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Motivation
Hand calculation of deformation of structures is useful to check computed solutions. An energy method can be an elegant way of finding deflections, and can cope with statically indeterminate cases. Given the energy stored in a structure we can find either stiffness (load/deflection) k = F/D compliance or flexibility (deflection/load) a = D/F
Hand calculation methods tend to do the latter ie express deflections in terms of loads, as this usually gives fewer equations.
Most real structures are indeterminate, often with redundant supports. We can find a redundant reaction from the fact it does no work. With several redundant reactions, we can use the energy stored in a structure to write one equation for each and solve them simultaneously.
Castiglianos theorem
This strictly uses complementary energy C - the area above a load/deflection curve. F C C = V for linear elastic behaviour. dC dC = D dF V
If one load F only changes, only it contributes to a change in C Hence the partial derivative of C wrt F gives D, the deflection in the direction of F where F is applied. C =D F This can be extended to a moment, M. The partial derivative wrt M gives the rotation where M is applied in the same sense of rotation.
C = M
s
Now using U for strain energy = V before. Axial loading. Stress s = N/A. N = axial load, A = Xsection. Strain e = s/E = N/(EA) dU = Uv dV = s e dV where element of volume dV = A dx, so dU = N2/(EA) dx or over length L, U = N2L/(EA) Bending. s = Mby/I, e = s/E so that dU = s e dV U = Mb2/(EI2) ( y2dA) dx U = Mb2/(EI) dx Torsion of a circular section. Uv = t g where t = Tr/IP = Gg dU = t g dV U = T2/(GIP2) ( r2dA) dx
U = T2/(GIP) dx
Suppose that a rod is twisted by due to a force F, which causes a torque Mt.
M t U U M t 1 = = Mt dx = D F M t F GI P F
We can also find derivatives wrt internal loads Ni. These do no resultant work, unless the member was the wrong length initially, as equal and opposite forces act across a cut. Hence summing over all members j (including member i) Ni U/Ni = 0 = S [{NjLj/(EAj)} Nj/Ni] This can be used to find the tension in a redundant member. Both these sums can be done as a table (eg in a spreadsheet).
All types of energy expressions can be added together as needed (eg a deflection may be due to bending, twisting and axial loading). For a short beam, energy due to transverse shear stress and strain may also need to be included. In 2D, triangulated frames have members mainly loaded axially. Open (non-triangulated) frames are mainly loaded in bending. In 3D open frames, members both bend and twist.
Example 1
Find the tip deflection of the member shown. (A determinate problem) C P x y A Properties E, G, I, IP L L B To find a bending moment, we look at one side of a cut - pick the side that gives the simpler expression for Mb. The choice of origin for measuring position is arbitrary. Again this can be chosen to simplify the algebra, and more than one origin can be used. Here in AB, Mb = P x and in BC, Mb = P y and Mt = PL
H
q per length
qL/2 - H/2
L/2
L/2
qL/2 - H/2
Mb/H= x/2
2 D= EI
M b 2 Mb dx = H EI
L/2
-10
-10
102 10
Member loads are found by summing forces at joints as shown. Members are all the same material and cross-section.
{bottom members} {inclined members} {vertical members} {top members} = (210 + 602) L/(EA)=D