International Journal of Mechanical Sciences 140 (2018) 37–50

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International Journal of Mechanical Sciences

journal homepage: www.elsevier.com/locate/ijmecsci

A new prestressed dynamic stiffness element for vibration analysis of thick

circular cylindrical shells
I. Harbaoui a, J.B. Casimir b,∗, M.A. Khadimallah c, M. Chafra a
a
Laboratory of Systems and Applied Mechanics, Polytechnic School of Tunisia, University of Carthage, Tunis, Tunisia
b
Institut Supérieur de Mécanique de Paris, Quartz (EA 7393), 3 rue Fernand Hainaut, Saint-Ouen 93407, France
c
Prince Sattam Bin Abdulaziz University, College of Engineering, Civil Engineering Department, BP 655, Al-Kharj, 11942, Saudi Arabia

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

Keywords: This paper presents a new spectral element based on the dynamic stiffness matrix of a prestressed cylindrical
Dynamic stiffness method shell. The dynamic stiffness matrix is built using first-order shear deformation theory, and natural frequencies
Prestressed shells are processed easily. Vibration analyses are performed with numerical examples to determine the performance of
Spectral element method
this approach and the effect of prestressing on frequency response functions. This element has many advantages
Harmonic response
over the finite element method in terms of accuracy, model size and computing time.
© 2018 Elsevier Ltd. All rights reserved.

1. Introduction theories (often referred to collectively as shear-deformation shell the-

The vibration of prestressed circular cylindrical shells has been the
subject of much research, leading to many applications. This is because
prestressed cylinders are widely used as elements for various engineer-
ing structures, such as pressure vessels, pipes, storage tanks and ducts.
They are also encountered in several engineering applications, particu-
larly medicine, nuclear engineering and shipbuilding.
The free vibrations of a prestressed cylindrical shell can be consid-
ered using various shell theories that are described in full in the litera-
ture with the aim of analysing vibration problems. The differences be-
tween such theories lie in the simplifications that they introduce, such
as neglecting terms, linearizing the characteristic equations of motion
and assuming particular wavelengths. The first shell theory was that de-
scribed by Love[1] in 1888. This theory makes the same assumptions as
those of Kirchhoff’s thin-plate theory. Thin-shell theories derived from
Love’s theory include those of Donnell [2], Flügge [3], Mushtari [4],
Lur’ye [5], Byrne [6], Sanders [7], Goldenveizer [8] and Novozhilov [9].
However, despite this proliferation, these early thin-shell theories differ
almost imperceptibly. They are often either duplications or generaliza-
tions of each other or give several solutions for overcoming the incon-
sistencies of thin-shell assumptions. Leissa [10] studied these standard
and classical theories of thin shells and simplified their assumptions to
progress from eighth-order systems of equations to fourth-order ones in
extensional or inextensional theories. He varied several physical param-
eters such as the number of circumferential waves, the thickness/radius
ratio, the length/radius ratio and Poisson’s ratio. Meanwhile, thick-shell
ory) take into account shear deformations and rotary inertia. Various au-
thors have investigated shear deformation assumptions since the 1950s’,
including Reissner [11], Naghdi and Cooper [12] and Vlasov [13].
Among these studies, there have been many investigations of the free
vibrations of prestressed cylindrical shells. It seems that the earliest in-
vestigation in this field was that of Fung [14] in 1955. He studied the
effect of pressure on the vibration frequencies of freely supported cylin-
drical shells, finding theoretically that internal pressure has a significant
effect on modal frequencies, especially the lowest ones. In 1957, Fung
et al. [15] performed experiments to validate these theoretical results.
Later, in his famous monograph, Leissa [10] discussed the nonlinear vi-
brations of prestressed shells. More recently, Hu and Redekop [16] used
differential quadrature to perform prestressed vibration analysis of a
cylindrical shell with an oblique end. Khalili et al. [17] used first-order
shear deformation theory to investigate the free vibrations and dynamic
response of multilayer composite circular cylindrical shells under static
axial loads and internal pressure. The vibrations of pressurized shells
have also been investigated with the finite element (FE) method, with
Tj et al. [18] considering a cylindrical shell partially buried in a radial
elastic foundation.
In the present paper, a spectral element as defined by Lee [20]1 is
developed to deal with prestressed vibrations of cylindrical shells based
on first-order shear deformation theory. This meshless method is the
subject of an increasing number of papers because of its very recent
1 This method should not be confused with the spectral elements described by

Patera [19] that are based on high-order polynomials.

∗
Corresponding author.
E-mail address: jean-baptiste.casimir@supmeca.fr (J.B. Casimir).

https://doi.org/10.1016/j.ijmecsci.2018.02.046
Received 19 July 2017; Received in revised form 19 February 2018; Accepted 23 February 2018
Available online 24 February 2018
0020-7403/© 2018 Elsevier Ltd. All rights reserved.
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

n n

es eθ

L
Fig. 1. Thick circular cylindrical shell.

tion. In engineering applications, it is necessary to know these responses

precisely to avoid possible resonances.

2. Dynamic stiffness for prestressed cylindrical shells

The DS method is a meshless approach that avoids the major disad-

vantage of conventional calculation methods related to a large system
of equations saturating the memory resources.

2.1. Geometry and internal forces

We consider a thick circular cylindrical shell of length L, radius R

Fig. 2. 25 × 25 finite element mesh.
extension to plates [21–27] and shells [28–30]. The dynamic stiffness
(DS) matrix of a pressurized cylinder is described. The method allows
study of the free vibration and harmonic response of a prestressed el-
ement that is subjected to an internal pressure. In this study, we show
the influence of preload on the shape of the frequency response func-
and thickness h, as shown in Fig. 1.
Assuming that the vibrations of such a cylinder are studied in the
harmonic regime, u, v and w are the amplitudes of the harmonic dis-
placement components along the axial, tangential and radial directions,
respectively, of a point located on the mid-surface of the shell. These
components are defined in a local basis (n, e𝜽 , es ). Vectors es , e𝜽 and
n are in the axial direction of the shell, the circumferential direction
of its edges and the radial direction, respectively. Angles 𝛽 s and 𝛽 𝜃 are
rotations around es and e𝜽 , respectively.

0.06 0.06 0.06 0.06

0.04 0.04 0.04 0.04

0.02 0.02 0.02 0.02

0 0 0 0
−0.02 −0.02 −0.02 −0.02
−0.04 −0.04 −0.04 −0.04
−0.06 −0.06 −0.06 −0.06

−0.05 0 0.05 −0.05 0 0.05 −0.05 0 0.05 −0.05 0 0.05

f = 2021 Hz, n = 2, m = 1 f = 2881 Hz, n = 2, m = 2 f = 5523 Hz, n = 3, m = 3 f = 7074 Hz, n = 4, m = 5

0.06 0.06 0.06 0.06

0.04 0.04 0.04 0.04
0.02 0.02 0.02 0.02
0 0 0 0
−0.02 −0.02 −0.02 −0.02

−0.04 −0.04 −0.04 −0.04

−0.06 −0.06
−0.06 −0.06
−0.05 0 0.05 −0.05 0 0.05 −0.05 0 0.05 −0.05 0 0.05
f = 10190 Hz, n = 4, m = 5 f = 10330 Hz, n = 1, m = 6 f = 11810 Hz, n = 0, m = 7 f = 11910 Hz, n = 0, m = 8

Fig. 3. Radial displacements of shell edges.

