Finite Element Method

- Energy principles

BM CSTKM – Khoa CKM

Mai Đức Đãi

FMD Dept. – Fundamentals of Machine Design Department

Quality & Efficiency
1 22.10.2022 FMD Dept.
Energy principles

Principle of Minimum Total Potential Energy - Nguyên lý cực tiểu năng lượng thế năng tổng

→ Castigliano’s 1st theorem (for linear system)

Complementary
𝜕𝑈 Stress
= 𝑃𝑖 energy 𝜎 = 𝐸𝜀
𝜕𝑞𝑖
𝜎
→ Principle of Virtual Work (variational calculus)
Nguyên lý công ảo (biến phân)
Strain energy

𝜀 Strain
Principle of Minimum Complementary Energy - Nguyên lý cực tiểu năng lượng bù

→ Castigliano’s 2nd theorem (for linear system)

𝜕𝑈𝑐
= 𝑞𝑖
𝜕𝑃𝑖
→ Principle of Complementary Virtual Work (variational calculus) – Nguyên lý công ảo bù (biến phân)

2 22.10.2022 MEMA230720 – Mai Duc Dai, March 2021 FMD Dept.

 Castigliano’s second theorem
→ Carlo Alberto Castigliano (1847-1884)
→ An Italian railroad engineer
→ In 1879, Castigliano published two theorems

→ Appliable to linear elastic statically determinate structure (trusses) with Hookan

material

3 22.10.2022 MaiDucDai – Lecture noted on Mechanics of Materials – Axial loading, deflection FMD Dept.
Castigliano’s second theorem
The first partial derivative of the total internal energy
(strain energy/complementary potential energy) in a
structure with respect to the force applied at any point
Strain energy stored in an
is equal to the deflection at the point of application of
axial loading member
that force in the direction of its line of action.
1  z2
2
1 1 1 N 
U =   . .dV =  dV =   z  dV
Displacement at point k, in the direction of Pk 2V 2V E 2V E  A 
Structure’s strain energy
Cross section is constant along the bar
(prismatic bar)
𝜕𝑈𝑐 2
1 1 N 
L L
Δ𝑘 = 1 1 2
𝜕𝑃𝑘 U =   z  Adz =  N z dz
20E A 2 0 EA

If Nz and EA is constant along the bar

Point load at position k, in the direction of
which displacement need to be N zi
1N L 2 N zi
determined
U=
n
Pk
k = 
z
2 EA Li
i =1 Ei Ai
4 22.10.2022 MaiDucDai – Lecture noted on Mechanics of Materials – Axial loading, deflection FMD Dept.
Castigliano’s 2nd theorem - Ex. #01

Determine the vertical deflection of E

Tại vị trí cần tính chuyển vị, E

Theo phương cần tính chuyển vị (đứng)
Pk  P = 30kN Đã có lực tập trung Pk  P = 30kN

1- Xác định nội lực trong các thanh AB, CD

hàm phụ thuộc Pk ( P)

2- Áp dụng định lý Castigliano

(đạo hàm theo biến Pk)

5 22.10.2022 MaiDucDai – Lecture noted on Mechanics of Materials – Axial loading, deflection FMD Dept.
Castigliano’s 2nd theorem - Ex. #01
1. Internal axial force in links AB, CD (a function of Pk)
Determine forces exerted by links AB and DC
→NCD = 3Pk = 90kN
(tension) M B = 0  − FCD  0.2m + Pk  0.6m = 0
→NAB = - 2Pk = - 60kN  FCD = +3Pk = 90 (kN )
(compression)
M D = 0  FAB  0.2m + Pk  0.4m = 0
 FAB = −2 Pk = −60 (kN )
2Pk kN 3Pk kN

2. Castigliano’s second theorem

Pk = 30kN
- 2Pk kN = = 3Pk kN
N zi N AB N CD
N zi N AB N CD
n
Pk Pk Pk
E =  Li = LAB + LCD
i =1 Ei Ai ( EA) AB ( EA) CD

− 60.103 N  (−2) 90.103 N  3

= 300mm + 400mm
N N
F.B.D of rigid bar BDE
70.103 2
 500mm 2 200.103 2
 600mm 2
mm mm
Sơ đồ giải phóng liên kết thanh cứng BDE
= 1,02857 + 0,9 = 1,92857 mm
6 22.10.2022 MaiDucDai – Lecture noted on Mechanics of Materials – Axial loading, deflection FMD Dept.
Principle of Minimum Total Potential Energy

Concepts of strain energy, external work, and total potential energy are explained using a spring element

→ Strain energy (năng lượng biến dạng)

𝐹(𝑢) Slope, k
(Force)
𝐹 = 𝑘𝑢
𝑘 𝑢

𝐹 Work Done

𝑑𝑢 𝑞 𝑢 (displacement)

𝑞 𝑞
1 2 𝑞 1 2 1
𝑊𝑜𝑟𝑘 𝑑𝑜𝑛𝑒 = න 𝐹𝑑𝑢 = න 𝑘𝑢𝑑𝑢 = 𝑘𝑢 ൨ = 𝑘𝑞 = 𝐹 𝑞 𝑞
0 0 2 0 2 2
1
𝑆𝑡𝑜𝑟𝑒𝑑 𝐸𝑛𝑒𝑟𝑔𝑦 = 𝑊𝑜𝑟𝑘 𝐷𝑜𝑛𝑒 = 𝑆𝑡𝑟𝑎𝑖𝑛 𝐸𝑛𝑒𝑟𝑔𝑦 = 𝑈 𝑞 = 𝑘𝑞2
2

7 22.10.2022 FMD Dept.

