4.

Seminar Energy Methods, FEM Class of 2013

Topic Principal of Minimum of Potential Energy (MPE) 07.11.2013
A c c e s s
1 Principal of Minimum of Potential Energy (MPE)
total potential of the potential energy of an elastic body
=
i
+
e
(1)

i
... internal potential energy stored in the body/system

e
... potential energy due to external loads, e.g., body forces, traction forces, etc
= f (a) dependent on unknown parameters a,
e.g. in terms of deformations and rotations v with = f (v)
potential of internal energy
dw
i
dg
g
F

i
= W
i
=
_
V
w
i
dV
=
_
V
_

: d dV (2)
potential of external energy

e
= W
e
=
_
V
p (x, y, z) v (x, y, z) d V (3)
p ... external loads (body forces, surface loads, line loads, single loads)
minimisation principal (extremum conditions)
necessary condition for extremum
= (
i
+
e
) = 0 (4)
condition for minimum

2
0 (5)
variation in direction of unknowns (.) =
(.)
a
a with unknown parameters a
1
exact fullment of extremum conditions
Eulerian dierential equations (e.g. one-dimensional)
f
y

d
dx
_
f
y

_
= 0
lead to dierential equilibrium conditions
a x
2
y

+ b x y

+ c y = (x)
e.g. for a beam
EI
d
4
w
dx
4
= 0
e.g. for a plate
w =
p
K
approximate fullment of extremum conditions (Ritz-method)
ansatz-functions with unknowns
y
N
(x) =
0
(x) +
n

i=1
a
i

i
(x) (6)
y
N
(x) ... approximation/ansatz-function for displacement

0
(x) ... function for particular solution u = 0 at B (boundary)

i
(x) ... homogeneous solution function for u = 0 at B
a
i
... unknowns
requirements:
y
N
need to full kinematic boundary conditions (displacement boundary conditions)
y
N
not necessary satisfy natural boundary conditions (traction boundary conditions)
solution steps
1. chose specic stress condition (e.g. plane stress, plane strain)
2. set stress-strain relationship (e.g. Hookes law)
3. set strain-displacement relationship (e.g. truss, beam, linear Bernoulli)
4. nd displacement eld over the body which leads to minimum potential of the total
system under consideration of boundary conditions
2
2 Example
p(x)
S
0
s(x)
x, u
y, v
L
p
0
I (x) = I
0

_
1
x
3
2 L
3
_
s (x) =
S
0
L
p (x) = p
0
x
L
E = const.
wanted: maximum moment (2
nd
order theory)
simplication: negligence of torsion, lateral shear and axial strain energy
2.1 potential of internal energy
specic stress state (solution step 1)

x
= 0
y
=
z
= 0 bending (without axial strains)

xz
=
xy
= 0 (no torsion and lateral shear)

yz
= 0 (no shearing/slipping in longitudinal direction)
stress-strain relationship (solution step 2)
Hookes law

x
= E
x
internal potential

i
=
_
V
_
x
0

x
d
x
d V = E
_
V
_
x
0

x
d
x
d V =
1
2
E
_
V

2
x
d V (7)
strain-displacement relationship (solution step 3)

x
=
d u
d x
(8)
kinematic hypothesis (Bernoulli)
y,v
n
u =u(y=0)
0
u(y)=u - y
0
nq
=
d v
d x

x
=
d
d x
(u(x, y = 0) (x) y)
=
d u
d x

d
2
v
d x
2
y = u

y
3
internal potential under negligence of axial strains (u

0)

i
=
1
2
E
_
V
(v

y)
2
d V
1
2
E
_
V
v

2
y
2
d V
with
_
A
y
2
dA = I
z

i
=
1
2
E
_
x
I
z
(x) v

(x)
2
d x (9)
2.2 potential of external energy
axial loading transversal loading
x, u
y, v
S(a)
s(x)
P(a)
p(x)
dx
single load W
e
= S (a) u(a) W
e
= P (a) v (a)
line load dW
e
= s (x) u(x) dx dW
e
= p (x) v (x) dx
W
e
=
_
s (x) u(x) dx + C W
e
=
_
p (x) v (x) dx + C
total load W
e
= S (a) u(a) +
_
L
0
s (x) u(x) dx W
e
= P (a) v (a) +
_
L
0
p (x) v (x) dx
potential of external energy (in general)

e
=

i
P (i) v (i)
L
_
0
p (x) v (x) dx

j
S (j) u(j)
L
_
0
s (x) u(x) dx (10)
2
nd
order theory: relationship between u(x) and v (x) (equilibrium on deformed system)
dx
x,u
y,v
dx
-du
n=v
n
du = dx dx cos
= dx (1 cos )
= dx
_
_
_
_
_
1
_
1

2
2!
+

4
4!

