m .

__
ELSEVIER

p ELI

JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS

Journal of Computational and Applied Mathematics 50 (1994) 361-373

A simple four-node quadrilateral

finite element for plates

Wilfried B. K&zig a,*, Jian-Wu Zhang b

a Institute for Statics & Dynamics, Ruhr University, D-44780 Bochum, Germany b Department of Mechanical Engineering, Jiao Tong University, Shanghai 200030, China
Received 14 May 1992; revised 22 December 1992

Abstract A simple and accurate four-node quadrilateral finite element based on the Mindlin plate theory and Kirchhoff constraints is presented for general thin plate bending applications. The derivation of the element stiffness properties is straightforward, starting with a specified eight-node interpolation; usual discrete Kirchhoff (DK) constraints are employed to constrain out the four midside nodes of the element. The present resulting DK element passes patch tests with elements of arbitrary and even highly distorted mesh types. Numerical studies of the element convergence behaviours are undertaken for various plate bending problems so far investigated. It is indicated from comparative examples that fairly good convergence characteristics have been achieved. Key words: Plate theory; Mindlin-Reissner theory with discrete Kirchhoff constraints; Finite-element method

1. Introduction

The Mindlin-Reissner theory based finite elements lock or become overstiff in thin plate limit when they are used to model plate structures. The locking phenomenon arises due to incompatible deformation modes introduced in the independent interpolation for transverse and rotational displacements under the Kirchhoff shear constraint. Much attention has been focused in the past decades on investigation of shear locking and related numerical difficulties. Particular approaches such as reduced/selective integration and kinematic mode control for alleviating these problems may be found in [1,4,9,15,16]. With regard to the inconsistency of Kirchhoff modes there has been considerable effort in the development of improved quadrilateral finite elements based on the Mindlin plate theory for bending analysis of thin plates. Hughes and Tezduyar [lo] developed a quadrilateral element using bilinear Lagrangian functions for nodal rotational displacements. Four- and nine-node quadrilateral elements were proposed in [3,8], both applying substitutive transverse

* Corresponding
0377-0427/94/$07.00 SSDI

author.
0 1994 Elsevier Science B.V. All rights reserved

0377.0427(93)E0118-6

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Table 1 Element nodal pattern, Nodal pattern Virgin element rl

interpolation

and isoparametric Eight-node Corner interpolation

transformation scheme Midside nodes &*)(l77)

nodes [)(l77)

Nl= $(l4

N5 =

;(l -

,I*

l-b3 I 0 E
6

N2=+(1+(X1-77)
N3 = +(l+ 5X1 + 77)

N6=+(1+[)(l-772)
N, = ;O - (*)(l+

T/) T/*>

N, = +(lNodal degrees
i= u;,wf,

[)(l-

Final element

of freedom u;, wt, i = 5, 6, 7, 8 Eliminated by means of the constraint matrix

1, 2, 3, 4

Transformed with respect to the corner nodal shape functions

shear strains to avoid locking consequences. These elements are efficient and capable of modelling plates with inclusion of transverse shear deformations. On the other hand, the shear deformations may be considered as negligible in most plate applications, so that the Kirchhoff constraints may be imposed at a number of discrete points in the Mindlin theory based finite elements. Crisfield [6] derived a four-node quadrilateral element using discrete Kirchhoff constraints and a nine-node interpolator-y pattern for both transverse and rotational displacements. Recently, a four-node rectangular element was worked out by the authors [ll] proposing a more rigorous kinematic constraint of the discrete Kirchhoff type and using an eight-node interpolation for element independent displacements. This element formulation has resulted in exact satisfaction of the real Kirchhoff shear constraints at just 2 X 2 Gaussian integration points and the improved element bending performance has been quite similar to real Kirchhoff elements derived in [5], using Hermite polynomials. The element however has the shortcoming that it works well only in a rectangular coordinate system and is relatively sensitive to shape distortion. In this research a simple quadrilateral finite element for general thin plates is presented by specifying an eight-node interpolation, as may be seen in Table 1. Unlike Crisfields element, the present one does not include the central node so that it becomes convenient to impose usual Kirchhoff shear constraints on four boundaries without additional tricky treatment to constrain out the central node. Due to simplicity of the interpolation, the constraint equations required for elimination of all twelve midside nodal redundancies are derived in explicit algebraic form. The element appears finally to be four-corner noded, and the stiffness

