Introduction to Virtual Work BTech Str\virtual work\Virtual Work intro rev 6rev2.1.

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Virtual Work is a hypothetical concept that is used mainly for derivation and proof.
However it will be seen that this concept can be used as a primary method of analysis.
“Consider a structure having external loads Wi with equivalent (vector) displacements
δi at the joints, and internal forces Pj with equivalent displacements ej in the members.
If the loads Wi are in equilibrium with the forces Pj and the displacements δi are
compatible with the displacements ej, then the principle of virtual work states that:

Σ Wi δi = Σ Pj ej
joints members

If the conditions of equilibrium and compatibility are satisfied, neither of the sets of
forces or displacements need actually exist, but may be only virtual. Combinations of
Virtual forces with real displacements lead to indirect methods of analysis in which
the final equations are transformed into a more easily managed form” 1

“The key to the solution of statically indeterminate structures is the ability to

determine structural deformations” 2. The deflection of a structure may be a design
criterion, those familiar with the design of slabs are usually aware of this. There are 2
basic approaches to the analysis of structural deformations, strain energy and virtual
work. Strain energy is limited to the elastic range, hence the advantage of the Virtual
work method, of being able to deal with conditions other then those within the elastic
range. Virtual work is also considered to be the more powerful of the two methods. It
must be stressed that it is important to qualitatively understand the applications of the
concepts of virtual work to the problem at hand.

Two conditions that must be satisfied in a structure are:

1. The applied forces and the internal forces (reactions) must be in equilibrium.
2. Simultaneously, the structural deformations must be compatible with the type
of supports

The example below will illustrate these two conditions:

W W

A C A C
B B

MA

VA VC

Load and reaction Deflected shape compatible

equilibrium with supports

1
Solving problems in Structures, Croxton and Martin
2
Understanding structural analysis, 2nd edition, David Brohn

1
Virtual States:
The concept of a virtual state is useful in solving certain kinds of problems,
particularly those of deformations. These virtual states need only satisfy one of the
two conditions mentioned previously:
either equilibrium or compatibility.
We will use the previous example to discuss these concepts.
W

A C
B VIRTUAL FORCE
In this virtual force state there is
equilibrium of forces, since the load is
supported by the moment and vertical
reaction at A. However the deflection
MA is no longer compatible with the rigid
support at C
VA

A
B C VIRTUAL DISPLACEMENT
A state of virtual displacement can be
created by the introduction of a hinge at
A and B, which is compatible with the
support conditions. The introduction of
these two hinges results in a mechanism,
Hence this system satisfies compatibilty
but not equilibrium

“The virtual state is an analytical device. Because only one state needs to be satisfied
it is more easily evaluated. When we combine real and virtual states, we can easily
develop theorems of great power and application in the solution of structural
problems” 3

Students are referred to the book, Understanding structural analysis, 2nd edition for the
proof of the two formulae which are discussed herein after:

3
Understanding structural analysis, 2nd edition, David Brohn

2
The following theorems are reproduced from Brohn’s Understanding structural
analysis:
1. Theorem of VIRTUAL Displacements;
In any structural system, the external VIRTUAL work of the applied loads
acting over the VIRTUAL displacement is equal to the internal VIRTUAL
work of the VIRTUAL displacement acting against the internal forces
2. Theorem of VIRTUAL Forces;
In any structural system, the external VIRTUAL work of the external
VIRTUAL forces acting over the real displacement is equal to the internal
VIRTUAL work done against the internal VIRTUAL forces by the real
displacement

General equation of VIRTUAL work:

W=actual force in direction of VIRTUAL displacement * VIRTUAL displacement

Refer to examples from Brohn, chapter 5 frame 22 and frame 60

W 18

A C A B C D
Ultimate Mt of R B
2Mu for sagging and Mu for hogging
3 1 5
W 18
A C A
B D
θ1 θ1 B C
δ 12 6
θ2

θ1=
M
θ2=

Virtual system of displacements 1

A D
MU MU B C
0.556 0.444

2MU

Actual equilibrium system of m

internal forces

3
Virtual work method for deflection (applied at joints);
This method has been covered adequately in Structural Analysis 2 or 3 for
determining the deflection in a structure at a particular point and in a particular
direction.
Remember the formula Δ =ΣnNL/AE (refer to STAN201 or STAN301 notes).

