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Module 3

Module 3 discusses potential energy in solid mechanics and introduces the Rayleigh-Ritz method for solving complex problems involving displacement and equilibrium. It emphasizes the principle of minimum potential energy and the formulation of total potential energy in matrix form for systems with multiple degrees of freedom. The Rayleigh-Ritz method is presented as a technique to approximate solutions for continua by expressing displacements in terms of a finite number of degrees of freedom.

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6 views24 pages

Module 3

Module 3 discusses potential energy in solid mechanics and introduces the Rayleigh-Ritz method for solving complex problems involving displacement and equilibrium. It emphasizes the principle of minimum potential energy and the formulation of total potential energy in matrix form for systems with multiple degrees of freedom. The Rayleigh-Ritz method is presented as a technique to approximate solutions for continua by expressing displacements in terms of a finite number of degrees of freedom.

Uploaded by

Tulsi R. Khanal
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© © All Rights Reserved
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Module 3

Potential Energy and The Rayleigh-Ritz Method

Introduction, Total Potential Energy, Several Degree of Freedom. Matrix


Manipulations, Expression for Total Potential energy, The Rayleigh-Ritz
Method, Finite Element Form of the Rayleigh- Ritz Method
Introduction
• In Solid Mechanics , displacement u of the body is determine which satisfies
the equilibrium equations
• stresses are related to strains, which are related to displacements.
• This leads to requiring solution of second order partial differential equations.
Solution of this set of equations is generally referred to as an exact solution.
• Such exact solutions are available for simple geometries and loading
conditions, refer to theory of elasticity.
• For problems of complex geometries and general boundary and loading
conditions, obtaining such solutions is an almost impossible task.
• Approximate solution methods usually employ potential energy or variational
methods, which place less stringent conditions on the functions.
Total Potential Energy
• A system is a structure and the forces that act on it
• The system is conservative if , when the system is displaced from any
configuration and led back to it again. The force do zero net work
regardless of the path taken
• Thus the current potential energy depends only on the current
configuration not on how the system got there or where it was before
• A configuration or a displacement field is admissible if it violets neither
internal compatibility nor essential boundary
• Two types of boundary conditions: essential (or principal or forced) , and
nonessential (or natural)
• Displacement boundary conditions are also called geometric or kinematic
• For example, a uniformly loaded cantilever beam has an essential
conditions the requirements that the fixed end have no displacement
and no rotation and as nonessential conditions the requirements that
the free end have zero moment and zero shear force.

The principle of minimum potential energy states that:


Among all admissible configurations of a conservative system, those that satisfy the equations of
equilibrium make the potential energy stationary wrt small variations of displacement. If the
stationary conditions is a minimum the equilibrium state is stable.
• Consider the conservative system as shown in Fig.a. , admissible
configuration are defined by the single DoF D. Valid expression for 𝛱𝑝 may
differ by a constant.

1 1
𝛱𝑝 = 𝑘𝐷 2 + 𝑃 𝐻 − 𝐷 , 𝛱𝑝 = 𝑘𝐷 2 -𝑃𝐷
2 2
1 2
2
𝑘𝐷 is workdone, and strain energy stored, in stretching the spring D units.

• Load P can do P(H-D) units of work before hitting the stop, Fig.b. so we write
P(H-D) is potential of P in the first expression of above equation
• PD is the work must do, against both elastic forces and loads to change the
configuration from the zero-energy datum D=0
• Potential 𝛱𝑝 is stationary wrt to a displacement increment dD from the static
equilibrium configuration

𝑑𝛱𝑝 𝑃
=0, 𝑘𝐷𝑒𝑞 − P = 0 , 𝐷𝑒𝑞 =
𝑑𝐷 𝑘

• This energy-balance arguments is valid but rarely helpful. It yields only one
equation, but usually there are several DoF that must be found.
Several Degrees of Freedom. Matrix manipulation
• A system has n DoF if n independent quantities are needed to define its configuration
• The n DoF are also called generalized coordinates
• A beam problem uses both linear DoF (translations) and angular DoF (rotations)
• Potential 𝛱𝑝 is a function of the generalized coordinates, Di
• 𝛱𝑝 = 𝛱𝑝 (𝐷1 , 𝐷2 , 𝐷3 , … 𝐷𝑛 ) n and Di define admissible configuration
• The total differential is

• As per principle of minimum potential energy, the equilibrium prevails when the Di define a configuration
such that d𝛱𝑝 =0
We can conclude that a deformable body is in
equilibrium when the total potential energy is
having stationary value

• There are n equations to be solved for the n values of Di that define the static equilibrium configuration
Example
The structure in Figure shown illustrate the application of equation

The total potential energy is

In the matrix form [K] {D}= {R}


We see clearly set of equations is obtained in a routine
𝑘1 + 𝑘2 −𝑘2 0 𝐷1 𝑃1 manner using the potential energy approach, without any
−𝑘2 𝑘2 + 𝑘3 −𝑘3 𝐷2 = 𝑃2 reference to the free body diagrams. This makes the
0 −𝑘3 𝑘3 𝐷3 𝑃3 potential energy approach attractive for large and complex
problems

