Lecture 9

Shell theory
Most efficient structure
Print version Lecture on Theory of Elasticity and Plasticity

Dr. D. Dinev, Department of Structural Mechanics, UACEG

9.1

Contents
1 Introduction 1

2 Surface geometry 9

3 Membrane theory 11
3.1 Governing equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Shells of revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4 Bending theory 20
4.1 Governing equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2 Shells of revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.3 Circular cylindrical shells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 9.2

1 Introduction
Introduction

Application-Nature
• Seashells
9.3

Introduction

Application-Nature

1
 • Oyster-catcher eggs
9.4

Introduction

Application-Bioengineering
• Plant leaves
9.5

Introduction

Application-Bioengineering
• Human skull
9.6

Introduction

Application-Bioengineering
• Hawk eye
9.7

Introduction

Application-Aeronautical engineering
• Airplane Boeing 777
9.8

2
Introduction

Application-Aeronautical engineering
• Space shuttle Atlantis
9.9

Introduction

Application-Aeronautical engineering
• Airships
9.10

Introduction

Application-Marine engineering
• Wooden canoe
9.11

Introduction

Application-Marine engineering
• Ship hulls
9.12

Introduction

Application-Marine engineering
• Aircraft carrier USS Ronald Reagan (Nimitz-class)
9.13

3
Introduction

Application-Marine engineering
• Submarine U 47
9.14

Introduction

Application-Marine engineering
• Submarine USS Greeneville (Los Angeles-class)
9.15

Introduction

Application-Mechanical engineering
• Pressure vessels in locomotives
9.16

Introduction

Application-Mechanical engineering
• Heating pipeline in Austria
9.17

4
Introduction

Application-Mechanical engineering
• Very Large Array, Socorro, NM, USA
9.18

Introduction

Application-Civil engineering
• Primitive shelter
9.19

Introduction

Application-Civil engineering
• Pantheon, (126 AD), Rome, Italy
9.20

Introduction

Application-Civil engineering
• Taj Mahal (1653), Agra, India
9.21

5
Introduction

Application-Civil engineering
• Sultan Ahmet Mosque (1616), Istanbul, Turkey
9.22

Introduction

Application-Civil engineering
• Saint Basil’s Cathedral (1555), Moscow, Russia
9.23

Introduction

Application-Civil engineering
• Santa Maria del Fiore- Duomo (1436), Florence, Italy
9.24

Introduction

Application-Civil engineering
• Zeiss Planetarium (1926), Jena, Germany
9.25

6
Introduction

Application-Civil engineering
• MIT Auditorium (1955), Cambridge, MA, USA
9.26

Introduction

Application-Civil engineering
• Biosphere (1967), Montreal, Canada
9.27

Introduction

Application-Civil engineering
• Olympiastadion (1972), Munich, Germany
9.28

Introduction

Application-Civil engineering
• The O2 (2000), Canary Wharf, London, England
9.29

Introduction

Application-Civil engineering
• Allianz Arena (2005), Munich, Germany
9.30

7
Introduction

Application-everyday life
• Young detective’s kit
9.31

Introduction
Advantages
• Efficiency of load-carrying behavior
• High degree of reserved strength and structural integrity
• High strength/weight ratio
• Very high stiffness
• Containment of space
9.32

Introduction

Definition
• Shell- a body bounded by two curved surfaces where the distance between them is small
compared with the other dimensions
9.33

Introduction
Definition
• Middle surface- a surface that lie at equal distances from these bounding surfaces
• Thickness- the distance between the bounding surfaces
9.34

8
Introduction
Classification
• Cylindrical
• Conical
• Spherical
• Ellipsoidal
• Paraboloidal
• Toroidal
• Hyperbolic paraboloidal etc.

