Introduction Assumption I Prole Section Derivation, Example Di. Eq.

Element Design Conclusion

Preliminaries in Warping Torsion
Emanuel Bombasaro
emanuel.bombasaro@uni-weimar.de
Graduiertenkolleg 1462
Bauhaus-Universitat Weimar
2. Dezember 2009
Emanuel Bombasaro Preliminaries in Warping Torsion 1 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Part 1
Motivation and Introduction
Assumption
Deduction with the Analogy of Flange Bending (I Prole
Section)
St. Venant Torsion Deduction an a Solid section
Enhance the Approach for Warping Torsion
Examples
Elliptical Section
Special Cases of the Elliptical Section
Emanuel Bombasaro Preliminaries in Warping Torsion 2 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Part 2
Short Recapitulation
Solution for the Dierential Equation in Analogy to the
Bending Theory of Second Order
Practice on a Simple Example
Design of a Structure
Important Remarks when Designing Structures due to
Warping Impacts
Conclustion
Information
The slides represent only a minor and basic part of the hole
lecture, so to reach full comprehension the explanatory notes of the
lecturer are indispensable!
Emanuel Bombasaro Preliminaries in Warping Torsion 3 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
St. Venant Torsion
Section can wrap freely, displacement in the x-direction are
not constrained
Torsional moment is not varying much along the element
length
Section geometry is constant
Section is warping free.
This are very restrictive conditions!
Adhemar Jean Claude Barre de Saint-Venant (* 23. August 1797 in Villiers-en-Bi`ere, Seine-et-Marne; 6. January
1886 in St Ouen, Loir-et-Cher) was a french Mathematician and Physicist.
Emanuel Bombasaro Preliminaries in Warping Torsion 4 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Lemma
Division of the torsional moment in two parts
M
T
= M
Tp
+ M
Ts
primary Torsional Moment
M
Tp
= GI
T

or St. Venant Torsional Moment. Section can freely

wrap and so the displacements in x-direction are not
constrained.
x
= 0
secondary Torsional Moment
M
Ts
= M

results when the warping is constrained and so

normal stresses in x-direction arise.
x
= 0
Emanuel Bombasaro Preliminaries in Warping Torsion 5 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Appearance Warping Torsional Moment
St. Venant-Trosion (M
T
= GI
T

) exist always when a element is

twisted

. Warping torsional moment appears additionally;

if with twisting of the element warping occurs and
if the twist along the element is not constant
Emanuel Bombasaro Preliminaries in Warping Torsion 6 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Example
Element with constant,
not constrained warping
and so without a warping
torsional moment
Emanuel Bombasaro Preliminaries in Warping Torsion 7 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Warping
Warping of a section is only depending on the section geometry
which means that their exist free warping and restrained warping
sections.
Warping free sections are
Circular and Annuluses sections
Section which exists out of two sheets; angles and tees
Square pipes with constant wall thickness
Rectangular pipes only if b/t relation between web and ange
is the same
Warping Free Sections
If a section is warping free only St. Venant torsional
moment appears!
Emanuel Bombasaro Preliminaries in Warping Torsion 8 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Further Assumptions
Further constraints are assumed in the warping torsion approach
With the warping torsion connected secondary shear
deformations are neglected
With the warping torsion connected longitudinal deformations
along a strait element of the section (web, ange) are linear,
BERNOULLI hypothesis.
Section are constant along an element
The solution is based on the linear elasticity, which means
small deformations and twist angles.
Emanuel Bombasaro Preliminaries in Warping Torsion 9 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Reference Note Concerning Secondary Shear Deformations
The neglecting of secondary shear deformations leads at points
with xed warping deformations (

= 0) to bigger values for the

secondary torsional moment/ secondary shear stresses. The
inuence decreases rapidly with the distance from the xing and is
primary dominate for rectangular pipes.
Emanuel Bombasaro Preliminaries in Warping Torsion 10 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Derivation Schema for the Di. Equation, Flange Bending
Emanuel Bombasaro Preliminaries in Warping Torsion 11 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Dierential Equation for Flange Bending
Dierential Equation of Flange Bending

x
_
EI
z

2
v
x
2
_
= Q
y
(x)
with the use of
T = Q
y
(x) =
M
T
h
v = (x)
h
2
we obtain
EI
z,G
h
2
4

