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06-Jan-20

Structural Analysis
CE2100
Deflections Using Energy Methods

Work done by an external force:


Calculate the work (W = F . s) done :

1) By gravity (g) on a point mass(m) free falling a distance D under gravity.


Ans: (mg.D )
2) By gravity (g) on a point mass(m) pulled vertically up by a distance D.
Ans: (-mg.D)
3) By gravity (g) on a car (mass = m) travelling a distance (L) on an uphill
slope(q).
Ans: (-mg L sin q)
4) By gravity (g) on a car (m) travelling a distance (L) on a downhill slope(q).
Ans: (mg L sin q)
2

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06-Jan-20

Work done by an External force:


Calculate the work done :

1) By force ‘P’ on a massless spring extending (DlP) under load ‘P.’


Ans: (P . DlP /2)
2) By force ‘P’ on a massless spring extending (DlQ) under additional load ‘Q’, while ‘P’ was already
acting.
Ans: (P . DlQ)
3) By moment ‘M1’ on a rotational spring rotating (Dq1) under moment ‘M1’.
Ans: (M1 . Dq1 / 2)
4) By moment ‘M1’ on a rotational spring rotating (Dq2) under moment ‘M2’, while ‘M1’ was already
acting.
Ans: (M1 . Dq2)
5) By a Moment ‘M’ on a beam deforming by (D), rotating by (q).
Ans: (M.q / 2)

D
q 3

Work done by an Internal forces (Strain Energy):


Strain Energy (U) is the potential energy that is stored
x
when solid elements undergo deformations.
dx
A, E L P
Axial load ‘P’ is applied gradually to the bar:
Energy (dU) stored in length dx = e.dx. P/2
D
e= P/AE; therefore, dU = (P2/2AE)(dx)
P
L
P2 P2L
U=  dx 
0
2 AE 2 AE (if P and A.E are constant along the length)
dq
Bending Moment M(x) is acting on a beam due to a set of gradually applied
loads:
M M
dU= M (dq)/2 = M2(dx)/2EI; because, dq = (M/EI)dx
L
M2
U  dx dx
0
2 EI 4

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06-Jan-20

Principle of Work and Energy:


Through an Example
Calculate deflection at the free end P

Internal Work (Strain Energy) = External Work D


L
L
M 2 q
U  dx W = 𝑃∆
-PL
0
2 EI
x

L
( P x )2 dx
0
2 EI
P L32

6 EI

P L3
U=W D 
3EI
5

Principle of Work and Energy:


Another Example
w
Internal Work (Strain Energy) = External Work
L
M2 W=? D
U  dx
0
2 EI q


L
( wx 2) 2 2

dx
M=-wL2/2

x
0
2 EI

For more than one point load, we need more than one unknown
variables to calculate W.
But we have only one equation (W=U). This method is not suitable

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06-Jan-20

Principle of Virtual Work Not to be confused with Daniel Bernoulli,


his son
(Johann Bernoulli, 1717):
We want to calculate deflection D (or q) at a particular location due to some real loads.
Apply a virtual load
• Apply a unit virtual load (or moment) at the location (and direction) where we want to
calculate the deformations due to the real loads.
• Calculate internal forces due to the virtual load (fvirtual or mvirtual).
Apply real loads
• Apply real loads and calculate internal forces due to the applied real loads.
• Calculate internal deformations in each element due to the applied real loads (dreal for
axially loaded members or dqreal for flexural members).
Work Balance
• External work (W) by the virtual load while real loads are applied gradually = 1 . D (or 1.q)
• Internal work (U) by the virtual load while real loads are applied gradually = ∑fvirtual. dreal
(or) U  M
 virtual dq real
• W=U 7

Principle of Virtual Work Not to be confused with Daniel Bernoulli,


his son
(Johann Bernoulli, 1717):
Solve for real loads
W = U Flexure
Truss

1 . D (or 1.q)  åf virtual _ i


dreal _ i or M virtual
dq real
i

f real _ i
D (or q)  åf
i
virtual _ i
( AE L )i
or M virtual real dx

Whether
displacement or  f virtual f real  M virtual M real
rotation is to be
= å   or  dx
calculated i  AE L i EI

*For trusses as well as beams, we can calculate the value of work by the virtual load while the
real load was acting OR the value of work done by the real loads while the virtual load was
acting. 8

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06-Jan-20

Example: flexural deformation w

We were not able to directly calculate the external work done by the load on the beam. D
q
Let us try virtual work method. Mreal = -wx2/2
x

Apply a unit virtual load at free end and then apply the real loads Mvirtual = -x

External work done by the virtual load while real loads are being applied =W = 1.D
M virtual M real
Internal work done by the virtual load while real loads are being applied = U   EI
dx

 x (wx )dx
L
1 2

EI 2
0

wL4 wL4
 ; Therefore, D 
8EI 8EI

Example: flexural deformation


w
Calculate the value of q for the same problem .
D
q
Apply a virtual moment = 1 at the free end Mreal = -wx2/2
x

External work =W = 1.q Mvirtual = -1

Internal work = U

L
M virtual M real
 dx
0
EI
1
L
 wx 2 
EI 0  2 
 1 .  dx

wL3 wL3
 ; Therefore, q 
6 EI 6 EI 10

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06-Jan-20

Example: Truss using Virtual Work Method


P
Find horizontal displacement at ‘C’ (Dc) B

Apply a virtual horizontal load ‘1’ at ‘C’. Then apply the real load ‘P’.

