The Principle of Virtual Work

 The concept of potential energy apply only to conservative systems

Linear elastic isotropic systems;
 The method of Virtual Work is applicable for any systems, either
conservative or no-conservative.

Statement : Internal Virtual Work (IVW) = External Virtual Work (EVW)

By definition :

 𝑰𝑽𝑾 = 𝑽𝒐𝒍
𝑹𝒆𝒂𝒍 𝑺𝒕𝒓𝒆𝒔𝒔𝒆𝒔 × 𝑽𝒊𝒓𝒕𝒖𝒂𝒍 𝑺𝒕𝒓𝒂𝒊𝒏𝒔

 𝑬𝑽𝑾 = 𝑹𝒆𝒂𝒍 𝑭𝒐𝒓𝒄𝒆𝒔 × 𝑽𝒊𝒓𝒕𝒖𝒂𝒍 𝑫𝒊𝒔𝒑𝒍𝒂𝒄𝒆𝒎𝒆𝒏𝒕𝒔 1

Let 𝛿𝒅 be a virtual displacement field in the body under loads. 𝛿𝒅 ≡ (𝛿𝒖, 𝛿𝒗, 𝛿𝒘, 𝛿𝜽, … 𝑒𝑡𝑐)
𝛿𝒅 = 0 on the part of the boundary where the actual displacement field is prescribed.
- Let 𝒃𝒊 & 𝒕𝒊 the components of body forces (per unit 𝑣𝑜𝑙) and surface forces (per unit 𝑠𝑢𝑟𝑓),
Respectively. 𝒕𝒊 is one component of the which is called Traction vector : 𝑡𝑖 = 𝜎𝑖𝑗 𝑛𝑗

Define the external virtual work by

𝐸𝑉𝑊 = 𝑏𝑖 𝛿𝑑𝑖 𝑑𝑉 + 𝑡𝑖 𝛿𝑑𝑖 𝑑S + 𝑐 (𝑰)
𝑖𝑅 𝑖 𝛿𝑑𝑖
The first integral extends over the volume of the body, and the second integral extends the
Surface of the body. Rc k denote the concentrated load at node k.
Associated with virtual displacement field is a virtual strain field 𝛿𝜀𝑖𝑗 , defined by

1 𝜕 𝛿𝑑𝑖 𝜕 𝛿𝑑𝑗
𝛿𝜀𝑖𝑗 = +
2 𝜕𝑥𝑗 𝜕𝑥𝑖

Define the internal virtual work by

𝐼𝑉𝑊 = 𝜹𝜺𝑇 𝝈 𝑑𝑉 (𝑰𝑰)

2
The integral extends over the volume of the body.
In the Finite Elements Method, the PVW (𝑰𝑽𝑾 = 𝑬𝑽𝑾) is maintained in each element
(after discretization) of the body. The procedure is summarized below :

1- Divide the body into elements, such as triangles or quadrilaterals in 2𝐷 for example. The basic
variables are the displacement vectors at all the nodes, called the nodal displacements 𝒒𝒊 ;
2- Interpolate the displacement field by the nodal displacements. Also interpolate the virtual
displacements by the virtual nodal displacements 𝜹𝒒𝒊 . This operation is done by the so called
Shape Functions, 𝑁𝑖 where 𝑖 = 1, … , 𝑛𝑏𝑟𝑒 𝑜𝑓 𝑛𝑜𝑑𝑒𝑠/𝐸𝑙𝑒𝑚𝑒𝑛𝑡.
3- Use the Strain-displacement relations to express the strain field in terms of the nodal
displacements. Use the same procedure to express the Virtual strain field in terms of the
Virtual nodal displacements;
4- Use the Stress-Strain relations to express the stress field in terms of the nodal displacements;
5- Require that 𝐼𝑉𝑊 = 𝐸𝑉𝑊 for every set of virtual nodal displacements. This leads finally to a
set of algebraic equations for the nodal displacements ( 𝑘 𝑒 𝑞𝑒 = 𝑓 𝑒 )

