CE 309

Structural Analysis

Energy Methods

08/11/2016
 Outline of Lecture

Basic Energy Concepts

Energy Principles based on displacement field
Energy Principles based on force field
Examples
Basic Energy Concepts
Energy- qualitatively, defined as the ability to do
work

Energy- quantitatively, treated as equivalent to work

and has the same units as work

Energy exists in many forms-mechanical, thermal,

light, sound, chemical and electrical
We limit our interest to mechanical energy as
observed in structural systems

Energy may be visualized as being of 2 kinds-

potential and kinetic
Potential Energy and Kinetic Energy

Potential Energy is the energy that has not yet been used and
thus has the potential of being used in the future

Kinetic Energy is the energy that is in use (or in motion)

In structural mechanics, we associate the concept of potential

energy with all forces, because of their potential to do work

Gravitational potential energy- due to the force of gravity

acting on any mass
Elastic potential energy (strain energy)- due to the elastic
force inherent in any elastic structure (which behaves like a spring)
Strain Energy

The internal work caused in a member m by an elastic force

Fm, undergoing an associated elastic deformation Dm, is
referred to as strain energy, and denoted by Um
Assuming no initial deformations, the expression for strain
energy Um, in terms of Fm and Dm is given by

=
0

where s denotes the elastic deformation conjugate with the

elastic force
Strain Energy : internal work done by
elastic force

Fm
Elastic
Force F
=

ds
s Dm
Total Strain energy Elastic deformation
=
Strain Energy and Complementary Strain Energy

=
Fm
Elastic Complementary
Force Strain
Energy

Strain Energy
=

s Dm
Elastic deformation
Strain Energy : linear elastic behaviour

Fm
Elastic
Force F
=

ds
s Dm
Total Strain energy Elastic deformation
1
=
2
Strain Energy Density

Strain energy density , is defined as the internal work

done per unit volume in an elastic material that is
subject to gradually increasing strain under adiabatic
conditions (there must be no heat flow through the
system)

Defined as follows

=
0

For linear elastic behaviour, 1

=
2
 Strain Energy Density- Area under the
stress strain curve

=

max
Stress

d=

Used to derive strain energy in

different structural elements ,
d depending on the type of
structural actions-
max
axial, bending, shear etc
Strain
Strain Energy Density- Axial element
Assuming uniform axial strains across cross sectional area A, the
volume integral reduces to the following line integral

Axial strain energy,

1
= ()()
2

where (x) is the axial stress at any location x in the element,

(x) is the associated axial strain, such that (x)dx is the
elemental elongation du, in an infinitesimal element of length
dx .
Strain Energy Density- Beam element
For beam element, normal strains vary linearly across the cross-
section at location x, when subject to bending moment M(x) and
associated curvature (x)

Flexural strain energy,

1
= ()()
2

(x, y) is the normal strain (x, y) is the associated stress at

any depth y below the centroidal axis at location x
Strain Energy Expressions
1 1
= = 2 0
()2
2

1
=
2

1
= ()2
2 0

1
= ()2
2 0

1
= ()2
2 0
Load Potential Energy (V)

Potential energy due to all external forces acting on a

structure

Defined as the negative of the external work- because

this work done uses the potential of the external
forces while undergoing displacements

If there are multiple forces acting on the structure, we

add up algebraically all the products of external forces
and associated displacements, and applying a negative
sign to this external virtual work

= , , (1)

Strain Energy = External Work
Equating the total external virtual work to the total internal virtual
work
, , = , ,

The work is virtual because it merely involves a product of a force

and a displacement, without accounting for any relationship between
the two
Real work, in elastic structures when gradually loaded, the (total
internal virtual work) will be the strain energy, U

1
= , , (2)
2

This equation provides the basis for an energy method to calculate

deflections in simple statically determinate structures
Strain Energy = External Work
Invoking the concept of total potential energy, and combining Eqns
(1) and (2), we get

+ =0 (2a)
2

The factor V/2 accounts for the gradual nature of loading

If the structure has some initial strain energy Uinitial on account of

some other loading, then the increase in strain energy on account
of the change in the displacement field caused by the action of the
newly introduced external forces is given by

1
= , , + , , (3)
2

Strain Energy = External Work

The above principle (strain energy=external work) provides

a basic relationship between the force field and the
displacement field in a linearly elastic structure.

