2000 Structural Analysis 2

Class Note for Structural Analysis 2
Fall Semester, 2008

Hae Sung Lee, Professor
Dept. of Civil and Environmental Engineering
Seoul National University
Seoul, Korea
Contents
Chapter 1 Slope Deflection Method 1
1.0 Comparison of Flexibility Method and Stiffness Method 2
1.1 Analysis of Fundamental System..... 5
1.2 Analysis of Beams 8
1.3 Analysis of Frames... 17
Chapter 2 Iterative Solution Method & Moment Distribution Method 32
2.1 Solution Method for Linear Algebraic Equations 33
2.2 Moment Distribution Method... 37
2.3 Example - MDM for a 4-span Continuous Beam. 42
2.4 Direct Solution Scheme by Partitioning... 44
2.5 Moment Distribution Method for Frames 45
Chapter 3 Energy Principles 47
3.1 Spring-Force Systems... 48
3.2 Beam Problems. 49
3.3 Truss problems. 53
Chapter 4 Matrix Structural Analysis 56
4.1 Truss Problems 57
4.2 Beam Problems 68
4.3 Frame Problems... 76
Chapter 5 Buckling of Structures 79
5.0 Stability of Structures... 80
5.1 Governing Equation for a Beam with Axial Force... 81
5.2 Homogeneous Solutions... 82
5.3 Homogeneous and Particular solution.. 85
5.4 Energy Method. 86
5.5 Approximation with the Homogeneous Beam Solutions. 89
5.6 Nonlinear Analysis of Truss. 91
School of Civil, Urban & Geosystem Eng., SNU
Structural Analysis Lab.
Prof. Hae Sung Lee, http://strana.snu.ac.kr
1
Chapter 1
Slope Deflection Method
A
B
2
2.0 Comparison of Flexibility Method and Stiffness Method
Flexibility Method
Remove redundancy (Equilibrium)
Compatibility
2 1
=
P
k k
k
X
k
X P
k
X
2 1
1
2 1
+
=
=
Stiffness Method
Compatibility
= =
2 1
Equilibrium
= + P k k
2 1
2 1
k k
P
+
=
P
k
1 k
2
P
X
P
k
1 k
2
P
3
Flexibility Method
Remove redundancy (Equilibrium)
Compatibility
EI
PL PL
EI
L
B
16
1
4
)
2
1
1 (
6
2
0
= + = ,
EI
L
BB
3
2
=
32
3
0
0
0
PL
M M
BB
B
B B BB B
=
= = +
Stiffness Method
Compatibility
B BC BA
= =
Equilibrium
0 ,
16
3
= =
f
BC
f
BA
M
PL
M ,
B
B
BC
B
BA
L
EI
M M = =
3
EI
PL
L
EI PL
M M M M M
B B
B
BC
B
BA
f
BC
f
BA B
32
0
6
16
3
0
2
= = +
= + + + =

1
+
+
EI
L
EI
L
L/2
P
A
B
C
16
3PL
EI
L
EI
L
L/2
P
A
B
C
B
4
Flexibility Method
1. Release all redundancies.
2. Calculate displacements induced by external loads at the released
redundancies.
3. Apply unit loads and calculate displacements at the released
redundancies.
4. Construct the flexibility equation by superposing the displacement
based on the compatibility conditions.
5. Solve the flexibility equation.
6. Calculate reactions and other quantities as needed.
Stiffness Method
1. Fix all Degrees of Freedom.
2. Calculate fixed end forces induced by external loads at the fixed
DOF.
3. Apply unit displacements and calculate member end forces at the
DOFs.
4. Construct the stiffness equation by superposing the member end
forces based on the equilibrium equations.
5. Solve the stiffness equation.
6. Calculate reactions and other quantities as needed.
5
2.1 Analysis of Fundamental System
2.1.1 End Rotation
Flexibility Method
i) 0 =
B
0
3 6
6 3
= +
= +
B A
A B A
M
EI
L
M
EI
L
M
EI
L
M
EI
L
A A
L
EI
M =
4
,
A B
L
EI
M =
2
ii) 0 =
A
B A
L
EI
M =
2
,
B B
L
EI
M =
4
Sign Convention for M :Counterclockwise +
0
A
, 0
B
B A B
B A A
L
EI
L
EI
M
L
EI
L
EI
M
+ =
+ =
4 2
2 4
2.1.2 Relative motion of joints
M
A M
B
A B

