Beruflich Dokumente
Kultur Dokumente
1
Energy Methods in
Structural Analysis
Version 2 CE IIT, Kharagpur
Lesson
3
Castigliano’s Theorems
Version 2 CE IIT, Kharagpur
Instructional Objectives
After reading this lesson, the reader will be able to;
1. State and prove first theorem of Castigliano.
2. Calculate deflections along the direction of applied load of a statically
determinate structure at the point of application of load.
3. Calculate deflections of a statically determinate structure in any direction at a
point where the load is not acting by fictious (imaginary) load method.
4. State and prove Castigliano’s second theorem.
3.1 Introduction
In the previous chapter concepts of strain energy and complementary strain
energy were discussed. Castigliano’s first theorem is being used in structural
analysis for finding deflection of an elastic structure based on strain energy of the
structure. The Castigliano’s theorem can be applied when the supports of the
structure are unyielding and the temperature of the structure is constant.
1 1 1
W = P1u1 + P2 u 2 + .......... + Pn u n (3.1)
2 2 2
1 1 1
U= P1u1 + P2 u 2 + .......... + Pn u n (3.2)
2 2 2
In general,
1 1 1
U= P1 [ a11 P1 + a12 P2 + ...] + P2 [ a 21 P1 + a 22 P2 + ...] + ....... + Pn [ a n1 P1 + a n 2 P2 + ...] (3.5)
2 2 2
1
U= ⎡⎣ a11 P12 + a22 P22 + .... + ann Pn2 ⎤⎦ + [ a12 P1 P2 + a13 P1 P3 + .... + a1n P1 Pn ] + ... (3.6)
2
∂U
= a11 P1 + a12 P2 + .......... + a1n Pn (3.7)
∂P1
Hence, for determinate structure within linear elastic range the partial derivative
of the total strain energy with respect to any external load is equal to the
Example 3.1
Find the displacement and slope at the tip of a cantilever beam loaded as in Fig.
3.2. Assume the flexural rigidity of the beam EI to be constant for the beam.
Moment at any section at a distance x away from the free end is given by
M = − Px (1)
L
M2
Strain energy stored in the beam due to bending is U = ∫ dx (2)
0
2 EI
L
( Px) 2 P 2 L3
U =∫ dx = (3)
0
2 EI 6 EI
∂U PL3
= uA = (4)
∂P 3EI
To find the slope at the free end, we need to differentiate strain energy with
respect to externally applied moment M at A . As there is no moment at A , apply
a fictitious moment M 0 at A . Now moment at any section at a distance x away
from the free end is given by
M = − Px − M 0
( Px + M 0 ) 2
L 2
P 2 L3 M 0 PL2 M 0 L
U =∫ dx = + + (5)
0
2 EI 6 EI 2 EI 2 EI
∂U PL2 M 0 L
= θA = + (6)
∂M 0 2 EI EI
PL2
θA = (7)
2 EI
Example 3.2
A cantilever beam which is curved in the shape of a quadrant of a circle is loaded
as shown in Fig. 3.3. The radius of curvature of curved beam is R , Young’s
modulus of the material is E and second moment of the area is I about an axis
perpendicular to the plane of the paper through the centroid of the cross section.
Find the vertical displacement of point A on the curved beam.
M = PR sinθ (1)
∂U b π PR 3
uA = = (3)
∂P 4 EI
Example 3.3
Find horizontal displacement at D of the frame shown in Fig. 3.4. Assume the
flexural rigidity of the beam EI to be constant through out the member. Neglect
strain energy due to axial deformations.
L L
( Px) 2 ( PL) 2
U = 2∫ dx + ∫ dx (1)
0
2 EI 0
2 EI
After simplifications,
P 2 L3 P 2 L3 5P 2 L3
U= + = (2)
3EI 2 EI 6 EI
∂U 5 P L3 5 P L3
= uD = 2 =
∂P 6 EI 3EI
a b
M2 ( Pa) 2 b ( Px)
2
U =∫ dx + ∫ dx + ∫ dx (1)
0
2 EI 0
2GJ 0 2 EI
After simplifications,
P 2 a 3 P 2 a 2b P 2b3
U= + + (2)
6 EI 2GJ 6 EI
∂U Pa 3 Pa 2 b Pb 3
= uA = + + (3)
∂P 3EI GJ 3EI
( Pa + Qy) 2
a b
( Px) 2
U =∫ dx + ∫ dy (1)
0
2 EI 0
2 EI
∂U 2( Pa + Qy ) y
b
= uC = ∫ dy (2)
∂Q 0
2 EI
b
1
EI ∫0
uC = Pay + Qy 2 dy (3)
But the force Q is fictitious force and hence equal to zero. Hence, vertical
deflection is,
Pab 2
uC = (5)
2 EI
∂U
= Pj , j = 1, 2,..., n (3.9)
∂u j
This may be proved as follows. The strain energy of an elastic body may be
written as
1 1 1
U= P1u1 + P2 u 2 + .......... + Pn u n (3.10)
2 2 2
where kij is the stiffness coefficient and is defined as the force at i due to unit
displacement applied at j . Hence, strain energy may be written as,
1 1 1
U= u1[k11u1 + k12u2 + ...] + u2 [ k21u1 + k22u2 + ...] + ....... + un [k n1u1 + kn 2u2 + ...] (3.12)
2 2 2
1
U= ⎡⎣ k11u12 + k22u22 + .... + knn un2 ⎤⎦ + [ k12u1u2 + k13u1u3 + .... + k1n u1un ] + ... (3.13)
2
∂U
= k11u1 + k12 u2 + ........ + k1n un (3.14)
∂u1
Or,
∂U
= Pj , j = 1, 2,..., n (3.15)
∂u j
Summary
In this lesson, Castigliano’s first theorem has been stated and proved for linearly
elastic structure with unyielding supports. The procedure to calculate deflections
of a statically determinate structure at the point of application of load is illustrated
with examples. Also, the procedure to calculate deflections in a statically
determinate structure at a point where load is applied is illustrated with examples.
The Castigliano’s second theorem is stated for elastic structure and proved in
section 3.4.