N
L Δ

σ=N/A , ε = Δ/L and E= σ/ ε hence E=(N/A)/(Δ/L) and Δ=NL/AE

L
Nn
internal virtual work U= Δn, therefore U= ∫ dx
0
AE
Example 1 (deflection of truss):

Calculate the vertical component of the deflection, at node 6,

for the truss shown below for the given loading; assume 300W
steel and 50 x 50 x 5 angles for all members
Y
2 3

1 6 5 4 X
Z
10 kN 10 kN
10 m 10 m 10 m

4
member N n L NnL
1-2 14.144 0.9428 14.144 188.61
2-3 10 0.666 10 66.60
3-4 14.144 0.4714 14.144 94.30
4-5 -10 -0.3333 10 33.33
5-6 -10 -0.3333 10 33.33
6-1 -10 -0.6666 10 66.66
2-6 -10 -0.6666 10 66.66
3-6 0 -0.4714 14.144 0.00
3-5 -10 0 10 0.00
549.49
deflection =NnL/AE
A= 4.80E-04 M^2
E= 2.00E+08
deflection= 5.72 mm

5
 Y 10
2 3

14.14
-9.999 14.14
-.0004 -9.999

-10 -10 -10

1
Z 6 5 4 X

2 0.6666 3

0.9428 -0.6666 -0.4714 -0 0.4714

-0.3333
-0.6666 -0.3333
1
Z 6 5 4 X

member N n L NnL
1-2 14.144 0.9428 14.144 188.61
2-3 10 0.666 10 66.60
3-4 14.144 0.4714 14.144 94.30
4-5 -10 -0.3333 10 33.33
5-6 -10 -0.3333 10 33.33
6-1 -10 -0.6666 10 66.66
2-6 -10 -0.6666 10 66.66
3-6 0 -0.4714 14.144 0.00
3-5 -10 0 10 0.00
549.49
deflection =NnL/AE
A= 4.80E-04 M^2
E= 2.00E+08
deflection= 5.72 mm

6
Virtual work method for deflection in rigidly jointed structures, where the loads
are applied at points other then the joints.
Here bending moment and other stress resultants will also be present. Due to the
variable nature of the resultants it becomes necessary to integrate along the length of
the member. The integrands are derived by partial differentiation of the expressions
for strain energy (eg axial force: P2dx / 2EA)
Axial Force: nNdx / AE
Bending Moment: mMdx / EI
Shear Force: sSdx / GA
Torque: tTdx / GJ
(Lower case italics indicate stress resultants due to the unit / virtual load)

Total deflection is given by:

δi = Σ∫ pPdx / AE + Σ∫ mMdx / EI + Σ∫ sSdx / GA + Σ∫ tTdx / GJ

The derivation of most of these formulae can be found in Brohn chapter 5, frames 33
to 52.

For rotation a unit moment is used instead of a unit load

7
Example 1 (eg 6.2 from SPIS)
Show that the midspan deflection of a simply supported beam with a uniformly
distributed load is 5wL4/384EI
𝑳𝑳
𝜹𝜹 = 𝟐𝟐 ∫𝟎𝟎𝟐𝟐 𝑴𝑴𝑴𝑴𝑴𝑴𝑴𝑴�𝑬𝑬𝑬𝑬

