Electronic Journal of Structural Engineering (10) 2010

Closed form solutions for element matrices of 4-node rectangular plate

element using IFM
H.R. Dhananjaya
Dept. of Civil Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur – 50603, Malaysia
(M.I.T, Manipal – 576 104, India)
Email: djaya_hr@[Link]

J. Nagabhushanam
Dept. of Aerospace Engineering, Indian Institute of Science, Bangalore-560012, India
P.C. Pandey
Dept. of Civil Engineering, Indian Institute of Science, Bangalore-560012, India

ABSTRACT: This paper presents closed form solutions for equilibrium and flexibility matrices of the Mindlin-
Reissner theory based 4-node rectangular plate bending element using Integrated Force Method (IFM). Use of
closed form solutions of equilibrium and flexibility matrices reduce the computational time significantly and
more suitable for the plate bending problems with square/rectangular boundaries. Large number of standard
square/rectangular plate bending benchmark problems have been analyzed for central deflections and moments
using the presented closed form solutions. Results are compared with those of similar displacement based plate
bending elements available in the literature. The results are also compared with the exact solutions.

1 INTRODUCTION teristics of the element stiffness, flexibility and equi-

librium matrices. As the number of degrees of free-
Closed form solutions for element equilibrium and dom of the element increases, the algebraic manipu-
flexibility matrices of 4-node(MRP4) rectangular lations become huge and intractable. Therefore
plate bending element are presented in this paper. automatic generation and closed form of these ma-
The Mindlin-Reissner plate theory has been em- trices have been attempted by several researchers
ployed in the formulation as it accounts for the effect like Luff, et al. [1], Gunderson, et al. [2], Cecchi et
of shear deformation and the same model can be al. [3], Noor, et al [4], Hoa et al [5], Chang et al. [6],
used for the analysis of both thin and moderately Yew et al.[7], Eriksson et al.[8], Nagabhushanam et
thick plate problems. The closed form solutions are al.[9]. Closed form of stiffness matrices for a four
more suitable for the analysis of thin/moderately node quadrilateral element and commonly used hy-
thick plate problems with square / rectangular boun- brid finite elements are developed by Griffiths [10]
daries. Although the applications of square / rectan- and Lee et al, [11]. Rectangular finite element for-
gular plate bending elements are limited in practice, mulation with its applications are given by Ozto-
generally closed form solutions of equilibrium and run[12].
flexibility matrices produce, in general, more accu- Analogous to development of closed form solu-
rate results in considerably less time compare to tions or automatic generation of stiffness matrices in
those obtained using numerical methods. the displacement-based finite element method as
Extensive research efforts are spent in modeling cited above, the IFM is also in need of development
the behavior of the elements and later deriving the of closed form solutions of element equilibrium and
matrices which represent their characteristic beha- flexibility matrices, and compatibility conditions for
vior in the finite element method of analysis. The analyzing civil, mechanical and aerospace engineer-
various matrices are formed with interpolation func- ing structures. In this direction, Nagabhushanam, et
tions for displacement and sometimes force distribu- al, [13], developed a general purpose program to
tion within or on the boundary of the element. Later generate compatibility matrix for the Integrated
on algebraic manipulations, including differentiation Force Method. Automatic generation of sparse and
and integration, are performed on describing charac- banded compatibility matrix using the Integrated

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 Electronic Journal of Structural Engineering (10) 2010