(x) = M
T
it follows EI

(x) = M

Denitions valid only in this special case

warping moment of second order I

, refered to the
shear center M, we can express
I

= I
z,G
h
2
4
Attention! [Lenght
6
]
The warping moment M

[Force Lenght
2
] can ONLY
IN THIS CASE be computed by M

(x) = M
G
(x)h
with ange moment M
G
(x).
Emanuel Bombasaro Preliminaries in Warping Torsion 12 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Basics Forces
The equilibrium condition for torsional forces leads to
M
T
=
_
A
_
z

xy
+ y

xz
_
dA (1)
y

and z

coordinates are related to the the shear

center.
Basic of Geometrical Relations
The twisting axis of the section is called twist axis.
We use =
Emanuel Bombasaro Preliminaries in Warping Torsion 13 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Relation to Gravity Axis
If the twisting axis (in the shear center) is parallel to the gravity
axis, the movement relative to the gravity axis a rigid body motion.
Linear elasticity and small rotation angles are assumed.
M
x
=
_
A
(z
xy
+ y
xz
) dA (2)
with help of the coordinative relations y

= y y
M
and
z

= z z
M
we obtain
M
x
= M
T
(3)
Emanuel Bombasaro Preliminaries in Warping Torsion 14 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Twisted Element Fiber When twisting an element due to torsional
action a strait element ber AB is turned into a helix
A

. This leads to a deformation in w and v

direction but also in a displacement in u direction,
which causes the section to be warped.
If this warping is constrained this leads to normal
stresses
x
and this case warping torsion has to be
considered.
Small Deformations When the problem is reduced to small
deformations and twisting angles, helixes can be
considered to be strait lines. So the relation between
rotation and twisting

of the section can be

expressed =

x.
Emanuel Bombasaro Preliminaries in Warping Torsion 15 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Derivation at a Solid Section Element
The derivation is performed at a general solid section, we use the
pole coordinate system
y = r cos und z = r sin .
The nodes P and Q are in
the twisted conguration P

and Q

. The displacements
results to
v = r cos ( + ) r cos , w = r sin ( + ) r sin
after linearization we get
v =

xz, w =

xy
Emanuel Bombasaro Preliminaries in Warping Torsion 16 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Constitutive Relations

y
=
v
y
,
z
=
w
z
,
yz
= 2
yz
=
v
z
+
w
y
(4)
it results
y
= 0,
z
= 0,
yz
= 0. Which shows that under pure
torsion action on an element no distortion occurs. With
x
= 0,

y
= 0,
z
= 0 results
x
=
u
x
= 0 and so u=u(y,z).
Following approach u(y, z) =

(y, z) is used. The constitutive

relations

xy
= G

y
z
_
,
xz
= G

z
+ y
_
(5)

y
2
+

2

z
2
= = 0 (6)
(y, z) is call warping function which fullls the LAPLACE
dierential equation.
Emanuel Bombasaro Preliminaries in Warping Torsion 17 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Solving the Warping Function
Instead of matching to the boundary conditions, it is more
advantageous to t the PRANDTL torsion function (y, z). So
the shear stresses
xy
and
xz
can be expressed

xy
=

z
,
xz
=

y
(7)
What we see is that the PRANDTL torsion function is a stress
function. With the help of the constitutive relations we obtain

z
= G

y
z
_
,

y
= G

z
+ y
_
(8)
Emanuel Bombasaro Preliminaries in Warping Torsion 18 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
PRANDTL Torsion Function
PRANDTL Torsion Function
The partial z derivation of the rst equation and
partial y derivation of the second equation and
summing up leads to
= 2G

