13 - MB - Unit Load & Castigliano - S Theorem

1
2005 Pearson Education South Asia Pte Ltd

14. Energy Methods
Deflections using Energy
methods (Unit Load &
Castigliano Theorems)
Mekanika Bahan
Dosen: Dr. Djwantoro Hardjito
Jurusan Teknik Sipil
Fakultas Teknik Sipil & Perencanaan
Universitas Kristen Petra Surabaya
Materials and figures are taken from Mechanics of Materials, by R.C. Hibbeler, 7
th
SI Edition, Prentice Hall.
14. Energy Methods
2
CHAPTER OBJECTIVES
Apply energy methods to
solve problems involving
deflection
Discuss work and strain
energy, and development of
the principle of conservation
of energy
Use principle of conservation of energy to
determine stress and deflection of a member
subjected to impact
Develop the method of virtual work and
Castiglianos theorem
14. Energy Methods
3
CHAPTER OBJECTIVES
Use method of virtual and
Castiglianos theorem to
determine displacement and
slope at pts on structural
members and mechanical
elements
14. Energy Methods
4
CHAPTER OUTLINE
1. External Work and Strain Energy
2. Elastic Strain Energy for Various Types of
Loading
3. Conservation of Energy
4. Impact Loading
5. *Principle of Virtual Work
6. *Method of Virtual Forces Applied to Trusses
7. *Method of Virtual Forces Applied to Beams
8. *Castiglianos Theorem
9. *Castiglianos Theorem Applied to Trusses
10. *Castiglianos Theorem Applied to Beams
14. Energy Methods
5
14.1 EXTERNAL WORK AND STRAIN ENERGY
Work of a force:
A force does work when it
undergoes a displacement dx
in same direction as the force.
Work done is a scalar, defined
as dU
e
= F dx.
If total displacement is x, work becomes
As magnitude of F is gradually increased from zero
to limiting value F = P, final displacement of end of
bar becomes A.
( ) 1 - 14
0
}
=
x
e
dx F U
14. Energy Methods
6
( ) 2 - 14
2
1
A = P U
e
Work of a force:
For linear-elastic behavior of material,
F = (P/A)x. Substitute into Eqn 14-1
Suppose that P is already applied to the bar and
another force P is now applied, so end of bar is
further displaced by an amount A.
Work done by P (not P) is then
( ) 3 - 14 ' ' A = P U
e
2
14. Energy Methods
7
Work of a force:
When a force P is applied to the bar, followed by
the force P, total work done by both forces is
represented by the area of the entire triangle in
graph shown.
14. Energy Methods
8
( ) 4 - 14
0
}
=
u
u d M U
e
Work of a couple moment:
A couple moment M does work when it undergoes
a rotational displacement du along its line of action.
Work done is defined as dU
e
= Mdu. If total angle of
rotational displacement is u radians, then work
If the body has linear-elastic behavior, and its
magnitude increases gradually from zero at u = 0
to M at u, then work is
( ) 5 - 14
2
1
u M U
e
=
14. Energy Methods
9
Work of a couple moment:
However, if couple moment already applied to the
body and other loadings further rotate the body by
an amount u, then work done is
' ' u M U
e
=
14. Energy Methods
10
Strain energy:
When loads are applied to a body and causes
deformation, the external work done by the loads
will be converted into internal work called strain
energy. This is provided no energy is converted
into other forms.
Normal stress
A volume element subjected to normal stress o
z
.
Force created on top and bottom faces is
dF
z
= o
z
dA = o
z
dx dy.
14. Energy Methods
11
Strain energy:
Normal stress
This force is increased gradually from
zero to dF
z
while element undergoes
displacement dA
z
= c
z
dz.
Work done is dU
i
= 0.5dF
z
dA
z
= 0.5[o
z
dx dy]c
z
dz.
Since volume of element is dV = dx dy dz, we have
Note that dU
i
is always positive.
( ) 6 - 14
2
1
dV dU
z z i
c o =
14. Energy Methods
12
Strain energy:
Normal stress
In general, for a body subjected to a uniaxial
normal stress o, acting in a specified direction,
strain energy in the body is then
If material behaves linear-elastically, then Hookes
law applies and we express it as
( ) 7 - 14
2
dV U
V
i
}
=
oc
( ) 8 - 14
2
2
dV
E
U
V
i
}
=
o
3
14. Energy Methods
13
Axial load:
Consider a bar of variable
and slightly tapered
x-section, subjected to
axial load coincident with bars centroidal axis.
Internal axial force at section located from one end
is N.
If x-sectional area at this section is A, then normal
stress o = N/A.
Apply Eqn 14-8, we have
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING
dV
EA
N
dV
E
U
V V
x
i
} }
= =
2
2 2
2
2
o
14. Energy Methods
14
Axial load:
Choose element or differential slice having volume
dV = Adx, general formula for strain energy in bar is
For a prismatic bar of constant x-sectional area A,
length L and constant axial load N, integrating Eqn
14-15 gives
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING
( ) 15 - 14
2
0
2
dx
AE
N
U
L
i
}
=
( ) 16 - 14
2
2
AE
L N
U
i
=
14. Energy Methods
15
14.3 CONSERVATION OF ENERGY
A loading is applied slowly to a body, so that kinetic
energy can be neglected.
Physically, the external loads tend to deform the
body as they do external work U
e
as they are
displaced.
This external work is transformed into internal work
or strain energy U
i
, which is stored in the body.
Thus, assuming materials elastic limit not
exceeded, conservation of energy for body is
stated as
( ) 25 - 14
i e
U U =
14. Energy Methods
16
Principle of Virtual Work was developed by John
Bernoulli in 1717.
It is a energy method of analysis and based on
conservation of energy.
Equilibrium conditions require the external loads to
be uniquely related to the internal loads.
Compatibility conditions require the external
displacements to be uniquely related to the internal
deformations.
*14.5 PRINCIPLE OF VIRTUAL WORK
14. Energy Methods
17
When we apply a series of external loads P to a
deformable body, these loadings will cause internal
loadings u within the body.
The external loads will be displaced , and internal
loadings will undergo displacements o.
Conservation of energy states that
Based on this concept, we now develop the
principle of virtual work to be used to determine the
displacement and slope at any pt on a body.
( ) 35 - 14 ;