Force Method is presented by Nagabhushanam, et central deflections and moments. The results ob-
al,[14]. In this paper, IFM has been used to obtain tained by the closed form solutions are compared
closed form solutions for equilibrium and flexibility with those obtained using displacement -based four
matrices of the Mindlin-Reissner theory based 4- node quadrilateral elements available in the literature
node rectangular plate bending element for the anal- [20]. Results are also compared with the exact solu-
ysis of thin (t/L ≤ 0.01, where t= thickness of plate tions. The closed form solutions presented in this
and L = span of plate) and moderately thick (0.01 < paper produce excellent results for both thin and
t/L ≤ 0.2) square/rectangular plate problems. moderately thick plate bending problems with
The Integrated Force Method (IFM) is a new nov- square / rectangular boundaries.
el matrix formulation developed by Patnaik[15] for
the analysis of civil, mechanical and aerospace engi-
neering structures. In general equilibrium equations, 2 FORMULATION OF ELEMENT
compatibility conditions are to be satisfied in addi- EQUILIBRIUM AND FLEXIBILITY
tion to the constitutive relations which describe the MATRICES
material behavior while analyzing the structural me-
chanics problems. In this method all internal forces Formulation of equilibrium and flexibility matrices
of the structure are treated as unknown variables and for Mindlin - Reissner theory based plate bending
computed by simultaneously imposing equilibrium elements is explained: In the Mindlin - Reissner
equations and compatibility conditions. The IFM in- theory where a line that is straight and normal to
tegrates the system equilibrium equations and the mid-surface of the un-deformed plate remain straight
global compatibility conditions in a fashion paral- but not necessarily normal to the mid-surface of the
leling approaches in continuum mechanics (exam- deformed plate. This leads to the following defini-
ple, the Beltrami - Michel formulation of elasticity tion of the displacement components u, v, w in the
16]. IFM is based on variational principles [17] and x,y,z Cartesian coordinates system.
its stationary condition of the functional yields the
equilibrium equations, compatibility and natural u = − zθ x ( x , y ) ;
boundary conditions.
Unlike classical force method of analysis, the v = − zθ y ( x, y ) ;
IFM is independent of redundants and the basic de-
terminate structure. The IFM provides a natural way w = w( x, y )
of integrating the equilibrium equations and the (1)
compatibility conditions while performing structural where
analysis. IFM requires explicit generation of compa- x, y are coordinates in the reference mid-
tibility conditions for skeletal as well as continuum surface
structures. The advantages of IFM compare to dis- z is the coordinate through the thickness t
placement-based finite element method are reported with -t/2 ≤ z ≤ t/2
in the reference [18]. In this paper, closed form solu- w is the transverse (lateral) displacement
tions for equilibrium and flexibility matrices of 4- θx, θy represent the rotations of the normal in
node rectangular plate bending element(MRP4) for x-z and y-z planes respectively.
analyzing the thin/moderately thick plate bending
problems using IFM is presented. The Mindlin- Engineering strains for the Mindlin-Reissner theory
Reissner theory has been employed in the plate can be written as
bending formulation which accounts for the shear
deformation. Three degrees of freedom namely a {ε } = − z{k1 } (2)
transverse displacement w and two rotations θx, θy where
are considered at each node of 4-node element.
The shear correction factor as suggested by Reiss- {ε } = [ε x ε y γ xy γ yz γ zx ]T ;
ner[19] has been considered in the formulation.
Displacement and stress-resultants fields are chosen T
over the element and the corresponding element  ∂w ∂w
equilibrium and flexibility matrices are obtained in ∂θ ∂θ y ∂θ ∂θy θy − ∂y θx − 
{k1} =  x x
+ ∂x 
closed form using exact integration. To validate  ∂x ∂y ∂y ∂x z z 
these closed form equilibrium and flexibility matric-  
es of the element MRP4, standard square/rectangular
plate bending benchmark problems are analyzed for

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 Electronic Journal of Structural Engineering (10) 2010

The stress - strain relations for an isotropic two- where [H ] = [C1 ] is the matrix relating curva-
−1

dimensional plate material is given by

tures to stress-resultants and it can be written with
{σ } = [Ccon ]{ε } (3) Reissner's shear correction factor of 5/6 as:

where {σ } = σ x [ σ y τ xy τ yz τ xz ]T
1 −ν 0 0 0 
= Vector of stress components − ν 1 0 0 0 