Shells and plates

• Difference with plates- curvature
• Due to its curvature the shells are more complicated than the flat plates
• The bending cannot be separated from the stretching
9.35

Introduction
Efficiency
• List of thin shell structures (R/t > 20)

Structure Location Geometry R/t

Chicken egg 150 × 106
BC Surface of revolution 100
Pantheon 126 AD, Rome Hemisphere 24
Jena planetarium 1926, Germany Hemisphere 200
Beer can 1935 cylinder 400
MIT Auditorium 1955, USA 1/8 sphere 520

9.36

2 Surface geometry
Surface geometry

Curvilinear coordinates
• The point M can be presented by Cartesian coordinates M(x, y, z) or by Curvilinear coor-
dinates M(α, β )
• The position vector can be expressed as r = xi + yj + zk or as r = r(α, β )
9.37

9
Surface geometry
Curvilinear coordinates
• The relation between the two coordinate systems is
x = x(α, β ), y = y(α, β ), z = z(α, β )
• Thus
r = r(α, β ) = x(α, β )i + y(α, β )j + z(α, β )k
9.38

Surface geometry

Curvature
• The curvature is defined as
1
κ=
ρ
where ρ is called radius of the curvature and is
ds
ρ=
dφ
9.39

Surface geometry

Principal curvatures
• Trough the normal n to the surface at the point M can be passed a plane whose section with
the surface have a maximum curvature and an orthogonal plane with a minimum curvature
• These two plane curves are called principal sections and their curvatures denoted by κ1
and κ2 are called principal curvatures at point M
9.40

10
Surface geometry

Gauss curvature
• Sign convention- when the center of the curvature lies on the positive part of the surface
normal, hence the curvature is positive, otherwise the sign is negative
• The products of two principal curvatures κg = κ1 κ2 are called Gaussian curvature
• Synclastic surface- kg > 0
• Anticlastic surface- kg < 0
9.41

3 Membrane theory
3.1 Governing equations
Membrane theory
Governing equations
• The shells balance the transversal load by membrane forces (in-surface), bending (twist-
ing) moments and shear forces
• At the appropriate loading and BCs the moments and shear forces are so small and can be
neglected
• This state of stress is called membrane stress state
• Conditions for membrane stress state
– The shell boundaries are free of shear forces and bending moments
– The normal displacements and rotations of the edges are not restrained
– The shell must have a smoothly varying and continuous surface
– The loads must also be a smooth and continuous functions of the surface coordinates
9.42

Membrane theory

Governing equations

11
 • The principal curvatures are
1 1
κα = − , κβ = −
Rα Rβ
• The relations between the central angles and the arc lengths are
dα = Rα dφ , dβ = Rβ dθ
9.43

Membrane theory
Governing equations- shell kinematics
• Displacement field
 
uα
u =  uβ 
uz
• Strain-displacements relations
– Contribution of in-surface displacements

∂ uα ∂ uβ ∂ uα ∂ uβ
εαα = , εβ β = , γαβ = +
∂α ∂β ∂β ∂α
9.44

Membrane theory

Governing equations- shell kinematics

• Contribution of the transversal displacement
dα 0 − dα
εαα = = −κα uz
dα
εβ β = −κβ uz
9.45

Membrane theory
Governing equations- shell kinematics
• Strain-displacements relations are
∂ uα
εαα = − κα uz
∂α
∂ uβ
εβ β = − κβ uz
∂β
∂ uα ∂ uβ
γαβ = +
∂β ∂α

12
 • In matrix form
  ∂ 
0 −κα
 
εαα ∂α uα
∂
 0
 εβ β  =  ∂β −κβ 
  uβ 
γαβ ∂ ∂
0 uz
∂β ∂α
9.46

Membrane theory
Governing equations- constitutive relations
• The Hooke’s law for a plane stress is
    
σαα 1 ν 0 εαα
E
 σβ β  =  ν 1 0   εβ β 
1 − ν2 1−ν
σαβ 0 0 2 γαβ
• The membrane forces are
     
Nαα Z t/2 σαα σαα
 Nβ β  =  σβ β  dz =  σβ β  t
−t/2
Nαβ σαβ σαβ
9.47

Membrane theory
Governing equations- constitutive relations
• Constitutive relations can be expressed as follows
   