_
. .
small-angle approximation
_
_
_
_
_
dx

2
2
= dx
v

2
2
(11)
4
potential of external energy for example

e
=
L
_
0
p (x) v (x) dx + S
0
u(x = L) +
L
_
0
s (x) u(x) dx (12)
with
u(x) =
x
_
0
v

(x)
2
2
dx + u
0
u(x = 0) = 0 u
0
= 0
u(x = L) =
L
_
0
v

(x)
2
2
dx
nally

e
=
L
_
0
p (x) v (x) dx S
0

L
_
0
v

(x)
2
2
dx
L
_
0
s (x)
_
_
x
_
0
v

(x)
2
2
dx
_
_
dx (13)
2.3 ansatz-function
ansatz-function in form of power series with 4 unknowns
v
N
(x) = a
0
+ a
1
x + a
2
x
2
+ a
3
x
3
=
3

j=0
a
j
x
j
(14)
boundary conditions
v (x = 0) = 0 v (x = L) = max
v

(x = 0) = 0 v

(x = 0) = 0
kinematic BC (v, v

) need to be fullled
natural BC (v

, ...) not necessary satised

possible:
v
N
= a
2
x
2
constant moment (allowed, but no good approximation)
v
N
= a
3
x
3
linear moment distribution, but M (x = 0) = 0 (allowed)
v
N
= a (x
2
+ x
3
) linear moment distribution and M (x = 0) = 0
v
N
= a
2
x
2
+ a
3
x
3
2 independent unknowns increasing eort
build derivations, e.g.
v
N
(x) = ax
2
v

N
(x) = 2ax
v

N
(x) = 2a (15)
v

2
= . . . v

2
= . . . insert in and build integral
5
2.4 MPE
total potential
=
i
+
e
=
1
2
E
_
L
0
I
z
(x) v

(x)
2
d x

L
_
0
p (x) v (x) dx S
0

L
_
0
v

(x)
2
2
dx
L
_
0
s (x)
_
_
x
_
0
v

(x)
2
2
dx
_
_
dx (16)
insertion of ansatz-function, loads and geometrical values
= 2EI
0
a
2
_
L
0
_
1
x
3
2 L
3
_
d x

p
0
L
a
L
_
0
x
3
dx 2S
0
a
2
L
_
0
x
2
dx 2
S
0
L
a
2
L
_
0
_
_
x
_
0
x
2
dx
_
_
dx (17)
integration
= 2EI
0
a
2

_
x
x
4
8 L
3
_
L
0

p
0
L
a
_
x
4
4
_
L
0
2S
0
a
2

_
x
3
3
_
L
0
2
S
0
L
a
2
L
_
0
x
3
3
dx
= 2EI
0
a
2

_
L
L
8
_

p
0
L
a
L
4
4
2S
0
a
2

L
3
3
2
S
0
L
a
2

_
x
4
12
_
L
0
= 2EI
0
a
2

7
8
L p
0
a
L
3
4
2S
0
a
2

L
3
3
2
S
0
L
a
2

L
4
12
(18)
total potential depending on unknowns
= EI
0

7
4
L a
2

1
4
p
0
L
3
a
5
6
S
0
L
3
a
2
(19)
extremum condition for determination of unknowns
= 0
d(a)
da
a (one unknown)
(a
0
, a
1
, . . . , a
n
)
a
j
= 0 (n unknowns, system of equations)
for example
d(a)
da
= 0 = EI
0

7
2
L a
1
4
p
0
L
3

5
3
S
0
L
3
a (20)
determination of unknown a
a =
1
4
p
0
L
2
EI
0

7
2

5
3
S
0
L
2
(21)
6
2.5 determination of moment
in general moment obtained by
M (x) = EI
z
(x) v

(x)
cantilever beam: maximum moment M
max
= M (x = 0)
example
E = 2 10
7 kN
m
2
L = 1 m I
0
= 10
4
m
4
S
0
= 10 kN p
0
= 10
kN
m
v
N
x ( ) a x
2

0 0.2 0.4 0.6 0.8
1 10
4

2 10
4

3 10
4

4 10
4

v
N
x ( )
x
v
N
L ( ) 0.358mm

N
x ( ) 2a x
0 0.2 0.4 0.6 0.8
2 10
4

4 10
4

6 10
4

8 10
4

N
x ( )
x
M x ( ) E I x ( ) 2 a
0 0.2 0.4 0.6 0.8
1.5 10
3

1 10
3

500
M x ( )
x
M 0m ( ) 1.432 kN m
M L ( ) 0.716 kN m
7