Consider several known external loads F1, F2, F3, acting on

a linearly elastic and statically determinate structure
(truss/beam). The total strain energy U can be obtained as

1
= 1 1 + 2 2 + 3 3 +
2
Reciprocal Theorems
1 2 3 4 5 6

Coordinates
F2,I F4,I F2,II F3,II F5,II

A B A B

D2,I D2,II
D3,I D3,II D
D4,I D5,I 4,II D5,II
D6,II
F1,I F6,I
SYSTEM I SYSTEM II
Reciprocal Theorems

Consider two systems I and II, and assume that they are
superimposed on the same structure.

First, let us assume that the forces FI in system I are applied

gradually on the structure, resulting in displacements DI,

Then, the forces FII in system II are gradually applied on the same
structure, resulting in additional displacements DII
1
Applying Eqn (3), and putting = , ,
2

1 1
= , , + , , + , ,
2 2

Reciprocal Theorems

Now, reverse the sequence of loading.

First, apply the forces FII in system II causing displacements DII,

Then, the forces FI in system I are gradually applied on the same

structure, resulting in additional displacements DI
1
Applying Eqn (3), and putting = , ,
2

1 1
= , , + , , + , ,
2 2

Reciprocal Theorems

Observing that regardless of the sequence of loading, the

total forces acting on the structure (FI + FII) and the
consequent displacement (DI + DII) are the same, with the
same amount of total strain energy, given by

1
= , + , , + ,
2

Thus, equating the two expressions of strain energy U, as

obtained from the two different sequences of loading and
comparing the terms, we observe,

, , = , , BETTIS THEOREM

Reciprocal Theorems

BETTIS THEOREM

The total external virtual work associated with

forces FI in system I and the displacements DII in
system II is equal to that associated with forces FII in
system II and the displacements DI in system I

, , = , ,

Reciprocal Theorems

MAXWELLS THEOREM

It is easy to derive Maxwells theorem from Bettis theorem

The main difference between the two is that, Maxwells theorem deals
with the application of one load at a time, while Bettis considered
multiple loads acting at a time
P= F1,I P=F2,II

1 2 1 2

=D2,I
=D1,II
SYSTEM I SYSTEM II
Reciprocal Theorems

MAXWELLS THEOREM

The same load P is acting at two different locations (1 and 2)

in system I and II respectively.

Let the deflection D2 at the coordinate 2 due to the load P be

D1,II denotes the deflection at coordinate 1 due to load P in

system II

Applying Bettis theorem,

1, 1, = 2, 2,
Reciprocal Theorems

Prove that the flexibility matrix is symmetric in nature

Let f be the flexibility matrix , with the flexibility coefficients fij, where fij denotes
the displacement at the coordinate I due to the action of a unit load at the
coordinate j

To prove that f is symmetric, we need to establish that the coefficient fij is equal
to fji

Let us consider a linear elastic structure with two loads Fi and Fj acting at two
different locations, i and j respectively. If the corresponding displacements at
these two locations are Di and Dj, then the total strain energy U is given by

1
= + (a)
2
Reciprocal Theorems

Prove that the flexibility matrix is symmetric in nature

Let us assume that the load Fi is applied first. This will result in displacements fiiFi
and fjiFi, at the coordinates i and j respectively.

Now, assume that the load Fj is applied. This will result in additional
displacements fijFj and fjjFj, at the coordinates i and j respectively.

The expression for strain energy, by applying the principle, strain

energy=external work

1 1
= + + (b)
2 2
Reciprocal Theorems

Prove that the flexibility matrix is symmetric in nature

Now, reverse the sequence of loading.

Let us assume that the load Fj is applied first. This will result in displacements fijFj
and fjjFj, at the coordinates i and j respectively.

