Variational principles in engineering

mechanics

Nguyn Xun Hng


University of Science
School of Math & Computer Science

Contents
2. Vectors and Tensors
4. Introduction to Variational Principles
6. Finite element method in deformable solids
5. Overview of some advanced variational forms
1. Introduction
7. Finite element method in plates and shells structures
8. Introduction to Advanced finite element methods
9. Practical applications
3. Overview of Partial Differential Equations (PDE)
4. Introduction to variational principles
Introduction to variational principles
Strong form

Due to difficulty in finding the exact solution of most
differential equations
Alternative (weak) form

Simpler to find the exact solution of differential
equations based on Variational Principles
Relaxed some strict requirements
Background
Introduction to variational principles
Consider the functional
with a single variable x
( , , , ), ( )
x xx
F F x u u u u u x = =
u is called the primary variable of functional F
u
x a b
ou=cv
u
u+cv Assumed that u is changed to
u+ou u+cv, where c =constant.
The operator o is called the
variational symbol.
Note that v is restricted by the
condition v(a)=v(b)=0, for all c.
Therefore, we have the following conditions:
u(a) +cv(a)=u(a), and u(b) +cv(b)=u(b).
Introduction to variational principles
Family of curves passing through x=1
and x=3
General form of variational formulations
Discuss on the variation ou= cv:
o u describes an admissible displacement in the function
u(x) at a fixed value of the independent variable x.
u
x a b
ou=cv
u
u+cv If u is specified at points on
boundary, ou = 0 at these
points because the known
value of u is can not be
varied.
How is admissible displacement in the function u(x) at a
fixed value of the independent variable x ?
Introduction to variational principles
These are a set of ou (or v) that satisfy constraint conditions
enforced on the whole problem. Reader should be revisited
in the courses of Analytical Mechanics for more details.
ou is known as a virtual displacement (it is arbitrary
elsewhere and vanishes on boundary of problem).
Now we describe the change of u to the change in the
function F. We define
( , , ') '
'
'
'
F F F
F x u u x u u
x u u
F F
u u
u u
o o o o
o o
c c c
= + +
c c c
c c
= +
c c
is called the first variation of F.
Introduction to variational principles
An actual displacement u changed to u +du, we obtain the
total differential of F:
( , , ') '
'
F F F
dF x u u dx du du
x u u
c c c
= + +
c c c
Question: What is the difference between oF and dF in
both mathematic and physical means ?
Introduction to variational principles
Some properties of the variation operator:
( )
1 2 1 2
F F F F o o o =
( )
1 2 2 1 1 2
F F F F F F o o o = +
( ) ( )
1 2 1 1 2
2
2 2
F F F F F
F F
o o
o

=
( ) ( )
d d dv du
u v
dx dx dx dx
o c c o = = =
....
( )
b b
a a
udx udx o o =
} }
Introduction to variational principles
Example: Boundary-value problem (BVP) of bar (Poisson
equation in one dimension (1D)):
2
1
( )
2
L L
0 0
du
k dx - qudx
dx
[=
} }
Prove that oH= 0 leads to boundary-value above problem
2
2
0 (0, )
(0) 0, | 0
x L
d u
k q in L
dx
du
u k
dx
=
+ = O =
= =
(strong form)
(potential energy)
( )
0
L L
0 0
du d u
k dx - q udx
dx dx
o
o o [= =
} }
(weak form)
Variational formulation of BVP
- Assume that we need to find the variational form of the
following partial differential equation (1D):
( ) 0 (0, ), where '
'
x
F F u
in L u u
u x u x
c c c c
= O= = =
c c c c
( ) 0
'
L
0
F F
v dx
u x u
c c c
(
=
(
c c c

}
(Note that ou or v
can be considered
as test function)
D 0 N

on 0, and on
F
u u g L
u'
c
= I = I
c
subjected to the boundary condition
Three basic steps to obtain the variational form of BVP
Step 1: BVP is multiplied by a test function or variation v
Variational formulation of BVP
0
( | | ) 0
' ' '
L
x L x
0
F v F F F
v dx v v
u x u u u
= =
c c c c c
(
+ =
(
c c c c c

}
Step 2: perform the part integral on the second term:
Step 3: inserting boundary conditions
0
0
'
L
0
F v F
v dx vg
u x u
c c c
(
+ =
(
c c c