Principle of Minimum Total Potential Energy

→ External energy (năng lượng ngoại)

𝑊(𝑞) = 𝐹𝑞
𝐹(𝑢) Slope, k
(Force)
𝐹 = 𝑘𝑢
𝑘 𝑢

𝐹 Work Done

𝑑𝑢 𝑞 𝑢 (displacement)

→ Total potential (thế năng tổng)

1 2
𝜋 𝑞 = 𝑈 𝑞 − 𝑊 𝑞 = 𝑘𝑞 − 𝐹𝑞
2

8 22.10.2022 FMD Dept.

Principle of Minimum Total Potential Energy

→ Differentiate the “Total Potential” with respect to the displacement, 𝑞, leading to Equilibrium Equation

1
𝜋 𝑞 = 𝑘𝑞2 − 𝐹𝑞
2 𝐹(𝑢) Slope, k
(Force)
𝐹 = 𝑘𝑢
𝑘 𝑢

𝐹 Work Done

𝑑𝑢 𝑞 𝑢 (displacement)

𝜕𝜋
= 0 ⟺ 𝑘𝑞 − 𝐹 = 0 ⟹ 𝑘𝑞 = 𝐹 → Static equilibrium equation
𝜕𝑞

9 22.10.2022 FMD Dept.

Principle of Minimum Total Potential Energy
→ Total potential, 𝜋(𝑞), is minimum for actual displacement

Set 𝑞0 = 𝑎𝑐𝑡𝑢𝑎𝑙 𝑞 𝑢𝑛𝑑𝑒𝑟 𝑙𝑜𝑎𝑑 𝐹, and any

𝜋 𝑞
𝑞 = 𝑞0 + ∆𝑞 (∆𝑞: deviation from actual q)

1
𝜋 𝑞0 = 𝑘 𝑞0 2 − 𝐹𝑞0
2 𝑞0
1
𝜋 𝑞0 + ∆𝑞 = 𝑘 𝑞0 + ∆𝑞 2 − 𝐹 𝑞0 + ∆𝑞
2 𝑞
1 1
= 𝑘 𝑞0 − 𝐹𝑞0 + 𝑘𝑞0 ∆𝑞 − 𝐹∆𝑞 + 𝑘 ∆𝑞 2
2
minimum
2 2
1 1
= 𝑘 𝑞0 − 𝐹𝑞0 + 𝑘𝑞0 − 𝐹 ∆𝑞 + 𝑘 ∆𝑞 2
2
2 2

𝜋 𝑞0 0
1 2
𝜋 𝑞0 + ∆𝑞 − 𝜋 𝑞0 = 𝑘 ∆𝑞 ≥ 0 Therefore, 𝜋(𝑞) is minimum for actual displacement
2
10 22.10.2022 FMD Dept.
Principle of Minimum Total Potential Energy

𝜋 𝑞
The total potential 𝜋(𝑞) is always minimum for actual displacement
under a given load. This is the Principle of Minimum Potential Energy
𝑞0

𝑞
In general, to derive the force equilibrium equation

→ construct 𝜋(𝑞) in terms of displacement 𝑞 (degree of freedom) minimum

𝜕𝜋(𝑞)
→ and then = 0 → Force Equilibrium Equation
𝜕𝑞

11 22.10.2022 FMD Dept.

 Principle of Virtual Work
(Nguyên lý công ảo)

Why do we use this principle among many useful energy principles?

→ This principle is very effective for the derivation of a Finite Element Formulation for
structural analysis and many other engineering applications

→ Boundary value problem is clearly formulated with this principle

12 22.10.2022 MaiDucDai – Lecture noted on Mechanics of Materials – Axial loading, deflection FMD Dept.
Principle of Virtual Work - Concept
𝑚
1. A uni-directionally moving mass 𝐹
𝑢, 𝑢,ሶ 𝑢ሷ

Newton’s 2nd law → equation of motion

𝐹 = 𝑚𝑢ሷ Eq. (1)

D’Alembert’s principle (alternative form of Newton's second law of motion) → equation of motion

𝐹 − 𝑚𝑢ሷ = 0 Eq. (2)

Introduce the “virtual displacement, δ𝑢” which is an arbitrary displacement. Unrelated to actual
displacement
𝐹 − 𝑚𝑢ሷ 𝛿𝑢 = 0 Eq. (3)

→ If Eq. (2) is true, THEN Eq. (3) is always true for any 𝛿𝑢
→ If Eq. (3) is true for nay arbitrary 𝛿𝑢, THEN Eq. (2) 𝐹 − 𝑚𝑢ሷ = 0 must be satisfied

Eq. (2) is equivalent to Eq. (3)

13 22.10.2022 FMD Dept.
Principle of Virtual Work - Concept
𝑚
2. A moving mass under general loading 𝐹
𝑢, 𝑢,ሶ 𝑢ሷ

Newton’s 2nd law → equation of motion is as follow in vector form

𝐹Ԧ = 𝑚𝑢ሷ 𝑜𝑟 𝐹Ԧ − 𝑚𝑢ሷ = 0 Eq. (1’) → Vector form

Taking dot product with the “virtual displacement vector, δ𝑢 ”

𝐹Ԧ − 𝑚𝑢ሷ . δ𝑢 = 0 Eq. (2’) → Scalar equation

→ Again, Eq. (1’) and Eq. (2’) are equivalents.

