# Free Vibration Characteristics of Moderately Thick Spherical Shell with General Boundary Conditions Based on Ritz Method

Authors: Bing Hu; Cong Gao; Hang Zhang; Haichao Li; Fuzhen Pang; Jicai Lang
Journal: Shock and Vibration
 (2020)

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## Abstract

In this paper, the Ritz method is adopted to investigate the vibration characteristics of isotropic moderately thick annular spherical shell with general boundary conditions. The energy expressions of the annular spherical shell were established based on the first-order shear deformation theory (FSDT). The spring stiffness method is introduced to guarantee continuity and simulate various boundary conditions on the basis of the domain decomposition method. Under the current framework, the displacement admissible function along axial direction and circumferential direction of the shell structure are, respectively, expanded as the unified Jacobi polynomials and Fourier series. The final solutions can be obtained according to the Ritz method. The validity of the proposed method is proved by comparing the results of the same condition with those obtained by the finite element method (FEM) and published literatures. The results show that the current method has fast convergence and delightful accuracy through the comparative study. On this basis, the vibration characteristics of isotropic moderately thick annular spherical shell are further studied by a series of numerical examples.


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## Body

## 1. Introduction

The isotropic moderately thick annular spherical shell structure, as a basic component, has been widely used in many fields of engineering, such as drive shaft, cooling towers, water tanks, pressure vessels, and rotor system. In practical engineering, the dynamical behavior and stability are very important for the structural design because of the structure exposed to various complex environments and bear various dynamic loads. Based on this background, it is very important and necessary to investigate the free vibration characteristics of isotropic moderately thick annular spherical shell under general boundary conditions.For vibration analysis of thin spherical shell, Bryan [1] developed a new method to investigate the differential equations of motion about a thin spherical shell, in which the Legendre polynomials are utilized to obtain the analytical solutions for the spatial differential equation. Xie et al. [2] proposed a unified approach to study the vibration characteristics of spherical of revolution stiffened by rings with T cross-section. Based on Flugge’s thin shell theory, Wang et al. [3] presented the vibration characteristics of coupled doubly curved shell structures which subject to arbitrary boundaries. Pang et al. [4] applied the Rayleigh–Ritz method to analyze the free vibration of doubly curved shells. Li and Yuan [5, 6] applied quasi-Green’s function method to analyze the free vibration of shallow spherical shell based on the fundamental solution and boundary equation of the problem. By using a hybrid finite element method, Menaa and Lakis [7] presented the free vibration characteristics of the spherical shell by uniting the thin shell theory and classical finite element method. By using the separation of variable method, Zaera et al. [8] obtained the free vibration solutions of closed thin spherical. Polyakov et al. [9] derived the formulation of a closed spherical shell to analyze the free vibrations along the thickness direction of structure. According to von Karman's thin shallow shells theory, Thomas et al. [10, 11] derived the nonlinear vibration equations of shallow spherical shell under large amplitude displacement.For vibration analysis related to moderately thick spherical shell structures, Tornabene et al. [12–16] applied the Generalized Differential Quadrature (GDQ) method to investigate the free vibration characteristics of the rotating shell structure based on FSDT. Buchanan and Rich [17] figured out the frequency parameters of thick isotropic spherical shells with simple supports by formulating Lagrangian finite element in spherical coordinates. Based on FSDT, Wang et al. [18–21] carried out a great deal of research studies on spherical shell structures under different boundary conditions, and the analytical solutions were obtained by the Ritz method. Jin et al. [22–25] also conducted a large number of studies to analyze free vibration characteristics of spherical shell structures under general boundary conditions based on the Rayleigh–Ritz method, which each admissible functions is invariantly expanded as a modified Fourier series according to the three-dimensional shell theory of elasticity. Hosseini-Hashemi and Fadaee [26] applied the separation of variables method for free vibration analysis of moderately thick spherical shell according to the first-order shear deformation theory. Zenkour [27] expressed the dynamic responses of anisotropic spherical shells under a uniformly distributed transverse load in the frame work of mixed first-order shear deformation theory. Based on higher order shear deformation theory (HSDT), Fazzolari [28] presented the free vibration characteristics of doubly curved laminated composite spherical shallow shells by using the dynamic stiffness method (DSM). Panda et al. [29–32] investigated the nonlinear free vibration characteristics of laminated composite shallow spherical shell using the variational method, and the analytical model was established on the basis of Green–Lagrange nonlinear kinematics. For space reasons, other papers on rotating cylindrical and spherical shells can be found in references [33–35].It can be concluded that lots of published literatures focused on the free vibration response of thin spherical shell which subject to general edge restraints, and the free vibration characteristics of moderately thick spherical shell structures have been investigated in some research studies. However, to the authors’ knowledge, the aforementioned review for vibration solutions of moderately thick annular spherical shell structure with general boundary conditions based on the FSDT is infrequent. Considering this background, it is necessary to analyze the free vibration characteristics of moderately thick annular spherical shell structure with general boundary conditions. In addition, this paper presents a series of unpublished numerical results of the effects on the boundary conditions, shell segments, and structural parameters, which can be used as basic data to provide comparative data for future researchers in this field.


## 2. Theoretical Formulations

### 2.1. The Mathematical Model of Moderately Thick Annular Spherical Shell

An isotropic moderately thick annular spherical shell with radiusR is considered, as shown in Figure 1. The deformation displacements of the annular spherical shell with respect to the coordinate system can be, respectively, defined by u, v, and w in the φ, θ, and δ directions, and the system (φ, θ, δ) represent axial, circumferential, and normal directions, accordingly. Cs and h, respectively, represent the geometry center and thickness of the annular spherical shell. φ0 and φ1, respectively, denote the center angle correspond to the top and bottom of annular spherical shell. The formulas of this paper are derived on the basis of the domain decomposition method [36–41], the spherical shell is divided into H segments along axial direction, and the artificial springs are arranged at both ends of each segment; the continuity condition and various boundary conditions can be simulated by assigning the stiffness values of springs.Figure 1
Geometry notations and coordinate system of the annular spherical shell.


