9/12/2009

ANDE Course - Guided Waves

Part 1
September 11, 2009

Overview
Recap
Waves guided by physical boundaries of a medium
SH, Lamb, and Lam waves

Waves guided by an interface between two media

Rayleigh waves
Love waves
Stonely/Sezawa/Scholte waves

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Bulk waves: Longitudinal Waves

Bulk waves: Shear (V) Waves

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Bulk Waves: Surface Excitation

Guided Waves
Unbounded plates
Shells
Rods

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Possible Guided Wave Modes

Propagating waves
Attenuating waves
Non-propagating waves

Steady state response

Transient response

Frequency domain response and Transient response

can be very different!

Method of Partial Waves

down going wave

Aeikz cos ikxsin

c0

ikz cos ikx sin

Be

up going wave

Superposition of partial waves

( Ae ikz cos Be ikz cos )eikxsin

Assume rigid boundary conditions at z = 0 and z = h
(i.e., vertical component of displacement must vanish)

from e 2ik1h cos

nc1
1, we get f n
2h cos

(note : e 2 i n 1)

cP

c1
sin

Cut-off frequencies

Dispersion
relation

c pn

c1
1

n
q2

; q

2h

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Guided Shear (H) Waves

h / cT

SH waves do not mode convert during reflection

from a traction-free surface

Partial wave pattern for transverse resonance analysis of

SH wave propagation in an isotropic plate with free boundaries

2u z

1 2u z
; u z u z 0 ( y)ei ( kxt )
cT2 t 2

kh
Dispersion curves for SH modes in an
isotropic plate with free boundaries

d uz 0

q 2u z 0 0, q 2 2 k 2
dy 2
cT
2

u z / y 0,

y h

2h2

n
cos qh sin qh 0 qh
(n 0,1,2...)
2

cT2

n
2 2

k h
2
2

SH Dispersion Curves
12.0

10.0

Vph (m/ms)

8.0

6.0

4.0

2.0

Symmetric SH
Anti-Symmetric SH

0.0
0.0

1.0

2.0

1.0

2.0

3.0

4.0

5.0

3.0

4.0

5.0

Vgr (m/ms)

3.0

2.0

1.0

0.0
0.0

Frequency (MHz)

SH dispersion curves for Aluminium plate of 3mmThickness

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Love waves

Large transverse displacements were

observed during Earthquakes
Love suspected that a layered earth may lead
to this observation

u y , cT ,

z = -d
z=0

Love Waves

u y , cT ,

u y A1e i ( kx qz t ) A2 e i ( kx qz t )
u y B1e qz e i ( kxt )

cT k

Boundary conditions

zy 0 z d
and zy zy

z0
/c

u y uy

Frequency equation

q q tan qd 0
c2
c2
where q 2 k 2 2 1; q2 k 2 1 2
cT

cT

n2 (n ) 2 c 2 ; c 2

cT2 cT2
cT2 cT2

cT k
k
Love wave dispersion curves

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Symmetric and Antisymmetric Lamb Modes

(a) About the median plane, longitudinal components are equal, transverse
components are opposite
(b) About the median plane, transverse components are equal, longitudinal
components are opposite

u1 [ikB cos(pz ) qA cos(qz )]ei (t kx)

u2 [ pB sin( pz ) ikAsin(qz )]ei (t kx)
mode
Symmetric
Antisymmetric

Longitudinal
component of z

Transverse
component of z

even

odd

/2

odd

even

A and B are arbitrary constants determined by boundary conditions

Rayleigh-Lamb Equation
tan(qh )
4k 2 pq
2
tan( ph )
(q k 2 ) 2

symmetric modes

p k 2
cL
2

tan(qh )
(q k )

tan( ph )
4k 2 pq
2

2 2

antisymmetric modes

q 2 k 2
cT

; c : phase velocity of the mode

Alternate form

p tan( ph )
4k 2 q 2 1
; 0 or / 2
c
q tan(qh )
4
T

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Dispersion Relation
2

p k 2
cL
2

1 1
p 2 2 2
cL c
cL

q 2 k 2
cT

1 1
q 2
cT c
2

cT

: c > cL > cT or k < /cL < /cT

: cT < c < cL or /cL < k < /cT
: c < c T < cL or k > /cT > /cL

a) Wavenumbers p and q are real

b) q is real and p is imaginary
c) p and q are imaginary

Low-Frequency Region: Symmetric Mode

For modes without cut-off frequency, 0 as k 0

p tan( ph )
4k 2 q 2 1

4
cT
q tan(qh )

c 2cT 1

1 1
4k 2 (q 2 p 2 ) 4k 2 2 2 2
c
cT cL

=0

4
T

cT2
cP ( plate velocity); Bounds : cT 2 cP cL
cL2
cP

p and q are given by

(1 2 )