A

6
Flexibility Method
L
M
EI
L
M
EI
L
L
M
EI
L
M
EI
L
B A
B A
= +
= +
3 6
6 3

L L
EI
M
A

=
6
,
L L
EI
M
B

=
6
or in the new sign convention :
L L
EI
M
A

=
6
,
L L
EI
M
B

=
6
Final Slope-Deflection Equation
L L
EI
L
EI
L
EI
M
L L
EI
L
EI
L
EI
M
B A B
B A A
+ + =
+ + =
6 4 2
6 2 4
In Case an One End is Hinged
L L
EI
L
EI
L L
EI
L
EI
L
EI
M
L L
EI
L
EI
L
EI
L L
EI
L
EI
L
EI
M
B B A B
B A B A A
+ =
+ + =
= =
+ + =
3 3 6 4 2
3 2
0
6 2 4
2.1.3 Fixed End Force
Both Ends Fixed

7
One End Hinged
+
Ex.: Uniform load case with a hinged left end
8 24
3
24 12
2 2 2 2
qL qL qL qL
M
f
B
= = = , 0 =
f
A
M
2.1.4 J oint Equilibrium

= + 0
joint member fixed
F F F
or

= +
joint member fixed
F F F
M
A
M
B
M
A M
A
/2

A
M
2
3

A
M
2
3
Joint i
F
join
t
F
member
F
fixed
8
2.2 Analysis of Beams
2.2.1 A Fixed-fixed End Beam
DOF :
B
,
B
Analysis
i) All fixed : No fixed end forces
ii) 0
B
, 0 =
B
B AB
a
EI
M =
2
1
,
B BA
a
EI
M =
4
1
,
B BC
b
EI
M =
4
1
,
B CB
b
EI
M =
2
1
B AB BA
a
EI
V V = =
2
1 1
6
,
B CB BC
b
EI
V V = =
2
1 1
6
iii) 0 =
B
, 0
B
B AB
a
EI
M =
2
2
6
,
B BA
a
EI
M =
2
2
6
,
B BC
b
EI
M =
2
2
6