= A = o u P U U
i e
14. Energy Methods
18
Consider a body or arbitrary shape acted upon by
real loads P
1
, P
2
and P
3
.
4
14. Energy Methods
19
There is no force acting on A, so unknown
displacement will not be included as an external
work term in the eqn.
We then place and imaginary or virtual force P
on body at A, such that it acts in the same direction
as .
For convenience, we choose P = 1.
This external virtual load cause an internal virtual
load u in a representative element of fiber of body.
P and u is related by the eqns of equilibrium.
Real loads at pt A displaced by , which causes
element to be displaced dL.
14. Energy Methods
20
Thus, external virtual force P and internal virtual
load u ride along by and dL respectively; these
loads perform external virtual work of 1 on the
body and internal virtual work of udL on the
element.
Consider only the conservation of virtual energy,
we write the virtual-work eqn as
( ) 36 - 14 1

= A dL u
Virtual loadings
Real displacements
14. Energy Methods
21
P = 1 = external virtual unit load acting in direction of
.
u = internal virtual load acting on the element.
= external displacement caused by real loads.
dL = internal displacement of element in direction of
u, caused by real loads.
( ) 36 - 14 1

= A dL u
Virtual loadings
Real displacements
14. Energy Methods
22
The choice of P = 1 will give us a direct solution for
, = u dL.
Similarly, for rotational displacement or slope of
tangent at a pt on the body, virtual couple moment
M having unit magnitude, is applied at a pt.
Thus, a virtual load u
u
is caused in one of the
elements.
Assume that real loads deform element by dL,
rotation u can be found from virtual-work eqn:
( ) 37 - 14 1

= dL u
u
u
Virtual loadings
Real displacements
14. Energy Methods
23
M = 1 = external virtual unit couple moment acting in
direction of u.
u
u
= internal virtual load acting on an element.
u = external rotational displacement in radians
caused by the real loads.
dL = internal displacement of element in direction of
u
u
, caused by real loads.
( ) 37 - 14 1

= dL u
u
u
Virtual loadings
Real displacements
14. Energy Methods
24
Internal virtual work:
Terms on right-hand side of Eqns 14-36 and 14-37
represent the internal virtual work in the body.
If we assume material behavior is linear-elastic
and stress does not exceed proportional limit, we
can formulate expressions for internal virtual work
caused by stress.
We then use eqns of elastic strain energy
developed in chapter 14.2.
They are listed in a table on next slide.
5
14. Energy Methods
25
14. Energy Methods
26
Thus we can write the virtual-work eqn for a body
subjected to a general loading as
( )
} } } }
+ + + = A 38 - 14 1 dx
GJ
tT
dx
GA
V f
dx
EI
mM
dx
AE
nN
s
u
14. Energy Methods
27
Displacement at joint A caused by real loads P
1
and P
2
, and since these loads only cause axial
force in members, we need only consider internal
virtual work due to axial load.
Assume each member has a constant x-sectional
area A, virtual load n and real load N are constant
throughout members length.
As a result, virtual work for entire truss is
*14.6 METHOD OF VIRTUAL FORCES APPLIED TO TRUSSES
( ) 39 - 14 1