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properties of the quadrilateral element are formulated according to isoparametric transformations with respect to four-corner nodal shape functions. The element passes patch tests with a group of shape distorted elements and is found insensitive to even highly irregular configuration of the element. Intensive numerical investigations are performed to the element convergence characteristics for various plates. Comparisons are made of the present results with corresponding theoretical and numerical predictions and fairly good convergence characteristics have been achieved.

2. Fundamentals Derivation of the element stiffness matrix starts with the usual pair of discrete Kirchhoff constraints: (1) the tangential transverse shear strain, though nonvanishing, should be integrated to zero along a line specified in the element; (2) the rotational displacement normal to the line, though nonmatching with its relative slope of the transverse displacement, should vary linearly along the line. As known from previous DK elements, imposing shear constraints (1) and (2) may yield three kinematic constraint equations that are sufficient to eliminate three midside nodal redundancies. Since the element, as shown in Fig. 1, has four midside nodes, it is natural to specify four-element boundaries as side lines on which twelve midside nodal redundancies are intended to be eliminated. As transverse shear strains approach zero under the DK constraints, the total potential energy is simplified to be of the form
@=

1/
A

mahap

dA - _/j 3~3 dA -

/s

(n3u3

+l?fK,)

dS,

where

and ~~~ are, respectively, components of bending stress and strain tensors, and p3, and K, are components of lateral pressure, transverse displacement, edgewise u37 traction and moment and boundary normal rotation vectors, respectively. Note that unless otherwise stated, Greek sub- and superscripts vary in the range between 1 and 2 and conventions of dummy summation and other operations of tensors are implied.
map n3, ma

Fig. 1. The element

nodal pattern.

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of Computational and Applied Mathematics 50 (1994) 361-373

Fig. 2. Rotational displacements.

For convenience the rotational difference vector W, as depicted in Fig. 2, is used throughout the paper. Components of w are related to corresponding ones of the normal rotation vector o through a reciprocal transformation of the form
w, =

EapWP,

(2)

in which l nP are components of the unit reciprocal tensor. The position of any point located in the plate after deformation can be described by means of transverse and rotational displacements, that is, u; = 03w,, u; = u3. (3)

Accordingly, components of the bending strain tensor and shear strain vector may be expressed by neglecting nonlinear terms [2,7]
K ap =
ya = w, +%,p 2 + y3,cA (4)

+a

0,

for thin plate limit.

(5) the constitutive equation can be written in

If homogeneous isotropic materials are considered, tensorial notation: my6 = B&AK

PA

(6)

in which BaPph are components of the bending rigidity tensor; they are expressible in terms of Youngs modulus E and Poissons ratio V:
B1111 = B2222 =

Et3 12(1 - V)

B1122

= B2211

= &111,

B212 = (1 _ +ll.

3. Element stiffness matrix and load vector For imposing the DK constraints, the original element nodal pattern is composed of four corner and four midside nodes. If appropriate shape functions are used, the displacement field of the element can be presented in terms of nodal degrees of freedom u3 = u3iVi, w, = WaiVi, (7)

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of Computational and Applied Mathematics 50 (1994) 361-373

365

where vi are components of the generalized nodal displacement vector u and i varies from 1 to the number of the original nodal unknowns. Vector u contains 3 X 8 nodal variables and can be divided into two nodal displacement vectors for corner and midside nodes: B = (Vk}= (!A\, w;,w;,..
.)

u;,w;,wz),
)

(8) (9)

ti = {zJk} = (L& w;,w;,... u;,w;,W;)=

7

where k may range from 1 to 12 and vk and 5, signify components of corner and midside nodal displacement vectors. As in the Mindlin plate theory, components of the bending strain tensor (4) are obtained by differentiation of components w, in (7) and may be further expressed in terms of nodal variables:
K ffp = K &Vi,
K,pi = Cwa,pi 2 +

wp,mi)*

(10)

