Introduction to The Principles of Virtual Work

CEE 421L. Matrix Structural Analysis

Department of Civil and Environmental Engineering
Duke University
Henri P. Gavin

Fall, 2014

Forces Fi , Displacements Di and D∗

Consider a linear elastic beam with N (“real”) forces, Fi , applied at points 1,2,
..., N .
y
F1 F2 F3 FN
x
σ (x,y) ε (x,y)
11111
00000 11111
00000
00000
11111 00000
11111
00000
11111 00000
11111
00000
11111 00000
11111
D1 DN
x=0 D2 D3 D* x=L

All of these forces together produce deflections D1 , D2 , ... DN at the cor-

responding loading points. There are also deflections at other points on the
beam, for example the deflection D∗ at point *. The sum of these forces pro-
duce stresses σ and strains  throughout the volume of the beam. With this
system of loading the external work and internal strain energy are:
1X N 1
W = Fi Di = {F }T {D} (1)
2 i=1 2
and
1Z
U= {σ}T {} dV (2)
2 V
where the vectors of stresses {σ} and strains {} are written

{σ}T =
n o
σxx σyy σzz τxy τxz τyz (3)
{}T =
n o
xx yy zz γxy γxz γyz (4)
2 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2014, – H.P. Gavin

Force F̄∗ , Displacements D̄i and D̄∗

Next, consider the same beam with a single point load, F̄∗ , (This force could
be at one of the loading points, (1, · · · , N ) but it doesn’t have to be.)
y
F*
x
σ (x,y) ε (x,y)
11111
00000 11111
00000
00000
11111 00000
11111
00000
11111
00000
11111 00000
11111
00000
11111
D1 DN x=L
x=0 D2 D3 D
*

The force F̄∗ by itself produces a collocated deflection D̄∗ at point ∗, as well as
deflections D̄1 , D̄2 , ..., D̄N , at the other locations on the beam.

The force F̄∗ by itself creates stresses σ̄ and strains ¯ throughout the beam.

The external work of the force F̄∗ passing through the displacement D̄∗ is
1
W = F̄∗ D̄∗ , (5)
2
and the total internal work associated with this single point load is
1Z
U= {σ̄}T {¯} dV (6)
2 V

Forces F̄∗ + Fi , Displacements D̄i + Di and D̄∗ + D∗

Finally, consider what happens when we apply F̄∗ first, then apply all the other
(“real”) loads F1 , F2 , ..., FN , while holding F̄∗ constant.
y
F1 F2 F3 F FN
*
x
σ+σ ε+ε
11111
00000 11111
00000
00000
11111
00000
11111 00000
11111
00000
11111
00000
11111 00000
11111

x=0 D+D
1 1 D+D x=L
D+D N N
2 2 D+D D+D
3 3 * *

CC BY-NC-ND H.P. Gavin

Introduction to The Principle Of Virtual Work 3

For the force F̄∗ :

F 11111111111111111111111111111111111
0000000000000000000000000000000000000000000000000000000000000000000000000
11111111111111111111111111111111111111
* 11111111111111111111111111111111111
00000000000000000000000000000000000
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
11111111111111111111111111111111111
0000000000000000000000000000000000000000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
11111111111111111111111111111111111
00000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
11111111111111111111111111111111111
00000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
11111111111111111111111111111111111
0000000000000000000000000000000000011111111111111111111111111111111111111
00000000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
D D +D
* * *

and the external work for force F̄∗ is

1
W = F̄∗ D̄∗ + F̄∗ D∗ . (7)
2
Note that F̄∗ is held constant as the other loads, Fi , and deflections, Di , increase.
For the forces at the other locations, Fi , i = 1, . . . , N :

Fi 111111111111111111111111111111111111111
000000000000000000000000000000000000000
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
000000000000000000000000000000000000000
111111111111111111111111111111111111111
Di Di + D i

1X N
W = Fi Di (8)
2 i=1
The total external work is
1 1X N
W = F̄∗ D̄∗ + F̄∗ D∗ + Fi Di . (9)
2 2 i=1

CC BY-NC-ND H.P. Gavin

4 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2014, – H.P. Gavin

Now, let’s find the internal work for the combination of the load F̄∗ with all the
other loads Fi , i = 1, . . . , N . As before, we will say that the stresses and strains
caused by the force F̄∗ are σ̄ and ¯ and that the stresses and strains caused by
the set of forces Fi , i = 1, . . . , N are σ and . First we will look at the stresses
due to the force F̄∗ . The stress σ̄ increases linearly until the strain ¯ is attained.
After the force F̄∗ is applied the stress σ̄ remains constant as the strains from
the forces Fi , i = 1, . . . , N are applied.

σ 11111111111111111111111111111111111
00000000000000000000000000000000000
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
11111111111111111111111111111111111
00000000000000000000000000000000000
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
11111111111111111111111111111111111
00000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
11111111111111111111111111111111111
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
11111111111111111111111111111111111
00000000000000000000000000000000000
1111111111111111111111111111111111100000000000000000000000000000000000000
11111111111111111111111111111111111111
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000
11111111111111111111111111111111111
0000000000000000000000000000000000011111111111111111111111111111111111111
1111111111111111111111111111111111100000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
ε ε+ε

Next we will look at the stresses σ due to the forces F1 , F2 , ..., FN . As the load
F̄∗ is applied, (i.e., before the forces Fi are applied), the stresses σ are all zero,
but the strains increase from 0 to ¯. Once the force F̄∗ has been applied, the
forces Fi are applied, and the strains increase linearly with the stress.