38
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

n n

es eθ

s R

s=L s=0
Fig. 4. Axisymmetric uniform load.

−80

−100 1 CPSE solution

625 FE solution

−120
20log10|w|

−140

−160

−180

−200
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] x 10
4

Fig. 5. Dynamic response of prestressed cylinder (internal pressure 𝑃 = 107 Pa) for an axisymmetric load.

The amplitudes Ns , N𝜃 , Ns𝜃 , Ts and T𝜃 of the harmonic stresses in the where z is the normal coordinate along vector n, 𝜎 ij are the components
local basis are given by 5
of the Cauchy stress tensor and 𝑘 = 6
is the shear correction factor.
ℎ∕2 ( ) ℎ∕2 ( )
𝑧 𝑧
𝑁𝑠 = 𝜎ss 1+ dz, 𝑀𝑠 = 𝜎ss 𝑧 1 + dz 2.2. Governing equations
∫−ℎ∕2 𝑅 ∫−ℎ∕2 𝑅
ℎ∕2 ℎ∕2
𝑁𝜃 = 𝜎𝜃𝜃 dz, 𝑀𝜃 = 𝜎𝜃𝜃 zdz Most of the references regarding prestressed shells deal with bound-
∫−ℎ∕2 ∫−ℎ∕2 aries supported by plates (the so-called shear-diaphragm boundary con-
ℎ∕2 ( ) ℎ∕2 ( )
𝑧 𝑧 dition) for the sake of mathematical simplicity. Li and Chen [31] used
𝑁𝑠𝜃 = 𝜎𝑠𝜃 1 + dz = 𝑁𝜃𝑠 , 𝑀𝑠𝜃 = 𝜎𝑠𝜃 𝑧 1 + dz
∫−ℎ∕2 𝑅 ∫−ℎ∕2 𝑅 (1) Flügge shell theory, writing the equations for free vibrations of an or-
ℎ∕2 ℎ∕2
𝑁𝜃𝑠 = 𝜎𝜃𝑠 dz, 𝑀𝜃𝑠 = 𝜎𝑠𝜃 zdz thotropic circular cylindrical shell under hydrostatic pressure consid-
∫−ℎ∕2 ∫−ℎ∕2 ering shear diaphragms at both its ends. They compared their results
ℎ∕2 ( ) ℎ∕2
𝑧 with those obtained using the equations of Love [32] and Timoshenko
𝑇𝑠 = 𝑘 𝜎 1+ dz, 𝑇𝜃 = 𝑘 𝜎𝜃𝑧 dz
∫−ℎ∕2 sz 𝑅 ∫−ℎ∕2 [33] and Donnell [2], finding that Donnell theory is suitable only for

39
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

−60

−80 1 CPSE solution

625 FE solution

−100

−120
20log10|w|

−140

−160

−180

−200
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] x 10
4

Fig. 6. Dynamic response of prestressed cylinder (internal pressure 𝑃 = 5 × 107 Pa) for an axisymmetric load.

short shells whereas Love-Timoshenko shell theory can be reduced from The force/displacement relationships are
Flügge shell theory when the following conditions are satisfied:
( ) ( )
𝜕𝑤 𝜕𝑤
• The circumferential strains are zero when calculating twist. 𝑇𝑠 = 𝑓1 , 𝛽𝑠 , 𝑇𝜃 = 𝑓2 , 𝑣, 𝛽𝜃
• The membrane forces are unaffected by bending stresses, and the (𝜕𝑠 ) (𝜕𝜃 )
𝜕𝑢 𝜕𝑣 𝜕𝛽𝑠 𝜕𝑢 𝜕𝑣 𝜕𝛽𝜃
𝑁𝑠 = 𝑓3 , 𝑤, 𝜕𝜃 , 𝜕𝑠 𝑁 𝜃 = 𝑓4 , 𝑤, 𝜕𝜃 , 𝜕𝜃
bending moments are likewise unaffected by membrane stresses. (𝜕𝑠 ) (𝜕𝑠 )
𝜕𝑢 𝜕𝛽𝜃 𝜕𝑢 𝜕𝛽𝑠
𝑁𝜃𝑠 = 𝑓5 𝜕𝑣𝜕𝑠
, 𝜕𝜃
, 𝜕𝑠
𝑁𝑠𝜃 = 𝑓6 𝜕𝑣
𝜕𝑠
, 𝜕𝜃
, 𝜕𝜃
(3)
Leissa [10] presented many theories for the initial stress introduced ( ) ( )
𝜕𝛽 𝜕𝛽 𝜕𝑣 𝜕𝛽𝑠 𝜕𝛽𝜃
in the equations of motions. Herein, we use the Timoshenko theory 𝑀𝑠 = 𝑓7 𝜕𝑢 , 𝑠, 𝜃 𝑀𝜃 = 𝑓8 𝑤, 𝜕𝜃 , 𝜕𝑠 , 𝜕𝜃
(𝜕𝑠 𝜕𝑠 𝜕𝜃 ) ( )
𝜕𝛽 𝜕𝛽 𝜕𝑢 𝜕𝛽𝜃 𝜕𝛽𝑠
[14] for the free–free (FF) case. The dynamic equilibrium equations are 𝑀𝜃𝑠 = 𝑓9 𝜕𝑣 , 𝜃, 𝑠
𝜕𝑠 𝜕𝑠 𝜕𝜃
𝑀𝑠𝜃 = 𝑓10 𝜕𝜃 , 𝜕𝑠 , 𝜕𝜃

