VIRTUAL WORK
& RECIPROCAL PRINCIPLES
CHAPTER 6
OUTLINE
Introduction
External and internal work
Energy method
Principle of virtual work method
Virtual work method for truss, beam,
frame
INTRODUCTION
1. Geometric method
Double integration method
Moment- area method
Simple loading
Beam
Conjugate beam method
2. Energy method
Virtual work
Castiglianos theorem
Complicated loading
Truss
Frame
INTRODUCTION
Most energy method: based on conservation of energy principle
Work done by external forces acting on structure (Ue) is transformed
into internal work or strain energy (Ui)
Ue = U i
EXTERNAL WORK- FORCE
Work = Force x Displacement
Gradually increasing load
EXTERNAL WORK- FORCE
Due to another force;
EXTERNAL WORK- MOMENT
Moment:
Moment is
gradually applied:
1
=
2
Moment is already applied to the
structure, and other loadings further
distort the structure by amount :
=
STRAIN ENERGY- AXIAL FORCE
Hookes Law:
Stress:
= /
Strain:
= /
1
2
= =
2
2
STRAIN ENERGY- BENDING
From beam theory;
=
1
2
= =
2
2
=
0
PRINCIPLE OF WORK & ENERGY
P
=
1
=
2
L
P
M
V
x
=
1
=
2
3
=
3
2
2
2
2
PRINCIPLE OF VIRTUAL WORK
Provide generalization of equilibrium and compatibility concepts
Apply to linear and non-linear structures and solids under small and
large displacements
Unit load method (or dummy load method) is derived from principle
of virtual work powerful tool to evaluate displacements
PRINCIPLE OF VIRTUAL WORK
External and internal load: related through equations of equilibrium
External and internal displacement: related through equations of
compatibility of the displacements
Work of
External Loads
Work of
Internal Loads
PRINCIPLE OF VIRTUAL WORK
=
1
+1 =
2 1 1
0 +
Real Work
Virtual Loadings
1 =
Real Displacements
Similarly;
Virtual Loadings
1 =
Real Displacements
VIRTUAL WORK FOR TRUSS
- EXTERNAL LOAD
Virtual Loadings
1 =
Real Displacements
1 =
Virtual Load
1 = external virtual load acting in the same joint
in the stated direction of
= external joint displacement caused by real
load
n = internal virtual normal force caused by
external virtual load
N = internal normal force caused by real load
Real Load
VIRTUAL WORK FOR TRUSS
- TEMPERATURE
Virtual Loadings
1 =
Real Displacements
1 =
= external joint displacement caused by
temperature change
= coefficient of thermal expansion of member
T = change in temperature of member
VIRTUAL WORK FOR TRUSS
- FABRICATION ERROR
Virtual Loadings
1 =
Real Displacements
=
1 =
= external joint displacement caused by
fabrication error
L = difference in length of the member from its
intended size as caused by fabrication error
VIRTUAL WORK FOR TRUSS
- COMBINED EFFECTS
1 =
EXAMPLE 1
The cross sectional area of each truss member is E = 200 GPa,
A = 400 mm2.
(a) vertical displacement at joint C due to 4 kN force
(b) if no load act on truss, find
the vertical displacement at
joint C if member AB is too
short by 5 mm
(c) If both (a) and (b) are
accounted for, find the
vertical displacement at
joint C
4 kN
3m
B
A
4m
4m
Virtual Force n: since vertical displacement at joint C is to
be determined, a 1kN vertical load at joint C is to be
placed. All other external forces MUST BE REMOVED.
Find the internal forces using method of joint.
1 kN
C
3m
A
0.5 kN
0.667
0.5 kN
Real force N: The internal force in each member is
calculated using method of joint.
