Galerkins Method in

Elasticity
In variational mechanics, we
imagine displacements to occur
when in reality no such
displacements actually exist.
These are called virtual
displacements and work
performed during these
imaginary displacements is
referred to as virtual work.
Virtual displacements are
defined such that they are
compatible with kinematic
constraints.
A necessary and sufficient
condition for the equilibrium of a
system of particles or a
continuum system is that the
work done by external forces
acting upon the system plus the
work done by the internal forces
of the system must vanish for
any virtual displacement.
The Principle of Virtual
Work Rivello
Thus we introduce a virtual
displacement field one which
satisfies our kinematic
constraints:
| = |(x)

The method always has the
form of a residual multiplied
by a weighting function. This
product is then minimized
over a domain.

For 3-D elasticity







where the terms in parens
represent residuals from the
equilibrium equations


R x
( )
|
i
dx = 0
}
co
x
cx
+
ct
xy
cy
+
ct
xz
cz
+ f
x
|
\

|
.
|
|
x



V
}
+
ct
xy
cx
+
co
y
cy
+
ct
yz
cz
+ f
y
|
\

|
.
|
|
y
+
ct
xz
cx
+
ct
yz
cy
+
co
z
cz
+ f
z
|
\

|
.
|
|
z
(

(
dV = 0
A
The | terms are virtual
displacements which satisfy
kinematic B.C.
Galerkins method dictates that
the virtual displacements take
the same form of the real
displacements which produced
the real stresses (o
x
, o
y
, o
z
, t
xy
,
t
yz
, t
zx
).
We can pick any point on the
surface of the 3-D object and
construct an outward normal n
with direction cosines n
x
, n
y
, n
z
.
n
x
n
y
n

Green-Gauss Divergence Theorem


where o(x,y,z) & u(x,y,z)
This expression allows us to rewrite
equations A as:


}
ou +
}
c
u c
o =
}
u
c
o c
s
x
V V
ds n V d
x
dV
x
( )
( )
( )
( )
T T
V V
x x y xy z xz x
s
x xy y y z yz y
x xz y yz z z z
dV fdV
n n n
n n n
n n n ds 0
o c | + | +
} }

o + t + t |
}

+ t + o + t |
(
+ t + t + o | =

B
where c(|) are virtual strains:







and on the boundaries:





and


( )

c
| c
+
c
| c
c
| c
c
| c
c
| c
= | c ,
y z
,
z
,
y
,
x
z
y
z
y
x
T
y
x z x
x y
,
x z
(

(
c
| c
+
c
| c
c
| c
+
c
| c
Surface
tractions
Point
loads
x x y xy z xz x
x xy y y z yz y
x xz y yz z z z
n n n T
n n n T
n n n T
o + t + t =
t + o + t =
t + t + o =
( )
( )
( )
x x y xy z xz x
x xy y y z yz y
x xz y yz z z z
n n n ds P
n n n ds P
n n n ds P
o + t + t =
t + o + t =
t + t + o =
which allows us to write as:




This is a mathematical statement
of the Principle of Virtual Work:
A necessary and sufficient
condition for the equilibrium of a
system of particles or a
continuum system is that the
work done by external forces
acting upon the system plus the
work done by the internal forces
of the system must vanish for any
virtual displacement.



B
o
T
c |
( )
dV
V
}
|
T
fdV
V
}
|
T
Tds
s
}
|
i
T
P
i
i

= 0
Example 1.4 (Easy Way)

( )
2
1
u 2x x u =
( )
1
u x 2 2
x
u
=
c
c
x = 1 x = 2 x = 0
2
A = 1, E = 1
x
( ) E u x 2 2
1
= o
( )
2
1
2x x | = |
( ) ( )
1
x 2 2
x
| =
c
| c
= | c
( )
T T T T
i
V V s
dV fdV Tds P 0 o c | | | | =

} } }
2 2x ( )u
1
E 2 2x ( )|
1
dxdA |
1
2 ( ) = 0
L
}
A
}
( )
2
1 1 1
L
4 8x 4x u EAdx 2 0 + | | =
}
This function
satisfies the
kinematic B.C.

0 2 EA u x
3
4
x 4 x 4
1 1 1
2
0
3 2
= | | +
2 u
3
8
1
=
u
1
=
3
4
0 2 EA u
3
8
1 1
=
|
.
|

\
|
|
1 1
The solution must be valid for all
virtual displacements, hence:
( )
2
3
u 2x x
4
=
Example 1.4 (text)
Assume we have a rod which
may have varying cross
sectional area and Youngs
modulus.
o
xx
dx
x
A
dx
x
xx
x
c
o c
+ o
dx
x
A
A
c
c
+
0 F
x
=

+
0 A dx
x
A
A dx
x
xx
xx
xx
= o
|
.
|

\
|
c
c
+
|
.
|

\
|
c
o c
+ o
0 dx
x x
A
Adx
x
dx
x
A 2
xx xx
xx
=
c c
c o c
+
c
o c
+
c
c
o
Negligible
1
Using Chain Rule


and for a rod
and so equation becomes


the equilibrium equation for a
rod!

