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J. Dario Aristizabal-Ochoa
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ARTICLE IN PRESS
Engineering Structures (
www.elsevier.com/locate/engstruct
Abstract
A new set of slope-deflection equations for Timoshenko beamcolumns of symmetrical cross section with semi-rigid connections that include
the combined effects of shear and bending deformations, and second-order axial load effects are developed in a classical manner. The proposed
method that also includes the effects of the shear component of the applied axial force as the member deflects laterally (Haringx Model) has the
following advantages: (1) it can be utilized in the stability and second-order analyses of framed structures made up of Timoshenko beamcolumns
with rigid, semi-rigid, and simple end connections; (2) the effects of semi-rigid connections are condensed into the slope-deflection equations for
tension or compression axial loads without introducing additional degrees of freedom and equations; (3) it is more accurate than any other method
available and capable of capturing the phenomena of buckling under axial tension forces; and (4) it is powerful, practical, versatile and easy to
teach. Analytical studies indicate that shear deformations increase the lateral deflections and reduce the critical axial loads of framed structures
made of members with low shear stiffness. The effects of shear deformations must be considered in the analysis of beamcolumns with relatively
low effective shear areas (like laced columns, columns with batten plates or with perforated cover plates, and columns with open webs) or with
low shear stiffness (like elastomeric bearing and short columns made of laminated composites with low shear modulus G when compared to their
elastic modulus E) making the shear stiffness GAs of the same order of magnitude as EI/L 2 . The shear effects are also of great importance in the
static, stability and dynamic behavior of laminated elastomeric bearings used for seismic isolation of buildings. Four comprehensive examples are
included that show the effectiveness of the proposed method and equations.
c 2008 Elsevier Ltd. All rights reserved.
Keywords: Beams; Beamcolumns; Large deflections; Nonlinear analysis; Semi-rigid connections; Second-order analysis; Stability; Structural analysis; Timoshenko
beam
1. Introduction
The slope-deflection method represents a turning point in
the evolution and development of the matrix stiffness method
as it is known today (Samuelsson and Zienkiewicz [1]). It was
presented in 1915 by Wilson and Maney [2] in a Bulletin from
the University of Illinois at Urbana-Champaign as a general
method to be used in the analysis of beam structures with rigidjoints subjected to transverse loads.
The slope-deflection method may be used to analyze all
types of statically indeterminate beams and frames. The
classic slope-deflection equations are derived by means of
the momentarea theorems considering deformation caused by
Tel.: +57 42686218; fax: +57 44255152.
ARTICLE IN PRESS
2
Nomenclature
Effective shear area of the beamcolumn cross
section;
E
Youngs modulus of the material;
G
Shear modulus of the material;
L
Length of the beamcolumn AB;
I
Principal moment of inertia of the beamcolumn
about its axis of bending;
Ma and Mb Bending moments (clockwise +) at ends A
and B, respectively;
P
Applied axial load at ends A and B (+
compression, tension);
Pcr
Critical axial load;
Pe
2 EI/L 2 = Euler load;
Ra and Rb Stiffness indexes of the flexural connection at
A and B, respectively;
u(x)
Lateral deflection of the beamcolumn center
line;
1
= 1+P/(G
As ) Shear reduction factor;
bending;
a and b Rotations of ends A and B due to bending with
respect to the vertical axis, respectively [a =
Mb
a
0
a 0 + M
a and b = b + b ];
=
12(E I /L 2 )
G As
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
ARTICLE IN PRESS
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1
1+
3
Ra
(1a)
and
b =
1
1+
3
Rb
(1b)
EI
EI
a
+ Sab
b
(2a)
Ma = Saa
L
L
L
L
EI
EI
Mb = Sba
a
+ Sbb
b
(2b)
L
L
L
L
where a and b values are the rotations of ends A and B
measured with respect to the initial axis of the member, and
/L the angle of rotation of the cord of the member AB. Both
rotations and end moments (Ma and Mb ) are positive clockwise
as shown in Fig. 1. Saa , Sab , Sba and Sbb are denoted as the
stiffness coefficients of the Timoshenko beamcolumn AB with
semi-rigid connections at both ends A and B. These coefficients
are listed below for easy reference.
Saa =
(3)
Sab
(4)
Sbb
(5)
=
G As
1
and = 1+P/(G
As ) .
Notice that the proposed method and corresponding
equations listed above are valid for beamcolumns subjected to
tension and compression axial forces. When 2 is negative (i.e.,
[1 + P/ (G As )] P < 0), the following three exchanges were
made in the equations in Box I to obtain those in Box II: (1)
sin for i sinh ; (2) tan for i tanh ; and (3) for i (where:
i = 1). Eqs. (2a) and (2b) are derived in Appendix for quick
reference.
