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Energy Methods in Structural Analysis: Version 2 CE IIT, Kharagpur
Energy Methods in Structural Analysis: Version 2 CE IIT, Kharagpur
1
Energy Methods in
Structural Analysis
Version 2 CE IIT, Kharagpur
Lesson
4
Theorem of Least Work
Version 2 CE IIT, Kharagpur
Instructional Objectives
After reading this lesson, the reader will be able to:
1. State and prove theorem of Least Work.
2. Analyse statically indeterminate structure.
3. State and prove Maxwell-Bettis Reciprocal theorem.
4.1
Introduction
In the last chapter the Castiglianos theorems were discussed. In this chapter
theorem of least work and reciprocal theorems are presented along with few
selected problems. We know that for the statically determinate structure, the
partial derivative of strain energy with respect to external force is equal to the
displacement in the direction of that load at the point of application of load. This
theorem when applied to the statically indeterminate structure results in the
theorem of least work.
4.2
In the first case (4.2a), obtain deflection below A due to applied loads P1 , P2 ,...., Pn .
This can be easily accomplished through Castiglianos first theorem as discussed
in Lesson 3. Since there is no load applied at A , apply a fictitious load Q at A as in
Fig. 4.2. Let u a be the deflection below A .
Now the strain energy U s stored in the determinate structure (i.e. the support A
removed) is given by,
US =
1
1
1
1
P1u1 + P2 u 2 + .......... + Pn u n + Qu a
2
2
2
2
(4.1)
(4.2)
where, aij is the flexibility coefficient at i due to unit force applied at j . Similar
equations may be written for u2 , u3 ,...., un and ua . Substituting for u2 , u3 ,...., un and ua
in equation (4.1) from equation (4.2), we get,
1
1
P1[a11 P1 + a12 P2 + ... + a1n Pn + a1a Q ] + P2 [a21 P1 + a22 P2 + ...a2 n Pn + a2 a Q ] + .......
2
2
(4.3)
1
1
+ Pn [an1 P1 + an 2 P2 + ...ann Pn + ana Q] + Q[aa1 P1 + aa 2 P2 + .... + aan Pn + aaa Q]
2
2
US =
(4.4)
(4.5)
Now the strain energy stored in the beam due to redundant reaction RA is,
Ur =
Ra2 L3
6 EI
(4.6)
(4.7)
(4.8)
(U s + U r ) = 0
Ra
(4.9)
U
=0
Ra
(4.10)
or,
This is the statement of theorem of least work. Where U is the total strain energy
of the beam due to superimposed loads P1 , P2 ,...., Pn and redundant reaction Ra .
Example 4.1
Find the reactions of a propped cantilever beam uniformly loaded as shown in Fig.
4.3a. Assume the flexural rigidity of the beam EI to be constant throughout its
length.
There three reactions Ra , Rb and M b as shown in the figure. We have only two
equation
of
equilibrium
viz.,
U =
0
M2
dx
2 EI
(1)
U
M M
=0=
Rb
EI Rb
0
L
(2)
wx 2
2
M
=x
Rb
(3)
(4)
Hence,
( R x wx 2 / 2) x
U
= b
dx
Rb 0
EI
(5)
U RB L3 wL4 1
=
=0
Rb 3
8 EI
(6)
wL2
5
wL and M a =
8
8
(7)
Example 4.2
A ring of radius R is loaded as shown in figure. Determine increase in the
diameter AB of the ring. Youngs modulus of the material is E and second
moment of the area is I about an axis perpendicular to the page through the
centroid of the cross section.
The free body diagram of the ring is as shown in Fig. 4.4. Due to symmetry, the
slopes at C and D is zero. The value of redundant moment M 0 is such as to make
slopes at C and D zero. The bending moment at any section of the beam is,
M = M0
PR
(1 cos )
2
(1)
Now strain energy stored in the ring due to bending deformations is,
2
U =
M 2R
0 2 EI d
(2)
Due to symmetry, one could consider one quarter of the ring. According to
theorem of least work,
2 M M
U
=0=
Rd
0 EI M
M 0
0
(3)
M
=1
M 0
U
=
M 0
EI Rd
(4)
0=
4R 2
PR
[M 0
(1 cos )] d
EI 0
2
(5)
(6)
M 0 = 0.182 PR
Now, increase in diameter , may be obtained by taking the first partial derivative
of strain energy with respect to P . Thus,
=
U
P
Now strain energy stored in the ring is given by equation (2). Substituting the value
of M 0 and equation (1) in (2), we get,
U=
2R
EI
/2
PR 2
PR
( 1)
(1 cos )}2 d
{ 2
0
(7)
U 2 R
=
P EI
/2
PR 2
PR
R 2
R
( 1)
(1 cos )}{ ( 1) (1 cos )}d
2
2
2
2{ 2
0
(8)
After integrating,
=
4.3
PR 3 2
PR 3
{ ) = 0.149
EI 4
EI
(9)
Consider a simply supported beam of span L as shown in Fig. 4.5. Let this beam
be loaded by two systems of forces P1 and P2 separately as shown in the figure.
Let u 21 be the deflection below the load point P2 when only load P1 is acting.
Similarly let u12 be the deflection below load P1 , when only load P2 is acting on the
beam.
The reciprocal theorem states that the work done by forces acting through
displacement of the second system is the same as the work done by the second
system of forces acting through the displacements of the first system. Hence,
according to reciprocal theorem,
P1 u12 = P2 u 21
(4.11)
Now, u12 and u 21 can be calculated using Castiglinaos first theorem. Substituting
the values of u12 and u 21 in equation (4.27) we get,
P1
5 P2 L3
5 P L3
= P2 1
48 EI
48 EI
(4.12)
Hence it is proved. This is also valid even when the first system of forces is
P1 , P2 ,...., Pn and the second system of forces is given by Q1 , Q2 ,...., Qn . Let
u1 , u 2 ,...., u n be the displacements caused by the forces P1 , P2 ,...., Pn only and
i = 1,2,...., n
(4.13)
Summary
In lesson 3, the Castiglianos first theorem has been stated and proved. For
statically determinate structure, the partial derivative of strain energy with respect
to external force is equal to the displacement in the direction of that load at the
point of application of the load. This theorem when applied to the statically
indeterminate structure results in the theorem of Least work. In this chapter the
theorem of Least Work has been stated and proved. Couple of problems is solved
to illustrate the procedure of analysing statically indeterminate structures. In the
end, the celebrated theorem of Maxwell-Bettis reciprocal theorem has been sated
and proved.