4 kN
3m
4 kN A
2
1.5 kN
1.5 kN
EXAMPLE 1
1 =
Calculate the displacement due to 4 kN force
Member
ni (kN)
Ni (kN)
Li (m)
ni (NiLi) (kN2.m)
AB
AC
CB
0.667
-0.833
-0.833
2
2.5
-2.5
8
5
5
10.67
-10.41
10.41
ni (NiLi)
10.67
1
1 =
= 0.133
1
=
10.67
80000
*As the answer is +ve, the displacement is in
the direction of virtual load (ie; downward)
EXAMPLE 1
(b) Vertical displacement at joint C if member AB is too short by 5 mm
C
B
5 mm
1 kN
C
EXAMPLE 1
A
(b) Vertical displacement at joint C if member
AB is too short by 5 mm
0.667
0.5 kN
0.5 kN
Virtual load n has been calculated
Vertical displacement at joint C due to fabrication error;
Member AB
1 =
Difference in length of
the member, -5 mm (short)
= 0.667 0.005 = 0.0033
= 3.33
*Ensure consistent unit
*As the answer is -ve, the displacement is in the
opposite direction of virtual load
EXAMPLE 1
(c) Find the vertical displacement at joint C if both (a) & (b) are to
occur
1 =
= 0.133 3.33
= 3.2
EXAMPLE 2
6m
D
60 kN
8m
B
80 kN
Calculate the vertical deflection
at joint C due to load and
temperature change. Take:
E = 200 GPa
= 0.6 x 10-5/oF
TAD = 120oF
AAD = 1300 mm2
AAB = 1300 mm2
ABC = 1300 mm2
ACD = 1300 mm2
AAC = 900 mm2
EXAMPLE 3
Determine the vertical displacement at joint C under the applied
loading. Take A = 350 mm2 and E = 200 GPa
F
10 m
A
10 m
4 kN
4 kN
10 m
10 m
VIRTUAL WORK FOR BEAMS & FRAMES
- VERTICAL DISPLACEMENT
Virtual Loadings
1 =
Real Displacements
= =
VIRTUAL WORK FOR BEAMS & FRAMES
- VERTICAL DISPLACEMENT
Virtual Loadings
1 =
1 =
Real Displacements
()
u=m
Real Load
Virtual Unit Load
VIRTUAL WORK FOR BEAMS & FRAMES
- SLOPE
Real Load
Virtual Unit Couple
VIRTUAL WORK FOR BEAMS & FRAMES
- SLOPE
Virtual Loadings
1 =
Real Displacements
= =
1 =
0
()
EXAMPLE 4
Find the slope and displacement at point B.
E=200 GPa, I=250(106) mm4
3 kN/m
A
5m
Establish appropriate coordinate x
Vertical displacement at B apply virtual unit load at B
1 kN
A
B
x
1 kN
= 0;
m
+1 =0
x
Real load
Use the same coordinate of x
3 kN/m
= 0;
+3
3 kN/m
3 2
=
2
=0
2
Solve to find B
1 =
0
5
=
0
()
3 /2
=
3 3 /2
234.4 2 3
=
234.4 2 3
=
200 106 /2 250 106 4
= 4.69
*Ensure units are consistent
to avoid confusion
EXAMPLE 4
Slope at point B (try on your own)
1 =
0
()
= 0.00125
EXAMPLE 5
Determine the slope and displacement of point B.
E=200 GPa, I=60(106) mm4
5 kN
14 kNm
B
2m
2m
3m
Establish appropriate coordinate x
Vertical displacement at B apply virtual unit load at B
1
1 = 0.51
x2
x1
1 =
2 = 0.52
x3
()
Real load
Use the same coordinate of x
5 kN
14 kNm
1 kN
x2
x1
6 kN
1 = 14 1
14
12
2 = 62
x3
Solve to find B
1 =
0
()
=
0
0.51 14 1
1 +
0.52 62
2 +
20.667
20.667 2 3
=
200 106 /2 60 106 4
= 1.72
*Ensure units are consistent
to avoid confusion
EXAMPLE 5
Slope at point B (try on your own)
1 =
0
()
= 0.000194
EXAMPLE 6
(a) Determine the slope and horizontal displacement of point C
(b) Draw the bending moment diagram and deflected curve
E=200 GPa, I=200(106) mm4
5m
2 kN/m
4 kN
EI
1.5 EI
6m
QUESTIONS?