To verify the coefficients given by Eqs. (3)(5), the
numerators and denominators of expressions in Box I must be
differentiated four times in accordance with LHospitals rule
and then apply the P = 0 limit. However, since to carry out
this process is really tedious and cumbersome, the derivations
of Eqs. (3)(5) are presented in the last part of the Appendix.
Four examples that follow show the effectiveness, simplicity
and accuracy of the proposed slope-deflection equations listed
above. Examples 1 and 2 are on the stability analysis of
beamcolumn structures subjected to concentrated forces at
the joints causing tension and/or compression in the members.
Examples 3 and 4 show the application of the proposed method
to plane frames subjected to axial loads (compression and/or
tension).
EI
M12 = S11
1
+ S12
2
L
L
L
L
(6)
(7)
(8)
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
ARTICLE IN PRESS
4
Saa
Sab
Sbb
3a (1 b ) 2 + 9a b 1 tan
=
1
9a b sin
= Sba =
tan(/2)
2
+
9
a
b
/2
3b (1 a ) 2 + 9a b 1 tan
=
tan(/2)
+
9
/2
Box I.
Saa
Sab
Sbb
3a (1 b ) 2 + 9a b 1 tanh
=
tanh(/2)
+
9
/2
9a b sinh 1
= Sba =
tanh(/2)
+ 9a b
/2
3b (1 a ) 2 + 9a b 1 tanh
=
S12
S22
sin
1
= S21 =
tan(/2)
(1 ) 1 tan
+ 3
/2
(1 ) 2 + 3 1 tan
.
=
tan(/2)
(1 ) 1 tan
+
3
/2
3
(11)
(12)
Knowing that 1 = 0 and using Eqs. (8) and (9) the following
matrix equation can be obtained from Eqs. (6) and (7):
S22
EI
L
EI
(S21 + S22 ) 2
L
2
M
.
=
Q
Fig. 2. Example 1: Second-order analysis of a cantilever column with semirigid connections at the support subjected to top end loads: (a) Structural model;
and (b) Deflected shape and end actions.
M21 = S21
EI
L
+ S22
EI
L
.
L
EI
L2
EI
(S11 + 2S12 + S22 ) 3 P/L
L
(S12 + S22 )
(13)
(9)
3 1 tan
S11 =
(10)
(1 ) 1 tan + 3 tan(/2)
/2
2 =
1+
S21
S22
M
+
L
S22
L
EI
(14a)
and
=
(14b)
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
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Fig. 3. Example 2: Stability analysis of a two span beamcolumn with an intermediate elastic support: (a) Structural model and deflected shape; and (b) End forces
and moments on elements 1 and 2.
3
Expression (14b) can be reduced to = EQIL 2 tan 1 +
M L 2 1cos
which is identical to the superposition of Eqs.
2
EI
cos
(g) and (1-33) presented by Timoshenko and Gere ([12],
pp. 5 and 14) for the particular case of a perfectly clamped
BernoulliEuler cantilever column (i.e., = = 1) subjected
to lateral load Q and overturning moment M, respectively. The
large deflection and post-buckling behavior of a Timoshenko
cantilever column subjected to loadings at the top end is fully
discussed by Aristizabal-Ochoa [11].
Example 2. Stability of a two-span beamcolumn with an
intermediate elastic support.
Determine the buckling load of the two-span continuous
beamcolumn shown in Fig. 3a. Assume that members 1 and
2 are initially horizontal with properties (GAs )1 , (EI)1 , l1 and
(GAs )2 , (EI)2 , l2 , respectively. Also assume that the applied
loads P and P remain always horizontal and are applied at
nodes 2 and 3, respectively. Include the effects of the transverse
stiffness S of the intermediate support 2. Compare the results
with those presented by Timoshenko and Gere ([12], pp. 70
and 99) when the member is made of two EulerBernoulli
beamcolumns.
Solution: From moment equilibrium of beam segments 1 and
2 (Fig. 3b) the following two equations are obtained:
M21 + (P + P) V1l1 = 0
(15)
M23 P + V2l2 = 0.
(16)
(17)
of node 2 with respect to the horizontal axis and using Eq. (2):
EI
M21 = (Sbb )1
l1
l1
and
M23
EI
= (Saa )2
l2
+
l2
where for P > 0 and P(1 + ) > 0 and using the equations in
Box I: (Sbb )1 =
1 12
1 tan1 1
and (Saa )2 =
2 22
1 tan2 2
E I1
E I2
+ (Saa )2
=0
l1
l2
or
2 22 tan 2
1 12 tan 1
tan 1 1 1
tan 2 2 2
=
l 2 E I1
.
l 1 E I2
(20)
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
ARTICLE IN PRESS
6
E I2
E I1
+ (Saa )2
l1
l2
E I1 L
(Sbb )1
l1 l2
(Sbb )1
E I1
E I2
+
(S
)
aa
2
l12
l22
=0
E I1 L
E I1
E I2 l 1
(Sbb )1 2
+ 1 12 2 + 2 22 2
+ Sl1
l1 l2
l1
l2 l2
(Sbb )1
Box III.
