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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principles of virtual work
A. Hlod
CASA
Center for Analysis, Scientic Computing and Applications
Department of Mathematics and Computer Science
21-June-2006
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Outline
1
Introduction
2
Work and energy
Work and potential energy of the internal forces
Work and potential energy of the applied loading
Virtual work
3
Principle of virtual work
4
Principle of complementarity virtual work
5
Conclusions
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Formulation of principle of virtual work
Sum of works of the internal and external forces done by virtual
displacements is zero
W
i
W
e
= 0.
Virtual displacements are innitesimal change in the position
coordinates of a system such that the constraints remain
satised.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Example standard way
To nd a relation between W and
P we need to solve the system of 8
equations
P = F
11
F
22
= F
21
F
32
= F
31
F
42
= F
41
F
11
= F
41
F
42
= F
22
F
21
= F
31
F
31
+F
41
+F
32
+F
42
= W
and get W = 4P.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Example principle of virtual work
From the principle of virtual
work,
W
i
W
e
= WzPV = 0.
Geometrically admissible
virtual displacements V and
z are related according to
V = 4z. Thus,
W = 4P.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Work & energy. Elastic extension of a bar
N = N =
x
dA =
x
A
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Work & energy. Elastic extension of a bar
Internal work done in a differential element dx is
x
d
x
Adx =
x
d
x
dV
with the strain d
x
= d(du/dx) and the volume element
dV = Adx.
The total work of the bar is
W
i
=
L
0
x
0
x
d
x
Adx.
Using the Hookes law
x
= E
x
we obtain
W
i
=
L
0
A
x
0
E
x
d
x
dx =
1
2
L
0
AE
2
x
dx.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Work of the internal forces in 3D
Consider a parallelepiped (dxdydz). Then the work during the
strain increment d
x
, d
y
,...,d
yz
would be
(
x
d
x
+
y
d
y
+ ... +
yz
d
yz
)dxdydz.
The stress tensor
ij
and the strain tensor
ij
are
ij
=
x
xy
xz
xy
y
yz
xz
yz
z
,
ij
=
x
xy
/2
xz
/2
xy
/2
y
yz
/2
xz
/2
yz
/2
z
.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Work of the internal forces in 3D
Then the work for the whole body of volume V becomes
W
i
=
(
x
,
y
,...,
yz
)
(0,0,...,0)
(
x
d
x
+
y
d
y
+ ... +
yz
d
yz
)dxdydz =
=
ij
0
ij
d
ij
dV =
T
ddV,
where = [
x
,
y
,
z
,
xy
,
xz
,
yz
]
T
and
= [
x
,
y
,
z
,
xy
,
xz
,
yz
]
T
.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Using the Hookes law
ij
= E
ijkl
kl
we arrive at
W
i
=
1
2
V
E
ijkl
ij
kl
dV =
1
2
T
EdV =
=
1
2
ij
ij
dV =
1
2
T
dV.
Next we introduce the strain energy density as
U
0
() =
1
2
T
E = G
2
11
+
2
22
+
2
33
+
1 2
(
11
+
22
+
33
)
2
+
1
2
(
2
12
+
2
13
+
2
23
)
which is a positive denite function. The total strain energy is
U
i
= W
i
=
V
U
0
()dV.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Complementarity strain energy density
Complementarity strain energy density is
U
0
=
ij
ij
U
0
().
In case of Hookes law
U
0
() =
T
1
2
T
=
1
2
T
E
1
=
1
2E
(
11
+
22
+
33
)
2
+
(
2
12
+
2
13
+
2
23
11
22
22
33
22
33
)
With a linear material law
U
0
=
1
2
T
E =
1
2
T
E
1
= U
0
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
The complementarity strain energy is
U
i
=
V
U
0
()dV =
1
2
T
E
1
dV.
The complementarity work of the internal forces is given by
W
i
=
ij
ij
d
ij
dV =
ddV.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Extension of a bar
The external work performed until the nal conguration u
F
is
reached
W
e
=
u
F
0
Ndu.
If the displacement is proportional to the load u = k
N we have
W
e
=
u
F
0
Ndu =
u
F
0
u
k
du =
1
2
u
2
F
k
=
1
2
N
F
u
F
.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
External work
The external work done by the prescribed forces
p
i
,
p
V
i
is
W
e
=
S
p
u
i
0
p
i
du
i
dS +
u
i
0
p
V
i
du
i
dV.
