Journal of Sound and Vibration (1995) 183(1), 6989

MODELLING AND VIBRATION ANALYSIS OF A

CANTILEVER COMPOSITE BEAM WITH A
TRANSVERSE OPEN CRACK
M. Kr:vczii :Nb W. M. Os1:cnovicz
Institute of Fluid Flow Machinery, Polish Academy of Sciences, 80-952 Gdan sk,
ul. Gen. J. Fiszera 14, Poland
(Received 5 February 1993, and in nal form 24 March 1994)
Eigenfrequencies of a cantilever beam, made from graphite-ber reinforced polyimide,
with a transverse on-edge non-propagating open crack are investigated. Two models of the
beam are presented. In the rst model the crack is modelled by a massless substitute spring.
The exibility of the spring is calculated on the basis of fracture mechanics and the
Castigliano theorem. The second model is based on the nite element method (FEM). The
undamaged parts of the beam are modelled by beam nite elements with three nodes and
three degrees of freedom at the node. The damaged part of the beam is replaced by the
cracked beam nite element with degrees of freedom identical to those of the non-cracked
one. The eects of various parameters (the crack location, the crack depth, the volume
fraction of bers and the bers orientation) upon the changes of the natural frequencies
of the beam are studied. Computation results indicate that the decrease of the natural
frequencies not only depends on the position of the crack and its depth, as in the case of
isotropic material, but also that these changes strongly depend on the volume fraction of
the bers and the angle of the bers of the composite material.
1. INTRODUCTION
High speed machinery and lightweight structures require high strength-to-weight ratios.
For this reason, in recent years, the use of anisotropic reinforced composites, for which
strength-to-weight ratios are very high, has increased substantially in the elds of
mechanical and civil engineeringsee, for example, the textbook of Vinson and Chou [1].
Cracks occurring in structural elements are responsible for local stiness variations [2],
which in consequence aect their dynamic characteristics. The problem has been the
subject of many papers, and has been reviewed by Wauer [3], but only in several papers
have the dynamic characteristics of cracked composite constructural elements been
analyzed. Adams et al. [4] found that damage in specimens fabricated from ber reinforced
plastics could be detected by the reduction in natural frequencies and the increase in
damping. Cawley and Adams [5] successfully tested the frequency measurement principle
on composite structures made in the presence of damage. Nikpour and Dimarogonas [6]
presented the local compliance matrix for unidirectional composite materials. They have
shown that the interlocking deection modes are enhanced as a function of the degree of
anisotropy in composites. The eect of cracks upon buckling of an edge-notched column
for isotropic and anisotropic composites has been studied by Nikpour [7]. He indicated
that the instability increases with the column slenderness and the crack length. In addition
he has shown that the material anisotropy conspicuously reduces the load-carrying
capacity of an externally cracked member. Recently, Manivasagam and Chandrasekaran
69
0022460X/95/210069 +21 $08.00/0 7 1995 Academic Press Limited
x. ir:vczii :Nb v. x. os1:cnovicz 70
capacity of an externally cracked member. Recently, Manivasagam and Chandrasekaran
[8] have presented results of experimental investigations on the reduction of the
fundamental frequency of layered composite materials with damage in the form of cracks.
In the present paper an attempt is made to work out the discretecontinuous and nite
element (FE) model of a composite beam with a transverse one-edge non-propagating open
crack. It is assumed that the crack changes only the stiness of the beam whereas the mass
of the beam remains unchanged. By using these models of the cantilever cracked composite
beam the following eects due to the crack have been analyzed: (1) the inuence of the
magnitude and location of the crack upon the variations of bending natural frequencies
of the cantilever composite beam; (2) the changes of the natural frequencies of the cracked
composite beam as a function of the angle of the bers; and (3) the inuence of the volume
fraction of bers upon the changes of the natural frequencies of the cracked composite
beam.
2. A DISCRETECONTINUOUS MODEL OF THE CANTILEVER CRACKED
COMPOSITE BEAM
The physical model of a composite beam with a discrete single crack can be depicted
as in Figure 1, in which the local exibility introduced by a crack is represented by a
massless rotational spring.
