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Castinglianos Theorem Proof
Castinglianos Theorem Proof
Castinglianos Theorem Proof
Suppose that the {P } system is applied to the structure alone, producing displacements {DP }, stresses {P }, and strains {P }. The internal work is equal
to the external work:
n
1X
1Z
{P }T {P } dV =
P i D Pi
(1)
2 V
2 i=1
CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin
Instead, suppose that the {Q} system is applied to the structure alone, producing displacements {DQ }, stresses {Q }, and strains {Q }. Equating internal
work and internal work,
N
1Z
1 X
{Q }T {Q } dV =
Qi DQi
2 V
2 i=n+1
(2)
Now, with the {P } system of forces acting, apply the {Q} system of forces.
The internal and external work done by the {Q} forces must be equal.
Z
N
n
X
1 X
1Z
T
{Q } {Q } dV + {P }T {Q } dV =
Qi DQi +
Pi DQi
V
2 V
2 i=n+1
i=1
(3)
{P }T {Q } dV =
n
X
(4)
Pi DQi
i=1
Instead, with the {Q} system of forces acting, apply the {P } system of forces.
The internal and external work done by the {P } forces must be equal.
Z
n
N
X
1X
1Z
T
{P } {P } dV + {Q }T {P } dV =
Pi DPi +
Qi DPi
V
2 V
2 i=1
i=n+1
(5)
N
X
{Q } {P } dV =
(6)
Qi DPi
i=n+1
{Q }T {P } = {Q }T [S]1 {P }.
The right hand sides of these two equations are equal to each other.
{P }T [S]1 {Q } = {Q }T [S]T {P } = {Q }T [S]1 {P }
Therefore,
Z
V
{Q }T {P } dV =
and
n
X
Pi DQi =
i=1
Z
V
{P }T {Q } dV,
N
X
Qi DPi
i=n+1
QED
or
DQi = DPj
or
fij = fji
where fij is the displacement at i due to a unit force at j, and fji is the
displacement at j due to a unit force at i. That is, fij is a flexibility coefficient.
In other words, the flexibility matrix is symmetric.
QED
2
Maxwell, J.C., On the Caclulation of the Equilibrium nad Stiffness of Frames, Philosophical Magazine,
vol. 27, pp. 294299, 1864.
CC BY-NC-ND H.P. Gavin
CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin
So
U
=
Fi
N
Z M Mz
Z M My
N F
z Fi
y Fi
i
dl +
dl +
dl +
l EA
l EIz
l EIy
y
z
Z
Z T T
Vz V
Vy V
Fi
Fi
Fi
dl +
dl +
dl.
l G(A/z )
l G(A/y )
l GJ
Notes:
1. The terms
M
Fi
2. Castiglianos Theorems as presented here require a linear elastic system. The principle
of virtual work does not. Therefore the principle of virtual work is more general.
3. Generalizations of Castiglianos Theorems for nonlinear elastic systems exist, and are
described by T. Au, Elementary Structural Mechanics, (Prentice Hall, 1963).
If all of these forces increase by a small amount, Fi , then the change in the
internal strain energy, U , will be
U
U
U
U
F1 +
F2 + +
Fk + +
FN ,
U =
F1
F2
Fk
FN
or if only force k were changed by an amount Fk , then the change in the
internal strain energy would be
U
U =
Fk .
Fk
So the total internal strain energy from all forces Fi (i = 1, , N ), plus an
extra force Fk is
U
1Z
{}T {} dV +
Fk .
U + U =
2 V
Fk
Now if Fk is applied first, it does a little bit of external work, 12 Fk Dk
(assuming linear elastic properties). This is so small that it can be neglected.
Next, when the rest of the forces Fi , (i = 1, , N ) are applied, the small force,
Fk , moves through a displacement Dk , and the total external work from all
the forces (Fk plus all the Fi s) equals (again assuming linear elasticity),
N
1X
Fi Di + Fk Dk .
2 i=1
Setting U + U equal to WE + WE , and noting that U = WE , we get
U
Fk = Fk Dk , or,
U = WE , or, F
k
WE + WE =
U
= Dk .
Fk
QED
CC BY-NC-ND H.P. Gavin