Now, assume that the load Fi is applied. This will result in additional
displacements fiiFi and fjiFi, at the coordinates i and j respectively.

The expression for strain energy, by applying the principle, strain

energy=external work

1 1
= + + (c)
2 2
Reciprocal Theorems

Prove that the flexibility matrix is symmetric in nature

Eqns (b) and (c) are alternative expressions of the same total strain energy, which
is otherwise given by Eqn (a). Comparing the terms in Eqns (b) and (c), we
conclude that

whereby, fij = fji , establishing that the flexibility matrix f of any linear elastic
structure is always symmetric.
Energy Principles based on
Displacement field
Total Potential Energy

Defined as the sum of strain energy U and the load potential

energy V

=+

Total Complementary Potential Energy

Defined as the sum of complementary strain energy and the load

potential energy

= +
Energy Principles based on
Displacement field
Principle of Stationary Total Potential Energy

States that, when the displacement field in a loaded elastic

structure is given a small and arbitrary perturbation,
maintaining compatibility and without disturbing the
associated force field, then the first variation of the total
potential energy is equal to zero, if the forces are in a state of
static equilibrium

= 0
Energy Principles based on
Displacement field
Alternate form : Principle of Stationary Total Potential Energy

States that, the total potential energy , in a loaded elastic

structure, expressed as a function of n independent
displacements D1, D2, Dn, the partial derivative of with
respect to every Dj is equal to zero, if the associated force
field is to be in a state of static equilibrium

=0

for j=1,2,3n
Energy Principles based on
Displacement field
Castiglianos Theorem (Part I)

States that, if the strain energy U, in a loaded elastic

structure, subjected to a system of external forces in static
equilibrium, can be expressed as a function of n independent
displacements D1, D2, Dn, satisfying compatibility, the partial
derivative of U with respect to every Dj is equal to the value
of the corresponding force Fj

for j=1,2,3n
Energy Principles based on
Displacement field
Stiffness Coefficient, kij

Stiffness coefficient kij, in a linear elastic structure can be

obtained by expressing strain energy as a function of n
independent displacements D1, D2, Dn, associated with a
kinematically admissible displacement field, and finding the
mixed partial derivative of U with respect to the
displacements Di and Dj

2
=

for j=1,2,3n
 Energy Principles based on Force field

Let us now consider giving an imaginary and small

perturbation to the force field, following the force based
approach

Giving a slight virtual change to the force field, maintaining

the state of static equilibrium and without disturbing the
displacement field, which is in a state of internal
compatibility

We will be dealing with complementary strain energy

(instead of strain energy), and thereby complementary total
potential energy (instead of total potential energy)
Energy Principles based on Force field

Principle of Stationary Total Complementary Potential Energy

States that, when the force field in a loaded elastic structure

is given a small and arbitrary perturbation, maintaining
equilibrium and without disturbing the associated
displacement field, then the first variation of the total
complementary potential energy is equal to zero, if the
displacements satisfy compatibility

= 0
Energy Principles based on Force field

Alternate form : Principle of Stationary Total Complementary

Potential Energy

States that, the total complementary potential energy *, in

a loaded elastic structure, expressed as a function of n
independent forces F1, F2, Fn, the partial derivative of *
with respect to every Fj is equal to zero, if the associated
displacement field is to satisfy compatibility

=0

for j=1,2,3n
Energy Principles based on Force field

Castiglianos Theorem (Part II)

States that, if the complementary strain energy U*, in a

loaded elastic structure, with a given kinematically admissible
displacement field, can be expressed as a function of n
independent external forces F1, F2, Fn, satisfying
equilibrium, then the partial derivative of U* with respect to
every Fi is equal to the value of the corresponding
displacement Di

for i=1,2,3n
Energy Principles based on Force field

Flexibility Coefficient, fij

Flexibility coefficient fij, in a linear elastic structure can be

obtained by expressing the complementary strain energy as a
function of n independent forces F1, F2, Fn, associated with a
statically admissible force field, and finding the mixed partial
derivative of U* with respect to the forces Fi and Fj

2
=