CONVERSION FACTORS FOR STRUCTURAL ENGINEERING OVERALL GEOMETRY Spans Displacements Sumiace area Volume: STRUCTURAL PROPERTIES Cross-sectional dimensions Area Section modulus Moment of inertia MATERIAL PROPERTIES 645.2 mm? 1 in? = 16.39 (109 mm? 1 int = 0.4162 (10% mm* Density 1 Ibfft? = 16.03 kg/m? Modulus and stress values 1 psi = 0.006895 MPa 1 ksi = 6.895 MPa LOADINGS Force to Farce Force to Mass Concentrated loads 1 ib = 4.448 N ib T kip = 4.448 kN 1 kip Density 1 ibjft! = 0.1571 kNjm? 1 tbr Line loads (linear density) 1 kfft = 14.59 kN/m 4 kift = 1488 kg/m Surface loads 0.0479 kN/m? 1 lb/ft = +.882 kam? STRESSES, MOMENTS Stress Moment, torque MISCELLANEOUS Energy Ternperature Linear Expansion Coeff. Acceleration of Gravity 7.9 KNirn? 1 kif? = 4882 kg/m? 1 psi = 6895 Pa 1 ksi = 6.895 MPa (MN/m? or Nimm*) 336 m-N force = 1.356 N - mor} (3.2) 5/9 = 18°C or kt 86 infsec? = 9.61 mjsec* heat2x2 Marain PAL = ay Cards Daz Iss ~ Aes Ase As Az ~ A Ag Dias Ase, - Gyy Gaz Matrix Invegsions [Al-= 7 a ay Os re ee area | TAL = Oy, Qa - Or Ges Oa, A Ay [A] =]a, au Oe Os, Asa Ons srs Qin Qsg Az Aes ~ Gee Us Qn 33 ~ 23 Qy 21 yg ~ Ay Aes Qs) iz ~ Qn Ase Wy Ger ~ Ai er QrzQs2) + G2 (Gs Os) ~ O21 G52) * Ory (Gay Ase - Ore Qa)INTRODUCTION TO MATRIX ALGEBRA DEFINITION OF A MATRIX. A matrix is a rectangular array of quantities arranged in rows and columns. A matrix containing m rows and m columns can be expressed as Am ] Aon Amt Am Aman imxn ‘The quantities that form a matrix are referred to as elements of the matrix, Each element of the matrix is identified with two subscripts i and j to designate the row and column location, respectively. Thus, the i,j element (or coefficient) of [A] is expressed as Ay with i= 1, 2, ....m and j= 1, 2, ..., n for m rows and n columns. This also defines the size of [A], referred to as its order, to be m xn, TYPES OF MATRICES Row Matrix ~ If all the elements of a matrix are arranged in a single row (ie., m= 1), then the matrix is referred to as a row matrix ot row vector. A row vector, denoted with angle brackets, ‘with n columns can be expressed as a fx} [ST fb} An important property of matrix inversion is that if [S] is symmetric, then [S]" is also symmetric, The simultaneous equations to be solved in connection with the force and displacement methods of analysis in this course will always be symmetric. ‘Transpose of a Matrix — The transpose of a matrix is obtained by interchanging its corresponding rows and columns. ‘Transpose of a matrix is usually identified by the superscript ‘T on the matrix, For example, consider [AJsu, the transpose of [A] is expressed as [AJ* and the elements of [A] are related to the elements of [A] as Au Ag tAl=] Ann Azz Ast Aaa tar e[An Az Ast An An Az, For a symmetric matrix [$]: SI (SI; es: ‘The transpose of a matrix product is defined as: (Al BY "= BI" A]? i (AI EB] (C) "= (CB) LAY Partitioning of Matrices ~ Partitioning is a process by which a matrix is subdivided into a number of smaller matrices called submatrices. For example, (Ale = [Asa] &‘Matrix operations such as addition, subtraction, and multiplication can be performed on partitioned matrices in the same manner as described previously by treating submatrices as cloments, provided the matrices are partitioned such that they are conformable. GAUSS-JORDAN ELIMINATION, Solution of Simultaneous Equations ~ The Gauss-Jordan elimination method is one of the numerous fechniques available to solve simultaneous equations, particularly for hand solution. Consider the following three symmetric equations: 4x t2mt0m=4 Qe tBu 2524 Ox) +2x2 74% =0 1 Calculations, To solve for the unknowns x:, x2, and xs; we begin by dividing the first equation by the coeflicient multiplying x1: x1 +05 x2 +0023 =1 2.0 x1 + 8.0 x2 + 2.0 x3 =-4 0.0 x1 + 2.0 x2 +4.0x3=0 Next eliminate x from successive equations by multiplying tow 1 by the negative of the multiplier of x; in the subsequent rows and add the rows together x1+0.5x2+0.0x5=1 7.0 x2 +2.0x3=-6 2.0 x2 +4.0 x3=0 X; Calculations Divide row 2 by the multiplier of xz: Xi + 0.52 70.0X3=1 x2 + 2T x 2.0% +4.0%x3 Next eliminate x2 from all equations by multi-plying row 2 by the negative of the multiplier of x2 in the all rows and add the rows together: Xi x3 Calculations Divide row 3 by the multiplier of x3: x 2 Next climinate x; from all equations by multi-plying row 3 by the negative of the multiplier of x3 in the all rows and add the rows together:x = 214 = 3 x =T=-1 wei The result is the sofution for xi, x2, and x3. Cheek: Axy+2x2+0x5=4(1.5)+2¢1)=4 => checks 1+ 8x2 +2X5= 21.5) + 8C-1) +2(0.5)=-4 = checks Ox) +2.x2+4x5=2(-1) +4(0.5)=0 = checks ‘When applying the Gauss-Jordan method, itis usually convenient to write the coefficient matrix [A] and the right hand side vector {b} as submatrices of a partitioned augmented matrix: [420 4] 2824 024 0} Perform all the calculations described above on this augmented matrix. xi CalculationsMatrix Inversion — Gauss Jordan elimination can also be used to determine the inverse of a matrix. You simply follow the Gauss-lordan process described above with the augmented matrix equal to the identity matrix. For example, calculate the inverse of the matrix used in the Gauss-Jordan elimination example above: 420100 Augmented Matrix=|2 8 2.0 1 0 024001 ‘Matrix Inversion Calculations 1 1 rho 100 ito jf 00 -1 s3~ 21 2 |; 072-51 03-0 12 -b Lo); 024001 024 001 at 1 & -f 0 ieee i “Ww o7 Of 0 Basie he MU 24 Therefore, wr ‘The unknown vector-{x} can be calculated using [A]" as {x} = (AT! {0} 3623 x 7-2 17/4) | #73 x2 “a2 4 2) 4h = j= % 12 7)le) |p h i nieUSERS MANUAL FOR PERFORMING MATRIX ALGEBRA USING MICROSOFT EXCEL PREPARED BY: TED VERST PREPARED FOR: DR. BLANDFORDMatrix Addition and Subtraction: ‘When adding or subtracting two matrices, the number of rows and columns of the matrices being added or subtracted must be the same. For example, an (m x n) matrix can only be added to or subtracted from an (m x n) matrix to yield an (m x n) matrix, To do this using Microsoft Excel: 1, Enter the matrix by assigning each number of the matrix to an individual cell in the Excel spreadsheet, For this example two (2 x 3) matrices will be considered. aaa 2.) Using the left mouse button, highlight the working space needed to contain the resultant of the matrix algebra. For this example, a (2 x 3) working space will need to be highlighted. —+ 3.) With the working space highlighted, type =(41:C2) +(E1:G2). Instead of typing in A1:C2 and E1:G3, the mouse can be dragged over each cell in each separate matrix to select the matrix. 9bMatrix Multiplication: ‘When multiplying two matrices, the number of columns of the first matrix must be the same as the number of rows of the second matrix. For example, a (m x n) matrix multiplied with To dol a (nx p) matrix will yield a (m x p) matrix. his using Microsoft Excel: L) Enter the matrix by assigning each number of the matrix to an individual cell in the Excel spreadsheet. For this example a (3 x 3) matrix and a will be considered. Poe io) ee ee 15) 7 8] 32) { 2.) Using the left mouse button, highlight the working space needed to contain the resultant of the matrix algebra. For this example, a (3 x 2) working space will need to be highlighted ft {| 3.) With the working space highlighted, type =MMuilt(A1:C3,E1:F3). Instead of typing in A1:C3 and E1:F3, the mouse can be dragged over each cell in each separate matrix to select the matrix. Ewnaaigar-c3 4) To obtain the result, first hold in the Contro! and Shift keys and then hit the Enter key. 9¢Matrix Transpose: ‘A matrix of any dimensions can be transposed. The transpose simply switches the rows and columns of a matrix. The transpose of an (n x m) matrix will result in an (m x n) ‘matrix. To do this using Microsoft Excel: 1.) Enter the matrix by assigning each number of the matrix to an individual cell in the Excel spreadsheet. For this example a (2 x 3) matrix will be considered, 2.) Using the left mouse button, highlight the working space needed to contain the resultant of the matrix algebra. For this example, a (3 x 2) working space will need to be highlighted. “| to 3.) With the working space highlighted, type ~Transpose(A1:C2). Instead of typing in A1:C2, the mouse can be dragged over each cell in the entire matrix to select the matrix, 4.) To obtain the result, first hold in the Control and Shift keys and then hit the Enter key. odThe inverse of a matrix can be computed provided the matrix is square (n x n) and nonsingular. The inverse of an (n x n) matrix will yield a (n x n) matrix. To do this using Microsoft Excel: 1.) Enter the matrix by assigning each number of the matrix to an individual cell in the Excel spreadsheet. For this example a (3 x 3) matrix will be 2.) Using the left mouse button, highlight the working space needed to contain the resultant of the matrix algebra, For this example, a (3 x 3) working space will need to be highlighted. aes ae pene | HE Peat [ 3.) With the working space highlighted, type =Minverse(A1:C3). Instead of typing in A1:C3, the mouse can be dragged over each cell in the entire matrix to select the matrix. 4.) To obtain the result, first hold in the Control and Shift keys and then hit the Enter key. ~ (0.205357; 09821 | 0.026786" [0.01191 0.107443) 0.08582: 70.58333[ 0.251 0.083333] i I 333 SeMatrix Determinant: The determinant of matrix can be computed provided the matrix is square (nx). The determinant of an (nx n) matrix will yield a single value. To do this using Microsoft Excel: 1.) Enter the matrix by assigning each number of the matrix to an individual cell in the Excel spreadsheet, For this example a (3 x 3) matrix will be considered, 2.) Since the determinant will always yield a single value, the working space needed will be a single cell, In the single cell type =MDeterm(A1:C3). Instead of typing in A1:C3, the mouse can be dragged over each cell in the entire matrix to select the matrix. 3.) To obtain the result, just simply hit the Enter key, There is no need to first hold in the Conerol and Shift keys and then hit the Enter key when computing the determinant.INDETERMINATE ANALYSIS - FORCE METHOD ‘The force ({lexibility) method expresses the relationships between displacements and forces that exist in a structure. A primary objective of the force method is to determine the chosen set of excess unknown forces and/or couples, which are called redundants. The number of redun- dants is equal to the degree of static indeterminacy of the structure. Once the redundants have been evaluated, the equations of equilibrium may be used to determine all intemal forces and moments needed in the design process. STATIC INDETERMINACY EQUATIONS The degree of static indeterminacy for a stable plane or space truss with m members and j joints is i=(m+1)~2j foraplane truss or i= (m+ r)~3) fora space truss and the degree of static indeterminacy for a rigid plane or space frame is i= Gm +1)~3j for aplane frame or i= (6m+1)-6j for a space frame where F is the number of support reactions and jis the degree of static indeterminacy. DESCRIPTION OF THE FORCE METHOD PROCEDURE 1, Determine the degree of static indeterminacy, A number of releases equal to the degree of static indeterminacy are applied to the structure, each release being made by the re- ‘moval of an external or an internal force, The released structure is referred to as the primary structure. The released structure must be chosen such that the remaining struc- ture is geometrically stable and statically determinate. In some cases the number of re- leases can be less than the degree of indeterminacy, provided the remaining structure can be readily analyzed. In all cases, the redundaat forces should be carefully chosen so that the primary structure is easy to analyze 2. The releases introduce displacement inconsistencies into the structure and as a second step these inconsistencies or “errors” in the primary structure are determined, In other words, we calculate the magnitude of the “errors” in the displacements corresponding to the redundant forces. These displacements may be due to external applied loads, set- tlement of supports, temperature variation, etc. are calculated using the method of vir- tual forces, 3. The third step consists of a determination of the displacements in the primary structure due to unit values of redundants (method of virtual forces). These displacements are required at the same location and in the same direction as the displacement errors de- termined in step 2 4, Values of the redundant forces necessary to eliminate the errors in the displacements are now determined. This requires the writing of superposition equations in which the ef- fects of the separate redundants are added to the displacements of the released structure, ‘The superposition of the displacements results in a set of'n simultaneous linear equa- tions (n= number of releases) that express the fact that there is zero relative displace- ‘ment at each release, These compatibility equations guarantee a final displaced shape faeconsistent with known support conditions, ie., the structure fits together at the n re- leases with no relative displacements. The n unknowns in the system of equations are the redundant forces and/or couples. Hence, we find the forces on the original indeterminate structure. They are the sum of the correction forces (redundants) and forces on the released structure RELEASES A release is a break in the continuity of the elastic curve. One release only breaks a single type of continuity, so that a release is not the same as a cut through the structural member that would break all continuity (axial, bending, and shear). Figure 1 shows several types of re- leases. Displacement Release Corresponding Released Force (@) Initially Continuous Segments (b) Angular Release (©) Lateral Release (@) Longitudinal Release Fig. 1 — Definition of Releases A special form of release is often utilized in the analysis of externally statically indeterminate structures, particularly continuous beams. This form of release is the continuity between the structure and the support reaction. In this case, it may be easier to think in terms of simply re- moving the redundant reaction.Table 10:1 Expressions for Internat Virtual Work epee reece te reece ence ree eC Virwal Real Internal Type of Force _ Displacement Virtual Deformation Component Component d Work =a x d Axial cep dala re xia fo Bax bax _ —M Bending bending do = Max fm ae Ef Ef . v Shear shear ¥ dy =h—~ ox GA Torsion® torsion 7 da =Z ox ors 01 z Where 3, Ti, @, = internal forces due to external viral force Abd geometric properties of structural element &G = material properties P, M, V, T= internal forces due to real load system x form factor to. account for variation in shear stress distribution (1.2 for a rectangular section, 10/9 for a circular section, and approximately 1.0 for a wide flange or -beam). See Roark (1965] “Torsional expression is confined to nonwarping cross sections such as a circular shape, RN. White, P. Gergeley and R.G. Sexsmith Structural Engineering ~ Combined Edition John Wiley & Sons, 1976Fig. 10.5 : Forms of internal displacements Virtual forces (2) Axial displacement Virtual forces: For 122i shear Vi: dys yds = Gden Qide (c} Shearing displacement, 10.3" INTERNAL VIRTUAL WORK EXPRESSIONS Viewal