Nαα εαα
 Nβ β  = Dm  εβ β 
Nαβ γαβ
were the membrane rigidity matrix is
 
1 ν 0
Et 
Dm = ν 1 0 
1 − ν2 1−ν
0 0 2
9.48

Membrane theory

Governing equations- equilibrium

13
 • ∑ Mz = 0 produces

Nαβ = Nβ α

• ∑ α = 0 and ∑ β = 0 give

∂ Nαα ∂ Nαβ
+ + pα = 0
∂α ∂β
∂ Nαβ ∂ Nβ β
+ + pβ = 0
∂α ∂β
9.49

Membrane theory

Governing equations- equilibrium

• ∑ z = 0 gives

Nαα κα + Nβ β κβ + pz = 0
9.50

Membrane theory
Governing equations- equilibrium
• In matrix form
 
−∂ 0 − ∂∂β
  
Nαα pα
 ∂α
 0 − ∂∂β − ∂∂α   Nβ β  =  pβ 


−κα −κβ 0 Nαβ pz

9.51

3.2 Shells of revolution

Membrane theory

14
Shells of revolution
• A surface of revolution is generated by a rotation of a plane curve about an axis in its
plane
• The generating curve is called a meridian- x- axis
• The second curve has a constant radius and is called a parallel or hoop circle- y-axis
• The position of the meridian is specified by a θ -angle
• The position of the parallel is specified by a φ -angle
9.52

Membrane theory

15
Shells of revolution
• The distance from a point of surface to the axis of rotation is denoted by r
• The radii of curvatures are r1 and r2
9.53

Membrane theory
Shells of revolution
• The relations between the (x, y, z) and (φ , θ , z) coordinates are
dx = r1 dφ
dy = rdθ
∂ (.)
• We’ll consider an axi-symmetrical loading (pθ = 0), thus ∂θ =0
9.54

Membrane theory

Shells of revolution- kinematics

• Displacement field
 
uφ
u=
uz
• We can introduce a horizontal displacement ur and ϕ- convenient for BCs description
9.55

Membrane theory

Shells of revolution- kinematics

• Strain field
 
εφ
ε=
εθ
• The meridional strain is defined as the ratio of
∆dsφ
εφ =
dsφ
where dsφ is infinitesimal segment of the meridian
• The elongation ∆dsφ can be divided into two parts
∂ uφ
∆ds1 = dφ
∂φ
9.56

16
Membrane theory

Shells of revolution- kinematics

• And
∆ds2 = uz dφ
• The total elongation is
∂ uφ
∆dsφ = dφ + uz dφ
∂φ
• The meridional strain is
 
1 ∂ uφ
εφ = + uz
r1 ∂φ
9.57

Membrane theory

Shells of revolution- kinematics

• The hoop strain is
∆dsθ dr 1 uφ uz
εθ = = = (uφ cot φ + uz ) = +
dsθ r r2 r3 r2
9.58

Membrane theory
Shells of revolution- kinematics
• In matrix form the shell kinematics relations are
  " 1 ∂ 1
# 
εφ uφ
= r1 1∂ φ r1
1
εθ r r2
uz
3

• The horizontal displacement is

ur = uφ cos φ + uz sin φ
9.59

17
Membrane theory

Shells of revolution- kinematics

• Due to the curvature of the shell the rotations are not equal to the derivative of the normal
displacement
• The rotation can be divided into two parts
• Due to uφ
uφ
ϕ1 =
r1
9.60

Membrane theory

Shells of revolution- kinematics

• And due to uz

1 ∂ uz
ϕ2 =
r1 ∂ φ

• The total rotation is

 
1 ∂ uz
ϕ= uφ −
r1 ∂φ
9.61

Membrane theory
Shells of revolution- Hooke’s law

18
 • The constitutive equations are
    
Nφ Et 1 ν εφ
=
Nθ 1 − ν2 ν 1 εθ
    
εφ 1 1 −ν Nφ
=
εθ Et −ν 1 Nθ
9.62

Membrane theory

Shells of revolution- equilibrium

• Because pθ = 0, thus Nθ = const
• ∑ z = 0 gives
−Nθ r1 sin φ − Nφ r + pz rr1 = 0
• ∑ t = 0 gives
∂ Nφ
r − Nθ r1 cos φ + pφ rr1 = 0
∂φ
9.63

Membrane theory
Shells of revolution- equilibrium
• Because of r = r3 cos φ and r = r2 sin φ the above equations can be written in matrix form
as
" #
− r11 ∂∂φ r13
  