{ε } = [ε x ε y γ xy γ yz γ xz ] T 0 0 2(1 + ν ) 0 0 
[H ] = 1  2
t (1 + ν ) 
= Vector of strain components D1  0 0 0 0 
 5 
[Ccon] = constitutive matrix  t 2 (1 + ν ) 
 0 0 0 0
5 
1 ν 0 0 0 
ν 1 0 0 0 
 (7)
0 0
(1 − ν ) 0 0 
=
E  2  where D 1 = Et 3 / 12 ;
(
1 −ν 2 )  (1 − ν ) 
0 0 0
2
0  t = thickness of the plate;
 (1 −ν )
0 0 0 0 The Strain energy U p of the plate in bending is given
 2 
by
E = Young’s modulus; ν = Poisson’s ratio U p = ∫∫1 / 2{k } {M }dxdy
T
(8)
The stress-resultants {M } can be expressed as
For a discrete plate bending element the {M} and
T
{k} can be expressed in terms of assumed stress-
{M } = ∫−t / 2 [σ x z σ y z τ xy z τ yz τ zx ] dz
t/2
(4)
resultant and displacement fields respectively in the
matrix form as
where {M } = [M x My M xy Qy Qx ]
T
{M } = [ψ ]{Fe } (9)
= Vector of stress - resultants
T
{k } = [D op ][φ1 ]{α } = [D op ]{φ }{X e } (10)
 τ yz τ xz 
{σ r } = σ x σ y τ xy  where
 z z 
[ψ ] = matrix of polynomial terms for stress-
Equations 2, 3 and 4 yield the moment-curvature re-
lations as resultant fields

{M } = [C1 ]{k } (5) {Fe } = vector of force components of the discrete

where {k } = Vector of Curvatures element
[φ1 ] = matrix of polynomial terms for displacement
T fields
 ∂θ ∂θ y ∂θ x ∂θ y ∂w ∂w 
= x + θy − θy − 
 ∂x ∂y ∂y ∂x ∂y ∂y  [φ ] = [φ 1 ][A ]− 1
[C1 ] = matrix relating stress resultants to curvatures [A] = matrix formed by substituting the coordinates
of the element nodes into the polynomial of dis-
From the equation (5), the curvature moment rela-
tion becomes placement fields

{k } = [C1 ]−1 {M } = [H ]{M } (6) {α } = coefficients of the displacement field

polynomial

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 Electronic Journal of Structural Engineering (10) 2010

{X e } = vector of displacements of the discrete 2.1 Displacement and stress-resultant fields

element Three degrees of freedom namely w, θx and θy are
considered at each node of this element MRP4. The
[D ]= differential operator matrix
op
displacement fields for w, θx and θy are assumed in
terms of generalized coordinates α1, α2 …… α12 as
 ∂  w = α1 + α2 x + α3 y + α4 xy
 0 0 
∂ x
 ∂  θx = α5 + α6 x + α7 y + α8 xy
 0 0 
 ∂ y 
 ∂ ∂  θy = α9 + α10 x + α11 y + α1 xy (15)
=  0 
 ∂ y ∂ x  The assumed stress-resultant fields for the ele-
 − ∂ 0 1  ment MRP4 are given in terms of generalized force
 ∂ y 
  parameters F1, F2 ……… F9 as
∂
 − 1 0 
 ∂ x  Mx = F1 + F2x + F3y + F4xy
Substituting equations 9 and 10 into the equa- My = F5 + F6x + F7y + F8xy
tion 8, the strain energy for the discrete element can
be expressed as Mxy = F9 (16)
Up = 1
2
{X e } [Be ]{Fe }
T
(11) Equations 7, 12, 14, 15 and16 are used to obtain
closed form solutions of equilibrium and flexibility
matrices of 4-node element MRP4. These are given
where [ Be ] represents the element equilibrium ma- in the Tables 1 and 2.
trix and is given by