⎧ 𝜕𝑁 ( 2 )
𝜕𝑁 𝑁
⎪ 𝜕𝑠𝑠 + 𝑅1 𝜕𝜃𝑠𝜃 − 𝑅𝜃 𝜕𝜕𝑠𝜕𝑣𝜃 − 𝜕𝑤 = −𝜌ℎ𝑢𝜔2 + 𝑅1 𝜌ℎ
3
𝜕𝑠 12
𝜔 2 𝛽𝑠 where the functionals fi are given in Appendix A.
⎪ 𝜕𝑁 𝜕𝑁 𝑇
⎪ 𝜃𝑠 + 1 𝜃 + 𝜃 + 𝑁 𝑠 𝜕 2𝑣 = −𝜌ℎ𝜔2 𝑣 + 1 𝜌ℎ 𝜔2 𝛽𝜃
2 3
Eliminating T𝜃 , N𝜃 , Ns𝜃 , M𝜃 and Ms𝜃 from the equilibrium equations
⎪ 𝜕𝑇𝜕𝑠 1 𝑅𝜕𝑇 𝜕𝜃 𝑁 𝑅 𝜕𝑠 ( 𝑅 )12
and using the force/displacement relationships, we obtain a system of
𝑁
⎨ 𝜕𝑠𝑠 + 𝑅 𝜕𝜃𝜃 − 𝑅𝜃 + 𝑁 𝑠 𝜕𝜕𝑠𝑤2 + 𝑅2𝜃 𝜕𝜃𝜕𝑣
− 𝜕𝜕 𝜃𝑤2 = −𝜌ℎ𝜔2 𝑤
2 2
(2)
⎪ 𝜕𝑀 partial differential equations satisfied by the state variables Ts , Ns , N𝜃s ,
⎪ 𝑠 + 1 𝜕𝑀𝑠𝜃 − 𝑇𝑠 = 1 𝜌ℎ 𝜔2 𝑢 − 𝜌ℎ 𝜔2 𝛽𝑠
3 3
𝜕𝑠 𝑅 𝜕𝜃 𝑅 12
Ms , M𝜃s , u, v, w, 𝛽 s and 𝛽 𝜃 . The system is
⎪ 𝜕𝑀 1 𝜕𝑀 1 𝜌ℎ 3
12
𝜌ℎ 3
⎪ 𝜕𝑠𝜃𝑠 + 𝑅 𝜕𝜃𝜃 − 𝑇𝜃 = 𝑅 12 𝜔2 𝑣 − 12 𝜔2 𝛽𝜃
⎩
⎧ 𝜕𝑁 ( 2 )
ℎ3 𝜕𝑓 𝑁
where 𝜔 is the angular frequency and 𝜌 is the mass density. Terms 𝑁 𝑠 ⎪ 𝜕𝑠𝑠 = −𝜌ℎ𝜔2 𝑢 + 𝜌𝜔2 12 𝑅 𝑠
𝛽 − 𝑅1 𝜕𝜃6 + 𝑅𝜃 𝜕𝜕𝑠𝜕𝑣𝜃 − 𝜕𝑤𝜕𝑠
⎪ 𝜕𝑁
⎪ 𝜃𝑠 = −𝜌ℎ𝜔2 𝑣 + 𝜌𝜔2 ℎ 𝛽𝜃 − 1 𝜕𝑓4 + 𝑓2 − 𝑁 𝑠 𝜕 2𝑣
3 2
and 𝑁 𝜃 are the axial and circumferential prestress resultants, respec-
tively, which are supposed to be uniform throughout the entire shell el- ⎪ 𝜕𝑇𝜕𝑠 12𝑅 𝑅 𝜕𝜃 𝑅 ( 𝜕𝑠 )
𝜕𝑓 𝑓 𝑁
⎨ 𝜕𝑠𝑠 = −𝜌ℎ𝜔2 𝑤 − 𝑅1 𝜕𝜃2 + 𝑅4 − 𝑁 𝑠 𝜕𝜕𝑠𝑤2 − 𝑅2𝜃 𝜕𝜃 𝜕𝑣
− 𝜕𝜕 𝜃𝑤2
2 2
(4)
ement. Any bending effect due to the boundary conditions is neglected. ⎪ 𝜕𝑀
⎪ 𝑠 = 𝜌𝜔2 ℎ 𝑢 − 𝜌𝜔2 ℎ 𝛽𝑠 − 1 𝜕𝑓10 + 𝑇𝑠
3 3
For example, the prestress could be induced by an internal static pres- 𝜕𝑠 12𝑅 𝑅 𝜕𝜃
⎪ 𝜕𝑀 ℎ3
12
ℎ3 1 𝑓
sure. In that case, we would assume that the pressure remained in its ⎪ 𝜕𝑠𝜃𝑠 = 𝜌𝜔2 12𝑅 𝑣 − 𝜌𝜔2 12 𝛽𝜃 − 𝑅 𝜕𝜃8 + 𝑇𝜃
initial direction and was not influenced by the deformation of the shell ⎩
during vibration. In the case of a cylindrical tank, the prestress resul-
tants due to internal pressure P are 𝑁 𝑠 = 𝑃2𝑅 and 𝑁 𝜃 = 𝑃 𝑅. The axial Displacements that depend on s are deduced from the relations es-
resultant 𝑁 𝑠 is due to the pressure acting upon the ends of the tank. tablished previously, including the functionals f1 , f3 , f5 , f7 and f9 . These

40
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

−60

−80
1 CPSE solution
625 FE solution

−100

−120
20log10|w|

−140

−160

−180

−200
0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] x 10
4

Fig. 7. Dynamic response of prestressed cylinder (internal pressure 𝑃 = 5 × 108 Pa) for an axisymmetric load.