σ 11111111111111111111111111111111111111
00000000000000000000000000000000000000
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
00000000000000000000000000000000000000
11111111111111111111111111111111111111
ε ε+ε

The total internal work due to the combined actions of all the loads, applied
sequentially, is
1Z Z 1Z
U= {σ̄}T {¯} dV + {σ̄}T {} dV + {σ}T {} dV. (10)
2 V V 2 V

CC BY-NC-ND H.P. Gavin

Introduction to The Principle Of Virtual Work 5

Equating the external and internal work (equations (9) and (10)), noting from
page 1 that
1 1Z
F̄∗ D̄∗ = {σ̄}T {¯} dV, (11)
2 2 V
and from page 2 that
1X N 1Z
Fi D i = {σ}T {} dV, (12)
2 i=1 2 V
we obtain the principle of virtual work:
Z
F̄∗ D∗ = {σ̄}T {} dV. (13)
V
This expression holds for beams, bars, trusses, frames, plates, shells, bricks, etc.
etc. It is customary to call the left hand side of this expression the external
virtual work
W̄ = F̄∗ D∗ , (14)
and the right hand side the internal virtual work.
Z
Ū = {σ̄}T {} dV. (15)
V
Recall the definitions of the various terms in the principle of virtual work (13).

D∗ is the real deflection at some point in the structure (point *) caused by

the real forces F1 , F2 , ..., FN . Often the displacement D∗ is the unknown
response to be found.
F̄∗ is a virtual force in the direction and in the location of D∗ .
Often we set this force equal to 1 unit of force.
 are the real strains associated with the system real forces Fi .
These strains are found by analyzing the structure with loads Fi .
σ̄ are the virtual stresses caused by the virtual force F̄∗ .
These stresses are found by analyzing the structure with load F̄∗ .

In words, the external virtual work of a virtual force (F̄∗ ) moving through a real
displacement (D∗ ) equals the product of the virtual stresses ({σ̄}) corresponding
to the virtual force (F̄∗ ) with the real strains ({}) corresponding to the real
system of forces (Fi ), integrated over the volume of the solid.

CC BY-NC-ND H.P. Gavin

6 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2014, – H.P. Gavin

Equation (13) is sometimes called the principle of virtual forces, since the forces
and stresses correspond to the “virtual” loading system and the displacements
and strains correspond to the real system of loading. In a completely analogous
way we can write the the principle of virtual displacements:
N Z
{σ}T {¯} dV.
X
Fi D̄i = (16)
i=1 V

in which,

Fi are a system of real forces at a set of coordinates (i = 1, · · · , N ).

D̄i are the virtual deflections collocated with the system of forces Fi , aris-
ing from some arbitrary system of virtual forces. Note that since these
virtual deflections are found from a system of virtual forces, the virtual
displacements are consistent with all the constraints (reaction points) on
the structure. In fact, the only requirement for the virtual displacements
is that they adhere to the constraints of the structure.

¯ are the virtual strains associated with the virtual displacements D̄i .

σ are the real stresses caused by the system of real forces Fi .

In words, the external virtual work of a real forces (Fi ) moving through col-
located virtual displacements (D̄i ) equals the product of real stresses ({σ})
associated with forces Fi and the virtual strains ({¯}) associated with virtual
displacements D̄i , integrated over the volume of the solid.

The principle of virtual work applies to linear elastic and non-linear elastic
structures also.

CC BY-NC-ND H.P. Gavin

Introduction to The Principle Of Virtual Work 7

There are many ways in which the principle of virtual work is applied to prob-
lems in many fields of engineering and applied mathematics, including solid
mechanics, fluid mechanics, and electro-statics, to name a few. The principle
of virtual work is fundamental to the finite element method, which is used to
solve problems described by systems of partial differential equations in many
disciplines. Here is a typical example of how we can apply the principle of
virtual work to find the deflections at some point in an elastic solid. Consider
a beam carrying some loads

The problem is to find the displacement D∗ at some point (*) on this structure.
Note that the principle of real work can not be applied to this problem.

The figure above shows the real displacements of the structure. This system is
the one we are “really” interested in and it has internal strains that are “really”
there.

To apply the principle of virtual work to this problem, we remove all of the ex-
ternally applied loads in the figure above and apply a unit force in the direction
and location of the unknown displacement D∗ . This unit virtual force (F̄∗ ) will
cause bending and shear in this particular structure, which will have associated
real stresses. Knowing how to:
— relate the real external loads to internal bending moments M (x) and shear
forces V (x);
— Relate these internal moments and shears to strains, 
— Relate the unit virtual load to internal virtual bending moments M̄ (x) and
shear forces V̄ (x); and
— relate those internal virtual moments and shears to virtual stresses, σ̄,
equation (15) becomes Z
∗
1 · D = {σ̄}T {} dV. (17)
V
The relationships between internal moments, shears, torques, and axial loads to
stresses and strains may be simplified by considering those cases individually.
Doing so simplifies the integral in equation (17) for these special cases.

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