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9.1 Introduction
Deflections of Beams
in this chapter, we describe methods for determining the equation of the deflection curve of beams and finding deflection and slope at specific points along the axis of the beam
9.2 Differential Equations of the Deflection Curve consider a cantilever beam with a concentrated load acting upward at the free end the deflection in the y v is the displacement
(also called slope) is the angle between the x axis and the tangent to the deflection
denote O'
1 C =
d C ds
the sign convention is pictured in figure slope of the deflection curve dv C dx for = tan or ds j dx d C dx d C = dx = cos j 1 and d 2v CC dx2 = dv tan-1 C dx tan dv C dx j , then
small = 1 C = 1 C =
then the differential equation of the deflection curve is obtained d C dx d2v = CC dx2 = M C EI and v dV CC dx d 4v CC dx4 = -q q -C EI
then
V = C EI
and
q are shown
the above equations can be written in a simple form EIv" = M EIv"' = V EIv"" = -q
this equations are valid only when Hooke's law applies and when the slope and the deflection are very small for nonprismatic beam [I = I(x)], the equations are d 2v EIx CC dx2 = M dM CC dx =
dV CC dx
-q
the exact expression for curvature can be derived = 1 C = v" CCCCC [1 + (v')2]3/2
9.3 Deflections by Integration of the Bending-Moment Equation substitute the expression of M(x) into
the deflection equation then integrating to satisfy (i) boundary conditions (ii) continuity conditions (iii) symmetry conditions to obtain the slope and the
deflection
v of the beam
Example 9-1 determine the deflection of beam supporting a uniform load of intensity also determine
max
AB q
B
and
A,
EI
differential equation of the deflection curve EI v" = Then EI v' = qLx2 CC 4 q x3 CC 6 + C1 = v' = q (L/2) 3 CCCC 6 0 at x=L/2 qLx CC 2 q x2 CC 2
C1
then
C1
q L3 / 24
0 0
at
= 0
2 L x 3 + x 4)
(x =
L/2)
max
()
the maximum angle of rotation occurs at the supports of the beam = v'(0) = q L3 - CCC 24 EI q L3 = CCC 24 EI ( )
and
v'(L)
( )
Example 9-2 determine the equation of deflection curve for a cantilever beam AB to a uniform load of intensity q also determine
B
subjected
and
qLx
q x2 - CC 2 q x2 CC 2 q x3 CC 6 0 + C1 0
EIv" =
qLx
EIy' =
qL2x - CC + 2 v' = 0
qLx2 CC 2 =
at x =
qx - CC 6EI
(3 L2 -
3Lx
x 2)
boundary condition C2 =
v = 0
at x =
(6 L2 -
4Lx
x 2)
max
v'(L)
q L3 - CC ( ) 6 EI q L4 CC () 8 EI
max
- v(L) =
and
EI
(0 x a)
Pbx2 EIv' = CC + 2L
C1 (0 x a)
Pbx2 P(x - a)2 EIv' = CC - CCCC 2L 2 2nd integration to obtain EIv Pbx3 = CC + 6L C1 x +
C2
(a x L)
C3
(0 x a)
EIv
+ C4
(a x L)
(i) (ii)
v(0) v(L)
= =
0 0
=> =>
C3 =
0 = Pba2 CC 2L 0
(iii)
v'(a ) C1
-
= =
v'(a ) C2 v(a ) C4
+
C2
(iv) v(a ) = C3 =
=>
C4
thus the equations of slope and deflection are v' = Pb - CC (L2 - b2 - 3x2) 6LEI Pb - CC (L2 - b2 - 3x2) 6LEI Pbx - CC (L2 - b2 - x2) 6LEI Pbx - CC (L2 - b2 - x2) 6LEI (0 x a) P(x - a )2 CCCC 2EI (0 x a) P(x - a )3 CCCC 6EI
v' =
(a x L)
v =
v =
(a x L)
v'(0)
( )
v'(L)
( )
is function of a (or b), to find = Pb(L2 - b2) - CCCCC 6LEI 0 => L2 - 3b2 =
( A)max,
set
/ db = 0
/ db =
=> b
L/ 3
b)
max
at
x =
L/2
()