forces: aa([ [Js rl dem Real displacement Fer ral moment Mi doates | 1 Bending displacement. Virtual forces: A Goo ia | Real displacement: (—="0 For ral torqué Jods (or creuar sectons only) (a) Torsional displacement. RN, White, P. Gergeley and R.G. Sexsmith Structural Engineering ~ Combined Edition John Wiley & Sons, 1976.FLEXIBILITY COEFFICIENTS Displacement components D; at the i-th release caused by external loading on the primary structure are theasures of the flexibility of the structure, i.e., the more flexible the structure, the higher the value of the displacements. The primary structure displacements at the releases are related to the unknown redundant forces Rj via D; =f @) where fj is the displacement at release i due to a unit force in the direction of Rj at release js the fij's are called flexibility coefficients. Equation | is written in concise tensor notation where repeated subscripts imply summation over the range of values. For example, if a structure possesses three redundant forces Rj, Ry and Rs the expanded form of Eq, 1 is “Dy = fi Ri +fig Re +fi3R3 D2 = fy Ry +fyg Ro tha Ry (2a) Ds = fy Ri + faz Rg +83 Rg which is three equations in three unknowns, Equation (2a) can be expressed in matrix form as ~{D} = [FRY (2b) where {D} = " is the displacement vector at the released degrees of freedom; fir fio fis {R} = 7 is the redundant force vector; and [F]=| fa. fy) 3 | is the flexibil- ff fs. ity matrix, The flexibility matrix is square (3 x 3 for this particular example) and symmetric, Displacements at the primary structure releases are calculated in the usual manner using the principle of virtual forees, ie. Dj = [Bde + Jmidd + Jriay @) where subscript i is used to signify in the direction of R; at release i;d¢ = differential axial displacement, do = differential rotation displacement, and dy = differential shear displace- ment. The flexibility coefficients are computed using fy = +0) + Cywhere = axial flexibility influence coefficient = bending flexibility influence coefficient = shear flexibility influence coefficient Examples 1 ~4 deal with the use of the flexibility method for solving statically indeterminate beam and truss structures subjected to mechanical loading. NONMECHANICAL LOADING Structures can and generally are subjected to loadings other than the mechanical type of load- ing. Temperature, shrinkage, prestress, imperfect fit and support settlements are other types of load that a structure may experience. Any of these departures from the theoretical dimensions ina statically indeterminate structure induces stresses into the structure that are in addition to those caused by mechanical loading. The analysis procedure for incorporating nonmechanical loads follows the same procedure used for mechanical loading. Now the compatibility (superposition) equations must include the terms resulting from dimensional changes. These dimensional changes are in addition to the displacements caused by the thechanical loading on the primary structure. Letting Df’, D},...,D4 represent the relative displacements corresponding to release 1, 2, .... n caused by dimensional changes and support settlements, then the flexibility equations can be written as [F){R} = -({D}+{D4}) (6) Dimensional change displacements Dé are also calculated using the principle of virtual work. Carefull consideration on the signs of the D{* displacements is necessary. These change of di- ‘mension displacements are all relative displacements, as are all displacements corresponding to releases. They are positive when they are in the same vector direction as the corresponding release. STRUCTURE FORCES Once the redundant forces are calculated from Eq, (5), all other support reactions and internal member forces can be calculated using static equilibrium along with the appropriate free body diagrams. This is possible since the force method of analysis has been used to determine the redundant forces or the forces in excess of those required for static determinacy.Example | included such a calculation for the support reactions that were not redundant. Ex- amples 5 and 6 also include such calculations for statically indeterminate structures subjected to nonmechanical loading. DISPLACEMENT CALCULATIONS Displacements for the statically indeterminate structure can be calculated using the exact mem- ber deformations for a truss or exact shear and moment expressions along with the virtual force expressions on the primary structure, Fora truss structure, calculation of a joint displacement A using the principle of virtual forces results in 1ay- [Sona |+o4 Sn(Ee es isl FA il i +54 (6) where pj are the primary structure member forces due to the application of a unit virtual force at the joint for which the displacement A is desired and in the direction of A for the primary structure; 8; are the exact member displacements that are obtained for the statically indetermi- nate structure using the calculated redundant forces to determine all the member forces within the truss structure and initial member strain influences 6!" ; and 84 is the nonmechanical dis- placement at A. For a frame structure, in which shear and axial deformations are ignored, the displacements are calculated as idx + AS (Ja) mt 1a) = Dh fmp( Mis io (FRO J 1) (7b) where i), i? are primary structure virtual moments based on the desired displacement A or rotation 0; 8!" = distributed initial strain for segment I; and A“, 64 = initial displacement, rotation at the desired displacement A or rotation @, ‘The moment expressions Mj are exact based on the statically indeterminate structure subjected to the external loads with the redun- dant forces known from the flexibility analysis. Equations (6), (7a), and (7b) are correct only because exact real member forces are used in the calculation of the desired displacements, Examples 7, 8 and 9 illustrate the application of the virtual force method for calculating structure displacements, 16FORCE METHOD E 1. Caltulele He support reachions two span continucus beam. Moment. = Petmars Struc duce Ma) = whe - “%% for os ee 2h XKAMPLES for the 7 RL ae EI = constant Nirdual Moment rt 1 for osxsh Primary Structure Q = Ma&) De 2s. oo dx Uit Lead @ Release = BLOWN - MHI de 4 - se aer abel Coef Ficrent rl ty Pr MG HG dx = fer Selving for Ry * “De K&R BP R 2. Aye ce DA dx = Bul)Newitt Halted mani tercatiicct newecic, steer suppért reactions can be Surmply cbtatned Prom equilitriam Ghabies) , 1, ' w + 2O 4 _ 3h t Thro = Rt is fay at ATM 0 = 20R - A & sud Re 4 2 Rs Mh = duh R= 8% 2. Calculate the redundant forces for the structure shown in the figure w w eS oS =———3)® Lege pn Ra q EI = constant Stractare Redundant s Momerts Mu) = whe - for os xs 2h Roa) = -% for 0 Sesh Sarees fie ds xs2k Mor = “AL for osxs 2h | Primary Structure Displacements | 1 De AL Moo Mel dx = - Swh* Ageriia ; Be J, Hod MU) dx = fer Flewbilh, Coe fictents f= & Soman ax = Mer idee Cane 2h Sar f= ee SD Rad Mord, + oa Jf B66) Tiebd dx = - MAex cw 4 £. = ES eo me de = er Flexi bi lel, Equalions fe -Us {® aw a tte, “J a -2] “4 7 _ iter [78 See R WW” (My kh - 0 Ler {my : es) Feet he rephive Sign en Ra Simply Means we acsamed He sireng direction for Ra, ies, | Ri oels clockwise 3. Caleslate the bar farces far the Staecally indeferminate truss showa in the Pequee :Virdaal Forces St Primar Reduddant Forces 1 4 4s) 1 —=b 1 160 ue) ++P . I, for Ret Nirluol Forces fer Disolacemen Steuchure and Rea ea) (4) b= 23, = el +o + -sTP (ee) we ws} -Z2oep + co ) 7 a4} daa) = -A( = ca b2t 1) Do = Zp Yen = HCP to -2P Get) - PE +0) (e2) te) (ha) G@-4) 2h ¢ ens Nz) 20Flexibilihy Coe fficcents : Pl a ie a tamhed + #) ay Gay aay Gea = i Cie) (23) op 4 ese fie f= TAPE = CF tore B+ EZ) L a + Ge2) G3) (ieab (2-4) (34) fee Ate eee fF zB Me = Yea lteoregrtet) £ (ez) 3) G-4) (2-4) (3-4) alt 828 a2] {eI eek {za42] EAl4iz1 seal le eA |4ezeg | fk} fad | Fe Ry 0.828 | P ' gore | | | eee oe. P(t) } | : : | oe 2 | = o | = g | 3 g | Is | O.vTZP 4 | | | o.82aP Thuss Forces4. Sclve the cable force and plot the forces as a function of T/A. cable ri cece FA) de R, 4 4 t er A fA rh i— Pp Displacement ji d= St Roe we dk = eat x (-Pe) de = -Ptt /3Er Flexibi iby Coefficient t feo fh BY e+ 2p Bbe -& s wax + Veen lL. cable length - Ther + then Pi = 4 Flexibility —E quel on RR = =D 7 i = _GELA P Re A, ( Per ) = Le hae) Pp « NS ° [pm ° 1 2 3 4 s G Saad| aa 5. Caleslede the bar forces if bar 3-5 is subjected to a temperature cise of ST and bar 3-4 is Fabricated ose eng. | 3 Ss : s IN | is" | ee | 3@ 2'= 36! Primary Structire ¢ ra Zr tan os, : . t 1 eo 4 OreaRe tae aite co Ret | Bos epee =O Di = ZB, dk >- wet cz) + 4 ( of) = -72 oaT + ofRedundant Forces CFI{RY = -{p*} 1 f 36 aay eS o } EA} -a2 e912} | Rp TLaAT = ab i { *t i {eons aT - 0.00296 | “Le, EA Lo. 1064 a0T - 0.01478 oh Member Forces and Supoeert Reactions TReo > Wek ZM.70 > \, = O ZR 70 7 N, 32 0 Mv Vv, Etyso- Meee" =0 ee Wt ee ZFe 20 = HFF™ ZF Ee : 2 Pte = RB ‘ ee F5= Re FFs 0- FF + SPY en 3 a 2 Bs =e Re Shes -ie peer > FAs BER $ 3h" 0=-$e"- rt gre sees PM -APHs B po AN The =O -ie8 +3—* +F?5 > Fa 5 - 3 p34 =-2p, From Syumeby? E&2F&s 0 , FAs FY si riatielin oe!GB. Calculate Ke syppart moments for He Hiree span confine beam * wher suppert t is displaced vertical CE = Bo,cce ksi | need 5 = 360% 5 Te (440 int) RB & 23s 4 ED = consi Fe i x £ Di ae pipet x x g Be hae (oe ht Be Rote foe Lt ™, (x) mi, &) Primacy Struchure Displacements Do= 6, = Veour) = “feo. tad Dp = 8 =0 Ellexibilthy Coefficients f= J wo RVer dx + ai Re ) Fw BY a | = Wof“y + 2%y = 280/eq pee We) fee hie Jo mon SS dx = VEL i pizocit Ted) oe B= ee mo BE dk + (PP we BE dx a 240/er Redurdent Forces | Ce]iet= -it * Ir}= bssand (las wks") gigH= NW 1aBpi ld =" qexumye — (q= xR a> xu Gx— 4a umoys Sup: reunxay sdaquiaw oyewsid jo syuawacejdsiq B OXION3dd¥ SEIDEN - SuINEgEHY = CAFO HO} MON UHOLUIOM VOPLOT NOdsS N42 9 NOLWIG3 Hiunod HOVOWddY XIHLVW ONY T¥9ISSv19 GaIdINA SISATVYNV 1VYNLONULS(410.45) uoysuodxe fouveuy ¥ srennoea\| | se Stet eee shay 178, IAT 1B oy aaa ee eee el mo, Lm EOS 1a __ (eh + a gE my Ct ~ Deg = ree _ —_,___. eee Yo 4 y gl - don My Eee fhe — ong EE Ay ae ti aH i, ERE tly aN Hoy bab} iw : 94 SY3GW3N OLLYWSIud 40 SLNaWaOWIdSIC de, (re upeah rdidd =F fag (paxous) Buidses jo 129)/9) £9 SH3QWAW OLYWSINd 4O SINSW3OV1dSI0 9941, For the truss of example 3, calculote the verkica| displacement ot node 4 Ci.e., at the applied force P) p Primary Struckere Sabjeced to Unit! Virkiel Foree at Destred Displacement Redundant Shuclure - Bar Forces tdy tap ZRF L [ ae —osaoasY ‘+ -——-"> -£ C4 Come) + (-@) (-0.243 7g) De a4 ees Oo + 0 azeh)] + Glo) + Fong) + _ (0.172 + 0-486 40.172) Ay = 0-83 PL8 Calculate the displacement undey the i load P (EL= oe ies ee (aL ews Actual Struclive | Peimary Sin is as me eo Re aL AID, vp-F D:D. = 7 g g SRT AS ae a - exi bil ieley t 3 3 ' f= reser = Seer 3 : fy = !Awser = Acer 3 3 fire SYueer * eer ns fae f= “Aer Motrin Equations B / et wpe vex |i ole, VEL Rg efi > tate et * Flexibe a Neville (1$97) handout. | sHuckie w/ Redundants Primary Struchre Sulojecked unt al] load ~ displace ment, Caleulattons ace (8) = - "PE Ager rh hak : feted 4 fe fa feist Q ee 4 14 | 4 ualton coeffictents taken from Ghali and 39ort Reackion. Due to symmeby Vos Ve = Ya - “AG = —3Pu Moment Equakions ig Mls “FB (osxeL) ate Mose” arg ay, YL Mya) = - 228 + BP Ox) — a) Mats) Real Bending Momet Dia = & HEL a uP . 2 \o % Moy te (Lexa) S al im May = % (osxsar) oo Viclual Moment, Diagram hn Displacement Calculation u McK) 2 Mate) eA 2 J, Mo) “ep ax + af mo) ~SE- dx “& i (HL + (BV EF] tL ge ee Ore aa Yee we er 32 12 G4 12 G4 (-6 +128 - 132 -16 +33) 2p3. Calculate the interior support rotations for example problem 6. oe Q= 30' = 260" oe ee oe EX = constant BS et EG Sl Caleladed redundants Bi, 2, can be expressed as age ene <-$37=M<-1 Ys? 2 ee “ 81,000 ef et eee ye (ite ty er Real Structure Displ cxcements Pi mary Structure Displacements be rex Mh My 4 awe K Hex, of “yo ™M: Primar ay Skesctyge Villy Real SHuchure Moment Dignan ee Real Moment Equations TAY) t x a1 dee a EF) M.%) = 24 -m Pri Shuckere Virjual ; ‘ 7 Thomente “Viagror ‘re, x MOG) = SE (4 - 2s) i Nichual Moment. Eauations BE mC = 78 Primary a ure erly Wiel = “Yard Loaded for 1 Ta ;) fatal < -*/g amo ™ Fray Shrachee Yirlual Moment Diagram for milx,) = 1- “/Q zyNS MiGs) Mabe) ) _ dx + fii WG.) ee de + 8 aM xp 5x; _ 9X, s EL \ uf ae Be + t)dx + 8 = —™ («)/6 an (38, - a ae vee 25. +) [t +e = MS (445 = Ma (-3+% Seayet --M& 44 24EL k ei are 2°) mu cee og ul Ei,c00 (@24tt) _* 260 2700 Q =f Retr Made) gy [ritgy Made) ay 1-0, a Ne 4B) dx wi Ry = (SR) egy = wd + ML EL \wez ga == (362) eedForce Method of Analysis Equation Summary Redundant Force Calculations (FRY = —({D}+{D4}) @ [F]= symmetric flexibility matrix calculated in terms of the structure redundants for the primary structure ffi fig oe fin a {far f22 fan for fn2 fat n= number of redundant force degrees of freedom = degree of static indeterminacy fj = displacement at redundant degree of freedom (dof) i due to a unit virtual force at redundant degree of freedom (dof) j arap aes sya ape ee + @ a= [5 za = axial flexibility influence coefficient 2a) a = [im Tes ve = bending flexibility influence coefficient (2b) dx = shear flexibility influence coefficient (2c) "GA, (x) {R} = vector of redundant forces at the released degrees of freedom {D} = vector of primary structure relative displacements at the released degrees of freedom due to mechanical loading eee M ax + fi Srmagt +f El(x) = isth released dof displacement; P = real internal axial force; M = real inter- nal bending moment; and V = real internal shear force v aw* @ dx + f{D4} = vector of primary structure relative displacements at the released degrees of freedom due to non-mechanical loading Fide + fri do+ fi dy i-th released dof displacement @) 4 = differential axial displacement do = differential rotation displacement dy = differential shear displacement Structure Forces Once the redundant forces are calculated all other support reactions and internal member forees can be calculated using static equilibrium along with the appropriate free body diagrams, Alternatively, you can express the desired actions A; (ie., support reactions and internal ‘member forces) in matrix form following the usval superposition process of the force method of analysis: {A} = fAp} HIALIRE 6) where {A} = vector of desired forces and moments for the structure excluding the redundant forces; {Ap} = {A} for the primary structure; [A,,] = desired forces and mo- ments for the primary structure subjected to unit values of the redundants, i. the i column of [Ay] = (Ay); = (Apllp, 3 and {R} is the vector of redun- dant forces calculated using equation (1). Displacement Calculations Displacements for the statically indeterminate structure can be calculated using the exact member deformations for a truss or exact shear and moment expressions along with the virtual force expressions on the primary structure, For a truss structure, calculation of a joint displacement A using the principle of virtual forces results in Bog gate Sa (ALi, pint |, 90 1A)= 35, +5°= Y p++ 5 +5! ist ist LEAL where p; are the primary structure member forces due to the application of a unit virtual force at the joint for which the displacement A is desired and in the direction of A