2.1. ioc:i rirxiniii1. or : c:N1iirvrr cr:cirb coxiosi1r nr:x
The additional elastic deformation energy U
1
of the composite beam due to the crack
can be expressed, in general form, by the relation [6]
U
1
=
g
A
0
D
1
s
i =N
i =1
K
2
Ii
+D
2
s
i =N
i =1
K
Ii
s
i =N
i =1
+D
3
s
i =N
i =1
K
2
IIi
+D
4
s
i =N
i =1
K
2
IIIi
1
dA, (2.1)
where A is the area of the crack, K
Ii
, K
IIi
and K
IIIi
are the stress intensity
factors corresponding to three modes of the crack evaluation i denotes independent
Figure 1. The geometry and discretecontinuous model of the cracked cantilever beam made from unidirectional
composite material.
vinr:1ioN or cr:cirb coxiosi1r nr:x 71
Figure 2. The system of independent forces acting on the beam.
forces acting on the beam (see Figure 2), and the coecients D
1
, D
2
, D
3
and D
4
are given
by [6]
D
1
=05b
22
Im
0
s
1
+s
2
s
1
s
2 1
, D
2
=b
11
Im (s
1
s
2
), D
3
=05b
11
Im (s
1
+s
2
),
D
4
=
1
2
zb
44
b
55
. (2.2)
The coecients s
1
, s
2
, b
11
, b
22
, b
44
and b
55
are given in Appendix A. The variations of
the coecients D
1
, D
2
, D
3
and D
4
versus the volume fraction of bers V and the angle of
bers a are presented in Figure 3.
Generally, for anisotropic materials, the stress intensity factors K
ji
(j =I, II, III;
i =1, N) are not equivalent to those of isotropic bodies of the same geometry and loading
conditions. According to computations carried out by Bao et al. [9], the stress intensity
factors K
ji
for the crack in the composite beam can be written as
K
ji
=s
i
zpa F
ji
(a/H, l
1/4
l/H, z), (2.3)
where s
i
denotes the stress at the crack cross-section due to the ith independent force acting
on the beam, a is the depth of the crack, F
ji
denotes the correction function (j =I, II, III;
i =1, N), l and z are dimensionless parameters which characterize the in-plane orthotropy
and l and H are the length and height of the beam, respectively (see Figure 1).
The dimensionless parameters l and z are dened as functions of the elastic constants
by [10]
l =E
22
/E
11
, z =zE
22
E
11
/2G
12
zn
12
n
21
, (2.4)
where the forms of the elastic constants E
11
, E
22
, G
12
, n
12
and n
21
are shown in Appendix A.
Calculations performed by Bao et al. [9] have shown that the eect of l
1/4
l/H is negligible
when l
1/4
l/He2. By using this condition it is possible to determine the minimal slenderness
ratio of the composite beam for which this parameter can be neglected. For the
graphite-ber reinforced polyimide analyzed in the paper the minimal slenderness ratio of
the beam l/H is equal to 4.
According to this condition the nal form of K
ji
is
K
ji
=s
i
zpa Y
j
(z)F
ji
(a/H), (2.5)
where Y
j
(z) is the correction function which takes into account anisotropy of the material,
and F
ji
(a/H) is the correction function which takes into account nite dimensions of the
beam.
x. ir:vczii :Nb v. x. os1:cnovicz 72
Figure 3. Energy release rate coecients D1, D2, D3 and D4 as a function of the volume fraction of bers V and
the angle of bers a. Values of a (degrees): 00, 0; - - - -, 15; , 30; www, 45; ,,,, 60; + + +, 75;
0, 0, 0, , 90.
With account taken of the fact that the beam analyzed is subjected only to the bending
moment S
5
and with transverse shear neglected (see Figure 2), the additional elastic
deformation energy is
U
1
=D
1
g
A
K
2
I5
dA, (2.6)
where K
I5
is the stress intensity factor corresponding to the bending moment S
5
acting on
the beam. The form of K
I5
is
K
I5
=(6S
5
/BH
2
)zpa Y
I
(z)F
I5
(a/H). (2.7)
The correction functions Y
I
(z) and F
I5
(a/H) are given by the relations [9, 11]
Y
I
(z) =1 +01(z 1) 0016(z 1)
2
+0002(z 1)
3
, (2.8)
vinr:1ioN or cr:cirb coxiosi1r nr:x 73
F
I5
(a/H) =ztan g/g[0923 +0199(1 sin g)
4
]/cos g, (2.9)
where g =pa/2H.
Substituting equations (2.7)(2.9) into equation (2.6) and applying the Castigliano
theorem (part II) [12] yields the additional exibility c
1
55
of the composite beam due to the
transverse one-edge open crack as
c
1
55
=
72D
1
p
BH
2
g
a
0
[aY
I
(z)
2
F
I5
(a)
2
] da, (2.10)
where a =a/H and da =da/H.
The additional exibility of the beam due to the crack can be presented in
non-dimensional form as
U=IS
11
c
1
55
/l, (2.11)
where I is the geometrical moment of inertia of the beam cross-section and S
11
is given
in Appendix B.
Substituting equation (2.10) into equation (2.11) yields
U=6D
1
S
11
p
H
l
g
a
0
[aY
I
(z)
2
F
I5
(a)
2
] da. (2.12)
The changes of the non-dimensional exibility U as a function of the volume fraction
of bers and the angle of the bers, for various crack depths, are shown in Figure 4. It
is clearly shown that the exibility due to the crack in the composite beam is a function