= A
AE
nNL
14. Energy Methods
28
14. Energy Methods
29
1 = external virtual unit load acting on the truss joint
in the stated direction of .
= joint displacement caused by the real loads on
the truss.
n = internal virtual force in a truss member caused by
the external virtual unit load.
N = internal force in a truss member caused by the
real loads.
L = length of a member.
A = x-sectional area of a member.
E = modulus of elasticity of a member.
14. Energy Methods
30
Temperature change:
Truss members can change their length due to a
change in temperature.
Thus, we determine the displacement of a selected
truss joint due to temperature change from
Eqn 14-36,
in the stated direction of .
( ) 40 - 14 1 TL n A = A

o
6
14. Energy Methods
31
Temperature change:
= external joint displacement caused by the
temperature change
o = coefficient of thermal expansion of member.
T = change in temperature of member.
L = length of member
( ) 40 - 14 1 TL n A = A

o
14. Energy Methods
32
Fabrication errors.
Displacement in a particular direction of a truss
joint from its expected position can be determined
from direct application of Eqn 14-36,
in stated direction of .
( ) 41 - 14 1 L n A = A

14. Energy Methods
33
Fabrication errors.
= external joint displacement caused by the
fabrication errors.
L = difference in length of the member from its
intended length caused by fabrication error.
( ) 41 - 14 1 L n A = A

14. Energy Methods
34
Procedure for analysis
Virtual forces n
Place the virtual unit load on the truss at the joint
where the desired displacement is to be
determined.
The load should be directed along line of action of
the displacement.
With unit load so placed and all real loads removed
from truss, calculate the internal n force in each
truss member. Assume that tensile forces are +ve
and compressive forces are ve.
14. Energy Methods
35
Real forces N
Determine the N forces in each member.
These forces are caused only by the real loads
acting on the truss.
Again, assume that tensile forces are +ve and
compressive forces are ve.
Virtual-work eqn
Apply eqn of virtual work to determine the desired
displacement.
14. Energy Methods
36
Virtual-work eqn
It is important to retain the algebraic sign for each
of the corresponding n and N forces while
substituting these terms into the eqn.
If resultant sum nNL/AE is +ve, displacement is
in the same direction as the virtual unit load.
If a ve value results, is opposite to the virtual
unit load.
7
14. Energy Methods
37
Virtual-work eqn
When applying 1 = no TL, realize that if any
members undergo an increase in temperature, T
will be +ve; whereas a decrease in temperature will
result in a ve value for T.
For 1 = n L, when a fabrication error increases
the length of a member, L is +ve, whereas a
decrease in length is ve.
When applying this method, attention should be
paid to the units of each numerical qty.
14. Energy Methods
38
Virtual-work eqn
Notice however, that the virtual unit load can be
assigned any arbitrary unit: pounds, kips, newtons,
etc., since the n forces will have these same units,
and as a result, the units for both the virtual unit
load and the n forces will cancel from both sides of
the eqn.
14. Energy Methods
39
EXAMPLE 14.11
Determine the vertical displacement of joint C of steel
truss. X-sectional area of each member is
A = 400 mm
2
and E
st
= 200 GPa.
14. Energy Methods
40
EXAMPLE 14.11 (SOLN)
Virtual forces n
We only place a vertical 1-kN virtual load at C; and
the force in each member is calculated using the
method of joints. Results are shown below. Using
sign convention of +ve numbers for tensile forces
and ve numbers indicate compressive forces.
14. Energy Methods
41
Real forces N
Applied load of 100 kN causes forces in members
that can be calculated using method of joints. Results
are shown below.
14. Energy Methods
42
Virtual-work Equation
Arranging data in the table below:
Member n N L nNL
AB 0 100 4 0
BC 0 141.4 2.828 0
AC 1.414 141.4 2.828 565.7
CD 1 200 2 400
965.7 kN
2
m
8
14. Energy Methods
43
Virtual-work Equation
Thus
Substituting the numerical values for A and E, we
have
AE AE
nNL
C
m kN 7 . 965
kN 1
2
= = A

u
( ) | | ( )
mm 1 . 12 m 01207 . 0
kN/m 10 200 m 10 400
m kN 7 . 965
kN 1
2 6 2 6
2
= = A
= A