Nφ r pφ r
1 1 =
r r
Nθ r pz r
1 2

• The last equation can be re-written as

κφ Nφ + κθ Nθ + pz = 0
9.64

Membrane theory
Shells of revolution- general solution
• The equilibrium equations are statically determinate and the internal forces can be obtained
directly from the equilibrium equations
• The hoop forces can be eliminated by multiplication of the first equation with sin φ and the
second- with cos φ
∂
(Nφ r sin φ ) = (pz cos φ − pφ sin φ )rr1
∂φ
• Integration of the above equations gives
1
Z
Nφ = (pz cos φ − pφ sin φ )rr1 dφ
r sin φ
9.65

19
Membrane theory
Shells of revolution- general solution
• Using the substitution
Z Z
F(φ ) = f (φ )dφ = (pz cos φ − pφ sin φ )rr1 dφ

• The membrane forces are

1
Nφ = F(φ )
r sin φ
1
Nθ = pz r2 − F(φ )
r1 sin2 φ
9.66

Membrane theory

Shells of revolution- example

• Consider a hemispherical shell loaded with the self-weight
• Determine the membrane forces
9.67

4 Bending theory
4.1 Governing equations
Bending theory
Governing equations-kinematics
• Displacement field
 
uα
u =  uβ 
uz

• The in-surface strain field is

∂ uα
εα = − κα uz
∂α
∂ uβ
εβ = − κβ uz
∂β
∂ uα ∂ uβ
γαβ = + − 2καβ
∂β ∂α
9.68

20
Bending theory
Governing equations-kinematics
• The rotations due to bending are
∂ uz ∂ uz
ϕα = − , ϕβ = −
∂α ∂β
• The bending strains are
∂ ϕα ∂ 2 uz
ρα = =−
∂α ∂ α2
∂ ϕβ ∂ 2 uz
ρβ = =− 2
∂β ∂β
∂ ϕα ∂ ϕβ ∂ 2 uz
ραβ = + = −2
∂β ∂α ∂ α∂ β
9.69

Bending theory
Governing equations- kinematics
• The strain field in matrix form
 
∂
  ∂α 0 −κα
εα ∂
 0
  ∂β −κβ 

 εβ 
   uα
∂ ∂ 

 γαβ   ∂β ∂α −2καβ
 = 2  uβ 

  0 0 − ∂∂α 2

 ρα
 uz
   
2
 ρβ   0 0 − ∂∂β 2 
 
ραβ ∂ 2
0 0 − ∂ α∂ β
9.70

Bending theory
Governing equations- Hooke’s law
• Constitutive equations
    
Nα Dm νDm 0 0 0 0 εα
 Nβ   νDm Dm 0 0 0 0  εβ 
Dm 1−ν
    

 Nαβ  
= 0 0 2 0 0 0 
 γαβ 


 Mα  
  0 0 0 Db νDb 0 
 ρα 

 Mβ   0 0 0 νDb Db 0  ρβ 
Mαβ 0 0 0 0 0 Db 1−ν
2
ραβ
where the membrane and bending rigidities are
Et Et 3
Dm = , Db =
1 − ν2 12(1 − ν 2 )
9.71

Bending theory

Governing equations-equilibrium
• In in-surface direction the shell equilibrium is fully governed by the membrane behavior
9.72

21
Bending theory
Governing equations-equilibrium
• In out-of-surface direction the shear force effect has to be added
• The force equilibrium gives
∂ Nα ∂ Nαβ
+ + pα = 0
∂α ∂β
∂ Nαβ ∂ Nβ
+ + pβ = 0
∂α ∂β
∂ Qα ∂ Qβ
+ + κα Nα + κβ Nβ + 2καβ Nαβ + pz = 0
∂α ∂β
• The moment equilibrium gives
∂ Mα ∂ Mαβ
+ − Qα = 0
∂α ∂β
∂ Mαβ ∂ Mβ
+ − Qβ = 0
∂α ∂β
9.73

Bending theory
Governing equations-equilibrium
• Eliminating the shear forces we obtain
 