Because the curvature strain tensor (10) is set in rectilinear coordinates, it is required for the quadrilateral element to establish a one-to-one mapping to relate with derivatives of shape functions of rotational displacements in natural coordinates W,,pi, that is,
Wa

pi = TpyiTa,yi

(11) of the Jacobian transforma-

where TaYPare components of the inverse Jacobian. Components tion and its inverse tensors may be written in matrix form as a# I -J=

ao*

ao2
7 T=-

a# -\

ag at
ae*

--

ao*

1 det J

a17

-- a@
a77

at a& ~

(12)

a77

a77I

at

Note that to constrain out four midside nodes, the coordinate system 8 is expressed according to isoparametric principles by shape functions in natural coordinates with respect to four corner nodes, as may be seen in Table 1. If (10) is directly applied to form the element stiffness properties, in general, locking behaviour will take place in thin plate situation. This is simply due to the fact that for the independent interpolation scheme, the transverse displacement does not match in order of differentiation with the two rotational displacements. An approach to relax the shear constraints (5) is to use the discrete Kirchhoff constraints discussed before. It is assumed in advance that components of the constraint matrix c formed by twelve constraint equations are so derived that the midside nodal variables can be expressed in terms of corner nodal ones as r;,=c,&, k,l=l,..., 12. (13)

Insertion of (13) into (10) leads to

K

a0

=K

afik 'k

* K,pk

ayP + &31clk

(14)

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of Computational and Applied Mathematics 50 (1994) 361-373

where zuPk are components of the modified bending strain (curvature) tensor. Using (6), components of the bending stress tensor can be further written in terms of corner nodal variables as

(15)
Substituting (14) and (15) into (1) and using Gaussian quadrature, matrix and load vector can be easily computed through components of the stiffness

(16)
q; = f
s=l

( P3+&Ws2Ae

+ E (n3+k + m%,k),&Le,
t=1

(17)

in which W, and R, are, respectively, weighting coefficients of the two- and one-dimensional Gaussian quadratures, A is the element midplane area, L the length of the traction line of the element, and required Gaussian integration points N = 4, M = 3.

4. Kinematic constraint

matrix

It is observed from (5) that normal rotations are related kinematically with corresponding derivatives of the transverse displacement. Eq. (51 implies the satisfaction of the real Kirchhoff condition since shear strains become infinitely small when the plate side to thickness ratio approaches infinity. In the Mindlin theory based finite-element formulation, however, this constraint is no longer satisfied uniformly because of the independent interpolation scheme. By making use of shape functions given in Table 1, components of the shear strain vector (5) can be written in terms of nodal variables as usual as (IS) As mentioned in the previous section, imposition of the pair of DK constraints on each of the element boundaries may yield three constraint equations. It is therefore sufficient to carry out this on S, just for instance. As shown in Fig. 2, tangential shear strain on S, is reduced by noting 17= 0 to yield Yrls, = a0 + a15 + %C2. 1 a, = w,5t; + F(U:
1

y, = N$vJ + N&,u;,

summed.

(19)

Obviously the tangential shear strain is quadratic and constants of the above polynomial are -+

4 a, = - KU: + i(w,2 - wi)tL,

1 a2 = -w,t; + gw; + w,2)t&

(20)

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in which ti are components of the tangential unit vector t of S, for coordinate transformation with respect to the rectilinear system W, and hi is the length of S,. According to the first DK constraint, setting yi = 0 at two Gauss points on S, leads to a couple of constraint equations of the form a, = 0, a, + +a* = 0. as follows:
(22) -

(21)

By substituting (20) into (21) the constraints may be further presented u; = $h,( w, - wgt;,
w,5t; =

-gw; + w;p;

&: - ug.
1

(23)

By tb, components
nt, = captj.

of the normal unit vector n of S, can be defined as

(24)

The second DK constraint means that the midside node on S, should not affect the rotation normal to S, due to its quadratic variation. Thus, the auxiliary constraint equation is obtained and expressed as w5n1 01a =o * (25) By noting t,$f, = 0, Eqs. (23) and (25) can be easily solved so that the midside nodal rotations on S, are expressible in terms of corner nodal unknowns

w:= fn;t;(w; w;= ;n:t;(w;

wa)+ ;
1
n

qu:-u:)
n:(u; 1

wa)-

&

ug.