u
u
C
C
14. Energy Methods
44
EXAMPLE 14.12
X-sectional area of each member of the steel truss is
A = 300 mm
2
, and the modulus of elasticity for the
steel members is E
st
= 210(10
3
) MPa. (a) Determine
the horizontal displacement of joint C if a force of
60 kN is applied to the truss at B. (b) If no external
loads act on the truss, what is the horizontal
displacement of joint C if member AC is fabricated
6 mm too short?
14. Energy Methods
45
a) Virtual forces n.
A horizontal force of 1 kN is applied at C. The n force
in each member is determined by method of joints.
As usual, +ve represents tensile force and ve
represents compressive force.
14. Energy Methods
46
a) Real forces N.
Force in each member as caused by externally
applied 60 kN force is shown.
14. Energy Methods
47
a) Virtual-work Equation
Since AE is constant, data is arranged in the table:
Member n N L nNL
AB 0 0 1.5 0
AC 1.25 75 2.5 234.375
CB 0 60 2 0
CD 0.75 45 1.5 50.625
285 (kN)
2
m
14. Energy Methods
48
a) Virtual-work Equation
Substituting the numerical values for A and E, we
have
( )
AE AE
nNL
h
C
m kN 285
kN 1
2
= = A

( ) ( )
| | ( ) ( )
mm 524 . 4
mm/m 1000 kN/m 10 210 mm 300
mm/m 1000 m kN 285
kN 1
2 2 6 2
2
= A
= A
h
h
C
C
9
14. Energy Methods
49
b)
Here, we must apply Eqn 14-41. Realize that member
AC is shortened by L = 6 mm, we have
The ve sign indicates that joint C is displaced to the
left, opposite to the 1-kN load.
( )( )
= = A
= A A = A

mm 7.5 mm 5 . 7
mm 6 kN 25 . 1 kN 1 ; 1
h
h
C
C
L n
14. Energy Methods
50
EXAMPLE 14.13
Determine the horizontal displacement of joint B of
truss. Due to radiant heating, member AB is
subjected to an increase in temperature T = +60C.
The members are made of steel, for which
o
st
= 12(10
-6
)/C and E
st
= 200 GPa. The x-sectional
area of each member is 250 mm
2
.
14. Energy Methods
51
Virtual forces n.
A horizontal 1-kN virtual load is applied to the truss at
joint B, and forces in each member are computed.
14. Energy Methods
52
Real forces n.
Since n forces in members AC and BC are zero, N
forces in these members do not have to be
determined. Why? For completeness, though, the
entire real force analysis is shown.
14. Energy Methods
53
Virtual-work Equation.
Both loads and temperature affect the deformation,
thus Eqns 14-39 and 14-40 are combined,
Negative sign indicates that roller B moves to the
right, opposite to direction of virtual load.
( )( )( )
( ) | | ( ) | |
( ) ( ) | |( )( )
= = A
+ + +