  Nα
− ∂∂α 0 − ∂∂β 0 0 0  Nβ   
  pα

 0 − ∂∂β − ∂∂α 0 0 0

 Nαβ 
 =  pβ 
 2 2 2
 Mα 
−κα −κβ −2καβ − ∂∂α 2 − ∂∂β 2 ∂
− ∂ α∂
  pz
β  Mβ 
Mαβ
9.74

Bending theory
Displacement differential equation
• Introducing the Airy stress function φ (α, β ) as
∂ 2φ ∂ 2φ ∂ 2φ
Z Z
= Nα + pα dα, = Nβ + pβ dβ , = −Nαβ
∂β2 ∂ α2 ∂ α∂ β
• The moment resultants can be expressed as
 2
∂ 2 uz

∂ uz
Mα = −Db +ν
∂ α2 ∂β2
 2
∂ uz ∂ 2 uz

Mβ = −Db ν +
∂ α2 ∂ β 2
∂ 2 uz
Mαβ = −Db (1 − ν)
∂ α∂ β
9.75

Bending theory
Displacement differential equation
• Substituting the above relations into the last equilibrium equation gets
∂ 2φ ∂ 2φ ∂ 2φ
 4
∂ 4 uz ∂ 4 uz

∂ uz
Z Z
−κα + 2καβ − κβ + Db +2 2 2 + = pz − κα pα dα − κβ pβ dβ
∂β2 ∂ α∂ β ∂ α2 ∂ α4 ∂α β ∂β4
• The compatibility equations help us to eliminate the Airy function
∂ 2 εα ∂ 2 εβ ∂ 3 uα ∂ 3 uβ ∂ 2 uz ∂ 2 uz
+ = + − κ α − κβ
∂β2 ∂ α2 ∂ α∂ β 2 ∂ α 2 ∂ β ∂β2 ∂ α2
2 3 3
∂ uβ 2
∂ γαβ ∂ uα ∂ uz
= 2
+ 2
− 2καβ
∂ α∂ β ∂ α∂ β ∂α ∂β ∂ α∂ β
9.76

22
Bending theory
Displacement differential equation
• Subtraction of the compatibility equations gives

∂ 2 εα ∂ 2 γαβ ∂ 2 εβ
− + = κα ρα − καβ ραβ + κβ ρβ
∂β2 ∂ α∂ β ∂ α2
• The above equation relates the deformations of the middle surface to the changes of the
curvatures
• The constitutive equations for the membrane forces can be re-written as
1
εα = (Nα − νNβ )
Dm (1 − ν 2 )
1
εβ = (−νNα + Nβ )
Dm (1 − ν 2 )
2(1 + ν)
γαβ = N
Dm (1 − ν 2 ) αβ
9.77

Bending theory
Displacement differential equation
• Replacing with the Airy functions and using the derivatives the compatibility equation
becomes
∂ 4φ ∂ 4φ ∂ 4φ ∂ 2 uz ∂ 2 uz ∂ 2 uz
 
2 ∂
Z
∂
Z
∂ pα ∂ pβ
4
+ 2 2
+ 4
+ D m (1 − ν ) κα 2
− 2κ αβ + κβ 2
= 2
p α dα + 2
pβ dβ − ν −ν
∂α ∂α ∂β ∂β ∂β ∂ α∂ β ∂α ∂β ∂α ∂α ∂β

• Introducing the Laplacian ∇2 and a differential operator Γ

∂2 ∂2 ∂2
Γ(·) = κα 2
− 2καβ + κβ
∂β ∂ α∂ β ∂ α2
∂2 ∂2
∇2 (·) = 2
+
∂α ∂β2
9.78

Bending theory
Displacement differential equation
• Using the above substitutions the equilibrium and compatibility equations are
Z Z
2 2
− Γφ + Db ∇ ∇ uz = pz − κα pα dα − κβ pβ dβ
∂
Z
∂
Z
∂ pα ∂ pβ
∇2 ∇2 φ + Dm (1 − ν 2 )Γuz = pα dα + pβ dβ − ν −ν
∂β2 ∂ α2 ∂α ∂β
9.79

Bending theory
Displacement differential equation
• Multiplying the first equation by ∇2 ∇2 and second by Γ and eliminating the Airy function
we get