𝒙𝒙𝟐𝟐
𝑾𝑾𝑾𝑾𝑾𝑾𝑾𝑾𝑾𝑾 𝒇𝒇𝒇𝒇𝒇𝒇 𝒙𝒙 ≤ 𝑳𝑳�𝟐𝟐 → 𝑴𝑴 =
𝒘𝒘𝒘𝒘 𝟏𝟏
𝟐𝟐
𝒙𝒙 − 𝒘𝒘 𝒂𝒂𝒂𝒂𝒂𝒂 𝒎𝒎 = 𝟐𝟐 𝒙𝒙
𝟐𝟐

w 1

x x

M m

𝑳𝑳 𝟐𝟐 𝑳𝑳 𝟐𝟐 𝟑𝟑
𝜹𝜹𝜹𝜹� 𝟐𝟐 (𝑳𝑳𝒙𝒙 − 𝒙𝒙 )�
𝒘𝒘𝒘𝒘𝒘𝒘
𝜹𝜹 = 𝟐𝟐 ∫𝟎𝟎𝟐𝟐 �
𝟐𝟐
− 𝒘𝒘𝒙𝒙
𝟐𝟐
�∗
𝒙𝒙
𝟐𝟐 𝑬𝑬𝑬𝑬 → 𝒘𝒘 ∫𝟎𝟎 𝟐𝟐𝟐𝟐𝟐𝟐

5𝑤𝑤𝐿𝐿3
students to cmplete integration to prove that 𝛿𝛿 = 384𝐸𝐸𝐸𝐸

Using table of integration (T6.2, P12, SPIS):

𝛿𝛿 = ∫ 𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀�𝐸𝐸𝐸𝐸 = 𝛼𝛼𝛼𝛼𝛼𝛼𝛼𝛼

𝟓𝟓 𝒘𝒘𝑳𝑳𝟐𝟐 𝟏𝟏𝟏𝟏 𝟓𝟓𝟓𝟓𝑳𝑳𝟑𝟑

𝜹𝜹 = 𝟏𝟏𝟏𝟏 × 𝑳𝑳 × 𝟖𝟖
× 𝟒𝟒
= 𝟑𝟑𝟑𝟑𝟑𝟑𝟑𝟑𝟑𝟑

8
Example 2 (eg 6.8 from SPIS)

w -2wh2
B C
I
h 2I M

2h
A

-2h
1
mH mV
1
-1*h

ℎ 𝑀𝑀𝑚𝑚𝐻𝐻 𝛿𝛿𝛿𝛿
�2𝐸𝐸𝐸𝐸 � 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 + �∫0 𝑀𝑀𝑚𝑚𝐻𝐻 𝛿𝛿𝛿𝛿�𝐸𝐸𝐸𝐸 � 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓
2ℎ
𝛿𝛿𝐻𝐻 = �∫0

ℎ (2𝑤𝑤ℎ2 . 𝑥𝑥)𝛿𝛿𝛿𝛿
𝛿𝛿𝐻𝐻 = ∫0 �
2𝐸𝐸𝐸𝐸
ℎ
1 𝑥𝑥 2 𝑤𝑤ℎ4
𝛿𝛿𝐻𝐻 = �2𝑤𝑤ℎ2 � ⇒ 𝛿𝛿𝐻𝐻 =
2𝐸𝐸𝐸𝐸 2 0 2𝐸𝐸𝐸𝐸

𝛿𝛿𝐻𝐻 = �𝛼𝛼𝛼𝛼𝛼𝛼𝛼𝛼�2𝐸𝐸𝐸𝐸 �𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 + �𝛼𝛼𝛼𝛼𝛼𝛼𝛼𝛼�𝐸𝐸𝐸𝐸 �𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓

δH= * + 0*

(−1ℎ) ∗ (−2𝑤𝑤ℎ2 )�
𝛿𝛿𝐻𝐻 = �0.5 ∗ ℎ ∗
𝑤𝑤ℎ4
2𝐸𝐸𝐸𝐸 � + [0] = 2𝐸𝐸𝐸𝐸

Student to complete intergration for δv

δV= * + *
1
1 ∗ ℎ ∗ (−2ℎ) ∗ (−2𝑤𝑤ℎ2 )� 4
∗ 2ℎ ∗ (−2ℎ) ∗ (−2𝑤𝑤ℎ2 )�
𝛿𝛿𝑉𝑉 = � 2𝐸𝐸𝐸𝐸 � + � 𝐸𝐸𝐸𝐸 �
4𝑤𝑤ℎ4
𝛿𝛿𝑉𝑉 = 𝐸𝐸𝐸𝐸