}
If H is a linear functional in u, i.e,
( )
F
q x
u
c
=
c
Finally, we obtain a weak form (variational form):
0
0
0
'
L L
0
v F
dx qvdx vg
x u
c c
+ =
c c
} }
(weak form)
Variational formulation of BVP
- Find the variational form of the following partial
differential equation (2D) (strong form (SF)):
( ) ( ) 0
x y
F F F
in
u x u y u
c c c c c
= O
c c c c c
( ) ( ) 0
x y
F F F
v d
u x u y u
O
(
c c c c c
O=
(
c c c c c
(

}
D N
D N

on , and on
x y n
x y
F F
u u n n q
u u
c c
= I + = I
c c
I = cO= I I
subjected to the boundary condition
Step 1: BVP is multiplied by a test function or variation v
(2.1)
(2.2)
Variational formulation of BVP
( ) ( )
D N
x y x y
x y x y x y
F v F v F F F F F
v d v n n d v n n d
u x u y u u u u u
O I I
(
c c c c c c c c c
+ + O + I + I
(
c c c c c c c c c
(

} } }
Step 2: perform the part integral on the second term:
Step 3: inserting boundary conditions
( ) 0
N
x y
x y x y
F v F v F F F
v d v n n d
u x u y u u u
O I
(
c c c c c c c
+ + O + I =
(
c c c c c c c
(

} }
If H is a linear functional in u, i.e,
( , )
F
q x y
u
c
=
c
Finally, we obtain a weak form (WF)):
( ) 0
N
n
x y
v F v F
d qvd q vd
x u y u
O O I
c c c c
+ O+ O I =
c c c c
} } }
Variational formulation of BVP
The total potential energy of problem is now given by
int
( , ) ( )
ext
1
= a u u f u U W
2

Let a(u,v) be bilinear form and symmetric and f(v) is linear.
We obtain the weak form:
( , ) ( ) a u v f v =
( , ) ( ) , ( )
N
n
x y
v F v F
a u v d f v qvd q vd
x u y u
O O I
c c c c
= + O = O+ I
c c c c
} } }
where
It is clear that o= 0 leads to the strong form of boundary-value
above problem
(2.3)
Variational formulation of BVP
int ext
= U - W =0 if only if u=u o o o
The Minimum Potential Energy Principle
The Minimum Potential Energy (MPE) principle states that
the actual displacement solution that satisfies the
strong form is that which renders stationary
with respect to admissible variations of the exact
displacement field .
u(x)
u =u+ v c
u(x)
We say that produces the Minimum Potential Energy: u
(u) ( u ), for all u V s e
{ }

smooth, and |
D
V u u u
I
= =
where
(2.4)
Variational Form (VF)
Introduction to variational principles
An illustration of
energy functional H
2
1
( , , , )d
x
x xx
x
F x u u u x =
}
Variation of a minimizing function
u
x
u(x) + cv(x)
u(x)
x
H
0
( )
| 0
d
d
c
H c
c
=
=

2
2
( , ) 2 ( )
( , ) ( , ) ( , ) ( , ) 2 ( ) 2 ( )
( , ) 2 [ ( , ) ( )] ( , ) 2 ( )
2=a u v u v f u v
a u u a u v a v u a v v f u f v
a v v a u v f v a u u f u
c c c
c c c c
c c
+ + +
= + + +
= + +
Variational formulation of BVP
The Minimum Potential Energy Principle
We rewrite the Minimum Potential Energy (Minimization
Problems (MP)):
0
(u) ( u v ), for all v V c s + e
where
{ }
0
smooth, and | 0
D
V v v
I
= =
(2.4)
The equivalence of solution
SF WF
Equivalence ?
VF
Equivalence ?
Examples
( ) (0, )
d du
k ru x in L
dx dx
+ = O=
1. Given the boundary-value problem
subjected to the boundary condition
D N
0 on 0, and | 1 on
x L
du
u k L
dx
=
= I = I
Establish the weak form and the potential energy ?
Solve:
0
( ) 0
L
d du
v k ru x dx
dx dx
(
=
(

}
Step 1: BVP is multiplied by a test function or variation v
Examples
Step 2: perform the part integral on the second term:
0
0
| 0
L
x L
x
dv du du
k rvu vx dx kv
dx dx dx
=
=
(
+ =
(