for the primary structure; 8; are the exact member displacements that are obtained for the statically indeterminate structure using the calculated redundant forces to determine all the member forces within the truss structure; 8/"" are the 24.member displacements due to nonmechanical member loading; and 8° is the nonmechanical displacement at A For a frame structure, in which shear and axial deformations are ignored, the displacements are calculated as ) me eA + xi Vee 1@= > Jim? gets dx +08 0 iH / jel 4 where mf, m® are primary structure virtual moments based on the desired displacement A or rotation @; xj"" is the initial member curvature caused by the nonmechanici member loading; and A4, 64 = initial displacement, rotation at the desired displacement 4 or rotation 8. The moment expressions Mj are exact based on the statically indeterminate structure subjected to the external loads with the redundant forces known from the flexibility analysis. Alternatively, you can express the desired displacement calculations also in matrix form fol- lowing the usual superposition process of the force method of analysis: {A} = {Ap} + [Fa {R} (6) where {A} = vector of desired displacements; {Ap} = veetor of desired displacements for the primary structure for both mechanical and non-mechanical loading; and [Fy] = matrix of displacement influence coefficients at the desired displacement loca- tions due to unit values of the redundant forces {R}. Stated mathematically, the coefficients of [F,] are fo) which simply states that the displacement influence coefficients equal the displacement at de- sired displacement i on the primary structure due to a unit force at redundant j ‘on the primary structure, 3sInfluence Lines for Statically Indeterminate Structures In these notes, we will utilize the force method principles developed in the last chapter to caleu- late and construct influence lines for statically indeterminate structures. Recall that an inl ence line is a graph of a response function of a structure as a function of position of a down- ward unit load moving across the structure. Thus, calculating the response function values simply involves computing the values of the desired response function(s) for various positions ofa unit load on the structure: Constructing the influence line(s) simply involves plotting the calculated values. In CE 382, we produced qualitative influence lines for statically indetermi- nate structures using the Muller-Breslau principle. Unlike statically determinate structures in which the response function influence lines are piecewise linear, influence functions for statically indeterminate structures are piecewise cubic for piecewise prismatic beam members. This is based on the solution of the differential equation 4 noty o (0) where uy = transverse beam displacement, ‘Truss structure members remain piecewise linear since the governing differential equa- tion is at © i where tt, = axial truss member displacement. Beam and Truss Influence Lines Consider the continuous beam in Fig. 1(a) ~ calculate and draw the influence line for the re- Gundant vertical reaction at B. NOTE: Once the redundant force(s) is (are) known, the remain- ing forces can be obtained from static equilibrium. The influence line for the reaction B, requires that we calculate B, as a function of the unit load position x. Using the force method of analysis: a) where flexibility coefficient fx denotes the deflection of the primary structure (beam) at B due to aunit load at X (Fig. 1(b); and flexibility coefficient faa denotes the deflection at B due to a unit value of the redundant B,,s+ f= —— + t t Ay B, So (a) Indeterminate Beam 1 Age SS ae (b) Primary Beam Subjected to Unit Load + agg +5 1 (©) Primary Beam Loaded with Redundant B, ic e D (a) Influence Line for B, Figure I. Influence Line Construction for Single Redundant DOF Beam An efficient procedure for the solution of (1) involves using Maxwell's Law of Recipro- cal Deflections, i.e. the deflection at B due to a unit load at X must equal the deflection at X due to a unit load at B. For our problem, this is stated mathematically as fx = fxn. Thus, (1) can be rewritten as 2) ‘which represents the equation for the influence line for B. We only need to determine fxn and Equation (2) is more convenient that (1) since (2) shows that the unit load only needs to be applied at B on the primary (statically determinate) structure and the corresponding dis- placement is calculated at X. Closed-formed solutions of (b) for a number of statically deter faaBENDING MOMENTS, SLOPES, AND DEFLECTIONS OF BEAMS UNDER VARIOUS LOADING CONDITIONS. ‘eam, tsding and Equations fo sope Bean outing, and Equations or lope Bending amen Diagram and Delton Bending Moment Baga hed Detection tes r——| 0= GU 8 = fib 3a aesult-g)minate structures subjected to point loads are included in your notes. Also, refer to the table solutions included in your force method of analysis notes. The influence line of Fig. 1(d) is obtained by plotting the solution of (2) for various values of X; ordinates = -Fs/fap, The influence liné equation as represented in (2) shows the validity of Muller-Breslau’s prinei- ple: The influence line for a response function is given by the deflected shape of the released structure due to a unit displacement (or rotation) at the location and in the direction of the response function. The ordinate of the influence line at any point X is proportional to the deflection figs of the pri- ‘mary structure at that point duc to the unit load at B. Furthermore, this equation indicates that the influence line for B, can be obtained by multiplying the deflected shape of the primary structure due to the unit load at B by the scaling factor -1/fas. Consider next a beam structure with multiple degrees of freedom as shown in Fig. 2. The pro- cedure is the same you simply have more redundant degrees of freedom. In Fig. 2, the vertical reactions at B and C are taken to be redundant forces leading to the equations, fax + fgpBy + fgcCy = 0 3 fox + fepBy + focCy =0 ® Using Maxwell's reciprocal principle, (3) is rewritten as fxn + fppBy + facCy =0 ‘XB ‘BBO y chy ( fxc + fepBy + focCy =0 which facilitates the solution of the problem. Thus, the unit load needs to be placed succes- sively only at points B and C and the deflections fxg and fxc at a number of points X along the beam are computed. Procedure for Analysis Determine the degree of static indeterminacy and select the redundants. . Solve the redundant equations using Maxwell’s law of reciprocal deflections. Select a number of points along the length of the structure at which the numerical values of the ordinates of the influence lines will be evaluated. 4, Once the influence lines for the redundants have been determined, the influence lines for other response functions can be generated using static equilibrium, 33D t Py, eee ae ALE : NN Sox | i te - Te pa 7 Joa lig ~~~. Dp ALS ¢é Cc oe i (c) Primary Beam Loaded with Redundant B, i --- Bo. ae bc Sa B (d) Primary Beam Loaded with Redundant Gg Figure 2. Influence Line Construction for Multi-Redundant DOF Beam 40re annus Examere 14.2, Draw +he beam reaction influence line diagrams. Foo Dy * fac Gy + Sy 7 0 Seo Dy a fea Gy + Sox 2 0 Sp = wee CS) CANUY) _ ue, we WN LN eee >&-M@a- = 2812.5 kN /LN er gf a aq (3b-u) a 1" = 3.000 m?-kN/EN EL fet Say = 2 = - OK - aw ba 7 he = i nan.s {mt E BE Laers 0 | Gy i \ ~ ex (4? - 38) - aq (8 - 34) €) L~ ism—sle— 15m ft 7! 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CA le I gk ae SI ts so fs st se se | Re Re Re Ro Mas -Ma® = -39.1 Fb-kips Ra = Sam = 13.305" BEM = © = -2os8® 4 score) + mewn” ' ‘ = 3a.q15* [ > nstase =~ (3.44) 44.9 iv Neack Rp = -Se? = ~4.98 Mo = Me” = 24.5 FI AzeS = 0 = SB -rsG0) - se? > SE? = 15.545 -30 = -16.638' DEMS = 0 = - 20 SE +3000) + MES - MES => SK = 2fs00 +u.8 - 49] = test Aamo s 02 Si -30-s8 > sé DEME-0 = 1558 +m EME > sshs ts Go pzas) = ak b-kips 53pea vp se errata PTO) ea | Wetavig, LNEWOW, ONIONSE, ween ' tee bgt : , 3 s : wre arse e were yereonig Boa waKS its ier we i sete 5 cS hat © | ® Bee ae ™\ were = 7 | i | | | | WETS Sener = vas.285 a ty é OnE wean = Bey oy 2 2y de 0 WR oy ty & one WR Sy OAs (s)ceNar = Be) = OF WEE % woe 5 =I) wassaet & 0: faz WES S (Se Lae oy TS ET Sams my = (ZS 4 MSO = Of WZ by ms nro) Wein Were ye TS 6 0-4 WETS RUPE © nz a vs, wrauee eI) ae Bee mere Gaeta eet teat wees ef)WYRE ABNOVA) OHEEG, nrware Sy > Mh = PAA tA) JA = PG 55oy wwasvic] ANBROYA) ONIONS, Nise Nicwope> 0 By = MES = 0 by a) > He = Mia) (oer Phd HE = HEN TR the 2 PH % Pee PANE Te aaa anh mp ay ene pesca ap -wia[qoad oydurexo Sui mojfoy ou UL UASOYS se ‘our & Jo 1UIOf & 0} payouts aq Ae sroquIoUT ony weM) o10ur FaAsMOR] “sisKyeuR wag snonuTUOS 01 sEPRUTS sy Avasapls oyN soe Jo siscpeue aU, ABmsapig NOY sauTLLy Jo siskyeuy 56960 cou d4-25 AEH = PEA) e992 ox or Be Oban) M92 = We Om PZ ota = SVMZOWIG_ LNBMOY) gNIANEG ane r geysers |e spew ord We [is Bee r~ Fae ang- hey fre a Prd fara wer faa was ‘LE- ‘LE aarg-huegy fora ara| emma OR Gi Bras gear pes otal Te te 10 eee shai sue 2 y+ Pwa «Ppa Fre Ey a Py ny, = AC Of = Ye F 2 OA Mee Yon > A = PYey = A 51 te st ab adyyers oF“synsar quowrow jo uonisodiodns & Ajduns st stsApeue simp yep sous (9) ‘by ‘y quowsoyjdsip Aems 01 anp “o'r “y ao70j Sems paoue -Tequa oy 01 anp JA Jo onyea parenoyeo xp siuososdon LUA pue ‘siskpeue Keais-uou vw oy Jl PUOUIOM Jo ones paiejnoleo amp siuosordox Oyy ‘ommonns oxp soy quowoU! pus roquour jeaidy pansop ou syuososdos Pay oxaqan o w+ OW =" sv possoadxa 0q uvo suonenbe at ‘souresy A108 affs 1044 -paayos aq 0} (soL10ys Jo Joquinu 24) 0} yenba) suogenbs snooueypuns Jo wiersAs |]oUIs Bo} spea] pur au eye Ar0is ovo quowesetdsyp sens 8 yo uon;sodun aug axmnbos saskfeur mwenbosqng “porous ame syuawooeydsip Aemsaprs amp yey) sueawr yonqas ‘Kems ynoypia sisKyeue oumesy uo poseq st siscjoue ISM eq, ‘sosKqeue uonnginsip jowou ajdqynu somber amy snoraasd oy) UF UMOYS oUMEE AvALS oup Jo sISKpoUR ON, a 6 susan Oe = orestes AnIgey ox paafang eu () / / / Pi | > Fe br suai, suamioyy OW SIERO wor paelqns sumery (2) -~ patwansig Aemeopts tim ouresg (q) surg renasy (e) y OG 7 OG 7 | | | | - / . / / / / / t f i i \ i a , \ esata, Fr Fe} Tritt bey * Fed “KeMsaprs TIM soureyy sv oy Paniojar Auouruos ow sous yorig “wnouyt are yey suone[suea pus suonejox Yiog oBrapun Kear symtof asoma soumeyy o7Aqeue 0} uORNAINSTp wowoU Kidde ay ‘Honses SMP UI “o19z 10M sO am Jo suoneTsUEN ay} yoy Ur samyonns Jo sisdjeue atp posapisuco aavy am “wey snp Avasoplg YIM saurery Jo sIskeuy 1-9°¢]wo eva (Ft ve | (anor) 41-25 061 = Yay = BDA fempepapem) deeapost = Yyeayz + Yam = OMNES 09:0 5 SY gy = MEE (Ovo = SIL, = IE sr0.° rag Ge OM, 2 Mag Seo = OH, 2 AD ores #Y%,, «Bue foro~ 5%, = Mae Se) EHP Oe He = 7H Ore he = PY OX. OY, = AY OTe He a MY OT he PY 5 a (Me) 2 BSS PPL | — 198 ——>| aanporags aieuy vanh ayy 30} sguowou ase! ay aprdwos of oenpaood woymquisp qawow ay ae) “ynsax parisap aqp st yoryan @) Ow (2) + OW =W saard (9) by oyur (p) “by Sunansqng } ©) Ow —=% Wy tw se Oyy 01 parejar are Wpy suo -ow ayy ‘Opy se O 01 Smpuodsaxios sprawowr ayy Sur -Uyjoq{ ‘paurunTerap oq wea } apnyruGeur asuoy ou ‘yy 103 parajduioo st stsXjeue uormquisip jueuIow ay) 209 ‘OD sougy JosOw] WAIN we Aq pasned st Vy woUsdvjdstcy ‘apeur st ,V ssond v ‘umouyun sty a0r0y AeMs poouR ~lequn oy Aq pases y imomooedsip keas oy) o0u15 BD" conryorer | Member End BA BC co De_veE ee “__DBTAL 7 rey Fem 40.0 ao Didnt cea 1 SO. “GO Dichibade, 1.8 re ss| Diekibbe sos | Final End Moments thatthe wo lit35 zaaclam as Qe Mae Het Re = Hg + HREM, 4 BUH, = 2943 AP vo p93 . i be 1 7 i Me pas Ce ade jane 6 si conyouer : —_—_* Member Este BA 8c eo co ve oe Fe ne ¥ | [vs] fv) [ap [eq TE 150. =150 . ae ietilte =0| - irs obo | os The? Mea" 7 so, \ 18.6 PS aad 18.8 ans Mag= teat 9 | Distabate onal “5. Tao | ns ye =n 1 Soe sas 7* Dat] Ta 7S S5R] we sh sul aise yg na] 27 | es ye -vaslenas 1 SO. ons 7S =e] % Das] 4.85) | pisktnde sons | cia] os| “eae pelos Fiwléd Moved: ston bout, camel coals atl ss sf 3 ‘3 S = ee qe ny Qa 4 | Ha. porta he ia | uy. | rie | Vay He Yelle EU, Ve 4 = et dl ie Hye "My He = BeAsAle Dh o PS V= Zo HA He “He = 6st = hoa *Final Moments Member Mo. Ma R/Q__|_R/Q*Mqg | Mot R/Q*Mg Mao 0 0 7.00 0.00 0.00 Maa -104.1 7.26 700 | 50.84 53.26 Mac 104.1 -7.26 7.00 -50.84 53.26 Mo -137.2 -6.95 7.00 -48.67 -185,87 Mee 94.4 14.90 7.00 104.35 198.75 Mic 47.2 19.45 7.00 136.21 183.41 Meo 42.8 -7.95 7.00 55.67 “12.87 Moc 14.1 -9.26 7.00 ~64.85 i -50.75 Moe “14.1 9.26 7.00 64.85 50.75 Meo 0 0.00 7.00 0.00 0.00 61Flexibility and Stiffness Methods Comparisons' The flexibility (force) and stiffness (displacement) methods represent two basic procedures that are used to analyze indeterminate structures. Recall that in the flexibility method of analysis the relationships between displacements and forces are used to establish equations in terms of the chosen set of excess unknown forces and/or couples (redundants), The number of redun- dants is equal to the degree of static indeterminacy of the structure. Once the redundants have been evaluated, the equations of equilibrium may be used to determine all internal forces and moments needed in the design process. In the stiffness method of analysis, we write equilibrium equations in tems of waknown joint (node) displacements. The number of unknowns in the stiffness method of analysis is known as the degree of kinematic indeterminacy. One major advantage of the stiffiess method of analysis is that it eliminates the need to select redundants and a released (primary) structure as iis the case for the force (flexibility) method of analysis. The characteristics of the two methods will be illustrated dn the two bar truss shown in Fig, 16.1. Figure1 6.1: Two-Bar Truss Example Problem Example Problem Solution Using Flexibility Method of Analysis Choosing the horizontal reaction at joint (node) 1 as the unknown, the force method of analysis produces: fF) =Dy att EA; Ep Ap = 0.0lin/kip + 0.0125in/kip = 0.0225in/ kip PL, __-30(150) = = 30(0.125) = 0.375in BA) — 20,000(0.6) " Most of the material is taken from Leet and Uang (2002), Section 16.2. ©_ 0375 fir 0.0225 Support reaction F2 is obtained from equilibrium to give YF, =0=-F,+30-F, => F, =13.333kips F,= = 16.667kips ‘Example Problem Solution Using Stiffness Method of Analysis Ot Or ge Forees Figure 16.2 ~ Stiffness Analysis Components for Truss of Figure 16.1 ‘The structure of 16.1 will now be analyzed using the stiffiness method of analysis. Since only node (joint) 2 is fice to displace, the structure is only kinematically indeterminate to the first degree. Under the action of the 30-kip load, node 2 displaces an amount dy which means that member 1 and member 2 must also experience a displacement of uh = uf = dy due to dis- Placement compatibility. The notation uj" defines member m displacement j. Using the force- displacement relationship = Au=kAt Qu Aus kau (Q= member axial force; Aus change in length of the member; and k = member stiftness coef ficient) on members | and 2 leads to Ay E,A; Ob = FA (oh ul) = FHA oh =a =F} = Khy v} = 100d) 63E3A) QP = 2 (uf 8) = kf uP = FP=Ki vp 80d) where Q™ = local coordinate member force for degree of freedom i of member m; F/"= global coordinate member force for degree of freedom i of member m; kf" = the local coordi- nate