THE PRINCIPLE OF VIRTUAL WORK

CE 130 — Structural Design and Optimization

Spring, 2002

Definitions:

Virtual work is the work done by a real force acting through a virtual displace-
ment or a virtual force acting through a real displacement.

A virtual displacement is any displacement consistent with the constraints of

the structure, i.e., that satisfy the boundary conditions at the supports.

A virtual force is any system of forces in equilibrium.

Example:

f (x) and y(x) are real forces and associated displacements.

δy(x) is a virtual displacement consistent with the boundary conditions.
The Principle Of Virtual Work 2

Consider a structure deformed by the effect of n external forces, denoted by

the vector {F }. The actual (real) displacements at the same n coordinates are
contained in the vector {D}.

The stresses and strains at any point in the structure are elements of the vectors
{σ} and {²}:

{σ}T = {σxx σyy σzz τxy τxz τyz }

{²}T = {²xx ²yy ²zz γxy γxz γyz }.

The total external work done by {F } is

1X n 1
WE = Fi Di = {F }T {D},
2 i=1 2
and the total internal work done by {F } is the total strain energy, which can
be written compactly as
1Z
WI = U = {σ}T {²}dV.
2 V

Setting WE equal to WI gives

1 T 1Z
{F } {D} = {σ}T {²}dV. (1)
2 2 V
The Principle Of Virtual Work 3

Suppose, that after the structure is subjected to the system of n external forces,
{F }, producing internal stresses {σ}, a system of m virtual forces {δF } are
applied, producing additional virtual deformations {δD}, virtual stresses {δσ},
and virtual strains {δ²}.

The external work done by the application of {δF } is

1 m 1
T
δFj δDj = {δF }T {δD} + {F }T {δD},
X
WE = {δF } {δD} +
2 j=1 2
and the internal work done by the application of {δF } is
1Z Z
WI = {δσ} {δ²}dV + {σ}T {δ²}dV.
T
2 V V
Setting the external work equal to the internal work,
1 1Z Z
{δF }T {δD} + {F }T {δD} = {δσ}T {δ²}dV + {σ}T {δ²}dV. (2)
2 2 V V
If we consider the virtual system alone,

The external work is 21 {δF }T {δD}, and the internal work is 1R T

2 V {δσ} {δ²}dV,
or
1 T 1Z
{δF } {δD} = {δσ}T {δ²}dV. (3)
2 2 V
Substituting equation (3) into equation (2) gives
Z
{F }T {δD} = {σ}T {δ²}dV. (4)
V
The Principle Of Virtual Work 4

Suppose, instead, that before the actual loads {F } and deformations {D} are
introduced, the structure was subjected to a system of m virtual forces, {δF },
producing internal stresses {δσ}.

The external work done by the application of {F } is now

1 m 1
T
δFj Dj = {F }T {D} + {δF }T {D}.
X
WE = {F } {D} +
2 j=1 2

Note here that the actual deflections {D} are unrelated to the virtual forces
{δF }. The internal work done by the application of {F } is now
1Z Z
WI = {σ}T {²}dV + {δσ}T {²}dV.
2 V V

Setting the external work equal to the internal work,

1 1Z Z
{F }T {D} + {δF }T {D} = {σ}T {²}dV + {δσ}T {²}dV, (5)
2 2 V V

and substituting equation (1) into equation (5) gives

Z
T
{δF } {D} = {δσ}T {²}dV. (6)
V

Equation (6) is used in the unit load method to find redundant forces or reac-
tions, and to find real structural displacements, as will be shown shortly. The
left hand side of this equation, {δF }T {D}, is called the external virtual work,
δWE . The right hand side of this equation, V {δσ}T {²}dV , is called the internal
R

virtual work, δWI . Note that equation (6) is valid for both linear and nonlinear
elastic structures (why?).
The Principle Of Virtual Work 5

Example: Unit Load Method

Find the deflection of a bar under axial tension.

The Unit Load Method

When the principle of virtual work is used to calculate the displacement D i , at

coordinate i, the system of external forces, {δF } is chosen so as to consist only
of a single unit force at coordinate i:

equation (6) becomes: Z

1 · Di = {δσ}T {²}dV,
V
in which {δσ} are the virtual stresses arising from the single unit force at i, and
{²} are the real strains due to the actual loading.
The Principle Of Virtual Work 6

FORMS OF INTERNAL VIRTUAL WORK

FOR FRAMED STRUCTURES

Virtual Axial Force

Consider a rod subjected to a virtual normal force n, and a real normal force,
N:

Virtual Stress = {δσ}T = {δσxx 0 0 0 0 0}

Real Strain = {²}T = {²xx ²yy ²zz 0 0 0}
But we only need ²xx because we are interested in {δσ}T {²}.
n N
Virtual Stress = δσxx = Real Strain = ²xx =
A EA
The internal virtual work due to an axial force is
Z Z Z Z nN Z nN
δWI = {δσ}T {²}dV = dA dl = dl.
V l A EA2 l EA

For a structure made up entirely of prismatic truss members,

M
X n m Nm L m
δWI = .
m=1 Em Am

Virtual Bending Moment

Consider a beam subjected to pure virtual and real bending moments about
the z-axis, mz and Mz :

mz y Mz y
Virtual Stress = δσxx = − Real Strain = ²xx = −
Iz EIz
The internal virtual work due to a bending moments is
Z
T
Z ZZ mz Mz y 2 Z m M
z z
δWI = {δσ} {²}dV = 2
dA dl = dl.
V l A EIz l EIz

Recall that Iz = A y 2 dA when the origin of the coordinate system lies on the
RR

neutral axis of the beam.

The Principle Of Virtual Work 7

Virtual Shear Force

Consider a beam subjected to a pure virtual and real shear forces in the y-
direction, vy and Vy :

vy Q(y) τxy Vy Q(y)

Virtual Stress = δτxy = Real Strain = γxy = = ,
Iz t(y) G GIz t(y)
where Q(y) is called the moment of area. The internal virtual work due to shear
forces is
Z Z Z Z v V Q(y)2 Z vy V y
y y
δWI = δτxy γxy dV = dA dl = dl,
V l A GI 2 t(y)2 l G(A/αy )
z
where
A Z Z Q(y)2
αy = 2 dA.
Iz A t(y)2

Virtual Torsion

Consider a circular bar subjected to a virtual and real torsional moments, t and
T:

tr τ Tr
Virtual Stress = δτ = Real Strain = γ = = ,
J G GJ
The internal virtual work due to torsional moments is
Z Z Z Z tT r 2 Z tT
δWI = δτ γ dV = dA dl = dl,
V l A GJ 2 l GJ

(J = A r2 dA)
RR
The Principle Of Virtual Work 8

Total Internal Virtual Work

As a review of the material above, consider general three-dimensional super-

imposed real and virtual forces

The total virtual strain energy due to these combined effects is

Z nN Z m M
z z
Z m M
y y
δWI = dl + dl + dl +
l EA l EIz l EIy
Z vy V y Z vz V z Z tT
dl + dl + dl
l G(A/αy ) l G(A/αz ) l GJ

where  2
A ZZ Q (y) 
 y
αy = 2 dA
Iz A tz (y)
 2
A ZZ Q (z) 
 z
αz = 2 dA
Iy A ty (z)