expressions are
( ) ∑
+∞
[ ]
𝑠
𝜕𝑢 𝜕𝑣 𝜕𝛽
⎧ 𝜕𝑠 = 𝑓11 𝑤, 𝜕𝜃 , 𝜕𝜃𝜃 , 𝑁𝑠 , 𝑀𝑠 𝑣(𝑠, 𝜃) = 𝑣0 (𝑠) + 𝑣𝑚 (𝑠) cos 𝑚𝜃 + 𝑎 𝑣𝑚 (𝑠) sin 𝑚𝜃 , (8)
⎪ 𝜕𝑣 ( ) 𝑚=1
𝜕𝑢 𝜕𝛽
⎪ 𝜕𝑠 = 𝑓12 𝜕𝜃 , 𝜕𝜃𝑠 , 𝑁𝜃𝑠 , 𝑀𝜃𝑠
⎪ 𝜕𝑤 ( )
⎨ 𝜕𝑠 = 𝑓13 (𝑇𝑠 , 𝛽𝑠 (5) ∑
+∞
[ ]
𝑠
⎪ 𝜕𝛽𝑠 𝜕𝑣 𝜕𝛽𝜃
) 𝑤(𝑠, 𝜃) = 𝑤0 (𝑠) + 𝑤𝑚 (𝑠) cos 𝑚𝜃 + 𝑎 𝑤𝑚 (𝑠) sin 𝑚𝜃 . (9)
⎪ 𝜕𝑠 = 𝑓14 (𝑤, 𝜕𝜃 , 𝜕𝜃 , 𝑁𝑠 , 𝑀) 𝑠 , 𝛽𝑠 𝑚=1
⎪ 𝜕𝛽𝜃 𝜕𝑢 𝜕𝛽
⎩ 𝜕𝑠 = 𝑓15 𝜕𝜃 , 𝜕𝜃𝑠 , 𝑁𝜃𝑠 , 𝑀𝜃𝑠 Considering the order of derivation relative to the variable 𝜃 in the
governing equations, two types of solution can be expected:
where the functionals fi are given in Appendix A.
• Symmetric solutions for which u, w, 𝛽 s , Ns , Ts and Ms are symmetric
2.3. State vector and dynamic transfer matrices and the other components are antisymmetric.
• Antisymmetric solutions for which u, w, 𝛽 s , Ns , Ts and Ms are anti-
Thus, from Eqs. (4) and (5), the following system of partial differen- symmetric and the other components are symmetric.
tial equations can be obtained:
Introducing a Fourier expansion in Eq. (6) leads to the following two
𝜕𝐄 ( ) 𝜕𝐄 𝜕2 𝐄 coupled systems of equations satisfied by symmetric and antisymmetric
= 𝐀 − 𝜔2 𝐌 .𝐄 + 𝐁 +𝐂 , (6)
𝜕𝑠 𝜕𝜃 𝜕𝜃2 solutions:
( )𝑇 { 𝜕𝐬 𝐄 ( )
where 𝐄 = 𝑢, 𝑣, 𝑤, 𝛽𝑠 , 𝛽𝜃 , 𝑁𝑠 , 𝑁𝜃𝑠 , 𝑇𝑠 , 𝑀𝑠 , 𝑀𝜃𝑠 is the state vector along 𝜕𝑠
𝐦
= 𝐀 − 𝜔2 𝐌 .𝐬 𝐄𝐦 + 𝑚𝐁 𝐚 𝐄𝐦 − 𝑚2 𝐂𝐬 𝐄𝐦
𝜕 𝐚 𝐄𝐦 ( ) (10)
the shell and M, A, B and C are 10 × 10 matrices as listed in Appendix B.
𝜕𝑠
= 𝐀 − 𝜔2 𝐌 .𝐚 𝐄𝐦 − 𝑚𝐁 𝐬 𝐄𝐦 − 𝑚2 𝐂𝐚 𝐄𝐦
The solution of the elastodynamic problem of a circular cylindrical ( )𝑇
shell is 2𝜋 periodic with respect to the variable 𝜃. Because of this pe- where 𝐬 𝐄𝐦 = 𝑠 𝑢𝑚 , 𝑎 𝑣𝑚 , 𝑠 𝑤𝑚 , 𝑠 𝛽𝑠𝑚 , 𝑎 𝛽𝜃𝑚 , 𝑠 𝑁𝑠𝑚 , 𝑎 𝑁𝜃𝑠𝑚 , 𝑠 𝑇𝑠𝑚 , 𝑠 𝑀𝑠𝑚 , 𝑎 𝑀𝜃𝑠𝑚
( )𝑇
riodicity, 𝜃 is eliminated by a Fourier expansion of each component of and 𝐚 𝐄𝐦 = 𝑎 𝑢𝑚 , 𝑠 𝑣𝑚 , 𝑎 𝑤𝑚 , 𝑎 𝛽𝑠𝑚 , 𝑠 𝛽𝜃𝑚 , 𝑎 𝑁𝑠𝑚 , 𝑠 𝑁𝜃𝑠𝑚 , 𝑎 𝑇𝑠𝑚 , 𝑎 𝑀𝑠𝑚 , 𝑠 𝑀𝜃𝑠𝑚 .
the state vector E. For example, the components u, v and w of the dis- As explained in Ref. [28], the displacement and internal force com-
placement are written as: ponents are partitioned into two symmetry classes:
∑
+∞
[ ] • 𝐔 = (𝑢, 𝑤, 𝛽𝑠 , 𝑁𝑠 , 𝑇𝑠 , 𝑀𝑠 ),
𝑠
𝑢(𝑠, 𝜃) = 𝑢0 (𝑠) + 𝑢𝑚 (𝑠) cos 𝑚𝜃 + 𝑎 𝑢𝑚 (𝑠) sin 𝑚𝜃 , (7)
𝑚=1
• 𝐕 = (𝑣, 𝛽𝜃 , 𝑁𝜃𝑠 , 𝑀𝜃𝑠 ).

41
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

−80

−100 1 CPSE solution P=0

1 CPSE solution P=5e8 Pa

−120
20log10|w|

−140

−160

−180

−200
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] 4
x 10

Fig. 8. Effect of internal pressure (𝑃 = 5 × 108 Pa) on the dynamic response of a cylinder for an axisymmetric load.

Therefore, symmetric and antisymmetric state vectors are built as cylinder, that is to say on the curvilinear abscissas 𝑠 = 0 and 𝑠 = 𝐿. They
( ) ( )
𝐄𝟏𝐦 = 𝑠 𝐔𝐦 , 𝑎 𝐕𝐦 and 𝐄𝟐𝐦 = 𝑎 𝐔𝐦 , 𝑠 𝐕𝐦 , where are given by Eq. (15) (see [28]):
( )
⎧𝑠 (𝑠 ) 𝐭 (𝜔)−1 .𝐭𝐢𝐦𝟏𝟏 (𝜔) −𝐭𝐢𝐦𝟏𝟐 (𝜔)−1
𝑠 𝑠 𝑠
⎪ 𝐔𝐦 = ( 𝑢𝑚 , 𝑤𝑚 , 𝛽𝑚 , 𝑁𝑠𝑚 , 𝑇𝑠𝑚
𝑠 , 𝑠 𝑀𝑠𝑚 𝐊𝐢𝐦 = 𝐢𝐦𝟏𝟐 𝑇 , (15)
) −𝐭𝐢𝐦𝟏𝟐 (𝜔) − 𝐭𝐢𝐦𝟐𝟐 (𝜔).𝐭𝐢𝐦𝟏𝟏 (𝜔) −1
⎪𝑎 𝐕𝐦 = 𝑎 𝑣𝑚 , 𝑎 𝛽𝜃𝑚, 𝑎 𝑁𝜃𝑚 , 𝑎 𝑀𝜃𝑚
⎨𝑎 𝐔 = (𝑎 𝑢 , 𝑎 𝑤 , 𝑎 𝛽 , 𝑎 𝑁 , 𝑎 𝑇 , 𝑎 𝑀 ) (11) with 𝐭𝐢𝐦𝐤𝐥 being submatrices of the matrices PT .Tim .P, with P being a
⎪ 𝐦 ( 𝑚 𝑚 𝑚 𝑠𝑚 )𝑠𝑚 𝑠𝑚
⎪𝑠 𝐕𝐦 = 𝑠 𝑣𝑚 , 𝑠 𝛽𝜃𝑚, 𝑠 𝑁𝜃𝑚 , 𝑠 𝑀𝜃𝑚 permutation matrix (see [28]).
⎩ The DS matrices Kim (𝜔) give the relationship between edge displace-
Using this partition, the system can be uncoupled as ments Xim and external forces Fim applied on the edges for symmetric
( ) and antisymmetric harmonic solutions. This classical relationship is
𝑑 𝐄𝐢𝐦 𝐀𝟏𝟏 − 𝑚2 𝐌𝟏𝟏 − 𝑚2 𝐂𝟏𝟏 (−1)𝑖+1 𝑚𝐁𝟏𝟐
= 𝑖 .𝐄𝐢𝐦 , (12)
𝑑𝑠 (−1) 𝑚𝐁𝟐𝟏 𝐀𝟐𝟐 − 𝑚 𝐌𝟐𝟐 − 𝑚 𝐂𝟐𝟐
2 2 𝐊𝐢𝐦 (𝜔).𝐗𝐢𝐦 = 𝐅𝐢𝐦 . (16)
where 𝑖 = 1, 2. The effect of internal pressure on the free vibration of a thick cylin-
The systems given by Eq. (12) are solved for 𝑖 = 1 and 𝑖 = 2 using the drical shell has not been widely studied. Indeed, the internal pressure
dynamic transfer matrices that link the state vector Eim (0) on the edge has a considerable influence on the fundamental frequency. To deter-
located at 𝑠 = 0 with any state vector Eim (s) along the cylinder located mine the natural frequency, the DS method generally uses the well-
at s. These matrices are denoted Tim (s) and are such that known Williams–Wittrick algorithm [34]. Our objective herein is to val-
idate the DS matrix, so we simply extract the natural frequencies from
𝐄𝐢𝐦 (𝑠) = 𝐓𝐢𝐦 (𝑠).𝐄𝐢𝐦 (0). (13)
the harmonic response curves.
They also satisfy Eq. (12) and therefore the dynamic transfer matrix
Tim (L) is processed by Eq. (14) (see [28]): 2.5. Post-processing
𝚫𝐢𝐦 𝐿
𝐓𝐢𝐦 (𝐿) = 𝑒 , (14) The edge displacements being known, post-processing consists of
where 𝚫im is the matrix in Eq. (12). computing the components of the state vector inside the entire shell.
This is achieved using Eq. (13), which gives Fourier coefficients for each
2.4. Dynamic stiffness matrices and modal analysis force and displacement component.
Then, it is possible to obtain the components of the strain and stress
Symmetric and antisymmetric DS matrices are obtained considering tensors thanks to the displacement–strain relationships and the consti-
the relationship between external and internal forces at the edges of the tutive equations.