Fig. 6. Example 3: Stability analysis of a double symmetrical frame with beamto-column connection of stiffness . (After Timoshenko & Gere [12], p. 34.)
(21)
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
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E 1 I1
1 [(Saa )1 (Sab )1 ]
h
(22)
and
(M14 )beam =
E 2 I2
1 [(Saa )2 (Sab )2 ]
b
where: (Saa )1 =
1
tan(1 /2)
1 /2
1
1 tan1 1
; (Sab )1 =
(23)
1 1
sin 1 1
tan(1 /2)
1 /2
1
3(1 )2 22 + 9 2 1 tan2 2
2
;
(Saa )2 =
tan(2 /2)
(1 )2 2 22 + 6(1 ) 1 tan2 2 + 9 2
2 /2 2
2
and
9 2 sin2 2 1
2
.
(Sab )2 =
tan(2 /2)
(1 )2 2 22 + 6(1 ) 1 tan2 2 + 9 2
/2 2
2
1 1
E 1 I1 b sin 1 (1 + cos 1 ) 2
tan(1 /2)
E 2 I2 h
1 /2
1
(1 )2 22 + 9 2 1 tan2 2 9 2 sin2 2 1
2
2
= 0.
+
tan(2 /2)
(1 )2 2 22 + 6(1 ) 1 tan2 2 + 9 2
/2 2
2
(24)
The characteristic equation (24) can be reduced further to
2 /2
= hb EE 12 II12 tan2/2
for a frame with BernoulliEuler
columns and beams with = 1 which is identical to Eqs. (2)
(25) presented by Timoshenko and Gere ([12], p. 63).
Fig. 7ac show a series of interaction diagrams of
P/(EI/L 2 ) versus Q/(EI/L 2 ) for different values and
GAs /(EI/L 2 ) all obtained using Eq. (24) for the particular case
of h = b = L, G 1 As1 = G 2 As2 = GAs and E 1 I1 = E 2 I2 =
EI. Notice that: (1) buckling load capacities are affected
significantly not only by the stiffness of beam-to-column
connections but also by the magnitude of the shear stiffness
of the members; and (2) buckling under axial tension forces
is a mirror image of buckling under axial compression forces
for short members with low shear stiffness like multilayer
elastomeric bearings as claimed by Kelly [13]. Further details
of buckling of beamcolumns under axial tension are given by
Aristizabal-Ochoa [10,11,14] and Kelly [13].
tan(1 /2)
1 /2
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structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
ARTICLE IN PRESS
8
Fig. 8. Example 4: Stability analysis of an unsymmetrical frame with lateral sway partially inhibited: (a) Structural model and loads; and (b) Forces on each
deflected member.
M31 =
E I1
E I1
1 (Sab )1 2 [(Saa )1 + (Sab )1 ]
h1
h1
(28)
M13 =
E I1
E I1
1 (Sbb )1 2 [(Sbb )1 + (Sab )1 ]
h1
h1
(29)
M42 =
E I2
E I2
2 (Sab )2 2 [(Saa )2 + (Sab )2 ]
h2
h2
(30)
M24 =
E I2
E I2
2 (Sbb )2 2 [(Sbb )2 + (Sab )2 ]
h2
h2
(31)
M13 + M12 = 0
M24 + M21 = 0.
(25)
(26)
+
+
P S = 0.
h1
h2
(27)
E I3
1 (Saa )3 +
L
E I3
=
1 (Sab )3 +
L
M12 =
M21
E I3
2 (Sab )3
L
E I3
2 (Sbb )3 .
L
(32)
(33)
(Sab )1 =
(Sbb )1 =
(Saa )2 =
1 1
tan 1
1
;
tan(1 /2)
1 1
+
3
(1 3 ) 1 tan
3
1
1
1 /2
1 1
33 sin 1 1
;
tan(1 /2)
1 1
(1 3 ) 1 tan
+
3
3
1
1
1 /2
1 1
2
(1 3 )1 1 + 33 1 tan
1
;
tan(1 /2)
1 1
(1 3 ) 1 tan
+
3
3
1
1
1 /2
2 2
34 tan 2 1
;
tan(2 /2)
2 2
(1 4 ) 1 tan
2 + 34
2 /2 2
33
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
ARTICLE IN PRESS
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EI
EI
(Sbb )1 1 + (Saa )3 3
h1
L
E I3
(Sab )3
E I1
(Sab )1 + (Sbb )1
h 21
(Sab )3
(Sbb )2
E I3
L
E I2
EI
+ (Sbb )3 3
h2
L
E I2
(Sab )2 + (Sbb )2
h 22
E I1
(Sab )1 + (Sbb )1
2
h1
E I2
(Sab )2 + (Sbb )2
1
2
h
=0
2
E I1 2
1
S
+
P + (Sab )1 + 2(Sab )1 + (Sbb )1
+
h1
h2
h1
E I2
(Sab )2 + 2(Sab )2 + (Sbb )2
h2
Box IV.