( )
dx
dx
A d
Adx
dx
d
dx
dx
dA
xx xx
xx
o
=
o
+ o
dx
du
E E
xx xx
= c = o
1
0
dx
du
EA
dx
d
=
|
.
|

\
|
Work Example 1.2 using
Galerkins Method
Our equilibrium equation is:



If u is approximate, the
R.H.S.= 0 and = R(x), the
residual.
For Galerkins method, we
must establish


2 x @ 0 u
0 x @ 0 u
. C . B with
0
dx
du
EA
dx
d
= =
= = =
|
.
|

\
|
( ) ( ) 0 dx x R x
i
=
}
|
We select a |(x) which is
arbitrary but satisfies the
kinematic boundary conditions.
In Galerkins method, we
choose |(x) to be of the same
form as the trial function for
u(x). Thus we must evaluate:


Let U = |(x) so



Symbolically we integrate by
parts using:


( )
}
=
|
.
|

\
|
| 0 dx
dx
du
EA
dx
d
x
dU
d
dx
|
=
|
.
|

\
|
=
dx
du
EA
dx
d
dv
dx
du
EA v =
dv v v U U dU =
} }
Substituting yields:


In Example 1.2, we let

so


Recognize the is equal

to the axial load in the rod
which for our problem is of
the form:
EA
du
dx
|
\
|
.
|
0
2
EA
du
dx
d|
dx
dx = 0
}
2
( )
2
1
u 2x x u =
( )
2
1
2x x | = |
dx
du
EA
so the first term must be evaluated in
two parts:




but |
0
and |
2
must = 0 since | must
satisfy kinematic B.C.


Substituting this and u and | and E =
A = 1 into yields:
2
1
1
0
2
0
dx
du
EA
dx
du
EA
dx
du
EA | + | = |
|
.
|

\
|
= |
1
-1
( )
|
0
-1
( )
| |
+
|
2
- 1 ( ) |
1
- 1 ( )
| |
2
(+1)
(-1)
x = 0 x = 1 x = 2
T
x
EA
du
dx
|
\
|
.
|
0
2
= 2|
1



or


which must be true for all
virtual displacements | so

and
( ) 0 2 dx x 2 2 u
2
0
2
1 1
=
(

}
+ |
0 2 u
3
8
1 1
=
|
.
|

\
|
+ |
u
1
= .75
( )
2
u .75 2x x =
Clarification of Galerkins
Method








Simplifying we have:

+
0 F
x
o
xx
+
co
xx
cx
dx
|
\
|
.
A +
cA
cx
dx
|
\
|
.
o
xx
A
0 Adx f dx T
x x
= + +
d
dx
EA
du
dx
|
\
|
.
dx + T
x
dx + f
x
Adx = 0
o
xx
dx
x
A
dx
x
xx
xx
c
o c
+ o
dx
x
A
A
c
c
+
T
x
f
x
This is the equilibrium
equation for a rod with surface
traction and body forces. It is
also our residual equation for
Galerkins method.




Integration by parts of the first
term yields:


R x
( )
| x
( )
dx = 0
}
A
d
dx
EA
du
dx
|
\
|
.
| x
( )
dx + T
x
| x
( )
} }
dx
+ f
x
A| x
( )
dx = 0
}
EA
du
dx
|
\
|
.
| EA
du
dx
d|
dx
dx
}
Upon substitution into A we have




which is equivalent to




Should you use equations A or B in
the solution of your homework
problems? The answer is that the
two expressions are equivalent and
therefore it does not matter. I like to
use the B form since it is so similar
to the Total Potential expression H.

( ) ( )
x x
du d
EA dx f A x dx T x dx
dx dx
du
EA 0
dx
|
| |
} } }
| |
| =
|
\ .
o
T
c | ( )dV
V
}
|
T
fdV
V
}
|
T
Tds
s
}

= |
i
T
0 P B
Galerkins Method for Beams
Virtual Work



Real Stresses:

Virtual Strains:
Thus:


but
o
T
c |
( )
dV
V
}
|
T
fdV
V
}
|
T
Tds
s
}
|
i
T
P
i
i

= 0
o
x
=
My
I
c
x
| ( ) =
M | ( )y
EI
o
T
c | ( )dV
V
}
=
M
EI
M | ( )
EI
Ey
2
A
}
dAdx
L
}
v
' '
=
M
EI
and |
' '
=
M | ( )
EI
EIv
"
|
"
dx
L
}
|
T
fdV
V
}
|
T
Tds
s
}
|
i
T
P
i
i

= 0
so:
Galerkins Method Example
Recall our earlier example




1. Select a form of deformation.

2. Is this form compatible with
kinematic boundary
conditions?
L
x
W
( ) e dx cx bx ax x v
2 3 4
+ + + + =
Kinematic B.C.





