Energy Concepts

Here, we relate the concepts of strain energy and complementary strain energy
to flexibility and stiffness coefficients
 Conservative system (ext. work of applied loads are stored in the structure)
• Displacements are small
• No energy is dissipated

Stresses on an infinitesimal element

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 Energy Concepts
Stress and strain components and their relationships

Stresses on an infinitesimal element

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 Energy Concepts
Stress and strain components as vectors with number subscripting

Stresses on an infinitesimal element

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 Energy Concepts
Strain energy, U

For the linear case,

Stress-strain diagrams for elastic materials

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 Energy Concepts
Complementary strain energy , U*

For the linear case,

Stress-strain diagrams for elastic materials

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 Energy Concepts
The external work of loads , W

For the linear case,

Load-displacement diagrams for elastic materials How?!

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 Energy Concepts
The complementary work of loads , W*

For the linear case,

Load-displacement diagrams for elastic materials How?!

42
 Energy Concepts
For linear elastic materials …
Invoking the principle of conservation of energy,

Similarly, the principle of conservation of complementary energy

leads to

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 Energy Concepts
Energy theorems

Castigliano's first theorem: For an elastic body, if

then

The The Crotti-Engesser theorem: For an elastic body, if

then

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 Energy Concepts
Energy theorems
Castigliano's first theorem: For an elastic body,

Castigliano's second theorem: For a linearly elastic body,

Therefore,

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 Energy Concepts
Virtual Work
The ext. virtual work: 𝛿𝑊 = 𝐀T δ𝐃 (Real actions through virtual displacements)

The int. virtual work: 𝛿𝑈 = න 𝝈T δ𝝐 𝑑𝑉 (Real stresses through virtual strains)

𝑉

The virtual work principle: 𝛿𝑊 = 𝛿𝑈

Therefore, 𝐀T δ𝐃 = න 𝝈T δ𝝐 𝑑𝑉 (Conservative system in equilibrium)

𝑉

Transposed form: δ𝐃T 𝐀 = න δ𝝐T 𝝈𝑑𝑉 (Conservative system in equilibrium)

𝑉
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 Energy Concepts
Actions and Stiffnesses Using the Virtual Work Principle (The Unit Disp. Method)
An unknown action Aj can be obtained by simply setting δDj = 1 (δD≠ j = 0), thus

1 𝐴𝑗 = න δ𝝐𝒋 T 𝝈 𝑑𝑉 (𝝐j corresponds to the condition δDj = 1)

𝑉
Now, define real D corresponding real A, and set Dk = 1 (D≠ k = 0), thus Aj above
becomes the action of type j due to a unit displacement of type k, which defines Sjk

Therefore, 1 𝑆𝑗𝑘 = න δ𝝐𝒋 T 𝝈𝒌 𝑑𝑉

𝑉

(Fig. 1-22)

For example: 1 𝑆12 = න δ𝝐𝟏 T 𝝈𝟐 𝑑𝑉

𝑉

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 Energy Concepts
Complementary Virtual Work
The ext. c. virtual work: 𝛿𝑊 ∗ = δ𝐀T 𝐃 (Virtual actions through real displacements)

The int. c. virtual work: 𝛿𝑈 ∗ = න δ𝝈T 𝝐 𝑑𝑉 (Real stresses through virtual strains)
𝑉

The c. virtual work principle: 𝛿𝑊 ∗ = 𝛿𝑈 ∗

Therefore, δ𝐀T 𝐃 = න δ𝝈T 𝝐 𝑑𝑉 (Conservative system in equilibrium)

𝑉

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 Energy Concepts
Actions and Flexibilities Using the Virtual Work* Principle (The Unit Load Method)
An unknown action Dj can be obtained by simply setting δAj = 1 (δA≠ j = 0), thus

1 𝐷𝑗 = න δ𝝈𝒋 T 𝝐 𝑑𝑉 (𝝈j corresponds to the condition δAj = 1)

𝑉
Now, define real D corresponding real A, and set Ak = 1 (A≠ k = 0), thus Dj above
becomes the displacement of type j due to a unit action of type k, which defines Fjk

Therefore, 1 𝐹𝑗𝑘 = න δ𝝈𝒋 T 𝝐𝒌 𝑑𝑉

𝑉

(Fig. 1-22)

For example: 1 𝐹21 = න δ𝝈𝟐 T 𝝐𝟏 𝑑𝑉

𝑉

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 Energy Concepts
Application of the Unit Load Method
To start with, consider the various internal deformation components as follows:
Axial deformations

𝐿 𝐿 𝐿
𝑁 𝑃 𝑃𝐿
Δ = න 𝑑Δ = න 𝑑𝑥 = න 𝑑𝑥 For constant A, E, and N = P, Δ=
0 0 𝐴𝐸 0 𝐴𝐸 𝐴𝐸

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 Energy Concepts
Flexural deformations 𝐿 𝐿
𝑀
𝜃 = න 𝑑𝜃 = න 𝑑𝑥
0 0 𝐸𝐼𝑧

