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Energy Methods in
Structural Analysis
Version 2 CE IIT, Kharagpur
Lesson
5
Virtual Work
Version 2 CE IIT, Kharagpur
Instructional Objectives
After studying this lesson, the student will be able to:
1. Define Virtual Work.
2. Differentiate between external and internal virtual work.
3. Sate principle of virtual displacement and principle of virtual forces.
4. Drive an expression of calculating deflections of structure using unit load
method.
5. Calculate deflections of a statically determinate structure using unit load
method.
6. State unit displacement method.
7. Calculate stiffness coefficients using unit-displacement method.
5.1 Introduction
In the previous chapters the concept of strain energy and Castigliano’s theorems
were discussed. From Castigliano’s theorem it follows that for the statically
determinate structure; the partial derivative of strain energy with respect to
external force is equal to the displacement in the direction of that load. In this
lesson, the principle of virtual work is discussed. As compared to other methods,
virtual work methods are the most direct methods for calculating deflections in
statically determinate and indeterminate structures. This principle can be applied
to both linear and nonlinear structures. The principle of virtual work as applied to
deformable structure is an extension of the virtual work for rigid bodies. This may
be stated as: if a rigid body is in equilibrium under the action of a F − system of
forces and if it continues to remain in equilibrium if the body is given a small
(virtual) displacement, then the virtual work done by the F − system of forces as ‘it
rides’ along these virtual displacements is zero.
∑ F δu = ∫ σ
i i ij δε ij dv (5.1)
where σ ij are the true stresses due to true forces Fi and δε ij are the virtual strains
due to virtual displacements δu i .
∑ δF u = ∫ δσ
i i ij ε ij dv (5.2)
where δσ ij are the virtual stresses due to virtual forces δFi and ε ij are the true
strains due to the true displacements u i .
As stated earlier, the principle of virtual work may be advantageously used to
calculate displacements of structures. In the next section let us see how this can
be used to calculate displacements in a beams and frames. In the next lesson, the
truss deflections are calculated by the method of virtual work.
P 2 ds M 2 ds V 2 ds
L L L
=∫ +∫ +∫ (5.3)
0
2 EA 0 2 EI 0
2 AG
Now, consider a second system of forces δF1 , δF2 ,....., δFn , which are virtual and
causing virtual displacements δu1 , δu2 ,....., δun respectively (see Fig. 5.2b). Let the
virtual stress resultants caused by virtual forces be δPv , δM v and δVv at any cross
section of the beam. For this system of forces, we could write
1 n δP ds δM v ds
L 2
δV ds L 2 L 2
∑
2 i =1
δFiδui = ∫ v + ∫
2 EA 0 2 EI
+∫ v
2 AG
(5.4)
0 0
where δPv , δM v and δVv are the virtual axial force, bending moment and shear force
respectively. In the third case, apply the first system of forces on the beam, which
has been deformed, by second system of forces δF1 , δF2 ,....., δFn as shown in Fig
5.2c. From the principle of superposition, now the deflections will be
(u1 + δu1 ), (u2 + δu2 ),......, (un + δun ) respectively
1 n 1 n n L
δ Pv 2 dsL
δ M v 2 ds L
δ Vv 2 ds L
P 2 ds
∑ Fj u j + 2 ∑
2 j =1 j =1
δ F jδ u j + ∑ δ F j u j = ∫
j =1 2 EA ∫0 2 EI
+ +∫
2 AG ∫0 2 EA
+ +
0 0
(5.5)
M 2 ds V 2 ds
L L L L L
∫0 2 EI ∫0 2 AG + ∫0 δ Pv d Δ + ∫0 δ M v dθ + ∫0 δ Vv d λ
+
In equation (5.5), the term on the left hand side (∑ δF u ), represents the work
j j
done by virtual forces moving through real displacements. Since virtual forces act
n L L L
n L
δPv Pds L
δM v Mds L
δVvVds
∑ δF u = ∫
j =1
j j
EA
+∫
EI
+∫
AG
(5.7)
0 0 0
⎛1⎞
Note that ⎜ ⎟ does not appear on right side of equation (5.7) as the virtual system
⎝2⎠
resultants act at constant values during the real displacements. In the present
case δPv = 0 and if we neglect shear forces then we could write equation (5.7) as
n L
δM v Mds
∑ δFju j = ∫
j =1 EI
(5.8)
0
L
δM v Mds
(1)ui = ∫ (5.9)
0
EI
where δM v are the internal virtual moment resultants corresponding to virtual force
at i-th co-ordinate, δFi = 1 . The above equation may be stated as,
The equation (5.9) is known as the unit load method. Here the unit virtual load is
applied at a point where the displacement is required to be evaluated. The unit
load method is extensively used in the calculation of deflection of beams, frames
and trusses. Theoretically this method can be used to calculate deflections in
Example 5.1
A cantilever beam of span L is subjected to a tip moment M 0 as shown in Fig 5.3a.