There is a big difference between the two expressions. Equation (1’) is a

vector equation, while equation (2’) is a scalar equation

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Principle of Virtual Work - Concept
𝑢
3. Linear spring 𝑘 𝑘𝑢 𝑘
𝐹Ԧ
𝐹Ԧ

F.B.D.
Equation of motion can be derived from the F.B.D.
𝐹Ԧ = 𝑘𝑢 or 𝐹Ԧ − 𝑘𝑢 = 0 Eq. (4)

Taking dot product with the “virtual displacement vector, δ𝑢 ”

𝐹Ԧ − 𝑘𝑢 . 𝛿𝑢 = 0 Eq. (5)

Where 𝐹, 𝑢, 𝛿𝑢 are the sizes of the applied force,

⇒ 𝐹𝛿𝑢 − 𝑘𝑢𝛿𝑢 = 0 Eq. (6) displacement and virtual displacement respectively.

External Virtual Work 𝛿𝑊 Internal Virtual Work 𝛿𝑈

𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 0 or 𝛿𝑈 = 𝛿𝑊 Eq. (7)

15 22.10.2022 FMD Dept.

Principle of Virtual Work - Concept

𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 or 𝛿𝑈 = 𝛿𝑊 Eq. (7)

If a body is in equilibrium, i.e. Eq. (4), THEN the “Internal virtual work” is equal to the
“External virtual work”
Conversely, If the “internal virtual work” is the same with “external virtual work”, then the
body is in equilibrium

→ Starting from vector equilibrium equation

→ Introduced the virtual displacement vector
→ Take dot product

Vector form Equilibrium Eq. Scalar form Equilibrium Eq.

(Differential Eq.) (Integral Eq.)

16 22.10.2022 FMD Dept.

Principle of Virtual Work – bar under uniaxial loading

→ In this section, we will apply the principle of virtual work to derive equilibrium equation in scalar form

→ The scalar form equation for a continuum involves integral over the domain that we consider

Consider a bar under uniaxial loading as shown below

𝑦
𝑓, distributed load (N/m)
𝑃
𝑥, 𝑢
Cross sectional area 𝐴 = 𝐴(𝑥)

Only axial tensile or compressive stress is considered

17 22.10.2022 FMD Dept.

Principle of Virtual Work – bar under uniaxial loading

❖ Vector Formulation

𝑦
𝑓, distributed load (N/m)
𝑃
𝑥, 𝑢
𝑥
𝑑𝑥

𝑓𝑑𝑥
𝜕 𝜎𝑥𝑥 𝐴
𝜎𝑥𝑥 𝐴 𝜎𝑥𝑥 𝐴 + 𝑑𝑥 𝜎𝑥𝑥 𝑥+𝑑𝑥 = 𝜎𝑥𝑥 𝑥 + 𝐶ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝜎𝑥𝑥
𝜕𝑥
𝜕 𝜎𝑥𝑥 𝐴
𝑥 = 𝜎𝑥𝑥 𝑥+ 𝑑𝑥
𝑑𝑥 𝜕𝑥

18 22.10.2022 FMD Dept.

Principle of Virtual Work – bar under uniaxial loading
𝑓𝑑𝑥
𝜕 𝜎𝑥𝑥 𝐴
𝜎𝑥𝑥 𝐴 𝜎𝑥𝑥 𝐴 + 𝑑𝑥
𝜕𝑥
𝑥
𝑑𝑥

For a very small 𝑑𝑥 → 𝐴𝑥+𝑑𝑥 ≈ 𝐴𝑥 . From Newton’s 2nd law

𝜕 𝜎𝑥𝑥 𝐴
−𝜎𝑥𝑥 𝐴 + 𝜎𝑥𝑥 𝐴 + 𝑑𝑥 + 𝑓𝑑𝑥 = 0
𝜕𝑥

𝜕 𝜎𝑥𝑥 𝐴
+ 𝑓 𝑑𝑥 = 0
𝜕𝑥

𝜕 𝜎𝑥𝑥 𝐴
Since 𝑑𝑥 is cannot be zero → +𝑓 =0 (Eq. 1)  Equilibrium equation in a vector form
𝜕𝑥
Force equilibrium
19 22.10.2022 FMD Dept.
Principle of Virtual Work – bar under uniaxial loading
𝜕 𝜎𝑥𝑥 𝐴
+𝑓 =0 (Eq. 1)
𝜕𝑥
𝜎𝑥𝑥 = 𝐸𝜀𝑥𝑥 One dimensional stress-strain relationship

𝜕𝑢
𝜀𝑥𝑥 = Linear strain assumption
𝜕𝑥

𝜕 𝜕𝑢 Final equilibrium is a 2nd order ordinary differential equation (uniaxial loading)

𝐸𝐴 +𝑓 =0 (Eq. 2)
𝜕𝑥 𝜕𝑥 → 2 boundary conditions are required to complete the boundary value problem

𝑢 = 0 𝑎𝑡 𝑥 = 0 → 𝑢ቚ =0 Geometric boundary condition

𝑥=0
B.C.’s
𝜕𝑢 Force boundary condition
𝜎𝑥𝑥 𝐴 = 𝑃 𝑎𝑡 𝑥 = 𝐿 → 𝐸𝐴 ቤ =𝑃 (natural boundary condition)
𝜕𝑥 𝑥=𝐿

20 22.10.2022 FMD Dept.