(27)

Similarly, the nine other constraint equations may be derived by imposing the two DK shear constraints on S,, S, and S,, respectively. As a result, a total of twelve midside nodal variables are thus connected with twelve corner nodal ones by means of the constraint matrix c, components of which are determined in the above way. As readily seen in (13) and (141, twelve midside nodal redundancies can be solely eliminated by the constraint matrix. After four midside nodes are constrained out, the quadrilateral element finally appears to be four-noded. The numerical processing of this for midside nodes condensation is carried out at element level and in this way a small space is needed in formulating the element arrays as in four-node bilinear bending elements. The element named DKQ4 has been implemented within the general-purpose structural analysis program FEMAS.

5. The patch tests

If a bending element is able to represent rigid-body and constant-curvature modes, the element is regarded as a convergent one. In the present formulation three rigid-body modes are found as they are sustained in Lagrangian bilinear functions in connection with four corner

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Fig. 3. A square plate with a patch of five elements.

nodes. To examine constant strain modes, patch tests are performed on a square plate with meshes of arbitrary quadrilateral elements of the type shown in Fig. 3. The square plate is rigidly clamped on the left-hand edge and complete free on the other edges. The patch of elements is subjected to either tip bending moment or tip line load of constant intensity and the results indicate that the patch tests are passed. For testing constant twist curvature, the plate is supported at three corners and a point load is applied at the fourth corner. It is shown that the patch test is also passed. A numerical study of bending behaviour of a cantilever plate is presented to test sensitivity of the element to mesh distortion. The cantilever with mesh patterns of two elements shown in Fig. 4 is subjected to a tip bending moment of constant intensity. In both cases of the meshes, results obtained by the finite-element analysis for the transverse displacement at the tip end are in very close agreement with the Timoshenko beam solution.

6. Convergence

studies

The element behaviours are investigated in bending of plates of various shapes such as triangular, skewed, rhombic and circular plates to demonstrate efficiency and convergence characteristics of the element. An equilateral triangular plate with meshes of the type shown in Fig. 5 is simply supported along all edges. Two loadings acting on the plate are uniform lateral pressure and distributed edge moments. The results for central deflection and maximum bending moments are tabulated in Table 2. The finite-element predictions computed for bending moments at the centroid, one

Fig. 4. A cantilever

plate with regular and irregular

mesh idealizations.

W.B. K&zig,

.I.- W. Zhang / Journal of Computational

and Applied Mathematics

50 (I 994) 361-373

369

Fig. 5. An equilateral

triangular

plate and mesh idealization.

Table 2 Convergence characteristics triangular plates (Y = 0.3) Number of elements N,r 3 9 18 33 Exact solution a Values computed

of maximum

deflection
q

and bending

moments

for all edges simply supported edge moment Mm,, /M, Corner 1.1841 1.2711 1.2996 1.3113 1.3500 M, b

equilateral

Uniform U3c

lateral pressure 103 10204,,, Centroid 3.9387 2.8424 2.7709 2.5651

Distributed /qa) a NGP 1.7576 2.0562 2.3043 2.3316 -lo2 M, a2 4.5581 3.8441 3.7974 3.7707 3.7037 at one corner.
U3c

qa4 0.9216 0.9518 1.0120 1.0207 1.0288 at the centroid.b

NGP 1.0749 1.1001 1.2594 1.2820

2.4074 Values computed

corner and nearest Gauss points (NGP) are all provided. In comparison with Woinowsky-Krieger solutions [14], the element possesses a rapid convergence with the mesh refinement. A Razzaques 60 skew plate is now considered for convergence study. This plate is simply supported on two opposite edges and free on the other two edges and subjected to uniform lateral pressure, as shown in Fig. 6. The 16 X 16 FDM solutions by Razzaque [13] for deflection and bending moment at the centre of the plate act as standard units, that is, u3c = 0.007945 qa4/D and M22 = 0.09589 qa2. It is noticed that the present finite-element results are produced by imposition of two boundary conditions, just support (u3 = 0, JS for short) and simple support (u3 = 0 and w2 = 0, SS for short). Convergence characteristics for the plate modelled by the present element are illustrated for transverse displacement and bending

supported Fig. 6. A Razzaque 60 skew plate ( x represents nearest Gauss point).