of the anisotropy of material (the volume fraction of bers), the angle between the bers
and the crack and the crack depth.
Figure 4. The changes of non-dimensional exibility U as functions of volume fraction of bers V and angle
of bers a. Values of a/H: ----, 02; - - -, 04; , 06.
x. ir:vczii :Nb v. x. os1:cnovicz 74
2.2. rrrr vinr:1ioN or : c:N1iirvrr coxiosi1r nr:x vi1n :
1r:Nsvrrsr cr:ci
The natural vibration equation of a mid-plane symmetrical composite beam, with
bending stretching coupling and transverse shear deformation neglected, is given by [13]
IS
11
1
4
y(x, t)/1x
4
+rF 1
2
(x, t)/1t
2
=0, (2.13)
where r is the material density, F is the cross-sectional area of the beam, and y(x, t) is
the transverse deection of the beam.
The discretecontinuous model of the beam is shown in Figure 1. The boundary
conditions, in terms of the non-dimensional beam length j =x/l, can be expressed as
follows: y
1
(0) =0, zero displacement of the beam at the xed point; y'
1
(0) =0, zero angle
of rotation of the beam at the xed point; y
1
(e) =y
2
(e), compatibility of the displacements
of the beam at the location of the crack; y'
2
(e) y'
1
(e) =Uy0
2
(e), total change of the
rotation angle of the beam at the location of the crack; y0
1
(e) =y0
2
(e), compatibility of the
bending moments at the location of the crack; y1
1
(e) =y1
2
(e), compatibility of the shearing
forces at the location of the crack; y0
2
(1) =0, zero bending moment at the end of the beam;
y1
2
(1) =0, zero shearing force at the end of the beam. Here e =l
1
/l is the non-dimensional
distance between the xed point of the beam and the crack location.
The solution of equation (2.13) is sought in the form
y(j, t) =y(j) sin vt. (2.14)
Substituting this solution into equation (2.13), after simple algebraic transformation,
one has
y
IV
(j) b
4
y(j) =0, (2.15)
where b
4
=v
2
rF/l
4
IS
11
. Taking the function y(j) in the form of [13]
y
1
(j) =A
1
ch (bj) +B
1
sh (bj) +C
1
cos (bj) +D
1
sin (bj), j $ [0, e), (2.16)
y
2
(j) =A
2
ch (bj) +B
2
sh (bj) +C
2
cos (bj) +D
2
sin (bj), j $ (e, 1), (2.17)
and taking into account the boundary conditions, one obtains the characteristic equation,
which is to be solved to determine the characteristic roots; i.e.,
1 0 1 0 0 0 0 0
0 1 0 1 0 0 0 0
ch g sh g cos g sin g ch g sh g cos g sin g
sh g ch g sin g cos g sh g +8 ch g ch g +8 sh g sin g 8 cos g cos g 8 sin g
det
=0
ch g sh g cos g sin g ch g sh g cos g sin g
sh g ch g sin g cos g sh g ch g sin g cos g
0 0 0 0 ch b sh b cos b sin b
0 0 0 0 sh b ch b sin b cos b
(2,18)
where g =be and 8=bU.
The roots of the characteristic equation (2.20) are used for the calculation of the natural
frequencies
v
i
=(b
1
/l)
2
/zIS
11
/rF, (2.19)
vinr:1ioN or cr:cirb coxiosi1r nr:x 75
Figure 5. The FE model of the cracked cantilever beam made from unidirectional composite material.
where v
i
is the ith natural frequency of the beam and b
1
denotes the ith characteristic
root.
The method of calculating the vibration frequencies of a beam with a crack supported
in a dierent way is similar. It is only necessary to change the boundary conditions at the
beginning and the end of the beam.
3. FINITE ELEMENT MODEL OF THE CANTILEVER CRACKED
COMPOSITE BEAM
The FE model of the beam analyzed is shown in Figure 5. The non-cracked parts of
the beam are replaced by the composite beam nite elements proposed by Oral [14],
whereas the part of the beam with the crack is modelled by the cracked composite beam
nite element to be described in what follows.
3.1. 1nr NoN-cr:cirb coxiosi1r nr:x riNi1r rirxrN1
The non-cracked composite beam nite element applied for modelling undamaged parts
of the beam has three nodes with three degrees of freedom at each node (the axial
displacement, and transverse displacement and the independent rotation). The
characteristic matrices of the non-cracked element are computed on the basis of the model
proposed by Oral [14]. The closed form of the inertia and stiness matrices are presented
in Appendix B.
3.2. 1nr cr:cirb coxiosi1r nr:x riNi1r rirxrN1
The geometry of the cracked element is shown in Figure 6. The element has three nodes,
at x =05 L, 0, 05 L (L is the length of the element). At each node there are three
degrees of freedom, which are the axial displacements q
1
, q
4
and q
7
, the transverse
displacements q
2
, q
5
and q
8
and the independent rotations q
3
, q
6
and q
9
.
3.2.1. The inertia matrix
According to the assumption from section 1, the inertia matrix of the cracked element
has the same form as the inertia matrix of the non-cracked elementsee Appendix B.
3.2.2. The stiness matrix