Principle of Virtual Work – bar under uniaxial loading

❖ Scalar Formulation (Virtual Work Expression)

𝜕
𝜎 𝐴 +𝑓 =0 (Eq. 1)
𝜕𝑥 𝑥𝑥
Introduce “Virtual displacement, 𝛿𝑢(𝑥)”. All virtual displacement are arbitrary and have no physical meaning

𝛿𝑢(𝑥)

𝑥=0 𝑥=𝐿

(Eq. 1) stands for a vector equation in the x direction. Take dot product between the (Eq. 1) and 𝛿𝑢(𝑥),
and then integrate it over the domain we consider

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Principle of Virtual Work – bar under uniaxial loading
𝐿
𝜕
න 𝜎 𝐴 + 𝑓 . 𝛿𝑢𝑑𝑥 = 0 (Eq. 3)
0 𝜕𝑥 𝑥𝑥
→ The dot product transforms the vector equation (Eq. 1) into a scalar equation
→ The integration will result in a reduction of the order of the differential equation
→ Integration by parts for one-dimensional problems will be used for the derivation of final
forms for the principle of virtual work

𝐿 𝐿
𝜕 𝐿 𝜕𝛿𝑢 න 𝑢𝑑𝑣 = 𝑢𝑣 − න 𝑣𝑑𝑢
න 𝜎𝑥𝑥 𝐴 𝛿𝑢𝑑𝑥 = 𝜎𝑥𝑥 𝐴 𝛿𝑢ቚ − න 𝜎𝑥𝑥 𝐴 𝑑𝑥
0 𝜕𝑥 0 0 𝜕𝑥

𝐿 𝐿
𝜕𝛿𝑢
− න 𝜎𝑥𝑥 𝐴 𝑑𝑥 + න 𝑓𝛿𝑢𝑑𝑥 + 𝜎𝑥𝑥 𝐴 𝛿𝑢ቚ − 𝜎𝑥𝑥 𝐴 𝛿𝑢ቚ =0 (Eq. 4)
0 𝜕𝑥 0 𝑥=𝐿 𝑥=0

We need to consider boundary condition and make a rule on virtual displacement

→ Apply “force boundary condition”

→ Set virtual displacement zero where the actual displacement is given (geometric BC is prescribed)

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Principle of Virtual Work – bar under uniaxial loading

𝐿 𝐿
𝜕𝛿𝑢
− න 𝜎𝑥𝑥 𝐴 𝑑𝑥 + න 𝑓𝛿𝑢𝑑𝑥 + 𝜎𝑥𝑥 𝐴 𝛿𝑢ቚ − 𝜎𝑥𝑥 𝐴 𝛿𝑢ቚ =0 (Eq. 4)
0 𝜕𝑥 0 𝑥=𝐿 𝑥=0

𝑦
𝑓, distributed load (N/m)
𝜎𝑥𝑥 𝐴 𝛿𝑢ቚ = 𝑃𝛿𝑢 Force boundary condition
𝑥=𝐿
𝑃
𝛿𝑢 = 0 at 𝑥=0 Rule on virtual displacement 𝑥, 𝑢
Cross sectional area 𝐴 = 𝐴(𝑥)
𝐿 𝐿
𝜕𝛿𝑢
න 𝜎𝑥𝑥 𝐴 𝑑𝑥 − න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 𝑥=𝐿 = 0 = 𝛿𝜋 (Eq. 5)
0 𝜕𝑥 0

𝛿𝑈 𝛿𝑊
Internal virtual work External virtual work (Eq. 5)
equivalent to
We need to check if (Eq.1) is equivalent to 𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 0 ? (Eq.1) + force boundary condition

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Principle of Virtual Work – bar under uniaxial loading

𝐿 𝐿
𝜕𝛿𝑢
න 𝜎𝑥𝑥 𝐴 𝑑𝑥 − න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 𝑥=𝐿 =0 (Eq. 5) 𝜕 𝜎𝑥𝑥 𝐴
0 𝜕𝑥 0 +𝑓 =0 (Eq. 1)
𝜕𝑥
𝜎𝑥𝑥 = 𝐸𝜀𝑥𝑥
𝜕𝑢
𝜀𝑥𝑥 =
𝜕𝑥

𝐿
𝜕𝑢 𝜕𝛿𝑢 𝐿 𝜕 𝜕𝑢
න 𝐸𝐴 𝑑𝑥 − න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 =0 (Eq. 7) 𝐸𝐴 +𝑓 =0 (Eq. 2)
𝜕𝑥 𝜕𝑥 𝑥=𝐿 𝜕𝑥 𝜕𝑥
0 0

𝛿𝑈 𝛿𝑊
Internal virtual work External virtual work

𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊

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 Principle of Virtual Work – bar under uniaxial loading
𝑦
𝑓, distributed load (N/m)
𝑃
𝑥, 𝑢
Cross sectional area 𝐴 = 𝐴(𝑥)

Start from equilibrium eq. (vector form)

Introduce virtual displacement, 𝛿(𝑥), take dot product, integrate over domain
Integration by parts
Apply force B.C.