the maximum deflection always occurs near the midpoint, gives a good approximation of the
max
in most case, the error is less than 3% an important special case is v' = P CC (L2 - 4x2) 16EI a = b = L/2
(0 x L/2)
v =
P CC (3L2 - 4x2) (0 x L/2) 48EI are symmetric with respect to PL2 = CC 16EI = PL3 CC 48EI x = L/2
v'
and v =
max
10
9.4 Deflections by Integration of Shear-Force and Load Equations the procedure is similar to that for the bending moment equation except that more integrations are required if we begin from the load equation, which is of fourth order, four integrations are needed
Example 9-4 determine the equation of deflection curve for the cantilever beam AB supporting a
and
EI
EIv""
q0 (L - x) - CCCC L
v"'(L)
=> C1
thus
EIv"'
q0 (L - x)2 - CCCC 2L
11
v"(L)
EIv"
q0 (L - x)3 - CCCC 6L
3rd and 4th integrations to obtain the slope and deflection q0 (L - x)4 EIv' = - CCCC + 24L EIv = q0 (L - x)5 - CCCC + 120L C3
C3 x +
C4 0
= v(0) =
q 0 L3 - CC 24
then the slope and deflection of the beam are v' = q 0x - CCC (4L3 24LEI 6L2x + 4Lx2 - x 3)
v =
10L2x +
5Lx2 - x3)
( )
q 0 L4 - v(L) = CCC 30 EI
( )
at the end EI
the shear forces in parts AB and BC are V = V = P -C 2 P (0 < x < L) 3L (L < x < C) 2
the third order differential equations are EIv'" = P - C (0 < x < L) 2 P 3L (L < x < C) 2
EIv'"
EIv" =
13
= 0
therefore the bending moment equations are M = EIv" = Px -C 2 P(3L - 2x) - CCCCC 2 (0 x L) 3L (L x C) 2
EIv"
2nd integration to obtain the slope of the beam Px2 EIv' = - CC 4 + C3 (0 x L) 3L C4 (L x C) 2 v'(L+) C4
C3 +
EIv =
C4 x
C6
14
v(0) = v(L-) = 0
PL2 CC 12
and then
C4
5PL2 CC 6 = 0
v =
P - CC (3L3 - 10L2x + 9Lx2 12EI P = - CC (3L - x) (L - x) (L - 2x) 12EI C is 3L - v(C) = 2 PL3 CC 8EI ()
-2x3)
deflection at
C
9.5 Method of Superposition the slope and deflection of beam caused by several different loads acting simultaneously can be found by superimposing the slopes and deflections caused by the loads acting separately
15
consider a simply beam supports two loads : (1) uniform load of intensity and (2) a concentrated load P 1 q
the slope and deflection due to load are ( C)1 5qL4 = CCC 384EI = ( B)1 = qL3 CC 24EI
( A )1
the slope and deflection due to load are ( C)2 PL3 = CC 48EI ( A )2
= ( B)2
PL2 = CC 16EI
therefore the deflection and slope due to the combined loading are = ( C)1 + ( C)2 5qL4 = CCC 384EI + ( A)2 = + PL3 CC 48EI
( A)1
tables of beam deflection for simply and cantilever beams are given in Appendix G
superposition method may also be used for distributed loading consider a simple beam ACB with a
16
the deflection of midpoint due to a concentrated load is obtained [table G-2] = Pa CC (3L2 - 4a2) 48EI q dx for P and x for a
substitute d
the intensity of the distributed load is 2q0x CC L due to the concentrated load q dx q0 x 2 = CCC (3L2 - 4x2) dx 24LEI due to the entire triangular load is q0 x2 = CCC (3L2 - 4x2) dx 0 24LEI
L/2 A
then d
acting on
x is
thus
due to
P acting on a distance a
replacing
17
2q0x2(L - x)(L + L - x) q0 d A = CCCCCCCCC dx = CCC (L - x) (2L - x) x2 dx 6L2EI 3L2EI thus the slope at A =
0 L/2
