Deflections using energy

methods
 Outline
 External work & strain energy
 Principle of work & energy
 Principle of virtual work
 Method of virtual work: trusses
 Method of virtual work: beams & frames
 Virtual strain energy caused by axial load,
shear, torsion & temperature
 Castigliano’s theorem
 Castigliano’s theorem for trusses
 Castigliano’s theorem for beams & frames 1
4-1 External Work & Strain Energy
 For more complicated loadings or for
structures such as trusses & frames, it is
suggested that energy methods be used for
the computations.
 Most energy methods are based on the
conservation of energy principal.
 Work done by all external forces acting on a
structure, Ue is transformed into internal.
work or strain energy Ui
Ue = Ui equation 9.1
2
4-1 External Work & Strain Energy
 If the material’s elastic limit is not exceeded,
the elastic strain energy will return the
structure to its undeformed state when the
loads are removed.
 When a force F undergoes a disp dx in the
same direction as the force, the work done
is
d Ue = F dx
 If the total disp is x, the work becomes:
x

U e  Fdx
0
eqn 9.2 3
4-1 External Work & Strain Energy
 Consider the effect caused by an axial force
applied to the end of a bar as shown in Fig.
9.1(a).
 F is gradually increased from 0 to some
limiting value F = P.
 The final elongation of the bar becomes .
 If the material has a linear elastic response,
then F = (P/ )x.
4
4-1 External Work & Strain Energy
 Fig 9.1

5
 4-1 External Work & Strain Energy
 Substituting into equation 9.2 & integrating
from ) to , we get:
1
U e  P eqn 9.3
2
which is theshaded area under Fig 9.1(a)

 Suppose P is already applied to the bar &

that another force F’ is now applied, so that
the bar deflects further by an amount ‘ as
shown in Fig. 9.1(b).
6
4-1 External Work & Strain Energy
 The work done by P when the bar
undergoes the further deflection is then
d Ue’ = P’ eqn 9.4
 Here the work rep the shaded rectangular
area in Fig. 9.1(b).
 In this case, P does not change its
magnitude since ’ is caused only by F’.
Work = force x disppacement

7
4-1 External Work & Strain Energy
 When a force P is applied to the bar,
followed by an application of the force F’,
the total work done by both forces is rep by
the triangular area ACE in Fig. 9.1(b).
 The triangular area ABG rep the work of P
that is caused by displacement .
 The triangular area BCD rep the work of F’
since this force causes a displacement ’.
 Lastly the shaded rectangular area BDEG
rep the additional work done by P.
8
4-1 External Work & Strain Energy
 The work of a moment = magnitude of the
moment (M) x the angle (d) through which
it rotates, Fig. 9.2.
d Ue = M d
 If the total angle of
rotation is  radian,
the work becomes


Ue  Md
0
eqn 9.5
9
4-1 External Work & Strain Energy
 If the moment is applied gradually to a
structure having a linear elastic response
from 0 to M, then the work done is
1
Ue  M eqn 9.6
2
 However, if the moment is already applied to
the structure & other loadings further distort
the structure an amount ’, then M rotates ’
& the work done is Ue'  M ' eqn 9.7
10
4-1 External Work & Strain Energy
 When an axial force N is applied gradually to
the bar in Fig. 9.3, it will strain the material
such that the external work done by N will be
converted into strain energy.
 Provided the material is linearly
elastic, Hooke’s Law is valid.
 = E
 If the bar has a constant x-
sectional area A and length L.

11
4-1 External Work & Strain Energy
 The normal stress is  = N/A
 The final strain is  = /L
 Consequently, N/A = E(/L)
 Final deflection: NL
 eqn 9.8
AE

 Substituting into equation 9.3 with P = N,

N 2L
Ui  eqn 9.9
2 AE
12
4-1 External Work & Strain Energy
 Consider the beam shown in Fig. 9.4(a)
 P & w are gradually apply.
 These loads create an internal moment M in
the beam at a section located a distance x
from the left support.
 The resulting rotation of the DE dx, Fig.
9.4(b) can be found from equation 8.2.
 Consequently, the strain energy or work
stored in the element is determined from
equation 9.6 since the internal moment is
gradually developed. 13
4-1 External Work & Strain Energy
 Hence, M 2 dx
dU i  eqn 9.10
2EI
 The strain energy for the beam is
determined by integrating this result over the
beam’s length.
L M 2 dx
Ui  
0 2EI
eqn 9.11