+ + =
A + = A

m m
TL n
AE
nNL
h
h
B
B
22 . 2 00222 . 0
m 4 C 60 C / 10 12 kN 155 . 1 0 0
kN/m 10 200 m 10 250
m 4 kN 12 kN 155 . 1
0 0
kN 1
6
2 6 2 6
o
14. Energy Methods
54
Applying Eqn 14-36, virtual-work eqn for a beam is
1 = external virtual unit load acting on the beam in
direction of .
= displacement caused by the real loads acting on
the beam.
m = internal virtual moment in the beam, expressed
as a function of x and caused by the external
virtual unit load.
*14.7 METHOD OF VIRTUAL WORK APPLIED TO BEAMS
( ) 42 - 14 1
0
dx
EI
mM
L
}
= A
10
14. Energy Methods
55
M = internal moment in the beam, expressed as a
function of x and caused by the real loads.
E = modulus of elasticity of material.
I = moment of inertia of x-sectional area, computed
about the neutral axis.
( ) 42 - 14 1
0
dx
EI
mM
L
}
= A
14. Energy Methods
56
Similarly, for virtual couple moment and to
determine corresponding virtual moment m
u
, we
apply Eqn 14-37 for this case,
Note that the integrals in Eqns 14-42 and 14-43
represent the amount of virtual bending strain
energy stored in the beam.
If concentrated forces or couple moments act on
beam or distributed load is discontinuous, well
need to choose separate x coordinates within
regions without discontinuities.
( ) 43 - 14 1
0
dx
EI
M m
L
}
=
u
u
14. Energy Methods
57
Virtual moments m or m
u
.
Place a virtual unit load on the beam at the pt and
directed along the line of action of the desired
displacement.
If slope is to be determined, place a virtual unit
couple moment at the pt.
Establish appropriate x coordinates that are valid
within regions of the beam where there is no
discontinuity of real or virtual load.
14. Energy Methods
58
Virtual moments m or m
u
.
With virtual load in place, and all the real loads
removed from the beam, calculate the internal
moment m or m
u
as a function of each x coordinate.
Assume that m or m
u
acts in the +ve direction
according to the established beam sign
convention.
Real moments.
Using the same x coordinates as those established
for m or m
u
, determine the internal moments M
caused by the real loads.
14. Energy Methods
59
Real moments.
Since +ve m or m
u
was assumed to act in the
conventional positive direction, it is important that
+ve M acts in this same direction.
This is necessary since +ve or ve internal virtual
work depends on the directional sense of both the
virtual load, defined by m or m
u
, and
displacement caused by M .
14. Energy Methods
60
Virtual-work equation.
Apply eqn of virtual work to determine the desired
displacement or slope u. It is important to retain
the algebraic sign of each integral calculated within
its specified region.
If algebraic sum of all the integrals for entire beam
is +ve, or u is in the same direction as the virtual
unit load or virtual unit couple moment,
respectively.
If a ve value results, or u is opposite to virtual
unit load or couple moment.
11
14. Energy Methods
61
EXAMPLE 14.15
Determine the slope at pt B of the beam shown. EI is
a constant.
14. Energy Methods
62
Virtual moments m
u
.
Slope at B is determined by
placing a virtual unit couple
moment at B. Two x coordinates
must be selected to determine
total virtual strain energy in the
beam. Coordinate x
1
accounts for
strain energy within segment AB,
and coordinate x
2
accounts for the strain energy in
segment BC. Internal moment m within each of these
segments are computed using the method of
sections.
14. Energy Methods
63
Real moments M.
Using same coordinates x
1
and x
2
(Why?), the internal
moments M are computed
as shown.
14. Energy Methods
64
Slope at B is thus
Negative sign indicates that u
B
is opposite to
direction of the virtual couple moment.
( ) ( ) | |
EI
PL
EI
dx x L P
EI
dx Px
dx
EI
M m
B
L L
B
8
3
} 2 / { 1 0
1
2
2 /
0
2 2
2 /
0
1 1
=
+
+
=
=
} }
}
u
u
u
14. Energy Methods
65
EXAMPLE 14.16
Determine the displacement of pt A of the steel beam
shown. I = 175.8(10
-6
) m
4
, E
st
= 200 GPa.
14. Energy Methods
66
Virtual moments m.
Beam subjected to virtual
unit load at A and reactions
are computed.
By inspection, two
coordinates x
1
and x
2
must
be chosen to cover all
regions of the beam.
For integration, it is
simplest to use origins at A and C. Using method of
sections, the internal moments m are shown.
12
14. Energy Methods
67
Real moments M.
Reactions on beam are found
first. Then, using same x
coordinates as those found
for m, internal moments M are
determined.
14. Energy Methods
68
( )( )
( )( )
}
} }

+

= = A
6
0
2
2
2 2 2
3
0
1
3
1 1
5 . 22 75 . 123 5 . 0
5 . 2 1
1
EI
dx x x x
EI
dx x x
dx
EI
mM
kN
A
( ) ( ) ( )
EI
EI EI EI
A
A
3
4 3 5
m kN 5 . 688
6 8125 . 2 6 625 . 20 3 5 . 0
kN 1

= A
+ = A
or
14. Energy Methods
69
Substitute in data for E and I, we get
The negative sign indicates that pt A is displaced
upward.
( ) | | ( )
4 6 2 6
3
m 10 8 . 175 kN/m 10 200
m kN 5 . 688