The stiness matrix of the cracked nite element K
ec
can be computed from
[K
ec
(i, j)] =[T(i, k)]
t
{[C
0
(k, k)] +[C
1
(k, k)]}
1
[T(k, j)], i =j =1, 9, k =1, 6, (3.1)
where T is the transformation matrix of a system of dependent nodal forces P
i
(i =1, 9)
into the system of independent nodal forces S
i
(i =1, 6) (see Figure 6). C
0
is the exibility
matrix of the non-cracked element, C
1
is the additional exibility matrix of the element
caused by the crack, the upper index 1 denotes the inverse of the matrix and the upper
index t denotes the transpose of the matrix.
x. ir:vczii :Nb v. x. os1:cnovicz 76
Figure 6. (a) The geometry of the element. (b) The system of dependent nodal forces P1P9. (c) The system of
independent nodal forces S1S6.
3.2.2.1. The matrix of transformation. The matrix of transformation T is calculated by
using the equation of overall equilibrium for element forces P
i
(i =1, 9) and S
i
(i =1, 6)see Figure 6. The nal form of this matrix is
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
1 0 0 1 0 0
T
t
=G
G
G
G
G
G
G
G
G
K
k
0 1 0 0 1 0 G
G
G
G
G
G
G
G
G
L
l
. (3.2)
0 L/2 1 0 L/2 1
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
3.2.2.2. The exibility matrix of the non-cracked element. The terms of the exibility
matrix of the non-cracked element C
0
are determined by inversion of the force
displacement equation [12],
P(i) =[K
e
(i, j)]q(i), i =1, 9, j =1, 9, (3.3)
where P is the column matrix of the dependent nodal forces, q is the column matrix of
the nodal displacements and K
e
denotes the stiness matrix of the non-cracked
elementsee Appendix B.
vinr:1ioN or cr:cirb coxiosi1r nr:x 77
In order to invert the matrix K
e
three degrees of freedom of the element should be
constrained (for more details see the book by Przemieniecki [12]). From the numerical
point of view it is convenient to constrain the second node of the element: i.e.,
q
4
=q
5
=q
6
=0. (3.4)
By applying the condition (3.4), equation (3.3) can be transformed to the inverse form
q(i) =[(K
e
(i, j)]
1
P(i), i =1, 2, 3, 7, 8, 9, j =1, 2, 3, 7, 8, 9. (3.5)
Finally, the exibility matrix of the non-cracked element C
0
under a selected independent
system is
C
0
(k, k) =[K
e
(i, j)]
1
, i =1, 2, 3, 7, 8, 9, j =1, 2, 3, 7, 8, 9, k =1, 6. (3.6)
3.2.2.3. The additional exibility matrix of the element due to the crack. The terms of the
additional exibility matrix C
1
due to the crack are calculated by making use of the method
described in section 2. The non-zero stress intensity factors for the element, as functions
of the independent nodal forces shown in Figure 6, are
K
I1
=(S
1
/BH)zpaY
I
(z)F
I1
(a/H), K
I2
=(3S
2
L/BH
2
)zpaY
I
(z)F
I2
(a/H), (3.7, 3.8)
K
I3
=(6S
3
/BH
2
)zpaY
I
(z)F
I3
(a/H), K
I4
=(S
4
/BH)zpaY
I
(z)F
I4
(a/H), (3.9, 3.10)
K
I5
=(3S
5
L/BH
2
)zpaY
I
(z)F
I5
(a/H), K
I6
=(6S
6
/BH
2
)zpaY
I
(z)F
I6
(a/H), (3.11, 3.12)
K
II2
=(S
2
/BH)zpaY
II
(z)F
II2
(a/H), K
II5
=(S
5
/BH)zpaY
II
(z)F
II5
(a/H), (3.13, 3.14)
where the correction functions Y
j
(z) and F
ji
(a/H) (j =I, II, i =1, 6) are [9, 11]
F
I1
=F
I4
=F
I
=ztan g/g[0752 +202(a/H) +037(1 sin g)
3
]/cos g, (3.15)
F
I2
=F
I3
=F
I5
=F
I6
=F
II
=ztan g/g[0923 +0199(1 sin g)
4
]/cos g, (3.16)
F
II2
=F
II5
=F
III
=[1122 0561(a/H) +085(a/H)
2
+018(a/H)
3
]/z1 a/H, (3.17)
Y
I
(z) =1 +01(z 1) 0016(z 1)
2
+0002(z 1)
3
, Y
II
(z) =1. (3.18, 3.19)
and g =pa/2H. Substitution of relations (3.7)(3.14) and (3.15)(3.19) into equation (2.1)
and applying the Castigliano theorem (part II) [12] yields the additional exibility matrix
of the element C
1
due to the crack in the form
C
1
=[c
1
ij
], i =1, 6; j =1, 6 and c
1
ij
=c
1
ji
, (3.20)
with the terms of the matrix C
1
being given by
c
1
11
=c
1
14
=c
1
44
=
2D
1
p
B
g
a
0
a(F
I
Y
I
)
2
da, (3.21)
c
1
12
=c
1
15
=c
1
24
=c
1
45
=
6D
i
pL
BH
g
a
0
aF
I
F
II
Y
2
I
da
D
12
p
B
g
a
0
aF
I
F
III
Y
I
da, (3.22)
c
1
13
=c
1
16
=c
1
34
=c
1
46
=
12D
1
p
BH
g
a
0
aF
I
F
II
Y
2
I
da, (3.23)
c
1
22
=c
1
55
=
18D
1
pL
2
BH
2
g
a
0
a(F
II
Y
I
)
2
da +
2D
2
p
B
g
a
0
a(F
III
)
2
da +
6D
12
pL
BH
g
a
0
aF
II
F
III
Y
I
da,
(3.24)
c
1
23
=c
1
26
=c
1
35
=c
1
56
=
36D
1
pL
BH
2
g
a
0
a(F
II
Y
I
)
2
da
6D
12
p
BH
g
a
0
aF
II
F
III
Y
I
da, (3.25)
x. ir:vczii :Nb v. x. os1:cnovicz 78
c
1
25
=
18D
1
pL
2
BH
2
g
a
0
a(F
II
Y
I
)
2
da +
2D
2
p
B
g
a
0
a(F
III
)
2
da, (3.26)
c
1
33
=c
1
36
=c
1
66
=
72D
1
p
BH
2
g
a
0
a(F
II
Y
I
)
2
da, (3.27)
and a =a/H, da =da/H.
The changes of integrals as functions of the relative depth of the crack, for graphite-ber
reinforced polyimide from Appendix C, are presented in Figure 7.
4. RESULTS AND DISCUSSION
