Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and Virtual Work

for Trusses and Frames
(Structural Analysis – CE21202)

Dr. Puneet Kumar Patra

Department of Civil Engineering

Indian Institute of Technology Kharagpur
[email protected]

March 15, 2023

Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Outline

1 Castigliano’s Theorem and Virtual Work for Trusses

Virtual Work for Trusses
Castigliano’s Theorem for Trusses

2 Castigliano’s Theorem and Virtual Work for Frames

Virtual Work for Frames
Castigliano’s Theorem for Frames

3 Castigliano’s Theorem and Simple Indeterminate Structures

Castigliano’s Theorem and Indeterminate Beams
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and

Virtual Work for Trusses
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Trusses I

For a truss, the virtual work equation takes the form:

X ni Ni L
1.∆ = (1)
AE

General Steps:
1 Place a unit load at the joint whose displacement is desired
2 The load should be in the direction specified
3 Remove the real loads and compute the internal forces (ni ) due to the unit
virtual load
4 Compute the internal forces for each member
5 Use real forces alone to determine the internal forces in each member (Ni )
6 Use the equations hown above to compute ∆
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Trusses II

Determine the vertical displacement of joint C . The cross-section area

of each member is: A = 0.5in2 and the elastic modulus is: E = 29000ksi
Since the vertical displacement at C is desired → apply a unit virtual load
at C
Compute the internal forces (ni ) on each member due to the unit load at C
(remove the actual loading)
Compute the internal forces (Ni ) on each member due to the actual load
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Trusses III

(a) Forces on each member due to (b) Forces on each member due to
the virtual load the real load

Arrange the data in the tabular format

P
Now, that ni Ni L is obtained apply the Virtual Work equation:

P ni Ni L 246.47
1.∆C = =
AE AE (2)
=⇒ ∆C = 0.204in
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Trusses IV

Determine the vertical displacement of joint C . The cross-section area

of each member is: A = 400mm2 and the elastic modulus is: E = 200GPa
Since the vertical displacement at C is desired → apply a unit virtual load
at C
Compute the internal forces (ni ) on each member due to the unit load at C
(remove the actual loading)
Compute the internal forces (Ni ) on each member due to the actual load
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Trusses V

(b) Forces on each member due to the real

(a) Forces on each member due to the load
virtual load

Arrange the data in the tabular format

P
Now, that ni Ni L is obtained apply the Virtual Work equation:

P ni Ni L 10.67
1.∆C = =
AE AE (3)
=⇒ ∆C = 0.133mm
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses I

For a truss, the Castigliano’s theorem takes the form:
!
Ni2 L X 
∂ X ∂Ni L
∆= = Ni (4)
∂P i 2AE i
∂P AE

General Steps:
1 Place a force P at the joint of a truss where the displacement is desired
2 The force should be in the direction for which the displacement is desired
3 It is a variable so do not substitute any numerical value
4 Determine the internal force Ni of each member caused by the real forces
and the variable force P
5 Compute the partial derivative ∂Ni /∂P for each member
6 Replace P with an appropriate numerical value (if no real load is present in
direction of then P = 0 else P equals real load)
 
P ∂Ni L
7 Apply Castigliano’s theorem so that ∆ = Ni
i ∂P AE
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses II

Determine the vertical displacement of joint C . The cross-section area

of each member is: A = 400mm2 and the elastic modulus is: E = 200GPa
Since the vertical displacement at C is desired → apply a variable vertical
load P at C
Compute the reactions and the internal forces arising due to 4kN and P
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses III

(a) Reactions due to P and real

load (b) Member forces using to
Method of Joints

Arrange the data in the tabular format

Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses IV

Since P does not actually exist as a real load, P = 0 has been taken in the
table
P ∂Ni L 10.67
∆C = Ni =
∂P AE AE (5)
=⇒ ∆C = 0.133mm
Notice that you obtained the same answer as that in the Virtual Work Method
The method is somewhat simpler than the Virtual Work method as the forces in
the real structures are required to be evaluated only once
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses V

Determine the horizontal displacement of joint D. The cross-section

area of each member is given. Take E = 29000ksi.
Since the horizontal displacement at D is desired → apply a variable
horizontal force P at D
Compute the reactions and the internal forces arising due to the two forces
together
Assemble the table

(a) Forces on each member due to the virtual load

Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses VI

Since P does not actually exist as a real load, P = 0 has been taken in the
table
P ∂Ni Li
∆C = Ni
∂P Ai E (6)
=⇒ ∆C = 0.333inch
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses VII

Determine the vertical displacement of joint C . Assume A = 0.5in2 and

E = 29000ksi.
Since the vertical displacement at C is desired → the 4k force at C is
replaced with the variable force P
Compute the reactions and the internal forces arising due to the two forces
together
Assemble the table
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Trusses VIII

(a) Forces on each member due to the virtual load

Since P actually exists as a real load, P = 4k has been taken in the table

P ∂Ni Li
∆C = Ni
∂P Ai E (7)
=⇒ ∆C = 0.204in
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and

Virtual Work for Frames
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames I

For a frame, the virtual work equation takes the form:
!
P RL mi Mi
1.∆ = dx
i 0 EI
! (8)
P RL mθi Mi
1.θ = dx
i 0 EI

