Duke University

Department of Civil and Environmental Engineering

CEE 421L. Matrix Structural Analysis
Fall, 2012
Henri P. Gavin

The Principle of Virtual Work

Definitions:

Virtual work is the work done by a real force acting through a virtual displace-
ment or a virtual force acting through a real displacement.

A virtual displacement is any displacement consistent with the constraints of

the structure, i.e., that satisfy the boundary conditions at the supports.

A virtual force is any system of forces in equilibrium.

Example:

f (x) and y(x) are real forces and associated displacements.

ȳ(x) is a virtual displacement consistent with the boundary conditions.
2 CEE 421L. Matrix Structural Analysis – Duke University – Fall 2012

Consider a structure deformed by the effect of n external forces, denoted by

the vector {F }. The actual (real) displacements at the same n coordinates are
contained in the vector {D}.

The stresses and strains at any point in the structure are elements of the vectors
{σ} and {}:

{σ}T = {σxx σyy σzz τxy τxz τyz }

{}T = {xx yy zz γxy γxz γyz }.

The total external work done by {F } is

1X n 1
W = Fi Di = {F }T {D}, (1)
2 i=1 2
and the total internal work done by {F } is the total strain energy, which can
be written compactly as
1Z
U= {σ}T {}dV. (2)
2 V
Setting W equal to U gives the principle of real work,
1 1Z
{F }T {D} = {σ}T {}dV. (3)
2 2 V

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The Principle of Virtual Work 3

Suppose, that after the structure is subjected to the system of n external forces,
{F }, producing internal stresses {σ}, a system of m virtual forces {F̄ } are
applied, producing additional virtual deformations {D̄}, virtual stresses {σ̄},
and virtual strains {¯}.

The external work done by the application of {F̄ } is

1 m 1
T
F̄j D̄j = {F̄ }T {D̄} + {F }T {D̄},
X
W = {F̄ } {D̄} +
2 j=1 2
and the internal work done by the application of {F̄ } is
1Z Z
U= {σ̄} {¯}dV + {σ}T {¯}dV.
T
2 V V

Setting the external work equal to the internal work,

1 T T 1Z Z
{F̄ } {D̄} + {F } {D̄} = {σ̄} {¯}dV + {σ}T {¯}dV.
T
(4)
2 2 V V

If we consider the virtual system alone,

The external work is 21 {F̄ }T {D̄}, and the internal work is 1R T

2 V {σ̄} {¯
}dV, or
1 1Z
{F̄ }T {D̄} = {σ̄}T {¯}dV. (5)
2 2 V

Substituting equation (5) into equation (4) gives

Z
{F }T {D̄} = {σ}T {¯}dV. (6)
V

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4 CEE 421L. Matrix Structural Analysis – Duke University – Fall 2012

Suppose, instead, that before the actual loads {F } and deformations {D} are
introduced, the structure was subjected to a system of m virtual forces, {F̄ },
producing internal stresses {σ̄}.

The external work done by the application of {F } is now

1 m 1
T
F̄j Dj = {F }T {D} + {F̄ }T {D}.
X
W = {F } {D} +
2 j=1 2

Note here that the actual deflections {D} are unrelated to the virtual forces
{F̄ }. The internal work done by the application of {F } is now
1Z Z
U= {σ}T {}dV + {σ̄}T {}dV.
2 V V

Setting the external work equal to the internal work,

1 T T 1Z Z
{F } {D} + {F̄ } {D} = {σ} {}dV + {σ̄}T {}dV,
T
(7)
2 2 V V

and substituting equation (3) into equation (7) gives

Z
{F̄ }T {D} = {σ̄}T {}dV. (8)
V

Equation (8) is used in the unit load method to find redundant forces or reac-
tions, and to find real structural displacements, as will be shown shortly. The
left hand side of this equation, {F̄ }T {D},Z is called the external virtual work,
W̄ . The right hand side of this equation, {σ̄}T {}dV , is called the internal
V
virtual work, Ū . Note that equation (8) is valid for both linear and nonlinear
elastic structures (why?).

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The Principle of Virtual Work 5

Example: Unit Load Method

Find the deflection of a bar under axial tension.

The Unit Load Method

When the principle of virtual work is used to calculate the displacement D∗ , at

a coordinate “*”, the system of external forces, {F̄ } is chosen so as to consist
only of a single unit force at coordinate “*”:

equation (8) becomes: Z

∗
1·D = {σ̄}T {}dV,
V
in which {σ̄} are the virtual stresses arising from the single unit force at “*”,
and {} are the real strains due to the actual loading.

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6 CEE 421L. Matrix Structural Analysis – Duke University – Fall 2012

FORMS OF INTERNAL VIRTUAL WORK

FOR FRAMED STRUCTURES

Virtual Axial Force

Consider a rod subjected to a virtual normal force n, and a real normal force,
N:

Virtual Stress = {σ̄}T = {σ̄xx 0 0 0 0 0}

Real Strain = {}T = {xx yy zz 0 0 0}

But we only need xx because we are interested in {σ̄}T {}.

n N
Virtual Stress = σ̄xx = Real Strain = xx =
A EA
The internal virtual work due to an axial force is
Z Z ZZ nN Z nN
Ū = {σ̄}T {}dV = dA dl = dl.
V l A EA2 l EA

For a structure made up entirely of prismatic truss members,

M
X nm Nm Lm
Ū = .
m=1 Em Am

Virtual Bending Moment

Consider a beam subjected to pure virtual and real bending moments about
the z-axis, mz and Mz :

mz y Mz y
Virtual Stress = σ̄xx = − Real Strain = xx = −
Iz EIz
The internal virtual work due to a bending moments is
Z Z ZZ mz Mz y 2 Z m M
z z
Ū = {σ̄}T {}dV = dA dl = dl.
V l A EIz2 l EIz

Recall that Iz = A y 2 dA when the origin of the coordinate system lies on the
RR

neutral axis of the beam.

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The Principle of Virtual Work 7

Virtual Shear Force

Consider a beam subjected to a pure virtual and real shear forces in the y-
direction, vy and Vy :

vy Q(y) τxy Vy Q(y)

Virtual Stress = τ̄xy = Real Strain = γxy = = ,
Iz t(y) G GIz t(y)
where Q(y) is called the moment of area. The internal virtual work due to shear
forces is
Z Z ZZ v V Q(y)2 Z vy Vy
y y
Ū = τ̄xy γxy dV = dA dl = dl,
V l A GI 2 t(y)2 l G(A/αy )
z
where
A ZZ Q(y)2
αy = 2 dA.
Iz A t(y)2

Virtual Torsion

Consider a circular bar subjected to a virtual and real torsional moments, t and
T:

tr τ Tr
Virtual Stress = τ̄ = Real Strain = γ = = ,
J G GJ
The internal virtual work due to torsional moments is
Z Z ZZ tT r 2 Z tT
Ū = τ̄ γ dV = dA dl = dl,
V l A GJ 2 l GJ

(J = A r2 dA)
RR

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8 CEE 421L. Matrix Structural Analysis – Duke University – Fall 2012

Total Internal Virtual Work

As a review of the material above, consider general three-dimensional super-

imposed real and virtual forces

The total virtual strain energy due to these combined effects is

Z nN Z m M
z z
Z m M
y y
Ū = dl + dl + dl +
l EA l EIz l EIy
Z vy Vy Z vz Vz Z tT
dl + dl + dl
l G(A/αy ) l G(A/αz ) l GJ

where  2
A ZZ  Qy (y) 
αy = 2 dA
Iz A tz (y)
 2
A ZZ  Qz (z) 
αz = 2 dA
Iy A ty (z)

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