As an example, calculations have been carried out for the cantilever beam shown in
Figure 8. The material properties of the graphite-ber reinforced polyimide used in the
analysis are given in Appendix C.
In the rst step the three rst bending natural frequencies of the non-cracked beam were
determined. Calculations were carried out by using both the models described previously.
The discretecontinuous model, in the absence of a crack, is identical to the model
described by Vinson and Sierakowski [13], and the results obtained by using these models
are the same. In the case of the FE model the beam was modelled by ve nite elements
Figure 7. The non-dimensional exibilities of the element as functions of the relative crack depth (volume
fraction of bers V=10%). (a) ----; f
a
0
a(FIYI )
2
da; WWWW, f
a
0
a(FIIYI )
2
da; RRR, f
a
0
aFIFIIY
2
I
da. (b)
----, f
a
0
aFIIFIIIYI da; RRR, f
a
0
aFIIFIIIYI da; WWW f
a
0
a(FIII )
2
da.
vinr:1ioN or cr:cirb coxiosi1r nr:x 79
Figure 8. The geometry of the cracked composite cantilever beam analyzed. Dimensions in mm.
Figure 9. Non-dimensional natural frequencies of the non-cracked composite beam as a function of the angle
of bers a. Values of V: (a) 002; (b) 010; (c) 030; (d) 075. ----, Vinson and Sierakowski, ------ WWW, present
results.
x. ir:vczii :Nb v. x. os1:cnovicz 80
of the same length. Calculations were performed for various values of the angle of the bers
a and the volume fraction of bers V. The natural frequencies v
n
(a) were normalized
according to the relation
v
n
(a) =l zv(a =0)/
zS
11
I/rF
, (4.1)
where v(a =0) denotes the natural frequency of the beam computed for the bers angle
a =0 deg.
The natural frequencies computed for the FE model are compared with the analytical
results given by Vinson and Sierakowski [13] in Figure 9. It is noted that for all cases
analyzed the results are in satisfactory agreement.
Next the inuence of the crack depth a/H and location l
1
/l upon the rst three bending
natural frequencies of the beam was analyzed. The volume fraction of the ber was 10%
and the bers were parallel to the x-axis of the beam (a =0). Calculations were carried
out for both models, described previously. In the case of the FE model the beam was
discretized by 12 elements. The obtained frequencies were normalized according to
Figure 10. Changes in the rst bending natural frequency of the cracked composite beam as functions in the
crack location l1/l and its depth a/H (volume fraction of bers V=10%, angle of bers a =0). (a) The
discretecontinuous model; (b) the FE model.
vinr:1ioN or cr:cirb coxiosi1r nr:x 81
Figure 11. As Figure 10, but changes in the second bending natural frequency.
equation (4.1). The changes of the natural frequencies obtained for both models are shown
in Figures 1012. The character of the changes is similar in both cases. Nevertheless the
decreases in the natural frequencies are larger for the FE model than for the discrete
continuous one. This is due to the fact that the discretecontinuous model takes into
account only part of the additional energy due to the crack U
1
(corresponding to the rst
mode of the crack evaluation K
I
), whereas in the FE model the additional energy connected
with the rst and second modes of the crack evaluation (K
I
and K
II
) is considered. The
largest decrease in the natural frequencies occurs when the crack is located at positions of
maximum curvature of the mode shapes. On the other hand, when the crack is located at
points of minimum curvature of the mode shapes the inuence of the crack upon the
natural frequencies of the beam is much smaller, and for cracks with a/HE03 is
practically negligible. These eects are similar to the behavior of isotropic beams [1517].
In the third step the changes of the two rst natural frequencies of the beam due to the
crack as functions of the angle of bers a were analyzed. The calculations were carried out
x. ir:vczii :Nb v. x. os1:cnovicz 82
Figure 12. As Figure 10, but changes in the third bending natural frequency.
for the volume fraction of bers V=10%. The crack was located at a distance 100 mm
from the xed end of the beam (l
1
/l =01). The natural frequencies v
n
(a) were normalized
according to
v
n
(a) =l zv(a)/
zS
11
/rF
, (4.2)
where v(a) is the natural frequency of the beam computed for each value of the angle of
bers a.
The results of the calculations obtained for both models (the FE model consists of 12
elements) are shown in Figure 13. The largest decrease in the natural frequencies is
observed for a crack which is perpendicular to the bers (a =0). When, the angle of bers
a increases the values of the natural frequencies also increase. This is due to the fact that
