Вы находитесь на странице: 1из 14

ENG5312 Mechanics of Solids II

6. Energy Methods
6.1 External Work
6.1.1 Work of a Force

The work done by a force is equivalent to the product of the component of the
force acting in the direction of motion and the distance travelled.
Ue

If the force acts in the

F ds

x -direction:

Ue

Fdx
0

If a force is applied to a prismatic beam in a gradual manner, i.e. the magnitude


of the force increases from 0 to P , and the bar stretches by , when the

material behaves in a linear-elastic manner F


x

P
x then:

1
U e P xdx 1 P
P

2
2
0

(6-1)

6.1.2 Work of a
Couple

A couple moment does work as it goes through a rotation:

Ue

Md
0

If a moment is applied to a body with linear-elastic material behaviour such that


the magnitude of the couple increases from 0 @ 0 to M @ then:

Ue

M
1
d M

(6-2)

ENG5312 Mechanics of Solids II

6.2 Strain Energy

External work done by loads applied to a body will be converted into strain
energy. This strain energy is cause by normal and shear stresses that deform
the body.

6.2.1 Normal Stress

Consider a body deformed by a normal stress EQS:

The force on the top face is dFz z dxdy and if it is applied gradually as the
element undergoes deformation d z z dz the work done by the force is (using
Eq. (6-1)):

1
dU i zz dV
2

So if a body is subjected to uni-axial normal stress, the strain energy is:

Ui

1
1
dFz d z z dxdyz dz
2
2

Or

dU i

dV
2

For linear-elastic material behaviour, Hookes Law

Ui

(6-4)

2
dV
2E

(6-3)

( / E) applies, and:

ENG5312 Mechanics of Solids II

Note:

U i is always positive.

6.2.2 Shear Stress

Consider an element subjected to shear stress,

The force dF dxdy on the top face will move dz . Assuming


gradually, and using Eq. (6-1):

Or

Ui

is applied

1
1
dU i
dxdydz dV
2
2

dF

dV
2

For linear-elastic behaviour, Hookes Law ( /G) applies, and:

Ui

(6-6)

2G dV

(6-5)

ENG5312 Mechanics of Solids II

6.2.3 Multi-axial Stress

Consider an element subjected to a general state of stress.

Assuming linear-elastic behaviour and all loads are applied gradually, the strain
energy associated with each normal and shear stress can be added to give:

Ui

x x

1
1
1
1
1
yy zz xy xy yz yz xz xz dV (6-7)

2
2
2
2
2

Using the generalized Hookes Law:

1
x y z
E

1
zy x z
E

1
z x y
E

xy

xy
xy
xy
; xy
; xy
G
G
G

The strains can be eliminated from Eq. (6-7):

U i
x2 y2 z2 xy2 yz2 xz2 x y y z x z dV (6-8)

2G
E
V 2E

And if only the principal stresses act on the element (i.e.

1, 2 and 3 )

ENG5312 Mechanics of Solids II

1 2

U i
1 22 32 1 2 2 3 1 3 dV

E
V 2E

(6-9)

6.3 Elastic Strain Energy for Various Types of Loading

6.3.1 Axial Load

Consider a bar with a slowly changing cross-section that is loaded centroidally.

The internal load at


from one end is
using Eq. (6-4) the strain energy is:

Ui

The volume

Ui

and:

N2
dx
2AE

(6-10)

If the cross-sectional area is constant:

x2
N2
dV
dV
2
2E
2EA
V

dV can be expressed as Adx

N , and the normal stress is N / A .

Note:

L , U i

A,

Ui

E , U i

Ui

N 2L
2AE

(6-11)

ENG5312 Mechanics of Solids II


o

i.e. something that is easy to distort will store more strain energy.

6.3.2 Bending Moment

Application of a bending moment to a straight prismatic member results in a


normal stress.

Consider the element of area


and using Eq. (6-4):

dA , y

2
dV
2E

Ui

The volume

dV

can be written as

Ui

M2

2EI y dAdx
2

Will give the strain energy in the member, and since

Ui

1 My

dV
2E I

dV dAdx , so:

from the neutral axis, then ( My /I) ,

dA I :

M2
dx
2EI

(6-12)

Note: The bending moment needs to be expressed as a function of


(6-12) can be integrated.

x , then Eq.

ENG5312 Mechanics of Solids II

6.3.3 Transverse Shear

Consider a prismatic beam with an axis of symmetry

y.

The internal shear force at

dA

x is V , and the shear stress on the element of area

VQ
is
. Using Eq. (6-6) the strain energy is:
It

U i

Ui

Defining the form factor,

V2
2GI 2

Q2
dAdx
t2

Or

2
1 VQ
dAdx
It

2G dV 2G

(6-13)

f s , which is a function of geometry:


fs

A
I2

Q2
dA
t2

(6-14)

The strain energy can be written as;

Ui

f sV 2

2GA dx

(6-15)

An example of the form factor calculation is given in the text. For a rectangular
cross-section f s 6 /5 .

ENG5312 Mechanics of Solids II

Note: U i due to shear is usually much less than U i for bending (se e.g.14.4,
Hibbeler, 6e) and the shear strain energy stored in beams is usually neglected.