}
0 0
( ) ( ) 0
L L
dv du
k rvu dx vxdx v L
dx dx
+ =
} }
Step 3: inserting boundary conditions
Week form:
0 0
( ) ( )
L L
dv du
k rvu dx vxdx v L
dx dx
=
} }
Energy functional:
2 2
0 0
[ ( ) ] ( )
L L
1 du
= k ru dx uxdx u L
2 dx

} }
Examples
2. The energy functional:
0
0 in

0
n N
D
u
u
g u q on
n
u on
A = O

+ = I

= I

with
Hint:
2
0
1
[ ]
2
N
n
1
= u ud g u q u d
2
O I
V V O+ I
} }
| 0
D
u
I
=
. It is shown that the minimization of H(u) leads
to the solution of the PDE
(u+ v) (u) c >
and set
0
( ) 0
d
u+ v |
d
c
c
c
=
=
Or we can use Eq. (2.1) to obtain the PDE
The condition for minimization problem
1. L -A is positive definite:
0, 0 uLud u ud u
O O
O= A O> =
} }
2. L is self-adjoint:
, , 0 vLud uLvd u v
O O
O= O =
} }
Example:
u q A =
a minimization problem can be obtained for
0 u v on = = I = cO
u u q A V = U
no minimization problem can be obtained
for
0 u v on = = I = cO
Can one find a functional for a variational principle for any
differential equations ?
(symmetry)
Variational formulation in solid mechanics
int ext
= U - W =0 if only if u=u o o o
The Principle of Minimum Potential Energy
The Minimum Potential Energy (MPE) principle states that
the actual displacement solution that satisfies the
strong form is that which renders stationary
with respect to admissible variations of the exact
displacement field .
u(x)
u =u+ v c
u(x)
We say that produces the Minimum Potential Energy: u
(u) ( u ), for all u V s e
{ }

smooth, and |
D
V u u u
I
= =
where
(2.4)
Variational Form (VF)
Variational Formulation of Bar member
The energy functional of bars:
0
'
'
L

EAu dx
u
c
=
c
}
Take the differential of H respect with u
x

Then,
Hence, governing differential equation:
'' ( ) 0 EAu q x + =
2
0 0
( ') ( )
L L
1
= EA u dx q x udx
2

} }
0
0
' '',
'
( ) ( )
L
L
d d
EAu dx EAu
dx u dx

q x udx q x
u u
c
= =
c
c c
= =
c c
}
}
Tonti diagram for the continuum model of a bar member
Variational Formulation of Bar member
du
E E
dx
o c =
'
0 F q + =
F EAc =
( ) x c
du
dx
c =
The total potential energy (PTE) of the bar
U W H =
[ ( )] [ ( )] [ ( )] u x U u x W u x H =
u: primary variable
The Minimum Potential Energy Principle
governing equations
Variational Formulation of Bar member
U W H =
Governing equations Virtual work principle Minimum TPE
Strong form:
'' ( ) 0 EAu q x + =
Weak form: ( , ) ( ) a u u f u o o =
( 0) or U W o o o H= =
TPE
int
( , ) ( )
ext
1
= a u u f u U W
2

0
0
( , ) ,
( )
l
l
du d u
a u u EA dx
dx dx
f u q udx
o
o
o o
=
=
}
}
Variational Formulation of beam member
Variational Formulation of beam member
z
x
w
x
c
c
= u
x p
z u u =
x
The Bernoulli-Euler Beam Theory
Strain
2
2
x
w
z
x
u
p
x
c
c
=
c
c
= c
Variational Formulation of beam member
2
2
w
E Ez Ez
x
o c k
c
= = =
c
2
A A
M z dA E z dA EI o k k = = =
} }
Tonti diagram for the continuum model of a thin beam member
( ) w x
( ) x w k
''
=
M EIk =
M q
''
=
Variational Formulation of thin beam
U W H =
Governing equations Virtual work principle Minimum TPE
Strong form:
'''' ( ) 0 EIw q x + =
Weak form: ( , ) ( ) a w w f w o o =
( 0) or U W o o o H= =
TPE
int
( , ) ( )
ext
1
= a w w f w U W
2

2 2
2 2
0
0
( , ) ,
( )
l
l
d w d w
a w w EI dx
dx dx
f w q wdx
o
o
o o
=
=
}
}
(fixed beam)
Variational Formulation of plane problem
Plane Stress
Plane Strain Axial symmetry
0
z
o =
0
z
c =
0, 0
0
r z
r z
u
u u u
u u

t t
= = =
= =
Variational Formulation of plane problem
Displacement field:
( )
( )
u x
v x
(
=
(

u
Plane stress problem
x
y
xy
o
o
t
(
(
=
(
(

o
x
y
xy
c
c

(
(
=
(
(

c
Stress field:
Strain field:
Plane strain problem
Variational Formulation of plane problem
Compatibility equation
(kinematic):
0
0
x
y s
xy
x
u
v y
y x
c
c

