experimental check of the results is needed. GITs GITs

In future work on the basis of the presented method, a new 3D The second row of the transformation matrix T is obtained by
finite beam element for modal and transient structural analysis combining Eqs. (15), (34), and (20):
will be developed, wherein the STMDE and the new warping


degree of freedom will be included. It is expected that for forced GIT EIx   EI ðGI þ GITs Þ 000
EIx 1 þ w000 þ qIp x2 w0 þ x T2 w
torsional vibrations of beams with closed cross-sections, with GITs GITs qIx x  GITs
restrained warping, the effect of warping and of the secondary tor-  
GIT GITs þ x2 EIx qIp þ ðGITs þ GIT ÞqIx 0
sion moment is greater than in case of modal analysis [59]. þ w  GIT w0 þ qIx x2 w0M ¼ 0; ð36Þ
ðqIx x2  GITs Þ

Acknowledgement


x4 EIx qIp qIx
þ GI xxqI2xqIx
4 2
The authors gratefully acknowledge financial support by the
GITs ðGITs x2 qIx Þ Ts
Slovak Grant Agencies: VEGA No. 1/0453/15, APVV-0246-12. w0M ¼ w0
 GIx Ts qIx
þ GI xxqI2xqIx
2 GI 4 2

Ts x qIx
2
Ts

Appendix A
x2 EIx ðGI þ GI ÞqI
 T 2 Ts x  w000 :
þ ð37Þ
x4 qI2x
The fourth row of the transformation matrix T is obtained by GITs ðGITs  x qIx Þ  GIx GI
2 Ts qIx
þ
Ts x qIx GITs x qIx
2 2

inserting Eqs. (12) and (15) into Eq. (21):

 M. Aminbaghai et al. / Engineering Structures 106 (2016) 299–316
Appendix B. Iterative method for calculation of the critical
neutral eigenfrequencies
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