Equilibrium Eq.
𝜕 𝜕𝑢 𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 0
𝐸𝐴 +𝑓 =0 𝐿
𝜕𝑥 𝜕𝑥 𝜕𝑢 𝜕𝛿𝑢
𝛿𝑈 = න 𝐸𝐴 𝑑𝑥 Internal virtual work
𝜕𝑢 0 𝜕𝑥 𝜕𝑥
Force B.C. 𝐸𝐴 = 𝑃 𝑎𝑡 𝑥 = 𝐿 ??? 𝐿
𝜕𝑥 𝛿𝑊 = න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 External virtual work
𝑥=𝐿
Geometric B.C. 𝑢 = 0 𝑎𝑡 𝑥 = 0 0
Geometric B.C. 𝑢 = 0 𝑎𝑡 𝑥 = 0

Vector formulation (strong form) Scalar formulation (weak form)

25 22.10.2022 FMD Dept.
Principle of Virtual Work – bar under uniaxial loading
𝐿 𝐿
𝜕𝑢 𝜕𝛿𝑢
𝛿𝜋 = න 𝐸𝐴 𝑑𝑥 − න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 𝑥=𝐿 =0 (Eq. 7)
0 𝜕𝑥 𝜕𝑥 0

Reversing the order of operation that led to (Eq.8), we can show that 𝛿𝜋 = 0 implies the equilibrium
equation and the force boundary condition

𝐿 𝐿
𝜕𝑢 𝜕𝛿𝑢 𝜕𝑢
න 𝐸𝐴 𝑑𝑥 = න 𝐸𝐴 𝑑𝛿𝑢
0 𝜕𝑥 𝜕𝑥 0 𝜕𝑥

𝐿
𝜕𝑢 𝜕𝑢 𝜕 𝜕𝑢
= 𝛿𝑢𝐸𝐴 − 𝛿𝑢𝐸𝐴 −න 𝐸𝐴 𝛿𝑢𝑑𝑥 (Eq. 8)
𝜕𝑥 𝑥=𝐿
𝜕𝑥 𝑥=0 0 𝜕𝑥 𝜕𝑥

(Eq. 8) → (Eq. 7)

𝐿
𝜕 𝜕𝑢 𝜕𝑢
𝛿𝜋 = − න 𝐸𝐴 + 𝑓 𝛿𝑢𝑑𝑥 − 𝑃 − 𝐸𝐴 𝛿𝑢 =0 (Eq. 9)
0 𝜕𝑥 𝜕𝑥 𝜕𝑥 𝑥=𝐿

26 22.10.2022 FMD Dept.

Principle of Virtual Work – bar under uniaxial loading

𝐿
𝜕 𝜕𝑢 𝜕𝑢
𝛿𝜋 = − න 𝐸𝐴 + 𝑓 𝛿𝑢𝑑𝑥 − 𝑃 − 𝐸𝐴 𝛿𝑢 =0 (Eq. 9)
0 𝜕𝑥 𝜕𝑥 𝜕𝑥 𝑥=𝐿

Since 𝛿𝑢 is arbitrary, we may choose 𝛿𝑢 such that

𝛿𝑢 = 0 𝑎𝑡 𝑥 = 𝐿

𝐿
𝜕 𝜕𝑢
𝛿𝜋 = − න 𝐸𝐴 + 𝑓 𝛿𝑢𝑑𝑥 = 0 (Eq. 10)
0 𝜕𝑥 𝜕𝑥

𝑔(𝑥)

Since (Eq. 10) holds for 𝛿𝑢 which is arbitrary everywhere except at 𝑥 = 0 𝑎𝑛𝑑 𝑥 = 𝐿 where 𝛿𝑢 = 0
→ (Eq.10) should hold for 𝛿𝑢 = 𝜖𝑔(𝑥) where 𝜖 is a constant

27 22.10.2022 FMD Dept.

Principle of Virtual Work – bar under uniaxial loading

𝐿
𝛿𝜋 = −𝜖 න 𝑔2 𝑥 𝑑𝑥 = 0 ⟶ 𝑔 𝑥 = 0
0

𝜕 𝜕𝑢
→ 𝐸𝐴 +𝑓 =0 Equilibrium equation
𝜕𝑥 𝜕𝑥

Back to (Eq. 9)
𝐿
𝜕 𝜕𝑢 𝜕𝑢
𝛿𝜋 = − න 𝐸𝐴 + 𝑓 𝛿𝑢𝑑𝑥 − 𝑃 − 𝐸𝐴 𝛿𝑢 =0 (Eq. 9)
0 𝜕𝑥 𝜕𝑥 𝜕𝑥 𝑥=𝐿

𝑔 𝑥 =0

For arbitrary 𝛿𝑢 𝑎𝑡 𝑥 = 𝐿
𝜕𝑢
→ 𝑃 = 𝐸𝐴 force boundary condition at 𝑥 = 𝐿
𝜕𝑥

28 22.10.2022 FMD Dept.

 Principle of Virtual Work – bar under uniaxial loading
𝑦
𝑓, distributed load (N/m)
𝑃
𝑥, 𝑢
Cross sectional area 𝐴 = 𝐴(𝑥)

Start from equilibrium eq. (vector form)

Introduce virtual displacement, 𝛿(𝑥), take dot product, integrate over domain
Integration by parts
Apply force B.C.