### 2.2. Energy Expressions of Moderately Thick Annular Spherical Shell

According to FSDT [42–44], the displacements of ith segment of moderately thick annular spherical shell can be written as follows:(1a)U¯iφ,θ,δ,t=uiφ,θ,t+δψφiφ,θ,t,(1b)V¯iφ,θ,δ,t=viφ,θ,t+δψθiφ,θ,t,(1c)W¯iφ,θ,δ,t=wiφ,θ,t.The strains of moderately thick annular spherical shell in this study can be written as follows:(2a)εφi=εφ0,i+δκφi,εθi=εθ0,i+δκθi,γφθi=γφθ0,i+δκφθi,(2b)γφδi=γφδ0,i,γθδi=γθδ0,i,where εφi, εθi, γφθi, γφδ0,i, γθδ0,i, κφi, κθi, and κφθi can, respectively, be expressed as below:(3a)εφ0,i=1A∂ui∂φ+viAB∂A∂θ+wiR,(3b)εθ0,i=1B∂vi∂θ+uiAB∂B∂φ+wiR,(3c)γφθ0,i=AB∂∂θuiA+BA∂∂φviB,(3d)κφi=1A∂ψφi∂φ+ψθiAB∂A∂θ,(3e)κθi=1B∂ψθi∂θ+ψφiAB∂B∂φ,(3f)κφθi=AB∂∂θψφiA+BA∂∂φψθiB,(3g)γφz0,i=1A∂wi∂φ−uiR+ψφi,(3h)γθz0,i=1B∂wi∂θ−viR+ψθi.In this paper, the symbolsA and B are Lamé parameters, and they can be expressed as follows [45, 46]:(4)A=R,B=Rsinφ.The stresses of the structure can be written as follows:(5)σφiσθiτφθiτφδiτθδi=Q11δQ12δ000Q12δQ22δ00000Q66δ00000Q66δ00000Q66δεφiεθiγφθiγφδiγθδi,where symbols of σ and τ, respectively, represent normal and shear stresses. The Qij(δ) are defined as follows:(6)Q11δ=Q22δ=Eδ1−μ2δ,Q12δ=μδEδ1−μ2δ,Q66δ=Eδ21+μδ,where E and μ are elastic modulus and Poisson’s ratio, respectively. The force and moment resultants can be expressed as below:(7a)NφiNθiNφθi=A11A120A12A22000A66εφ0,iεθ0,iγφθ0,i+B11B120B12B22000B66κφiκθiκφθi,(7b)MφiMθiMφθi=B11B120B12B22000B66εφ0,iεθ0,iγφθ0,i+D11D120D12D22000D66κφiκθiκφθi,(7c)QφiQθi=κ¯A6600A66γφδ0,iγθδ0,i,where κ¯ represents the shear correction factor, and it is set as 5/6 in this study. The symbols of Aij, Bij, and Dijcan be written as follows:(8)Aij,Bij,Dij=∫−h/2h/2Qijδ1,δ,δ2dδ.The strain energy of the select segment can be expressed as follows:(9)Ui=12∭VNφiεφ0,i+Nθiεθ0,i+Nφθiγφθ0,i+Mφikφi+Mθikθi+Mφθikφθi+Qφiγφδ0,i+Qθiγθδ0,iABdφdθdδ.The strain energy expression can be rewritten asUi=USi+UBi+UBCi, and the detailed expressions are shown in equations (10)–(12):(10)USi=12∭VA111A∂ui∂φ+viAB∂A∂θ+wiR2+A221B∂vi∂θ+uiAB∂B∂φ+wiR2+A66AB∂∂θuiA+BA∂∂φviB2+2A121A∂ui∂φ+viAB∂A∂θ+wiR1B∂vi∂θ+uiAB∂B∂φ+wiR+κ¯A661A∂wi∂φ−uiR+ψφi2+κ¯A661B∂wi∂θ−viR+ψθi2ABdφdθdδ,(11)UBi=12∭VD111A∂ψφi∂φ+ψθiAB∂A∂θ2+D221B∂ψθi∂θ+ψφiAB∂B∂φ2+D66AB∂∂θψφiA+BA∂∂φψθiB2+2D121A∂ψφi∂φ+ψθiAB∂A∂θ1B∂ψθi∂θ+ψφiAB∂B∂φABdφdθdδ,(12)UBSi=∭VB111A∂ui∂φ+viAB∂A∂θ+wiR1A∂ψφi∂φ+ψθiAB∂A∂θ+B121A∂ui∂φ+viAB∂A∂θ+wiR1B∂ψθi∂θ+ψφiAB∂B∂φ+B121B∂vi∂θ+uiAB∂B∂φ+wiR1A∂ψφi∂φ+ψθiAB∂A∂θ+B661A∂ui∂φ+viAB∂A∂θ+wiRAB∂∂θψφiA+BA∂∂φψθiB+B221B∂vi∂θ+uiAB∂B∂φ+wiR1B∂ψθi∂θ+ψφiAB∂B∂φABdφdθdδ.The kinetic energy of the select segment can be written as follows:(13)Ti=12∭VρδU¯˙i2+V¯˙i2+W¯˙i21+δR2ABdφdθdδ=12∫φ0φ1∫02πI0u˙i2+v˙i2+w˙i2+2I1u˙iψ˙φi+v˙iψ˙θi+I2ψ˙φi2+ψ˙θi2ABdφdθ,where the dot on the symbols represents differentiation about time, and the related symbols can be expressed as follows:(14)I0,I1,I2=∫−h/2h/2ρδ1+δR21,δ,δ2dδ.As mentioned above, the application of artificial springs can ensure the convergence of result. Each edge of the structure is restrained by three linear springs (ku, kv, kw) and two rotational springs (kφ, kθ). Then, the boundary potential energy for moderately thick annular spherical shell is expressed as follows:(15)Ub=12∫02π∫−h/2h/2ku,0u2+kv,0v2+kw,0w2+kφ,0ψφ2+kθ,0ψθ2x=xl,0Bdθdδ+12∫02π∫−h/2h/2ku,1u2+kv,1v2+kw,1w2+kφ,1ψφ2+kθ,1ψθ2x=xl,1Bdθdδ,where kt,0t=u,v,w,φ,θ and kt,1, respectively, denote the spring stiffness value of the moderately thick annular spherical shell.The potential energy stored in two adjacent segments can be shown as follows:(16)Usi=12∫02π∫−h/2h/2kuui−ui+12+kvvi−vi+12+kwwi−wi+12+kφψφi−ψφi+12+kθψθi−ψθi+12i,i+1Bdθdδ.Thus, the total potential energy can be written as follows:(17)UBS=Ub+∑i=1I−1Usi.


### 2.3. Admissible Displacement Functions

In this paper, the authors try to introduce the unified Jacobi polynomials to improve the selection of displacement functions based on the domain decomposition method, and the value ofφ are defined in the range of [−1, 1]. The related recurrence formulas are shown as below:(18a)P0α,βϕ=1,(18b)P1α,βϕ=α+β+22ϕ−α−β2,(18c)Piα,βϕ=α+β+2i−1α2−β2+ϕα+β+2iα+β+2i−22iα+β+iα+β+2i−2Pi−1α,βϕ−α+i−1β+i−1α+β+2iiα+β+iα+β+2i−2Pi−2α,βϕ,where α,β>−1 and i=2,3,…Therefore, the displacement functions can be generalized according to Jacobi polynomial:(19a)u=∑m=0MUmPmα,βφcosnθeiωt,(19b)v=∑m=0MVmPmα,βφsinnθeiωt,(19c)w=∑m=0MWmPmα,βφcosnθeiωt,(19d)ψx=∑m=0MψxmPmα,βφcosnθeiωt,(19e)ψθ=∑m=0MψθmPmα,βφcosnθeiωt,where Um, Vm, Wm, ψθm, and ψφm are unknown coefficients; m and n, respectively, represent the semiwave number in axial and circumferential direction, and M is highest degrees of m.


### 2.4. Solution Procedure

The Lagrangian energy functionsℒ can be expressed as follows:(20)ℒ=∑i=1HTi−Ui−UBS.Differentiate with regard to undetermined coefficients, and the formula can be obtained:(21)∂ℒ∂ϑ=0,ϑ=Um,Vm,Wm,ψxm,ψθm.Substituting the formulas mentioned above into equation (21), the matrix form can be shown as follows:(22)K−ω2MQ=0,where K, M, and Q of equation (22) represent stiffness matrix, mass matrix, and unknown coefficients matrix.


## 2.1. The Mathematical Model of Moderately Thick Annular Spherical Shell

An isotropic moderately thick annular spherical shell with radiusR is considered, as shown in Figure 1. The deformation displacements of the annular spherical shell with respect to the coordinate system can be, respectively, defined by u, v, and w in the φ, θ, and δ directions, and the system (φ, θ, δ) represent axial, circumferential, and normal directions, accordingly. Cs and h, respectively, represent the geometry center and thickness of the annular spherical shell. φ0 and φ1, respectively, denote the center angle correspond to the top and bottom of annular spherical shell. The formulas of this paper are derived on the basis of the domain decomposition method [36–41], the spherical shell is divided into H segments along axial direction, and the artificial springs are arranged at both ends of each segment; the continuity condition and various boundary conditions can be simulated by assigning the stiffness values of springs.Figure 1
Geometry notations and coordinate system of the annular spherical shell.