∫∫ [φ ] [D ] [ψ ]dxdy
T
[ Be ] =
T
(12) 3 NUMERICAL TESTS AND DISCUSSIONS
op

Using the equation 7, the complementary strain A square plate with simply supported/clamped
energy of the element is written as boundary conditions subjected uniform load is con-
sidered and analyzed for different grid sizes using
T
Uc = ∫∫ 1 / 2{M } [H ]{M }dxdy (13)
the closed form solutions of element MRP4 to esti-
mate moments and deflections. The performance of
= 1 / 2{Fe } [G e ]{Fe }
T
the element MRP4 with respect to accuracy and con-
vergence are compared with a few 4-node displace-
where [Ge ] represents the element flexibility ma- ment-based quadrilateral plate bending elements
trix and is given by available in the literature [20] . The results of the
T element MRP4 are also compared with the exact so-
[G e ] = ∫∫ [ψ ] [H ][ψ ]dxdy (14) lutions [21, 22]. The example problem considered
here is:
The equations 12 and 14 are used to obtain closed
A square thin / moderately thick plate with simply
form solutions of equilibrium matrix [ Be ] and flex-
supported/clamped boundary conditions subjected to
ibility matrices [Ge ] respectively. Exact integration
uniform load. The parameters of the problem are:
scheme is used with limits of integration –a/2 to
size of the plate = 100 × 100, t = 1 or 20, E =
+a/2 and –b/2 to +b/2, where ‘a’ and ‘b’ are the di-
1092000, ν = 0.3, q = 1 [20]
mensions of the rectangular plate. These element
In the above example problem, one quadrant of
equilibrium matrix [ Be ] and element flexibility ma-
the plate is considered for the analysis due to sym-
trix [Ge ] of all elements are assembled to obtain the
metry of the geometry of the plate, loading and
global equilibrium matrix [B ] and global flexibility
boundary conditions. The typical mesh (4 x 4) con-
matrix [G ] of the structure and they are used to se-
sidered in one quadrant is as shown in the Figure. 1.
tup the IFM governing equation to analyze the struc-
ture by IFM.

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 Electronic Journal of Structural Engineering (10) 2010

Figure 1. A typical mesh (4 x 4) in one quadrant of the rectan-

gular plate

Table 1: Closed form equilibrium matrix for a 4-node rectangular plate bending element (MRP4) (Mindlin-Reissner Theory)

 b − b 2
a − a 2

 0 0 0 0 0 
 2 12 2 12 
 − b ab b 2 − ab 2
a 
0 0 0 0
 2 4 12 24 2 
 − a a 2
ab − a 2b − b 
 0 0 0 0 
 2 12 4 24 2 
 0 b 2 − a a 2
0 
b
0 0 0
 2 12 2 12 
 − b ab − b 2
ab 2 a 
 0 0 0 0 
 2 4 12 24 2 
 a − a 2
ab − a 2b − b 
 0 0 0 0
2 12 4 24 2 
 
 0 − b − b 2 − a − a 2
0 0 0 0 
 2 12 2 12 
 b ab b 2 ab 2 a 
 0 0 0 0 
 2 4 12 24
2
2 
 0 a − a ab ab 2 b 
0 0 0
 2 12 4 24 2 
 − b b 2 a a 2 
 0 0 0 0 0 
 2
2
12
2
2 12 
 b ab − b − ab − a 
 2 0 0 0 0
4 12 24 2 
 − a − a 2
ab ab 2
b 
 0 0 0 0
 2 12 4 24 2 

Table 2: Closed form flexibility matrix for a 4-node rectangular plate bending element (MRP4) (Mindlin-Reissner Theory)

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 Electronic Journal of Structural Engineering (10) 2010

 ab 0 0 0 −νab 0 0 0 0 
 3
ab
+
2 (1 + γ )ab −νa3b 
 0 12 t
0 0 0
12
0 0 0 
 
 0 ab3 −νab3
0 0 0 0 0 0 
 12 12 
 a3b3 2(1+ γ )ab3 3 3
−νa b 
 0 0 0 + 0 0 0 0 
 144 12t 144 
−νab 0
3
0 0 ab 0 0 0 0 
 0 −ν a 3b
0 
a b
0 0 0 0 0
 12 12 
 −νab3 ab 2(1+γ )ab
3 
 0 0 0 0 0 + 0 0 
 12 12 t 
 −νa3b3 a3b3 2(1+γ )a3b 
 0 0 0 0 0 0 + 0 
144 144 12t
 0 0 0 0 0 0 0 0 2(1+γ )ab