14
 4-2 Principle of Work & Energy
 Consider finding the displacement at a point
where the force P is applied to the cantilever
beam in Fig 9.5.
 From equation 9.3, the external work:
1
U e  P
2
 To obtain the resulting strain energy, we
must first determine the internal moment as
a function of position x in the beam and
apply equation 9.11. 15
 4-2 Principle of Work & Energy
 In this case, M = - Px so that:
L M 2 dx L ( Px) 2 dx 1 P 2 L3
Ui  
0 2 EI
 
0 2 EI

6 EI
 Equating the external work to internal strain
energy and solving for the unknown
displacement, we have: U e  U i
1 1 P 2 L3
P 
2 6 EI
3
PL

3EI
16
 4-2 Principle of Work & Energy
 Limitations
It will be noted that only one load may be
applied to the structure.
Only the displacement under the force can be
obtained.

17
 4-3 Principle of virtual work
 If we take a deformable structure of any
shape or size & apply a series of external
loads P to it, it will cause internal loads u
at points throughout the structure.
 It is necessary that the external and
internal loads be related by the equation
of equilibrium.

18
 4-3 Principle of virtual work
 As a consequence of these loadings,
external displacement  will occur at the P
loads and internal displacement  will
occur at each point of internal loads u.
 In general, these displacement do not have
to be elastic, and they may not be related
to the loads.

19
 4-3 Principle of virtual work
 In general, the principle states that:
 P   u

Work of Work of
Ext loads Int loads

 Consider the structure (or body) to be of

arbitrary shape as shown in Fig. 9.6(b).
 Suppose it is necessary to determine the
displacement  of point A on the body
caused by the “real loads” P1, P2 and P3.
20
 4-3 Principle of virtual work
 It is to be understood
that these loads cause
no movement of the
supports.
 They can strain the
material beyond the
elastic limit.

21
 4-3 Principle of virtual work
 Since no external load acts on the
body at A and in the direction of ,
the displacement , the displacement
can be determined by first placing on
the body a “virtual” load such that this
force P’ acts in the same direction
as  shown in Fig. 9.6(a).

22
 4-3 Principle of virtual work
 We will choose P’ to have a unit magnitude,
P’ =1.
 Once the virtual loadings are applied, then
the body is subjected to the real loads P1, P2
and P3 as shown in Fig. 9.6(b).
 Point A will be displaced an amount 
causing the element to deform an amount
dL.

23
 4-3 Principle of virtual work
 As a result, the external virtual force P’ &
internal load u “ride along” by  and dL &
therefore, perform external virtual work of 1.
 on the body and internal virtual work of
u.dL on the element.
1.   u.dL eqn 9.13
 By choosing P’ = 1, it can be seen from the
solution for  follows directly since  = udL.
 A virtual couple moment M’ having a unit
magnitude is applied at this point. 24
 4-3 Principle of virtual work
 This couple moment causes a virtual load u
in one of the elements of the body.
 Assuming that the real loads deform the
element an amount dL, the rotation  can be
found from the virtual –work equation.
1.   u .dL eqn 9.14

25
 4-4 Method of virtual work: Trusses
 External loading
Consider the vertical displacement  of joint B
in Fig. 9.7.
If the applied loadings P1 & P2 cause a linear
elastic material response, the element will
deform.
L  NL / AE