## 2.2. Energy Expressions of Moderately Thick Annular Spherical Shell

According to FSDT [42–44], the displacements of ith segment of moderately thick annular spherical shell can be written as follows:(1a)U¯iφ,θ,δ,t=uiφ,θ,t+δψφiφ,θ,t,(1b)V¯iφ,θ,δ,t=viφ,θ,t+δψθiφ,θ,t,(1c)W¯iφ,θ,δ,t=wiφ,θ,t.The strains of moderately thick annular spherical shell in this study can be written as follows:(2a)εφi=εφ0,i+δκφi,εθi=εθ0,i+δκθi,γφθi=γφθ0,i+δκφθi,(2b)γφδi=γφδ0,i,γθδi=γθδ0,i,where εφi, εθi, γφθi, γφδ0,i, γθδ0,i, κφi, κθi, and κφθi can, respectively, be expressed as below:(3a)εφ0,i=1A∂ui∂φ+viAB∂A∂θ+wiR,(3b)εθ0,i=1B∂vi∂θ+uiAB∂B∂φ+wiR,(3c)γφθ0,i=AB∂∂θuiA+BA∂∂φviB,(3d)κφi=1A∂ψφi∂φ+ψθiAB∂A∂θ,(3e)κθi=1B∂ψθi∂θ+ψφiAB∂B∂φ,(3f)κφθi=AB∂∂θψφiA+BA∂∂φψθiB,(3g)γφz0,i=1A∂wi∂φ−uiR+ψφi,(3h)γθz0,i=1B∂wi∂θ−viR+ψθi.In this paper, the symbolsA and B are Lamé parameters, and they can be expressed as follows [45, 46]:(4)A=R,B=Rsinφ.The stresses of the structure can be written as follows:(5)σφiσθiτφθiτφδiτθδi=Q11δQ12δ000Q12δQ22δ00000Q66δ00000Q66δ00000Q66δεφiεθiγφθiγφδiγθδi,where symbols of σ and τ, respectively, represent normal and shear stresses. The Qij(δ) are defined as follows:(6)Q11δ=Q22δ=Eδ1−μ2δ,Q12δ=μδEδ1−μ2δ,Q66δ=Eδ21+μδ,where E and μ are elastic modulus and Poisson’s ratio, respectively. The force and moment resultants can be expressed as below:(7a)NφiNθiNφθi=A11A120A12A22000A66εφ0,iεθ0,iγφθ0,i+B11B120B12B22000B66κφiκθiκφθi,(7b)MφiMθiMφθi=B11B120B12B22000B66εφ0,iεθ0,iγφθ0,i+D11D120D12D22000D66κφiκθiκφθi,(7c)QφiQθi=κ¯A6600A66γφδ0,iγθδ0,i,where κ¯ represents the shear correction factor, and it is set as 5/6 in this study. The symbols of Aij, Bij, and Dijcan be written as follows:(8)Aij,Bij,Dij=∫−h/2h/2Qijδ1,δ,δ2dδ.The strain energy of the select segment can be expressed as follows:(9)Ui=12∭VNφiεφ0,i+Nθiεθ0,i+Nφθiγφθ0,i+Mφikφi+Mθikθi+Mφθikφθi+Qφiγφδ0,i+Qθiγθδ0,iABdφdθdδ.The strain energy expression can be rewritten asUi=USi+UBi+UBCi, and the detailed expressions are shown in equations (10)–(12):(10)USi=12∭VA111A∂ui∂φ+viAB∂A∂θ+wiR2+A221B∂vi∂θ+uiAB∂B∂φ+wiR2+A66AB∂∂θuiA+BA∂∂φviB2+2A121A∂ui∂φ+viAB∂A∂θ+wiR1B∂vi∂θ+uiAB∂B∂φ+wiR+κ¯A661A∂wi∂φ−uiR+ψφi2+κ¯A661B∂wi∂θ−viR+ψθi2ABdφdθdδ,(11)UBi=12∭VD111A∂ψφi∂φ+ψθiAB∂A∂θ2+D221B∂ψθi∂θ+ψφiAB∂B∂φ2+D66AB∂∂θψφiA+BA∂∂φψθiB2+2D121A∂ψφi∂φ+ψθiAB∂A∂θ1B∂ψθi∂θ+ψφiAB∂B∂φABdφdθdδ,(12)UBSi=∭VB111A∂ui∂φ+viAB∂A∂θ+wiR1A∂ψφi∂φ+ψθiAB∂A∂θ+B121A∂ui∂φ+viAB∂A∂θ+wiR1B∂ψθi∂θ+ψφiAB∂B∂φ+B121B∂vi∂θ+uiAB∂B∂φ+wiR1A∂ψφi∂φ+ψθiAB∂A∂θ+B661A∂ui∂φ+viAB∂A∂θ+wiRAB∂∂θψφiA+BA∂∂φψθiB+B221B∂vi∂θ+uiAB∂B∂φ+wiR1B∂ψθi∂θ+ψφiAB∂B∂φABdφdθdδ.The kinetic energy of the select segment can be written as follows:(13)Ti=12∭VρδU¯˙i2+V¯˙i2+W¯˙i21+δR2ABdφdθdδ=12∫φ0φ1∫02πI0u˙i2+v˙i2+w˙i2+2I1u˙iψ˙φi+v˙iψ˙θi+I2ψ˙φi2+ψ˙θi2ABdφdθ,where the dot on the symbols represents differentiation about time, and the related symbols can be expressed as follows:(14)I0,I1,I2=∫−h/2h/2ρδ1+δR21,δ,δ2dδ.As mentioned above, the application of artificial springs can ensure the convergence of result. Each edge of the structure is restrained by three linear springs (ku, kv, kw) and two rotational springs (kφ, kθ). Then, the boundary potential energy for moderately thick annular spherical shell is expressed as follows:(15)Ub=12∫02π∫−h/2h/2ku,0u2+kv,0v2+kw,0w2+kφ,0ψφ2+kθ,0ψθ2x=xl,0Bdθdδ+12∫02π∫−h/2h/2ku,1u2+kv,1v2+kw,1w2+kφ,1ψφ2+kθ,1ψθ2x=xl,1Bdθdδ,where kt,0t=u,v,w,φ,θ and kt,1, respectively, denote the spring stiffness value of the moderately thick annular spherical shell.The potential energy stored in two adjacent segments can be shown as follows:(16)Usi=12∫02π∫−h/2h/2kuui−ui+12+kvvi−vi+12+kwwi−wi+12+kφψφi−ψφi+12+kθψθi−ψθi+12i,i+1Bdθdδ.Thus, the total potential energy can be written as follows:(17)UBS=Ub+∑i=1I−1Usi.


## 2.3. Admissible Displacement Functions

In this paper, the authors try to introduce the unified Jacobi polynomials to improve the selection of displacement functions based on the domain decomposition method, and the value ofφ are defined in the range of [−1, 1]. The related recurrence formulas are shown as below:(18a)P0α,βϕ=1,(18b)P1α,βϕ=α+β+22ϕ−α−β2,(18c)Piα,βϕ=α+β+2i−1α2−β2+ϕα+β+2iα+β+2i−22iα+β+iα+β+2i−2Pi−1α,βϕ−α+i−1β+i−1α+β+2iiα+β+iα+β+2i−2Pi−2α,βϕ,where α,β>−1 and i=2,3,…Therefore, the displacement functions can be generalized according to Jacobi polynomial:(19a)u=∑m=0MUmPmα,βφcosnθeiωt,(19b)v=∑m=0MVmPmα,βφsinnθeiωt,(19c)w=∑m=0MWmPmα,βφcosnθeiωt,(19d)ψx=∑m=0MψxmPmα,βφcosnθeiωt,(19e)ψθ=∑m=0MψθmPmα,βφcosnθeiωt,where Um, Vm, Wm, ψθm, and ψφm are unknown coefficients; m and n, respectively, represent the semiwave number in axial and circumferential direction, and M is highest degrees of m.


## 2.4. Solution Procedure

The Lagrangian energy functionsℒ can be expressed as follows:(20)ℒ=∑i=1HTi−Ui−UBS.Differentiate with regard to undetermined coefficients, and the formula can be obtained:(21)∂ℒ∂ϑ=0,ϑ=Um,Vm,Wm,ψxm,ψθm.Substituting the formulas mentioned above into equation (21), the matrix form can be shown as follows:(22)K−ω2MQ=0,where K, M, and Q of equation (22) represent stiffness matrix, mass matrix, and unknown coefficients matrix.


## 3. Numerical Results and Discussion

According to the above research, a unified analytical model for moderately thick annular spherical shell is established. The main purpose of this section is to discuss the numerical results. According to the experience of published literatures, the various boundary conditions can be represented by the first letter of a word. For example, the free and elastic edge conditions are denoted by the letterF and Ei (i = 1, 2, 3).The material properties are chosen as E=168GPa, ρ=5700kg/m3, and μ=0.3. In addition, other related parameters appeared in this paper are defined as M = 8, α = β = 0.5, H = 6; R = 1 m, φ0 = π/6, φ1 = π/2, and h = 0.06 m. The results of this paper are handle by Ω=ωRρ/E.


### 3.1. Convergence Study

In order to investigate the convergence of different spring stiffness values, Figure2 illustrates the frequency parameters of moderately thick annular spherical shell with different boundary parameters. No matter for boundary spring and connective spring, it is obvious that the edge condition changes from free to clamped case with the spring stiffness values in range of 10−11E to 1010E. For example, the boundary condition is clamped when spring stiffness values are defined in 103E to 1010E. Thus, the various boundary conditions can be easily obtained through the analysis. All edge conditions used in this study are shown in Table 1.Figure 2
Frequency parameters Ω of the annular spherical shell with different boundary parameters.
(a)(b)(c)(d)Table 1
Related spring stiffness values.
BCku,0, ku,1kv,0,kv,1kw,0,kw,1kφ,0, kφ,1kθ,0, kθ,1F00000SD0104E104E00SS104E104E104E0104EC104E104E104E104E104EE110−1E104E104E104E104EE2104E10−1E104E104E104EE310−1E10−1E104E104E104EFigure3 shows results of moderately thick annular spherical shell with different segment numbers, and the boundary condition is set as clamped-clamped case. The example shows clearly that the current method converges quickly with the increase of H, that is to say, it is not necessary for very high value of H. Considering the solution precision of moderately thick annular spherical shell, the value of H is set as 6 in this paper.Figure 3
Frequency parameters Ω of the annular spherical shell with different number of segments.
(a)(b)(c)(d)The results of moderately thick annular spherical shell with different truncation numbers are shown in Figure4. The example shows clearly that the current method converges quickly with the increase of M. To obtain the accurate solution of moderately thick annular spherical shell, the value of M is defined as 8 in this study.Figure 4
Frequency parameters Ω of the annular spherical shell with different truncation.
(a)(b)(c)(d)Figure5 displays the results of moderately thick annular spherical shell with different Jacobi parameters α and β. The ordinate in this example is the relative percentage value, and the results of α = β = 0.5 are selected as the comparative object. It is apparently that the different Jacobi parameters have little effect on free vibration of moderately thick annular spherical shell. That is to say, all the Jacobi polynomials are capable to construct the displacement functions, and it can be regarded as one of the advantages of the current method.Figure 5
Relative percentage error of the annular spherical shell with different Jacobi parameters.
(a)(b)(c)(d)


