Eng.

6002 Ship Structures 1

Hull Girder Response Analysis
LECTURE 8: REVIEW OF BEAM THEORY
(DEFORMATIONS)

Overview
In this lecture we will look at beam deformations

caused by bending moments

We will also review the differential equations of
beam theory and solve them using Maple

Deformations
In simple beam theory we make the assumption that

only the bending moments cause distortions.

So we can assume that the beam is bent into a simple
circular curve over any short length.

Deformations
The neutral axis (NA)

does not stretch or

contract. The upper and
lower parts of the beam
compress and/or stretch.
We can use the two known
relationships

My

(stress - moment)
I
E (stress - strain)

Deformations
For the top fibre of the

figure we see that the

strain can be represented
by

l c d

dx
dx
Substituting, we have:

Mc
d

c
EI
dx
M
which gives : d
dx
EI

Deformations
Integrating, we have
x

M
0 dx
EI
0
For most sections EI is

constant, so
x

1
0 M dx
EI 0

Deflections
To find the deflections, v, we have:

dv
tan
dx
dv dx
and we can write :
x

v( x) v0 dx
0

Family of Differential Equations

Consider a beam between two supports, we describe

the deflections with the variable v(x).

Recall:

Family of Differential Equations

Combining these

equations gives:

d 2 v( x) M

v' '
2
dx
EI
We can describe all

responses as
derivatives of deflection

Family of Differential Equations

We can also express the relationships in integral form to

give

Solving the Beam Equations

To solve beam equations, we need to know
the beam geometry and properties (L, E, I),
the loading conditions (length, shape and magnitude of load)
the boundary conditions (fixed, pinned, free, guided).

The boundary conditions are described in terms of what is

known.

For a fixed end we know that the deflection and rotation are zero.
For a guided end we know that the shear (reaction) and rotation are
zero.

Solving the Beam Equations

Four standard boundary

conditions are shown

Each of the boundary
conditions results in the
deflection or one of its
derivatives being equal to
zero.

Eng. 6002 Ship Structures 1

Hull Girder Response Analysis
INTRODUCTION TO MAPLE

Overview
PURPOSE: To illustrate the use of dsolve to find exact

solutions of many differential equations or systems of

equations, with or without initial conditions.
NOTE 1. Maple has a powerful symbolic differential
equation solver called dsolve. This command directs Maple
to seek an exact symbolic expression for the solution of a
given differential equation, or a system of differential
equations, with or without initial conditions.
NOTE 2. Further information about dsolve can be obtained
by issuing the command ?dsolve.

Overview cont.
IMPORTANT NOTE: dsolve insists that coefficients

be entered as rational, rather than floating point,

numbers. For example, you should enter a coefficient
as 1/2 or 1/4, rather than 0.5 or 0.2.

Example 1: A 1st order linear equation

Find the general solution of the differential equation

dy/dt = -2 + sin(t) - (1/4)y.

Also find the solution that satisfies the initial
condition y(0) = 2.
SOLUTION. The first step is to enter the differential
equation.

eq1 := diff(y(t),t) = -2 + sin(t) - 1/4*y(t);

Example 1: A 1st order linear equation

Now dsolve can be used to find the general solution

of this equation.
In its simplest form the command has two
arguments;

the first is the equation to be solved

the second is the variable to be solved for.

dsolve(eq1,y(t));

Example 1: A 1st order linear equation

This is the general solution of the given differential

equation. Note that Maple writes the arbitrary constant as

_C1, and that in this case the constant follows the term
exp(-t/4) that it multiplies.
To find the solution that also satisfies the initial condition,
we include the initial condition in the dsolve command,
using braces to delimit the problem to be solved. Also we
assign the name sol to the result.

sol := dsolve({eq1,y(0)=2},y(t));

Example 1: A 1st order linear equation

We can now assign a name, if we wish, to the

expression for y(t) on the right side of the last result,

as follows:

> y1 := rhs(sol);

This enables us to perform operations on the

solution y1 of the initial value problem. For instance,

we can evaluate y1 at a given value of t, or we can
plot y1 on some given t interval.

> evalf(subs(t=4,y1));

Example 1: A 1st order linear equation

plot(y1,t=0..20);

Example 2: A 2nd order homogeneous linear

equation
Solve the equation y - 2y - 4y = 0.
Find the general solution and also the solution that satisfies

the initial conditions y(0) = 2, y(0) = -7/4.