1
The total Potential energy can be written in the form: 𝜫𝒑 = 2 {D}T[K]{D} – {D}T{R}
This is a generally applicable expression for𝛱𝑝 when [K], {D} ,and {R} are defined in the usual way
Formulas for Matrix Manipulation
• Two Column Vectors
• Let [A] be an n-by-n symmetric matrix and [B] be an n-by-m rectangular matrix, both independent of the
xi and yi.
• Finally, define two scalars,

Note that [A] or [B] can be a unit matrix. Thus we


can write further special forms of these equations
Expression for Total Potential Energy
• Potential energy derived for most general circumstances: all six stresses and all six strain active, with
initial stresses and strains. A linear stress-strain relation is presumed.
• Stress {𝜎} and stain {𝜖}are,
𝑑𝑢 𝑑𝑣
• Engineering shear strain is 𝛾𝑥𝑦 = +
𝑑𝑦 𝑑𝑥
• The stress-strain relation is
• Uo is the strain energy per unit volume, represents work done (and energy stored) by internal stresses.
On a unit cube, stress equals force and strain equals displacement. Thus work 𝜎d𝜖 is done by a force 𝜎
as it moves through a displacement d𝜖. Hence, including all stresses, infinitesimal straining of a unit
volume changes Uo by the amount

• Changes in {𝜎} produced by changes {𝑑𝜖} are discarded from dUo because they produce higher-order
terms for example, we conclude that
• Expressing in matrix form and using the values of stresses and strains
• Integration with respect to the strains yields

• Displacement of a point in the x,y,and z coordinate directions are

where u, v, and w are in general functions of x,y,and z. Body forces{F} and surface tractions {∅}, lose
potential when displacements {f} takes place.
For example, in a unit volume, Potential change = -Fxu-Fyv-Fzw
A body of volume V and surface area S has total potential

In the surface intergral, {f} is evaluated on S. Forces {P} are concentrated loads not included in the
surface integral, and {D} are their displacements. Written out, {D}T{P} = D1P1+D2P2+…. Usually Pi and Di
are nodal forces and displacements. They are considered positive in the same sense.
• For special case of plane stress or plain strain, [E] becomes 3 by 3. Each stress or strain vector
contains only three coefficients: all terms with subscripts are dropped. Also, w, Fz, ∅z and the z
components of {D} and {P} are discarded.
For uniaxial stress, 𝜎x ,
where E is the modulus of elasticity. Strain 𝜖 x is a scalar

• Then for uniaxial stress, the Potential energy is expresses

where F is body force per unit volume . Displacements u and Di and forces F and Pi all have the same positive
sense and act parallel to𝜎x .
The Rayleigh-Ritz Method (Introduction)
• Structure with discrete members, such as trusses, have a finite number of DoF.
But continua, such as solids and shells, have infinitely many DoF, namely the
displacement of every point.
• Their behavior is described by simultaneously partial differential equations.
• Expecting a structure of quaint(विवित्र) simplicity, there is little chance of
solving the differential equations.
• So we avoid them by using the Rayleigh-Ritz method, which uses interpolation
to express the displacement of each point in terms of finite number of DoF
• The DoF are found by solving simultaneous algebraic equations
• A Rayleigh-Ritz solution is rarely exact, but it becomes more accurate with the
use of more DoF.
• it is a general technique, here we discuss only its application with
displacement fields and potential energy expressions
The Rayleigh-Ritz Method
• For continua, the total potential energy 𝛱𝑝 can be used for finding an approximate solution. The
Rayleigh-Ritz method involves the construction of an assumed displacement field, say,

Each function fi,gi,and hk must be admissible (usually, but not necessarily, taken as polynomials and satisfying
onditions.) The ai,bj,and ck are generalized coordinate .
boundary c
Thus 𝛱𝑝 is a function of ai,bj,and ck, just as 𝛱𝑝 is a function of the generalized coordinates Di (See differential
equation of total potential energy) The stationary condition is
𝜕𝛱𝑝 𝜕𝛱𝑝 𝜕𝛱𝑝
=0 =0 =0
𝜕𝑎𝑖 𝜕𝑏𝑗 𝜕𝑐𝑘

Thus the displacements u, v, and w are completely determined. Differentiation yields strains, which enter the
stress-strain law to yield stresses.
• Equation of equilibrium are not satisfied everywhere because the approximate
solution has only a finite number of DoF with which to represent the infinitely
many DoF of a continuum. Equilibrium error decrease with more DoF are used.

• The numerical process:


i) establish a trial family of admissible solutions
ii) Apply a criterion to select the best member of the family.

Here the criterion is that 𝛱𝑝 be stationary


𝜕𝛱𝑝 𝜕𝛱𝑝 𝜕𝛱𝑝
=0 =0 =0
𝜕𝑎𝑖 𝜕𝑏𝑗 𝜕𝑐𝑘
which yields the stiffness equation that can be written in the usual form [K]{D}= {R}.
Since, {D} contains the generalized coordinates and {R} contains generalized forces.

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