### 3.2. Free Vibration Behavior of Moderately Thick Annular Spherical Shell Structure

Table2 shows the natural frequency of moderately thick annular spherical shell with classical boundary conditions, and all the results are compared with those obtained in commercial FEM software ABAQUS. The geometrical parameters of model is defined as φ0 = π/6, φ1 = π/2, and h = 0.06 m, and the meshes size are set as 0.01 m. Table 3 exhibits the results of moderately thick annular spherical shell with classical boundary conditions, and the results are defined as Ω=ωRρ1−μ2/E. The geometrical parameters are defined as φ0 = π/8, φ1 = π/2, h/R = 0.05, and R = 1 m, and all the results are compared with Qu et al. [37]. From the above research, it is clear that the proposed method is very accurate in solving the free vibration of moderately thick annular spherical shell.Table 2
Comparison of frequency for the annular spherical shell.
nmF–FF–CC–FC–CPresentFEMPresentFEMPresentFEMPresentFEM2158.3458.37335.44335.69158.55158.701067.351068.102157.40157.67977.91978.15932.69932.601335.741337.503912.75912.591389.151391.201336.831339.102150.972158.904996.66996.951856.991858.601562.821564.302701.762707.3051455.591456.902251.482259.402132.672145.302992.143001.1031160.40160.48384.62385.04176.77176.881031.731032.302385.48386.041068.801069.701004.081004.501421.221423.4031065.401066.101515.691518.301453.911456.302232.022240.2041380.751382.202111.142113.001788.381789.703024.523032.6051576.961578.602354.722363.202282.172290.503351.623372.6041294.15294.35621.79622.71297.93298.131055.371055.902636.24637.311153.801155.101073.021073.801521.821524.4031174.391175.801664.411667.901571.911574.602333.592342.0041713.641717.302483.202490.802155.142156.903283.183295.5051960.101961.802596.722601.802398.242406.603483.083499.6051453.10453.55888.92890.55454.66455.101128.991129.702905.27907.101276.791278.801172.801173.901645.581648.5031325.751328.001840.651845.101714.251717.402464.252472.8041908.151912.732664.282673.602545.112553.103497.853518.6052509.942513.103175.943182.602595.332598.803781.523790.10Table 3
Comparison of the results for the annular spherical shell (m = 1).
nF–FF–CC–FC–CPresentQu et al. [37]PresentQu et al. [37]PresentQu et al. [37]PresentQu et al. [37]00.867940.870540.816960.816610.405390.405490.987440.9871010.861540.864120.608700.608800.151710.151701.026731.0263920.057240.057260.348490.348570.076350.076361.003211.0029230.153190.153230.657400.657330.154080.154120.998350.9980340.278930.279000.965710.965370.279010.279081.043071.0427450.429320.429401.115931.115570.429330.429411.126591.1262360.601790.601881.244431.244020.601800.601891.246191.2457870.795500.795591.400731.400260.795500.795591.401041.4005681.010411.010481.589891.589341.010411.010481.589941.5893991.246671.246721.810901.810261.246671.246721.810911.81027Tables4 and 5 show the results of moderately thick annular spherical shell, respectively, which subject to classical and elastic edge restraints. Figure 6 displays the frequency parameters Ω under different boundary conditions which varies with the increasing of mode of n. From the examples, it is obviously that the different boundary conditions have a clear effect on the results of moderately thick annular spherical shell. To improve the understanding on free vibration characteristics of moderately thick annular spherical shell, some mode shapes under different boundary conditions are given in Figure 7.Table 4
Results of the annular spherical shell with classical boundary conditions (φ0 = π/6, φ1 = π/2, h = 0.06 m, and R = 1m).
nmBoundary conditionsF–CF–SSF–SDC–CC–SSC–SDSD–SDSD–SSSS–SS110.68170.65060.35761.27261.16110.73200.60971.04601.082320.98940.95770.73591.27951.27271.16431.05421.15581.272031.34271.25160.79552.00301.85981.52641.26671.70171.720341.90471.84691.11632.33352.30461.86021.70532.11632.284152.13542.11841.42172.87892.70772.57672.13252.32962.5383210.36050.33820.22781.14511.12900.95400.93821.05241.129021.10201.06430.99361.36881.26261.25561.18661.18931.195731.44571.34211.11972.10171.92561.58311.39301.76531.785541.99711.95601.36902.83952.75671.92511.76502.46612.594152.23872.11092.01353.13653.02472.83682.63822.70262.9972310.55380.54970.54851.12211.10321.01970.99671.06131.098721.19341.15431.07631.47461.36921.35901.28311.30211.315831.60141.48561.48302.19792.02131.99021.86371.87461.897042.33672.16701.82283.08162.91442.07511.99072.73112.744752.47802.47392.16493.35853.31222.94812.75693.02083.3013410.89110.88840.88311.16671.14171.08721.07241.12011.136021.29701.24701.18551.59561.49201.46871.40511.43241.450131.78941.67011.65832.32932.15752.14392.01652.02962.053342.54402.37252.35673.28993.08492.65802.63522.91212.927953.14513.13222.56563.70653.70133.09042.91223.55583.6988Table 5
Results of annular spherical shell with elastic boundary conditions (φ0 = π/6, φ1 = π/2, h = 0.06 m, and R = 1m).
nmBoundary conditionsE1–E1E1–E2E1–E3E2–E2E2–E3E3–E3110.66820.80250.41560.67440.45000.189421.14371.27780.96341.27660.95290.457631.36701.51041.36621.69521.33631.294842.02092.01381.51222.13061.79021.492052.15262.38452.06362.27252.13692.0342210.97700.93950.66130.91950.65640.620121.35321.35331.35171.34951.34950.701031.41632.01861.36722.02451.42481.351942.09122.15302.03602.32912.02512.021152.74412.83152.34952.77952.47782.2574311.04101.02400.85541.02090.85170.813221.45421.44241.40521.44121.40611.216631.99332.16481.83162.16191.85031.694242.18332.69632.17662.77732.17612.112453.16573.13783.10873.13753.13082.8808411.12131.11541.01331.11501.01260.989221.56741.56261.51621.56261.51671.447632.30862.30372.22592.30332.22562.224442.64443.28992.45103.28932.45672.337653.30183.30373.29063.33613.28983.2623Figure 6
Frequency parameters Ω of the annular spherical shell with different boundary conditions.
(a)(b)(c)(d)Figure 7
Comparison of the FEM and predicted mode shapes for the annular spherical shell structure.Tables6 and 7 and Figure 8 display the results with different h/R ratios in moderately thick annular spherical shell. From the examples, it is obvious that that the results have a tendency to increase with h/R increasing. Not surprisingly, the frequency parameters Ω increased obviously with the increase of mode of m. Tables 8 and 9 and Figure 9 exhibit the results with different φ0 in moderately thick annular spherical shell. In addition, the results with different φ1 in moderately thick annular spherical shell are shown in Tables 10 and 11, in which φ0 = π/8. From the examples, it is remarkable that the frequency parameters Ω tend to increase with the increase of φ0, and the results usually decrease monotonously as the φ1 increases, that is to say higher frequency parameters can be obtained as the structural scale decreases. Beyond that we can also see that the different boundary conditions have apparent effects on the frequency parameters Ω.Table 6
Results of annular spherical shell with differenth/R ratios (φ0 = π/6, φ1 = π/2, R = 1m, and n = 1).
Boundary conditionsh/Rm12345F–C0.040.66920.95621.16051.57972.01620.050.67560.97181.24911.77272.09840.060.68170.98941.34271.90472.13540.070.68771.00901.43621.97512.13650.080.69341.03041.52552.02142.1366F–SS0.040.64620.93491.10771.47892.01010.050.64840.94561.17601.67102.07670.060.65060.95771.25161.84692.11840.070.65280.97111.33161.96662.13610.080.65490.98581.41332.02032.1365C–C0.041.10641.23071.63672.18842.31180.051.19031.25451.82872.28692.59640.061.27261.27952.00302.33352.87890.071.28931.37022.12292.42353.03820.081.30571.45982.18092.56303.1001C–SS0.041.03871.22631.53022.05512.28550.051.09771.25421.69092.28632.40670.061.16111.27271.85982.30462.70770.071.22241.29312.01622.33142.94220.081.26461.33272.13432.39033.0668C–SD0.040.71341.05431.39701.59202.08200.050.72281.10711.48911.69852.40450.060.73201.16431.52641.86022.57670.070.74111.22211.55002.03142.61790.080.75041.27701.57382.19382.6435E1–E10.040.65811.07421.24161.60432.12740.050.66251.11511.29561.81952.13640.060.66821.14371.36702.02092.15260.070.67471.16401.44972.11032.27080.080.68171.18041.53702.12042.4550E2–E20.040.65621.10711.48171.92302.16960.050.66471.18911.61492.01432.23450.060.67441.27661.69522.13062.27260.070.68491.36561.74042.19302.38670.080.69601.45321.76992.21052.5491E3–E30.040.21810.42151.12211.43471.64670.050.20070.43881.20621.47571.82920.060.18940.45761.29481.49202.03420.070.18200.47741.38081.50742.23410.080.17750.49781.44801.53972.4198Table 7