ij stiffiness coefficient for member m; K's the global coordinate ij stiffiness coefficient, for member m; u” = local coordinate displacement at degree of freedom j for member m; v ; i = global coordinate displacement at degree of freedom j for member m; and dj = structure dis- placement at degree of freedom j. ‘The i, slifihess coelfcient is defined as: The ij stiffness coefficient is the force at kinematic degree of freedom i due to a unit displacement at degree of freedom j with all other displacements equal to zero. Using horizontal equilibrium at joint 2 gives Dr =0- = (100 + 80)d, = 30 Sud =P BR _ 30 MS 80 Fi +30-F? 1667 in, where Si = ij structure stiffness coefficient; and Pj structure force component at degree of freedom i. Now that dj has been calculated, the truss member forces are calculated as Q) = Fy = Kby v5 = 100(0.1667) = 16.67 kips Qi =F? =Kfiv} = 80(0.1667) = 13.333kips Joint equilibrium at joints 1 and 3 gives meFl= 16.667 kips F=Fp= ~13.333kips which matches the results obtained using the flexibility method of analysis,Introduction to Stiffness Analysis The stiffiness method of analysis is the basis of all commercial structural analysis programs. The focus of this chapter will be development of these equations that only take into account bending deformations, ic, jgnote axial member deformations, Within the assumptions, the stiffness method for beam and frame structures is “exact”. In the stiffness method of analysis, we write equilibrium equations in terms of unknown joint (node) displacements, The number of unknowns in the stiffness method of analysis is known as the degree of kinematic indeterminacy, which refers to the number of node/joint displace- ‘ments that are unknown and are needed to deseribe the displaced shape of the structure. One major advantage of the stiffness method of analysis is that the kinematic degrees of freedom are well-defined, Definitions and Terminology Positive Sign Convention: Counterclockwise moments and rotations along with transverse forces and displacements in the positive y-axis direction. Fixed-End Forces: Forces at the “fixed” supports of the kinematically restrained structure, Member-End Forces: Calculated forces at the end of each element/member resulting from the applied loading and deformation of the structure Stiffness Analysis Procedure The steps to be followed in performing a stiffness analysis can be summarized as: 1. "Determine the needed displacement unknowns at the nodes/joints and label them dy, a, ..-» dy in sequence where n = the number of displacement unknowns or degrees of freedom. Modify the structure such that it is kinematically determinate or restrained, i.e., the identified displacements in step 1 all equal zero. Calculate the member fixed-end forces in this kinematically restrained state at the nodes/oints of the restrained structure due to the member applied loads, Tables of ‘member-end forces due to member loads for the kinematically restrained members are available later in these notes. The member-end forces are vectorially added at the ‘nodes/joints to produce the equivalent fixed-end structure forces, which are labeled Pg for i=, 2, ....1 later in the notes. 4, Introduce a unit displacement at each displacement degree of freedom identified in step 1 one at a time with all others equal to zero and without any loading on thestructure, ie. d)= 1 with diy... dis dts oda 0 for i= 1, 2, 5. Sketch the displaced structure for each of these cases. Determine the member-end forces introduced as result of each unit displacement for the kinematically restrained structure, These member-end forces define the member-end stiffness coefficients, Le., forces per unit displacement. The member-end stiffness coefficients are vectorially added at the nodesjoints to produce the structure stiffness coefficients, which are labeled Sj for i= 1, 2, ...,n and j= 1, 2,...,n. 5. Eliminate the error introduced in step 3 to permit the displacement at the nodes/joints ‘This is accomplished by applying the negative of the forces calculated in step 3 and defines the kinematically released structure, 6. Calculate the unknown node/ joint displacements, 7. Calculate the member-end forces. ILLUSTRATION To illustrate the stiffness method of analysis, we will first consider continuous beam structures. Start off by considering the two-span beam shown in Figure 1. q EI = constant [7 Figure 1 - Two-Span Continuous Beam 1: Deter ‘The only unknown node/joint displacement occurs at node B and it is a rotational displacement. Thus, the rotation at node B is labeled 4). the degree of kinematic indeterminacy. 2: Kinematically restrain the structure such that the displacements identified in step 1 equal zero. q c A Li. Figure 2 — Kinematically Restrained Two-Span Beam of Figure 1‘The heavy vertical line drawn through the horizontal roller support at B signifies that node B is “fixed” against displacement. Thus, the rotational displacement d; = 0 for the kinematically restrained structure of Figure 2, Calculate the elemenimember fixed-end forces for the kinematically restrained structure and vectorially add to obtain the fixed-end forces for the structure, Figure 3 ~ “Fixed-End” Forces for the Kinematically Restrained Two-Span Beam of Figure 1 Since span element (member) A-B is not loaded, it will not produce any fixed-end forces. However, element (member) B-C is loaded and the “fixed-end” forces are labeled in Figure 3. They are simply the support reactions for the “fixed-fixed” beam. Calculate the fixed-end forces for the structure by vectorially adding the member-end fixed-end forces. 12 Figure 4 — Joint Equilibrium at the Kinematic. aoe Degree of Freedom for the Restrained ‘Two-Span Beam of Figure 1 Puc, = Figure 4 shows that SM=0 >Pyp = 7 2 Pr is drawn counterclockwise in Figure 4 since our sign convention is counterclockwise moments are positive. Impose a unit displacement at each kinematic degree of freedom (DOF) to establish the structure stiffness equations. ol4B 4BI _ L 7 L vv ve 2 Figure 5 - Kinematically Restrained Two-Span Beam of Figure 1 ‘Subjected to a Unit Displacement dy = 1 Figure 5 shows the displaced shape of the two-span beam for d; = 1 as well as the displaced shapes and member-end stiffitess coefficients for the two elements comprising the two-span beam of Figure 1. Member-end stiffness coefficients are defined as the member-end forces resulting from the imposition of the single unit displacement for the structure as shown in Figure 5. Derivation of the member-end stiffness coefficients (forces) shown in Figure 3 and others will be covered later in the notes, ‘The structure stiffness equations are expressed as [S] {4} = €P} - {Pe here [8] is the structure stiffiness matrix; {d) is the structure displacement vector; {P} is the applied structure concentrated force vector; and {Ps} is the structure fixed- end force vector caleulated in step 3. The applied structure concentrated foree vector {P} lists the point forces for each structure displacement DOF. It contains nonzero entries only at the displacement DOF where a point force or moment is applied at the corresponding displacement DOF. ‘The structure stiftiess matrix coefficients are obtained by performing equilibrium at the nodes for each structure DOF using the member-end stiffness coefficients. These structure stiffness matrix coefficients are designated as Sy and i= 1, 2, nandj=1, 2, ye Sij = force at displacement DOF i due to a unit displacement at DOF j (ce., d)= 1) with all other displacement DOF equal to zero(ie. dj= 0 for .j+1,...,). Stiffness coefficients have units of force/displacement (or moment/rotation). The structure stiffness coefficients are obtained by performing equilibrium calculations at the structure displacement degrees of freedom. For the example structure: {d} = {d)} = d) => unknown {P}= (}=0 {P= {Pa} =aL712 Si EI 7 oN 4El | Figure 6 — Equilibrium at Kinematic DOF 1 for UC Bye the Two-Span Beam of Figure 1 8 Performing node equilibrium at displacement DOF 1 gives (see Figure 6) gives Su = GEML)*® + 4B)" = sEVL 5: Eliminate the error introduced in the kinematically restrained structure: S]@=P)- (9 6: Calculate the unknown structure displacements (a) = IST" GP} ~ (Pa) For the example structure: d) = L/SEI (-qL7/12) = -gh/96EL 7: Calculate the member-end forces, Be Me ry "¢ b e > L | : Figure 7 ~ Member-End ve.Ve veVe Forces and b = beginning joint/node Displacements = end jointinode 9The beam member stiffness equations can be written as (Qohact = [Kpplaxa Ma}axt + (Qp}axr i) {Qp}ar= My Ve My >" =member-end force vector {Qto}a = Mg Vie Mg >" =member fixed-end force vector ‘The member fixed-end forces are defined as {Qy} = {Qp} for the kinematically determinate beam subjected to member loading {Us}aa=7 ~member-end displacement vector 120 6L -12 6L thea) = 2] © 42-6. 2? be Bl-12 8b 12 -6L. oL 2? -6L 417} = member stiffness matrix kj = i, j member stiffness coefficient (i= 1, 2, 3,4 and j= 1, 2, 3,4). The ij stiffness coefficient is defined as: ‘The ij stiffness coefficient is the force at kinematic degree of freedom i due to a unit displacement at kinematic degree of freedom j with all other displacements equall 10 zero. The element/member fixed-end forces are defined as {Qr} = {Q} for the kinematically determinate/restrained beam member subjected to member loading. The member-end stiffness coefficients kj (=i, j member stiffness eoefticient for 2, 3,4 and j= 1,2, 3,4) is defined as: The i, stiffness coefficient is the force at kinematic degree of freeciom i due to a unit displacement at Kinematic degree of freedom j with all other displacements equal to zero, ‘This statement on the stiffaess coefficients can be expressed mathematically as Kyo, = Qu], Withall other up, =O fork #j Equation (1) can be expanded to ToVi = UE (vy ve) + E85 +06) + Vip (internal shear at beginning node b of the element) = SE (vy Ve) + E20, +6.) + May (infernal bending moment at beginning node b) ~ BEL (vy ve) ~ SE(Pp +80) + Vie (internal shear at end node ¢ of the element) My = Shiv, ve) + 2EL@, +28,) + Mee (internal bending moment at end node e) In order to apply equation (1) to the calculation of the element end-forces, compatibility between the element displacements u; (i=1, 2, 3, 4) and the structure displacements d; ( 1,2, «+p t) must be established. Compatibility relationships for the example beam: 088 @BC = dy; and all others = 0 £0}? = (0); (Qu) °° = gL2 <1 L/6 1 -L16>" Since only one displacement is nonzero for each member, the member end forces are fe ale fQy*8 = the = 1‘Typically with structural analysis problems, itis desired to draw the shear force and bending moment diagrams, which for the example structure is given below. SFD al? 48 -al? BMD 24 Sql? 48 ~tw. MeGure and RH. Gallagher, Matrix Structural Analysis, John Wi'ley and Song 1999 Figure 5.6 Contsuous beam—intrmediate load. ” q elie F a Petersen Rnd gg a20t 9,204 =0 eg Ber a + NN = =a DeRected structures: fe ty ~ oe () Removal of constraints = (c) Resultant system Ue 4 (a) System constrained + Gemcmmaly fy ts Pao? P ca ye aot te _ 2. S* Sc} alt yg Sab, a son? ‘ L434 : ia bom s-cfj}-t_} Ea heen eee Woe basad sd Sign convention: All loads and =e + + APD reactive forces are positive in 2 ‘he directions shown. k, =H8t0b + at — Pat] ‘Table 5.1 Fixed-end forces.Mathematical Expression of Stiffness Superposi ‘The structure stiffness equations are expressed as (S] {4} +P = {PP 32) {S] = structure stiffness matrix {d} = structure displacement vector {Pr} = structure fixed-end force vector (P) = structure node/joint force vector Kinematically Determinate State (first column in Figure 5.6): (q}=0 => (h}={P} (33) Kinematically Released State (second column in Figure 5.6): [S] {d} = (P} - {Peh (34a) Solve for displacement vector (d) {4} = [SY'P) - (Pa) (340) Calculate member-end forces: Ye REL —ve) + NO, +05) + Vay Mp = SEL (vy —ve) + AEE (20y +85) +Mpy 74Example Continuous Beam: 2 DOF E1= constant Eee ee ene d= Stiffness Coefficients: Sy > GEWL)? + (4BI/L)% = SEL. Force Vector Components: aed, Pp = alsi2 2 Ppp =a 112 Stiffness Equations: 8114) +8) 4, Sp) dy + S99 dy =P Solution: [S| = det (IS) = S11829 S189) Fal } Sur J (Proz ~6 a | 336EI |10 Compatibility: 088 = dy = OBC; OBC = ad, ; all others =0 Member AB End Forces, Member BC End Forces vee = & VBS = SEb(d +dy)+ VBS = SE MpR = a MBS = 2840244 +dp) +e = a VEE = Bh (ay dg) eV RO = SE MBC = 2EL (4, +2dy)+ MRC SFD a8 BMD “aLModified Stiffness Calculations - Zero End Moment A simplification of the stiffness analysis performed in the previous example is possible if we take into account the fact that the bending moment at an end simple support is zero (node 3 in the previous example). This leads to a reduction of one rotational degree of freedom, namely the rotation associated with the zero moment location. Inclusion of this modification results in a reduction of the number of member displacement and force degrees of freedom from 4 to 3, Commensurate with this reduction is a change in the member stiffness coefficients as well as the member fixed-end forces. These changes are given below. b . > Me Ve» Vo, Ve, Ve (a) Simple-Fixed Beam (M; = 0) L LMg, 8 = B(vp-v,)+L8,]-—— b = 7 BU —ve)+L8¢] “EI My = fixed-end moment at node b for a“fixed-fixed” beam 0, “ E = t a Yb, Vb Ver Ve (b) Fixed-Simple Beam (M.=0) IM 4B Mg, = fixed-end moment at node e for a“fixed-fixed” beam 1 gy Ve) +185] — "7Modified Stiffness Matrices For the propped cantilever beam of (a ~ Simple-Fixed Beam) 1 L 3El KF) Blt 1 -L| = modified simple-fixed member stiffness matrix Lair For the propped cantilever beam of (b ~ Fixed-Simple Beam): [kp] ‘modified fixed-simple member stiffness matrix Modified Member-End Force Calculations (QB4an = DMs Ma + Qa {QM} = =modified member-end force vector {QM} = = modified member fixed-end force vector Superscript M_=S-F for the “simple-fixed” beam 6 F-S for the “fixed-simple” beam Simple-Fixed Beam WEP = Berg voy ve? VSF = AB vy Ve) AO, MIS Me P= (vy —ve) +18, +MiEP Fixed-Simple Beam VES = 281 (u, ~vQ)+ ao, + ves (v4 —Ve)= 42 Oy + Mis 78Modified Fixed-End Force Vectors Simple-Fixed Beams a? q 8 L Sat Sal 8 P 8 L 5 23PL 7 16 L ————+| 5P HP 16 7 16 kK—a b Ors 19Fixed-Simple BeamsS14 = (4EULY® + (SEVL)® = TEL dy = (S11) (Pri) = LITE!) (-qU2/8) = -qL/56E1 Compatibility: 028 = d, = OBC Member AB End Forces: 3a 28 ae 8 Sa 28 ae ir F-SyBC _ 4g Bd +(Viy SPC = Aa BC _ 36 re i? MBC = 38La, +m SBC 1 VBC = 28a, + (vES)BC = 2k e (vEs° iu a, (ops) a we (vé “sje ie i BtStiffness Coefficient Summary In stiffness analysis of structures that ignore axial deformation, there are only four sets of member ~ displacement stiffness results that need to be applied. These four are summarized in the figures below. jan EI = constant b — e > Fo | L F Fo (a) "Fixed-Fixed” Beam Subjected to a Unit Translational Displacement T= constant G Ki oe) Fp jee E inst Fs Fy (b) "Fixed-Fixed” Beam Subjected to a Unit Rotational Displacement Calculations for displacements at end e are similar to those shown for end b. Figures (a) and (b) simply show the forces required to cause the unit displacement and the corresponding reaction forces at the zero displacement degrees of freedom. Compare your displaced drawing with the forces shown. Force magnitudes will be the same. Whether the force is positive or negative depends on whether it is in the same direction as the corresponding displacement on the structure (positive) or in the opposite direction (negative) 82EL= constant e = Fa (c) “Simple-Fixed” Beam Subjected to a Unit Translational Displacement EI = constant é ; F, L eeilem Fy Fs (d) “Simple-Fixed” Beam Subjected to a Unit Rotational Displacement Calculations for displacements at end e are similar to those shown for end b. Figures (c) and (d) simply show the forces required to cause the unit displacement and the corresponding reaction forces at the zero displacement degrees of freedom. Compare your displaced drawing with the forces shown. Force magnitudes will be the same, Whether the force is positive or negative depends on whether it is in the same direction as the corresponding displacement on the structure (positive) or in the opposite direction (negative). These results can be applied directly to frames, which are the topic of the next two examples. 