(9)
So we see that the PRANDTL torsion function fulls
the POSSION dierential equation.
Boundary Conditions
The surface of the element under torsional action is
free of stresses, so with the condition on the gure
on slide 16

xz

xy
=
dz
dy
we obtain

xz
dy +
xy
dz =

y
dy +

z
dz = d = 0 (10)
Emanuel Bombasaro Preliminaries in Warping Torsion 19 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Inserting
Inserting (7) in (2) results
M
T
=
_
A
_

y
(y) +

z
(z)
_
dA + 2
_
A
dA (11)
With the help of the GAUSS integration method on the rst term
of the equation we get
M
T
=
_
C
(yn
y
+ zn
z
) dC + 2
_
A
dA (12)
when looking at solid sections, along C is zero, it follows
M
T
= 2
_
A
dA (13)
Emanuel Bombasaro Preliminaries in Warping Torsion 20 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Inserting
Inserting (5) in (2) results
M
T
= G

_
A
_
y
2
+ z
2
+ y

z
z

y
_
dA (14)
The Integral
I
T
=
_
A
_
y
2
+ z
2
+ y

z
z

y
_
dA (15)
which is call torsional second moment. I
T
is a section value. GI
T
is called torsion stiness. For the warping free element it results
M
T
= M
Tp
= G

I
T
(16)
Emanuel Bombasaro Preliminaries in Warping Torsion 21 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Warping
with the help of equation (7) and (8) we nd
u
y
= G

y
z
_
,
u
z
= G

z
+ y
_
(17)
and we nd the separable approach function
u(x, y, z) =

(x)
M
(y, z) (18)
the unit warping function
M
is relative to the
section shear centre
In previous slides we used u(y, z) =

(y, z) as approach
function. (In the literature mostly
M
is used.)
Emanuel Bombasaro Preliminaries in Warping Torsion 22 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Warping Stressis

, Warping shear ow T

The warping stress

results in the case of restrained warping

with the help of eq. (18)

x
=

= E
u
x
= E

M
, (19)
because the constraint
x
= 0 can not be fullled any more.
The warping shear ow T

can be found
T

= E

_
A

M
(s)dA = E

(20)
by evaluating the equilibrium conditions d

t ds +dT

dx = 0.
S

is in analogy called warping rst order moment.

Emanuel Bombasaro Preliminaries in Warping Torsion 23 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Warping Torsional Moment and Warping Moment
For a general section we obtain with equation (20) and

M
=
_
s
0
r
M
t
(s)ds
M
Ts
=
_
T

(x, s)r
M
t
(s)ds = E

_
A
_

M
(s)
_
2
dA (21)
the integral is dened as warping second order moment I

, so we
can express the warping moment in analogue to the resulting
stresses
M

=
_
A

M
dA = E

_
A
_

M
_
2
dA = E

(22)
Emanuel Bombasaro Preliminaries in Warping Torsion 24 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Synopsis
Returning to the Lemma
M
T
= M
Tp
+ M
Ts
(23)
Primary Part; St. Venant Torsion
M
Tp
= GI
T

(24)
Secondary Part; Warping Torsional Moment
M
Ts
= EI

(25)
Dierential Equation for Torsional Load Action
M
T
= GI
T

EI

GI
T

(x)EI

(x) = m
T
(x)
(26)
Emanuel Bombasaro Preliminaries in Warping Torsion 25 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Example Elliptic Section
Shape Function
y
2
a
2
+
z
2
b
2
1 = 0
Stress Fucntion
=
a
2
b
2
a
2
+b
2
_
y
2
a
2
+
z
2
b
2
1
_
G

M
T
= 2
_
A
dA =
a
3
b
3

a
2
+b
2
G

comination with the stress function

results =
M
T
ab
_
y
2
a
2
+
z
2
b
2
1
_
and so

xy
=
2M
T
ab
3

z und
xz
=
2M
T
a
3
b
y. I
T
=
a
3
b
3

a
2
+b
2
The warping function results to =
a
2
b
2
a
2
+b
2
yz
Emanuel Bombasaro Preliminaries in Warping Torsion 26 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Special Case; Circular Section
with a = b = R, y = r cos
z = r sin we obtain