Results of annular spherical shell with differenth/R ratios (φ0 = π/6, φ1 = π/2, R = 1m, and n = 2).
Boundary conditionsh/Rm12345F–C0.040.31731.03181.22231.66832.03460.050.33881.06461.33181.88572.09020.060.36051.10201.44571.99712.23870.070.38221.14311.55812.03422.44950.080.40391.18671.66312.06192.6536F–SS0.040.30001.01641.15891.55502.03280.050.31911.03851.24691.76882.06680.060.33821.06431.34211.95602.11090.070.35711.09321.44062.03382.25780.080.37561.12491.53912.05582.4519C–C0.041.10661.17981.65782.27372.93660.051.12571.27141.88212.62802.99900.061.14511.36882.10172.83953.13650.071.16571.46812.30792.90453.23230.081.18741.56642.49432.93623.2494C–SS0.041.10071.12171.53892.11202.91410.051.11631.18811.73052.46212.97910.061.12901.26261.92562.75673.02470.071.14141.34132.11622.89883.15500.081.15431.42172.29762.93413.2243C–SD0.040.93491.11761.46441.62882.13780.050.94371.18411.55761.74282.49910.060.95401.25561.58311.92512.83680.070.96571.32811.59822.11513.11900.080.97851.39651.61592.29913.2221E1–E10.040.94661.17841.39301.63512.30540.050.96061.26941.39901.86452.69150.060.97701.35321.41632.09122.74410.070.99531.38321.48982.30702.74480.081.01521.38911.58702.50762.7457E2–E20.040.88231.15961.59642.27142.32280.050.90001.25141.81792.32222.62580.060.91951.34952.02452.32922.77950.070.94051.44972.19272.35392.83040.080.96281.54902.27142.43752.8825E3–E30.040.56840.66611.18281.57632.20370.050.59440.68531.26251.80422.24560.060.62010.70101.35192.02112.25740.070.64550.71421.44622.18832.30340.080.66940.72681.54142.23102.4565Figure 8
Frequency parameters Ω of the annular spherical shell with differenth/R ratios (m = 3).
(a)(b)(c)(d)Table 8
Results of annular spherical shell with differentφ0 (φ1 = π/2, R = 1m, h = 0.06 m, and n = 1).
Boundary conditionsφ0m12345F–Cπ/80.64360.97191.23591.70101.9829π/60.68170.98941.34271.90472.1354π/50.72071.01681.48582.06552.1588π/40.79271.10031.84392.12052.4764π/30.93241.60522.37323.22533.7807F–SSπ/80.61510.94401.17151.62211.9529π/60.65060.95771.25161.84692.1184π/50.68690.97681.36462.05922.1445π/40.75481.02981.66762.10472.4733π/30.88471.34692.37113.02943.5040C–Cπ/81.13481.17901.72922.17922.4499π/61.27261.27952.00302.33352.8789π/51.35721.44352.26592.54133.3283π/41.50281.83952.66053.23754.1434π/31.98263.44603.80576.07316.3115C–SSπ/81.05211.17491.60772.17762.2916π/61.16111.27271.85982.30462.7077π/51.28361.35792.14252.44013.1824π/41.45971.61872.64982.93274.0995π/31.76922.98283.80545.55896.3115C–SDπ/80.66811.06151.33251.60752.2854π/60.73201.16431.52641.86022.5767π/50.78941.28341.72472.14882.7264π/40.89631.58302.11952.77813.0742π/31.27192.85033.31753.98095.5639E1–E1π/80.63101.06951.25331.73242.1623π/60.66821.14371.36702.02092.1526π/50.69631.17921.50782.20432.3900π/40.73491.21601.88372.52203.1666π/30.75561.62503.48263.70926.0038E2–E2π/80.65081.14571.56711.90462.1186π/60.67441.27661.69522.13062.2726π/50.69291.43661.76642.36072.4996π/40.73271.79941.87252.72603.2327π/30.89022.13203.44613.87836.0731E3–E3π/80.17270.42521.15861.45771.7434π/60.18940.45761.29481.49202.0342π/50.20340.49681.44831.51532.3722π/40.22690.59111.51231.86133.0009π/30.28320.89051.74643.47074.0255Table 9
Results of annular spherical shell with differentφ0 (φ1 = π/2, R = 1m, h = 0.06 m, and n = 2).
Boundary conditionsφ0m12345F–Cπ/80.39891.08381.34921.88822.0273π/60.36051.10201.44571.99712.2387π/50.38251.12691.58222.12602.5498π/40.46421.20321.93842.43672.9543π/30.70031.67723.05153.25703.7890F–SSπ/80.38661.05281.26771.78192.0039π/60.33821.06431.34211.95602.1109π/50.35161.07901.45022.12192.3433π/40.41881.12481.74672.42822.9414π/30.61851.42803.01883.14093.4721C–Cπ/81.06631.25021.81012.46632.7955π/61.14511.36882.10172.83953.1365π/51.22261.51852.43203.09753.4107π/41.37821.89813.13633.44274.0992π/31.92763.48514.23976.10676.2292C–SSπ/81.05541.17421.67262.34052.7515π/61.12901.26261.92562.75673.0247π/51.19871.37672.21903.09673.2830π/41.32751.67742.90013.37444.0740π/31.70853.02704.23975.59816.2292C–SDπ/80.93431.17101.42591.67272.3894π/60.95401.25561.58311.92512.8368π/50.97491.36601.75032.21773.2817π/41.02981.65622.09762.90283.6387π/31.34072.88633.24964.51225.6032E1–E1π/80.94791.24731.34451.79682.5694π/60.97701.35321.41632.09122.7441π/51.01071.41431.54232.42892.7437π/41.09831.43991.91992.90013.2094π/31.33491.65643.51493.90166.0480E2–E2π/80.88941.22731.75922.17002.5066π/60.91951.34952.02452.32922.7795π/50.95101.50232.28012.51562.8662π/41.02841.88662.52272.92653.3212π/31.40262.64163.48504.01836.1066E3–E3π/80.61890.75551.24541.73372.1863π/60.62010.70101.35192.02112.2574π/50.62020.68651.49942.23442.4279π/40.57720.76771.88302.30263.1813π/30.48311.28232.33693.49414.5082Figure 9
Frequency parameters Ω of the annular spherical shell with differentφ0 (m = 3).
(a)(b)(c)(d)Table 10
Results of annular spherical shell with differentφ1 (φ0 = π/8, R = 1m, h = 0.06 m, and n = 1).
Boundary conditionsΦ1m12345F–Cπ/63.64318.968112.642813.211822.9000π/51.68995.48355.85837.613212.5239π/41.18182.61333.84554.92575.9473π/30.98141.36642.43152.84423.3609π/20.64360.97191.23591.70101.9829F–SSπ/61.35478.968111.607813.080822.8995π/51.18044.61805.65067.605511.5638π/41.08252.09573.84044.88655.2709π/30.95271.21492.22772.73113.3606π/20.61520.94401.17151.62211.9529C–Cπ/611.823715.042723.112725.120129.8383π/55.42668.530211.283614.047616.7648π/42.68245.26725.45838.46109.3175π/31.62792.43193.33734.30475.0647π/21.13481.17901.72922.17932.4499C–SSπ/69.798715.042222.612725.118329.8370π/54.25158.529610.389614.038416.7648π/42.19554.75695.28718.45038.6874π/31.53332.09923.33723.88815.0582π/21.05211.17501.60772.17762.2916C–SDπ/69.612812.354915.237322.680429.6584π/53.96376.76428.840710.464816.5420π/41.71203.94124.81675.73168.6811π/30.88112.04602.41363.71703.9839π/20.66811.06151.33251.60752.2854E1–E1π/62.527711.724514.948023.157825.3798π/52.18535.27608.416911.335414.3567π/41.66682.56135.19885.47498.8397π/30.91401.68022.46533.33834.2588π/20.63101.06951.25331.73242.1624E2–E2π/62.405811.829015.166823.115325.2815π/52.08275.45948.682911.286314.3044π/41.58102.86915.41205.48548.8295π/30.96552.04152.45793.47214.3036π/20.65081.14571.56711.90462.1187E3–E3π/60.60653.052311.724415.328823.1578π/50.44012.62345.28288.951811.3361π/40.32741.86762.69815.45735.8831π/30.24090.88081.93412.45494.0376π/20.17270.42521.15861.45771.7434Table 11
Results of annular spherical shell with differentφ1 (φ0 = π/2, R = 1m, h = 0.06 m, and n = 2).
Boundary conditionsφ1m12345F–Cπ/63.81509.774412.794913.267523.3452π/51.79765.79576.56797.904212.6403π/41.07862.84074.30145.68356.0835π/30.66101.59002.64623.04914.1950π/20.39901.08381.34921.88822.0273F–SSπ/61.78949.773511.814713.118623.3427π/51.25254.86916.47327.903411.7076π/40.88582.36094.30115.39305.6844π/30.59421.42802.41312.97574.1595π/20.38661.05281.26771.78192.0040C–Cπ/611.872115.541623.196825.007130.2760π/55.46999.225511.380213.915317.3881π/42.67715.52506.11508.36559.4051π/31.52652.53094.09034.43665.0917π/21.06631.25021.81012.46642.7956C–SSπ/69.902415.540522.699525.006330.2709π/54.32919.225010.499113.906417.3881π/42.18524.87096.10288.35858.7829π/31.40572.20613.91474.21365.0848π/21.05551.17421.67262.34052.7516C–SDπ/69.704812.054316.112622.759929.7101π/54.08756.46109.906010.586316.6106π/41.86883.74544.90636.85648.7765π/31.09482.14262.33053.93904.8355π/20.93441.17101.42591.67272.3895E1–E1π/63.456711.782415.173523.243625.6980π/52.97635.35068.805911.426414.7994π/42.21702.69975.56495.80079.2446π/31.25001.87522.54404.09784.3435π/20.94791.24731.34451.79682.5694E2–E2π/64.694111.892515.356023.206525.6246π/53.99365.64798.944511.388114.8358π/42.34913.84455.53475.77519.4039π/31.26452.49773.07763.79524.4128π/20.88941.22731.75922.17002.5066E3–E3π/60.79604.877711.782715.971723.2436π/50.82844.14005.41249.894411.4306π/40.88712.28133.62415.55597.0605π/30.86991.07422.47662.86474.2797π/20.61890.75551.24551.73372.1863