the exibility of the composite beam due to the crack is a function of the angle between
the crack and the reinforcing berssee Figure 4. The character of the changes is similar
for both models, but the decreases in the natural frequencies are larger for the FE model.
vinr:1ioN or cr:cirb coxiosi1r nr:x 83
In the last example the changes of the two rst bending natural frequencies of the
cracked composite beam as functions of the volume fraction of bers V were investigated.
The calculations were carried out for the relative position of the crack l
1
/l =01 and the
angle of bers a =0. The natural frequencies v
n
(V) were normalized as
v
n
(V) =l zv(V)/
zS
11
I/rF
, (4.3)
where v(V) is the natural frequency of the beam computed for each value of the volume
fraction of bers V.
The results of the calculations for both models (the FE model consists of 12 elements)
are shown in Figure 14. The decrease of the natural frequencies strongly depends on the
volume fraction of bers. This is due to the fact that the exibility of the beam due to
the crack is a function of the volume fraction of berssee Figure 4. The maximal decrease
is achieved at relatively higher ber fractions (around 45%). The character of the changes
is similar for both models, but the decreases in the natural frequencies are larger for the
Figure 13. Changes in the rst two bending natural frequencies of the cracked composite beam as functions of
the angle of bers a for several values of the crack depth a/H (volume fraction of bers V=10%, crack location
l1/l =01). (a) The discretecontinuous model; (b) the FE model. a/H values: ----, 00; - - - -, 02; , 04;
, 06.
x. ir:vczii :Nb v. x. os1:cnovicz 84
Figure 14. As Figure 13, but as functions of the volume fraction of bers V with a =0.
FE model. This is due to the fact that in the FE model the rst and second modes of the
crack evaluation (K
I
and K
II
) are considered whereas in the discretecontinuous model only
the part of the additional energy U
1
corresponding to the rst mode of the crack evaluation
(K
I
) is taken into account.
5. CONCLUSIONS
Two models of a cantilever composite beam with a transverse non-propagating one-edge
open crack have been presented. The rst one, called discretecontinuous, is based on the
concept of an equivalent linear spring, the exibility of which is calculated on the basis
of fracture mechanics and the Castigliano theorem (part II). The second one is based on
the FEM. The undamaged parts of the beam are modelled by beam nite elements with
three nodes and three degrees of freedom at each node. The damaged part of the beam
is replaced by a cracked beam nite element with degrees of freedom identical to those
of the non-cracked one. The construction of the stiness matrix of the cracked beam nite
element has been described. This method makes it possible to construct beam nite
elements with various type of cracks (double-edge, internal, etc.) if the stress intensity
factors for a given type of crack are known.
vinr:1ioN or cr:cirb coxiosi1r nr:x 85
The results of numerical calculations for both models are in good agreement. The
decreases in the natural frequencies in all cases analyzed are larger for the FE model than
for the discretecontinuous one. This can be explained by the fact that the FE model takes
into consideration the whole additional energy due to the crack whereas the discrete
continuous model takes into account only part of the energy.
A crack in a cantilever composite beam causes, as was to be expected, a reduction in
bending natural frequencies of the beam. These changes are functions not only of the depth
and the location of the crack (as in the case of isotropic materials), but also of the volume
fraction of bers and the angle of bers of the composite. The intensity of the changes
increases in accord with increases in the depth of the crack. The changes in the natural
frequencies are largest when the volume fraction of bers V is equal to 45% and the crack
is perpendicular to the bers of the composite (a =0). When the angle between the crack
and bers decreases, the inuence of the crack upon the decreases in the natural frequencies
of the beam also decreases. These phenomena are due to the fact that the exibility of the
composite beam due to the crack is a function of the volume fraction of bers, the angle
of the bers and the depth of the cracksee Figure 4.
REFERENCES
1. J. R. ViNsoN and T. W. Cnoi 1975 Composite Materials and Their Use in Structures. London:
Halsted Press/John Wiley; rst edition.
2. G. R. IrviN 1956 Journal of Applied Mechanics 24, 361364. Analysis of stresses and strains
