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Energy Methods in
Structural Analysis
Version 2 CE IIT, Kharagpur
Lesson
3
Castiglianos 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 Castiglianos second theorem.
3.1 Introduction
In the previous chapter concepts of strain energy and complementary strain
energy were discussed. Castiglianos first theorem is being used in structural
analysis for finding deflection of an elastic structure based on strain energy of the
structure. The Castiglianos theorem can be applied when the supports of the
structure are unyielding and the temperature of the structure is constant.
Let P1 , P2 ,...., Pn be the forces acting at x1 , x 2 ,......, x n from the left end on a simply
supported beam of span L . Let u1 , u 2 ,..., u n be the displacements at the loading
points P1 , P2 ,...., Pn respectively as shown in Fig. 3.1. Now, assume that the
material obeys Hookes law and invoking the principle of superposition, the work
done by the external forces is given by (vide eqn. 1.8 of lesson 1)
W =
1
1
1
P1u1 + P2 u 2 + .......... + Pn u n
2
2
2
(3.1)
Work done by the external forces is stored in the structure as strain energy in a
conservative system. Hence, the strain energy of the structure is,
U=
1
1
1
P1u1 + P2 u 2 + .......... + Pn u n
2
2
2
(3.2)
(3.3)
In general,
u i = ai1 P1 + ai 2 P2 + .......... + ain Pn
i = 1,2,...n
(3.4)
1
1
1
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
a11 P12 + a22 P22 + .... + ann Pn2 + [ a12 P1 P2 + a13 P1 P3 + .... + a1n P1 Pn ] + ...
2
(3.6)
(3.7)
Moment at any section at a distance x away from the free end is given by
M = Px
(1)
L
M2
dx
2 EI
0
(2)
( Px) 2
P 2 L3
U =
dx =
2 EI
6 EI
0
(3)
(4)
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
Now, strain energy stored in the beam may be calculated as,
( Px + M 0 ) 2
P 2 L3 M 0 PL2 M 0 L
U =
dx =
+
+
2 EI
6 EI
2 EI
2 EI
0
2
(5)
(6)
A =
PL2
2 EI
(7)
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 , Youngs
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.
The bending moment at any section of the curved beam (see Fig. 3.3) is given
by
M = PR sin
(1)
M2
U =
ds =
2 EI
0
/2
P 2 R 2 (sin 2 ) Rd P 2 R 3 P 2 R 3
=
=
8 EI
2 EI
2 EI 4
(2)
U b PR 3
=
4 EI
P
(3)
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.
( Px) 2
( PL) 2
dx +
dx
EI
EI
2
2
0
0
U = 2
(1)
After simplifications,
U=
P 2 L3 P 2 L3 5P 2 L3
+
=
3EI
2 EI
6 EI
(2)
U
5 P L3 5 P L3
= uD = 2
=
P
6 EI
3EI
Version 2 CE IIT, Kharagpur
Example 3.4
Find the vertical deflection at A of the structure shown Fig. 3.5. Assume the
flexural rigidity EI and torsional rigidity GJ to be constant for the structure.
2
b ( Px)
M2
( Pa) 2
dx +
dx +
dx
0 2 EI
2 EI
2GJ
0
0
U =
(1)
After simplifications,
P 2 a 3 P 2 a 2b P 2b3
+
+
6 EI
2GJ
6 EI
(2)
U
Pa 3 Pa 2 b Pb 3
+
= uA =
+
P
3EI
GJ
3EI
(3)
U=
Vertical deflection u A at A is,
Example 3.5
Find vertical deflection at C of the beam shown in Fig. 3.6. Assume the flexural
rigidity EI to be constant for the structure.
( Px) 2
( Pa + Qy) 2
dx +
dy
EI
EI
2
2
0
0
U =
(1)
U
2( Pa + Qy ) y
= uC =
dy
Q
2 EI
0
b
(2)
1
uC =
Pay + Qy 2 dy
EI 0
(3)
uC =
1 Pab 2 Qb 3
+
3
EI 2
(4)
But the force Q is fictitious force and hence equal to zero. Hence, vertical
deflection is,
Pab 2
uC =
2 EI
(5)
U
= Pj ,
u j
j = 1, 2,..., n
(3.9)
This may be proved as follows. The strain energy of an elastic body may be
written as
U=
1
1
1
P1u1 + P2 u 2 + .......... + Pn u n
2
2
2
(3.10)
i = 1, 2,.., n
(3.11)
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,
U=
1
1
1
u1[k11u1 + k12u2 + ...] + u2 [ k21u1 + k22u2 + ...] + ....... + un [k n1u1 + kn 2u2 + ...]
2
2
2
(3.12)
1
k11u12 + k22u22 + .... + knn un2 + [ k12u1u2 + k13u1u3 + .... + k1n u1un ] + ...
2
(3.13)
Now, differentiating the strain energy with respect to any displacement u1 gives
the applied force P1 at that point, Hence,
U
= k11u1 + k12 u2 + ........ + k1n un
u1
(3.14)
U
= Pj ,
u j
(3.15)
Or,
j = 1, 2,..., n
Summary
In this lesson, Castiglianos 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 Castiglianos second theorem is stated for elastic structure and proved in
section 3.4.