## 3.1. Convergence Study

In order to investigate the convergence of different spring stiffness values, Figure2 illustrates the frequency parameters of moderately thick annular spherical shell with different boundary parameters. No matter for boundary spring and connective spring, it is obvious that the edge condition changes from free to clamped case with the spring stiffness values in range of 10−11E to 1010E. For example, the boundary condition is clamped when spring stiffness values are defined in 103E to 1010E. Thus, the various boundary conditions can be easily obtained through the analysis. All edge conditions used in this study are shown in Table 1.Figure 2
Frequency parameters Ω of the annular spherical shell with different boundary parameters.
(a)(b)(c)(d)Table 1
Related spring stiffness values.
BCku,0, ku,1kv,0,kv,1kw,0,kw,1kφ,0, kφ,1kθ,0, kθ,1F00000SD0104E104E00SS104E104E104E0104EC104E104E104E104E104EE110−1E104E104E104E104EE2104E10−1E104E104E104EE310−1E10−1E104E104E104EFigure3 shows results of moderately thick annular spherical shell with different segment numbers, and the boundary condition is set as clamped-clamped case. The example shows clearly that the current method converges quickly with the increase of H, that is to say, it is not necessary for very high value of H. Considering the solution precision of moderately thick annular spherical shell, the value of H is set as 6 in this paper.Figure 3
Frequency parameters Ω of the annular spherical shell with different number of segments.
(a)(b)(c)(d)The results of moderately thick annular spherical shell with different truncation numbers are shown in Figure4. The example shows clearly that the current method converges quickly with the increase of M. To obtain the accurate solution of moderately thick annular spherical shell, the value of M is defined as 8 in this study.Figure 4
Frequency parameters Ω of the annular spherical shell with different truncation.
(a)(b)(c)(d)Figure5 displays the results of moderately thick annular spherical shell with different Jacobi parameters α and β. The ordinate in this example is the relative percentage value, and the results of α = β = 0.5 are selected as the comparative object. It is apparently that the different Jacobi parameters have little effect on free vibration of moderately thick annular spherical shell. That is to say, all the Jacobi polynomials are capable to construct the displacement functions, and it can be regarded as one of the advantages of the current method.Figure 5
Relative percentage error of the annular spherical shell with different Jacobi parameters.
(a)(b)(c)(d)