𝜕 𝜕𝑢 𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 0
Equilibrium Eq. 𝐸𝐴 +𝑓 =0 𝐿
𝜕𝑥 𝜕𝑥 𝜕𝑢 𝜕𝛿𝑢
𝛿𝑈 = න 𝐸𝐴 𝑑𝑥 Internal virtual work
𝜕𝑢 0 𝜕𝑥 𝜕𝑥
Force B.C. 𝐸𝐴 = 𝑃 𝑎𝑡 𝑥 = 𝐿 ??? → OKAY 𝐿
𝜕𝑥 𝛿𝑊 = න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 External virtual work
𝑥=𝐿
Geometric B.C. 𝑢 = 0 𝑎𝑡 𝑥 = 0 0
Geometric B.C. 𝑢 = 0 𝑎𝑡 𝑥 = 0

Vector formulation (strong form) Scalar formulation (weak form)

29 22.10.2022 FMD Dept.
Variational calculus
Introduce a set of operational rules called “variational calculus”

𝛿: operator
𝛿( ): variation of ( ) – biến phân

𝛿𝑐 = 0, if 𝑐 is given or prescribed 𝛿𝑢 = 𝛿𝑢, if 𝑢 is a variable

𝛿 𝐴 + 𝐵 = 𝛿𝐴 + 𝛿𝐵 𝛿 𝑢2 = 2𝑢𝛿𝑢

𝛿 𝐴𝐵 = 𝛿𝐴 𝐵 + 𝐴(𝛿𝐵) 𝛿 𝑢ሶ 2 = 2𝑢𝛿
ሶ 𝑢ሶ

𝜕𝐴 𝜕(𝛿𝐴)
𝛿 =
𝜕𝑥 𝜕𝑥

𝛿 න 𝐴𝑑𝑥 = න 𝛿𝐴𝑑𝑥

If 𝐴(𝑞1 , 𝑞2 , ⋯ , 𝑞𝑛 ), then
𝜕𝐴 𝜕𝐴 𝜕𝐴
𝛿𝐴 = 𝛿𝑞 + 𝛿𝑞 + ⋯ + 𝛿𝑞
𝜕𝑞1 1 𝜕𝑞2 2 𝜕𝑞𝑛 𝑛
30 22.10.2022 FMD Dept.
Variational calculus

Application of variational calculus for linear spring problem

𝑘 𝑞
1
𝜋 𝑞 = 𝑈 𝑞 − 𝑊 𝑞 = 𝑘𝑞2 − 𝐹𝑞
2
𝐹
𝑘, 𝐹 are constants

𝛿𝑐 = 0, if 𝑐 is given or prescribed
𝛿𝜋 = 𝑘𝑞𝛿𝑞 − 𝐹𝛿𝑞
𝛿 𝐴𝐵 = 𝛿𝐴 𝐵 + 𝐴(𝛿𝐵)
= 𝑘𝑞 − 𝐹 𝛿𝑞
If 𝐴(𝑞1 , 𝑞2 , ⋯ , 𝑞𝑛 ), then

𝜕𝜋 𝜕𝐴 𝜕𝐴 𝜕𝐴
𝛿𝜋 = 𝛿𝑞 = 𝑘𝑞 − 𝐹 𝛿𝑞 𝛿𝐴 = 𝛿𝑞1 + 𝛿𝑞2 + ⋯ + 𝛿𝑞
𝜕𝑞 𝜕𝑞1 𝜕𝑞2 𝜕𝑞𝑛 𝑛

For equilibrium, 𝛿𝜋 = 0 → 𝑘𝑞 − 𝐹 = 0

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Example #01 𝑦
𝐸𝐴 =constant
Find a tip displacement for the bar under axial loading 𝑃
𝑥, 𝑢
→ Assume 𝑢(𝑥) such that it satisfies the “geometric boundary 𝐿
condition”
→ Detemine the order of the assumed 𝑢(𝑥)
𝑃
𝜎𝑥𝑥 = is constant
𝐴
𝜕𝑢 𝜎𝑥𝑥 𝑃 𝜕𝑢
𝜀𝑥𝑥 = = = is constant → 𝜕𝑥 is constant → 𝑢(𝑥) is a linear function of x
𝜕𝑥 𝐸 𝐸𝐴

→ Therefore, we can assume the displacement as follows

𝑢 𝑥 = 𝑎𝑥, 0≤𝑥≤𝐿 → Satisfy the geometric boundary condition 𝑢 𝑥 = 0 = 0

→ The assumed displacement that satisfies only geometric boundary conditions is called
an “Admissible Function”

→ we set the following relation for virtual displacement

𝛿𝑢 𝑥 = (𝛿𝑎)𝑥
32 22.10.2022 FMD Dept.
Example #01

𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 0 𝑦
𝐿
𝜕𝑢 𝜕𝛿𝑢 𝐸𝐴 =constant
𝛿𝑈 = න 𝐸𝐴 𝑑𝑥 Internal virtual work 𝑃
0 𝜕𝑥 𝜕𝑥
𝑥, 𝑢
𝑢 𝑥 = 𝑎𝑥 𝐿

𝛿𝑢 𝑥 = (𝛿𝑎)𝑥
𝐿
= න 𝐸𝐴 𝑎 𝛿𝑎 𝑑𝑥 = (𝐸𝐴𝐿)(𝑎)(𝛿𝑎)
0

0
𝐿
The same as
𝛿𝑊 = න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 𝑥=𝐿 = (𝑃𝐿)𝛿𝑎 External virtual work
0 Mechanics of Materials

= 𝐸𝐴𝐿 𝑎 − 𝑃𝐿 𝛿𝑎 = 0
𝑃 𝑃 𝑃𝐿
Since 𝛿𝑎 is arbitrary, → 𝑎 = → 𝑢(𝑥) = 𝑥 → Tip displacement 𝑢(𝑥 = 𝐿) =
𝐸𝐴 𝐸𝐴 𝐸𝐴

33 22.10.2022 FMD Dept.