; recall bar velocity c0

c2

c
c
q 2 k 2 P2 1 k 2 1 2 12 and p ik 12
c11
c11
cT

Taking ph 0, qh 0, we find for the displacements u1 and u2

c

2k 2
qA1 12 uniform
u1 qA1 2
2
k q
c11
c

2 p2
x iqA1 12 kx2
u2 ikqA1 2
2 2
k q
c11

u2 (h)
u1

c12
kh kh 1
c11

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Low-Frequency Region: Antisymmetric Mode

4

p tan( ph )
4k 2 q 2 1

c
q tan(qh ) = /2
4
T

1 q 2h2 / 3 4 2 2
2 2
2
2 2

4
k
q
1

q ( p q )k h
2 2
cT4
1 p h / 3 3

2cT
c
c
1 cT2 / cL2 kh P kh P k 2 h
3
3
3

parabolic as k 0

Thin plate analogue classical plate theory

Taking ph 0, qh 0, we find for the displacements u1 and u2

u1 q 2 A

k 2 q2
k 2 q2
x

kA
kx2
2
k 2 q2
k 2 q2

k 2 q2
u2 ikA 2
k q2

u1 h
u2

kh

Mode Displacement Structure

In-plane

Wave structure of S0 mode across the thickness

of an Al plate

Out of plane

Wave structure of A0 mode across the thickness

of an Al plate

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Mode Cutoff Frequencies

As k 0,

sin qh cos ph 0

For the symmetric case, qh=n, n=0,1,2,

d 2 fd
qh

n or fd ncT
cT 2 cT 2
OR ph=n/2, n=0,1,2,

ph

d
cL 2

2 fd n

cL 2
2

or

fd

ncL
2

For the antisymmetric case,

(2n 1)cT
; and
2
fd ncL
fd

Dispersion curves for a traction-free isotropic Al plate

Group Velocity of Lamb Waves

cg

d
dk

dcP
cg cP2 cP ( fd)
d ( fd)

as

dcP
0, c g cP
d ( fd )

as

dcP
, c g 0
d ( fd )
mode cutoff

Dispersion curves for a traction-free isotropic Al plate

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Non-propagating Modes
The dominant frequency measured by the
impact-echo method corresponds to the zero
group velocity point of the 1st order
symmetrical (S1) Lamb wave of a free plate.
Consequently, the thickness resonance can be
interpreted as a standing S1 wave field
characterized by a high out-of-plane
excitability and an energy that does not
propagate away in lateral direction.

Guided Waves and Snells Law

L wave Transducer on a
water wedge

SS 316; h = 2 mm;
(VL) = 5700 m/s,
(VS) = 3046 m/s,
= 7980 kg/m3

80

A0

Ang (deg)

60

sin inc
sin 90

c probe shoe
cP

35.12
40

19.29

A1

S0

20

10.44
S1
0
2.0

A2

S2
4.0

A3

S3
6.0

A4
8.0

S4
10.0

Frequency-Thickness (MHz-mm)

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Can we measure Dispersion Curves?