## 3.2. Free Vibration Behavior of Moderately Thick Annular Spherical Shell Structure

Table2 shows the natural frequency of moderately thick annular spherical shell with classical boundary conditions, and all the results are compared with those obtained in commercial FEM software ABAQUS. The geometrical parameters of model is defined as φ0 = π/6, φ1 = π/2, and h = 0.06 m, and the meshes size are set as 0.01 m. Table 3 exhibits the results of moderately thick annular spherical shell with classical boundary conditions, and the results are defined as Ω=ωRρ1−μ2/E. The geometrical parameters are defined as φ0 = π/8, φ1 = π/2, h/R = 0.05, and R = 1 m, and all the results are compared with Qu et al. [37]. From the above research, it is clear that the proposed method is very accurate in solving the free vibration of moderately thick annular spherical shell.Table 2
Comparison of frequency for the annular spherical shell.
nmF–FF–CC–FC–CPresentFEMPresentFEMPresentFEMPresentFEM2158.3458.37335.44335.69158.55158.701067.351068.102157.40157.67977.91978.15932.69932.601335.741337.503912.75912.591389.151391.201336.831339.102150.972158.904996.66996.951856.991858.601562.821564.302701.762707.3051455.591456.902251.482259.402132.672145.302992.143001.1031160.40160.48384.62385.04176.77176.881031.731032.302385.48386.041068.801069.701004.081004.501421.221423.4031065.401066.101515.691518.301453.911456.302232.022240.2041380.751382.202111.142113.001788.381789.703024.523032.6051576.961578.602354.722363.202282.172290.503351.623372.6041294.15294.35621.79622.71297.93298.131055.371055.902636.24637.311153.801155.101073.021073.801521.821524.4031174.391175.801664.411667.901571.911574.602333.592342.0041713.641717.302483.202490.802155.142156.903283.183295.5051960.101961.802596.722601.802398.242406.603483.083499.6051453.10453.55888.92890.55454.66455.101128.991129.702905.27907.101276.791278.801172.801173.901645.581648.5031325.751328.001840.651845.101714.251717.402464.252472.8041908.151912.732664.282673.602545.112553.103497.853518.6052509.942513.103175.943182.602595.332598.803781.523790.10Table 3
Comparison of the results for the annular spherical shell (m = 1).
nF–FF–CC–FC–CPresentQu et al. [37]PresentQu et al. [37]PresentQu et al. [37]PresentQu et al. [37]00.867940.870540.816960.816610.405390.405490.987440.9871010.861540.864120.608700.608800.151710.151701.026731.0263920.057240.057260.348490.348570.076350.076361.003211.0029230.153190.153230.657400.657330.154080.154120.998350.9980340.278930.279000.965710.965370.279010.279081.043071.0427450.429320.429401.115931.115570.429330.429411.126591.1262360.601790.601881.244431.244020.601800.601891.246191.2457870.795500.795591.400731.400260.795500.795591.401041.4005681.010411.010481.589891.589341.010411.010481.589941.5893991.246671.246721.810901.810261.246671.246721.810911.81027Tables4 and 5 show the results of moderately thick annular spherical shell, respectively, which subject to classical and elastic edge restraints. Figure 6 displays the frequency parameters Ω under different boundary conditions which varies with the increasing of mode of n. From the examples, it is obviously that the different boundary conditions have a clear effect on the results of moderately thick annular spherical shell. To improve the understanding on free vibration characteristics of moderately thick annular spherical shell, some mode shapes under different boundary conditions are given in Figure 7.Table 4
Results of the annular spherical shell with classical boundary conditions (φ0 = π/6, φ1 = π/2, h = 0.06 m, and R = 1m).
nmBoundary conditionsF–CF–SSF–SDC–CC–SSC–SDSD–SDSD–SSSS–SS110.68170.65060.35761.27261.16110.73200.60971.04601.082320.98940.95770.73591.27951.27271.16431.05421.15581.272031.34271.25160.79552.00301.85981.52641.26671.70171.720341.90471.84691.11632.33352.30461.86021.70532.11632.284152.13542.11841.42172.87892.70772.57672.13252.32962.5383210.36050.33820.22781.14511.12900.95400.93821.05241.129021.10201.06430.99361.36881.26261.25561.18661.18931.195731.44571.34211.11972.10171.92561.58311.39301.76531.785541.99711.95601.36902.83952.75671.92511.76502.46612.594152.23872.11092.01353.13653.02472.83682.63822.70262.9972310.55380.54970.54851.12211.10321.01970.99671.06131.098721.19341.15431.07631.47461.36921.35901.28311.30211.315831.60141.48561.48302.19792.02131.99021.86371.87461.897042.33672.16701.82283.08162.91442.07511.99072.73112.744752.47802.47392.16493.35853.31222.94812.75693.02083.3013410.89110.88840.88311.16671.14171.08721.07241.12011.136021.29701.24701.18551.59561.49201.46871.40511.43241.450131.78941.67011.65832.32932.15752.14392.01652.02962.053342.54402.37252.35673.28993.08492.65802.63522.91212.927953.14513.13222.56563.70653.70133.09042.91223.55583.6988Table 5
Results of annular spherical shell with elastic boundary conditions (φ0 = π/6, φ1 = π/2, h = 0.06 m, and R = 1m).
nmBoundary conditionsE1–E1E1–E2E1–E3E2–E2E2–E3E3–E3110.66820.80250.41560.67440.45000.189421.14371.27780.96341.27660.95290.457631.36701.51041.36621.69521.33631.294842.02092.01381.51222.13061.79021.492052.15262.38452.06362.27252.13692.0342210.97700.93950.66130.91950.65640.620121.35321.35331.35171.34951.34950.701031.41632.01861.36722.02451.42481.351942.09122.15302.03602.32912.02512.021152.74412.83152.34952.77952.47782.2574311.04101.02400.85541.02090.85170.813221.45421.44241.40521.44121.40611.216631.99332.16481.83162.16191.85031.694242.18332.69632.17662.77732.17612.112453.16573.13783.10873.13753.13082.8808411.12131.11541.01331.11501.01260.989221.56741.56261.51621.56261.51671.447632.30862.30372.22592.30332.22562.224442.64443.28992.45103.28932.45672.337653.30183.30373.29063.33613.28983.2623Figure 6
Frequency parameters Ω of the annular spherical shell with different boundary conditions.
(a)(b)(c)(d)Figure 7
Comparison of the FEM and predicted mode shapes for the annular spherical shell structure.Tables6 and 7 and Figure 8 display the results with different h/R ratios in moderately thick annular spherical shell. From the examples, it is obvious that that the results have a tendency to increase with h/R increasing. Not surprisingly, the frequency parameters Ω increased obviously with the increase of mode of m. Tables 8 and 9 and Figure 9 exhibit the results with different φ0 in moderately thick annular spherical shell. In addition, the results with different φ1 in moderately thick annular spherical shell are shown in Tables 10 and 11, in which φ0 = π/8. From the examples, it is remarkable that the frequency parameters Ω tend to increase with the increase of φ0, and the results usually decrease monotonously as the φ1 increases, that is to say higher frequency parameters can be obtained as the structural scale decreases. Beyond that we can also see that the different boundary conditions have apparent effects on the frequency parameters Ω.Table 6
Results of annular spherical shell with differenth/R ratios (φ0 = π/6, φ1 = π/2, R = 1m, and n = 1).
Boundary conditionsh/Rm12345F–C0.040.66920.95621.16051.57972.01620.050.67560.97181.24911.77272.09840.060.68170.98941.34271.90472.13540.070.68771.00901.43621.97512.13650.080.69341.03041.52552.02142.1366F–SS0.040.64620.93491.10771.47892.01010.050.64840.94561.17601.67102.07670.060.65060.95771.25161.84692.11840.070.65280.97111.33161.96662.13610.080.65490.98581.41332.02032.1365C–C0.041.10641.23071.63672.18842.31180.051.19031.25451.82872.28692.59640.061.27261.27952.00302.33352.87890.071.28931.37022.12292.42353.03820.081.30571.45982.18092.56303.1001C–SS0.041.03871.22631.53022.05512.28550.051.09771.25421.69092.28632.40670.061.16111.27271.85982.30462.70770.071.22241.29312.01622.33142.94220.081.26461.33272.13432.39033.0668C–SD0.040.71341.05431.39701.59202.08200.050.72281.10711.48911.69852.40450.060.73201.16431.52641.86022.57670.070.74111.22211.55002.03142.61790.080.75041.27701.57382.19382.6435E1–E10.040.65811.07421.24161.60432.12740.050.66251.11511.29561.81952.13640.060.66821.14371.36702.02092.15260.070.67471.16401.44972.11032.27080.080.68171.18041.53702.12042.4550E2–E20.040.65621.10711.48171.92302.16960.050.66471.18911.61492.01432.23450.060.67441.27661.69522.13062.27260.070.68491.36561.74042.19302.38670.080.69601.45321.76992.21052.5491E3–E30.040.21810.42151.12211.43471.64670.050.20070.43881.20621.47571.82920.060.18940.45761.29481.49202.03420.070.18200.47741.38081.50742.23410.080.17750.49781.44801.53972.4198Table 7
Results of annular spherical shell with differenth/R ratios (φ0 = π/6, φ1 = π/2, R = 1m, and n = 2).