42
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

n n

es eθ

s R
•

s=L s=0
Fig. 9. Concentrated radial force.

−100

20 terms
10 terms
5 terms

−150
20log10|w|

−200

−250
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] 4
x 10

Fig. 10. Convergence study for concentrated loading case.

3. Numerical results and discussion 3.1. Geometry and material characteristics

To assess the validity of the proposed method, a continuous pre- An isotropic cylindrical shell subjected to internal pressure is con-
stressed shell element (CPSE) based on the DS matrices is developed sidered here. Its geometry is defined by the following values:
using a computer program. Various numerical examples are presented
of the vibrations of a prestressed cylindrical shell with both ends free.
• 𝑅 = 6.925 × 10−2 m,
The prestress is due to an internal static pressure P. In this case, the
• ℎ = 0.015 m,
axial resultant 𝑁 𝑠 vanishes. The circumferential prestress resultant 𝑁 𝜃
• 𝐿 = 0.1 m.
is uniform and given by 𝑁 𝜃 = 𝑃 𝑅. The only non-zero prestress tensor The material characteristics are
component inside the shell is circumferential; it is uniform and given by
𝜎 𝜃𝜃 = 𝑃ℎ𝑅 . • 𝐸 = 2.110 × 1011 Pa,
• 𝜌 = 7800 kg/m3 ,

43
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

−100

1 CPSE solution
625 FE solution

−150
20log10|w|

−200

−250
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] 4
x 10

Fig. 11. Dynamic response of prestressed cylinder (internal pressure 𝑃 = 107 Pa) for concentrated loading case.

Table 1
Finite-element convergence analysis based on eigenfrequencies (Hz).

m 1 2 3 4 5 6 7 8 9

15 × 15 2,015 2,917 5,522 7,075 10,198 10,315 11,830 11,928 11,984

20 × 20 2,015 2,918 5,520 7,074 10,189 10,315 11,830 11,928 11,977
25 × 25 2,014 2,918 5,520 7,074 10,187 10,315 11,830 11,928 11,975
30 × 30 2,014 2,918 5,520 7,074 10,186 10,315 11,830 11,928 11,975

• 𝜈=0.3,
• 𝑘 = 5∕6.
3.2. Natural frequencies
The modal frequencies are identified from a frequency response
curve. A concentrated force is applied on one of the free edges and
the response is processed at that point. Concentrated loads on the free
edge allow all the modes to be detected, not just the axisymmetric
ones. When a maximum response is detected, a lower frequency step
is used and the frequency range around the peak is re-scanned to avoid
omitting very similar eigenfrequencies. These eigenfrequencies are com-
pared with those obtained by an FE model built with eight-node shell
elements; see Fig. 2 while noting that no midside nodes are represented
therein.
The FE formulation uses two integration points through the thick-
ness and 2 × 2 in-plane integration points for both stiffness and mass
matrices. A convergence study based on eigenfrequencies for an inter-
nal pressure 𝑃 = 107 Pa showed that 25 × 25 elements are necessary to
obtain a converged solution with FEs (see processed eigenfrequencies in
Hz in Table 1, where m is the eigenfrequency rank and the first column
gives the number of FEs).
Eigenfrequencies processed by the spectral element for several values
of internal pressure P are given in Table 2 for comparison with those
obtained by the 25 × 25 FE model.
The first six modes are double ones because the shell is axisymmet-
ric. In this case, the FE modal analysis gives a double eigenfrequency
corresponding to a single peak detected on the CPSE response curve;
these double frequencies are not repeated in the table. The rank of the
mode is m and the circumferential modal number is n, the latter be-
ing obtained by observing the circumferential waves along each edge of
the shell. The radial modal displacements of both edges obtained by the
CPSE model are shown in Fig. 3.
In each case, there is excellent agreement between the results ob-
tained by the DS formulation and those obtained by the FE approach;
the largest difference is roughly 3%. These results show that the inter-
nal pressure increases the natural frequencies, especially in the lower
frequency rank m < 11. In other words, the internal pressure tends to
stabilize the structure.

44
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

−100

1 CPSE solution
625 FE solution

−150
20log10|w|

−200

−250
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] 4
x 10

Fig. 12. Dynamic response of prestressed cylinder (internal pressure 𝑃 = 2.5 × 107 Pa) for concentrated loading case.

Table 2
Eigenfrequencies (Hz) for a free–free (FF) cylindrical shell subjected to an internal static pressure.

P=5 × 107 Pa P=2.5 × 107 Pa P=1 × 107 Pa P=0

m n FE CPSE FE CPSE FE CPSE FE CPSE

1 2 2,081 2,091 2,042 2,051 2,014 2,021 2,001 2,002

2 2 3,026 2,931 2,952 2,911 2,918 2,881 2,907 2,869
3 3 5,579 5,603 5,553 5,563 5,520 5,523 5,504 5,503
4 3 7,153 7,134 7,105 7,094 7,074 7,074 7,062 7,044
5 4 10,251 10,290 10,222 10,230 10,187 10,190 10,171 10,170
6 1 10,336 10,340 10,319 10,340 10,315 10,330 10,315 10,330
7 0 11,831 11,810 11,829 11,810 11,830 11,810 11,830 11,810
8 0 11,951 11,920 11,930 11,914 11,928 11,910 11,929 11,910