near the end of a crack transversing a plate.
3. J. W:irr 1991 Applied Mechanics Reviews 17, 17. Dynamics of cracked rotors: a literature
survey.
4. R. D. Ab:xs, P. C:vir., C. J. P.r and J. S1oNr 1978 Journal of Mechanical Engineering
Sciences 20, 93100. A vibration testing for non-destructively assessing the integrity of the
structures.
5. P. C:vir. and R. D. Ab:xs 1979 Journal of Composite Materials 13, 161175. A vibration
technique for non-destructive testing of ber composite structures.
6. K. Niiioir and A. D. Dix:rocoN:s 1988 Journal of Composite Science and Technology 32,
209223. Local compliance of composite cracked bodies.
7. K. Niiioir 1990 Journal of Solids and Structures 26, 13711386. Buckling of cracked composite
columns.
8. S. M:Niv:s:c:x and K. Cn:Nbr:sri:r:N 1992 Journal of Sound and Vibration 152, 177179.
Characterization of damage progression in layered composites.
9. G. B:o, S. Ho, Z. Sio and B. F:N 1992 Journal of Solids and Structures 29, 11051116. The
role of material orthotropy in fracture specimens for composites.
10. Z. Sio 1990 Journal of Applied Mechanics 57, 627634. Delamination specimens for orthotropic
materials.
11. H. T:b:, P. C. P:ris and G. R. IrviN 1985 The Stress Analysis of Cracks Handbook. St. Louis:
Del Research Corporation.
12. J. S. PrzrxirNircii 1967 Theory of Matrix Structural Analysis. London: McGraw-Hill; rst
edition.
13. J. R. ViNsoN and R. L. Sirr:iovsii 1991 Behaviour of Structures Composed of Composite
Materials. Dordrecht: Martinus Nijho; rst edition.
14. S. Or:i 1991 Computers and Structures 38, 353360. A shear exible nite element for
nonuniform, laminated composite beams.
15. P. GibxibsoN 1982 Journal of the Mechanics and Physics of Solids 30, 339353.
Eigenfrequencies changes of structures due to cracks, notches or other geometrical changes.
16. J. M. MoN1:iv:o, E. Siiv: and A. J. M. Ar:io Goxrs 1991 Experimental Mechanics 30,
2025. Experimental dynamic analysis of cracked freefree beams.
17. A. R.11rr, R. BriNcirr and L. Piirc::rb 1991 Bygningsstatiske Meddeleser 62, 79100.
Vibration based inspection of civil engineering structures.
18. G. C. Sin and E. P. CnrN 1981 in Mechanics of Fracture. Cracks in composite materials. London:
Martinus Nijho; rst edition.
x. ir:vczii :Nb v. x. os1:cnovicz 86
APPENDIX A
Th complex constants s
1
and s
2
in relations (2.2) are roots of the characteristic equation
[18]
b
11
s
4
2b
16
s
3
+(2b
12
+b
66
)s
2
2b
26
s +b
22
=0.
The constants b
ij
are calculated from the relations [18]
b
11
=b
11
m
4
+(2b
12
+b
66
)m
2
n
2
+b
22
n
4
, b
22
=b
11
n
4
+(2b
12
+b
66
)m
2
n
2
+b
22
m
4
,
b
12
=(b
11
+b
22
b
66
)m
2
n
2
+b
12
(m
4
+n
4
),
b
16
=(2b
11
+2b
12
+b
66
)m
3
n +(2b
22
2b
12
b
66
)mn
3
,
b
26
=(2b
11
+2b
12
+b
66
)n
3
m+(b
22
2b
12
b
66
)nm
3
,
b
66
=2(2b
11
4b
12
+2b
22
b
66
)m
2
n
2
+b
66
(m
4
+n
4
),
where m=cos a and n =sin a (a denotes the angle between the geometric axes of the beam
xy and the material principal axes x
1
y
1
see Figure 1).
The terms b
ij
correspond to the situation in which the geometric axes of the beam x,
y coincide with the material principal axes x
1
, y
1
. These are related to the mechanical
constants of the material by [18]
b
11
=
1
E
11 0
1 n
2
12
E
22
E
111
, b
22
=
1
E
22
(1 n
2
23
), b
12
=
n
12
E
11
(1 +n
23
),
b
66
=1/G
12
, b
44
=1/G
23
, b
55
=b
66
,
whereas the mechanical properties of the composite, E
11
, E
22
, G
12
, n
12
and r, are calculated
by using the following formulas [13] (the subscript f denotes ber, the subscript m denotes
matrix and E, G, n and r are the modulus of elasticity, the modulus of rigidity, the Poisson
ratio and the mass density, respectively):
r =r
f
V+r
m
(1 V), E
11
=E
f
V+E
m
(1 V),
E
22
=E
m
$
E
f
+E
m
+(E
f
E
m
)V
E
f
+E
m
(E
f
E
m
)V
%
, n
12
=n
f
V+n
m
(1 V),
n
23
=n
f
V+n
m
(1 V)
$
1 +n
m
n
12
E
m
/E
11
1 n
2
m
+n
m
n
12
E
m
/E
11%
,
G
12
=G
m
$
G
f
+G
m
+(G
f
G
m
)V
G
f
+G
m
(G
f
G
m
)V
%
, G
23
=
E
22
2(1 +n
23
)
.
The roots of the characteristic equation are either complex or pure imaginary and cannot
be real. Thus, the four roots separate into two sets of distinct complex conjugates. The
parameters s
1
and s
2
correspond to those with positive imaginary parts. The roots of
characteristic equation were computed with an accuracy of 10
10
by using the Newton
Raphson method for polynomial equations with complex roots.
vinr:1ioN or cr:cirb coxiosi1r nr:x 87
APPENDIX B
The inertia matrix of the non-cracked element M
e
has the form
2
15
0 0
2
15
0 0
1
30
0 0
0
2
15
L
180
0
1
15
L
90
0
1
30
L
180
0
L
180
L
2
1890
+
H
2
90
0 0
L
2
945
+
H
2
180
0
L
180
L
2
1890