6- Assemble.
3
Step 2 : Interpolate displacement field
Let take an example in the 𝟐𝑫 case for an element of the shape of a triangle with three nodes.
The displacements at the three nodes of the triangle are (𝑢1 , 𝑣1 ) , (𝑢2 , 𝑣2 ) , (𝑢3 , 𝑣3 ) .
Interpolate the displacement field (𝑢, 𝑣) of a point inside the triangle as :
𝑢 𝑥, 𝑦 = 𝑁1 𝑥, 𝑦 𝒖𝟏 + 𝑁2 𝑥, 𝑦 𝒖𝟐 + 𝑁3 𝑥, 𝑦 𝒖𝟑
(𝟏)
𝑣 𝑥, 𝑦 = 𝑁1 𝑥, 𝑦 𝒗𝟏 + 𝑁2 𝑥, 𝑦 𝒗𝟐 + 𝑁3 𝑥, 𝑦 𝒗𝟑

1 ∶ 𝑖=𝑗
Where 𝑵𝒊 (𝒙, 𝒚), 𝒊 = 𝟏 → 𝟑 are the Shape Functions. 𝑁𝑖 𝑥𝑗 , 𝑦𝑗 = & 𝑖 𝑁𝑖 =1
0 ∶ 𝑖≠𝑗
List the displacements of the three nodes of the triangular element in a column matrix :
𝑇
𝒒 = 𝑢1 , 𝑣1 , 𝑢2 , 𝑣2 , 𝑢3 , 𝑣3
In the matrix form, the displacement vector at a point in the element is an interpolation of the
nodal displacements :
𝒅 = 𝑁 𝒒 (𝟐)
Let the virtual nodal displacements be 𝛿𝒒, the virtual displacement field in the element is
𝛿𝒅 = 𝑁 𝛿𝒒 (𝟑)
The matrix [𝑁] for the present case (Triangle with 3 nodes), is : [𝑁] = [𝑁1 𝑁2 𝑁3 ] 4
Step 3 : Express Strain in terms of nodal displacements
Keeping the 𝟐𝑫 example of a triangular element with three nodes.
Reminder : The problems of plane elasticity are classified into two categories
1- Plane-stress problems → When the elastic body is very thin & the applied loads are all on the
plane of the body. In this case we have :
𝝈𝒙 ≠ 𝟎 , 𝝈𝒚 ≠ 𝟎 , 𝝉𝒙𝒚 ≠ 𝟎 ⇒ 𝜺𝒙 ≠ 𝟎 , 𝜺𝒚 ≠ 𝟎 , 𝜸𝒙𝒚 ≠ 𝟎
(𝝈𝒛 = 𝝉𝒙𝒛 = 𝝉𝒚𝒛 = 𝟎 & 𝜸𝒙𝒛 = 𝜸𝒚𝒛 = 𝟎 )

2- Plane-strain problems → The elastic body can’t deforms in the direction perpendicular to the
plane of the applied loads. In this case we have :
𝝈𝒛 ≠ 𝟎 , 𝝉𝒙𝒛 = 𝝉𝒚𝒛 = 𝟎 & 𝜺𝒛 = 𝜸𝒙𝒛 = 𝜸𝒚𝒛 = 𝟎
The elasticity matrix for the two cases is :

Case 1 Case 2
1 𝜈 0 1−𝜈 𝜈 0
𝐸 𝜈 1 0 𝐸 𝜈 1−𝜈 0
𝐶 = 1−𝜈 𝐶 = 1 − 2𝜈
1 − 𝜈2 1 + 𝜈 1 − 2𝜈
0 0 0 0
2 2 5
Explicitly, equations (𝟐) & (𝟑) are written with the aid of (𝟏) as follow :
𝑢1
𝑣1
𝑢 𝑁 0 𝑁2 0 𝑁3 0 𝑢2
𝒅 ≡ = 1 (𝟒)
𝑣 0 𝑁1 0 𝑁2 0 𝑁3 𝑣2
𝑢3
𝑣3