SOLUTION: Again the first step is to enter the differential
equation. In the following command note that the first
term the second derivative is entered using t$2. This causes
the differentiation operation to be executed twice.
eq2 := diff(y(t),t$2) - 2*diff(y(t),t) - 4*y(t) = 0;
dsolve(eq2,y(t));

Example 2: A 2nd order linear equation

This is the general solution. Note that it contains two

exponential terms, each multiplied by an arbitrary

constant. One of the exponentials is positive, and so grows
with increasing t, while the other is negative, and decays as
t increases.
Now we solve the initial value problem. To enter the second
initial condition, denote y(0) by D(y)(0). We will assign the
name y2 to this solution, combining the dsolve and rhs
commands.
> y2 := rhs(dsolve({eq2,y(0) = 2,D(y)(0)=-7/4},y(t)));

Example 3: A 2nd order non-homogeneous linear

equation
Find the general solution of the equation y + 4 y + 5 y = 3

exp(-t) + 4 sin(3t).
Also find the solution satisfying the initial conditions
y(0) = 3/2, y(0) = 2, and plot its graph.
SOLUTION. As in the preceding examples we find the
general solution by entering the equation and then using
dsolve.
> eq3 :=diff(y(t),t$2)+4*diff(y(t),t)+5*y(t)=3*exp(t)+4*sin(3*t);

Example 3: A 2nd order non-homogeneous linear

equation
sol := dsolve(eq3,y(t));
init := y(0) = 3/2, D(y)(0) = 2;
sol := dsolve({eq3,init},y(t)):
plot(y3,t=0..15);

Example 4: Find the general solution of a

system
Find the general solution of the system dx/dt = -2 x

+ y, dy/dt = x - 2 y.
Also find the solution that satisfies the initial
conditions x(0) = 0, y(0) = 2.

sys := diff(x(t),t) = -2*x(t)+y(t), diff(y(t),t) = x(t) - 2*y(t);

dsolve({sys},{x(t),y(t)});

Example 4: Find the general solution of a system

Here is the solution of the initial value problem.
> dsolve({sys,x(0)=0,y(0)=2},{x(t),y(t)});

Ass 2
In each of the following problems use dsolve to find

the general solution of the given differential

equation. If initial conditions are given, also find the
solution that satisfies them.
Plot this solution.

Ass 2 cont.

1. dy/dt = t + exp(-2t) + 3y, y(0) = 2

2. dy/dt = 3 sin(t) + 1 - y, y(0) = -1
3. y + (5/2)y + y = 0, y(0) = 2, y(0) = 3
4. y + 6y + 10y = 0, y(0) = 1, y(0) = 1
5. y + (5/2)y + y = 3 cos(2t) + 6 exp(-2t), y(0) = 2, y(0) = 3
6. y + 6y + 10y= 5 exp(-3t)cos(t) + 2 exp(-t)cos(3t), y(0) = 1, y(0) =
2
7. y + 3y + 3y + 2y = 0,y(0) = 2, y(0) = -1, y(0) = 3
8. y + 4y + 10y + 11y + 10y = 0, y(0) = 2, y(0) = 3, y(0) = -1,
y(0) = 0
9. y + 3y + 3y + 2y = exp(-t)sin(t) + 3t^2 - 4t + 5, y(0) = 2, y(0) =
-1, y(0) = 3
10. dx/dt = 3x - 2y, dy/dt = 2x - 2y,x(0) = 3, y(0) = 2

Eng. 6002 Ship Structures 1

Hull Girder Response Analysis
LECTURE 9: REVIEW OF INDETERMINATE
BEAMS

Overview
The internal forces in indeterminate structures

cannot be obtained by statics alone.

This is most easily understood by considering a
similar statically determinate structure and then
adding extra supports
This way also suggests a general technique for
analyzing elastic statically indeterminate structures

Statically Indeterminate Beams

A uniformly loaded beam is

shown with three simple

supports.
If there had been only two
supports the beam would have
been statically determinate
So we imagine the same beam
with one of the supports
removed and replaced by
some unknown force X

Statically Indeterminate Beams

If the center support were removed the beam would sag

as illustrated
The sag at the centre is counteracted by the reaction
force X1, providing an upward displacement
Note: the subscript 0 is used to denote displacements
generated by the original external load on the statically
determinate structure

Statically Indeterminate Beams

In the original statically

indeterminate structure there

is no vertical displacement of
the centre due to the support
Thus, the force X1 must have a
magnitude that exactly
counteracts the sag of the
beam without the centre
support

Statically Indeterminate Beams

There are two approaches for solving indeterminate

systems. Both approaches use

the principle of superposition, by dividing the problem
into two simpler problems,
solving the simpler problems and adding the two
solutions.
The first method is called the Force Method (also called
the Flexibility Method).
The idea for the force method is;

Statically Indeterminate Beams

The idea for the force method is:
Step 1. Reduce the structure to a statically determinate structure.

This step allows the structure to displace where it was formerly

fixed.
Step 2. solve each determinate system, to find all reactions and
deflections. Note all incompatible deflections
Step 3. re-solve the determinate structures with only a set of selfbalancing internal unit forces at removed reactions. This solves the
system for the internal or external forces removed in 1.
Step 4. scale the unit forces to cause the opposite of the
incompatible deflections
Step 5. Add solutions (everything: loads, reactions, deflections)
from 2 and 4.