Moreover, it can be seen that the influence of pressure is directly
related to circumferential modal number, becoming more significant as
the latter increases. Table 3 gives the frequency shifts processed by our
CPSE model for each pressure level and circumferential modal number.
This conclusion agrees well with those in Refs. [35,36] for thin and
sandwich cylindrical shells.
3.3. Harmonic response of prestressed cylindrical shell
The harmonic responses obtained by the DS formulation are vali-
dated by comparing them to those obtained by the FE approach for a
cylindrical shell subjected to an internal static pressure. The cylindrical
shell shown in Fig. 1 is considered. The prestressed shell is subjected to
two types of harmonic load:
• an axisymmetric harmonic load,
• a concentrated force at a specific point on the first edge.
3.3.1. Axisymmetric harmonic load
In this load case, the prestressed cylindrical shell is subjected to an
axisymmetric uniform force per unit length applied on the edge located
at 𝑠 = 0; see Fig. 4.
This is the simplest load case because only the first contribution of
the Fourier expansion is required. The transverse force fn is the only
nonzero force component in the external force vector. It is defined as
∀𝜃 ∈ [0, 2𝜋], 𝐹𝑧 (𝜃) = 𝐹 . (17)

45
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

−100

1 CPSE solution
625 FE solution

−150
20log10|w|

−200

−250
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] 4
x 10

Fig. 13. Dynamic response of prestressed cylinder (internal pressure 𝑃 = 5 × 107 Pa) for concentrated loading case.

Table 3 the DS and FE methods for several levels of internal pressure P at fre-
Circumferential modal numbers and frequency shifts (Hz) quencies up to 20,000 Hz are shown in Figs. 5–7. The results obtained
for an FF cylindrical shell subjected to a static internal by the two approaches are very consistent at each pressure level.
pressure.
Next, Fig. 8 compares the responses of a prestressed cylinder and an
n P=5 × 107 Pa P=2.5 × 107 Pa P=1 × 107 Pa
unprestressed cylinder that are both subjected to an internal pressure of
5 × 108 Pa. This comparison shows the effect of internal pressure on the
0 0 0 0 second axisymmetric modal frequency.
0 10 4 0 The two peaks of the curve are related to axisymmetric modal shapes
1 10 10 0 for which the circumferential modal number is zero and therefore, the
2 89 49 19 influence of internal pressure is insignificant. Nevertheless, a small dif-
2 62 42 12
ference is observed in Fig. 8 between the unprestressed cylindrical shell
3 100 60 20
and that prestressed with an internal pressure of 5 × 108 Pa. The effect of
3 90 50 30
4 110 60 20 internal pressure increases considerably for lower modes that are not ax-
isymmetric and for which the circumferential modal number is higher.
This fact will be shown with a non-axisymmetric load.
The only nonzero coefficient of the Fourier series expansion is 𝐹𝑧0 = 𝐹 .
Thus, the systems of external force vectors is
⎧𝐹 = (0, 0, 𝐹 , 0, 0, 0, 0, 0, 0, 0) 3.3.2. Response to a concentrated radial harmonic force
⎪ 10 The next load case is a concentrated radial harmonic force applied
⎨𝐹1𝑚 = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0) (18)
at a point on the edge 𝑠 = 0. The load is defined by a harmonic force
⎪𝐹2𝑚 = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
⎩ 𝑓𝑧 = 𝐹𝑧 𝑒𝑖𝜔𝑡 with Fz =1 N, (see Fig. 9). The other components of the load
and the algebraic system is vector are zeros.
The circular cylindrical shell is subjected to the FF boundary con-
𝐊𝟏𝟎 .𝐗𝟏𝟎 = 𝐅𝟏𝟎 ,
dition under which both edges are free. The harmonic response is pro-
∀𝑚 ≠ 0, 𝐊𝟐𝐦 .𝐗𝟐𝐦 = 𝟎, (19)
cessed at the point at which the force is applied. The amplitude of this
∀𝑚 ∈ ℕ, 𝐊𝟐𝐦 .𝐗𝟐𝐦 = 𝟎.
load is given mathematically as a function of the angle 𝜃 by an expres-
The above systems are solved for each angular frequency 𝜔, and the sion in which the Dirac function 𝛿(𝜃) is used:
harmonic response of the prestressed cylinder is processed at a specific
point located on the 𝑠 = 0 edge at angle 𝜃 = 0. The results obtained by 𝐹𝑧 (𝜃) = 𝐹𝑧 𝛿(𝜃). (20)

46
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

−100

1 CPSE solution P=0

1 CPSE solution P=5e7

−150
20log10|w|

−200

−250
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
f [Hz] 4
x 10

Fig. 14. Comparison of dynamic responses of unpressurized and prestressed (internal pressure 𝑃 = 5 × 107 Pa) cylinders.

The following expression is obtained by expanding the concentrated to 20,000 Hz. The results are shown in Fig. 11 for an internal pressure
load as a Fourier series: of 107 Pa.
The results obtained by the two models agree very well. The har-
𝐹𝑧 ∑ 𝐹𝑧
∞
𝐹𝑧 (𝜃) = + cos 𝑚𝜃. (21) monic responses for two other levels of internal pressure, namely
2𝜋 𝑚=1 𝜋
2.5 × 107 Pa and 5 × 107 Pa, are shown in Figs. 12 and 13, respectively.
Thus, the system of external forces vectors is Comparing the frequency response functions obtained for an unpres-
( ) surized cylinder and a pressurized one (5 × 107 Pa) shows that the low-
𝐹
𝐅𝟏𝟎 = 0, 0, 2𝜋𝑧 , 0, 0, 0, 0, 0, 0, 0 , est frequency peaks translate to the right with increasing pressure (see
( )
𝐹 (22) Fig. 14).
𝐅𝟏𝐦 = 0, 0, 𝜋𝑧 , 0, 0, 0, 0, 0, 0, 0 ,
For an internal pressure of 5 × 107 Pa, the first peak (n=1) translates
𝐅𝟐𝐦 = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), from 2002 Hz to 2091 Hz; the frequency is increased slightly by apply-
and the algebraic systems are ing an internal pressure. As explained in Section 2.4, the influence of
internal pressure increases with circumferential modal number.
𝐊𝟏𝐦 .𝐗𝟏𝐦 = 𝐅𝟏𝐦 ,
(23) 4. Conclusions
𝐊𝟐𝐦 .𝐗𝟐𝐦 = 𝟎.

This load case is more complex than the previous one because more
contributions of the Fourier series have to be taken into account. The
number of terms of the Fourier series required for a given frequency
range is obtained from a convergence study. The number of series terms
is increased gradually to ensure that the solution converges. In the previ-
ous case, only one term was required because the loading was axisym-
metric. With the present concentrated load, 20 terms are required to
obtain full convergence at frequencies up to 20,000 Hz. From this point
of view, a concentrated load is considered an extreme case. The results
of the aforementioned convergence study are shown in Fig. 10.
The algebraic systems are solved for each angular frequency pro-
cessed. The harmonic responses are compared with those obtained us-
ing commercial FE software. The FE model is built using 625 eight-
node shell elements and the response is determined at frequencies up
The new developments of the DS method presented herein were ap-
plied successfully to a prestressed cylindrical shell. A continuous pre-
stressed shell element was formulated by taking into account the effect
of static pressure in vibration problems. The effects of the internal pres-
sure and the change of membrane curvatures were incorporated fully in
the equations of equilibrium according to the Timoshenko theory. The
formulation was validated for two types of load, namely axisymmet-
ric and concentrated. The results obtained from the present study were
compared with those obtained by an FE approach, and very good agree-
ment was found. Classical results regarding the relationship between
circumferential mode number and the influence of internal pressure on
eigenfrequencies were observed. The next step of this research involves
introducing stiffeners in a shell under combined uniform axial and cir-
cumferential prestresses.

