Free vibration analysis of delaminated composite beams

Jaehong Lee
Department of Architectural Engineering, Sejong University, 98 Kunja Dong, Kwangjin Ku, Seoul, 143-747, South Korea
Received 27 August 1997; accepted 2 December 1998
Abstract
Free vibration analysis of a laminated beam with delaminations is presented using a layerwise theory. Equations
of motion are derived from the Hamilton's principle, and a nite element method is developed to formulate the
problem. Numerical results are obtained and compared with those of other theories addressing the eects of the
lamination angle, location, size and number of delamination on vibration frequencies of delaminated beams. It is
found that a layerwise approach is adequate for vibration analysis of delaminated composites. # 1999 Elsevier
Science Ltd. All rights reserved.
Keywords: Free vibration; Delamination; Laminated beam; Composite; Layerwise theory
1. Introduction
Fiber-reinforced composite materials have been
increasingly used over the past few decades in a variety
of structures that require high ratio of stiness and
strength to weight. The ability to tailor the direction-
ally dependent properties of laminated ber-reinforced
composites by bonding together with various ber
orientations oers additional advantages over the use
of conventional engineering materials.
While composite materials enjoy these advantages,
they are also prone to a wide range of defects and
damage which may signicantly reduce their structural
integrity. Among various types of damage modes that
are likely to occur in laminated composites during ser-
vice, a matrix-dominated interlaminar cracking or dela-
mination is the one that is the most commonly
observed and sometimes unavoidably incurred in prac-
tical situations. Delamination may develop as a result
of manufacturing defects such as incomplete wetting
and entrapped air pockets between layers, or as a
result of certain in-service factors, such as low velocity
impact by foreign objects, for instance, dropped tools
or bird strikes. While such impact damage can cause a
number of delaminations [1], a small surface indenta-
tion is the only external indication since the delamina-
tions are cracks in the interior of the laminate. Thus,
this type of damage is often called barely visible impact
damage (BVID) [2], which is not readily identied by
visual inspection. Such delamination damage is known
to cause a degradation of overall stiness and strength.
Delaminations are also known to cause a change in
vibration characteristics. The delaminated sublaminate
generally exhibits new vibration modes and frequencies
that depend on the size and location of the delamina-
tion. Thus, provided that the natural frequencies and
mode shapes are known for a composite containing
delaminations, the presence of invisible delamination
can be detected, and their size and location can be esti-
mated.
While the buckling and the postbuckling of delami-
nated composites has been extensively studied [39],
relatively little research has been done to determine the
change in vibration characteristics of composites with
through-the-width delaminations. Ramkumar et al.
[10] investigated free vibration frequencies of a cantile-
ver beam with a delamination using the shear deform-
able beam theory, but their results demonstrated poor
Computers and Structures 74 (2000) 121129
0045-7949/00/$ - see front matter # 1999 Elsevier Science Ltd. All rights reserved.
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agreement with experimental results. They attributed
this discrepancy to the contact between delaminated
layers. However, this explanation may be questionable
in view of the subsequent results of Wang et al. [11],
who proposed an analytical model based on classical
beam theory by including the eect of the coupling
between exural and longitudinal motion of the dela-
minated layers. By including the coupling, the calcu-
lated results showed good agreement with experiment,
implying that the discrepancy in Ramkumar et al. [10]
was mainly due to the neglecting of coupling eect.
Yin and Jane [12], and Chen and Goggin [13] studied
vibrations of a delaminated beam with respect to
buckled reference states based on classical beam theory
and shear deformable beam theory, respectively. The
eects of higher order frequencies and mode shapes
were studied by Tracy and Pardoen [14]. In their ana-
lyses, a delamination was assumed to remain closed
during the motion. Shen and Grady [15] developed an
analytical model which can predict vibration frequen-
cies and modes of delaminated beams. Recently,
Krawczuk et al. [16] investigated natural frequencies of
cantilever beams with a delamination using nite el-
ement method based on a beamcolumn model [4]. It
was found that the coupling between longitudinal vi-
bration and transverse vibration has signicant eects
on the modes of vibration, and the natural frequencies
and mode shapes are aected by the size and location
of delamination.
In all the previous studies involved in vibration
analysis of delaminated composites, the basic assump-
tion is that a delamination always remains either
opened or closed during the whole period of the
motion. In actual situations, however, a delamination
may breathe (open and close) during the motion of
beams. It also appears that analytical studies concern-
ing the vibration frequencies of composite containing
more than one delamination have not yet been treated
in the open literature.
In the present analysis, the layerwise theory for dela-
minated composites developed by Lee et al. [8] is used
for free vibration analysis of a laminated beam with
delaminations, and an attempt to include the inter-
action between opening and closing vibration modes of
delamination states is made. The dynamic equations of
the layerwise theory are obtained by the application of
the Hamilton's principle, and a nite element method
is developed to formulate the problem. Numerical
results are presented for an isotropic beam and [0/y]
S
cantilever beam addressing the eect of size, location,
and the number of delaminations, and lamination
angle on vibration frequencies and mode shapes.
2. Numerical modeling
2.1. Kinematics
An N-layer ber-reinforced composite beam contain-
ing multiple delaminations is considered.
To model the multiple delaminations, the assumed
displacement eld is supplemented with unit step func-
tions which allow discontinuities in the displacement
eld. The resulting displacements U
a
and U
3
at a gen-
eric point x
1
, x
2
, x
3
in the laminate and time t are
assumed to be of the form:
U
a
(x
b
,x
3
,t) = u
a
(x
b
,t) f
j
(x
3
)u
j
a
(x
b
,t)
d
i
(x
3
) " u
i
a
(x
b
,t) (1)
Fig. 1. Conguration of kinematics for a delaminated beam.
J. Lee / Computers and Structures 74 (2000) 121129 122
U
3
(x
b
,x
3
,t) = u
3
(x
b
,t) d
i
(x
3
) " u
i
3
(x
b
,t) (2)
The usual cartesian indicial notation is employed
where Latin and Greek subscripts are assumed to have
values from 1 to 3 and 1 to 2, respectively.
Superscripts i and j range from 1 to D and 1 to M,
where D is the number of delaminations, and M is the
number of layers. Repeated indices imply the sum-
mation convention and ( )
,i
is used to denote partial
derivative with respect to x
i
.
The terms u
a
and u
3
are the displacements of a point
(x
1
, x
2
, 0, t ) on the reference surface of the laminate,
u
j
a
are nodal values of the displacements in the x
a
direction of each equivalent single-layer, and u
-
i
a
and
u
-
i
3
represent possible jumps in the slipping and opening
displacements, respectively, at the L(i )
th
delaminated
interface. L(i )
th
denotes the location of interface where
the ith delamination lies (Fig. 1). f
j
(x
3
) and d
i
(x
3
)
denote a linear Lagrangian interpolation function
through the thickness of the laminate and unit step
function, respectively.
The strain tensor associated with the small-displace-
ment theory of elasticity are given by
E
ab
= E
0
ab
f
j
E
j
ab
d
i
" E
i
ab
(3)
g
a3
= g
0
a3
f
j
,3
g
j
a3
d
i
" g
i
a3
(4)
where
E
0
ab
=
1
2
(u
a,b
u
b,a
) (5)
E
j
ab
=
1
2
(u
j
a,b
u
j
b,a
) (6)
" E
i
ab
=
1
2
( " u
i
a,b
" u
i
b,a
) (7)
g
0
a3
= u
3,a
g
j
a3
= u
j
a
" g
i
a3
= " u
i
3,a
(8)
2.2. Variational formulation
The total potential energy of the system can be sta-
ted as
U =
1
2