Boundary conditionsh/Rm12345F–C0.040.31731.03181.22231.66832.03460.050.33881.06461.33181.88572.09020.060.36051.10201.44571.99712.23870.070.38221.14311.55812.03422.44950.080.40391.18671.66312.06192.6536F–SS0.040.30001.01641.15891.55502.03280.050.31911.03851.24691.76882.06680.060.33821.06431.34211.95602.11090.070.35711.09321.44062.03382.25780.080.37561.12491.53912.05582.4519C–C0.041.10661.17981.65782.27372.93660.051.12571.27141.88212.62802.99900.061.14511.36882.10172.83953.13650.071.16571.46812.30792.90453.23230.081.18741.56642.49432.93623.2494C–SS0.041.10071.12171.53892.11202.91410.051.11631.18811.73052.46212.97910.061.12901.26261.92562.75673.02470.071.14141.34132.11622.89883.15500.081.15431.42172.29762.93413.2243C–SD0.040.93491.11761.46441.62882.13780.050.94371.18411.55761.74282.49910.060.95401.25561.58311.92512.83680.070.96571.32811.59822.11513.11900.080.97851.39651.61592.29913.2221E1–E10.040.94661.17841.39301.63512.30540.050.96061.26941.39901.86452.69150.060.97701.35321.41632.09122.74410.070.99531.38321.48982.30702.74480.081.01521.38911.58702.50762.7457E2–E20.040.88231.15961.59642.27142.32280.050.90001.25141.81792.32222.62580.060.91951.34952.02452.32922.77950.070.94051.44972.19272.35392.83040.080.96281.54902.27142.43752.8825E3–E30.040.56840.66611.18281.57632.20370.050.59440.68531.26251.80422.24560.060.62010.70101.35192.02112.25740.070.64550.71421.44622.18832.30340.080.66940.72681.54142.23102.4565Figure 8
Frequency parameters Ω of the annular spherical shell with differenth/R ratios (m = 3).
(a)(b)(c)(d)Table 8
Results of annular spherical shell with differentφ0 (φ1 = π/2, R = 1m, h = 0.06 m, and n = 1).
Boundary conditionsφ0m12345F–Cπ/80.64360.97191.23591.70101.9829π/60.68170.98941.34271.90472.1354π/50.72071.01681.48582.06552.1588π/40.79271.10031.84392.12052.4764π/30.93241.60522.37323.22533.7807F–SSπ/80.61510.94401.17151.62211.9529π/60.65060.95771.25161.84692.1184π/50.68690.97681.36462.05922.1445π/40.75481.02981.66762.10472.4733π/30.88471.34692.37113.02943.5040C–Cπ/81.13481.17901.72922.17922.4499π/61.27261.27952.00302.33352.8789π/51.35721.44352.26592.54133.3283π/41.50281.83952.66053.23754.1434π/31.98263.44603.80576.07316.3115C–SSπ/81.05211.17491.60772.17762.2916π/61.16111.27271.85982.30462.7077π/51.28361.35792.14252.44013.1824π/41.45971.61872.64982.93274.0995π/31.76922.98283.80545.55896.3115C–SDπ/80.66811.06151.33251.60752.2854π/60.73201.16431.52641.86022.5767π/50.78941.28341.72472.14882.7264π/40.89631.58302.11952.77813.0742π/31.27192.85033.31753.98095.5639E1–E1π/80.63101.06951.25331.73242.1623π/60.66821.14371.36702.02092.1526π/50.69631.17921.50782.20432.3900π/40.73491.21601.88372.52203.1666π/30.75561.62503.48263.70926.0038E2–E2π/80.65081.14571.56711.90462.1186π/60.67441.27661.69522.13062.2726π/50.69291.43661.76642.36072.4996π/40.73271.79941.87252.72603.2327π/30.89022.13203.44613.87836.0731E3–E3π/80.17270.42521.15861.45771.7434π/60.18940.45761.29481.49202.0342π/50.20340.49681.44831.51532.3722π/40.22690.59111.51231.86133.0009π/30.28320.89051.74643.47074.0255Table 9
Results of annular spherical shell with differentφ0 (φ1 = π/2, R = 1m, h = 0.06 m, and n = 2).
Boundary conditionsφ0m12345F–Cπ/80.39891.08381.34921.88822.0273π/60.36051.10201.44571.99712.2387π/50.38251.12691.58222.12602.5498π/40.46421.20321.93842.43672.9543π/30.70031.67723.05153.25703.7890F–SSπ/80.38661.05281.26771.78192.0039π/60.33821.06431.34211.95602.1109π/50.35161.07901.45022.12192.3433π/40.41881.12481.74672.42822.9414π/30.61851.42803.01883.14093.4721C–Cπ/81.06631.25021.81012.46632.7955π/61.14511.36882.10172.83953.1365π/51.22261.51852.43203.09753.4107π/41.37821.89813.13633.44274.0992π/31.92763.48514.23976.10676.2292C–SSπ/81.05541.17421.67262.34052.7515π/61.12901.26261.92562.75673.0247π/51.19871.37672.21903.09673.2830π/41.32751.67742.90013.37444.0740π/31.70853.02704.23975.59816.2292C–SDπ/80.93431.17101.42591.67272.3894π/60.95401.25561.58311.92512.8368π/50.97491.36601.75032.21773.2817π/41.02981.65622.09762.90283.6387π/31.34072.88633.24964.51225.6032E1–E1π/80.94791.24731.34451.79682.5694π/60.97701.35321.41632.09122.7441π/51.01071.41431.54232.42892.7437π/41.09831.43991.91992.90013.2094π/31.33491.65643.51493.90166.0480E2–E2π/80.88941.22731.75922.17002.5066π/60.91951.34952.02452.32922.7795π/50.95101.50232.28012.51562.8662π/41.02841.88662.52272.92653.3212π/31.40262.64163.48504.01836.1066E3–E3π/80.61890.75551.24541.73372.1863π/60.62010.70101.35192.02112.2574π/50.62020.68651.49942.23442.4279π/40.57720.76771.88302.30263.1813π/30.48311.28232.33693.49414.5082Figure 9
Frequency parameters Ω of the annular spherical shell with differentφ0 (m = 3).
(a)(b)(c)(d)Table 10
Results of annular spherical shell with differentφ1 (φ0 = π/8, R = 1m, h = 0.06 m, and n = 1).
Boundary conditionsΦ1m12345F–Cπ/63.64318.968112.642813.211822.9000π/51.68995.48355.85837.613212.5239π/41.18182.61333.84554.92575.9473π/30.98141.36642.43152.84423.3609π/20.64360.97191.23591.70101.9829F–SSπ/61.35478.968111.607813.080822.8995π/51.18044.61805.65067.605511.5638π/41.08252.09573.84044.88655.2709π/30.95271.21492.22772.73113.3606π/20.61520.94401.17151.62211.9529C–Cπ/611.823715.042723.112725.120129.8383π/55.42668.530211.283614.047616.7648π/42.68245.26725.45838.46109.3175π/31.62792.43193.33734.30475.0647π/21.13481.17901.72922.17932.4499C–SSπ/69.798715.042222.612725.118329.8370π/54.25158.529610.389614.038416.7648π/42.19554.75695.28718.45038.6874π/31.53332.09923.33723.88815.0582π/21.05211.17501.60772.17762.2916C–SDπ/69.612812.354915.237322.680429.6584π/53.96376.76428.840710.464816.5420π/41.71203.94124.81675.73168.6811π/30.88112.04602.41363.71703.9839π/20.66811.06151.33251.60752.2854E1–E1π/62.527711.724514.948023.157825.3798π/52.18535.27608.416911.335414.3567π/41.66682.56135.19885.47498.8397π/30.91401.68022.46533.33834.2588π/20.63101.06951.25331.73242.1624E2–E2π/62.405811.829015.166823.115325.2815π/52.08275.45948.682911.286314.3044π/41.58102.86915.41205.48548.8295π/30.96552.04152.45793.47214.3036π/20.65081.14571.56711.90462.1187E3–E3π/60.60653.052311.724415.328823.1578π/50.44012.62345.28288.951811.3361π/40.32741.86762.69815.45735.8831π/30.24090.88081.93412.45494.0376π/20.17270.42521.15861.45771.7434Table 11
Results of annular spherical shell with differentφ1 (φ0 = π/2, R = 1m, h = 0.06 m, and n = 2).
Boundary conditionsφ1m12345F–Cπ/63.81509.774412.794913.267523.3452π/51.79765.79576.56797.904212.6403π/41.07862.84074.30145.68356.0835π/30.66101.59002.64623.04914.1950π/20.39901.08381.34921.88822.0273F–SSπ/61.78949.773511.814713.118623.3427π/51.25254.86916.47327.903411.7076π/40.88582.36094.30115.39305.6844π/30.59421.42802.41312.97574.1595π/20.38661.05281.26771.78192.0040C–Cπ/611.872115.541623.196825.007130.2760π/55.46999.225511.380213.915317.3881π/42.67715.52506.11508.36559.4051π/31.52652.53094.09034.43665.0917π/21.06631.25021.81012.46642.7956C–SSπ/69.902415.540522.699525.006330.2709π/54.32919.225010.499113.906417.3881π/42.18524.87096.10288.35858.7829π/31.40572.20613.91474.21365.0848π/21.05551.17421.67262.34052.7516C–SDπ/69.704812.054316.112622.759929.7101π/54.08756.46109.906010.586316.6106π/41.86883.74544.90636.85648.7765π/31.09482.14262.33053.93904.8355π/20.93441.17101.42591.67272.3895E1–E1π/63.456711.782415.173523.243625.6980π/52.97635.35068.805911.426414.7994π/42.21702.69975.56495.80079.2446π/31.25001.87522.54404.09784.3435π/20.94791.24731.34451.79682.5694E2–E2π/64.694111.892515.356023.206525.6246π/53.99365.64798.944511.388114.8358π/42.34913.84455.53475.77519.4039π/31.26452.49773.07763.79524.4128π/20.88941.22731.75922.17002.5066E3–E3π/60.79604.877711.782715.971723.2436π/50.82844.14005.41249.894411.4306π/40.88712.28133.62415.55597.0605π/30.86991.07422.47662.86474.2797π/20.61890.75551.24551.73372.1863


## 4. Conclusions

This paper introduced a unified computational Ritz method to investigate free vibration characteristics of isotropic moderately thick annular spherical shell with general boundary conditions. The energy expressions of the annular spherical shell were established based on FSDT. The spring stiffness method is introduced to guarantee continuity and simulate various boundary conditions on the basic of the domain decomposition method. Beyond that the unified Jacobi polynomials and Fourier series are, respectively, applied to represent the displacement admissible function along axial direction and circumferential direction of the structure. The final solutions can be obtained according to the Ritz method. In order to prove the validity of the proposed method, the results of the same condition are compared with those obtained by the finite element method and published literatures. The results show that the current method has fast convergence and delightful accuracy through the comparative study. The most discovery of the current method is that the selection of admissible displacement functions is generalized by applying Jacobi polynomial. In addition, the effects on the boundary conditions, shell segments, and structural parameters are presented through a large number of numerical examples, which can be used as basic data to provide reference for future staff of such research in this field.



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