With an active AppleCare+ plan, your iPad is covered for both non-warranty technical failure - and accidental damage. If a claim is made using your AppleCare+ plan, this being an insurance product, there will be a small excess/deductible fee to pay.
You would be best advised to visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) where the technicians will be able to assess your iPad - and you can explore your available options for remedy:
Genius Bar Reservation and Apple Support Options - Apple
For practical purposes, in lieu of repairing and returning your own iPad, Apple usually exchange a qualifying iPad for a renewed/refurbished iPad of the same model and specification.