V
(s
ab
E
ab
s
a3
g
a3
) dV (9)
The kinetic energy is
T =
1
2

V
r(

U
2
a


U
2
3
) dV (10)
Hamilton's principle can now be stated as
d

t2
t1
(T P) dt = 0 (11)
Substituting Eqs. (9) and (10) into Eq. (11), the follow-
ing weak statement is obtained:
0 =

t2
t1

O
{|N
ab
du
a,b
N
j
ab
du
j
a,b

"
N
i
ab
d " u
i
a,b
Q
a3
du
3,a
Q
j
a3
du
j
a

"
Q
i
a3
d " u
i
3,a
]
|I
0
( u
a
d u
a
u
3
d u
3
) I
j
( u
a
d u
j
a
u
j
a
d u
a
)

"
I
i
( u
a
d

" u
i
a


" u
i
a
d u
a
u
3
d

" u
i
3


" u
i
3
d u
3
)
I
jk
u
j
a
d u
k
a
~ {
ij
( u
j
a
d

" u
i
a


" u
i
a
d u
j
a
)
" {
is
(

" u
i
a
d

" u
s
a


" u
s
a
d

" u
i
a
)]} dx
1
dx
2
dt
(12)
where j, k = 1, F F F , M and i, s = 1, F F F , D. The stress
resultants are
(N
ab
,N
j
ab
,
"
N
i
ab
) =