83Braced Frame Example 7 -— L994) ao 1: Two displacement DOF — Rotations at B and C. PB MBC = Te -250 ft—kips vpc 25kips; MRC 3: Fixed-end forces: Vp Pry = MRC = 250f—kips ; Pro = MEC = -250f—kips 846: [SI {d} + «Pi = {P} {e+ 7: Member Forces Compatibility: vyAb — SElan gan Ue” ad? 2Elan pap Sl -8s) =59.3—kips Lap 20 SEL, I2EI/_ 296.6) vg? = SS ab 988 = TS ie foo HH 0 kips as . 4Elan gan _ SEL 296.61) 119.64 fs Tar 7 = 118.6 — kips vge = SElac @8C 498°) 4 vpe ( 296.61 , 466 +25 = 26.27kips Lge i MBC = 7c 208.080) af = at ean $66.19) 250 <237.28-kips vee = Sac 4.080) 4 yBC -EB( eet SEI) 50 23.73kips BC 2Blac pe +268)» MBC or me 222 50 =-186.41—kipsEL 296.61) ype = SElpn gp |= 1704s = ee a 80kips => 17.80kips(->) \ MDB Els PB a aa 61) _ = 59.38~kips Lp 10 BLY EL 6EI/_ 296.61 vba . —SElpa gps __ Stl ) 1 ©) Bp (00. EL 80kips () f ope .. 4Elps ppp _ 4EI/ 296-61) 115 6 kips Upp 10. EL 6Blge gee _ 6EL/ 466.10 vEC aoe = 27.97 kips(<-) the 00 MEC = 2Elge gb 25/266 10 93.28-kips Lee 10" Er ype = — SElc kc _ Si sss 10) 27.97 kips => 27.97kips (>) The 100. et 41 ABI / 466.10 MPP = ECG fC ae) = 186.4 ki Lee © 100 Ef ai 288.2 Bending Moment Diagram 593 118.6 118.6 186.4 59.3 ZI LS 93.2 BeUnbraced Frame Example 40kN 12 KN 12kN at | ak as ¢ 24 kN k— 20m ——4| Kinematic DOF Fixed-End Forces Pp = 0 2 Pry = 2k = 200m-KN Pp3 = —Ppp = ~200m~KNds=1 3Elpe Lpe aoa Ww] (a) | 0 Jt Bot b} = i- Elgg 2 3 |jeo aze le L 3) (4s. 176 5 d1 = 0 and ds = -ds due to symmetry of structure and loading 391.11 EL 391.11 EL AB = wBC = yBC = PO =0 OBE = OBE a dy =Member Forces: fay? vis ean 3EL MA® — 3ElaB g, = -97.78m-kN Lap pe: > _ 6Elge VRC = SBC (ay + ds)+ VBO= 50.0KN be 28 : MBC = = BE (2dy + d3)+ MRC = 121.8m—kN BC: 6Elgc C VEC = SEBS (ay + dy) + VEC= SO.OKN ac 2Eh Mab = a (dy + 2d5)+ MBE = 121.8m—kN40 KN w=3kN/in Ltt TT TTI Support or —— 7 | Reactions 12m 8.15 kN A _— D 8.15 KN. ‘ mf —t0 SS ese 62kN 62KN 228.2 m~ kN 50 kN 20 KN -20 kN [L- “121.8 m-KN I 50 KN -97.8m-KN 8.15 KN “8.15 KN SFD BMD ©Kinematic DeGeees of Freepom (DOF) N; ye yg Poa fb x Plane Truss Element i % Na h } KY 7% We x z Spoce Truss Element Grid Element 91TWO-DIMENSIONAL MATRIX STIFFNESS ANALYSIS The analysis of structures in structural design offices is routinely performed using computer housed software based on matrix stiffness analysis that includes axial deformation. Matrix methods do not involve any new fundamental principles. The fundamental relationships of equilibrium, compatibility and constitutive (tember force-displacement) relationships are simply expressed in the form of matrix equations so that the numerical computations can be efficiently performed on a computer. Analytical Model In matrix stiffness analysis, the structure is modeled as an assemblage of straight members connected at their ends to joints or nodes, Kessimali (1999) defines a member (or element) as: art of the structure for which the member force-displacement relations are valid. A joint is defined to be a point used to idealize a structural connection. A node can be a joint or simply a ‘mathematical break in the member in order to model a change in geometry, loading or simply 10 provide intermediate displacement and force calculated results. Prior to performing an analysis of the structure, an analytical or mathematical model of the structured must be defined. ‘The mode is represented by a line diagram of the structure on which all nodes and elements are identified by numbers. NOTE: Element force-displacement relations herein are valid for piecewise prismatic members only. £52 7 Vedetorne Lx a (@) Araya Mods! @Depes of Feedow Figure 17.1 — Frame StructureGlobal and Local Coordinate Systems Overall geometry and behavior of a structure is referenced to a global or structural Cartesian coordinate system XYZ with the plane of the structure lying in the XY plane, However, its convenient to derive basic foree-displacement relationships in terms of forces, and displacements aligned with the element (member), which is referred to as the local coor hate system xyz. Furthermore, design forces are defined in terms of the local coordinate sys~ tem. x Y f y fame | element x z Zz (2) Global Coordinate System (b) Local Coordinate System Figure A —2D Stiffness Analysis Coordinate Systems In Fig. A: x-axis = aligned with the element centroidal axis y-axis = normal to the element x-axis and consistent with the right hand rule positive coor- dinate sign convention z-axis = out of plane local axis parallel and in the same direction as the global Z-axis; y-axis is normal to the x-z plane using the right hand rule positive sign convention Displacement degrees of freedom are numbered starting at the lowest node number and pro- ceeding sequentially to the highest node number. Order of the nodal degrees of freedom is: X- axis, Y-axis and rotation about Z-axis. Ifa DOF does not exist, e.g., continuous beam model that neglects axial deformation or truss structure in which the joint rotations are not defined since truss joints are presumed to be frictionless hinges, then that DOF is eliminated from the sequence. Furthermore, if a displacement is known, then that DOF is also not numbered. Figure 17.2(a) shows a continuous beam subjected to transverse (lateral) loading only. For such a beam, the axial deformation is zero and the corresponding analytic model is shown in Fig. 17.2(b), ©a | (@) Continuous Beam © (b) Analytic Beam Model Figure 17.2 Continuous Beam Structure Similarly, Fig. 17.3 shows a truss structure and Fig. 17.1 shows an example frame structure, NOTE: The frame structure element includes axial and bending deformation, which results in three displacement degrees of freedom per node, 3 I 3 2] 1 Ha 2 (a) Truss (6) Analytical Truss Model Figure 17.3 Truss Structure Member Stiffness Relations in Local Coordinates As stated previously, the nodal displacement vector {d} for the analytical model of the siruc- ture is obtained by solving a system of simultaneous equations [S] {4} = (P} — (Pb a7) The structure stiffness matrix [S] is obtained by assembling the stiffiress matrices for the indi- vidual elements of the structure.Considering a plane frame element with three nodal degrees of freedom (# NNDF - Number of ‘Nodal Degrees of Freedom) and six element degrees of freedom (= NEDF — Number of Ele- ment Degrees of Freedom) as shown in Fig. C, the element stiffness equations are expressed as Figure C, Frame Element Terminology and Deformation Behaviory= kam tat rats Heady Hhysts +h +O (1728) Qe = Raya + Karta toatl +hagtly +kgsts +hko5Ug +Qpr (17.28) = kay tspttg +kaguty +ksquyg + Kass theses +Qr3 (17.2¢) Qa = Kegiuy +h gous +Kegsts +ygtly tgs +Kyeg + Qry (17.28, Qs = say + Kspu +ssts +ksqug + Kssts +Kesotg +Qrs (17.28) Qe = kermy HK gots + Keay +Kgata +Kests+keoits +Qr6 (7.28) Recall that kjj represents the force at the location and in the direction of Qj required, along with other end forces, to cause a unit value of the displacement uj while all other end dis- placements are zero. Such forees per unit displacement are defined as stiffness coefficients — first subscript identifies the force and the second subscript identifies the displacement, Equations (17.2) can be expressed in matrix form as (@] [in kz kos ke kis kis] fur] [Qe Qe} Far kaa Kas ag kas kag! uz] |Qpe & Jos, Jarl af Kar Kaa Kay Has Kas kag | 04 |” JO Qs} sr sa ss se ss 56 li Rs Qs) lat er Kes Ker es sels) [Or (7.3) ‘The element stiffiness matrix of (17.3) expresses the end forces in terms of the element material and geometric properties (stiffness coefficients) times the element displacements (uj, i=1,2,-+,6) plus the contribution of the element loads in the kincmatically determinate state (fixed-end forces Qg, i=1,2,---,6). As shown in Fig. C, the element end displacements are measured relative to the undeformed position of the element in the local coordinate system, ‘Translational forces and displacements are positive when they are in the positive x or y coordi« nate directions and counterclockwise moments and rotations are positive A more succinct representation of (17.3) is (Q =k) He} (ity {Q} = local coordinate element force vector {Qf} = local coordinate element fixed-end force vector {u) = local coordinate clement displacement vector [k] = local coordinate element stiffness matrix 36Since the ftame element is straight, the axial and bending deformation modes are uncoupled. Thus, the derivation of the stiffness coefficients can be carried out separately. Axial Stiffness Coefficients Consider the frame member of Fig. C subjected to uj = 1 with all other displacements equal to zero as shown in Fig. A.1 below OO AL k, i 1 Figure Al (uj=1; 1) =u -uy=us=u6=0) The force Q, to cause a unit displacement u; = 1 with all others equal to zero can be obtained using Hooke’s law (see your Mechanics of Deformable Solids textbook): 6 = Bey Substituting, ak. AL OKRA RT leads to EA A=FBeA==4 Qa e, L EA f= Ghia = Stiffness coefficient ky, at end e is obtained from equilibrium: De = 0= ky tks EA ky) =k = SE Remember k41 = Q4l, Since uy =I with all others equal to zero no bending deformation is introduced as shown in Fig. Ad: Kor = kay = ksy = ke = 0 Similarly, imposing ug = as shown in Fig. A.2 leads to:is pe ©© + kas +} wal Figure A.2 (uy=1; uj =u =u3=us=g=0) EA kag = Qala, L DR 0 = kg thay EA kag =— >= iho = kg = . Koq = Kag = sq = keg = 0 Derivation of Beam Stiffness Coefficients! ‘The frame element stiffness equations of (17.3) can be rewritten as fot {otal : [feeme (asx alot | | {{Gela) (Qoaxu \ 1 Ekoalaxa marcas {Qn}ax1) ny where a = axial; b = bending; {Qy} = " =axial member end force vector; ie kia] kay ka [kor kas kas kag ke 33s kao sq ks kss_ Ko [Kea kes kes kee | member stiffness matrix; [kgs] = [kga]’ ~ (Oo, ~ axial-bending coupling stiffness matrix; {Q5} = ” = bending member end force vector: [k, = bending = axial member stiftiness matrix; [ky] — | {ug} = " = axial member displacement veetor; {11g} = ? = bending member displacement vector; subscript fon vector {Q} signifies fixed-end member force vec- tor, and subscripts 1, 2, ..., 6 coincide with the degrees of freedom shown in Fig. 17.4 and * This material is primarily taken from: A. Kassimali, Mairix Anaiysis of Siructures, Brooks/Cole, Cincinnati, OH, 1999,‘equation (17.3). Equation (1) simply rearranges the degrees of freedom listed in equation (17.3) into the axial and bending components and clarifies that the two deformation modes are uncoupled (kai) = (kjal" = (Olpx4) for straight members in the local x-y coordinate system. Derivation of the stiffness axial deformation stiffness coefficients is given in your textbook. The beam bending stiffness coefficients are also provided based on the slope-deflection method. In these notes, we will derive the beam bending stiffness coefficients kij for ij =2, 5, 6 by directly integrating the differential equation for bending deflection. It may be recalled from your Mechanics of Deformable Solids course that the differential equa- tion for small-deflection bending of a beam composed of linearly elastic homogenous material and loaded in the plane of symmetry of its cross-section can be expressed as 2 ey M @ dx? EL Ee in which uy = deflection of the beam’s centroidal axis (which coincides with the neutral axis) in the y direction at a distance x from the origin of the x-y coordinate system; and M = internal bending moment at the same location x and follows the usual beam sign convention. To calculate the stiffness coefficients in the first column of [kp], subject the member to Uy = 15 us = us = Ug = Oas shown in Fig, 1, (NOTE: Axial displacements are not considered since they are uncoupled from the bending displacements.) Recall that kij = force at dof i due to 2 unit displacement at dof j with all other displacements equal to zero. Figure | - Beam Element for up = I; u = us = ug = 0 Taking a cut at an arbitrary distance x in Fig. 1 results in M= -kyp + koa 6) Substituting equation (3) into equation (2) gives Puy 1 ee hse + ken 8) a) Integrating equation (4) twice with respect to x gives o(Sa) (Sb) where C, and Cp are integration constants, A total of four unknowns are included in equa- tions (5a, b) — the two constants of integration and the two stiffness coefficients. Referring to Fig. | and imposing the displacements provides four boundary conditions, ie, End b,x =0 (6a) C L) | “Haak + ka |G (6) J 1 v i uy(x=L) = us -0- {in rial) + L+ Cy Equations (6a) show for Fig. 1 that C, = 0 and C2 = 1. Substituting these results into equa- tions (6b) leads to DEI ky = (Ta) nants ky = (te) Lv The stiffhess coefficients at end e can be calculated directly from equilibrium of the beam ele- ment, ie. 1281 x 0 => ksy =-ky = 7m (70) Me = 0 = Key = Kg + kya (7d) To calculate the stiffness coefficients in the second column of [kj], subject the member to us = Tuy ‘as shown in Fig. 2. 