26
 4-4 Method of virtual work: Trusses
 External loading (cont’d)
Applying equation 9.13, the virtual work
equation of the truss is:
nNL
1.   eqn 9.15
AE
1  ext virtua l unit load acting on the truss joint in the stated direction
of 
n  int virtual normal force in a truss member caused by the ext
virt ual unit load
  ext joint disp caused by the real loads on the truss
N  internal normal force in a truss member caused by the real load
L  length of the member
A  cross - sectional area of member
E  modulus elasticity of a member
27
 4-4 Method of virtual work: Trusses
 External loading (cont’d)
The external virtual load creates internal
virtual forces n in each of the members.
The real loads caused the truss joints to be
displaced in the same direction as the virtual
unit load.
Each member is displacement NL/AE in the
same direction as its respective n force.
Hence, ext virtual work = sum of int. (virtual)
strain energy stored in truss members.
28
 4-4 Method of virtual work: Trusses
 Temperature
In some cases, truss members may change
their length due to temperature.
L  TL
The displacement of a selected truss joint may
be written as
1.   nTL eqn 9.16
  ext joint disp caused by temperature change
  coefficien t of thermal expansion of member
T  change in tempera ture of a member

29
 4-4 Method of virtual work: Trusses
 Fabrication errors & camber
Errors in fabricating the lengths of the members
of a truss may occur.
Truss members may also be made slightly
longer or shorter in order to give the truss a
camber.
Camber is often built into bridge truss so that
the bottom cord will curve upward by the same
amount equivalent to the downward deflection
when subjected to the bridge’s full dead weight.
30
 4-4 Method of virtual work: Trusses
 Fabrication errors & camber (cont’d)
The displacement of a truss joint from its
expected position can be written as:
1.   nL eqn 9.17
  ext joint disp caused by fabricatio n errors
L  difference in length of the member from its intended
size as caused by fabricatio n error

A combination of right sides of equations 9.15

to 9.17 may be necessary if both external loads,
thermal change & fabrication errors are taking
place.
31
 Example 4.1
 Determine the vertical
displacement of joint C
of the steel truss shown
in Fig. 9.8(a).
 The cross-sectional area
of each member = 300mm2
 E = 200GPa

32
 Example 4.1 - solution
 Virtual force
Only a vertical 1kN load is placed at joint C.
The force in each member is calculated using
method of joints.
Results are shown in Fig. 9.8(b).
 Real forces
The real forces are calculated using method of
joints.
Results are shown in Fig. 9.8(c).

33
 Example 4.1 - solution
 Virtual work equation
Arranging the data in tabular form, we have

nNL 369 .6kN 2 m

1kN. cv  
AE AE
369 .6kN 2 m
1kN. cv 
(300 (10 6 )m 2 )[ 200 (10 6 )kN / m 2 ]
 cv  0.00616 m  6.16 mm

34
 Example 4.2
 The cross-sectional area of each member
shown in Fig. 9.9(a).
A = 400mm2
E = 200GPa
 Determine the vertical displacement of
joint C if no loads act on the truss, what
would be the vertical displacement of joint
C if member AB is 5mm too short.

35
 Example 4.2
 Fig 9.9

36
 Example 4.2 - solution
 Virtual forces
The support reactions at A & B are calculated.
The n force in each member is
determined .using method of joints as shown
in Fig. 9.9(b).
 Applying equation 9.17
1.   nL
1kN. cv  (0.667 kN)( 0.005 m)
 cv  0.00333 m  3.33mm

37
 Example 4.3
 Determine the vertical displacement of
joint C of the steel truss shown in Fig.
9.10(a).
 Due to radiant heating from the wall,
member AD is subjected to increase in
temp = +60oC.
 Take  = 1.08(10-5)/oC and E = 200GPa
 The cross-sectional area of each member
is indicated in the figure.
38
 Example 4.3
 Fig 9.10

39
 Example 4.3 - solution
 Virtual forces n
The forces in members are computed, Fig.
9.10(b).
 Real forces N
Since n forces in AB and BC are zero, N forces
need not be computed.
 Virtual work equation
Both loads and temp affect the deformation.
Equations 9.15 and 9.16 are combined.