For constant M, E, and Iz,

𝑀𝐿
𝜃=
𝐸𝐼𝑧

𝐿 𝐿
𝑀 𝑀𝐿2
Δ = න 𝑑Δ = න 𝐿 − 𝑥 𝑑𝑥 =
0 0 𝐸𝐼𝑧 2𝐸𝐼𝑧

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 Energy Concepts

Torsional deformations

𝐿 𝐿 𝑇𝐿
𝑇
𝜙 = න 𝑑𝜙 = න 𝑑𝑥 For constant T, G, and J, 𝜙=
0 0 𝐺𝐽 𝐺𝐽

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 Energy Concepts
Shearing deformations

𝐿
𝑓𝑉 𝑓𝑃𝐿
Δ = න𝑑𝜆 = න 𝑑𝑥 For constant V = P, G, and A, Δ=
0 𝐺𝐴 𝐺𝐴
For the above cantilever beam, the total lateral deformation is:
𝑃𝐿3 𝑓𝑃𝐿 Δ𝑠 3𝑓𝐸𝐼𝑧
Δ = Δ𝑏 + Δ𝑠 = + However, = 2
≪ 1.0 for shallow beams
3𝐸𝐼𝑧 𝐺𝐴 Δ𝑏 𝐺𝐴𝐿
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 Energy Concepts
Thermal deformations Uniform ΔT Differential ΔT

For uniform temperature change, the axial thermal deformation is:

𝐿 𝐿
Δ = න 𝑑Δ = න 𝛼 Δ𝑇 𝑑𝑥 = 𝛼𝐿 Δ𝑇
0 0
For differential temperature change, the thermal deformation is:
𝐿 𝐿
𝛼 Δ𝑇1 − Δ𝑇2 𝛼𝐿
𝜃 = න 𝑑𝜃 = න 𝑑𝑥 = Δ𝑇1 − Δ𝑇2
0 0 𝑑 𝑑 54
 Energy Concepts
Application of the Unit-Load Method
• The unit-load method mostly applicable for the calculation of displacements in st. det.
structures considering the individual contributions of internal deformations from thermal, axial,
torsional, flexural, shearing effects. Effects of member misfits and others may also be included.
• Two loading systems are considered in the unit-load method:
(i) All the loads applied to the actual system
(ii) A unit load that corresponds to the desired displacement
• Calculations are based on principle of c. virtual work specialized for the unit-load method, as
𝑈𝑛𝑖𝑡
𝑈𝑛𝑘𝑛𝑜𝑤𝑛 𝑉𝑖𝑟𝑡𝑢𝑎𝑙 𝑅𝑒𝑎𝑙
𝑣𝑖𝑟𝑡𝑢𝑎𝑙 =න 𝑑𝑉
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑉 𝑠𝑡𝑟𝑒𝑠𝑠𝑒𝑠 𝑠𝑡𝑟𝑎𝑖𝑛𝑠
𝑙𝑜𝑎𝑑
• For the slender members of framed structures, integration over volume may be replaced by
integration over length by working with virtual stress resultants and the corresponding
internal displacements
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 Energy Concepts
Application of the Unit-Load Method
• The foregoing translate to:
𝑚

1 Δ = ෍ න 𝑁𝑈 𝑑Δ + න 𝑀𝑈 𝑑𝜃 + න 𝑇𝑈 𝑑𝜙 + න 𝑉𝑈 𝑑𝜆 + ⋯
𝑖=1 𝐿 𝐿 𝐿 𝐿 𝑖

where
𝑁𝐿 𝑀𝐿 𝑇𝐿 𝑓𝑉𝐿
𝑑Δ = 𝑑𝑥; 𝑑𝜃 = 𝑑𝑥; 𝑑𝜙 = 𝑑𝑥; 𝑑𝜆 = 𝑑𝑥; …
𝐴𝐸 𝐸𝐼 𝐺𝐽 𝐺𝐴

Therefore,
𝑚
𝑁𝑈 𝑁𝐿 𝑀𝑈 𝑀𝐿 𝑇𝑈 𝑇𝐿 𝑓𝑉𝑈 𝑉𝐿
Δ=෍ න 𝑑𝑥 + න 𝑑𝑥 + න 𝑑𝑥 + න 𝑑𝑥 + ⋯
𝐿 𝐴𝐸
𝑖=1 𝐿 𝐸𝐼 𝐿 𝐺𝐽 𝐿 𝐺𝐴 𝑖

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 Energy Concepts
Application of the Unit-Load Method: Examples
Example 1: For the truss with all members having same EA, determine
(i) the horizontal displacement of joint B and (ii) the relative displacement of joints A and D

(i) ΔB (taken +ve to the right) (ii) ΔAD (taken +ve closing up)

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 Energy Concepts
Application of the Unit-Load Method: Example 1

ΔB = −3.828 𝑃𝐿 = 3.828 𝑃𝐿 (to the left)

ΔAD = −2 𝑃𝐿 = 2 𝑃𝐿 (opening up)

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 Energy Concepts
Application of the Unit-Load Method: Examples
Example 2: For the cantilever beam having constant EI, determine
(i) the displacement of point C and (ii) the displacement of point E

(i) ΔC (taken +ve upwards)

(ii) ΔE (taken +ve upwards)

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 Energy Concepts
Application of the Unit-Load Method: Example 2

13 𝑃𝐿3
Δ𝐶 = (up)
24 𝐸𝐼

97 𝑃𝐿3
Δ𝐶 = (up)
48 𝐸𝐼

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