External work (Wext) done by the virtual load while P was being applied
45o 45o C
= (1. Dc) A

Internal work (Wint) done by the virtual load while ‘P’ was being applied
L
= Σ(member deformation)real (member forces)virtual

Member forces due to virtual load: AC = 1, AB = 0, BC = 0


Member forces due to real load: AC = P/2, AB = -P/√2, BC = -P/ √2
d AC, real = PL/2AE
d AB, real = - PL/(√2 √2 AE)
d BC, real =- PL/(√2 √2 AE)

U = PL/2AE
Wext = U => Dc = PL/2AE
11

Shear deformation Virtual


w load
 = (dy / dx) = V/(G As)
D

As : Equivalent shear area x

G: Shear modulus of material

Internal work (U) done by the virtual load while the real load is applied
L
  Vvirtual dyreal
0
L
 V 
  Vvirtual  real  dx
0  G. Ashear 
L
1
G. Ashear 0
 Vvirtual Vreal dx As may be less than the total cross-section area = (Atotal/K)
12
(K = 1.2 for rectangle, etc.)

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06-Jan-20

Calculate total deformation at free end


L
1 Virtual

GAshear 0
U Vvirtual Vreal dx w load

D
L
1
1 (w x ) dx
GAshear 0
 x

wL2

2GAshear

since W  U
wL2
1.D shear 
2GAshear
wL4 wL2
D total  D flexure  D shear  
8 EI 2GAshear 13

B
Castigliano’s theorem (1847-1884)
P

Consider the same truss as before. C Q


A
Calculate DB(P,Q) in the vertical direction due to loads P and Q.
• Strain energy is equal to ‘U’ in the truss due to the external loads ‘P’ and ‘Q’.
• If ‘P’ is increased by ‘dP’, the total energy  U   U dP
P
##################
• Assuming that ‘dP’ was applied first: Work = Energy (E1)= 0.5 (dP).dB
• And then P and Q were applied gradually: Total Energy = E1 + U + DB(P,Q)(dP)
• E1 is a second order term and can be ignored.
• Total energy = U + DB(P,Q)(dP)
U U
• Equating the two terms*: DB(P,Q)(dP) = dP ; DB(P,Q) 
P P

In this case, “P” is acting in the direction of “D.” What if the “P” were not there?
14
This method is applicable only for linear elastic systems

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06-Jan-20

Castigliano’s theorem for truss B


Solve the example: Truss.
P L/2
Calculate Dc due to P.
Assume a force Q in the direction of Dc C Q
A
Member Forces :
L
ACP = P/2, ABP = -P/√2, BCP = -P/√2
ACQ = Q, ABQ = 0, BCQ = 0

UAC = ; UAB = ; UBC =
√ √

Utotal = +


Dc = =
𝑷𝑳
Since, Q = 0, Dc =
𝟐𝑨𝑬 15

Castigliano’s theorem for a beam in flexure


U
Di 
Pi
L
M2
Strain energy (U)   dx
0
2 EI
L L
 M 2
M  M 
D 
P 0 2 EI
dx  D  
0
 dx
EI  P 

Where P is the external load applied at the location where D is to be


calculated.
L
  M M
Similarly, q   EI  M  dx
0  
Where M’ is the external moment applied at the location where q 16is to
be calculated.

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06-Jan-20

Example: flexural deformation


Calculate D.
w

Assume a load ‘P’ acting at the free end. D


q
2
Total Moment( M )   wx  Px Mreal = -wx2/2
2
x
M
 x MP= -xP
P
L
M  M 
D  dx
0
EI  P 

( )
L
2 x
D    wx  Px  dx
2  EI 
0

Since P  0,

( ) dx  wL 8EI
L
3 4
D   wx
2 EI
0

17

Example: flexural deformation w

Calculate q. D
q

Assume a moment M’ acting at the free end. Mreal = -wx2/2


x
2 MM= -M’
Total Moment( M )   wx M
2
M
 1
M 
L
M  M 
q   dx
0
EI  M  

( )  1 
L
2
q    wx 2  M   dx
0  EI 
Since M   0,

( ) dx  wL 6EI
L
2 3
D   wx
2 EI
0
18

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