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of Computational and Applied Mathematics 50 (1994) 361-373

a)

---Present

16

36

64Nel 4

16

36

64

0.8 L

16

36

64Nel 4

16

36

64

) at central nodal point and (- - - - - -) at nearest Fig. 7. Convergence characteristics for the skew plate, results (Gauss point are normalized with respect to the Razzaque finite-difference solution; (a) opposite edges SS; (b) opposite edges JS.

Fig. 8. A Morley 30 rhombic

plate (X represents

nearest

Gauss point).

moment in Fig. 7 with the mesh idealizations uniformly refined in both skewed coordinate directions. Comparisons are also made with some finite-element solutions and have shown that the element performs better than the one of [lo] and reasonably close to the one of [6] in deflection and bending. It is surprisingly noted that the results for bending moments computed at the central nodal point approach exact values with excellent convergence characteristics. A Morleys 30 rhombic plate, shown in Fig. 8, is simply supported at all edges and loaded by uniform lateral pressure. To the problem associated with an obtuse corner singularity, a series solution is provided by Morley [12], using a least-square procedure. In finite-element analysis of plates, the problem is a numerically difficult one and Mindlin plate elements involving reduced or selective integration often fail to yield monotonic results. The plate is represented by mesh idealizations of elements uniformly increased in both skewed coordinate directions. For the

~~e,~~~~
4 Fig. 9. Convergence (- - - - - -) at nearest
16 Mp~64 4 16 36%64 4 16 36M64

) at central characteristics for the rhombic plate with SS edges, results (Gauss point are normalized with respect to the Morley series solution.

nodal point and

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371

Fig. 10. A quadrant

of circular plates and mesh idealizations.

purpose of comparison, Morleys solutions for deflection and principal bending moments at the centroid are treated as standard units, namely, ug, = 4.08 * lo4 qa4/D, MC,,, = 0.019 1 qa2 and M = 0.010 8 qa2. The convergence characteristics with mesh refinement are illustrated in Fig. 9 &! the plate and compared with the elements of [6,10]. It is observed from comparisons that the element behaves very well and even better than the others in coarse meshes in predicting bending moments at nearest Gauss points. Thin circular plates with simply supported (SS) and clamped (CL) edges under uniform lateral pressure and central point load are considered here. Due to symmetry of the geometry and loading, only a quadrant of the plate is taken and represented by a series of mesh idealizations of the type shown in Fig. 10. The convergence characteristics are demonstrated in Fig. 11 for circular plates with the edge simply supported and in Fig. 12 for circular plates with

-.1.0

Crisfield

--.-Hughes 3 7 12

8 Tezduyur 7 12 27

o~8+7%I,L----

Fig. 11. Convergence characteristics for circular plates with SS boundary, deflection normalized by the thin plate theory; (a) uniform pressure; (b) point load.

( -)

at central

nodal point is

12

27Nel 3

12

27

Fig. 12. Convergence characteristics for circular plates with CL boundary, deflection is normalized by the thin plate theory; (a) uniform pressure; (b) point load.

( -)

at central

nodal point

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of Computational and Applied Mathematics 50 (1994) 361-373

27%

12

27

Fig. 13. Convergence characteristics nodal point and (- - - - - -) at nearest boundary.

for the circular plates under uniform pressure, moments () at central Gauss point are normalized by the thin plate theory; (a) SS boundary; (b) CL

the edge rigidly clamped. Results by the finite-element analysis are compared with closed-form solutions [14] and other FEM predictions [6,8]. From Figs. 11-13 the element behaviours of convergence for the circular plates under uniform lateral pressure are somewhat better than both the others, while deflections obtained by Crisfields element in the case of the plates under central point load approach closed-form solutions at the best rate of convergence.

