Chapter Eight Energy Method 8.1 Introduction 8.2 Strain energy expressions 8.3 Principal of stationary potential energy; several degrees of freedom ------ Castigliano’s first theorem ---- Examples 8.4 Principal of stationary complementary energy -----Castigliano;s second theorem ----Examples 8.5 Statically indeterminate problems ----Examples Review and Summary 8.1 Introduction Two methods in solid mechanics ---- vectorial methods and energy methods or variational methods (1) vectorial methods ---- emphasized in elementary courses and are formulated in terms of vector quantities such as forces and displacement (2) Energy methods---- formulated in terms of scalar quantities such as work and energy. Advantages o f energy methods ----- ability to avoid some extraneous detail and to yield approximate solution for complicated problems. Degree of freedom (d.o.f.) ------ the number of independent quantities needed to define uniquely the configuration of a system ----generalized coordinates. 8.2 Strain energy expression Work is done by a force as it moves through a distance, and by a moment as it turns through an angle. B W f cos du dW ( f cos )du A (the work done by a moment : mcosd ) m d If the effect of force is to distort an elastic body (such as a linear spring), work done by f id stored as strain energy U (expressed in terms of displacement). Complementary strain energy U * (expressed in terms of force). For a linear elastic material U and U* are numerically equal. (1) The strain energy U=U() B k2 U fdu kudu A 0 2 f=ku (2) The complementary strain energy U*=U*(F) B F f F2 * U udf df A 0 k 2k U=f/k A unit column of linear elastic material can be viewed as a linear spring, so the complementary strain energy U* is The complementary strain energy U* (expressed in terms of stress or force) for a bar of length L under general complex loading is (by volume integral) Expression for the strain energy U (in terms of displacements) 2 2 of a slender straight bar is (replacing My by EI y (d w / dx ), ) M z EI z (d 2 w / dx 2 ), T GJ (d / dx) Slender circular rings U 2 0 Moment-curvature relations for the ring M 1 d 2v ( 2 v) 2 2 2 EI R d EI 1 d v Rd 2 R 2 d 2 v U strain energy for straight bar) ( R , Energy of transverse shear 6V z h 2 E zx ( z 2 ), A bh 2 Ah 4 L h/2 1 U* zx2 bdzdx 0 h / 2 2G L V 1.2 z dx 0 2GA 8.3 Principal of stationary potential energy; several degrees of freedom ---- Castigliano’s first theorem ---- Examples Admissible or kinematically admissible configurations Potential energy of a structure ---- =U+ U ---- the strain energy ---- the potential of the loads For linear spring, d.o.f.= U k2 / 2, F U k2 / 2 F The principal of stationary potential energy: Among all admissible configuration (that satisfied static equilibrium conditions) makes the potential energy stationary with respect to small admissible variations of displacement. If the stationary condition is a minimum, the equilibrium state is stable. d 0 k F 0 F k d d (k F )d 0 ( F ) k Several degrees of freedom ---- Castigliano’s first theorem (1) the potential energy for n degree of freedom Di U U U ( D1 , D2 , Dn ) n Pi i 1 (2) then principal of stationary potential energy gives d 0 (3) dD1 dD2 dDn D1 D2 Dn For any and all of these dDi, d must vanish, this is possible only if 0 (i 1,2, , n) Di Castigilano’s first theorem: If strain energy U is expressed in terms of independent displacement d.o.f., then the load Pi that corresponds to d.o.f. Di is given by the partial derivative of U with respect to Di From above We have 0 Di (for i 1,2, , n ) U Pi (for i 1,2, , n ) Di For example : D1 , D2 then U U F, M Examples (Determine the displacement d.o.f. that define the static equilibrium configuration) (1) Two-Bar Linkage The only d.o.f. is , that =0 as reference state, we have (neglecting strain energy U) L 2W (1 cos ) F (2 L sin ) 2 d 2F 0 tan d W ( is the value for static equilibrium.) (2) Rigid Bar The d.o.f. is B (C=2B), the rotation of the rigid bar is =B/b AE 2 AE B (2 B ) 2 M C B 2L 2L b AE 2 5 B M C B 2L b d L 0 B MC d B 5 AEb the forces in the wires M 2M C AE AE PB B C , PC ( 2 B ) L 5b L 5b U (3) Spring in Series Two d.o.f. are needed to define the configuration: A, B. Initially , A=B=0. U 1 1 k12A k 2 ( B A ) 2 2 2 Using Castigliano’s First theorem, we have U FA k1 A k 2 B A FA A U FB B A k 2 B A FB FA FB F FB FB ,B A k1 k1 k2 8.4 Principal of stationary complementary energy --------castigliano’s second theorem ---- Examples Complementary energy of a structure ---- U*+ For linear spring U F 2 / 2k F 2 F 2k F The principal of stationary complementary energy: among all statically admissible stress