Example #02 𝑦
𝐸𝐴 =constant
Find a tip displacement for the bar under axial loading 𝑃
(same as Ex. #01)
𝑥, 𝑢
→ Assume 𝑢(𝑥) is a linear function of x, BUT is not satisfied 𝐿
the “geometric boundary condition” at this stage
𝑢 𝑥 = 𝑎1 + 𝑎2 𝑥

→ Express the coefficients 𝑎1 , 𝑎2 in terms of 𝑢1 , 𝑢2 𝑥=0 𝑥=𝐿

𝑢 𝑥 = 0 = 𝑎1 + 𝑎2 0 = 𝑢1 𝑢1
𝑢2
𝑢 𝑥 = 𝐿 = 𝑎1 + 𝑎2 𝐿 = 𝑢2

𝑎1 = 𝑢1 𝑢2 − 𝑢1 𝑢2 − 𝑢1 𝑥 𝑥
⟶ 𝑢 𝑥 = 𝑢1 + 𝑥 ⟶ 𝑢 𝑥 = 𝑢1 + 𝑥 ⟶𝑢 𝑥 = 1− 𝑢1 + 𝑢2
𝑢2 − 𝑢1 𝐿 𝐿 𝐿 𝐿
𝑎2 =
𝐿
→ Virtual displacement 𝛿𝑢 𝑥 can be assumed in the same fashion as actual displacement
𝑥 𝑥
𝛿𝑢 𝑥 = 1 − 𝛿𝑢1 + 𝛿𝑢2
𝐿 𝐿
34 22.10.2022 FMD Dept.
Example #02 𝑦
𝐸𝐴 =constant
𝑃
𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 0
𝐿
𝑥, 𝑢
𝜕𝑢 𝜕𝛿𝑢 𝐿
𝛿𝑈 = න 𝐸𝐴 𝑑𝑥 Internal virtual work
0 𝜕𝑥 𝜕𝑥
𝑢2 − 𝑢1
𝑢 𝑥 = 𝑢1 + 𝑥 𝑥=0 𝑥=𝐿
𝐿
𝛿𝑢2 − 𝛿𝑢1 𝑢1
𝛿𝑢 𝑥 = 𝛿𝑢1 + 𝑥 𝑢2
𝐿
𝐿
𝑢2 − 𝑢1 𝛿𝑢2 − 𝛿𝑢1 𝐸𝐴
= න 𝐸𝐴 𝑑𝑥 = 𝛿𝑢2 − 𝛿𝑢1 𝑢2 − 𝑢1
0 𝐿 𝐿 𝐿
0
𝐿
𝛿𝑊 = න 𝑓𝛿𝑢𝑑𝑥 + 𝑃𝛿𝑢 𝑥=𝐿 = 𝑃𝛿𝑢2 External virtual work
0

𝐸𝐴
= 𝛿𝑢2 − 𝛿𝑢1 𝑢2 − 𝑢1 − 𝑃𝛿𝑢2 = 0
𝐿

35 22.10.2022 FMD Dept.

Example #02 𝑦
𝐸𝐴 =constant
𝐸𝐴 𝑃
𝛿𝜋 = 𝛿𝑢2 − 𝛿𝑢1 𝑢2 − 𝑢1 − 𝑃𝛿𝑢2 = 0
𝐿 𝑥, 𝑢
𝐿

𝑢 𝑥 = 0 = 𝑢1 = 0 Geometric B.C.
𝑥=0 𝑥=𝐿
And set 𝛿𝑢 𝑥 = 0 = 𝛿𝑢1 = 0 Since 𝑢 is given at 𝑥 = 0
𝑢1
𝐸𝐴 𝑢2
= 𝑢 − 𝑃 𝛿𝑢2 = 0
𝐿 2
𝑃𝐿
For arbitrary 𝛿𝑢2 , → 𝑢2 = → Tip displacement is the same as the solution from Mechanics of Materials
𝐸𝐴

Important notes:
→ Geometric B.C. is applied at the solution stage
→ If we solve the problem in this way, we do not need to reconstruct the internal virtual
work for the other problem with different B.C.
→ This is one of the important ideas in the finite element method

36 22.10.2022 FMD Dept.