(
c
(
c
(
(
( ( c (
= = V
( (
(
c

(
(

(
c c
(
c c

u
u c c
Constitute equation : s
= V
u
D D u o c
0
0
s
x
y
y x
(
c
(
c
(
( c
V =
(
c
(
(
c c
(
c c

symmetric-gradient
operator
Equilibrium
equations :
V b = 0 o +
0
0
xy
x
x
xy y
y
b
x y
b
x y
t
o
t o
c
c
+
c c
c c
+
c c
=
=
+
+
in O
x x xy y x
xy x y y y
n n t
n n t
o t
t o
+
+
=
=
on I
or
Variational Formulation of plane problem
Tonti diagram for the continuum model of plane problem
u
c
o
t
s
= V
u
u c c
V b = 0 o +
= D o c
ij j i
n t o =
Displacement vector u is primary variables
We obtain a variational principle of single field as follows
u = u
Variational Formulation of plane problem
U W H =
Governing equations Virtual work principle Minimum TPE
Strong form:
Weak form: ( , ) ( ) a f o o = u u u
( 0) or U W o o o H= =
TPE
int
( , ) ( )
ext
1
= a f U W
2
u u u
( , ) d ,
( ) d d
t
T
T T
a
f
o o
o o o
O
O I
= O
= O+ I
}
} }
u u D
u u b u t
c c
V b = 0 o +
The dynamic problem
mx F =
Hamiltons Principle and Lagranges equation in dynamics
Dynamic motion of a rigid body system can be described
in several approaches such as Newtons 2nd law, energy
concept
Newtons equation of motion:
Lagranges equation of motion:
i
i i
d L L
Q
dt q q
| |
c c
=
|
c c
\ .
where L =T- V being Lagrange function
T - kinetic energy, V - potential energy
Above Lagranges equation can is obtained via calculus
of variation from Hamiltons principle:
where L =T- V being Lagrange function
T - kinetic energy, V - potential energy
The dynamic problem
2
1
( ) 0
t
t
T V dt o =
}
Or minimize
2
1
( )
t
t
I T V dt =
}
This implies that actual path followed by a dynamic process is
such as to make the integral of (T-V) a minimum.
Hamiltons principle for deformable body can be expressed as
2
1
0
t
t
Ldt o =
}
where L =T- H being Lagrange function
T - kinetic energy, H = U+V total potential energy
The dynamic problem
.
2
T d
t t

O
c c
= O
c c
}
u u
where
( . . ) V d dS
O I
= O+
} }
f u t u
1
2
T
U d
O
= O
}
o c
Strain energy
External work
Note: ou(x,t
1
)=ou(x,t
2
)
The dynamic problem
2
0
. ( )
2 2
L
A
T d dx
t t t

O
c c c
= O=
c c c
} }
u u u
Example: Let us consider the axial motion of an elastic
bar of length L, area of cross section A, modulus of
elasticity E, mass density , subjected to a distributed load
f, and an end load P. Find the equations of motion of the
bar
0
( )
L
V fudx Pu L =
}
2
0
1 1
( )
2 2
L
T
u
U d AE dx
x
O
c
= O=
c
} }
o c
5. Advanced variational principles
Advanced variational principles
Variational principle
Total potential energy
Total complementary energy
Hellinger-Reissner (HR)
Hybrid principles
Veubeke-Hu-Washizu (VHW)
Approximate
field:
Displacements (one field)
Stresses (one field)
Displacements & stresses (two fields)
Displacements, stresses, strains
(three fields)
Restriction to solid problems
Strong form Tonti diagram for the continuum model of solid problems
u
c
o
t
s
= V
u
u c c
V b = 0 o +
= D o c
ij j i
n t o =
u = u
What is happened as 1)
s
= V
u
u c c 2)
= u u
3)
=
u
D o c
etc
=> impose a weak form
The Hellinger-Reissner (HR) Principle
u
I
c
c
c
c
c
1
D

c
O
O
O
O
I
I
O
O
o
The starting Weak Form for derivation of the HR principle