47
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

Appendix A

( ) ( )
𝑓1 = 𝑘𝐺ℎ 𝜕𝑤 𝜕𝑠
+ 𝛽𝑠 , 𝑓2 = 𝑘𝐺ℎ 𝑅1 𝜕𝑤 𝜕𝜃
+ 𝑅𝑣 + 𝛽𝜃
( ) ( )
𝜕𝛽𝑠 𝜕𝛽
𝑓3 = 𝐾 𝜕𝑢𝜕𝑠
−𝜈𝑤 𝑅
+ 𝑅𝜈 𝜕𝜃
𝜕𝑣
−𝐷 𝑅 𝜕𝑠
𝑓4 = 𝐾 𝜈 𝜕𝑢 𝜕𝑠
−𝑤 𝑅
𝜕𝑣
+ 𝑅1 𝜕𝜃 + 𝑅𝐷2 𝜕𝜃𝜃
( ) ( )
𝜈 𝜕𝛽𝜃 𝜈 𝜕𝛽𝑠
𝑓5 = 𝐾 1−2 𝜈 𝜕𝑣𝜕𝑠
𝜕𝑢
+ 𝑅1 𝜕𝜃 − 𝐷 1−
2𝑅 𝜕𝑠
𝑓6 = 𝐾 1−2 𝜈 𝜕𝑣𝜕𝑠
𝜕𝑢
+ 𝑅1 𝜕𝜃 + 𝐷 21−𝑅2 𝜕𝜃
(A.1)
( ) ( ) ( )
𝜕𝛽 𝜕𝛽 𝜕𝛽 𝜕𝛽
𝑓7 = − 𝐷 𝜕𝑢
𝑅 𝜕𝑠
+ 𝐷 𝜕𝑠𝑠 + 𝑅𝜈 𝜕𝜃𝜃 𝑓8 = − 𝑅𝐷2 𝑤 − 𝜕𝜃 𝜕𝑣
+ 𝐷 𝜈 𝜕𝑠𝑠 + 𝑅1 𝜕𝜃𝜃
( ) ( )
𝜈 𝜕𝑣 𝜕𝛽 𝜕𝛽 𝜕𝛽 𝜕𝛽
𝑓9 = −𝐷 1−2𝑅 𝜕𝑠
+ 𝐷 1−2 𝜈 𝜕𝑠𝜃 + 𝑅1 𝜕𝜃𝑠 𝑓10 = 𝐷 21− 𝜈 𝜕𝑢
𝑅2 𝜕𝜃
+ 𝐷 1−2 𝜈 𝜕𝑠𝜃 + 𝑅1 𝜕𝜃𝑠

𝐸ℎ 𝐸ℎ3
where G is the Coulomb’s modulus, 𝜈 is the Poisson’s ratio, 𝐾 = 1−𝜈 2
with E the Young’s modulus and 𝐷 = 12(1−𝜈 2 )
.

𝜈𝐾𝑤 𝜈𝐾 𝜕𝑣 𝜈𝐷 𝜕𝛽𝜃 𝑀 𝜕𝛽
𝑅
− 𝑅 𝜕𝜃 − 2 𝜕𝜃 +𝑁𝑠 + 𝑅𝑠 −𝐾 𝜕𝑢
− 𝐷 𝑠 + 1−2 𝜈 𝑁𝜃𝑠 + 𝑅(1−
𝑅 𝜕𝜃 𝑅2 𝜕𝜃
2
𝑀
𝜈) 𝜃𝑠
𝑓11 = 𝑅
𝑓12 =
𝐾− 𝐷2 𝐾− 𝐷2
𝑅 ( 𝑅 )
𝑇𝑠 𝑀𝑠 1 𝜕𝑣 𝜕𝛽𝜃 𝜈 𝜕𝛽𝜃 (A.2)
𝑓13 = 𝑘𝐺ℎ
−𝛽 𝑓14 = 𝐷
+ 𝑓
𝑅 11
𝑤, 𝜕𝜃 , 𝜕𝜃
, 𝑁𝑠 , 𝑀𝑠 − 𝑅 𝜕𝜃
( )
2𝑀𝜃𝑠 1 𝜕𝑢 𝜕𝛽𝑠 1 𝜕𝛽𝑠
𝑓15 = 𝐷(1−𝜈)
+ 𝑓
𝑅 12
,
𝜕𝜃 𝜕𝜃
, 𝑁𝜃𝑠 , 𝑀𝜃𝑠 − 𝑅 𝜕𝜃

Appendix B

⎛ 0 0 0 0 0 0 0 0 0 0⎞
⎜ 0 0 0 0 0 0 0 0 0 0⎟
⎜ ⎟
⎜ 0 0 0 0 0 0 0 0 0 0⎟
⎜ 𝜌ℎ 0 𝜌ℎ
− 12
3
0 0 0 0 0 0 0⎟⎟
⎜ 𝑅
⎜ ⎟
⎜ 0 𝜌ℎ 0 0 0 0 0 0 0 0⎟
𝐌 = ⎜− 𝜌ℎ3 0 − 𝜌ℎ
3
0 0 0 0 0 0 0⎟
⎟ (B.1)
⎜ 12𝑅 12
⎜ ⎟
⎜ 0 0 0 0 0 0 0 0 0 0⎟
⎜ 0 0 0 0 0 0 0 0 0 0⎟
⎜ 𝜌ℎ 3 ⎟
⎜ 0 0 0 0 0 0 𝜌ℎ − 12 𝑅
0 0⎟
⎜ ⎟
⎜ 𝜌ℎ3 𝜌ℎ3 ⎟
⎝ 0 0 0 0 0 0 − 12𝑅 − 12
0 0⎠

( )
1 𝐀𝟏𝟏 𝟎
𝐀= (B.2)
𝐾𝑅2 − 𝐷 𝟎 𝐀𝟐𝟐

⎛0 𝐾𝑅𝜈 0 𝑅2 0 𝑅 ⎞
⎜ ⎟
⎜ 𝐾𝑅2 −𝐷 ⎟
⎜0 0 𝐷 − 𝐾𝑅2 0 𝑘𝐺ℎ
0 ⎟
⎜ ⎟
⎜0 𝐾𝑅2 ⎟
𝐾𝜈 0 𝑅 0 𝐷
⎜ ⎟
𝐀𝟏𝟏 =⎜ 𝑁𝜃 ( ) 𝑁𝜃 ( ) ⎟ (B.3)
⎜0 0 𝑅
𝐾𝑅2 − 𝐷 0 𝑅𝑘𝐺ℎ
𝐾𝑅2 −𝐷 0 ⎟
⎜ ( ) ( )⎟
⎜0 𝐾 2 1 − 𝜈2 − 𝐾𝐷
− 𝑁 𝑠 𝐾𝜈 0 −𝐾𝜈𝑅 + 𝑁 𝑠 𝑅 0 𝐾𝑅2 ⎟
−𝐾𝜈 + 𝑁 𝑠 2 − 𝐷
⎜ 𝑅2 ⎟
⎜ ⎟
⎜0 0 0 0 𝐾𝑅2 −𝐷 0 ⎟
⎝ ⎠

