Lecture #5

Energy concepts.
Calculation of displacements
TOPIC OF THE LECTURE

Energy concepts:
•Virtual work concept
•Strain energy
•Castigliano’s theorem
•Mohr’s formula

Specific calculations of displacements:

•Trusses
•Actuated structures (temperature, piezoelectric and
shape memory alloy displacements)

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PRINCIPLE OF VIRTUAL WORK

The principle claims that for the state of equilibrium

the sum of works of all forces on any possible (virtual)
displacement is zero. This principle is widely used
when a problem is solved using variational calculus.

 Wtotal  0
For linear displacement
W  F  r
For rotational displacement
 W  M  
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STRAIN ENERGY AND COMPLEMENTARY ENERGY

dU
P
dy

dC
y
dP

2
N dx Qy2 dx 2
Q dx M dx2
M y2 dxM z2 dx
dU  x
 Ky   Kz  z
 x
 
2 EA 2GA 2GA 2GI x 2 EI y 2 EI z
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CASTIGLIANO’S THEOREM

Theorem states that the displacement due to a certain

force is equal to the derivative of complementary
energy by this force. For elastic structures, however,
strain energy could be used instead of complementary
energy:
dU

dFd

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CASTIGLIANO’S THEOREM

The partial case for elastic trusses is:

dFi
Fi   Li
dU dFd Fi  F i  Li
  
dFd i Ei  Ai i Ei  Ai
Where F i could be considered as a force in the
member due to applied unity force corresponding to
the displacement .

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MOHR’S INTEGRAL
In contrast to Castigliano’s theorem which is
applicable for general problem, the Mohr’s integral is
applicable for elastic problems only.
Nx  Nx Qy  Qy Qz  Qz
 dx  K y   dx  K z   dx 
EA GA GA
Mx Mx My My Mz Mz
 dx   dx   dx
GI x EI y EI z
Displacements from shear forces are usually
negligibly small comparing to those from bending
moments.
Displacements from normal forces are smaller than
from bending moments, they are used for trusses. 7
DISPLACEMENTS IN SHAPE MEMORY ALLOYS
Shape memory alloys (SMA) demonstrate quite
complex behavior.

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DISPLACEMENTS IN PIEZOELECTRICS

The total strain is equal to the sum of mechanical and

actuated strain:
 total   mechanical   piezoelectric
The actuated strain is directly proportional to electric
field E:
 piezoelectric  d  E
Typically, value of piezoelectric strain is
3
 piezoelectric  0.2 10

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THERMAL ACTUATION OF DISPLACEMENTS

The total strain is equal to the sum of mechanical and

actuated strain:
 total   mechanical   thermal
The actuated strain is directly proportional to change
in temperature T:
 thermal    T
The thermal strain highly depends on change in
temperature and the type of material (=5·10-6 for
wood, =10..25·10-6 for most metals, =200·10-6 for
plastics).
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THERMAL ACTUATION OF DISPLACEMENTS

The case when beam is subjected to the temperature

linearly distributed along the height:

tupper  tlower tupper  tlower

     N  dx      M  dx
2 2

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WHERE TO FIND MORE INFORMATION?

For energy-related concepts, I recommend

T.H.G. Megson. An Introduction to Aircraft Structural Analysis. 2010
Chapters 4 and 5

For Mohr’s integral, refer to your Mechanics of Materials

course.

… Internet is boundless …
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