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FORMULATION USING VIRTUAL WORK PRINCIPLE

The principle of virtual work can be expressed as

U  W  0 (1)

where  U is the variation in internal energy and

W is variation in external energy.

Therefore, the variation of strain energy is written as

 U    T  dV (2)
V

The variation of external work for transverse static loading can be written as

 W     0 0 0 0 0 0 d 
T T
fw (3)


F     0 0 0 0 0 d  is the force vector

T
0 fw


Taking the variation of nonlinear strain

1
 A      A    A  
1
 (4)
2  2

Expanding the first term of RHS

  w0    w0 
   0 
 x 0 
  x1    1 
 
 w   w   w0    w0  
 0   0   0   0   
  x2    x1    x2    x1  
  A      (5)
  w0   w0    w0   w0 w0    w0  
   
  x    x    x2   x2 x1    x2  
  2   1 
   
 0 0 
 0 0   
   0 0 
 0 0 

  A    A  

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1 
Therefore,    A     A  
2 

 can be rewritten as

   G (6)

where

  
0 0 x 0 0 0 0
G 1
 (7)
  
0 0 x 0 0 0 0
 2 

Therefore

1
  A     AG   (8)
2 

Strain can be written as

 1 
   T  L    AG    (9)
 2 

The variation of strain can be written as

  T  L    AG    (10)

Substituting in equation (1) the governing equilibrium for nonlinear system of

equation is given by

  L T   G  A  dV  F   0

T T T T
(11)
V

Upon integrating, we get,

 K   F  0 (12)

where K  K1  K2  K3  K4

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K1 is the linear stiffness matrix and K 2 , K3 and K 4 are the nonlinear stiffness
matrices given by

K1    L  D1  L dA
T
(13a)
A

1 T 
K 2     L  D2  AG   dA (13b)
A  
2

A

K3   G   A  D3  L  dA
T T
 (13c)

1 
K4    G   A  D4  AG   dA
T T
(13d)
A  
2

and

 A1   B  E  0 0 
 
NL  k   B C1   F1  0 0 
D1    T  Q  T  d 3    E   F1   H  0 
T
  0 (14)
 
k 1  k 1
 0 0 0  A2  C2 
 0
 0 0  C2   F2  

with

NL  k

 A1ij , Bij , C1ij , Eij , F1ij , H ij    

k 1  k 1
(k )
 
Qij 1, 3 , 32 , 33 , 34 , 36 d3

for i, j=1,2,6 (15a)

NL  k

 A2ij , C2ij , F2ij    k 1 

 Q 1, 
(k )
ij 3
2

, 3 4 d 
k 1

for i, j=4,5 (15b)

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 A1 0 
B 0 
  A 0
D2   E 0  , D3  D2T and D 4   1
A2 
(16)
  0
 0 A2 
 0 C2 

Taking appropriate variations of Eq(4.51)

R 
V
  L T   G  A     L T   G  A   dV
T T T T T T T T
(17)

where R is the residual which is the out-of-balance quantity between internal and
external forces.

The variation of strain-displacement matrix is given by

 T  L    AG    A G  (18)

Substituting Eq(4.58) in Eq(4.57)

V
 T

KT    G   A     L  T   G   A    dV
T T T T T
  (19)

where K T is known as the tangential stiffness matrix. Substituting value of   in

above equation (19)

V
 T

KT    G   A     L  T   G   A
T T T T T
QT  L   AG dV
(20)

Expanding the above equation

V

KT    G   A   dV 
T T

  L T T T Q T  L    L T T T Q  AG   G T  AT Q T  L  
   dV
V   G T A T Q A G
        


(21)

Upon explicit integration along transverse coordinate

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A

KT    G   A S  dA 
T T

  L T  D1  L    L T  D2  AG   G T  AT  D3  L   (22)
   dAdA
A   G T A T D A G
      4   



where

3k

S    N x N xz   
NL

   d
T
Ny N xy N yz 3 (23)
k 1 3
k 1

3k
Q   T  L    AG    d 3
NL
1
S       (24)
k 1 3k 1 2 

On further simplification of the above equation

S     D5  L    D6  AG   
1
(25)
 2 

where

 B C1 F1 0 0 B 0
D5   1 D6   1
E2  B2 
and (26)
0 0 0 B2 0

with

NL  k

 
B1ij   
k 1  k 1
Qij
(k )
 z  d

for i, j=1,2,6 (27a)

NL  k

B 2ij , E2ij   k 1 
 Q  z, z  d
(k )
ij
3

k 1

for i, j=4,5 (27b)

The first term of Eq(22) is known as the initial stress matrix or the geometric
stiffness matrix

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A

K    G   A
T T
S  dA (28)

Expanding Eq.(4.68)

 0 0  
 
 0 0  
     Nx 
     w w 
       0 0 0  N y  
   x1  x2    x1 x2  
K         N xy   dA (29)
 w w  
0 0   N yz  
A  0 0
  0
 0 0  x2 x1   
   N xz  
 0 0  
 0 0  
 

Matrix multiplication of  A and S  in the above equation gives

T

 0 0  
 
 0 0  
         w w  
       N x  N xy 
   x1  
 2 
x  x x2  
K    
1
  dA (30)
 w w  
  N xy
A  0 0 
  Ny
 0 0   x1 x2  
  
 0 0  
 0 0  
 

Upon further manipulation

 0 0  
 
 0 0  
        w 
        0 0 0 0 0 0 
   x1  x2    N x N xy  x1
K     
     dA (31)
A  0 0   N xy Ny   w 
  0 0 x 0 0 0 0 
 0 0   2 
  
 0 0  
 0 0  
 

Rewriting Eq(31) in notation form

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  Nx N xy  T 
K     G     G   dA (32)
 
A   N xy Ny  

From Eq(22), (28) and (32)


KT    G   N G  dA 
A
T

  L T  D1  L    L T  D2  AG   G T  AT  D3  L   (33)
A   G T A T D A G  dA
      4    


In order to attain equilibrium, the residual vector R should be reduced to an

insignificant value upon successive iterations. This process is accomplished by solving
the following recurrent equations.

R   KT  i    K i1  F (34a)

 i    KT 
1
 K   F
i 1
(34b)

i   i1   i  (35)

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