100Figure 2~ Beam Element for us = I; ug = us = ug = 0 ‘Taking a cut at an arbitrary distance x in Fig, 2 results in M= ~kyg + kogx @) ‘Substituting equation (8) into equation (2) gives Pu, dx 1 a(-ks3 + ky5 x) 9) ay 833 + kas) @ Integrating equation (9) twice with respect to x gives | Gq (10a) 3 + tnt }cix +Cy (0b) Solving for the four unknowns are included in equations (10a, b) is obtained by imposing the four displacement boundary conditions of Fig. 2, L¢., End b, x =0 (a) End e, x = L: if 2) O(e=L)=u5 = 0= Ek + kas +c, (11) ( ) Mates tote ee | orice yR=L) = us = 0= 5 kgs + kasE HCL + Cy Equations (La) show for Fig, 2 that C, = and Cy tions (11b) leads t0 . Substituting these results into equa- ky, = SE (12a) lor4EL ky (12b) ‘The stiffness coefficients at end ¢ can be calculated directly from equilibrium of the beam ele- ment, ie, (2c) (12d) kee x kes Figure 3~ Beam Element for us =I; uy = up = ug = 0 To calculate the stiffness coefficients in the third column of [kp], subject the member to Ug = 15 Uy = Uy = Ug = Oas shown in Fig. 3. Taking a cut at an arbitrary distance x in Fig. 3 results in M=~k35 + 5x «a3) Substituting equation (13) into equation (2) gives uy | ys + ko5x) (14) = x ae eres as Integrating equation (14) twice with respect to x gives dy 1 2 fae Fl Ss + kes 3] + (i5a) x isa =| kgs + kgs] + © 156 Bil 35-y * kas 1X + C2 (156) Solving for the four unknowns are included in equations (15a, b) is obtained by imposing the four displacement boundary conditions of Fig. 3, ie.,End b, x = 0. O(x =0)=us = 0=C (16a) uy(x=0) = ug =0=Cy End ¢, x 2 tentang E(t oes] 6 (6b) BP) uy(x=1) = us =1 “alts thes g | Ck + Cy Equations (16a) show for Fig. 3 that C, =0 and C tions (16b) leads t0 . Substituting these results into equa- Kg = (17a) (170) ‘The stiffness coefficients at end ¢ can be calculated directly from equilibrium of the beam ele- ment, ie. DR = 0 = kgs =~ ys = VEL (76) IM, = 0 = kos =— Kgs + kas Lb = (7d) To calculate the stiffness coefficients in the fourth and last column of [ky ], subject the mem- Ber to ug = 1; ug = uz = us = Oas shown in Fig. 4. hog kse re 4— Beam Element for ug = 1; uz =u = us = 0 Taking a cut at an arbitrary distance x in Fig. 4 results in lozM= kyg + kag x (18) ‘Substituting equation (18) into equation (2) gives Puy 1 ae 7 He * 26) (a9) (20a) (20b) Solving for the four unknowns are included in equations (20a, b) is obtained by imposing the four displacement boundary conditions of Fig. 4, ie., End b,x =0 @lay Ende, x =L (21b) Equations (21a) show for Fig. 4 that C, =0 and C = tions (21b) leads to Substituting these results into equa- (22a) 261 aS ‘The stiffness coefficients at end ¢ can be calculated directly from equilibrium of the beam ele- ment, ic, kyp = (226) (220) (224) toa.Combining equations (7), (12), (17) and (22) leads to B Kz kag kas kag 6 Ka a3 ys ke v ik = El | 17.6) oo Ka ks3 Kss_ Ksg at 12 | cs tke2 ex kes ke | 1, 6 G which is obviously symmetric, ie., ki = Combining the derived axial and beam stiffness coefficients, the element stiffness matrix coe! ficients of (17.2) can be expressed in matrix form as °] a u a t «a7.s) 0 4 L Derivation of Frame Member Fixed-End Forces! ‘The fixed-end force vector of equation (1) has contributions due to axial ({Qg,}) and bending ({Qe}) member loads, Both the axial and bending fixed-end forces will be derived in this sec tion using the governing differential equations that includes uniform member loading p, and Py 45 shown in Fig. 5, Q Py Qk, #3 eT te) a, Q Fa : ett ae Px a a Figure 5 — Frame Element Subjected to Uniform Axial py and Uniform Transverse py LoadingsAxial Fixed-End Forces Fixed-end axial forces are obtained by solving the following differential equation dus _ Qa dx EA 23) where ux = x-axis (axial) displacement; and Qy = axial force (or axial stress resultant). The solution of equation (23) is expressed as 24) where Q,(E) depends on the distribution of the axial or x-axis loading. For the uniformly dis- tributed axial loading of Fig. 5: On6) =O + fre ab = Oe HPyx @s) 0 Substituting equation (25) into equation (24) and integrating over the element length L: ne. 26) Ux (x + SEAP* (26) Where u(x =0) = uj; and ux(x=L) = ug. Imposing the boundary conditions uj = uy =0 (on equation (26) and solving for Qey leads to L Qn =e Qn Fixed-end force Qr4 is obtained from equilibrium: Dh = 0= Qh + Qe - PL x L > Og = PRE 8) Beam Bending Element Fixed-End Bending Forces Fixed-end bending forces are obtained by solving the following differential equation es) dx? El ‘The solution of equation (29) is expressed as, me0a) ] ME) K de oe 0b) where M(E) depends on the distribution of the bending or y-axis loading. For example the uni- formly distributed loading py shown in Fig, 5 results in the following moment expression MOS) = Qa — Qs —Py 6 Substituting equations (31) into equations (30a) and integrating results in 3 8x=1)~00=0) =~ iL 20)- = 4 32 2B opi PY on 0) = ug; and @(x=L) = ug. Similarly, substituting equation (31) into equations (30b) and integrating: v pyL* Yy(K= Duy(=0) = FF (Qral = 303) — 5h L) = us. Imposing the boundary conditions uy = ug =0 (32) where uy(x=0) = up; .and uy( on equation (33a) and uz = us = 0 on equation (33b) leads to 3 pyl 2 L = 253) - 33a) 5 (O02 Ors. CET (33a) v pyLt (Qpal. = 3Q¢3) - 336 SEI (Qal Qes) 24ET (33b) Solving equations (34a, b) for Qy3 and Qry gives R Qf = FEE and Orn 64) Fixed-end forces Qrs and Qe¢ are obtained from equilibrium: DF, = 0= Qa + Qes ~ pyL pyl 3 = Os = 65) lo"B ~ Qa + Oey + Qe + By Me = 2 py? Op Qs ~ PE => 6 (36) Fixed-End Forces: Thermal Loading Axial Deformation y ® © hex geese L Beer AL=aLATy (a) Thermally Loaded Member (b) Member Forces Figure 6 — Axial Force Member Subjected to Uniform Temperature Loading ‘The prismatic bar of Fig. 6(a) is subjected to a constant temperature load of AT,. For this case, = oT, > AL = aLAT, if permitted to freely expand as shown in Fig. 6(a) and c= lineer coefficient of thermal expan sion. Ifthe expansion is prevented, as shown in Fig. 6(b), the force required to prevent the free expansion is Q= Far = EAaAT, ‘Thus, the fixed-end force at end ¢ of the member is Qrg = -Q=-EAGAT, (37a) and the fixed-end force at the beginning of the member (b) is obtained from x-axis equilibrium to give Qe = -Qrg = EAGAT, (37) ‘These axial fixed-end forces are independent of the length of the member.Beam Bending Deformation y tt eae tele 1 hy El > constant “hd ® fa) rece athe ae wanes (o (=) 49 a 1 M1 +aT,) de oo (eh Figure 7 Thermal Gradient through a Beam In the beam bending case, the beam of Fig. 7 is presumed to be doubly symmetric (bisymmetri- cal) and prismatic, The entire bottom surface of the beam is heated to T) and the top surface Tu, which produces a linear temperature gradient T = (T;—T,) through the depth of the beam. If free to expand, the axis of the beam would elongate AL =aL(0)+ Tyy/2 ‘The axial fixed-end force can be calculated in this case by substituting (T)-+ T,)/2 for AT in 7a, ). For the bending case, the beam will curve into a circular are as shown in Fig, 7(b). The fixed- end forces (moments) necessary to eliminate this free curvature are developed below.Figure 7(c) is an enlarged view of Fig. 7b) from which it ean be seen that go — 20a) 5 h 68 _ oT) ~T,) _ oT dx h bh Neglecting second-order effects, which is the case for linear analysis top 8 GW (8) po dk h where p= redius of curvature and x = curvature. Recall from your Mechanics of Deformable Solids that the curvature is related to the bending moment as co du, xe ® dx dx? EL M G9) ‘Substituting (38) into (39) and solving for M leads to Ela; -T, es = Ope = = HAC) 4)HART ke PRES TRESEE CONCRETE 7 HARK GWCRETE ey Fixe! —~End Moments eceentiidy varies FE Lora oat parabolically : Isseeae gegen ana eC My, = ~ Pes f pep Lada te) saad] 2 64 4 [+ Late ree - (=a) ] 3 te eererererererreeeeeeerrertas reierererererenn saan irks See Ee Tyercal Interior span s | a Z + boa cccentucé ty varies Meme) bo )b) eb sare bolieally + Typical enals pan euentrrehy varies w pera bola auc iat) Aucthealegese Sse Se 7 parece ola oath de curve a Mee = - [- 54536 (exe Rorele) + 4x (2x73) ] oO tb Typreal rntervor SPA eceentrerty vawes fourth cteg ree a carve. Sie [mre aA, gfe a Hive or jmay be pos tdCOORDINATE TRANSFORMATIONS ‘Memibers of a structural system are typically oriented in differing directions, e.g., Fig. 17.1. In order to perform an analysis, the element stiffness equations need to be expressed in a common coordinate system typically the global coordinate system, Once the element equations are expressed in @ common coordinate system, the equations for each element comprising the struc- ture can be assembled. Coordinate Transformations: Frame Elements Consider frame element m of Fig. 17.7. Figure 17.7 shows that the local ~ global coordinate transformations can be expressed as x=cos@ X + sind Y y=-sin X + cos Y and since z and Z are parallel, this coordinate transformation is expressed as z=Z Using the above coordinate transformations, the end force and displacement transformations can be expressed as Qq = cosOFy + sinOFy Qy = ~sinOFy + cosOFy (17.9) Qak where x, X= 1 or 4; y, Y= 2 or 5; and z, Z=3 or 6. Utilizing (17.9) for all six member force components and expressing the resulting transforma- tions in matrix form gives (es}-fe yf (Q) = IT] tF} amy or where (QIy = * = beginning node local coordinate force vector; {Q}y = end node local coordinate force vector; {F}, = " = beginning node global coordinate force vector; {F]e = ! «end node global coordinate+ * (a) Frame Qa, Uy Q3, us, (b) Local Coordinate Quy Qs, us End Forces and Displacements Gw : Fave By; S Favs Fi, vy (c) Global Coordinate End Forces | Fs, Vs and Displacements (d) Local — Global Coordinates Figure 17.7 — Local — Global Coordinate Relationshipscos sind 0] force veetor; [t] =| —sin@ cos8 0 | = local to global coordinate transformation matrix which [HOFF eo i| f (ort = clement local cooxtinate [ ttl wa a to} [a ‘The direction cosines used in the transformation matrices can easily be calculated from the nodal geometry, ic., is the same at each end node for a straight member; (Q) = Bp Fe clement local to global coordinate transformation matrix, force vector; {F} = { | = element global coordinate force vector; and [T] (17.13) Since the end displacements are aligned with the end forees, the local to global coordinate dis- placement relationships are =I) (7.4) {tis also useful in matrix structural analysis to calculate the global end displacements and. forces in terms of the local coordinate end displacements and forces as shown in Fig. D. x x Figure D - Global — Local Coordinate Relationships X= cos0 x- sind y Y =sin® x + cos y Z neApplying the global —local coordinate transformations to the end node forces gives Fy = €086Q, — sinQy Fy = sin0Q, + c086Qy (17.15) a EB where X, x=] or 4; Y, y=2 or 5; and Z, z= 3 or 6. Equation (17.15) can be expressed in matrix form as [fe ‘cos8 -sin@ 0 || Fy} =| sind cos 0//Qy} lel Po “0 alloy (Phaode = [41" (Qnode where node = b or e. Expanding the global — local coordinate transformation to both end nodes leads to {ero} foot (0) ie ere “Loy pet] Habe! {P= [TT Q} a7?) or Similarly, the global coordinate displacement vector is related to the local coordinate displace- ‘ment vector as {v) = (TTT fu} (7.18) Continuous Beam Members ‘When analyzing continuous beam structures, the axial displacement and force degrees of free- dom ate typically ignored since they are zeto unless there is axial loading and the continuous beam is restrained against longitudinal motion, ie., is not free to expand. Regardless, in con- tinuous beam structures the local and global coordinate systems typically coincide resulting in ft] = [Ihe. This leads to (T]= [To] = Mass fv} = {vp} = (up) (17.19)AF} = {Fo} = {Qo} (17.19) {Fe} = (Fra) = {Qe} U5] = [Koo] = tkpo) (see equation (17.6) Also see the discussion following the beam stiffness coefficient derivations after equation (1), Truss Members: Local ~ global force and displacement relationships (see Fig. 17.9): Ri) Qi] [cose sno 0 0 ]\R (h-[ re) | BI Fy, {Qa} = [Ta] {Fad {ua} = [Tal {va} (17.21) Similarly, {Ey} = al" {Qa} a} = [TaT" (ua) Qua (a) Local Coordinate End Forces and Displacements for a Truss Member © am Fs, v3 Fv Ca T Fy va Fa, v2 (b) Global Coordinate End Forces and Displacements for a Truss Member Figure 17.9 — Truss Member End Forces and Displacements HGMEMBER STIFFNESS RELATIONS IN GLOBAL COORDINATES. Global coordinate stiftiness relations are based on the local coordinate stiffness relations plas the coordinate transformation relationships developed in the previous section. To establish the global coordinate representation of the element stiffness equations, start by substituting {u} = [T]{v} into (17.4): (Q} = [KITE +1Qe} (7a) which results in the force quantities being defined in the local coordinate system and the dis- placement vector expressed in terms of the global coordinate system, To transform the force vectors into the global coordinate system, pre-multiply both sides of (17.a) by (T]? TTY CQ = TV TRIETIE} +ETY Qe} (17.23) ‘Substituting the relationship {F} = [T]" {Q} into (17.23) gives (8) = (TT KUT +4) (724) where (F} = [T1{Qr} ‘Equation (17.24) can be expressed in matrix form as &F) = IK] ev} + {Fe} (17.25) where [K] = [T]"[K][T] = global coordinate version of the element stiffness matrix, ie., the clement stiffness matrix coefficients aligned with the global coordinate system and Ky =A a) with all other vj =0 and k#j. ‘The global coordinate stiffness equations for the frame, beam and truss members are all generi- cally expressed by (17.24) and (17.25). However, for a continuous beam and truss structures, the transformation matrix [T], displacement vector {v}, and force vectors (F} and {F;} are de- fined specifically for these structures. For each continuous beam structure (also see discussion following equation (1)): NT(T]= [To] = Baw (v} = (yah = fap} (see equation (17.19)) CF} = Fo} = (Q3} (see equation (17.19)) {Fe = {Fe} = {Qi} TK) = [Kya] = Epo] (see equation (17.6) For each truss structure member (also see discussion following equation (1) (= {Tal (see equation (17.21) tv} = vah (see equation (17.21) =F} (see equation (17.21)) {Fi = {Phat [K] = Koy EA — (17.29) Llc? ~cs c? es nes st css? c= cos0 sine STRUCTURE STIFFNESS RELATIONS ‘The structure stiffaess equations can now be determined using the global coordinate member stiffness equations. Generation of the structure stiffness equations is based on the three basic relationships of structural analysis: (1) equilibrium, (2) constitutive relationships, and (3) com- patibility. Specifically, the direct stiffness procedure involves expressing: (1) Node point equilibrium of the element end forces meeting at the node with the externally applied nodal forces;2) Substituting the global coordinate constitutive (matrix stiffness) equations for the forces in terms of the stiftness coefficients times the element end displace- ‘ments and fixed-end force contributions; and (3) Compatibility of the element end displacements with the structure displacement degrees of freedom {4}, To illustrate the process consider the frame structure of Fig. 17.10.