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Fi
Fi
Dj
Di
000000
111111
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11111
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v(x)
000
111
111
000
000
111
000
111
000
111
000
111
000
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000
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000
111
Fi
w(x)
00000
11111
11111
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11111
11111
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11111
111111111
000000000
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111111111
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000000000D+ D
111111111
D
i
Di
Z D +D
i
i
Di
Fi (Di ) dDi .
(1)
When the structure is elastic and linear, that is Fi (Di ) = ki Di , the work of
a force increasing from 0 to Fi , moving through corresponding displacements
from 0 to Di is
Z D
Z D
1
11 2 1
i
i
F = Fi Di .
(2)
W =
Fi dDi =
ki Di dDi = ki Di2 =
0
0
2
2 ki i
2
CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin
Fj
F1
Dj
Dn Fn
D1
Fn
Ra
Dn
111
000
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
00000
11111
11111
00000
00000
11111
F1
D
F1
111111
000000
000000
111111
000000
111111
000000
111111
Rb
111111
000000
000000
111111
000000
111111
D1
Di
Fi
Fi
Di
00000
11111
11111
00000
00000
11111
Rc
Dj
Fj
000000
111111
111111
000000
000000
111111
Fj
Dj
Fn
Dn
11111
00000
00000
11111
00000
11111
00000
11111
Figure 2. Point forces and collocated displacements on linear elastic solids and structures.
(4)
Note that forces at fixed reaction points, R, do no work because the displacements at the reactions are presumed to be zero.
Example: Small element subjected to normal stress xx
zz
Fj
Dj
Fn
Dn
Ra
000
111
111
000
000
111
000
111
000
111
000
111
000
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000
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000
111
yy
F1
00000
11111
11111
00000
00000
11111
Rb
yz
xz
11111
00000
00000
11111
00000
11111
xx
xy
Rc
The incremental strain energy, dU , for this elemental cube of volume dV can
be written:
1
dU = {xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
2
Integrating the incremental strain energy, dU , over an entire volume, V , the
total strain energy, U , is
1Z
{xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
U=
2 V
If the stresses and strains are re-written as vectors,
{}T = {xx yy zz xy xz yz }
{}T = {xx yy zz xy xz yz } ,
then the total strain energy can be written compactly as
1Z
U=
{}T {} dV.
(5)
2 V
This equation is a general expression for the internal strain energy of a linear
elastic structure of any type. It can be simplified significantly for structures
built from a number of prismatic members, such as trusses and frames.
CC BY-NC-ND H.P. Gavin
CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin
Nx
Nx
dl
1111
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0000
1111
0000
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0000
1111
0000
1111
0000
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0000
1111
0000
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0000
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0000
1111
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xx
xx dl
Figure 4. Internal axial forces, deformation, and stresses in an axially-loaded prismatic bar.
Nx
.
A
1 Z Nx2 ZZ
U=
dA dl
2 l EA2 A
RR
Since A = A dA,
or
ZZ
1Z
0
2
U=
E(u (x))
dA dl.
A
2 l
1 Z Nx2
1Z
2
U=
dl
or
U=
EA (u0 (x)) dl.
(6)
2 l EA
2 l
A prismatic bar with a constant axial force, Nx , and a constant strain xx =
x /L, along its length, is like a truss element, and the strain energy can be
expressed as
1 Nx2 L
U=
2 EA
or
U=
1 EA 2
.
2 L x
(7)
CC BY-NC-ND H.P. Gavin
v" dl
M zz
M zz
1111
0000
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
000
0000111
1111
000
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000
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000
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000
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000
111
x
000
111
000
111
000
111
xx
dl
Mz y
.
Iz
2
1
1 xx
1 Mz2 y 2
dU = xx xx dV =
dV =
dA dl
2
2 E
2 EIz2
1
1
2
= E2xx dV = E (v 00 (x) y) dA dl ,
2
2
and the total strain energy in a beam under pure bending moments is
1 Z Mz2 ZZ 2
U=
y dA dl
2 l EIz2 A
or
ZZ
1Z
00
2
U=
E(v (x))
y 2 dA dl.
A
2 l
Since the bending moment of inertia, I, is A y 2 dA, provided that the origin
RR
of the coordinate system lies on the neutral axis of the beam ( A yz dy dz = 0),
RR
U=
1 Z Mz2
dl
2 l EIz
or
U=
1Z
EIz (v 00 (x))2 dl.
l
2
(8)
CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin
t(y)
d
000000
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111111
Vy
Vy
vs
00000
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00000
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xy
dl
Vy Q(y)
Iz t(y)
Z d/2
y
t(y)y dy
2
1
1 xy
1 Vy2 Q(y)2
dU = xy xy dV =
dA dl =
dA dl
2
2G
2 Iz2 Gt(y)2
1 Z Vy2 ZZ Q(y)2
1 Z Vy2 A ZZ Q(y)2
U=
dA dl =
dA dl
2 l Iz2 G A t(y)2
2 l GA Iz2 A t(y)2
This last integral reduces to a constant that depends only upon the shape of
the cross-section. This constant is given the variable name .
A ZZ Q(y)2
dA
= 2
Iz A t(y)2
Values of for some common cross-section shapes are given below ( > 1).
solid circular sections:
solid rectangular sections:
thin-walled circular tubes:
thin-walled square tubes:
1.08
1.15
1.95
2.35
(9)
CC BY-NC-ND H.P. Gavin
Q(y) =
Z d/2
y
t(y)y dy = b
xy
Z d/2
y
Vy
=
2Iz
Vy Q(y)
Iz t(y)
d/2
y2
y dy = b
2 y
d2 y 2
=b
8
2
d2
y2 .