For linear material
W
e
=
1
2
S
p
p
i
u
i
dS +
1
2
p
V
i
u
i
dV.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Complementarity external work
The complementarity external work is
W
e
=
S
u
p
i
0
u
i
dp
i
dS
For linear material
W
e
=
1
2
S
u
p
i
u
i
dS.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Energy for loading
Energy of external forces
U
e
=
S
p
u
i
0
p
i
du
i
dS
u
i
0
p
V
i
du
i
dV.
Complementarity energy of external forces
U
e
=
S
u
u
i
0
p
i
u
i
dS.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Internal&external virtual work
The internal virtual work is given by
W
i
=
ij
ij
dV,
and the external virtual work is
W
e
=
S
p
p
i
u
i
dS +
p
V
i
u
i
dV,
where u
i
are the virtual displacements.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Internal&external complementarity virtual work
The internal complementarity virtual work is given by
W
i
=
ij
ij
dV,
and the external virtual work is
W
e
=
S
u
u
i
p
i
dS.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principle of virtual work (1)
The principle of virtual work can be derived form the equations
of equilibrium and vice versa. The condition of equilibrium for a
solid body under the prescribed body forces is
ij ,j
+
p
V
i
= 0 in V. (1)
The force boundary conditions are given on the part of the
surface S
p
p
i
=
p
i
on S
p
(2)
where p
i
=
ij
a
j
. On the other part of the boundary S
u
(S = S
u
S
p
) displacements are prescribed.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principle of virtual work (2)
Next we multiply (1) and (2) by the virtual displacement u
i
and
integrate the rst relation over V and the second one over S
p
.
V
(
ij ,j
+
p
V
i
)u
i
dV +
S
p
(p
i
p
i
)u
i
dS = 0. (3)
The virtual displacements are kinematically admissible if the
displacements
u
i
= u
i
+ u
i
satisfy the geometric boundary
conditions (u
i
=
u
i
on S
u
),
u
i
= 0 on S
u
.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principle of virtual work (3)
We use the Gauss integral theorem to receive
ij ,j
u
i
dV =
S
p
i
u
i
dS
ij
u
i ,j
dV. (4)
From the denition of S
p
we have
S
p
p
i
u
i
dS =
S
p
i
u
i
dS
S
u
p
i
u
i
dS. (5)
We substitute (4) and (5) into (3)
ij
ij
dV
p
V
i
u
i
dV
S
p
p
i
u
i
dS
S
u
p
i
u
i
dS = 0, (6)
where
ij
= 1/2(u
i ,j
+u
j ,i
).
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principle of virtual work (4)
Because the variations are kinematically admissible u
i
= 0 on
S
u
which gives us
ij
ij
dV
p
V
i
u
i
dV
S
p
p
i
u
i
dS = 0 (7)
or in terms of internal and external virtual work
W
i
W
e
= 0. (8)
(7) or (8) are called the principle of virtual work. This principle
is also known as the principle of virtual displacements.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principle of complementarity virtual work (1)
We start from the local kinematic conditions
ij
=
1
2
(u
i ,j
+u
j ,i
) in V (9)
and
u
i
=
u
i
on S
u
. (10)
Multiply (9) by a virtual stress eld
ij
and integrate over the
volume. Multiply (10) by the virtual force p
i
and integrate over
the surface S
u
. The sum of two gives
V
(
ij
u
i ,j
)
ij
dV
S
u
(
u
i
u
i
)p
i
dS = 0. (11)
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principle of complementarity virtual work (2)
Here we introduced the concept of statically admissible
stresses
ij
=
ij
+
ij
which satisfy the equilibrium equations
in V and static boundary conditions on S
p
. Then, it follows that
ij ,j
= 0 in V, (12)
p
i
= 0 on S
p
. (13)
Using the Gauss integral theorem, (12), (13) and p
j
= a
i
ij
we get
S
u
u
i
p
i
dS =
V
u
i ,j
ij
dV.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Principle of complementarity virtual work (3)
By combining (11) and (8) we receive
ij
ij
dV
S
u
u
i
p
i
dS = 0,
or in terms of external and internal complementary virtual work
W
i
W
e
= 0.
(7) or (8) are called the principle of complementary virtual work.
This is also known as the principle of virtual stresses and as
the principle of virtual forces.
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Introduction Work and energy Principle of virtual work Principle of complementarity virtual work Conclusions
Conclusions
Work and potential energy of the internal forces
Work and potential energy of the applied loading
Principle of virtual work
Principle of complementary virtual work