⎛ 0 0 2𝑅2 2𝑅 ⎞
⎜ 1−𝜈 1−𝜈 ⎟
⎜ 2𝑅 2𝐾𝑅2
⎟
⎜ 0 0 1−𝜈 (1−𝜈)𝐷
⎟
𝐀𝟐𝟐 =⎜ ( ) ( ) ⎟ (B.4)
⎜ 𝑘𝐺ℎ 𝐾𝑅 −𝐷
2
2𝑁 𝑠 𝑘𝐺ℎ 𝑘𝐺ℎ 𝐾𝑅2 −𝐷 2𝑁 𝑠 𝑘𝐺ℎ𝑅 ⎟
⎜ 𝑅2
− 1− 𝜈 𝑅
− 1−𝜈
0 0 ⎟
⎜ ( )
( ) ⎟
⎜ 𝑘𝐺ℎ 𝐾𝑅2 −𝐷 ⎟
⎝ 𝑅
𝑘𝐺ℎ 𝐾𝑅2 − 𝐷 0 0 ⎠

( )
1 𝟎 𝐁𝟏𝟐
𝐁= (B.5)
𝐾𝑅2 − 𝐷 𝐁𝟐𝟏 𝟎
48
I. Harbaoui et al. International Journal of Mechanical Sciences 140 (2018) 37–50

with :
⎛ −𝐾𝑅𝜈 −𝜈𝐷 0 0 ⎞
⎜ 0 0 0 0 ⎟
⎜ ⎟
⎜ −𝐾𝜈 −𝜈𝐾𝑅 0 0 ⎟
⎜ 2𝑁 𝜃 𝑅 2𝑁 𝜃 ⎟
𝐁𝟏𝟐 = ⎜ 0 0 −𝐾𝑅 + 1−𝜈
−𝐾 + 1−𝜈 ⎟ (B.6)
⎜ ⎟
⎜𝐵 − 𝑁 𝐾𝑅 2 −𝐷
− 𝑁 𝑠 𝐾𝜈 𝐵58 + 𝑁 𝑠 𝜈𝐾𝑅 0 0 ⎟
𝜃 𝑅2
⎜ 57 ⎟
⎜ ⎟
⎝ 0 0 −𝐷 −𝐾𝑅 ⎠
( ) ( )
with : 𝐵57 = 𝐾 2 𝜈 2 − 1 + 𝐾𝐷 𝑅2
− 𝑘𝐺ℎ
𝑅2
𝐾𝑅2 − 𝐷
( 2 ) ( )
and 𝐵58 = 𝐾𝐷 𝜈 − 1 − 𝑘𝐺ℎ 𝐾𝑅2 − 𝐷 + 𝐷
2
𝑅 𝑅 𝑅3
and
⎛−𝐾𝑅 0 −𝐷 0 0 0 ⎞
⎜ ⎟
⎜ −𝐾 0 −𝐾𝑅 0 0 0 ⎟
⎜ ⎟
⎜ 2𝑅𝐵 𝑅𝐷𝜈 2 ⎟
⎜ 0 𝐾 2 𝑅2 𝜈+𝐷𝐾𝜈+ 1−𝜈58 𝐾𝑅3 +𝐷𝑅+ 21− 2𝐾𝑅2 + 2𝑅1−𝐾𝜈
𝑁𝑠 − 𝐵57 0 𝑁𝑠 𝜈
− 𝐾𝑅𝜈 0 𝑁 𝑠 𝐾𝑅2 −𝐷 − 𝐾𝜈 ⎟⎟
𝜈
𝐁𝟐𝟏 =⎜ 𝐾𝑅2 −𝐷 𝐾𝑅2 −𝐷 (B.7)
⎜ ⎟
⎜ 0 −𝐵58 0 −𝐷𝜈 0 −𝐾𝑅𝜈 ⎟
⎜ ( ) ( )⎟
⎜ 0 𝐾 2 1 − 𝜈2 − 𝐾𝐷
− 𝑁 𝑠 𝐾𝜈 0 −𝐾𝜈𝑅 + 𝑁 𝑠 𝑅 0 −𝐾𝜈 + 𝑁 𝑠 2 − 𝐷 𝐾𝑅2 ⎟
⎜ 𝑅2 ⎟
⎜ ⎟
⎝ 0 0 0 0 𝐾𝑅2 −𝐷 0 ⎠
( )
1 𝐂𝟏𝟏 𝟎
𝐂= (B.8)
𝐾𝑅2 − 𝐷 𝟎 𝐂𝟐𝟐

⎛ 0 0 0 0 0 0⎞
⎜ 0 0 0 0 0 0⎟
⎜ ⎟
⎜ 0 0 0 0 0 0⎟
⎜ 𝐾𝐷(1−𝜈) 𝐷2 (1−𝜈) 𝑁𝜃 𝐷 ⎟
𝐂𝟏𝟏 = ⎜ 2𝑅2 − 𝑁 𝜃 𝐾 0 2𝑅3
− 𝑅
0 0 0⎟ (B.9)
⎜ ( )( ) ⎟
⎜ 𝑘𝐺ℎ−𝑁 𝜃 𝐾𝑅2 −𝐷 ⎟
⎜ 0 𝑅2
0 0 0 0⎟
⎜ ⎟
⎜ 𝐷2 (1−𝜈)
0 𝐷2 (1−𝜈)
0 0 0⎟⎠
⎝ 2𝑅3 2𝑅2

⎛ 0 0 0 0 ⎞
⎜ 0 0 0 0 ⎟
⎜ ( ) ( ) ⎟
𝐂𝟐𝟐 = ⎜𝐾 2 (𝜈 2 − 1) + 𝐾𝐷
−
𝑁𝑠
𝐾 2 𝑅2 𝜈 + 𝐷𝐾𝜈 +
2𝑅𝐶9 𝐾𝐷 ( 2
𝜈
)
−1 + 𝐷2 𝑁
− 𝐾𝑅2𝑠−𝐷 2𝐾𝑅2 𝜈𝐷 − 𝐷2 𝜈 +
2𝑅𝐶10
0 0 ⎟ (B.10)
⎜ 𝑅2 𝐾𝑅2 −𝐷 1−𝜈 𝑅 𝑅3 1−𝜈 ⎟
⎜ 𝐾𝐷 ( 2 ) 𝐷2 ( ) 𝐷2 ⎟
⎝ 𝑅
𝜈 −1 + 𝑅3
𝐾𝐷 𝜈 2 − 1 + 𝑅2
0 0 ⎠

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