xy
=
xz
=
2M
T
R
4

r . I
T
=
R
4

2
The warping function results to
= 0 and so obviously no
warping!
Emanuel Bombasaro Preliminaries in Warping Torsion 27 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Special Case; Rectangular Section
We replace b with the half of the narrow side of the section b

and
we look at the limit b

/a 0
so
_
(b

)
2
z
2

, obviously

xy
2G

z,
xz
0 and with L = 2a und b = 2b

we obtain
I
T

Lb
3
3
.
The warping function results to yz and obviously warping
exists and the section values has to be corrected!
I
T
=
1
Lb
3
und
max
=
2
M
T
Lb
2
.
are depending on the relation between length and hight L/b of
the section.
Emanuel Bombasaro Preliminaries in Warping Torsion 28 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Dierential Equation for Warping Torsion Function (without
secondary shear deformations)
EI

(x) GI
T

(x) = m
T
(x) (27)
(x). . . torsion twist angle EI

. . . warping stines
GI
T
. . . torsional stiness (St. Venant) m
T
(x). . . uniform torsional
load
Dierential Equation for Second Order Bending (without
shear deformations)
EIw

(x) N
II
w

(x) = q(x) (28)

w(x). . . bending ordinate EI . . . bending stiness
N
II
. . . longitudinal force q(x). . . uniform distributed load
Emanuel Bombasaro Preliminaries in Warping Torsion 29 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Warping Torsion Bending Theory 2nd Order
Terms

Twist Angle w Bending Ordinate

Twist w

Angel of Bending Ordi-

nate
M

Warping Moment M Bending Moment

M
T

+

Torsional Moment R Transversal Load

M
Tp
Primary Torsional Mo-
ment (St. Venant)
N
II
w

2nd Order part of R

M
Ts
Secondary Torsional Mo-
ment
Q Shear Force
m
T
+
Sectional Torsional Mo-
ment
q Sectional Uniformal Load
M
e
T
+
Concentrated Torsional
Moment
P Concentrated Load
EI

Warping Stiness EI Bending Stiness

GI
T
Torsional Stiness (St.
Venant)
N
II
Longitudinal Force
Emanuel Bombasaro Preliminaries in Warping Torsion 30 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Warping Torsion Bending Theory 2nd Order
Equations

= M
Tp
/GI
T
w

= N
II
w

/N
II
(Identitie)

= M

/EI

= M/EI
M
T
= M
Tp
+ M
Ts
R = N
II
w

+ Q
M

T
= m
T
R

= q
M

= M
Ts
M

= Q
Dierential Equation
EI

GI
T

= m
T
EIw

N
II
w

= q
Boundary Conditons
Cradle Bearing
M

= 0, = 0
M = 0, w = 0
Fixing
= 0,

= 0
w = 0, w

= 0
Free End
M

= 0, M
T
= 0
M = 0, R = 0
Fixed Headstock
M
T
= 0,

= 0
R = 0, w

= 0
Emanuel Bombasaro Preliminaries in Warping Torsion 31 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Application on Elements, Example
m = 10kNm/m
l = 10.0m
E = 21 000kN/cm
2
= 0.3
Sections
I Prole Rectangular Pipe
h = 30cm
b = 20cm
t = 1.5cm
s = 1.0cm
Emanuel Bombasaro Preliminaries in Warping Torsion 32 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
0 1 2 3 4 5 6 7 8 9 10
20
10
0
10
20
x
M
T
s

[
k
N
m
]
,

M

[
k
N
m
2
]
Torsionsmomente


M

0 1 2 3 4 5 6 7 8 9 10
40
20
0
20
40
M
T
p

[
k
N
m
]
0 1 2 3 4 5 6 7 8 9 10
0
100
200

]
Torsionsdrehwinkel und Verdrillung

x
0 1 2 3 4 5 6 7 8 9 10
1
0
1

]
Figure: Condition Diagrams I Prole
0 1 2 3 4 5 6 7 8 9 10
0
0.5
1
x 10
5
x
M
T
s