Db ∇2 ∇2 ∇2 ∇2 uz + Dm (1 − ν 2 )Γ2 uz =
   
Z Z
∂
Z
∂
Z
∂ pα ∂ pβ
∇2 ∇2 pz − κα pα dα − κβ pβ dβ + Γ pα dα + pβ dβ − ν − ν
∂β2 ∂ α2 ∂α ∂β
• If there is only pz 6= 0 the equation becomes

Db ∇2 ∇2 ∇2 ∇2 uz + Dm (1 − ν 2 )Γ2 uz = ∇2 ∇2 pz
9.80

23
4.2 Shells of revolution
Bending theory
Shells of revolution
• As in the membrane theory of shells of revolution the relations between the (x, y, z) and
(φ , θ , z) coordinates are

dx = r1 dφ
dy = rdθ
1 ∂ (.) ∂ (.)
• The axi-symmetrical loading implies (pβ = 0), thus r ∂θ = ∂β = 0 and

uβ = 0, ϕβ = 0

Nαβ = 0, Mαβ = 0, Qβ = 0
9.81

Bending theory
Shells of revolution-kinematics
• Displacement field
 
uα
u=
uβ

• Rotations
∂ uz
ϕα = −
∂α
ϕβ = 0

• Bending deformations

∂ ϕα ∂ 2 uz
ρα = =−
∂α ∂ α2
ρβ = 0
9.82

Bending theory
Shells of revolution
• Kinematic equations are
  ∂
−κα
 
εα ∂α
−κβ 
 
 εβ   0
 uα
 ρα  =  0 2
  
− ∂∂α 2  uz
ρβ 0 0
• Constitutive equations
    
Nα Dm νDm 0 0 εα
 Nβ   νDm Dm 0 0   εβ 
 =  
 Mα   0 0 Db νDb   ρα 
Mβ 0 0 νDb Db ρβ

where the membrane and bending rigidities are

Et Et 3
Dm = , Db =
1 − ν2 12(1 − ν 2 )
9.83

24
Bending theory
Shells of revolution-equilibrium
• Equilibrium equations
– Because pβ = 0, thus Nβ = const
– ∑ α = 0 and ∑ z = 0 give
∂ Nα
+ pα = 0
∂α
∂ Qα
+ κα Nα + κβ Nβ + pz = 0
∂α
– The moment equilibrium ∑ Mβ = 0 gives

∂ Mα
− Qα = 0
∂α
– The equilibrium equations in matrix form are
 
" # Nα
− ∂∂α
 
0 0 0  Nβ 
 = pα
2

−κα −κβ − ∂∂α 2 0  Mα  pz
Mβ
9.84

Bending theory
Shells of revolution- displacement equilibrium equation
• The first equation gives a solution for the membrane force
Z
Nα = − pα dα

• Substitution into the second equation gives

∂ 2 Mα
Z
−κβ Nβ − = pz − κα pα dα
∂ α2
• Substitution of the constitutive relations (strains-forces) into the equilibrium equation gives
d 4 uz
Z
Db + Dm (1 − ν 2 )κβ2 uz = pz − (κα + νκβ ) pα dα
dα 4
9.85

Bending theory
Shells of revolution- solution
• Homogeneous ODE
d 4 uz
Db + Dm (1 − ν 2 )κβ2 uz = 0
dα 4
• The equation can be expressed as
d 4 uz
+ 4µ 4 uz = 0
dα 4
2
where µ 4 = Dm (1−ν
4Db
) 2
κβ
• The solution of the above equation is
uz (α) = Aekα
• The characteristic equation is
k4 + 4µ 4 = 0
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25
Bending theory
Shells of revolution- solution
• The roots are

k1,2 = (1 ± i)µ, k1,2 = −(1 ± i)µ

• Thus the homogeneous solution is

uhz (α) = eµα (A1 eiµα + A2 e−iµα ) + e−µα (A3 eiµα + A4 e−iµα )

• Applying the Euler’s formula

eiϕ = cos ϕ + i sin ϕ, e−iϕ = cos ϕ − i sin ϕ

• The final solution is

uz (α) = e−µα (C1 cos µα +C2 sin µα) + eµα (C3 cos µα +C4 sin µα)