⎛ 3L ⎞
Evaluate slope and deflection at a point ⎜ ⎟ from left support. Assume EI of the
⎝ 4 ⎠
given beam to be constant.
Slope at C
where δM v (x ) and M (x ) are the virtual moment resultant and real moment
resultant at any section x . Substituting the value of δM v (x ) and M (x ) in the above
expression, we get
3L / 4
(1)Mdx + L
(0)Mdx
(1)θ c = ∫
0
EI ∫
3L / 4
EI
3ML
θc = (2)
4 EI
Vertical deflection at C
L
δM v ( x )M ( x )dx
(1)u A = ∫ (3)
0
EI
⎛ 3L ⎞
In the present case, δM v (x ) = −⎜ − x⎟
⎝ 4 ⎠
and M (x ) = + M 0
3L ⎛ 3L ⎞
4−⎜ − x ⎟M
uA = ∫ ⎝
4 ⎠ dx
0
EI
3L
M ⎛ 3L ⎞
=−
EI ∫
0
4
⎜
⎝ 4
− x ⎟dx
⎠
3L
M ⎡ 3L x2 ⎤ 4
=− ⎢ x− ⎥
EI ⎣ 4 2 ⎦0
9 ML2
=− (↑ ) (4)
32 EI
Example 5.2
Find the horizontal displacement at joint B of the frame ABCD as shown in Fig.
5.4a by unit load method. Assume EI to be constant for all members.
D
δM v (x )M (x )dx
(1) × u = ∫
B
H (1)
A
EI
B
δM v (x )M (x )dx C
δM v (x )M (x )dx D
δM v ( x )M ( x )dx
=∫ +∫ +∫
A
EI B
EI C
EI
=∫
5
(x )(5 x )dx + 2.5 2(2.5 − x )10(2.5 − x )dx + 0
0
EI ∫
0
EI
=∫
5
(5x )dx +
2 2.5
20(2.5 − x ) dx
2
0
EI ∫0 EI
937.5
Hence, uA = ( →) (2)
3EI
Example 5.3
Find the rotations of joint B and C of the frame shown in Fig. 5.4a. Assume EI to
be constant for all members.
Apply unit virtual moment at B as shown in Fig 5.5a. The resulting bending
moment diagram is also shown in the same diagram. For the unit load method, the
relevant equation is,
D
δM v ( x )M ( x )dx
(1) × θ B = ∫ (1)
A
EI
2.5
4
θB = ∫ (2.5 − x ) dx
2
EI 0
2.5
4 ⎡ 5 x 2 x3 ⎤ 62.5
= ⎢6.25 x − + ⎥ = (2)
EI ⎣ 2 3 ⎦0 3EI
Rotation at C
For evaluating rotation at C by unit load method, apply unit virtual moment at C as
shown in Fig 5.5b. Hence,
D
δM v ( x )M (x )dx
(1) × θC = ∫ (3)
A
EI
10(2.5 − x )(0.4 x )
2.5
θC = ∫
0
EI
dx
2.5
4 ⎡ 2.5 x 2 x3 ⎤ 31.25
= ⎢ − ⎥ = (4)
EI ⎣ 2 3 ⎦0 3EI
n
M ( x )δM v ( x )ds
∑ F δu = ∫
j =1
j j
EI
= ∫ σ T δε δv (5.11)
V
where, (δM v )1 is the internal virtual stress resultant for δu1 = 1 . Transposing the
above equation, we get
(δM v )1 Mds
F1 = ∫ (5.13)
EI
The above equation is the statement of unit displacement method. The above
equation is more commonly used in the evaluation of stiffness co-efficient kij .
Apply real displacements u1 ,....., un in the structure. In that set u2 = 1 and the other
all displacements ui = 0 (i = 1,3,......, n) . For such a case the quantity F j in
equation (5.11) becomes kij i.e. force at 1 due to displacement at 2. Apply virtual
displacement δu1 = 1 . Now according to unit displacement method,
Summary
In this chapter the concept of virtual work is introduced and the principle of virtual
work is discussed. The terms internal virtual work and external virtual work has
been explained and relevant expressions are also derived. Principle of virtual
forces has been stated. It has been shown how the principle of virtual load leads to
unit load method. An expression for calculating deflections at any point of a
structure (both statically determinate and indeterminate structure) is derived. Few
problems have been solved to show the application of unit load method for
calculating deflections in a structure.