uniform load. Converging trends of central deflec-

Central deflections and moments for the thin and tions and moments for the moderately thick square
moderately thick plate bending situations are ob- plate subjected to uniform load with simply sup-
tained by analyzing above example problem using ported / clamped boundary conditions are shown in
closed form solutions of equilibrium and flexibility the Figures 6-8. In all Figures the results obtained
matrices of Mindlin-Reissner theory based rectangu- using the closed form solutions of the equilibrium
lar plate bending element MRP4. These results are and flexibility matrices of plate bending element
compared with those obtained from displacement- MRP4 are continuously converging towards exact
based 4 – node quadrilateral plate bending elements solutions. Figures 2-8 indicate that closed form solu-
available in the literature [20]. The results are also tions of equilibrium and flexibility matrices of the 4-
compared with the exact solutions. These results in node element MRP4, in general, have produced ex-
the form of convergence trends for various grid sizes cellent results for both thin and moderately thick
are shown in the Figures 2-8. Figures 2 and 3 respec- plates. Therefore these closed form solutions of ele-
tively show converging trends of central deflections ment matrices of MRP4 can be used to analyze thin
and moments of simply supported thin square plate and moderately thick plate bending problems with
subjected to uniform load while Figures 4 and 5 square or rectangular boundaries.
show the same for clamped thin square plate with

Figure 2: Central deflection for a simply supported square thin (t/L=0.01) plate with uniform load

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 Electronic Journal of Structural Engineering (10) 2010

Figure 3: Central moment for a simply supported square thin (t/L=0.01) plate with uniform load

Figure 4: Central deflection for a clamped square thin (t/L=0.01) plate with uniform load

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 Electronic Journal of Structural Engineering (10) 2010

Figure 5: Central moment for a clamped square thin (t/L=0.01) plate with uniform load

Figure 6: Central deflection for a simply supported square thick (t/L=0.2) plate with uniform load

Figure 7: Central moment for a simply supported square thick (t/L=0.2) plate with uniform load

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 Electronic Journal of Structural Engineering (10) 2010

Figure 8: Central deflection for a clamped square thick plate (t/L=0.2) with uniform load

4 Noor, A.K. and Andersen, C.M., “Computerized symbolic

manipulation in structural mechanics-progress and poten-
tial”, Computers and Structures, Vol. 10, 1979, pp.95-118.
4 CONCLUSIONS 5 Hoa, S.V. and Sankar, S., “A program for automatic genera-
tion of stiffness and mass matrices in finite element analy-
Closed form solutions for equilibrium and flexibility sis”, Computers and Structures, Vol. 11, 1980, pp.147-161.
matrices of Mindlin-Reissner theory based 4-node
rectangular plate bending element MRP4 are pre- 6 Chang, T.Y., Tan, H.Q., Zheng, D., and Yuan, M.W., “Ap-
plication of symbolic method to hybrid and mixed finite
sented. These matrices are validated by analyzing elements and computer implementation”, Computers and
standard plate bending benchmark problems to ob- Structures, Vol. 35, 1990, pp. 293-299.
tain central deflections and moments. The results are
compared with those obtained from displacement- 7 Yew, C.K., Boyle, J.T., and MacKenzle, D. “Closed form
based 4-node similar elements. The results are also integration of element stiffness matrices using a computer
compared with the exact solutions. The results ob- algebra system”, Computers and Structures, Vol. 56(4),
1995, pp.529-539.
tained using these closed form solutions are conti- 8 Eriksson, A., and Pacoste, C., “Symbolic software tools in
nuously converging towards exact solutions for vari- the development of finite elements”, Computers and Struc-
ous mesh sizes in both thin and thick plate bending tures, Vol. 72, 1999, pp.579-593.
situations. Therefore these closed form solutions can
be used to analyze both thin and moderately thick 9 Nagabhushanam, J., Srinivas, C.J. and Gaonkar, G. H.,
“Symbolic generation of elemental matrices for finite ele-
plate bending problems with square / rectangular
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