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Structural Design and Inspection-Principle of Virtual Work: by Dr. Mahdi Damghani 2019-2020
Structural Design and Inspection-Principle of Virtual Work: by Dr. Mahdi Damghani 2019-2020
Structural Design and Inspection-Principle of Virtual Work: by Dr. Mahdi Damghani 2019-2020
By
2019-2020
1
Suggested Readings
Reference 1 Reference 2
2
Objective(s)
3
Comments
4
Introduction
5
Complexity Demonstration
6
Work
a
WF 1 F
2
a
WF 2 F
2
WF F cos WF WF 1 WF 2 WF M
7
Work on a particle
• Point A is virtually
displaced (imaginary
small displacement) to
point A’
• R is the resultant of
applied concurrent
forces on point A
• If particle is in
equilibrium?
R=0
WF=0
8
Principle of Virtual Work (PVW)
9
In other words
• The work done by a real force 𝑃 moving through an
arbitrary virtual displacement ≈ arbitrary test displacement ≈
arbitrary fictitious displacement 𝛿𝑢 is called the virtual work
𝛿𝑊. It is defined as; 𝛿𝑊 = 𝑃𝛿𝑢
• Note that The word arbitrary is easily understood: it simply
means that the displacements can be chosen in an
arbitrary manner without any restriction imposed on their
magnitudes or orientations. More difficult to understand are
the words virtual, test, or fictitious. All three imply that these
are not real, actual displacements. More importantly, these
fictitious displacements do not affect the forces acting on the
particle.
• Then we define PVW for both rigid bodies and deformable
bodies separately (see subsequent slides).
10
Note 1
11
It does not undergo deformation
(change in length, area or shape)
PVW for rigid bodies under the action of forces.
Internal forces act and
react within the system
and external forces act
• External forces (F1 ... Fr) on the system
induce internal forces;
• Suppose the rigid body is
given virtual displacement;
• Internal and external forces
do virtual work;
Fi A1 Fi A2
• There are a lot of pairs like
A1 and A2 whose internal
forces would be equal and
opposite; W total Wi We Wi 0 Wt We
• We can regard the rigid body
Wi 1 Wi 0
A A2
as one particle.
12
The distance between two
points changes under the
PVW for deformable bodies action of forces.
13
Work of internal axial force on
mechanical systems/structures
Isolate
Section
under the action of axial load
only as a result of external
aerodynamic loading.
After imposing a virtual
displacement, the axial load
does virtual work on this truss
element.
To obtain the amount of virtual
work, we obtain the work on
the section and then
throughout the length (next
slide).
14
Work of internal axial force
N
N A A
A
• Work done by small axial force due to
small virtual axial strain for an
element of a member:
N
wi , N dA vx N vx
A
A
• Work done by small axial force due to
small virtual axial strain for a member:
wi , N N v dx
L
• Work done by small axial force due to
small virtual axial strain for a structure
having r members: reminder :
mr
v l l v A x A vx
wi , N N m vmdx
m 1
15
mr
wi , N N m vmdx
m 1
16
Work of internal shear force
S A
• Work done by small shear force due to
small virtual shear strain for an element
of a member (β is form factor):
S
wi , S dA vx dA vx S vx
A
A
δS
• Work done by small shear force due to
small virtual shear strain for a member
of length L:
wi ,S S v dx
L
17
Work of internal shear force for
linearly elastic material
18
Work of internal bending moment
wi ,M dA vx
A
• Work done by small bending due to
small virtual axial strain for an
element of a member:
y M
wi , M dA x x
A
Rv Rv
• Work done by small bending due to
small virtual axial strain for a member:
M
wi , M dx
L
Rv
• Work done by small bending due to
small virtual axial strain for a structure
having r members: Radius of curvature due
to virtual displacement
mr
Mm
wi , M dx 1 M , v E
My
My y
m 1 Rvm I v
Rv EI IE Rv
19
Work of internal bending moment for
linearly elastic material
20
Work of internal torsion
TTv
wi ,T dx
L
GJ
• For a structure having several
members of various length we have;
mr
TmTvm TT TT
wi ,T dx 1 v1 dx 2 v 2 dx ...
G J
m 1 Lm m m G J
L1 1 1 L2
G2 J 2
21
Virtual work due to external force
system
We Wi 0
We W v , y P v , x M v Tv w( x) v , y dx
L
N N S S M M TT
Wi A v dx A v dx A v dx A v dx
L EA L
GA L
EI L
GJ
22
Note
23
Example 1
24
Solution
25
Solution
M C 0 RA RC
RA L Wb
b
RA W
L
ab
M B RA a W
L
26
Solution
Rigid
Rigid β
27
Example 2
b
A
B
P a
28
Solution
• We assume that AB and AC are rigid and therefore
internal work done by them is zero
• Apply a very small virtual displacement to our system
Virtual movements Just to confirm the answer, rC C
rC b you would get the same W
result if you took moment
rA a about B, i.e. 𝑀𝐵 = 0
Virtual work b
U 0 A
P rA W rC 0
rA B
Pa Wb 0 P a
P bW / a
29
Example 3
30
Solution
• This structure has 1 degree of
indeterminacy, i.e. 4 reaction (support)
forces, unknowns, and 3 equations of
equilibrium
• Let’s apply an infinitesimally small virtual
displacement where we intend to get the
force
v,B v ,C 4
tan( ) v ,C v,B
3 4 3
• Equating work done by external force to
that of internal force gives
v ,C 30 FAB v , B FAB 40 kN
31
Example 4
h
M1 M2
kr1 kr 2
a
32
Solution
We P
P
Wi M 11 M 2 2
1 2 / h
Wi M 1 / h M 2 / h
h
Wi M1 M 2 M1 M2
h
kr1 kr 2
We Wi 0 a
1 1
P h M 1 M 2 0 P h M 1 M 2 0
M i kii
Ph / kr1 kr 2
33
Note
34
Note
35
Example 5
36
Solution
Real system
Virtual system
37
Example 6
5kN/m 8kN
IAB=4x106 mm4
IBC=8x106 mm4
E=200 kN/mm2
C B D A
2m 0.5m 0.5m
38
mr
M m M vm MM M M
wi ,M dx 1 v1 dx 2 v 2 dx ...
Solution m 1 Lm Em I m L1
E1I1 L2
E2 I 2
Virtual system
AD 0<x<0.5 4x106 0 8x
39
mr
M m M vm MM M M
wi ,M dx 1 v1 dx 2 v 2 dx ...
Solution m 1 Lm Em I m L1
E1I1 L2
E2 I 2
1 B
MvM
0.5
0 8x
1
0 8 x 2.5x 0.5
2
3
x 1 8x 2.5x 0.5 dx
2
L
EI
dx 200 4 10
0
6
dx
0.5
200 4 106
dx
1
200 8 106
B 12 mm
40
Solution
AD 0<x<0.5 4x106 0 8x
1 B
MvM
0.5
0 8x
1
0 8 x 2.5x 0.5
2
3
2
1 8x 2.5x 0.5 dx
L
EI
dx 200 4 10
0
6
dx
0.5
200 4 106
dx
1
200 8 106
B 0.0119 rad
41
Q1
42
Q2
43
Q3
44
Q4
45
Q5
46
Q6
47
Q7
48