H
2
360
2
15
0 0
8
15
0 0
1
15
0 0
M
e
=rBHL 0
1
15
0 0
8
15
0 0
1
15
0
0
L
90
L
2
945
+
H
2
180
0 0
2L
2
945
+
2H
2
45
0
L
90
L
2
945
+
H
2
180
1
30
0 0
1
15
0 0
2
15
0 0
0
1
30
L
180
0
1
15
L
90
0
2
15
L
180
0
L
180
L
2
1890

H
2
360
0 0
L
2
945
+
H
2
180
0
L
180
L
2
1890
+
H
2
90
where r is the mass density, B is the width of the element, H is the height of the element
and L denotes the length of the element.
APPENDIX B,Ccontinued overleaf
x. ir:vczii :Nb v. x. os1:cnovicz 88
T
h
e
s
t
i

n
e
s
s
m
a
t
r
i
x
o
f
t
h
e
n
o
n
-
c
r
a
c
k
e
d
e
l
e
m
e
n
t
K
e
h
a
s
t
h
e
f
o
r
m
7
S
1
1
3
L
7
S
1
3
3
L
S
1
3
2

8
S
1
1
3
L

8
S
1
3
3
L
2
S
1
3
3
S
1
1
3
L
S
1
3
3
L

S
1
3
6
7
S
1
3
3
L
7
S
3
3
3
L
S
3
3
2

8
S
1
3
3

8
S
3
3
3
L
2
S
3
3
3
S
1
3
3
L
S
3
3
3
L

S
3
3
6
S
1
3
2
S
3
3
2
7
S
1
1
H
2
3
6
L
+
S
3
3
L
9

2
S
1
3
3

2
S
3
3
3

2
S
1
1
H
2
9
L
+
S
3
3
L
9
S
1
3
6
S
3
3
6
S
1
1
H
2
3
6
L

S
3
3
L
1
8

8
S
1
1
3
L

8
S
1
3
3
L

2
S
1
3
3
1
6
S
1
1
3
L
1
6
S
1
3
3
L
0

8
S
1
1
3
L

8
S
1
3
3
L
2
S
1
3
3
K
e
=
B
H

8
S
1
3
3
L

8
S
3
3
3
L

2
S
3
3
3
1
6
S
1
3
3
L
1
6
S
3
3
3
L
0

8
S
1
3
3
L

8
S
3
3
3
L
2
S
3
3
3
2
S
1
3
3
2
S
3
3
3

2
S
1
1
H
2
9
L
+
S
3
3
L
9
0
0
4
S
1
1
H
2
9
L
+
4
S
3
3
L
9

2
S
1
3
3

2
S
3
3
3

2
S
1
1
H
2
9
L
+
S
3
3
L
9
S
1
1
3
L
S
1
3
3
L
S
1
3
6

8
S
1
1
3
L

8
S
1
3
3
L

2
S
1
3
3
7
S
1
1
3
L
7
S
1
3
3
L

S
1
3
2
S
1
3
3
L
S
3
3
3
L
S
3
3
6

8
S
1
3
3
L

8
S
3
3
3
L

2
S
3
3
3
7
S
1
3
3
L
7
S
3
3
3
L

S
3
3
2

S
1
3
6

S
3
3
6
S
1
1
H
2
3
6
L

S
3
3
L
1
8
2
S
1
3
3
2
S
3
3
3

2
S
1
1
H
2
9
L
+
S
3
3
L
9

S
1
3
2

S
3
3
2
7
S
1
1
H
2
3
6
L
+
S
3
3
L
9
vinr:1ioN or cr:cirb coxiosi1r nr:x 89
where [13]
S
11
=S
11
m
4
+2(S
12
+2S
33
)m
2
n
2
+S
22
n
4
,
S
13
=(S
11
S
12
2S
33
)m
3
n +(S
12
S
22
+2S
33
)mn
3
,
S
33
=(S
11
2S
12
+S
22
2S
33
)m
2
n
2
+S
33
(m
4
+n
4
).
The terms S
ij
corresponding with the material principal axes x
1
, y
1
are determined from
the relations [13]
S
11
=
E
11
(1 n
2
12
E
22
/E
11
)
, S
22
=S
11
E
22
/E
11
, S
12
=n
12
S
22
, S
33
=G
12
.
APPENDIX C
The properties of the graphite-ber reinforced polyimide used in the numerical
calculations are as follows [13]: moduli of elasticity, E
m
=2756 GPa, E
f
=2756 GPa;
Poisson ratios, n
m
=033, n
f
=02; moduli of rigidity, G
m
=1036 GPa, G
f
=1148 GPa;
mass densities, r
m
=1600 kg/m
3
, r
f
=1900 kg/m
3
.