• The C1 to C4 are constants of integration and can be obtained from the BCs
9.87

Bending theory

Shells of revolution- solution

• The shells exhibit a so called edge effect
• It is a local distribution of the bending moments in the vicinity of the edges
• This zone is described by a influence length `i
√
`i ≈ 2.4 at

• Outside of this zone the shell behavior is according to the membrane theory
9.88

4.3 Circular cylindrical shells

Bending theory

Circular cylindrical shells

• Petrol tanks
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26
Bending theory

Circular cylindrical shells

• Storage tanks
9.90

Bending theory

Circular cylindrical shells

• Water tanks
9.91

Bending theory

Circular cylindrical shells

• The relation between the curvilinear coordinates (α, β , z) and cylindrical coordinates is

r1 = ∞
r2 = r
dβ = rdθ

• The curvatures and the radii are

κx = 0
1
κθ = −
r
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27
Bending theory
Circular cylindrical shells- kinematics
• Displacement field
 
ux
u=
uz
• Rotations
∂ uz
ϕx = −
∂x
ϕθ = 0
• Bending deformations
∂ ϕx ∂ 2 uz
ρx = =− 2
∂x ∂x
ρθ = 0
9.93

Bending theory
Circular cylindrical shells
• Kinematic equations are
   ∂ 
εx ∂x 0
−κθ 
 
 εθ   0
 ux
 ρx  =  0 2
  
− ∂∂x2  uz
ρθ 0 0
• Constitutive equations
    
Nx Dm νDm 0 0 εx
 Nθ

  νDm
= Dm 0 0 
 εθ 

 Mx   0 0 Db νDb   ρx 
Mθ 0 0 νDb Db ρθ
where the membrane and bending rigidities are
Et Et 3
Dm = , Db =
1 − ν2 12(1 − ν 2 )
9.94

Bending theory
Circular cylindrical shells- equilibrium
• The equilibrium equations are
∂ Nx
+ px = 0
∂x
∂ Qx
+ κθ Nθ + pz = 0
∂x
∂ Mx
− Qx = 0
∂x

• In matrix form
 
" # Nx
− ∂∂x
 
0 0 0  Nθ 
 = px
2

0 −κθ − ∂∂x2 0  Mx  pz
Mθ
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28
Bending theory
Circular cylindrical shells- equilibrium
• The first equation gives a solution for the membrane forces in x-direction
Z
Nx = − px dx

• The displacement equilibrium equation is

d 4 uz
Z
Db + Dm (1 − ν 2 )κθ2 uz = pz − νκθ px dx
dx4
9.96

Bending theory
Circular cylindrical shells- equilibrium
• The homogeneous equation is

d 4 uz
+ 4µ 4 uz = 0
dx4
2)
where µ 4 = 3(1−ν
t 2 r2
• The solution of the above equation is
uhz (x) = e−µx (C1 cos µx +C2 sin µx) + eµx (C3 cos µx +C4 sin µx)

• The particular solution is

r2 νr
uzp (x) = pz − Nx
Et Et
• When a solution for uz (x) is found we can obtain the remaining quantities
9.97

Bending theory

Circular cylindrical shells- Boiler’s formula

• The zones where the bending moments are zero (the membrane stress state) ∑ z = 0 gives

Nθ κθ = pz

• Which represents the famous ”Boiler’s formula”

pz r
σθ =
t
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29
Bending theory

Example 1
• Data
– E = 200 × 106 kPa
– ν = 0.25
– r=5m
– t = 0.04 m
– h = 10 m
– γliquid = 10 kN/m3
– γsw = 78.5 kN/m3
• Determine
– Displacement uz
– Bending moment Mx
– Axial membrane force Nx
– Hoop membrane force Nθ
9.99

Bending theory

Example 2- Australian water-tank

• Calculate the deflected shape, the membrane forces and the bending moments of the tank
structure
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30
Bending theory

Example 2- Australian water-tank

• Material properties
– E = 200 × 106 kPa
– ν = 0.2
• Fabrication properties
– t pl = 0.1 m
– ts = 0.08 m
• Load
– γw = 10 kN/m3
– q = γw h
9.101

Axi-symmetrical bending

The End
• Any questions, opinions, discussions?
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31