B CB
b
EI
M =
2
2
6
B AB BA
a
EI
V V = =
3
2 2
12
,
B CB BC
b
EI
V V = =
2
2 2
12
b a
EI
P
A
B
C
B
a
EI
4
B
a
EI
2
B
b
EI
4
B
b
EI
2
B
a
EI
2
6
B
a
EI
2
6
B
b
EI
2
6
B
b
EI
2
6
B
a
EI
2
6
B
a
EI
2
6
B
b
EI
2
6
B
b
EI
2
6
B
a
EI
3
12
B
a
EI
3
12
B
b
EI
3
12
B
b
EI
3
12
9
Construct the Stiffness Equation
= + + + =
0 0
2 2 1 1
BC BA BC BA
i
B
M M M M M 0 )
1 1
( 6 )
1 1
( 4
2 2
= + +
B B
b a
EI
b a
EI
= + + + =
P V V V V P V
BC BA BC BA
i
B
2 2 1 1
P
b a
EI
b a
EI
B B
= + + )
1 1
( 12 )
1 1
( 6
3 3 2 2
P
EIl
b a a b
B 3
2 2
2
) (
= , P
EIl
b a
B 3
3 3
3
=
P
l
ab
a
EI
a
EI
M M M
B B AB AB AB 2
2
2
2 1
6 2
= + = + = ,
P
l
b a
b
EI
b
EI
M M M
B B CB CB CB 2
2
2
2 1
6 2
= = + =
2.2.2 Analysis of a Two-span Continuous Beam (Approach I )
DOF :
B
,
C
Analysis
i) Fix all DOFs and Calculate FEM.
12
2
qL
M
f
AB
= ,
12
2
qL
M
f
BA
= ,
8
2
qL
M
f
BC
= ,
8
2
qL
M
f
CB
=
ii) 0
B
, 0 =
C
B AB
L
EI
M =
2
1
,
B BA
L
EI
M =
4
1
,
B BC
L
EI
M =
8
1
,
B CB
L
EI
M =
4
1
iii) 0 =
B
, 0
C
C BC
L
EI
M =
4
2
,
C CB
L
EI
M =
8
2
= + + + + =
0 0
2 1 1
BC BC BA
f
BC
f
BA
i
B
M M M M M M 0 4 12
24
2
= + +
C B
L
EI
L
EI qL
= + + =
0 0
2 1
CB CB
f
CB
i
C
M M M M 0 8 4
8
2
= + +
C B
L
EI
L
EI
L
qL
qL
EI 2EI
L L
q
A
B
C
10
2
512
17
qL
2
16
1
qL
2
8
1
qL
2
16
3
qL
L
16
7
EI
qL
B
96
3
= ,
EI
qL
C
48
3
=
Member End Forces
2
2
1
48
3 2
12
qL
L
EI qL
M M M
B AB
f
AB AB
= + = + =
2
2
1
8
1 4
12
qL
L
EI qL
M M M
B BA
f
BA BA
= + = + =
2
2
2 1
8
1 4 8
8
qL
L
EI
L
EI qL
M M M M
C B BC BC
f
BC BC
= + + = + + =
0
8 4
8
2
2 1
= + + = + + =
C B CB CB
f
CB CB
L
EI
L
EI qL
M M M M
Various Diagram
- Freebody Diagram
- Moment Diagram
2
16
1
qL
2
8
1
qL
qL
16
7
qL
16
9
qL
8
5
qL
8
3
qL
16
19
11
2.2.3 Analysis of a Two-span Continuous Beam (Approach I I )
DOF :
B
Analysis
i) Fix all DOFs and Calculate FEM.
12
2
qL
M
f
AB
= ,
12
2
qL
M
f
BA
= ,
16
3
8 2
1
8
2 2 2
qL qL qL
M
f
BC
= + =
ii) 0
B
B AB
L
EI
M =
2
1
,
B BA
L
EI
M =
4
1
,
B BC
L
EI
M =
6
1
Construct Stiffness Equation
0 0
1 1
= + + + =
BC BA
f
BC
f
BA B
M M M M M
EI
qL
L
EI
L
EI qL qL
B B B
96
0 6 4
16
3
12
-
2 2 2
= = + + +
Member End Forces
2
2
1
48
3 2
12
qL
L
EI qL
M M M
B AB
f
AB AB
= + = + =
2
2
1
8
1 4
12
qL
L
EI qL
M M M
B BA
f
BA BA
= + = + =
2
2
1
8
1 6
16
3
qL
L
EI qL
M M M
B BC
f
BC BC
= + = + =
qL
EI 2EI
L L
q
A
B
C
12