General Steps:
1 Place a unit load on the frame at the point and in the desired direction
2 If the slope is desired, place a unit couple moment
3 Determine the internal moment mi / mθi of each member caused by only the
virtual unit load / moment
4 Keeping the direction the same, evaluate Mi i.e. the internal moment due to
the real loads
5 Apply the equation of virtual work for all the members of the frame
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames II

Determine the horizontal displacement of joint C . The cross-section

area of each member is: A = 600in4 and the elastic modulus is:
E = 29000ksi
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames III

Since the horizontal displacement at C is desired → apply a unit horizontal

force at C
Compute the reactions and the internal forces arising due to the unit virtual
load in absence of real loads

(a) Forces and Moments due to

unit virtual load (b) Forces and Moments due to the
real load
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames IV

Use the virtual work equation separately for the column and the frame:
!
P RL mi Mi
∆C = dx
i 0 EI
R10 m1 M1 R8 m2 M2 (9)
∆C = dx + dx
0 EI 0 EI
13666.7
∆C =
EI

Neglected the axial strain energy

Differs from the beam in the sense that summation needs to be done for all
members
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames V

Determine the tangential rotation at point C of the frame shown. Take

E = 200 GPa and I = 15 × 106 mm4
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames VI

Since the rotation at C is desired → apply a unit moment at C

Appropriately choose the coordinate system as indicated in the figures
Determine mθ and M due to virtual load and real load, respectively

(b) Forces on each

(a) Forces on each member due to the real
member due to the load
virtual load
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames VII

Use Virtual Work equation to determine the rotation θC :

RL mθ M R3 (−1)(−2.5x1 )dx1 R2 (1)(7.5)dx2

θC = dx = +
0 EI 0 EI 0 EI (10)
26.25
=⇒ θC =
EI
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames VIII

Determine the horizontal displacement at point C of the frame shown.

Take E = 29000 ksi, A = 80 in2 and I = 500in4 . Include axial energy in
the analysis.
Since the horizontal displacement at C is desired → apply a horizontal force
of 1 unit at C
Appropriately choose the coordinate system as indicated in the figures
Determine mθ and M due to virtual load and real load, respectively for
calculating the bending
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames IX

Determine ni and N, the axial forces, due to the virtual load and the real
load, respectively

(a) Forces on each member due (b) Forces on each member due
to the virtual load to the real load

For Bending:

RL mM 13666.7
Ub = dx = = 1.357in.k (11)
0 EI EI
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Virtual Work for Frames X

For Axial:
P ni Ni Li
Ua = = 0.001616in.k (12)
i EA

Use Virtual Work equation:

1.∆C = Ub + Ua
(13)
=⇒ ∆C = 1.3586in
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Frames I

In general Castigliano’s theorem is

∂Ui
∆ =
∂P (14)
∂Ui
θ =
∂M 0

For a Rframe, internal energy corresponds to bending strain energy:

Ui = M 2 /(2EI )dx (include axial energy if asked), and so

M 2 /2EIdx
R
∂ RL ∂M dx
∆ = = M
R ∂P 0 ∂P EI
(15)
∂ M 2 /2EIdx RL ∂M dx
θ = = M
∂M 0 0 ∂M 0 EI

Place a force P or a moment M 0 on the frame at the point where

displacement or rotation is needed
The applied forces/moments act in the direction of ∆ or θ
Compute the internal moment M arising due to real load and P or M 0 taken
together
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Frames II

Determine the slope at C . The cross-section area of each member is:

A = 600in4 and the elastic modulus is: E = 29000ksi
Since the slope at C is desired → apply a variable moment M 0 at C
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Frames III

Compute the reactions and the internal forces arising due to the real loads
and M 0

(a) Correct choice of coordinate

system

(b) Forces and Moments due to the

real load and M 0
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem for Frames IV

For x1 :
M1 = −(x12 + M 0 )
∂M1 (16)
= −1
∂M 0
For x2 :
M2 = −(24x2 cos 60◦ + 6) − M 0
∂M1 (17)
= −1
∂M 0
Apply Castigliano’s theorem:

RL
 
∂M dx
θC = M 0
0  ∂M EI
R12 (−x12 )(−1)dx1 R10 (−(24x2 cos 60◦ + 6))(−1)dx2 (18)
  
= +
0 EI 0 EI
= 0.0216rad
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and

Simple Indeterminate
Structures
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and Indeterminate Beams

I
Indeterminate Beams
Have more unknown reactions that can be solved using equilibrium
equations alone
Use the two equations obtained from Castigliano’s theorem to develop
additional equations

M 2 /2EIdx
R
∂ RL ∂M dx
∆ = = M
∂P 0 ∂P EI
(19)
∂ M 2 /2EIdx
R
RL ∂M dx
θ = = M
∂M 0 0 ∂M 0 EI

The equations are to be used for appropriate boundary conditions

For example, in a fixed-fixed beam – the degree of indeterminacy is 2, so use
both the equations at any end since it is known that ∆ = θ = 0 for a fixed
end
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and Indeterminate Beams

II

For the propped cantilever beam, determine the reaction at A

This beam is externally indeterminate by degree 1
We know that the vertical displacement at A = 0. From Castigliano’s
theorem we therefore have: ∆A = ∂U/∂R = 0 → gives us the fourth equation
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and Indeterminate Beams

III
Castigliano’s Theorem and Virtual Work for Trusses Castigliano’s Theorem and Virtual Work for Frames Ca

Castigliano’s Theorem and Indeterminate Beams

IV