Assume w=5 kN/m, h=3m, E=200x103N/mm2 and I=328x106mm4

4𝑤𝑤ℎ4 4∗5∗34
Calculated deflection= = 200∗328.6 = 0.0247𝑚𝑚 𝑜𝑜𝑜𝑜 24.7𝑚𝑚𝑚𝑚 at node c (vertical)
𝐸𝐸𝐸𝐸

9
Tutorial
a) Determine the slope at C, for the frame shown in example above.

w -2wh2
B C
I
h 2I M

2h
A

1
Mdue to rotation
-1

10
Solution
1
1∗ℎ∗(−1)∗�−2𝑤𝑤ℎ2 � ∗2ℎ∗(−1)∗�−2𝑤𝑤ℎ2 �
𝜃𝜃𝑐𝑐 = 2𝐸𝐸𝐸𝐸
+ 3
𝐸𝐸𝐸𝐸

𝑤𝑤ℎ3 4𝑤𝑤ℎ3 7𝑤𝑤ℎ3

𝜃𝜃𝑐𝑐 = + ⇒ 𝜃𝜃𝑐𝑐 =
𝐸𝐸𝐸𝐸 3𝐸𝐸𝐸𝐸 3𝐸𝐸𝐸𝐸

assume w=5 kN/m, h=3m, E=200x103N/mm2 and I=328x106mm4 Ma=90kNm

7∗5∗33
𝜃𝜃𝑐𝑐 = 3∗200∗328 = 0.0048

=================== NODAL POINT COORDINATES ================

Node no. X-coord Y-coord Z-coord Node no. X-coord Y-coord Z-coord
m m m m m m
1 0.000 0.000 0.000 2 0.000 1.000 0.000
3 0.000 2.000 0.000 4 0.000 3.000 0.000
5 1.000 3.000 0.000 6 2.000 3.000 0.000
7 3.000 3.000 0.000 8 4.000 3.000 0.000
9 5.000 3.000 0.000 10 6.000 3.000 0.000
===============SECTION PROPERTIES ===================
Section : A Section designation: 305x305x137 H1
A Ay Ax Ixx Iyy J Material
m^2 m^2 m^2 m^4 m^4 m^4
17.40E-3 0.000 0.000 328E-6 106E-6 2.51E-6 Steel:300W
Section : B Section designation: 305x305x240 H1
A Ay Ax Ixx Iyy J Material
m^2 m^2 m^2 m^4 m^4 m^4
30.50E-3 0.000 0.000 642E-6 202E-6 13.0E-6 Steel:300W
=============== NODAL POINT DISPLACEMENTS at SLS =============
Node Lcase X-disp. Y-disp. Z-disp. X-rot. Y-rot. Z-rot.
mm mm mm rad. rad. rad.
10 1 3.06 -24.25 0.00 0.0000 0.0000 -0.0047

11
Maximum Deflections for Load Case 1:
X :3.06 mm at node 4
Y mm at node 10
Y :-24.25

4 5 6 7 8 9 10

1
Z X

90
Y 62.5
40 22.5
4 5 6 7 10
8 2.5
9 10

90 3

90 2

90 1
Z X

12
Tutorial1 : virtual work – determinate structures
Use the virtual work method to find the following:

Question 1

Derive an expression for the deflection under the central point load in the simply
supported beam below;

Question 2

Derive an expression for the deflection and slope at B in the cantilever beam below;

A B
L

Question 3

Determine the deflection at C for the beam shown below:

10kN

A C
5 5 2
B
Question 4

Derive an expression for the slope at A for the simply supported beam below;

w kN/m

A L

13