ha2
ha2
s
ab
(1,f
j
,d
i
) dx
3
(13)
(Q
a3
,Q
j
a3
,
"
Q
i
a3
) =

ha2
ha2
s
a3
(1,f
j
,3
,d
i
) dx
3
(14)
The inertia coecients are given as
(I
0
,I
j
,
"
I
i
) =

ha2
ha2
r(1,f
j
,d
i
) dz (15)
(I
jk
,
~
I
ij
,
"
I
is
) =

ha2
ha2
r(f
j
f
k
,d
i
f
j
,d
i
d
s
) dz (16)
2.3. Equations of motion
The EulerLagrange equations of motion of the pre-
sent theory can be derived by integrating the deriva-
tives of the varied quantities by parts and collecting
the coecients of du
a
,du
3
,du
j
a
,d" u
i
a
,d" u
i
3
:
N
ab,a
= I
0
 u
b
I
j
 u
j
b

"
I
i

" u
i
b
(17)
Q
a3,a
= I
0
 u
3

"
I
i

" u
i
3
(18)
J. Lee / Computers and Structures 74 (2000) 121129 123
N
j
ab,a
Q
j
b3
= I
j
 u
b
I
j
k u
k
b

~
I
ij

" u
i
b
(19)
"
N
i
ab,a
=
"
I
i
 u
b

~
I
ij
 u
j
b

"
I
ir

" u
r
b
(20)
"
Q
i
a3,a
=
"
I
i
 u
3

"
I
ir

" u
r
3
(21)
where i, r = 1, F F F , D and j, k = 1, F F F , M.
The equations of motion consist of (3+2 M + 3D)
dierential equations in (3+2 M + 3D) variables
(u
a
,u
3
,u
j
a
, " u
i
a
, " u
i
3
). The rst two sets of equations (Eqs.
(17) and (18)) are involved in the in-plane and out-of-
plane actions at reference plane, respectively. The third
set of equations (Eq. (19)) are from the layer-wise the-
ory, and the last two sets of equations (Eqs. (20) and
(21)) are involved in the in-plane and out-of-plane
actions of sublaminates due to the delaminations, re-
spectively.
The essential and natural boundary conditions are
of the form:
essential natural
u
a
N
ab
n
b
u
3
Q
b3
n
b
u
j
a
N
j
ab
n
b
" u
i
a
"
N
i
ab
n
b
" u
i
3
"
Q
i
b3
n
b
(22)
where n
b
is a unit normal vector in the b direction.
2.4. Constitutive equations
The constitutive equations of a kth orthotropic lam-
ina in the laminate co-ordinate system are given by
s
(k)
ab
=
"
Q
(k)
abgo
E
(k)
go
(23)
s
(k)
a3
=
"
Q
(k)
a3b3
g
(k)
b3
(24)
where [Q
-
]
(k )
denote the transformed reduced stiness
matrix of the kth layer.
Substitution of Eqs. (23) and (24) into Eqs. (13) and
(14) gives the constitutive equations of the laminate:
V
b
b
b
`
b
b
b
X
N
ab
N
j
ab
"
N
i
ab
W
b
b
b
a
b
b
b
Y
=
P
T
T
T
R
A
abgo
B
k
abgo
E
s
abgo
B
j
abgo
D
jk
abgo
F
sj
abgo
E
i
abgo
F
ik
abgo
E
is
abgo
Q
U
U
U
S
V
`
X
E
go
E
k
go
" E
s
go
W
a
Y
(25)
V
b
b
`
b
b
X
Q
a3
Q
j
a3
"
Q
i
a3
W
b
b
a
b
b
Y
=
P
T
T
T
R
A
a3b3
B
k
a3b3
E
s
a3b3
B
j
a3b3
D
jk
a3b3
F
sj
a3b3
E
i
a3b3
F
ik
a3b3
E
is
a3b3
Q
U
U
U
S
V
b
b
`
b
b
X
g
0
b3
g
k
b3
g
s
b3
W
b
b
a
b
b
Y
(26)
where A
abgo
, B
j
abgo
, etc. are the stinesses of the lami-
nate given by
(A
abgo
,B
j
abgo
,E
i
abgo
) =

N
k=1

z
k1
z
k
"
Q
(k)
abgo
(1,f
j
,d
i
)
dx
3
(27)
(A
a3b3
,B
j
a3b3
,E
i
a3b3
) =

N
k=1

zk1
z
k
"
Q
(k)
a3b3
(1,f
j
,3
,d
i
) dx
3
(28)
(D
jk
abgo
,F
ik
abgo
,E
is
abgo
)
=

N
k=1

z
k1
zk
"
Q
(k)
abgo
(f
j
f
k
,d
i
f
k
,d
i
d
s
)
dx
3
(29)
(D
jk
a3b3
,F
ik
a3b3
,E
is
a3b3
)
=