fields, the actual stress field (that yields kinematically admissible displacements) makes the complementary energy stationary with respect small statically variations of stress. d F 0 0, F k (1) dF k (2) If there are several forces, we have * 0 for i=1,2,……,n Pi In previous example of two springs in series, we have FA FB A 0 FA k1 FA FB FB B 0 FB k1 k2 The complementary energy of a structure loaded by concentrated forces and/or moments is n U Pi Di 1 U 0 Di Pi Pi (i 1,2,......,n) Castigliaon’s second theorem: the partial derivative of complementary energy U* with respect to a load yields the displacement component of the loaded point in the direction of that load. U * Di Pi (i 1,2,n) Pi can be a force F or moment M. U * i Fi , U * i M i Unit load method (A convient format of Castigliano’s second theorem) Using complementary strain energy expression U * for curved U bar and Di P , we find i L M y M y M M z k V V z Di z z z dx 0 EI P EI P GA P i z i i y introducing my mz Vz M y m y M z m z Tt dx EI EI z GJ y M y my Pu is a moment produced by a unit load Pi (a unit force or a unit moment) Examples (1) Cantilever beam (a) First determine the vertical deflection of B. The bending moment is (neglect shearing) 2 qx M ( x) Fx 2 using unit load methods, M F x m y 1 qx 2 FL3 qL4 B ( Fx )( x)dx EI 2 3EI 8EI (b) Find the deflection at B due to q along (F=0), two method: (1) simply set F=0 in above expression for B, (2) temporarily apply a load (such as unit load) in the desired dorection, after using unit load method, then set this load to zero: ((case (b)) 1 qx 2 qL4 B 1( x) ( x)dx EI 2 8EI Set this load=0 (c) the horizontal deflection at C h 1 L 1 qx 2 qL3 h hdx H (0)(s)ds 0 EI 0 EI 2 6 EI (2) Split Ring (a) Determine the Z-direction displacement of the loaded end and its rotation component about the y axis Bending and twisting moments (in ring) MR and T are: M R FR sin C sin T FR (1 cos ) C cos here C is the unit couple for calculation of rotation (b) (c) Calculate deflection, we set C=0 2 M M R T T z R dx 0 GJ F EI F 2 FR sin ( R sin ) Rd 0 EI 2 FR(1 cos ) R (1 cos ) Rd 0 GJ FR3 3FR3 EI GJ Calculate the rotation, C=1 mR=-sin and T=-cos, in M R T the above equation, we use M R C 0 , T C 0 , , , we C C FR 2 FR 2 obtain y EI GJ (3) Truss Analysis (a) Calculate the vertical deflection at C by unit force method: first calculate the internal force N in each bar due to Q; then the force n due to unit force. Nn is nonzero only bars DB and DC, so NL NL NL C n n n EA DB EA DC i EA i Q L 1 QL 1 0 EA EA (b) Relative motion of points C. G. : we apply collinear force (unit load) as shown. Then QL NL CG n 3.414 EA CD , FC , FD EA Rotation of bar FG: we apply couple forces 1/L (unit moment), then NL FG n BD , AC ,CF EA (c) 8.5 Statically indeterminate problems ---- Examples (1) propped cantilever beam Determine the bending moment in the statically indeterminate beam (a) Find the redundant and regard it as a known load on the structure. (b) The bending moment is M Rx qx 2 / 2 L M M U * R 0 or 0 EI R dx 0 R i.e., 1 L qx 2 Rx x dx 0 R 3qL / 8 EI 0 2 (c) we can choose ML as redundant, then by L M M U * 0 or 0 EI M L ds 0 we M L Obtain the same result as in (b). (3) Elastically support cantilever beam We use two methods to solve this problem: (a) Consider the U* of the beam only, then U L 0 M2 qx 2 dx where M Rx 2 EI 2 k U U R (k) or L 0 M mdx EI -x when is known, then R=k (b) Consider the U* of whole system (beam and spring). 2 L M R2 U dx where M Rx qx 2 2 2k 0 2 EI R is the reaction at the base of the spring, by Castigliano’s second theorem or unit load method: U 0 R or R LM mdx 0 0 k EI M x R we can get R R k (3) Semicircular arch Find the support reaction of the arch This is the statically indeterminate to the third degree. There are several methods to solve the problem: (a) Find U* of the arch as U*= U*(V, h, M0), then by using U U U 0 , 0 , 0 V H M 0 we obtain V, H, M0. (b) By using symmetry, only have 2 unknows, H , M as 2 U U H , M , by shown in (c), then 2 U U 0 , we solve the problem. 0 , M H 2 (c) As shown in (d), U U ( H , M 0 ) , by U 0, H U 0 M 0 (4) Internally indeterminate truss Find the forces in all bars we elect to use forces in bars AD and CF as redundants. These forces FAD and FCF are exposed if bars AD and CF are cut. Then the truss is rendered as statically determinate, i.e., all forces in bars can be written in terms of Q1, Q2, FAD and FCF. We can write U* as 11 N i2 L U i 1 2 Ai Ei FAD and FCF can be obtain by U U 0 , 0 , FCF FAD Since in the imagined cut in each bar (before and after loads F AD, FCF), the relative approach or separation of the cut ends is zero.