¥ L 2 (2) Actual Frame (b) Analytical Model i A a FRO e See AO pO,O_TV aay “OF 7 eit pan Foe Fin yt © @ gare 17. /0 - Lilastreation of Direct Sé#Ffaecr AnalysisEquilibrium Equations Di = R-RP HP = B= ef?) (17308) 2 DR =-BY-E? = =H +H? (17300) YMz =P: HOH y= aR (17300) 2 where superscript (I), (2) designates elements (members) 1, 2; respectively. Member Stiffness Relations Since the end forces in (17.30) are unknown, the member stiffness relations RJ [Ku Ke Kis Ke Kis Kio] ae Fa) 5 3 Kor Key Kay Kay Kas Kop) | v2 Fe Bl _ [Kar Kio Kas Key Kas Kye] |v5/ 4 lis a R Kay Kaz Kes Kay Kas Kgs] vq Fa B Ks, Ks2 Kgs Ks4 Kss_ Ks "| Hrs Fe Ker Kea Keg Kot Kos Keo} |vg Fre are substituted into (17.30) to give =k Ka oO ex BP AQ ior) KP yaa PE DAP eK GP) nQ 4 aP +S KL VP aK QP op KP oP aK AP AK DP KVP aK on?5K eK QM aK MO 4D ak Par HD ADP oD P +5 Q UP eKD oP QP Compatibility Imposing the compatibility (continuity) conditions My =v =v =0 Mags Pads WO ad Pag ads WP aay 2). VP) 2 2 v2 = on the constitutive equation version of the equilibrium equations leads to B= KL KP 4, 1D ARP dy +KD KD ay +O +P) Pr = CRS +RGP I) HY HRI da ORY KD) D4) PS (KG HKD HB KP 0d HK + KD) ds CED +A) Or collectively as {P} =[S]{d}+{Pe} => [S]{d} = ({P}-€r)) HDD QHD KEKE ts)=|xQaK@ Qa Kk? 01KQ KM4K® KOeKe KEK) KB HKD KEK? (17.35) (1736) (17.39a) (17.39) (17.39e) 7.41) veeof ang? d= )ER HD FO +ED _ fR-Pa AP} = 9 Po Peo Ps—Prs ‘The structure stiffness coefficients Sj; are defined in the usual manner, ie., Sy = Playa = force at dof i due to a unit displacement at j with all otter displacements dy, = 0; #j. Assembly of [S] and {P;} Using Member Code Numbers The explicit details given forthe direct stiffness procedure highlights how the basic equations of structural analysis are utilized in matrix structural analysis, A disadvantage of the procedure is that it is tedious and not directly amenable to computer implementation. Computer implementation is based on using a “destination array” ID(NNDF,NNP) (NNDF = Number of Nodal Degrees of Freedom, three for frame members; and NNP = Number of Node Points, ic., number of nodes used in the 2D structure discretization). The ID( ,) array identi- fies the nodal equation numbers in sequence: ID(L, node) = X-axis nodal displacement numnber ‘ID(2, node) = Y-axis nodal displacement number ‘ID(3, node) = Nodal rotation displacement number For example, consider the gable frame structure shown below. The destination array is, Node me 1 2 3 1 0 0 0 2 1 2 EI 3 4 5 6 4 7 8 9 5 0 0 106 4 2 @) 8 : 2] 3 ee 32 © i ; 1 10 @ Gable Frame Structure ‘The ID(, ) array along with the element node number array IEN(NEN, NEL) (NEN = Number of Element Nodes, which is two for discrete structural elements; and NEL = Number of Ele- ments used to discretize the structure) is used to construct the element location matrix array LM(NEDF, NEL) (NEDF = Number of Element Degrees of Freedom, which is six for the 2D frame elements), ic., LMG, iel) = IDG, IEN(1ie!)); 1 = b node LMG, iel) = IDG, IEN(,iel)); 2 =e node ‘The IEN(, ) and LM(,) arrays for the gable frame example are i: JEN LM iel 1 2 1 2 3 4 a 6 1 1 2 0 0 oo} 1 2 3 2 rs Ea 1 2 3 4 ti 6 3 3 4 4 5 6 | 7 8 9 4 a 4 0 0 eee 8 i L [‘The LM(, ) array is used to asscmble the global clement stifthess matrix and fixed-end force veotor as illustrated below. LM: (I,m) (2,m) G,m) (4,2) (5,m) (6,m) LMG@.m)[Kqy Ky. Ky3, LMQ,m)|K21 Kaz Ko3 IMG,m)|/K3; Ka. Kg3 IM(@4,m)/K4) Ky Kags IMG,m)/ Ks; Ksz Ks3 IM(6.m)| Key Kez Kgs. For the example gable frame: 0 Su KY + KI? 0 So KS} + KS S59 KO + KD a Sieg HKG S50 KY Sao — KQ Kg Kis Kis] LMG.) [F) Kas Kag LM.) |Fra Kas K36 LMG,m) | Fes Kas Kas LM(4,m) | Fey Kss_ Keg IMG.m) |Frs Kes Kee LM(6.in) [Fg r Pr FQ + FQ) ma cH A Py CRO HP , Pao HDBf Contmuous Beam ExnMrLe kN som Gin T= 200 % 10° mmé* Ie rm mal 2m Lean al E = 200,000 MPa. = 200’ W/m? a, an rm Pralytical Model Tne el Coleulate the displacements and member forces for the given structure. HeEness Equabio a MY we “Fhe he I , =e Bey uy Clete oe ea Qyde 4h J, bale Oey Global Element, Stiffness Equations Fle - [Ke ive + feb if}, = teh CK. = tk ivSe = tute hte = 1G}. Assembled Shffress Equations Wa = dig GAY = Gre = de Lpisglacementes (ad, + OW = tle = Wal, + ud, =o) GomenbRhSolve for displacements * Element Force Cal Be ! P= (Rh) 7 equilibrium | = DKW & Kio Ma + Key + Mega + Fe J) > tonsdibetive = (az xi0% wm-kN ) dy + (GX10% nm-kN) a, + estan P= Syd + Sade + %, P, = 50,000 mm- kN B= (B+ Cl = equilibrium | = [Ky w+ Kaze + Kass + Kaa Va + Fea], + [Kaw + Kav, + Kesh + Kea Va + Fie], - consbdive = (iexroe) d + (32x10 + s2xio&) d, - 12,500 + 10, 0m - LA P= Said, + Seedy + Pee R=O | 50000, 320 \6 & 2500 = 10% + ° we o4l la -I00 {Pt = Ls) fd} + ie} id} = tsb’ Cipy- teh) pee = <\324t - 0.3045 7° K1077 vad ions i | | Ose = The the + eho | Eleneet 1: {Uh= <0 4 od>7 | Lh, = ™ Qh = $24,788 EN Sooneme-EN 5.212 LN 058mm ENT lizeB3 Elemat 2? {ub = * LQ}, = R= @), = 24.780 kN 5 Le i yo ZN, =O = Som-LN -(Q), = ay (Q) 748 A eee Ry sss ye . | “lon @) rth = \z-009 kN EM, +O = (@\+(@h = 0 Qi, M3. Eh, 20 = Ry ~@) Ct Ee att Tel @ 1 Rg = (@), = 8.203 kN EMz =O = Ms — (Qa 5 M3 = (Qa). = —12.072 m- kN ‘ i2SdmckN Lome =1.06 me kN -12.07 m-kN - 50 m-kn! Benping Moment DyaseamTA Truss Examrie Sook, e,F E = 200,000 Ma. f + a> iP 4m = a 4 P=18,000 mn® re a 2 oR 10, 928m: Analytical Mode | Global Member Stiffness Fi ce cs -ct-es][ Fe ss St -cs 7S?) Jy 5 ~c2 -cg C2 CS Fa dn Saleh erat aceet cee Sree ne Pe C= cose Se sin® @- member orientation wrk X- axis measured counterclockwise 1, Weite the global member shffness equations. 2. Assemble the shuchice equations . 3. Calculate the urknoun a 4. Calculate the member forces. 4. Global Member S4iffness Equations Fo ©.500 -0,500 -0.500 0.500 “ FL = pont 6-500 0,500 - 0-500 | IN, | & symm. 0-500 ~ 0.500 | |\y i aly osoollyJ, || ° | 6,= -45' | ui /mm2?_( 20,060) (EAL), = Be-bhldmme(esieee) ag. 4 kN /mm | FR 1.00 0.00 -1,00 0.00 My | a eeeaeats €.00 0.00 0©.00| 4} % F; symm, 00 0-00] | % tl, ool Ll, 68, = \80° 7 = 2e0kN/mme (18,000 mm?) _ (EM), = SOB 328.43 LN/am i 5, o.150 0.433 -0.950 -0.433] [\ | ese 0.250 -0.43 -0.250| | \% | fs synme 0.750 0.433} | vy | | Bd, 0.250) Lvl, | @, = 30° | 3 (EY), = 2ooktlémme (5,000 mam?) 3 Sasa am ames Sooo a 375 kN/mm, 2 Structure Stiffness Equations Displacements + Cy) = sys = (4), = Was = de W) = WI, = 43 Qu = Qed + Gah = Gale =(vi)s =) = 0 | = L Ki + Ke Ne + Ki Me + Kay], | | R= (HY + Ue | i +E Ka + Kee ¥, + Kai V3 * Ks, Nal, i W (353.555 4261.25) a +(-353.555+lb2.215)d, ~ (35358) dy R= Sn d + Sadr + Sa dy Pi = Sop cos 40" = 383,02 LNR- CR) + (fi), => [ki y + Kee + Kits + Keay], + [Ky Mt Kae Ne + KasVs + Kaa Va), (= 353.555 + 162.395) di + (553.555 93.75), + (252.559 d; Po= Sy dh + Sods + Sas ds P, = 500 singo® = 321.39 kN R~ OR) +h = [Ka + Ks2 Ne + Kes Ve + Koa GJ, + [Kuw tive + Kiss + Kig VQ], = (-353.555) d, + (583.555) d, + (353.555 + 329.43) d3 Ps = Syd + Ssr dp + Sas dy, R= 0 634,805 -\91.180 ~ 253.555|] 4 383.02 447.305 353.555 [7 da f= | 3239 symm. a 692.985 | L 43 ° Cs]id} = {?} 3. Unknown “Displacements Solving the stiffness sqaations leads +0 $b = = Soe 1244 -0.193 PT mmA. Member Forces | ay =), [J ES. Member 4% (uh) cose, i), + sing Qh), = e701 (9.891) —6-1071 (1.244) = 0.26875 mm (u),= cose, Wel, + Sind, (Va), = 6.7071 (-0-193) + © = - 0.13647 mm @)= -(Q),= ror. Yam (0.26375 + 9-13647 mm) = -S0kN 3 member _is in tension Member 2: (WU), = cos@, Ma + sind, Oa), = -4(-0.193) +O = N93 mm = 0 Q), = GQ), = s20.43 “Mm (0.198 mon) = G3.GLN DY member is in compression Member 3: (UW, = 0 Wily = CosGs Ws) + sin Gy (Ma) = 0.866 (0.8) + 0.500 (1.244) (ai, = -(Q@)s = (EMI, (ds - (Urls) = 375 (1.376391 | | = 131631 mm = - 51-1 LN > member is in tension 14,| Views Frame ExamPuc Analyze +he plane frame given in the Figures below. Bk He 05h oh 05k - a EI = 3x10" kips-in? ey 2 EA = 3x00 Lips 5k : Stevcturé : fra’ 36" w/ Leading : i 4 a 2 Ke O6h _| Bde Ps, ds Pd —>, so Boda Fads ANALYTICAL Mover 6, = 53.13%, f= 96" (and @= of, d,s 96" (2) te su Gon ths tentibae (G-2)Element Stiffness Equations Tek. = Uk], ik + 1Qh. Element 4: Qa 3125 O oO -3%5 oO o YQ @ © 406.9 193530 9 ~4%.9 19,530 a Ql =| © 13,530 Lzsxice 0 ~ 19,530 O.625m0® | | us Q 3,125 0 o 3125 0 ° U4, & © +409 -13,530 0 406.9 -19,530 us Qa © 19530 06.625x10 0 ~19530 wren? | Lug jy + <0 2 32 0 2 -32>7 Element 2+ Ck], = [kJ], fa}, = <0 25 @ 0 25 -60>7 Element 3% 3,906 0 oO - 3,906 ° } oO 194.7 30,520 OQ -794.9 20,520 Ck], = O 30,520 \.Sb25x00' O - 30,520 orgiesric” 5 390% 0 ° 3,906 0 ° o 194. -30,520, 0 194.7 -30,520 | O 30,520 o.7gI25x10) © — =30,520 1.5625 *10' {@), = <0 25 48 © 25-4877 Global Element Stiffness Matrices: Fixed-End Force Vectors 13854 1,304.7 ~15,624 -\,385-4 ~1,304.7 15,624 | 4,304.7 2146-5 nig 3087-2146. 18 [K],= | 7!5624 Ne L2sxto® 15624 = T1B—-O.b28x10% 1 [13854 -1,304.7 1 e24 1,385.4 1,304.7 15,624 1,304.7 = 2,146.5 -1 18 4304.7 2,146.5 “1, 1B “1524 7h o.625xi0* 15,624 = BZ KIO® , D Wl {Rh <-le 42 32 1.6 2 -32>7FB } CK, = Ck: teh = {eh | | 194.1 O -3,520 -7949 0 ~ 30,520 9 2,206 ° 0 -3,306 oO [K] = 30,520 oO 1.5¢25x10" 30,520 ° 0.79125 x10e s ~ 7194.7 oO 30,520 794.7 ° 30,520 ° -3,906 ° ° 3,900 0 - 30,520 O —o.mensxw® 30,5200 W5a25x10% {Ry = -<-25 0 48 -25 0 -48>7 th Assembled Structure Shiffness Equations | Gis Odes dy Oy = Gals = da sh = Qh = do 5) Osh = Ws), * ds Wh = Ma t ds 5 Wel = Wels = de safer (= GQeh= QQ), = Os = OL)s = Os) = 0 Re (A+ = [Kyl + (Kul Td) + 0 (Kas), * (Kile ] de | + (Ke), + Ks), + (Kal de + Ke), ds + (Kyle det f(y), + (RI = Sod + Sede + Sods + Sach + Sods +Sudet Pa | B= (Fe), + (Ee = [ (Key) + Ka Dh + 0 Kes) + Keds) de + C(Kee), + Hes) ]ds + (Karle dy + bs) ds | © Koh dy + Cfe) + Fad] = Sud t Sade + Sesds + Seada + Sards +Seede + Pe, || ee I i R= (Fy + Ch = Teal + (Kad, Dd + [Kes + (Keb J & +U(Keol + Ws ds + (Kegle dy + (Kas), ds + (Ke), de + TCR) + OR) I = Sad + Sagde + Seads + Saady + Sasds + So de + hs R= (Rl, + CR); = (Kyl dy) + (Kah de + (Kas). dy + UK), + Kags J dy + (CKas), + (Kas), ds + CCKapl, t (Ky), ]d, + COR) + (Fyds J = Gidt Sod + Soh + Sy Gy + Side + Ste de + Peg | } i ‘k Ps= CFs), + (Fe); = (ka), b+ (Kerk de, + Use), ds + Uke + (Keals dy + [(kss), + (Kos), 2 de + (Keel + (Kscblde + © (Fg), + (Fs)s = Sardi § Sep di + Ssrds + Sey dy + Sesds + Seeds + Teg R- (Rt Ch) (Ke, ds + (Kerk de + (Kes) os | + [ (Kea), + (Keath Pda + FlKus), + (Kish J dy + [ (Ku), + (Keele de + Cl) + (Fee), 7 | Su + Syeda + Sets F Sundy + Surds +Sucde 4Re a uw 137Ieee g 4 $ 6 1 ° A510.4 204.7 15,624 - 3125.0 3 ° a 2 ° 1304.7 2553.4 7812.0 ° ~ 406.3 19,530 | /4e 3 o 5,624 7812.6 2.50x10" oO =19,530 — 0.625x10° | j ds 4 of | |-aes0 0 ° 39.7 ° 30,520 || de 5 0 ° - 406.9 -19,530 oO 4312.9 -19,530 |] ds 6 oO 5 19,530 céasxio® 30,520 19,530 a,gizsxu8] | de 4+ <-\G 3.7 28.0 -2.5 2.5 -108.0>7 Solving for the displacements 3 a Azam «107° in a - 3.8711 x 107 in ee a 3,8588 x 1077 in ds =\.0121 « 10% in & 0.02530 x 10°? rad | Element Forces fq} = Lkh fuk. + 1G). Element A+ eels cals es | (ug) = ees, Sy + Sing, d, = ~ 0.82504 107 in / (Us), = -sing d, + cose, d2 = - 5.75278 x10 in | (Ue) = 83 = - c.oder2 x10? rad i | 1Qb, = <64* 3.56" 9.3 wk -1.64+ o.4sk zo.2in-k > 133Element 2: (ize, Oh), = de, (Ue), = ds (uy), = dy, Usk = ds, (ue = de Element 3: (uy); = (U2), = (Us), = Wy), = ds, Us); = -d,, Wha d 1Qt, = < 3-98" G34! tas. ink - 3.95% - 1.34" 109,319 | Support Verctions R= CQ) cose, -@), sind, = ~1.8¢* Kr @drsing +(Q), Coss = 245k “Gor, Ry 4: R= Qh | | 4 | R t = 9.3 in-k i i | Ry= (Q)s cosO, - (@); sind, = 76.34% | Rs = 4Q); sing, + (Q), cosés \ = 395k | Re = (Qs), = 185.5 in-k | | {Qh = <134* 1.05" -30.2 ink -v2a® 3.95% -109,3k >T | Lk>T j 129SUMMARY Identify structure degrees of freedom {d} For each element: Evaluate [k], {Qi}, and [T] Calculate [k] = [T]" [kl [7] (Fa = (11 (Q3 Assemble [K] into [S] Assemble {F}} into {Pi} Form nodal load vector {P} Solve: [S] {d} = {P} - {P} For each element: Obtain {v} from {d} (compatibility) Calculate {u} = [7] {v} {Q} = [kK] {u} + {Q} Determine support reactions by considering support joint equilibriumStiffness Equation Summary Local Coordinate Element Stiffness Equations Uk]. {u}e + (he = {Qe [k]. =local coordinate element stiffness matrix {u}. =local coordinate element displacement vector {Qe = local coordinate element fixed-end force vector {Q}e =local coordinate element force vector Global Coordinate Element Stiffness Equations IK] {v}e* (Frhe= (F}e [K]. = global coordinate element stiffness matrix {v}. = global coordinate element displacement vector {Fr}e = global coordinate element fixed-end force vector {F}e = global coordinate element force vector NOTE: The element global coordinate equations are obtained from the local coordinate element stiffness equations via coordinate transformations, Le Ik]. (01F de (Te {u}.= [Th (ve {Foe= (TIE (Qe = (TIE (Qe (1. [0] ta [ia tal in which [tJ is the local-to-global coordinate transformation matrix for element e. Structure Stiffness Equations US] {4} + {Pe} = €P} [S] = structure stiffness matrix {a} = structure displacement vector (P= structure fixed-end force vector {P} = structure concentrated nodal force vector NOTE: The structure stiffiess equations are obtained from the global coordinate element stiff ness equations by imposing node point equilibrium in cach appropriate direction, expressing the element end forces in terms of the stiffness relations, and imposing displacement compatibility between the element - structure displacements at the nodes, i4yTRUSS MEMBER GLOBAL COORDINATE. STIFFNESS MATRIX oe cs -¢? -cs EA| css? -cs -s? L|-c -cs ¢? os ses -s? css? = cosine of the angle between the X-axis and the element x-axis (measured counterclockwise) 8 = sine of the angle between the X-axis and the element x-axis (measured counterclockwise) BEAM ELEMENT STIFFNESS MATRIX INCLUDING AXTAL DEFORMATION EA EA are eee RET GEL ‘ET 6EL Lu i ma iat 6EI AEL 6El 2EL ake a i EA EA L L EL 6EI ‘DEL GEL cL aoa v aor 6EL ‘Er GET ET L L Late L Entries not shown are zero. BEAM ELEMENT FIXED-END FORCE VECTOR INCLUDING AXIAL DEFORMATION s T {Fd = T = < QF en Qs Qe4 Ws 6 > \42(asyecyooposayun09 pasnseoui) sixv-x WuOUa[a oY PUR SIKE-X [eqOIE oyp UoDAMIDG ofBUE amp Jo AUIS = s (@siayooyoso1unco pasnseou) stxe-x jueUIDpD at) pure SIXE-X [EGOS auf UsaANIAg afBiUE aMp Jo aUISOD = 9 170 90 +8"O) (SH -9O) $ (040 +8 4D) (§2O-9 YD)> = 1d Fd A 8 Yad = Ca} pal 19 soc. Ty pal sd Tact Va Taz Va et oe (1 fa ae araee so(t_ — - wiz * va Gra va ear 199 soil = Watt Va a 1 el 1 sot Ty. | sel, 1 Ga va ela * va 143Aslam Kasrimali, Matrix Analysis of Structures, Brecks /Cole Paklishing Company, Cinedanali, CH 1999 276 —ChapterSix Plane Frames The explicit form of K (Eq. (6.31)), however, provides insight into the physical interpreta tion of the member global stiffness matrix, and proves convenient for evaluat- ing K by hand calculations. A cost AP costo +125 4 -12)coosind —6tsnd (Hf onto 1260) (442 n2)eorosine —sbsin fe (2 -ri)eoeane Sato rircate eden (AE ~ur)emosne (AP soy treat) teow ~6L sind eLeoss aa 6L sind ~6L c0s6 aut Acoso rtsnte) (Af —12)eusosind shang Arcot inant — (AP ~12)cosoxind suns | Mf —12)enesind (Af snto+ 12e0848) ~oLemo (442 -12)cosesing AEP + 12e0%@ —~St cos | ssn sea 2 suine ime ae | (6.31) ‘The physical interpretation of the member global stiffness matrix K for plane frame members is similar to that of K for members of plane trusses. A stiffness coefficient Ki; represents the force at the location and in the direction F; required, along with other global end forces, to cause a unit value of dis placement v;, while all other global end displacements are 0, and the member is not subjected to any external loads between its ends. In other words, as de- picted in Figs. 6.9(a) through (f), the jth column of K (j = 1 through 6) repre~ sents the member end forces, in the global coordinate system, required to cause a unit valve of the global end displacement vj, while all other end displace- ments are 0, and the member is not subjected to any external loads. position x (4) First Column of K (v, = 1, = 15 %4= 0) Fig. 69 144Fig. 6.9 (continued) 277chapter Six Plane Frames (£) Sixth Column of K (05 = 1, vy Fig. 6.9 (continued) We can use the foregoing interpretation of the member global stiffness matrix to check the explicit form of K given in Eq, (6.31). For example, to determine the first column of K, we subject the member to a unit end displace- ment »; = 1, while all other end displacements are held at 0. As shown in Fig. 6.10(a), the components of this global end displacement in the directions along, and perpendicular to, the member’s longitudinal axis, respectively, are cos@ = cosé 1siné = sind 1.058 1 sind Ua Up ‘The axial compressive force in the member caused by the axial deformation us is shown in Fig. 6.10(b), and the member end shears and moments due to the perpendicular displacement up are given in Fig. 6.10(c). Note that these 46Initial puakion —\ y 4 ie XL Displaced position a x @ e 9 4 © Fig. 6.10 279 i4acer Sk Plane Frames member end shears and moments are obtained by multiplying the member end forces developed previously (Fig. 6.3(4)) by the negative of u, (or by setting up = up = —sin 9 in Fig. 6.3(4). By comparing Figs. 6.10(a), (b), and (c), we realize that the global stiff. ness coefficients Ky; and Kz, at end 6 of the member, must be equal to the algebraic sums in the global X and ¥ directions, respectively, of the member ‘end axial force and shear at end b; that is, t= (Eheoe) ne + (EE sind) ano B = fA cos? + a sin? @ (6.32a) and Kn = (= ovs4) sin ~ ( wns) cos ce (=F a Be) cos sin8 (6.32b) Also, the global stiffness coefficient K3, in Fig. 6.10(a) must be equal to the member end moment in Fig. 6.10(c); that is, ET. Ky =- Te sing (6.32c) Similarly, the global stiffiess coefficients at end e of the member can be ex- pressed as (see Figs. 6.10(a) through (c)) EA 12EI i= -( “cose coso~ ( a sing) sine = FA caste — EEE cnt (6.324) 2 Ku = -(# cos@) sind + CE sn’) cos (4 = To) cosa sina (6.32e) and 6EI El sng (6.32f) Note that the expressions for the member global stiffness coefficients, in Eqs. 6.32(a) through (f), are identical to those in the first column of the explicit form of K given in Eq, (6.31). The remaining columns of K can be verified in a similar manner, Member Global Fixed-End Force Vector Fr ‘The explicit form of the member global fixed-end force vector Fycan be ob- tained by substituting Eqs. (6.19) and (6.15) into the relationship Fj = T7Qy 4a(Eq. (6.30). This yields FAycos9 — FS, sin? FAj sind + FS, cos FM, FA, cos ~ FS, sind FA, sin + FS, cos FM, ‘The member global fixed-end forces F; like the local fixed-end forces Qy represent the forces that would develop at the member ends due to external loads, if both member ends were restrained against translations and rotations. However, the global fixed-end forces Fy are oriented in the global X and ¥ di- rections of the structure (Fig. 6.11(a)), whereas the local fixed-end forces Q; ‘are oriented in the local x and y directions of the member (Fig. 6.11(b)). Fe= (6.33) KO or ar \ oe (Meer Local Fi at Fos Vestry Fig. 6.11troduction www SUMMARY In this chapter, we discussed the topics summarized in the following list. 1. 