[
k
N
m
]
,

M
t

[
k
N
m
2
]
Torsional Moment


M
t
0 1 2 3 4 5 6 7 8 9 10
50
0
50
M
T
p

[
k
N
m
]
0 1 2 3 4 5 6 7 8 9 10
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45

[
!
]
Torsional Twist Angle and Twisting
x
0 1 2 3 4 5 6 7 8 9 10
4
3
2
1
0
1
2
3
4
x 10
3

v
[

]
Figure: Condition Diagrams Rectangular Pipe
Emanuel Bombasaro Preliminaries in Warping Torsion 33 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Results
I Prole Rectangular Pipe
M

= 19.81kNm
2
M

= 0.00kNm
2
M
Ts
= 14.52kNm M
Ts
= 0.00kNm
M
Tp
= 35.48kNm M
Tp
= 50.00kNm
= 111.87

= 0.43

= 0.66

= 3 10
3
Emanuel Bombasaro Preliminaries in Warping Torsion 34 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Figure: Result taken from Fiedrich + Lochner
Emanuel Bombasaro Preliminaries in Warping Torsion 35 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.5
1
1.5
x
M
T
s

[
k
N
m
]
,

M
t

[
k
N
m
2
]
Torsional Moments


M
t
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
1.5
1
0.5
0
M
T
p

[
k
N
m
]
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
2
1
0

]
Torsional Twist Angle and Twisting
v
x
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0.02
0.01
0

v
[

]
Figure: System, Diagrams I Prole Section, Cantilever
Emanuel Bombasaro Preliminaries in Warping Torsion 36 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Forces and Stresses [kN/cm
2
]
Node a b 1 2 3
N [kN] 100.00 100.00
x,N
1.13 1.13 1.13
M
y
[kNm] 10.00 10.00
x,M
y
1.43 1.43 0.00
M
z
[kNm] 15.00 15.00
x,M
z
5.00 0.00 0.00
M

[kNm
2
] 0.10 1.50
x,M

5.13 0.00 0.00

M
Tp
[kNm] 0.00 1.03
Tp
2.87 2.87 1.91
M
Ts
[kNm] 0.00 1.03
Ts
0.00 0.17 0.00
[

] 0.00 1.49

[] 0.00 0.02

v
13.63 5.85 3.50

x
=
N
A
+
M
y
I
y
z +
M
z
I
z
y +
M

R
; =
Tp
+
Ts
(29)

v
=
_

2
x
+ 3
2
(30)
Emanuel Bombasaro Preliminaries in Warping Torsion 37 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
= 1.0 takes into account secondary shear deformations
Emanuel Bombasaro Preliminaries in Warping Torsion 38 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Emanuel Bombasaro Preliminaries in Warping Torsion 39 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Conclusion
If a section is not warping free both the secondary torsional
moment and the normal stresses due to the warping moment
has to be taken into account.
In addition the secondary shear deformations and shear
deformations may have to be taken into account.
When performing numerical computations, analyzations has to
be done with caution, because solving the dierential equation
can lead to wrong results and so structural failure.
Emanuel Bombasaro Preliminaries in Warping Torsion 40 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Cradle Bearing in Steel Structures
Emanuel Bombasaro Preliminaries in Warping Torsion 41 / 42
Introduction Assumption I Prole Section Derivation, Example Di. Eq. Element Design Conclusion
Handbook of Continuum Mechanics: General Concepts -
Thermoelasticity, J. Salencon, Springer 2001
Festigkeitslehre, 2. Auage, H. Mang, G. Hofstetter, Springer
2000
Baustatik Theorie I. und II. Ordnung, 4. Auage, H. Rubin
K-J. Schneider, Werner Verlag 2002
Schub und Torsion in geraden Staben, 3. Auage, W. Francke,
H. Friedmann, Vieweg 2005
Mechanik der festen Korper, 2. Auage, H. Parkus, Springer
2005
Vorlesungen uber Stahlbau. Grundlagen, 2. Auage, Kh. Roik,
Ernst & Sohn 1983
Emanuel Bombasaro Preliminaries in Warping Torsion 42 / 42