7. Concluding

remarks

In this paper a four-node quadrilateral discrete Kirchhoff finite element is proposed for thin plate bending analysis by employing an eight-node interpolation scheme. This Mindlin type element is formulated by incorporating elimination of midside nodal redundancies with usual discrete Kirchhoff kinematic constraints imposed for avoiding shear locking and related numerical difficulties in thin plate situation. No complicated DK shear constraint is involved in the derivation of the element stiffness properties, so that inversion and additional operations of matrices at the element level are not necessary. The resulting kinematic constraint matrix is of explicit algebraic form. In comparison with other DK plate elements existing in the literature, the present finite-element formulation is by far the simplest, but results in proper bending stiffness properties of quadratic accuracy. The element passes standard patch tests and is also capable of modelling plates with meshes of highly distorted pattern. Numerical examples indicate that the element behaves well in bending with fairly good convergence characteristics. In general, this element is demonstrated to possess bending performance quite similar to the Crisfield element and better than the Hughes and Tezduyar element, the advantage of which is the capability of representing plates counting for transverse shear deformations.

Acknowledgements

The second author likes to take this opportunity for expressing grateful appreciation to the Alexander von Humboldt Foundation for awarding him an AvH research fellowship, also to the Institute for Statics and Dynamics, Ruhr University, Bochum, Germany, for providing him with working facilities.

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References
[l] R.C. Averill and J.N. Reddy, Behaviour of plate elements based on the first-order shear deformation theory, Engrg. Comput. 7 (1990) 57-74. [2] Y. Basar and W.B. K&zig, Mechanik der Fliichentragwerke (Vieweg, Braunschweig, 1985). [3] K.-J. Bathe and E.N. Dvorkin, A four node plate bending element based on Mindlin/Reissner plate theory and a mixed interpolation, Internat. .Z.Numer. Methods Engrg. 1 (1985) 367-383. [4] T. Belytschko, C.S. Tsay and W.K. Liu, A stabilization matrix for the bilinear Mindlin plate element, Comput. Methods Appl. Mech. Engrg. 29 (3) (1981) 313-327. [5] F.K. Bogner, R.L. Fox and L.A. Schmitt, The generation of interelement-compatible stiffness and mass matrices by the use of interpolation formulae, in: Proc. ConjI on Matrix Methods in Structural Mechanics, AFFDLTR 66-80, Air Force Inst. Tech., Wright Patterson, Dayton, OH (1965) 397-444. [6] M.A. Crisfield, A four-noded thin-plate bending element using shear constraints, - a modified version of Lyons element, Cornput. Methods Appl. Me&. Engrg. 38 (1) (1983) 93-120. [7] R. Harte and U. Eckstein, Derivation of geometrically non-linear finite elements via tensor notation, Znternat. J. Numer. Methods Engrg. 23 (1986) 1347-1401. [8] H.C. Huang and E. Hinton, A nine node Lagrangian Mindlin plate element with enhanced shear interpolation, Engrg. Comput. 1 (1984) 369-379. [9] T.J.R. Hughes, A simple and efficient finite element for plate bending, Znternat. .Z.Numer. Methods Engrg. 11 (1977) 1529-1543. [lo] T.J.R. Hughes and T.E. Tezduyar, Finite elements based upon Mindlin plate theory with particular reference to four-node bilinear isoparametric element, ASCE .Z.Appl. Mech. 48 (1981) 587-596. [ll] W.B. Kratzig and J.-W. Zhang, Buckling analysis of rectangular plates using a 4-noded finite element, Comput. & Structures, submitted. [12] L.S.D. Morley, Skew Plates and Structures (Pergamon, Oxford, 1963). [13] A. Razzaque, Program for triangular bending elements with derivative smoothing, Zntemat. J. Numer. Methods Engrg. 6 (1973) 333-343. [14] S. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Shells (McGraw-Hill, New York, 2nd ed., 1959). [15] O.C. Zienkiewicz, The Finite Element Method (McGraw-Hill, New York, 3rd ed., 1977). 1161 O.C. Zienkiewicz and E. Hinton, Reduced integration, function smoothing and nonconformity in finite element analysis, J. Franklin Inst. 302 (1976) 443-461.