= A
A
14. Energy Methods
70
This method was discovered in 1879 by Alberto
Castigliano to determine the displacement and
slope at a pt in a body.
It applies only to bodies that have constant
temperature and material with linear-elastic
behavior.
His second theorem states that displacement is
equal to the first partial derivative of strain energy
in body w.r.t. a force acting at the pt and in
direction of the displacement.
*14.8 CASTIGLIANOS THEOREM
14. Energy Methods
71
Consider a body of arbitrary shape subjected to a
series of n forces P
1
, P
2
, P
n
.
Since external work done by forces is equal to
internal strain energy stored in body, by
conservation of energy, U
e
= U
i
.
However, external work is a
function of external loads
U
e
= P dx.
14. Energy Methods
72
So, internal work is also a function of the external
loads. Thus
Now, if any one of the external forces say P
j
is
increased by a differential amount dP
j
. Internal
work increases, so strain energy becomes
Further application of the loads cause dP
j
to move
through displacement
j
, so strain energy
becomes
( ) ( ) 44 - 14 ..., , ,
2 1 n e i
P P P f U U = =
( ) 46 - 14
i j i j i
dP U dU U A + = +
( ) 45 - 14
j
j
i
i i i
dP
P
U
U dU U
o
o
+ = +
13
14. Energy Methods
73
dU
j
= dP
j
i
is the additional strain energy caused
by dP
j
.
In summary, Eqn 14-45 represents the strain
energy in the body determined by first applying the
loads P
1
, P
2
, , P
n
, then dP
j
.
Eqn 14-46 represents the strain energy determined
by first applying dP
j
, then the loads P
1
, P
2
, , P
n
.
Since theses two eqns are equal, we require
( ) 47 - 14
j
i
i
P
U
o
o
= A
14. Energy Methods
74
Note that Eqn 14-47 is a statement regarding the
bodys compatibility requirements, since its related
to displacement.
The derivation requires that only conservative
forces be considered for analysis.
14. Energy Methods
75
Since a truss member is subjected to an axial load,
strain energy is given by Eqn 14-16, U
i
= N
2
L/2AE.
Substitute this eqn into Eqn 14-47 and omitting the
subscript i, we have
It is easier to perform differentiation prior to
summation. Also, L, A and E are constant for a
given member, thus
*14.9 CASTIGLIANOS THEOREM APPLIED TO TRUSSES
( ) 48 - 14
|
.
|
\
|
= A
AE
L
P
N
o
o
= A
AE
L N
P 2
2
o
o
14. Energy Methods
76
= joint displacement of the truss.
P = external force of variable magnitude applied to
the truss joint in direction of .
N = internal axial force in member caused by both
force P and loads on the truss.
L = length of a member.
A = x-sectional area of a member.
E = modulus of elasticity of the material.
( ) 48 - 14
|
.
|
\
|
= A
AE
L
P
N
o
o
14. Energy Methods
77
In order to determine the partial derivative oN/oP,
we need to treat P as a variable, not numeric qty.
Thus, each internal axial force N must be
expressed as a function of P.
By comparison, Eqn 14-48 is similar to that used
for method of virtual work, Eqn 14-39, except that n
is replaced by oN/oP.
These terms; n and oN/oP, are the same, since
they represent the rate of change of internal axial
force w.r.t. the load P.
14. Energy Methods
78
External force P.
Place a force P on truss at the joint where the
desired displacement is to be determined.
This force is assumed to have a variable
magnitude and should be directed along the line of
action of the displacement.
Internal forces N.
Determine the force N in each member caused by
both the real (numerical) loads and the variable
force P. Assume that tensile forces are +ve and
compressive forces are ve.
14
14. Energy Methods
79
Internal forces N.
Find the respective partial derivative oN/oP for
each member.
After N and oN/oP have been determined, assign P
its numerical value if it has actually replaced a real
force on the truss. Otherwise, set P equal to zero.
Castiglianos Second Theorem.
Apply Castiglianos second theorem to determine
the desired displacement .
14. Energy Methods
80
Castiglianos Second Theorem.
It is important to retain the algebraic signs for
corresponding values of N and oN/oP when
substituting these terms into the eqn.
If the resultant sum N (oN/oP) L/AE is +ve, is in
the same direction as P. If a ve value results, is
opposite to P.
14. Energy Methods
81
EXAMPLE 14.17
Determine the horizontal displacement of joint C of
steel truss shown. The x-sectional area of each
member is also indicated.
Take E
st
= 210(10
3
) N/mm
2
.
14. Energy Methods
82
External force P.
Since horizontal displacement of C is to be
determined, a horizontal
variable force P is applied
to joint C. Later this force
will be set equal to the
fixed value of 40 kN.
14. Energy Methods
83
Internal forces N.
Using method of joints, force N in each member is
found. Results are shown in table:
Member N oN/oP N
(P = 40 kN)
L N(oN/oP)L
AB 0 0 0 4000 0
BC 0 0 0 3000 0
AC 1.67P 1.67 66.67(10
3
) 5000 556.7(10
6
)
CD 1.33P 1.33 -53.33(10
3
) 4000 283.7(10
6
)
14. Energy Methods
84
Castiglianos Second Theorem
Applying Eqn 14-8 gives
( )
| | ( ) | |
( )
| | ( ) | |
mm 32 . 5 08 . 1 24 . 4
N/mm 10 210 mm 1250
m N 10 7 . 283
N/mm 10 210 mm 625
m N 10 7 . 556
0 0
2 3 2
3
2 3 2
6
= + = A
+ + =
|
.
|
\
|
= A