4
This stress varies parabolically along the direction of the applied shear. It is
maximum at the centroid of the section and zero at the ends.
The corresponding shear strain energy equation in terms of displacements is
a bit more subtle
1Z
G(A/)(vs0 (x))2 dl .
(10)
U=
2 l
where the total transverse displacement is a combinastion of bending-related
vb (x) and shear-related vs (x) displacements, v(x) = vb (x) + vs (x). For example,
Z
ZZ M (x)
Vz (x)
zz
dx
and
vs (x) =
dx .
vb (x) =
EIzz (x)
GA(x)/
CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin
y
r
z
Tx
Tx
00000000
11111111
11111111
00000000
00000000
11111111
00000000
11111111
00000000
11111111
dl
Figure 7. Internal torsional moments, deformation, and stresses in a prismatic rod.
Tx r
J
x (r)
= r 0 .
G
RR
Ar
or
ZZ
1Z
0 2
U=
G( )
r2 dA dl.
A
2 l
U=
1 Z Tx2
dl
2 l GJ
or
U=
1Z
GJ(0 )2 .
l
2
(11)
y
My
Nx
Mz
dl
Figure 8. Internal axial force and bending moments in a prismatic beam.
Nx Mz y My z
+
.
A
Iz
Iy
The total strain energy arising from axial and pure bending effects is
2
1 Z xx
1 Z 1 ZZ 2
1Z
xx xx dV =
dA dl.
dV =
Un =
2 V
2 V E
2 l E A xx
2
The term xx
in the integral above can be expanded as follows.
xx =
ZZ
A
2
xx
dA =
ZZ
N2
x
A A2
Mz2 y 2 My2 z 2
Nx Mz y
Nx My z
Mz My zy
+
+
2
+
2
2
dA.
Iz2
Iy2
AIz
AIy
Iz Iy
But, since the coordinate axes are assumed to pass through the centroid of
the cross-sectional area,
ZZ
A
y dA =
ZZ
A
z dA =
ZZ
A
yz dA = 0
Therefore, the total potential energy is simply the sum of the potential energies due to axial and bending moments individually.
Z M2
Z M2
1 Z Nx2
y
z
Un =
dl +
dl +
dl .
l EIz
l EIy
2 l EA
CC BY-NC-ND H.P. Gavin
10
CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin
y
Vy
Tx
Vz
dl
Figure 9. Internal shear forces and torsional moment in a prismatic beam.
xy =
Vy Qy (y)
Iz tz (y)
xz =
Vz Qz (z)
Iy ty (z)
x =
Tx r
J
Z
Z T2
Vy2
Vz2
1 Z
x
Uv =
dl +
dl +
dl ,
l G(A/z )
l GJ
2 l G(A/y )
where
A ZZ Qy (y)
y = 2
dA
Iz A tz (y)
A ZZ Qz (z)
z = 2
dA
Iy A ty (z)
Total Strain Energy
The total strain energy for solids subjected to axial, bending, shear, and
torsional forces is the sum of Un and Uv above.
CC BY-NC-ND H.P. Gavin
11
Summary
Strain energy is a kind of potential energy arising from the deformation of
elastic solids. For structural elements (bars, beams, or shafts) strain energy
is expressed in terms of the elasticity of the material (E or G), the dimensions of the element (L, A, I, J, or A/), and either the internal forces (or
moments) in the element (N (x), M (x), V (x), or T (x)), or the deformation
of the element (u0 (x), v 00 (x), vs0 (x), 0 (x)).
force
deformation
force-based
strain-energy
Axial
Nx (x)
u0 (x)
RL
Bending
Mz (x)
v 00 (x)
RL
Shear
Vy (x)
vs0 (x)
RL
Torsion
Tx (x)
0 (x)
RL
deformation-based
strain energy
Nx (x)2
x=0 E(x)A(x) dx
RL
Mx (x)2
x=0 E(x)I(x) dx
RL
Vx (x)2
x=0 G(x)(A(x)/) dx
RL
Tx (x)2
x=0 G(x)J(x) dx
RL
x=0
x=0
x=0
x=0
E(x)A(x)(u0 (x))2 dx
E(x)I(x)(v 00 (x))2 dx
G(x)(A(x)/)(vs0 (x))2 dx
G(x)J(x)(0 (x))2 dx
where:
E(x)
G(x)
A(x)
I(x)
A(x)/
J(x)
Nx (x)
Mz (x)
Vy (x)
Tx (x)
u0 (x)
v 00 (x)
vs0 (x)
0 (x)
is
is
is
is
is
is
is
is
is
is
is
is
is
is
Youngs modulus
the shear modulus
the cross sectional area of a bar
the bending moment of inertia a beam
the effective shear area a beam
the torsional moment of inertia of a shaft
the axial force within a bar
the bending moment within a beam
the shear force within a beam
the torque within a shaft
du(x)/dx, the axial strain, u(x) is the axial displacement along the bar
d2 v(x)/dx2 , the curvature, v(x) is the transverse bending displacement of the beam
dvs (x)/dx, the shear deformation, vs (x) is the transverse shear displacement of the beam
d(x)/dx, the torsional deformation, (x) is the torsional rotation of the shaft