𝛿𝑢1
𝛿𝑣1
𝑢 𝑁 0 𝑁2 0 𝑁3 0 𝛿𝑢2
𝛿𝒅 ≡ = 1 (𝟓)
𝑣 0 𝑁1 0 𝑁2 0 𝑁3 𝛿𝑣2
𝛿𝑢3
𝛿𝑣3
The theory of the plane elasticity give the following relations between the strain 𝜺 and the
displacements 𝒖 and 𝒗 :
𝜕𝑢 𝜕𝑣 𝜕𝑢 𝜕𝑣
𝜀𝑥 = 𝜕𝑥 , 𝜀𝑦 = 𝜕𝑦 , 𝛾𝑥𝑦 = 𝜕𝑦 + 𝜕𝑥 →

𝜕 𝜕
0 0
𝜀𝑥 𝜕𝑥 𝛿𝜀𝑥 𝜕𝑥
𝜀𝑦 = 0 𝜕 𝑢 𝛿𝜀𝑦 = 0
𝜕 𝛿𝑢
𝜕𝑦 𝑣 (𝟔) Equivalently 𝜕𝑦 (𝟕)
𝛾𝑥𝑦 𝛿𝑣
𝜕 𝜕 𝛿𝛾𝑥𝑦 𝜕 𝜕
𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑥 6
In the compact matrix form :
𝜀 = 𝐷 𝒅 Equivalently 𝛿𝜀 = 𝐷 𝛿𝒅
𝜕
0
𝜕𝑥
𝜕
Where 𝐷 = 0 𝜕𝑦
, knowing also that : 𝒅 = 𝑁 𝒒 & 𝛿𝒅 = 𝑁 𝛿𝒒
𝜕 𝜕
𝜕𝑦 𝜕𝑥
𝜀 = 𝐷 𝑁 𝒒 = 𝐵 𝒒 (𝟖)

&

𝛿𝜀 = 𝐷 𝑁 𝛿𝒒 = 𝐵 𝛿𝒒 (𝟗)

𝜕 𝜕𝑁1 𝜕𝑁2 𝜕𝑁3

0 0 0 0
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥
𝜕 𝑁1 0 𝑁2 0 𝑁3 0 𝜕𝑁1 𝜕𝑁2 𝜕𝑁3
𝐵 = 𝐷 𝑁 = 0 = 0 0 0
𝜕𝑦 0 𝑁1 0 𝑁2 0 𝑁3 𝜕𝑦 𝜕𝑦 𝜕𝑦
𝜕 𝜕 𝜕𝑁1 𝜕𝑁1 𝜕𝑁2 𝜕𝑁2 𝜕𝑁3 𝜕𝑁3
𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑥

Rm : Right now we haven't defined yet the Shape Functions 𝑁1 , 𝑁2 𝑎𝑛𝑑 𝑁3 !

7
Step 4 : Express Stress field in terms of nodal displacements
For the two case, the stresses and the strains are 𝜎𝑥 , 𝜎𝑦 , 𝜏𝑥𝑦 and 𝜀𝑥 , 𝜀𝑦 , 𝛾𝑥𝑦 , respectively. They
are related by the following relation (Hook’s law) :
𝝈 = 𝐶 𝜺 (𝟏𝟎)

𝐶 is the elasticity matrix taking different forms for the cases of plane-stresses or plane-strains.
From (8) we have :
𝝈 = 𝐶 𝐵 𝒒 (𝟏𝟏)

Step 5 : Apply the Principle of Virtual Work (PVW)

The principle state that :
𝑰𝑽𝑷 = 𝑬𝑽𝑷 (𝟏𝟐)

By inserting equations (𝟗) & (𝟏𝟏) into the expression of the 𝐼𝑉𝑃 (𝑰𝑰), we obtain :

𝐼𝑉𝑃 = 𝛿𝒒𝑇 𝐵 𝑇 𝐶 𝐵 𝒒 𝑑𝑉 = 𝛿𝒒𝑇 𝐵 𝑇 𝐶 𝐵 𝑑𝑉 𝒒 (𝟏𝟑)

𝑉 𝑉
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The expression of the E𝑉𝑃 (𝑰), is rewritten below in the vector compact form :