N
k=1

z
k1
z
k
"
Q
(k)
a3b3
(f
j
f
k
,d
i
f
k
,3
,d
i
d
s
)
dx
3
(30)
2.5. Finite element model
The generalized displacements (u
a
,u
3
,u
j
a
, " u
i
a
, " u
i
3
) are
expressed over each element as a linear combination of
the one-dimensional Lagrangian interpolation function
c
l
associated with node l and the nodal values
(u
a
)
l
,(u
3
)
l
,(u
j
a
)
l
,( " u
i
a
)
l
,( " u
i
3
)
l
:
u
a
=

n
l=1
(u
a
)
l
c
l
(31)
u
3
=

n
l=1
(u
3
)
l
c
l
(32)
u
j
a
=

n
l=1
(u
j
a
)
l
c
l
(33)
" u
i
a
=

n
l=1
( " u
i
a
)
l
c
l
(34)
J. Lee / Computers and Structures 74 (2000) 121129 124
" u
i
3
=

n
l=1
( " u
i
3
)
l
c
l
(35)
where n is the number of nodes in a typical nite el-
ement.
Substituting these expressions into the weak state-
ment in Eq. (12), and noting that

U
a
= o
2
U
a
(36)

U
3
= o
2
U
3
(37)
the nite element model of a typical element can be
obtained as
(|K ] o
2
|M ]){D} = {0} (38)
where [K] is the element stiness matrix,
The explicit forms of [K] and [M] are presented in
Ref. [17]. In Eq. (38), o
2
refers to a frequency par-
ameter and {D} is the eigenvector of nodal displace-
ments corresponding to an eigenvalue
{D} = {u
a
u
3
u
k
a
" u
s
a
" u
s
3
}
T
(41)
It is noted that the reduced integration scheme is used
to calculate the stiness coecients associated with
transverse shear terms (i.e. coecients in [K] contain-
ing A
a3b3
, B
j
a3b3
, D
jk
a3b3
, E
i
a3b3
, F
ik
a3b3
, and E
is
a3b3
). This
completes the derivation of layerwise element model.
3. Numerical examples
3.1. Isotropic clamped beam
For the verication of the capability for vibration
analysis of the present theory, a comparison with a
previously available result is made. The rst three non-
dimensional natural frequencies of a clamped beam
with various lengths of a delamination located symme-
trically both in the axial direction and through the
width are compared with Wang's results [11] in Table
1. The thickness-to-span ratio is assumed to be very
small and the material is isotropic with Poisson's ratio
n=0.3 for the comparison.
It should be mentioned that the delamination always
remains completely closed during the motion. The nor-
malized natural frequencies in Table 1 are dened as
O =

