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Automatic Calculus Lec 5 Principles of Minimum Potential Energy and Rayleigh-Ritz-Galerkin
Automatic Calculus Lec 5 Principles of Minimum Potential Energy and Rayleigh-Ritz-Galerkin
Lec 5
Principles of minimum
potential energy and Rayleigh-
Ritz-Galerkin
Prof. Gian Paolo Cimellaro
&
Prof. Giuseppe Marano
Dipartimento d’ingegneria strutturale e geotecnica,
Politecnico di Torino
Summary:
•Exact solution
•Potential energy of a system
•Elastic bar
•Principle of Minimum Potential Energy
•Rayleigh-Ritz-Galerkin Principle
A generic problem
d nx d n1x dx
cn ( x) n cn1 ( x) n1 ... c1 ( x) f ( x)
dt dt dt
A generic 1D problem
d 2u
E A( x) 2 b( x)
dx
Solution strategy:
1. Exact solution (Closed-form solution)
2. Approximate solutions
2.1 Variational Method (Minimum of Total Potential Energy)
2.2 Weigthed Residual Methods (Galerkin method)
EXACT SOLUTION
Axially loaded elastic bar (truss element)
y
A(x) = cross section at x
b(x) = body force distribution
F
x (force per unit length)
x E(x) = Young’s modulus
x=L u(x) = displacement of the bar at x
x=0
Axial du Axial Eε E du
ε Tension T A EA du
strain dx stress dx dx
dT d 2u u (0) 0
Equilibrium b EA 2 b 0 bc :
dx dx EAdu / dx( L) F
1 x2
u b (bL F ) x
EA 2
Axially loaded elastic bar (truss element)
y
A(x) = cross section at x
b(x) = body force distribution
F
x (force per unit length)
x E(x) = Young’s modulus
x=L u(x) = displacement of the bar at x
x=0
Equilibrium
du T ( x)
T(x) R b x T(x) EA du dx
dx EA
Integrating
u
x
T ( x)
dx
x
bL F bx
bc : u(0) 0
1
x2
dx u b (bL F ) x
0
EA 0
EA EA 2
Variational Method
(Minimum of Total Potential Energy)
(Total) Potential energy
The potential energy of an elastic body is defined as
u u+du
Differential strain energy of the spring for a small change in
displacement (du) of the spring
dU Fdu
Strain energy of a linear spring
F
x
k k
1 F
u k u
dU
The total strain energy of the spring
F
dU Fdu
u u+du
u
U F du Area under the force dispalcement curve
0
u u
U F du k (u) u du
0 0
Potential energy of the loading (for a single spring as in the figure)
x
W Fu
k
F Potential energy of a
k concentrated external
u loading
1 2
Π ku Fu How to calculate u ?
2
Principle of Minimum Potential Energy
Among all admissible displacements that a body can have, the one
that minimizes the total potential energy of the body satisfies the
strong formulation
Example
k1 k2
F
x DOFs d2 x d3 x
d1x d 2x d 3x
d 0
( d 2 x , d 3 x ) 0 (i 1,2) 2x
ui
0
d 3 x
Principle of minimum potential energy for a system of springs
k1 k2
F
x
d1x d 2x d 3x
For this system of spring, first write down the total potential
energy of the system as:
1 1
system k1 (d 2 x ) k 2 (d 3 x d 2 x ) 2 Fd3x
2
2 2
Obtain the equilibrium equations by minimizing the potential energy
system
k1d 2 x k 2 (d 3 x d 2 x ) 0 Equation (1)
d 2 x
system
k 2 (d 3 x d 2 x ) F 0 Equation (2)
d 3 x
Principle of minimum potential energy for a system of springs
k1 k 2 k 2 d 2 x 0
k
2 k 2 d 3 x F
du
Axial strain ε
dx
du
Axial stress Eε E
dx 2
1 1 du
Strain energy per unit volume of the bar dU σε E
2 2 dx
Strain energy of the bar
1 L 1
U dU σε dV σε Adx since dV=Adx
2 x 0 2
Axially loaded elastic bar
2
1 L du exact L
(u exact ) EA dx bu exact dx Fuexact (x L)
2 0 dx 0
Potential energy of the axially loaded bar corresponding to the
“admissible” displacement w(x)
2
1 dw
L L
(w) EA dx bw dx Fw(x L)
2 0 dx 0
d 2u
AE 2 b 0; 0 xL
dx
u 0 at x 0
du
EA F at x L
dx
Notice
7
since 1
6
(u exact ) (w)
Principle of Minimum Potential Energy
Among all admissible displacements that a body can have, the one
that minimizes the total potential energy of the body satisfies the
strong formulation
The exact solution (uexact) that satisfies the strong form, renders
the potential energy of the system a minimum.
Task is to find the function ‘w’ that minimizes the potential energy
of the system
2
1 dw
L L
(w) EA dx 0 bw dx Fw(x L)
2 0
dx
From the Principle of Minimum Potential Energy, that function ‘w’
is the exact solution.
WEIGTHED RESIDUAL METHOD
(Rayleigh-Ritz-Galerkin Method)
Sometimes the variational formulation may be difficult to obtain from
differential equations:
An approximate function is chosen to approximate the independent
variable.
2
1 dw
L L
(w) EA dx 0 bw dx Fw(x L)
2 0
dx
dj 0 dj1
2
1
L
(a 0 , a 1 ,...) EA a0 a1 ... dx
2 0
dx dx
b a 0j 0 a1j1 ... dx
L
E=A=1
F x F=2
x=1
x=0 x=2
u a0 a1 x a2 x 2
a2 2 x x 2
Now we apply Rayleigh Ritz principle, which says that if I plug
this approximation into the expression for the potential energy , I
can obtain the unknown (in this case a2) by minimizing
2
1 2 du
(u) dx Fu(x 1)
2 0 dx
2
1 d2
a2 2 x x dx F a2 2 x x 2
2
2 0 dx
evaluated
at x 1
4 2
a2 2a2
3
8 3
0 a2 2 0 a2
a2 3 4
Hence the approximate solution to this problem, using the
Rayleigh-Ritz-Galerkin principle is
u a0 a1 x a2 x 2
a2 2 x x 2
3
2x x2
4
Notice that the exact answer to this problem (can you prove this?) is
x for 0 x 1
u exact
2 x for 1 x 2
The displacement solution :
Exact solution
1
0.8 Approximate
solution
0.6
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x
1.5
Exact Stress
0.5
Approximate
stress
Stress
-0.5
-1
-1.5