6.3.4 Torsional Moment

Consider a shaft with a gradually changing cross-section:

If the shaft is subjected to an internal torque T at


from one end, the shear
stress on the element dA at from the centroid is T /J , and using Eq. (66) the strain energy is;

Ui

dV

2G

Or

Ui

1 T

dAdx
2G J

T 2

2GJ 2

dA dx
2

But the polar moment of inertia, J, is defined as:

dA
2

(6-17)

Using Eq. (6-17) the strain energy can be written:

Ui

(6-16)

T2
dx
2GJ

(6-18)

If the shaft (or tube) has constant cross-sectional area:

Ui

T 2L
2GJ

(6-19)

ENG5312 Mechanics of Solids II

6.4 Conservation of Energy

The principal of conservation of energy states: Energy is a conserved property.


It can neither be created nor destroyed; only its form can be altered from one
form of energy to another.

Only mechanical energy will be considered, but kinetic energy will be neglected
since all loadings will be gradual.

Conservation of energy would require that the external work done by applied
loads (i.e. applied loads that cause deflections) must be equivalent to the strain
energy developed in a body as it deforms.

Ue Ui

(6-20)

If the loads are removed the stored strain energy will restore the body to its
undeformed state (if the elastic limit has not been exceeded).

6.4.1 Trusses

Consider a truss subjected to the load

P.

If the point of application of the load P deflects in the direction of


the load is increased gradually from 0 to P , then from Eq. (6-1):

Ue

1
P
2

P , and
(6-21)

This external work done on


the body is stored as strain energy. If, due to P , the
axial force N develops in a member, the strain energy stored in that member is

N 2L
from Eq. (6-11). To determine the total strain energy stored in the truss:
2AE

ENG5312 Mechanics of Solids II

10
Ui

N 2L
2AE

(6-22)

Where the summation is over all the members in the truss.

requires
Conservation of energy

U e U i , therefore:

1
N 2L
P
2
2AE

(6-23)

The deflection caused by P can be evaluated after the axial forces in each
member of the truss has been determined using statics.

6.4.2
Vertically Loaded
Beams

Consider a beam loaded with the vertical force P.

The deflection at the point of application of P can be determined from the


conservation of energy, Eq. (6-20), using Eqs. (6-1) and (6-12), for U e and
respectively:

1
P
2

M2
dx
2EI

Ui ,

(6-24)

x.

The bending moment would be written as a function of

Note: the beam deflects


due to bending moment and shear, however, the strain
energy due to shear is usually neglected, thus the deflection can be written as a
function of bending moment only.

ENG5312 Mechanics of Solids II

11

6.4.3 Beams Loaded with a Couple

Consider a cantilever beam subjected to an applied moment

Mo .

The couple moment will cause the rotation at the point of application, and it
does work due to this rotation: U e M o /2 from Eq. (6-2).

The strain energy would be caused by the bending moment

Ui

2EI dx fromEq. (6-12).


M

M , and

Conservation of energy, Eq. (6-20), would require:

1
M 0
2

M2
dx
2EI

(6-25)

x.

Where

Note: Application of
the conservation of energy is limited to situations where only
one applied load exists. For multiple applied loads, each load would have an
associated external work and deflection, but there is only one conservation
equation, so only one unknown deflection can be solved.

is a function of

ENG5312 Mechanics of Solids II

12

6.5 Impact Loading

Remember Mechanics II? Remember work-energy and conservation of energy


methods?

E.g. A weight is dropped from rest from a height h on to a linear spring, with
spring constant k . What is the maximum deflection of the spring?
o

Conservation of energy:

T1 V1 T2 V2
W h max

1 2
k max
2

Or Work-Energy:

U e U i strain energy in the spring.


W h max

1
kxdx k2max
2

The result can be rearranged to give:

2max

2W
2W
max
h0
k
k

The quadratic equation can be solved to give the maximum root:

max

max

W 2
W
W
2
h
k
k
k

If the weight is applied statically (i.e. gradually)


Eq. (6-26) can be
written as:

(6-26)

W k st or st W /k , and

max st 2st 2 st h
o

Or

h
max st 1 1 2

st

(6-27)

ENG5312 Mechanics of Solids II

13

Where the term in the square root is the extra displacement due to dynamic
loading.

Note: if

h 0 , i.e. the weight W is released while it just touches the spring,

max 2 st .

E.g. A weight W travelling with velocity


on a frictionless horizontal surface
impacts
a linear spring, with spring constant k . What is the maximum deflection

of the spring?
o

Conservation of Energy;

T1 V1 T2 V
2

1 W 2 1 2

v k max
2 g
2

Or
2max

A statically loaded spring would deflect


written as:

Wv 2
gk

(6-28)

st W /k , so Eq. (6-28) can be

max

st v 2
g

(6-29)

How to convert this information into deflections of dynamically loaded members?


i.e. How is impact loading simulated?

Assume:

i.

The moving body is rigid.

ii. The stationary body deforms in a linear-elastic manner (i.e. it behaves as


a linear spring).
iii. No energy is lost during the collision.
iv. The bodies remain in contact during the collision.

ENG5312 Mechanics of Solids II

14

These are conservative assumptions, which lead to overestimates of forces (i.e.


good for design purposes).

With these assumptions, the deformable body behaves like a linear spring.

i.e. an effective spring constant can be defined and Eqs. (6-27) or (6-29) can be
used to determine max .

An equivalent spring constant is not required. All that is needed is the static
deflection, st , for use in Eq. (6-27). st can be obtained from the equation of
the elastic
curve, Hookes Law, Appendix C, or conservation of energy and strain
energy.

An impact factor,

n , canbe defined from Eq. (6-27):


h
n 1 1 2

st

So:

max n st n W k

And

Pmax nW k max

And the maximum stress is then:

max n st .

(6-30)

Вам также может понравиться