h
h
C
C
AE
L
P
N
N
o
o
15
14. Energy Methods
85
b)
Here, we must apply Eqn 14-41. Realize that member
AC is shortened by L = 6 mm, we have
The ve sign indicates that joint C is displaced to the
left, opposite to the 1-kN load.
( )( )
= = A
= A A = A

mm 7.5 mm 5 . 7
mm 6 kN 25 . 1 kN 1 ; 1
h
h
C
C
L n
14. Energy Methods
86
Internal strain energy for a beam is caused by both
bending and shear. As pointed out in Example
14.7, if beam is long and slender, strain energy
due to shear can be neglected.
Thus, internal strain energy for a beam is given by
Eqn 14-17; U
i
= M
2
dx/2EI. We then substitute into
i
= oU
i
/oP
i
, Eqn 14-47 and omitting subscript i, we
have
*14.10 CASTIGLIANOS THEOREM APPLIED TO BEAMS
}
= A
L
EI
dx M
P
0
2
2 o
o
14. Energy Methods
87
It is easier to differentiate prior to integration, thus
provided E and I are constant, we have
= displacement of the pt caused by the real loads
acting on the beam.
P = external force of variable magnitude applied to
the beam in the direction of .
( ) 49 - 14
0
}
|
.
|
\
|
= A
L
EI
dx
P
M
M
o
o
14. Energy Methods
88
M = internal moment in the beam, expressed as a
function of x and caused by both the force P and
the loads on the beam.
E = modulus of elasticity of the material.
I = moment of inertia of x-sectional area computed
about the neutral axis.
( ) 49 - 14
0
}
|
.
|
\
|
= A
L
EI
dx
P
M
M
o
o
14. Energy Methods
89
If slope of tangent u at a pt on elastic curve is to be
determined, the partial derivative of internal
moment M w.r.t. an external couple moment M
acting at the pt must be found.
For this case
The eqns above are similar to those used for the
method of virtual work, Eqns 14-42 and 14-43,
except m and m
0
replace oM/oP and oM/oM,
respectively.
( ) 50 - 14
'
0
}
|
.
|
\
|
=
L
EI
dx
M
M
M
o
o
u
14. Energy Methods
90
If the loading on a member causes significant
strain energy within the member due to axial load,
shear, bending moment, and torsional moment,
then the effects of all these loadings should be
included when applying Castiglianos theorem.
( ) 1 5 - 14
0 0
0
} }
}
|
.
|
\
|
+ |
.
|
\
|
+
|
.
|
\
|
+ |
.
|
\
|
= A
L L
L
s
GJ
dx
P
T
T
EI
dx
P
M
M
GA
dx
P
V
V f
AE
L
P
N
N
o
o
o
o
o
o
o
o
16
14. Energy Methods
91
External force P or couple moment M.
Place force P on the beam at the pt and directed
along the line of action of the desired
displacement.
If the slope of the tangent is to be determined,
place a couple moment M at the pt.
Assume that both P and M have a variable
magnitude.
14. Energy Methods
92
Internal moment M.
Establish appropriate x coordinates that are valid
within regions of the beam where there is no
discontinuity of force, distributed load, or couple
moment.
Calculate the internal moments M as a function of
P or M and the partial derivatives oM/oP or oM/oM
for each coordinate of x.
14. Energy Methods
93
Internal moment M.
After M and oM/oP or oM/oM have been
determined, assign P or M its numerical value if it
has actually replaced a real force or couple
moment. Otherwise, set P or M equal to zero.
Castiglianos second theorem.
Apply Eqn 14-49 or 14-50 to determine the desired
displacement or u. It is important to retain the
algebraic signs for corresponding values of M and
oM/oP or oM/oM.
14. Energy Methods
94
If the resultant sum of all the definite integrals is
+ve, or u is in the same direction as P or M. If a
ve value results, or u is opposite to P or M.
14. Energy Methods
95
EXAMPLE 14.20
Determine the slope at pt B of the beam shown. EI is
a constant.
14. Energy Methods
96
External couple moment M.
Since slope at pt B is to be determined, an external
couple moment M is placed on the beam at this pt.
Internal moments M.
Two coordinates x
1
and x
2
is used to determine the
internal moments within beam since there is a
discontinuity, M at B. x
1
ranges from A to B, and x
2
ranges from B to C.
17
14. Energy Methods
97
Internal moments M.
Using method of sections, internal
moments and partial derivatives
are determined.
For x
1
,
0
'
0 ; 0
1
1 1
1 1
=
=
= = +

