Section 2: Elastic Systems

Structural Stability p.35/406

Elastic Systems
To use total potential energy, we need to measure the energy stored in a deformed structure. Stored energy in a structure: strain energy U Dened locally in terms of a structural domain S with the stress and strain tensors ij and ij respectively:

1 dU = ij ij dS. 2
Accurate and formal, but a rather complicated view.
Structural Stability p.36/406

Elastic Systems: Simplications

Assuming a spring contains the energy stored in the structure, we can simplify matters: real and idealized struts. A linearly elastic and isotropic bar of length L, cross-sectional area A and Youngs modulus E :
P x Lx

Structural Stability p.37/406

Elastic Systems: Simplications

Model with rigid links and spring of stiffness: k = EA/L
k x Lx

Expression for k comes from Hookes law in 1-D. Simplies model to one degree of freedom (DOF): x.
Structural Stability p.38/406

Elastic Systems: Simplications

If bar lengthens (or compresses) by an amount x under load P , then U can be determined assuming: 1. Structure is one dimensional. 2. Strains are small || = |x/L|.

1 2 U = kx 2

(8)

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Elastic Systems: Simplications

A different way of viewing the above result is by examining the equilibrium path energy stored is equal to the force multiplied by the displacement in the direction of the force , i.e. it is equal to the area under the graph.

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Elastic Systems: Simplications

This also works for nonlinear springs, if P = P (), when = x, U becomes:
x

U=
0

P () d.

(9)

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Elastic Systems: Bending

Strain energy of beams in bending. Recall: Bending moment M relates to curvature :

M = EI c.f. P = k EI is analogous to k is analogous to

Work done in a small beam element of length x:

(10)

1 U = EI2 x 2

(11)
Structural Stability p.42/406

Elastic Systems: Bending

Exact expression for for a beam displaced by y (x) is:

dy = 2 1 dx

dy dx

2 1/2

(12)

Total strain energy stored in beam of length L:

1 U = EI 2

L 0

dy dx2

dy dx

2 1

dx

(13)

Structural Stability p.43/406

Elastic Systems: Bending

Often linearized to (small rotation assumption):

1 U = EI 2

L 0

dy dx2

dx .

(14)

In general, with one degree of freedom Q, the total potential energy V becomes a function, thus:

V (P, Q) = U (Q) P (Q).

(15)

Structural Stability p.44/406

General Stability Analysis

For any system the stability of an equilibrium position can be evaluated by examining a Taylor expansion for the potential energy V at the equilibrium position. For a SDOF system:

dV V (Q + ) =V (Q) + dQ

1 d2 V + 2 2! d Q Q
n Q

2
Q

1d V + ... + n! dQn

(16)

n + . . .

Structural Stability p.45/406

General Stability Analysis

Axiom 1 states that at equilibrium:

dV dQ
and so the change in V is

= 0,
Q

1 d2 V V (Q + ) V (Q) = 2! dQ2

3 d V 1 2 + 3 3! d Q Q

3
Q

1 dn V + ... + n! dQn

n + . . .
Q

(17)
Structural Stability p.46/406

General Stability Analysis

For V (Q) to be stable this series has to be positive for any small perturbation . Therefore the following observations can be made: The rst nonzero term must be positive for any . For neutral stability all derivatives must be zero. All other combinations are unstable.

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General Stability Analysis

For example if:

dV dQ2

dV = 0, but dQ3

>0
Q

V is a point of inexion but for < 0 the dominant term in the series becomes negative instability.

Structural Stability p.48/406

General Stability Analysis

The analysis process is very systematic and a owchart can be constructed. Also note: if both dV d2 V =0 = 2 dQ dQ

(18)

at a certain value of Q then the energy surface is locally at denes a singular or bifurcation point. The rst bifurcation point encountered in a system is known as the critical point C .

Structural Stability p.49/406

General Stability Analysis: Flow chart

c #

Formulate V dV

 Unstable '<  

c d For any equilibrium position 2 d   d V 0 d> 0E Stable  d dQ2 d =0 d c

"

dQ

=0

Equilibrium

Go to higher derivatives
Structural Stability p.50/406

General Stability Analysis: Flow chart

c d 3 d   d V d = 0 ' Unstable  d dQ3 d =0 d  Unstable '<   c d 4 d   d V 0 d> 0E Stable  d dQ4 d d =0 c

Go to higher derivatives
Structural Stability p.51/406

General Stability Analysis: Flow chart

c d 5 d   d V d = 0 ' Unstable  d dQ5 d =0 d c

and so on, if and only if all derivatives=0

c # "

Neutral Stability

!
Structural Stability p.52/406

Worked Example 1
A system consists of a rigid link of length L and is loaded axially by a force P . There is a rotational spring of stiffness c and this is unstressed when = 0. Find the critical load P C . Determine the stability (or otherwise) of the equilibrium paths and P C for the system shown.

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Worked Example 1

Structural Stability p.54/406

Examples of Stability Phenomena

Different classes of bifurcation points exist which are associated with SDOF structural systems. Nonlinear geometry is essential to obtain post-buckling information. Linearizing deections

(e.g. saying sin )

would only allow the determination of bifurcation points and would not allow analysis of their stability.

Structural Stability p.55/406

Limit Point
Also known as a Snap-through instability. Practical examples: tied arch and Von Mises truss.
P

V = 2kL2 (cos cos )2 P L(sin sin )

(19)

Structural Stability p.56/406

Limit Point
Equilibrium path:
P/kL

0.2

0.1

0.2

0.4

0.6

0.8

1.2

0.1
Structural Stability p.57/406

Limit Point
Equilibrium path with modes:
P/kL

0.2

0.1

0.2

0.4

0.6

0.8

1.2

0.1
Structural Stability p.58/406

Limit Point
Under dead loading:
P/kL

0.2
JUMP

0.1

0.2

0.4

0.6

0.8

1.2

0.1
Structural Stability p.59/406

Stable-Symmetric Bifurcation
Also known as a supercritical instability. Practical examples: columns and plates in axial compression.

V = 2c2 2P L (1 cos )
(20)
Structural Stability p.60/406

Stable-Symmetric Bifurcation
Equilibrium paths:
P L/c

C 2

1.0

1.0 Structural Stability p.61/406

Stable-Symmetric Bifurcation
Equilibrium paths with modes:
P L/c

C 2

1.0

1.0 Structural Stability p.62/406

Unstable-Symmetric Bifurcation
Also known as a subcritical instability. Practical example: cylindrical shells in axial compression.

QL

1 2 2 V = kQ L 2P L 1 2

1 Q2

(21)
Structural Stability p.63/406

Unstable-Symmetric Bifurcation
Equilibrium paths:
P/kL

0.5 C

1.0

1.0 Q
Structural Stability p.64/406

Unstable-Symmetric Bifurcation
Equilibrium paths with modes:
P/kL

0.5 C

1.0

1.0 Q
Structural Stability p.65/406

Asymmetric Bifurcation
Also known as a transcritical instability. Practical example: asymmetric frames.
QL P

V = kL2 1

1+Q

PL 1

1 Q2
Structural Stability p.66/406

(22)

Asymmetric Bifurcation
Equilibrium paths:
P/kL

C 0.5

0.6

0.6

Structural Stability p.67/406

Asymmetric Bifurcation
Equilibrium paths with modes:
P/kL

C 0.5

0.6

0.6

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