2. a Structural analysis is the prediction of the performance of a given structure under prescribed loads and/or other external effects. Both matrix and classical methods of structural analysis are based on the same fundamental principles. However, classical methods were developed to analyze particular types of structures, whereas matrix methods are more general and systematic so that they can be conve- niently programmed on computers. Two different methods can be used for matrix analysis of structures; namely, the flexibility and stiffness methods. The stiffness method is more systematic and can be implemented more easily on computers, and is therefore currently preferred in professional practice. Framed structures are composed of straight members whose lengths are significantly larger than their cross-sectional dimensions. Framed structures can be classified into six basic categories: plane trusses, beams. plane frames. space trusses, grids, and space frames. An analytical model is a simplified (idealized) representation of a real structure for the purpose of analysis. Framed structures are modeled as assemblages of straight members connected at their ends to joints, and these analytical models are represented by line diagrams. ‘The analysis of structures involves three fundamental relationships: equilibrium equations, compatibility conditions, and constitutive relations. The principle of virtual work for deformable bodies states that if a deformable structure, which is in equilibrium, is subjected to a small compatible virtual displacement, then the virtual external work is equal to the virtual strain energy stored in the structure. Linear structural analysis is based on two fundamental assumptions: the stress-strain relationship for the structural material is linearly elastic, and the structure’s deformations are so small that the equilibrium equations can be based on the undeformed geometry of the structure. 50ANALYSIS OF SYMMETRIC STRUCTURES Many structures, because of aesthetic and/or functional considerations, are arranged in symmet- ric patterns. In this chapter, recognition of such symmetry will be identified and the use of this, symmetry will be used to reduce the computational effort in solving such a structure, SYMMETRIC STRUCTURES Definition of symmetry is expedited by using the concept of reflection, or mirror image. A plane structure is considered to be symmetric with respect to an axis of symmetry in its plane if the reflection of the structure about the axis is identical in geometry, supports, and material properties to the structure itself. Examples are shown in Fig. 10.3 in your textbook where the s- axis defines the axis of symmetry. NOTE: Most symmetric structures can be identified by inspection ~ simply compare the geometry, supports and material properties of the two halves of the structure on each side of the axis of symmetry. When examining structural symmetry for the purpose of analysis, it is necessary to consider symmetry of only those structural properties that influence the results of the analysis. For ex- ample, the truss structure below can be considered symmetric when subjected to vertical loads because under such loads the horizontal reaction is zero. However, this truss cannot be consid- ered symmetric when subjected to any horizontal loads. Figure 10.4 Symmetric Analysis: Horizontal Reaction = 0 Structure 1stFigure 10.3 — Symmetric Structure Examples (Kassimali, 1999) @ s b—30k— AiR Gd eee : i Oe Hinge | we 28 ft 16 ft Ua 7 T ee ee Beam Reflection (b) s : a iH G ie DC Baby beir—t1 tt E, A= constant E,A= constant Reflection ‘Truss © 1525 10 A D aD ea He ar 1 fits LAA B k AR+ -—20k—4 -—— 20 R ——4 E,A = constant E,A= constant Frame Reflection @ 5 s 1 | Di |B A 1 I Es 10 ft+—10 A 10h 10 A E,A constant E,A=constant Frame Reflection © 5 s 1 1 M yy N M ala i 15 ft J K i J Hl ar 13 ft F G G F Ell 2ay sf D D c By Bet 35h FS 254 Sen iat 35h SR 25 ft 2Ar 2Al 2Ar 2Ar = constant £=constant Frame Reflection © 153SYMMETRIC AND ANTISYMMETRIC COMPONENTS OF LOADINGS The reflection of a system of forces and displacements about an axis can be obtained by rotat- ing the foree and displacement system through 180° about the axis as shown in Fig, 10.8 below Fy Vy F, se MO Bot x: Vix AY) (xy) (b) Reflection about y-Axis | (a) Force/Displacement System x Ex Va ee a ; Fy vy (c) Reflection about x-Axis Figure 10.8 — Force and Displacement Reflections Symmetric Loadings A loading is considered to be symmetric with respect to an axis in its plane if the reflection of the loading about the axis is identical to the loading itself. Examples are given in Fig. 10.9. Antisymmetric Loadings A loading is considered to be antisymmetric with respect to an axis in its plane if the negative of the reflection of the loading about the axis is identical to the loading itself. Examples are given in Fig. 10.10. 5: P s i : pada peso eee) a 4 —4| B — — 2 —4 Reflection 8 ' a ay ig eee eee a k— 4 —4 Reflection s I ia - ! ee i - c c 8 A fra ae a 4] Ir a +i 8 Reflection Reflection Figure 10.9 — Examples of Symmetric LoadingsLoading Reflection Negative of Reflection @ s s 3 pee wt | ‘CPRLL ee ttimitt “(thir : I «— a o—|—a Loading Reflection Negative of Reflection (b) — a— ~- 2 |__| La fg Loading Reflection Negative of Reflection © : : : 1 7 4 ' i ¥ i t \ Fe = nee ¢ oer ¢, aoe eal | | a ee | Loading Reflection Negative of Reflection @ 5 ee pace —§— M uh—i— Malema M 4 4 3B iS ‘ A B - > > ») a a a Loading Reflection Negative of Reflection © Figure 10.10 — Examples of Antisymmetric LoadingsGeneral Load Decomposition into Symmetric and Antisymmetric Components Any general loading can be decomposed into symmetric and antisymmetric components with respect to an axis by applying the following procedure: 1, Divide the magnitude of the forces and/or moments of the given loading by two (2.2.4 Fig. 10.110)) 2. Draw a reflection of the half loading about the specified axis (Fig. 10.11(c)). 3. Determine the symmetric component of the given loading by adding the half loading to its reflection (Fig. 10.11(4)). Determine the antisymmetric component of the loading by subtracting the symmetric ig. 10.11(e)). loading component fiom the given loading 2P 2w i 2 HOH (a) Given Loading #— 8 40d (b) Half Loading be bafe— a —s (©) Reflection of Half Loading BTP s P w i w fe dale — a ple seb (@) Symmetric Loading P s P w ! w Je bare — a ple ole (©) Antisymmetric Loading Figure 10.11 — General Load Decomposition 2v v v 7H H H (b) Symmetric Loading (a) Given Loading a Vv Vv H HW (c) Antisymmetric Loading Frame Example of General Load Decomposition SuperpositionBEHAVIOR OF SYMMETRIC STRUCTURES UNDER SYMMETRIC AND ANTISYMMETRIC LOADINGS When a symmetric structure is subjected to a loading with respect to the structure's axis of symmetry, the response of the structure is also symmetric. Displacement behavior along the axis of symmetry for symmetric loading resulis in no rota- tion (unless there is a hinge at such a point) nor any deflection perpendicular to the axis of symmetry. Force behavior along the axis of symmetry for symmetric loading results in zero force along the axis of symmetry, Lik ee 2 s (a) Symmetric Frame and Loading ‘ollar support s (b) Half Frame w/ Symmetric Boundary Conditions 59(@ Half Frame w/ Symmetric Boundary Conditions Figure 10,16 — Example Symmetric Frame Structures If support B above were a roller rather than a hinge support, would the boundary condition at B in Fig, 10.16(4) change?Fh (a) Symmetric Truss and Loading (b) Half Truss w/ Sym- metric Boundary Condi- tions BC? Pos be fk Figure— Example Symmetric Truss Structure ‘What BC at the point indicated for the symmetric truss structure? When a symmetric structure is subjected to a loading that is antisymmetric with respect to the structure's axis of symmetry, the response of the structure is also antisymmetric. Displacement behavior along the axis of symmetcy for antisymmetric loading results in no displacement along the axis of symmetry. Force behavior along the axis of symmetry for antisymmetric loading results in zero force normal to the axis of symmetry and zero bending moment. \élSymmetric Beam Half Beam w/ Loading Symmetric Frame i Half Frame w/ Loading Figure 10.17 — Symmetric Structures w/ Antisymmetric Loadings For general loading on a symmetric structure, the loading can be decomposed into symmetric and antisymmetric components. Displacement and force boundary conditions for symmetric and antisymmetric loadings along the axis of structural symmetry apply. To obtain the total response, use superposition of the symmetric and antisymmetric result, eww, MeGuire and RH. Gallagher Malriz Structural Analysis John Weleg X Sons Example 10, Using symmetry principles, determine the slope at b and ¢ for the beam shown, = $0 x 10° mm‘, E-= 200,000 MPa for all members. ‘Symmetrical part By symmetry, 0, Unknown degrees of freedom: 8% Fixed-end forces: ab Mim —10 x 2 x 3/5? = —480 kNm bo | ME = 10x 2x 05%/2.5?= 080 Mi= —10 x 2? x 0.5/2.5? = -320 Fp=LOtKN — Fi,= 8.96 KN Element stiffness equations {from Equation 4.38): i ane | aM, = 200(4 x 50 x 10°/5000)8, = 200(4 x 1046, faa Me axoxiot sxsoxit yy | 8 2500 (2500) bo = 200) gue 12 50% 10°] : ~~ @s00F J Bx lot —48.0 8s) ~2[ Meo tose fed Global stiffness equations {h(a cnet ta | 163360 Special Analysis Procedures Solving: Anvisyrmetrical part (6) _ {0.600 x 107 rad) e§ [= 1917 mm By antisymmetry, Unknown degrees of freedom: 0, 6, Element stiffness equations (Equation 4.38). ab May = 20014 x 10°}, Mos Bx 10 4x 10") (0, » Lioh-aele rio sx iollet Global stiffness equations: fo . 12x 10 4x 107/04], (4.00 x 10° jor 4 x tot 8x 10% |e, * 1-320 x 10° Solvin e fos) | $0120 x 10-9) Le.J Yo.ido x 1073 Combined analysis 0, = (—0.600 + 0.12010"? = —0.480 x 10°? rad +0.600 + 0.120)107* = +0.720 x 1078 rad ~192 mm 20KN 20kN “192mm 0.720 x 10-* rad 0.490 x 10 Fad 0.148 x 10-9 roa Example 10.9 Using symmetry principles, determine the displacements at the joints of the rigid frame shown. For members ab and de, A= 4 x 10? mm?, I= $0 x 10° mm*. For members bbeand cd, A= 6 x 10? mmn?, J = 200 x 10° mm*, = 200,000 MPa for all members. Use the results of : Example 5.3, ea fae Paces Sasa Symmetrical part By symmetry, 1, = 0; = 0. Unknown degrees of freedom: ts, Un Bb Ue From the element equations of Example 5.3, the global stiffness equations are 0 0.6500 02591 4969 —0.2591) fin) fe Ol _ a0 9095 17.381 —0.1095 |», ‘symmetry 0 Sym. 14x 10° —17381 |) 6,| 5, 0.1095] Lo. 164361 10.6 Symmetry and Anti-Symimetry Solving, Le % % %J=[-2208mm -00313 mm —O611 x 10-# rad —5.583 mm] Antsymmetrical part 7 By antisymmetry, r= 0 . Unknown degrees of freedom: ty ts Oy te 8 From the element equations of Example 53, the global stiffness equations are sin Prane of symmetry 5} 0.251 4969 ~06452 — 70313] (us 9} 09095 17381-02591 17.381 |], 0} =200| 14x 10° 7.0313 0.5 x 10° |}.8, o Sym, o6is2 70313 ||u, * 0 ix 105Jle, Solving, Ue Ye 8 me 8 = [7.085 mm 0.0093 mm 0.7403 x 10° rad 7.093 mm 0.3680 x 10~? rad] Combined analysis uy = -2.20 + 72.08 = 488 mm =003 +001 = ~0.02 mm = (0611 — 0.740)107? = ~1.351 x 10°? rad = 0+ 7.09 = 7.09 mm ¥, = 558 +0= —5.58 mm 8, = 0-+0368 x 10-8 8 x 10" rad uy = +220 + 7.08 = 9.28 mm 2%4= —003 ~ 0.01 = 0.04 mm 0, = (+0611 ~ 0.740)10-? = —0.129 x 10°? rad 165Examrre The frame shown in Fig. 4 is symmednic. Use symmetric - antisymmetric loading +o analyze the strackarally symmelric hal of the shruchure . Neglect axial deformation. Also caleulate +re member end | moments. opi % Le 2 ero Anksymm Syman (a) Symme bie Loading Ch) Anbispmmebatc Loading Fig. 2. Load Cases || G | GS-8 1 & Saan aehsynm (ey Fig. 3, Kinemalic Degrees of Freedom St Fig. 5. Stiffnesses For Astisymmebric Lead Case (67% % | ‘ 7 ye ea fe & | fe | (a) Symmelric Load Case Cb) Antisymnelrte Load Case | Fig. 6. Fixed -End Forces | Symmelric Load Analysis | The displocement dof ave shown tn Feg. 30), Mbress coeffetents are shows in Foy. 4, and te Roed-end forces are shown in Ftq. @ Ca). Exveliodion | | | | of the stiffness coefficletts and fxed-end forces gives i | | | | Si APY, + FEZ + 40moce ) Ciak * 36 i = 0,000 in-bips | Shon SE aH, = eo» seas hipe She EYE = 2M 0001 ig, = \.088125 ky i | | | B= Mecfy = POC = ah in-ips Pe ~%, 2 4s Feet s ! +. [iojeoo ~93.957) fd i | 92.75 ..9saus} (dp aa | = <5,8130 in -0.07273rad 0.02037 tad? The member end moments are Mr = FYE + AY de = ig \n=kipe | RAs tay Nec eDiets = 13 in-kips i | 7 a Me = Sta, dP + 2B 2 = me.7in -kips Ustag antisymmelry | Meo = M, = V3 in-kips | Mp = Mi = 13 inckips Mit = MM? = i167 in-kips Structure Member End Moments (Fig. 4) ' me = (M2) & Cis -MP = -92.4 * 03 = 58.9 in-kige Mp = - 26.2 + 176.7 = 150.5 in- ips 170Mit = 52.4 -.3 = -58.9 ins kips My = -92.4 -11.3 = -\63,7 in- kips MA = 52.4 40.3 = 163.7 in-kips MP = 26.2 +067 = 202.9 in - kips 4125 163.7 \63.7 Benvine — Moment “Dineram 4c "T50.5 202.9 Positive momat ot x= 4/ (44) for member \-2 is obbatned boy superposthion af dhe member end moments (Mit and MP) evaluated @ x= Y% Carsin and the moment for a simply supported bean subjected to a point load ot Yh, ie. Pp + cs betes Srl To ~ 144 in-ki 1 th