the principle of superposition is valid under the following conditions (1) Hooke's law holds for the material (2) the deflections and rotations are small (3) the presence of the deflection does not alter the actions of applied loads these requirements ensure that the differential equations of the deflection curve are linear
AB
supports a P
and
constant
18
( B)2
PL3 = CC 3EI
( B )2
PL2 = CC 2EI
then the deflection and slope due to combined loading are = ( B)1 + ( B)2 = qa3 PL3 CC (4L - a) + CC 24EI 3EI + PL2 CC 2EI
( B )1 +
( B)2
qa3 = CC 6EI
determine EI =
and
constant
consider an element of load has magnitude q dx and is located at distance x from the
support from Appendix G, table G-1, case 5 by replacing d = P with q dx and d a with x (qdx)(x2) = CCCC 2EI
L/2
19
L/2
qx2 CC dx 2EI
7qL3 = CC 48EI
ABC
supports a
and an uniform
determine EI =
and
constant
we may consider the beam as composed of two parts : (1) simple beam AB, (2) cantilever beam BC the internal force F = 2P/3 is obtained and
qb4 CC + 8EI
2Pb3 CC 9EI
consists of two
B,
BAB' produced by
and P
by the load +
with replacing a
20
( A )2
is continuous and
does not
q as shown
constant
qL3 - CC + 24EI = a
then
21
is qa4 CC 8EI
for for
a
C
large, = a 0 =
a 0
small,
is upward
L( 13 - 1) CCCCC 6
C
0.4343 L
is downward;
a < 0.4343 L,
is upward
9.6 Moment-Area Method the method is especially suitable when the deflection or angle of rotation at only one point of the beam is desired consider a segment denote
B B/A A
AB of the beam
and
B/A
m1
consider points
and
m2
22
ds C =
Mdx CC EI
B M C dx A EI
B/A
and B
this is the First moment-area theorem next, let us consider the vertical offset tB/A between points B and B1 (on
integrating between A dt
A B
B Mdx = x1 CC A EI
diagram between
B, evaluated w. r. t. B
and AB
of a
supporting a
23
at
B/A
Q1
A1 x
2L A1 C = 3
PL3 - CC 6EI ()
- Q1
PL3 = CC 6EI
and AB
of a
supporting a q acting
M/EI diagram first 1 L qL2 C C (CC) 3 2 8EI L qL2 C (CC) 2 8EI = = qL3 CC 48EI
A2 =
A3 =
24
B/A
= = = =
A1 + A2 + A3
7qL3 = CC 16EI
( )
P and
as shown
D
Pab CC 2EI
BB1 CC L
at
DD1 = a
A
DD1 D 2D 1
= =
25
at E,
we set
E/A
then and
max
or
max
= =
offset of point 2 x1 A3 CC 3 =
from tangent at E
max
Integrating = M C dx EI M C dx dx EI
v =
26
beam theory dM / dx V = = V -q dx dV / dx M = = -q - q dx dx
suppose we have a beam, called conjugate beam, whose length equal to the actual beam, let this beam subjected to so-called "elastic load" of intensity M/EI, then the shear force and bending moment over a portion M, can be obtained
M - C dx dx EI
then (1) the slope at the given section of the beam equals the minus shear force in the corresponding section of the conjugate beam (2) the deflection at the given section of the beam equals the minus bending moment in the corresponding section of the conjugate beam i.e. = = -V -M
the support conditions between the actual beam and conjugate beam can be found Actual Beam fixed end free end simple end = 0, v = 0 g 0, g 0, g 0, g 0, vg0 v=0 v=0 vg0 Conjugate Beam V = 0, M=0 free end fixed end simple end interior hinge interior support V g 0, M g 0 V g 0, M = 0 V g 0, M = 0 V g 0, M g 0
27
()