40
 Example 4.3 - solution
 Virtual work equation (cont’d)
nNL
1.     nTL
AE
0.75(600 )(1.8) 1(400 )( 2.4)
1. cv  6 6
 6 6

1200 (10 )[ 200 (10 )] 1200 (10 )[ 200 (10 )]
(1.25)( 500 )(3) 5
6 6
 (1)[1 .08 (10 )]( 60 )( 2.4)
900 (10 )[ 200 (10 )]
 cv  0.00193 m  1.93mm

41
 4-5 Method of virtual work:
Beams & Frames
 The Principle of virtual work may be formulated
for beam & frame deflections by considering
the beam shown in Fig. 9.11(a).
 To compute  a virtual unit load acting in the
direction of  is placed on the beam at A.
 The internal virtual moment m is determined by
the method of sections at an arbitrary location x
from the left support, Fig 9.11(b).
 When point A is displaced , the element dx
deforms or rotates d = (M/EI)dx.
42
 4-5 Method of virtual work:
Beams & Frames
 Fig 9.11

43
 4-5 Method of virtual work:
Beams & Frames
L

mM
1.  dx eqn 9.18
0 EI
 external virtual unit load acting on the beam or frame in the direction of 
 internal virtual moment in the beam or frame, expressed as a function of x
& caused by the ext virtua l unit load
 ext disp of the point caused by real loads acting on the beam or frame
 int moment in the beam or frame, expressed as a function of x & caused
by the real loads
 modulus of elasticity of the material
 moment of inertia of cross - sectional area, computed about the neutral axis

44
 4-5 Method of virtual work:
Beams & Frames
 If the tangent rotation or slope angle  at a
point on the beam’s elastic curve is to be
determined, a unit couple moment is applied
at the point.
 The corresponding internal moment m have
to be determined.
L m M
1.  
0 EI
dx eqn 9.19

45
 4-5 Method of virtual work:
Beams & Frames
 If concentrated forces or couple moments
act on the beam or the distributed load is
discontinuous, separate x coordinates will
have to chosen within regions that have no
discontinuity of loading.

46
 Example 4.4
 Determine the
displacement of
point B of the steel
beam shown in
Fig. 9.13(a).
 Take
E = 200GPa
I = 500(106) mm4

47
 Example 49.4 - solution
 Virtual moment m
The vertical displacement of point B is obtained
by placing a virtual unit load of 1kN at B, Fig.
9.13(b).
Using method of sections, the internal moment
m is formulated as shown in Fig. 9.13(b).
 Real moment M
Using the same x coordinate, M is formulated
as shown in Fig. 9.13(c).

48
 Example 4.4 - solution
 Virtual work equation
L 10 ( 1x )( 6 x 2 )
 
mM
1kN. B  dx  dx
0 EI 0 EI
15 (10 3 )kN 2 m 3
1kN. B 
EI
 B  0.150 m  150 mm

49
 Example 4.5
 Determine the tangential rotation at point A
of the steel
beam shown
in Fig. 9.14(a).
 Take
E = 200GPa
I = 60(106) mm4

50
 Example 4.5 - solution
 Virtual moment m
The tangential rotation of point A is obtained by
placing a virtual unit couple of 1kNm at A, Fig.
9.14(b).
Using method of sections, the internal moment
m is formulated as shown in Fig. 9.14(b).
 Real moment, M
The internal moment is formulated as shown in
Fig. 9.14(c).

51
 Example 4.5 - solution
 Virtual work equation
L
m M
1kN.m. A  0 EI
dx
  x3 
(1) 

3
 3  3
 
1
 dx  x 3 dx
0 EI 3EI 0

 A  0.000563 rad

52
 Example 4.9
 Determine the
tangential rotation
at point C of the frame
shown in Fig. 9.18(a).
 Take
E = 200GPa
I =15(106) mm4

53
 Example 4.9 - solution
 Virtual moments m
A unit moment is applied at C and the internal
moments m are calculated, Fig. 9.18(b).
 Real moments M
In a similar manner, the real moments are are
calculated as shown in Fig. 9.18(c).

54
 Example 4.9 - solution
 Virtual work equation
Using the data in Fig 9.18(b) & 9.18(c), we have:

Lm M
1. C  EI
dx
3 ( 1) 2.5 x  (1)7.5
0
2
 0 EI
1
dx1  
0 EI
dx2

11 .25 15 26 .25 kNm2

C     0.00875 rad
EI EI EI
55