M
M
Px M
Px M M
NA
o
o
14. Energy Methods
98
Internal moments M.
For x
2
,
1
'
2
'
0
2
' ; 0
2
2 2
2 2
=
|
.
|
\
|
+ =
=
|
.
|
\
|
+ + = +
M
M
x
L
P M M
x
L
P M M M
NA
o
o
14. Energy Methods
99
Setting M = 0 and applying Eqn 14-50, we have,
Negative sign indicates that u
B
is opposite to
direction of couple moment M.
( )( ) ( ) | |
EI
PL
EI
dx x L P
EI
dx Px
EI
dx
M
M
M
L L
L
B
8
3
2 / 0
'
2
2 /
0
2 2
2 /
0
1 1
0
=
+
+
=
|
.
|
\
|
=
} }
}
o
o
u
14. Energy Methods
100
EXAMPLE 14.21
Determine the vertical displacement of pt C of the
steel beam shown.
Take E
st
= 200 GPa, I = 125(10
-6
) m
4
.
14. Energy Methods
101
External force P.
A vertical force P is applied at pt C. Later this force
will be set equal to the fixed value of 5 kN.
14. Energy Methods
102
Internal moments M.
Two x coordinates are needed for
the integration since the load is
discontinuous at C. Using method
of sections, the internal moments
and partial derivatives are
determined as follows.
18
14. Energy Methods
103
Internal moments M.
For x
1
,
( )
( )
1
1
3
1 1 1
1
1 2
1 1
4 . 0
9
1
4 . 0 9
0 4 . 0 9
3 3
1
; 0
x
P
M
x x P M
x P
x
x M M
NA
=
+ =
= +
|
.
|
\
|
+ = +
o
o
14. Energy Methods
104
Internal moments M.
For x
2
,
( )
( )
2
2
2 2
2 2
6 . 0
6 . 0 3 18
0 6 . 0 3 18 ; 0
x
P
M
x P M
x P M M
NA
=
+ + =
= + + + = +
o
o
14. Energy Methods
105
Catiglianos second theorem.
Setting P = 5 kN and applying Eqn 14-49, we have
( )
( )( )
( ) | | ( )
mm 4 . 16 m 0164 . 0
m 10 125 kN/m 106 200
m kN 9 . 410
6 . 0 6 18
4 . 0
9
1
11
4 6 2
3
4
0
2 2 2
6
0
1 1
3
1 1
0
= =
=
+
+
|
.
|
\
|

=
|
.
|
\
|
= A
} }
}
EI
dx x x
EI
dx x x x
EI
dx
P
M
M
L
C
v
o
o
14. Energy Methods
106
CHAPTER REVIEW
When a force (or couple moment) acts on a
deformable body it will do external work when it
displaces (or rotates).
The internal stresses produced in the body also
undergo displacement, thereby creating elastic
strain energy that is stored in the material.
The conservation of energy states that the
external work done by the loading is equal to
the internal strain energy produced in the body.
14. Energy Methods
107
CHAPTER REVIEW
This principal can be used to solve problems
involving elastic impact, which assumes the
moving body is rigid and all strain energy is
stored in the stationary body.
The principal of virtual work can be used to
determine the displacement of a joint on a truss
or the slope and the displacement of pts on a
beam or frame.
It requires placing an entire virtual unit force (or
virtual unit couple moment) at the pt where the
displacement (or rotation) is to be determined.
14. Energy Methods
108
CHAPTER REVIEW
The external virtual work developed is then
equated to the internal virtual strain energy in
the member or structure.
Castiglianos theorem can also be used to
determine the displacement of a joint on a truss
or slope or the displacement of a pt on a beam
or truss.
Here a variable force P (or couple moment M)
is placed at the pt where the displacement (or
slope) is to be determined.
19
14. Energy Methods
109
CHAPTER REVIEW
The internal loading is then determined as a
function of P (or M) and its partial derivative
w.r.t. P (or M) is determined.
Castiglianos theorem is then applied to obtain
the desired displacement (or rotation).

13 - MB - Unit Load & Castigliano - S Theorem

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

13 - MB - Unit Load & Castigliano - S Theorem

Uploaded by

Copyright:

Available Formats

1

2005 Pearson Education South Asia Pte Ltd

You might also like