Time domain

FFT
t (s)
Frequency domain

f (Hz)

Experimental Validation
Measured Transmission Spectra
Transmitted using 3.5 MHz
immersion transducer

Theoretical Transmission Spectra

Received by 3.5 MHz
immersion transducer

PVDF

Received by a large
aperture broadband
PVDF sensor

Aluminium Plate 6.5 mm

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for symmetricmodes,

Non-leaky Lamb Waves?

tan(qh)
4k 2 pq
2
tan( ph)
(q k 2 ) 2
2

p 2 k 2 k L2 k 2
cL

q 2
cT

k 2 kT2 k 2

As r 0,

r ip
s iq

sinh(sh ) 0 ( sh ) n in
Using that,
s 2 k L2 kT2

(k 2 s 2 ) cosh(rh ) sinh(sh )
4k 2 rs sinh(rh) cosh(sh) 0

n 0,1,2...

as r 0

we get
( fd) n

ncT
1 (cT / cL ) 2

lim wz ( z) 0

for n 1,2,...

for z d / 2

r 0
Amplitude of normal component for symmetric mode
vanishes on the free surface

Lamb wave dispersion curves for steel, showing

dominant in-plane displacement points

Poisson Ratio and Lamb Modes

For an isotropic solid, Lamb modes can
be described with only one parameter
Rigid solid: =0, =2
Fluid: =0.5, =

Variation, with Poissons ratio in the range 0 - 0.49, of antisymmetric Lamb modes in an isotropic free plate of thickness d.
For each mode, the lower curve corresponds
to =0 and the upper one to =0.49.

Behavior of dispersion curves over the coincidence

points. Dispersion curves of a given mode
cross the line F= 2K with the same slope.

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Poisson Ratio and Lamb Modes

Rigid solid: =0, =2
Fluid: =0.5, =

Variation, with Poissons ratio in the range 0 - 0.49, of symmetric

Lamb modes in an isotropic free plate of thickness d.
For each mode, the lower curve corresponds to =0 and
the upper one to =0.49.

Lam Modes
The Rayleigh-Lamb equation

Behavior of dispersion curves over the coincidence

points. Dispersion curves of a given mode
cross the line F=2K with the same slope.

Lam modes are particular solutions of the

Rayleigh-Lamb equations for kT 2 =2k2,
i.e., for a phase velocity c = cT2.

(k 2 q 2 ) B cos(ph ) 2ikAcos(qh ) 0

q2 k 2

2ikpBsin( ph ) (k 2 q 2 ) A sin(qh ) 0

p2

k2

p 2 k 2
cL
2

q 2 k 2
cT

p 2 k L2 k 2
q 2 kT2 k 2

Boundary conditions are satisfied with

kh=n+1/2 for the symmetric modes and
kh=n for the anti-symmetric modes .

The Lam line is a locus for the roots of the

RayleighLamb equation.

Partial wave pattern for Lam wave propagation.

At a 45 angle of incidence there is no coupling of
the SV waves with the P waves.

In a rigid solid, the Lam solutions correspond

to a constant longitudinal displacement
propagating at the velocity cL=cT2

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Lam Modes
These solutions exist for any positive value of and
the normalized co-ordinates of their representative
points are the equally spaced values:
K = m/2 and F = m/ 2,
where m is an odd or even integer for the symmetric
or antisymmetric modes. The Lam line corresponds
to F=K 2
The acoustic energy is carried at a velocity equal to
the projection of the shear wave velocity on the
plate axis.
The group velocity cg=d/dk of Lam modes is equal
to cT / 2, i.e., half the phase velocity.
Special behavior at =0 rigid solid.
(a) Symmetric Lamb modes: segments of the Lam line belong to successive
modes. The change from mode Sn to mode Sn+1 occurs at the coincidence point of
abscissa K=n+1/2 and gives rise to a discontinuity of the slope.
(b) This discontinuous behavior is not observed on anti-symmetric branches.

Rayleigh waves

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Rayleigh Waves: High-Frequency Limit of Lamb waves

c2
p 2 k 2 2 1
cL
c2
q 2 k 2 2 1
cT

As k ,

tan(qh )

1 ( 0, )
tan( ph )
2
Rayleigh surface wave frequency equation

4k 2 pq (q2 k 2 ) 2

where

p ip and q iq

cR 0.87 1.12

cT
1
For such small wavelengths, the finite thickness plate
appears as a semi-infinite medium

Stonely/Sezawa/Scholte Waves
VS << Vs

<
VR < VS < Vs

Particle volcity field components at an interface

between polycrystalline Al and tungsten

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Additional References
Karl Graff, Wave Motion in Elastic Solids,
Dover (1991)
J.L.Rose, Ultrasonic Waves in Solid Media,
Cambridge University Press (1999)

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