Our trial function is:

( ) 0 e if only 0
?
0 v = =
( ) 0
?
0 ' v
=
( )
0 d if only
d cx 2 bx 3 ax 4 x ' v
2 3
=
+ + + =
( )
( )
4 3 2
3 2
2
v(x) ax bx cx
v' x 4ax 3bx 2cx
v" x 12ax 6bx 2c
= + +
= + +
= + +
Thus the virtual displacement is:

and the virtual curvature is:


So the virtual work of internal
forces is:


( )
4 3 2
1 2 3
x x x x | = | +| +|
( )
" 2
1 2 3
x 12x 6x 2 | = | + | + |
( )
( )
" "
L
5 4 3
1
4 3 2
2
3 2
3
EIv dx
144
EI aL 18bL 8cL
5
EI 18aL 12bL 6cL
EI 8aL 6bL 4cL
| =
}
| |
+ + | +
|
\ .
+ + | +
+ + |
The virtual work of external forces is:


Thus the total virtual work:


becomes:







|
1,
|
2
and |
3
are arbitrary and thus the terms
that premultiply them must be zero to
force the virtual work to vanish.
5 4 3
T
1 2 3
L
WL WL WL
Tdx
5 4 3
| = | | |
}
EIv
"
|
"
dx
L
}
|
T
fdV
V
}
|
T
Tds
s
}
|
i
T
P
i
i

= 0
( )
( )
5
5 4 3
1
4
4 3 2
2
3
3 2
3
144 WL
EI aL 18bL 8cL
5 5
WL
EI 18aL 12bL 6cL
4
WL
EI 8aL 6bL 4cL 0
3
(
| |
+ + | +
(
|
\ .
(

(
+ + | +
(
(

(
+ + | =
(
(

Thus we obtain 3 equations with
which we can solve for the 3
unknowns a,b, and c:





Solving yields:


Substituting into the trial function:




which turns out to be exact!
5
5 4 3
144 WL
EI aL 18bL 8cL 0
5 5
| |
+ + =
|
\ .
( )
4
4 3 2
WL
EI 18aL 12bL 6cL 0
4
+ + =
2
W WL WL
a b c
24EI 6EI 4EI
= = =
( )
2
4 3 2
W WL WL
v x x x x
24EI 6EI 4EI
= +
( )
3
3 2
WL
EI 8aL 6bL 4cL 0
3
+ + =
Chapter 1 - Summary
Energy Method
Form the total potential.

}

}
c o = H
V
T
V
T
fdV u dV
2
1
}


i
i
i
T
i
T
P u Tds u
For a
rod
For a
beam
For a
spring
}
|
.
|

\
|
c
c
L
2
dx
x
u
EA
2
1
}
|
|
.
|

\
|
c
c
L
2
2
2
dx
x
v
EI
2
1
2
K
2
1
o
1. Choose a trial function for u
or v.
2. Ensure the function satisfies
kinematic B.C.
3. Form the work potential
terms per the trial function.
4. Use the Theory of
Minimum Total Potential.
Minimize the H W.R.T. to
each unknown coefficient in
your trial function. This will
generate n equations for n
unknown coefficients.
5. Solve for the coefficients.
Procedure
Galerkins Method
Always has the form:

General form for all problems:




For 1-D rod problems (w/o tractions or
body forces) A can be written:


For beam problems A can be written:



I would suggest always employing the
general form to reduce confusion.

}
= | 0 dV R
( )

= |
}
|
}
|
}
| c o
0 P
Tds fdV dV
T
s
T
V
T
V
T
A
T T T
x
x V s
d du
E Adx fdV Tds P 0
dx dx
|
=

} } }
EIv
"
|
"
dx
L
}
|
T
fdV
V
}
|
T
Tds
s
}
|
i
T
P
i
i

= 0
1. Choose a trial function.
v or u = A*f(x) + B*g(x)+
2. Ensure the function(s) satisfy
kinematic B.C.
3. Choose the virtual displacements to
be of the form of the trial function:

4. Substitute into the general form and
integrate to yield the virtual work.
5. Remember the virtual displacements
|
1
, |
2
, etc. are arbitrary. Collect the
group of terms which premultiply the
virtual displacements. Force each
group of terms to vanish which will
yield as many equations as you have
unknowns in your real trial function.
6. Solve for the unknowns A, B,
( ) ( )
1 2
f x g x ...... | = | + | +
Procedure