rh
EI
r
l
2
o (42)
There is an excellent agreement between the two
theories for all ranges of delamination lengths.
As another example, a delamination is located close
to the surface (t/h = 0.2) as shown in Fig. 2.
For a/l = 0.3, the calculated rst vibration mode
shape is demonstrated in Fig. 3(a). As shown in the
gure, the delamination opens when the beam vibrates
upward. When the beam vibrates downward, however,
this mode shape is inadequate for representing the
motion because there may be an overlapping between
two sublaminates. In fact, the delamination should
close when the beam goes down (Fig. 3(c)).
Consequently, the beam does not exhibit classical vi-
bration modes, and strictly speaking, the natural vi-
bration frequencies cannot be dened in this case.
However, assuming that the two delaminated parts
have the same velocities as well as same deections at
status (b) in Fig. 3, a total period T can be approxi-
mated by adding half of the period of two states as fol-
lows:
T =
1
2
(T
open
T
closed
) (43)
Accordingly, from the relation between period and
|K ] =
P
T
T
T
T
T
R
|
ab
K ] |0] |
a(b3)
K
k
] |
a(b5)
K
s
] |0]
|
33
K ] |
3(b3)
K
k
] |0] |
38
K
s
]
|
(a3)(b3)
K
lk
] |
(a3)(b5)
K
ls
] |
(a3)8
K
ls
]
|
(a5)(b5)
K
ns
] |0]
symX |
88
K
ns
]
Q
U
U
U
U
U
S
(39)
and [M] is the element mass matrix,
|M ] =
P
T
T
T
T
T
R
|
ab
G ] |0] |
a(b3)
G
k
] |
a(b5)
G
s
] |0]
|
33
G ] |0] |0] |
3(b5)
G
s
]
|
(a3)(b3)
G
lk
] |
(a3)(b5)
G
ls
] |0]
|
(a5)(b5)
G
ns
] |0]
symX |
88
G
ns
]
Q
U
U
U
U
U
S
(40)
J. Lee / Computers and Structures 74 (2000) 121129 125
natural frequency, the combined natural frequencies
can be estimated as follows:
o =
2o
open
o
closed
o
open
o
closed
(44)
The rst nondimensional natural frequencies for the
cases of delamination opening, delamination closing,
and combined modes are presented for a/l = 0.3 and
0.6 in Table 2. It should be noted that the velocity-
matching assumption appears to be somewhat inap-
propriate for a longer delamination (a/l = 0.6). This is
because the rst vibration mode for delamination open-
ing shows almost pure local vibration of the thin upper
layer (Fig. 4) while delamination opening-suppressed
mode is global. This results in substantial dierence in
vibration frequencies between the two cases. Therefore,
more rigorous analysis appears to be necessary for
local-mode type vibration of delaminated composites.
3.2. Composite cantilever beam
A cantilever beam with [0/y]
S
stacking sequence is
considered in order to investigate the delamination
eect on natural frequencies (Fig. 5). Two delamina-
tions with a
1
/l=a
2
/l = 0.5 are assumed to exist at the
midplane and [0/y ] interface at the center of the com-
posite. The material used is T300/5208 graphite epoxy.
The natural frequency is normalized with respect to
the natural frequency of the undelaminated beam
(o
perf
):
O =
o
o
perf
(45)
The rst natural frequencies for undelaminated and
delaminated composites are compared with respect to
change in lamination angle y in Fig. 6. For all the
cases considered, both delaminations are shown to
remain closed during the whole period of motion. It
can be seen that a delamination at the midplane has
more eect on natural frequency than the one at the
[0/y ] interface. It also appears that the composite with
two delaminations has lower frequencies than the
single delamination cases for all the range of y, as
expected. As y increases, the delamination eect on
frequencies also increases.
Table 1
Natural frequencies of a clamped beam with a midplane delamination
Wang et al. [11] Present
a/l 1st 2nd 3rd 1st 2nd 3rd
0 22.39 61.67 120.91 22.36 61.61 120.68
0.1 22.37 60.76 120.81 22.36 60.74 120.62
0.2 22.35 55.97 118.76 22.35 55.95 118.69
0.3 22.23 49.00 109.04 22.23 48.97 109.03
0.4 21.83 43.87 93.57 21.82 43.86 93.51
0.5 20.88 41.45 82.29 20.88 41.50 82.23
0.6 19.29 40.93 77.64 19.28 41.01 77.64
0.7 17.23 40.72 77.05 17.22 40.80 77.12
0.8 15.05 39.01 75.33 15.05 39.04 75.39
0.9 13.00 35.38 69.17 12.99 35.38 69.16
Fig. 2. Geometry of a delaminated beam.
J. Lee / Computers and Structures 74 (2000) 121129 126
4. Concluding remarks
A one-dimensional, layerwise nite element model
is developed to study free vibration of composite
beams with delaminations. The model is capable of
predicting natural frequencies and vibration mode
shapes for various congurations of delaminations.
The eects of composite geometry and locations,
sizes, and number of delmination on vibration charac-
teristics of composites are parametrically studied. The
eects of material anisotropy and contact behavior of
delaminated surfaces of composites are also con-
sidered.
In order to obtain physically admissible vibration
frequencies and mode shapes of composite beams with
a delamination, two states of mode shapes in which a
delamination opens and closes are considered separ-
Table 2
Natural frequencies of a clamped beam with t/h = 0.2
a/l = 0.3 a/l = 0.6
Opening delamination mode 22.08 12.05
Closing delamination mode 22.32 21.29
Combined mode 22.20 15.39
Fig. 3. Vibration mode change during the period of the motion for a clamped beam with t/h = 0, 2, a/l = 0.3.
J. Lee / Computers and Structures 74 (2000) 121129 127
ately. By combining the frequencies of the two vi-
bration mode states, the natural frequency of a delami-
nated beam is approximated. While this weighted
frequency method is quite reasonable for global-type
vibration modes (small delamination opening), the
method is somewhat inappropriate for highly local-
type vibration modes (large delamination opening),
and more rigorous analysis, which can predict inter-
Fig. 5. Geometry of composite cantilever beam containing two delaminations.
Fig. 6. Natural frequencies versus ber angle for [0/y]
S
composites containing one and two delaminations with a
1
/l=a
2
/l = 0.5.
Fig. 4. Natural vibration mode shape for a clamped beam with t/h = 0, 2, a/l = 0.6.
J. Lee / Computers and Structures 74 (2000) 121129 128
action between open and closed delamination states
accurately, seems to be necessary.
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