𝐸𝑉𝑃 = 𝛿𝒅𝑇 ∙ 𝒃 𝑑𝑉 + 𝛿𝒅𝑇 ∙ 𝑻 𝑑𝑆 + 𝛿𝒅𝑇 ∙ 𝑹

𝑉 𝑆
With the aide of equations (3), the virtual displacement field 𝛿𝒅 is written in term of the virtual
nodal displacements 𝛿𝒒 → 𝛿𝒅𝑇 = 𝛿𝒒𝑇 𝑁 𝑇

𝐸𝑉𝑃 = 𝛿𝒒𝑇 𝛿𝒅𝑇 ∙ 𝒃 𝑑𝑉 + 𝛿𝒒𝑇 𝑁 𝑇 ∙ 𝑻 𝑑𝑆 + 𝛿𝒒𝑇 𝑁 𝑇 ∙𝑹 (𝟏𝟒)

𝑉 𝑆
Finally, 𝟏𝟐 ⇔ 𝟏𝟑 = 𝟏𝟒 ∶

𝛿𝒒𝑇 𝐵 𝑇 𝐶 𝐵 𝑑𝑉 𝒒 = 𝛿𝒒𝑇 𝑁 𝑇 ∙ 𝒃 𝑑𝑉 + 𝛿𝒒𝑇 𝑁 𝑇 ∙ 𝑻 𝑑𝑆 + 𝛿𝒒𝑇 𝑁 𝑇 ∙𝑹

𝑉 𝑉 𝑆
Cancel out 𝛿𝒒𝑇 from the above equation to obtain finally :

𝐵 𝑇 𝐶 𝐵 𝑑𝑉 𝒒 = 𝑁 𝑇 ∙ 𝒃 𝑑𝑉 + 𝑁 𝑇 ∙ 𝑻 𝑑𝑆 + 𝑁 𝑇 ∙𝑹 (𝟏𝟓)
𝑉 𝑉 𝑆 9
The last expression (15) is written formally as :
𝑘𝑒 𝒒 = 𝑓𝑒 (𝟏𝟔)
Where, Depends on if plane stress or strain is assumed

- The Element ‘s Stiffness Matrix is : 𝑘𝑒 = 𝐵 𝑇

𝐶 𝐵 𝑑𝑉 (𝟏𝟕)
𝑉

- The Element’s Nodal Forces is : 𝑓 𝑒 = 𝑉

𝑁 𝑇 ∙ 𝒃 𝑑𝑉 + 𝑆
𝑁 𝑇 ∙ 𝑻 𝑑𝑆 + 𝑁 𝑇 ∙ 𝑹 (𝟏𝟖)

Concluding Remarks :
1- Although in our previous developments we have considered the case of a triangular
element, the Stiffness Matrix Expression (17) is valid for any type of element. Same
for the expression (18);
2- If the triangular element is chosen with 3 nodes → a linear approximation for 𝒅 ,
this results of constant strain and stress over the element. The element is sad Constant
Strain Triangle (𝐶𝑆𝑇);
3- Right now, the expressions of the Shape Functions are not yet derived for the
element. 10
The last expression (15) is written formally as :
𝑘𝑒 𝒒 = 𝑓𝑒 (𝟏𝟔)
Where, Depends on if plane stress or strain is assumed

- The Element ‘s Stiffness Matrix is : 𝑘𝑒 = 𝐵 𝑇

𝐶 𝐵 𝑑𝑉 (𝟏𝟕)
𝑉

- The Element’s Nodal Forces is : 𝑓 𝑒 = 𝑉

𝑁 𝑇 ∙ 𝒃 𝑑𝑉 + 𝑆
𝑁 𝑇 ∙ 𝑻 𝑑𝑆 + 𝑁 𝑇 ∙ 𝑹 (𝟏𝟖)

Concluding Remarks :
1- Although in our previous developments we have considered the case of a triangular
element, the Stiffness Matrix Expression (17) is valid for any type of element. Same
for the expression (18);
2- If the triangular element is chosen with 3 nodes → a linear approximation for 𝒅 ,
this results of constant strain and stress over the element. The element is sad Constant
Strain Triangle (𝐶𝑆𝑇);
3- Right now, the expressions of the Shape Functions are not yet derived for the
element. 11