2 2
sin 2
1
;
tan(2 /2)
2 2
(1 4 ) 1 tan
+
3
3
2
2
2 /2
2 2
2
(1 4 )2 2 + 34 1 tan
2
;
(Sbb )2 =
tan(2 /2)
2 2
(1 4 ) 1 tan
2 + 34
2 /2 2
(Sab )2 =
34
31 (4 + 2 )
;
(4 1 2 ) + (1 + 2 + 1 2 )
31 2 (2 )
;
(Sab )3 =
(4 1 2 ) + (1 + 2 + 1 2 )
32 (4 + 1 )
(Sbb )3 =
.
(4 1 2 ) + (1 + 2 + 1 2 )
(Saa )3 =
and
E I3 /L
.
E I1 / h
(34)
(36)
Eqs. (34) and (36) are identical to Eqs. (14-2-30) and (14-218) presented by Salmon and Johnson ([5], pp. 900912) for
unbraced and braced symmetrical frames, respectively. It must
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
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10
x
and using Haringxs approach:
M = E I
V = G As P
u
.
=
x
(37)
(39)
(41)
u(x) = A cos
L
x x Ma + Mb + P
Ma
+ B sin
(42)
L
L
P
P
x
x
. (x. ) = C cos
+ D sin
L
L
1 Ma + Mb + P
+
.
(43)
L
P
The unknown coefficients A, B, C, and D can be obtained from
the following boundary conditions:
At A0 (x = 0): u = 0, = a 0
At B0 (x = h) : u = and = b0 where: a 0 and
b0 = rotations of cross sections at ends A0 and B0 with respect
to the vertical axis due to bending, respectively;
+Mb
Therefore: A = MPa ; B = MPa tan(/2) MPasin
;C =
Ma +Mb
1
+ ; and
a 0 L
P
a 0 b0 cos
D=
sin
Ma + M b
+ tan(/2).
P
+
+
E I /L
L
2 sin
2 sin E I /L
(44a)
sin cos Mb
sin Ma
b 0 =
+
+ .
E I /L
L
2 sin E I /L
2 sin
(44b)
a 0 =
(40)
Mb
b ,
b = b 0 +
Therefore:
a
Ma
a
and
respectively.
sin cos Ma
=
L
E I /L
2 sin
sin Mb
Ma
+
+
2
E
I
/L
a
sin
(45a)
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007
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Ma sin
=
L
E I /L 2 sin
Mb sin cos
Mb
+
+
2
E I /L
b
sin
11
1
E I / h2
Ma
+
3
G As
E I/h
1
E I / h2
Mb
Ma
+ +
+
6
G As
E I/h
a
1
E I / h2
Ma
= +
a
h
6
G As
E I/h
1
E I / h2
Mb
Mb
+
+
+
.
3
G As
E I/h
b
=
h
(49a)
(49b)
to:
2u
x
= Ma + (Ma + Mb )
L
x2
2
Ma + M b
EI 2 =
.
L
x
EI
(46a)
(46b)
Eqs. (46a) and (46b) are now much simpler to solve. After
applying the boundary conditions [i.e., u = 0, = a 0 at
A0 (x = 0); and u = and = b0 at B0 (x = L)], their
solutions are:
L
Ma 2
x+
x
(2Ma Mb ) x
L
6E I
2E I
1
+
(Ma + Mb ) x 3
6E I L
1
L
(x) =
+ (Ma + Mb )
+
(2Ma Mb )
L
G As
6E I
1
Ma
x+
(Ma + Mb ) x 2 .
EI
2E I L
u(x) =
(47a)
(47b)
+ +
+
(48a)
6
G As
E I /L
L
1
E I /L 2
Ma
b 0 = +
6
G As
E I /L
1
E I /L 2
Mb
+
+
+ .
(48b)
3
G As
E I /L
L
Please cite this article in press as: Dario Aristizabal-Ochoa J. Slope-deflection equations for stability and second-order analysis of Timoshenho beamcolumn
structures with semi-rigid connections. Engineering Structures (2008), doi:10.1016/j.engstruct.2008.02.007