Example #03
Determine displacement at node A 𝑦, 𝑣 𝑦 𝑥෤
𝑣෤2
𝑢෤ 2
→ Internal virtual work
ℓ𝑖
𝐸𝐴
𝛿𝑈 = 𝛿𝑈(1) + 𝛿𝑈(2) + 𝛿𝑈(3)
𝐿 𝐸𝐴 𝛼 Bar 𝑖
𝛼 𝐸𝐴 𝑦෤ 𝑢෤ 1
→ External virtual work
𝛿𝑊 = 𝑃𝛿𝑞 𝑣෤1 𝜃𝑖
A 𝑥, 𝑢 𝑥
𝑃, 𝑞

→ In the (𝑥0 ෤ coordinate system – local coordinate system

෤ 𝑦)
𝐸𝐴
𝛿𝑈𝑖 = 𝛿 𝑢෤ 2 − 𝛿 𝑢෤ 1 𝑢෤ 2 − 𝑢෤ 1
ℓ𝑖 𝐸𝐴
→ 𝛿𝑈𝑖 = 𝑢෤ 𝛿 𝑢෤
ℓ𝑖 1 1
G.B.C. 𝑢෤ 2 = 0 → 𝛿 𝑢෤ 2 = 0

37 22.10.2022 FMD Dept.

 𝑦, 𝑣
Example #03
→ Coordinate transformation
𝑥෤ 𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃 𝑥 𝐸𝐴
=
𝑦෤ −𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 𝑦 𝐸𝐴
𝐿 𝛼 𝛼 𝐸𝐴
𝑢෤ 𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃 𝑢
=
𝑣෤ −𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 𝑣
→ For the i-th element A 𝑥, 𝑢
𝑃, 𝑞
G.B.C. 𝑢1 = 0 symmetry property
𝑣1 = 𝑞 𝑦 𝑥෤
0 𝑣෤2
𝑢෤ 1 = 𝑢1 𝑐𝑜𝑠𝜃𝑖 + 𝑣1 𝑠𝑖𝑛𝜃𝑖 = 𝑞 𝑠𝑖𝑛𝜃𝑖 𝑢෤ 2
𝑖
ℓ𝑖
→ Set virtual displacement

𝛿 𝑢෤ 1 = 𝛿𝑞 𝑠𝑖𝑛𝜃𝑖 Bar 𝑖
𝑖 𝑦෤ 𝑢෤ 1
𝐸𝐴
→ Internal virtual work for i-th element: 𝛿𝑈𝑖 = 𝑠𝑖𝑛𝜃𝑖 2 𝑞𝛿𝑞 𝜃𝑖
ℓ𝑖 𝑣෤1
𝑥
38 22.10.2022 FMD Dept.
 𝑦, 𝑣
Example #03
→ Parameters for i-th element
2
1 𝐸𝐴 3
Element No. ℓ𝒊 𝜽𝒊 sin𝟐 𝜽 𝒊
𝐿 𝐸𝐴 𝛼
1 𝐿/𝑐𝑜𝑠𝛼 900 + 𝛼 cos2 𝛼 𝛼 𝐸𝐴
2 𝐿 900 1
3 𝐿/𝑐𝑜𝑠𝛼 900 − 𝛼 cos2 𝛼
A 𝑥, 𝑢
𝑃, 𝑞
→ Internal virtual work
𝐸𝐴 𝑦 𝑥෤
𝛿𝑈 = 𝛿𝑈(1) + 𝛿𝑈(2) + 𝛿𝑈(3) 𝛿𝑈𝑖 = 𝑠𝑖𝑛𝜃𝑖 2 𝑞𝛿𝑞 𝑣෤2
ℓ𝑖
𝑢෤ 2
𝐸𝐴
𝛿𝑈 = cos3 𝛼 + 1 + cos3 𝛼 𝑞𝛿𝑞 ℓ𝑖
𝐿

→ Variation of total potential energy Bar 𝑖

𝑦෤ 𝑢෤ 1
𝐸𝐴
𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 1 + 2 cos3 𝛼 𝑞 − 𝑃 𝛿𝑞 = 0
𝐿 𝜃𝑖
𝑣෤1
𝑥
39 22.10.2022 FMD Dept.
 𝑦, 𝑣
Example #03
𝐸𝐴
𝛿𝜋 = 𝛿𝑈 − 𝛿𝑊 = 1 + 2 cos3 𝛼 𝑞 − 𝑃 𝛿𝑞 = 0 2
𝐿 𝐸𝐴 3
1
→ For arbitrary δ𝑞 𝐸𝐴
𝐿 𝛼
𝐸𝐴 𝛼 𝐸𝐴
1 + 2 cos3 𝛼 𝑞 − 𝑃 = 0
𝐿
This is the equilibrium equation for the three-element truss structure A 𝑥, 𝑢
𝑃, 𝑞

→ Displacement at node A 𝑥෤
𝑦
𝑃𝐿 𝑣෤2
𝑞= 𝑢෤ 2
𝐸𝐴 1 + 2 cos3 𝛼
ℓ𝑖
→ Axial tress in i-th element
Bar 𝑖
𝑢෤ 2 − 𝑢෤ 1 𝐸 𝐸 𝑦෤ 𝑢෤ 1
𝑖
𝜎𝑥෤ 𝑥෤ 𝑖 = 𝐸 𝜀𝑥෤ 𝑥෤ 𝑖 =𝐸 =− 𝑢෤ =− 𝑠𝑖𝑛𝜃𝑖 𝑞
ℓ𝑖 ℓ𝑖 1 𝑖
ℓ𝑖
𝑣෤1 𝜃𝑖
𝑥
40 22.10.2022 FMD Dept.
 END

41 22.10.2022 MEMA230720 – Mai Duc Dai, March 2021 FMD Dept.