Example 2 1 2L wL2 wL3 A = - VA = - C C CC = - CC 2 3 8EI 24EI wL3 L wL2 L L C = - MC = - CC C - CC C C 24EI 2 8EI 2 4 1 wL2 L 3L 1 1 1 wL4 + C CC C C = - (C - C + CC) CC 48 64 128 EI 3 8EI 2 8 = 5 wL4 CCC 384EI () ( )
28
Example 3
A
= - VA = -RA
1 M 2L ML = - C C C = - CC ( ) 2 EI 3 3EI
1 M L ML B = - VB = RB = C C C = CC 2 EI 3 6EI
( )
Example 4
B
- VB
ML = CC EI ML2 CC 2EI
ML L B = - MB = CC C = EI 2
()
( )
()
29
( )
()
Example 9-13 a beam ABCDE is supported a concentrated load P at midspan as shown IBD = 2 IAB = 2 IDE = 2I
A
and
then
EIv" = Px / 2 E(2I)v" = Px / 2
30
thus
(0 x L/4)
(L/4 x L/2)
v' = C2 =
at x =
L/2 (symmetric)
therefore
v' =
32x2)
(0 x L/4)
v' =
- 4x2)
(L/4 x L/2)
is ( )
integrating the slope equation and obtained v = P - CCC (5L2x 128EI P - CC (L2x 32EI 32x3 - CC) 3 4x3 CC) 3
31
C3
(0 x L/4)
v =
C4
(L/4 x L/2)
v(0) = C3 = 0
v(L/4)+
therefore the deflection equations are v = Px - CCC (15L2 384EI P - CCC (L3 768EI + 32x2) (0 x L/4)
v =
24L2x -
32x3)
(L/4 x L/2)
ABC
supports a
P =
determine denote
1
the deflection of A due to C fixed P(L/2)3 = CCC 3EI = PL3 CCC 24EI
32
and
P(L/2)3 (PL/2)(L/2)2 5PL3 CCC + CCCCC = CC 3E(2I) 2E(2I) 96EI PL2 = CC 16EI
C
and
5PL3 CC 48EI
5PL3 CC 16EI
to pure bending under the action of two couples M the angle = is L C = L = ML CC EI and
M 2L EI 2 CC = CC 2EI 2L
33
for an element of the beam d = dx d 2y = CC dx dx2 Md CC 2 = M 2dx CCC 2EI = EI(d )2 CCC 2dx
dU
= dW =
EI d 2y 2 C (CC) dx 0 2 dx2
L
shear force in beam may produce energy, but for the beam with
L/d > 8,
the strain energy due to shear is relatively small and may be disregarded deflection caused by a single load U = W = 2U CC P P C 2 or U = W = 2U CC M0 M0 CC 2
supports a uniform load of intensity q evaluate the strain energy M = qLx CC 2 qx2 - C = 2 q C (Lx - x2) 2
34
M2dx CC = 0 2EI
L
three different loading conditions (a) a concentrated load P at its free end (b) a moment (c) both determine determine (a) U M M0 at its free end M0 acting simultaneously
P and
A A
=
L
W=U
P A P2L3 CC = CC 2 6EI =
L
PL3 A = CC 3EI
(b) U
M2dx = CC = 0 2EI
M 02L CC 2EI
W=U
M 02L M0 A CC = CC 2 2EI
M0L = CC EI
35
(c)
M
L
- Px
M0
(-Px - M0)2dx P 2 L3 PM0L2 M02L = CCCCC = CC + CCC + CC 0 2EI 6EI 2EI 2EI + M0 A CC = 2
A
P A CC 2
P2L3 CC 6EI
A
M02L CC 2EI
and
dC =
dP
where
similarly
for both P CC
P
acting simultaneously, U
U
U(P, M)
CC
M
36
P 2 L3 CC 6EI CC
P U
M 02L CC 2EI
M 0 L2 CC 2EI M 0L CC EI
CC
M
in general relationship
i
CC
P i
U
CC
P i
- Px = -x
M0 CC
M
0
CC
-1
1 C(-Px - M0)(-x)dx EI
M 0 L2 CC 2EI M 0L CC EI
1 C (-Px - M0)(-1)dx = EI
37
E =
determine M =
Px CC 2
qLx CC 2
qx2 CC 2
1 Px 2 CC(CC 0 2EI 2
L/2
qLx + CC 2
qx2 2 CC) dx 2
CC
P
method (2)
M / P =
= 1.24 mm +
1.55 mm
2.79 mm
38
and
= MBC
= - Px2 (0 x1 L/2)
= =
- x1/2 - x2
(0 x1 L) (0 x2 L/2)
MBC / P
C
(M/EI)( M / P)dx
L
L/2
1 L qLx1 Px1 qx12 x1 1 L/2 = C (CC - CC - CC)(- C)dx1 + C (-Px2)(-x2)dx2 EI 0 2 2 2 2 EI 0 = PL3 CC 8EI qL4 - CC 48EI
39
C,
MC
at C
MC - CC L
MBC
= - Px2
- MC
(0 x1 L/2)
= =
- x1/L -1
(0 x1 L) (0 x2 L/2)
MBC / MC
(M/EI)(M/ MC)dx
L 0
L/2 0
1 L qLx1 Px1 MC x1 = C (CC - CC - CC EI 0 2 2 L 1 L/2 + C (-Px2 - MC)(-1)dx2 EI 0 since obtained 7PL2 = CC 24EI qL4 CC 24EI MC is a virtual load, set MC = 0,
after integrating
is
40
41