2.2.4 Analysis of a Beam with an I nternal Hinge (4 DOFs System)
DOF :
B
,
L
C
,
R
C
,
C
Analysis
i) All fixed
12
2
ql
M
f
AB
= ,
12
2
ql
M
f
BA
=
ii) 0
B
B AB
l
EI
M =
2
1
,
B BC BA
l
EI
M M = =
4
1 1
,
B CB
l
EI
M =
2
1
,
B CB
l
EI
V =
2
1
6
iii) 0
L
C
L
C BC
l
EI
M =
2
2
,
L
C CB
l
EI
M =
4
2
,
L
C CB
l
EI
V =
2
2
6
iv) 0
R
C
R
C CD
l
EI
M =
4
3
,
R
C DC
l
EI
M =
2
3
,
L
C CD
l
EI
V =
2
3
6
v) 0
C
C CB BC
l
EI
M M = =
2
4 4
6
,
C DC CD
l
EI
M M = =
2
4 4
6
,
C CB CD
l
EI
V V = =
2
4 4
12
q
EI EI EI
l l l
A
B
C
D
13
Construct Stiffness Equation
0 6 0 2 8
12
0
2
2
1
= + + + + =
C
L
C B
i
i
l
EI
l
EI
l
EI ql
M
0 6 0 4 2 0
2 2
= + + + =
C
L
C B
i
i
l
EI
l
EI
l
EI
M
0 6 4 0
2 3
= =
C
R
C
i
i
l
EI
l
EI
M
0 24 6 6 6 0
3 2 2 2 4
= + + =
C
R
C
L
C B
i
i
l
EI
l
EI
l
EI
l
EI
V
Elimination of
L
C
and
R
C
- 2
nd
and 3
rd
equation
) 3 ( 2
2 C B
L
C
l
EI
l
EI
l
EI
+ = ,
C
R
C
l
EI
l
EI
=
2
3 2
- 1
st
equation
0 3 7
12
0 6 ) 3 ( 8
12
6 2 8
12
2
2
2 2
2
2
2
= + + = + + +
= + + +
C B C C B B
C
L
C B
l
EI
l
EI ql
l
EI
l
EI
l
EI
l
EI ql
l
EI
l
EI
l
EI ql
- 4
th
equation
0 6 3 0 24 ) 3 ( 3 ) 3 ( 3 6
24 6 6 6
3 2 3 3 3 2 2
3 2 2 2
= + = + +
= + +
C B C C C B B
C
R
C
L
C B
l
EI
l
EI
l
EI
l
EI
l
EI
l
EI
l
EI
l
EI
l
EI
l
EI
l
EI
2.2.5 Analysis of a Beam with an I nternal Hinge (2 DOFs System)
DOF :
B
,
C
Analysis
i) All fixed
12
2
ql
M
f
AB
= ,
12
2
ql
M
f
BA
=
q
EI EI EI
l l l
A
B
C
D
14
ii) 0
B
B AB
l
EI
M =
2
1
,
B BA
l
EI
M =
4
1
,
B BC
l
EI
M =
3
1
,
B CB BC
l
EI
V V = =
2
1 1
3
iii) 0
C
C DC BC
l
EI
M M = =
2
2 2
3
,
C CB BC
l
EI
V V = =
2
2 2
3
,
C DC CD
l
EI
V V = =
2
2 2
3
0 3 7
12
0
2
2
1
= + + =
C B
i
i
l
EI
l
EI ql
M
0 6 3 0
3 2 2
= + =
C B
i
i
l
EI
l
EI
V
EI
ql
B
66
3
= ,
EI
ql
C
132
4
=
EI
ql
l l l
EI
l
EI
C R
C
C R
C
3
264
3
2
3
) (
3 2
=
=
EI
ql
EI
ql
EI
ql
L
B
L
C
264 132 2
3
132 2
3
2
1
3 3 3
= + =
=
2.2.6 Beam with a Spring Support
Analysis
i) All fixed
12
2
ql
M
f
AB
= ,
12
2
ql
M
f
BA
=
k
q
EI EI EI
l l l
A
B
C
D
15
ii) 0
B
B AB
l
EI
M =
2
1
,
B BA
l
EI
M =
4
1
,
B BC
l
EI
M =
3
1
,
B CB BC
l
EI
V V = =
2
1 1
3
iii) 0
C
C DC BC
l
EI
M M = =
2
2 2
3
C CB BC
l
EI
V V = =
2
2 2
3
,
C DC CD
l
EI
V V = =
2
2 2
3
,
C S
k V =
2
0 3 7
12
0
2
2
1
= + + =
C B
i
i
l
EI
l
EI ql
M
0 ) 6 ( 3 0
3 2 2
= + + =
C B
i
i
k
l
EI
l
EI
V
EI
ql
B
66 11 / 14 1
1
3
+
+
= ,
EI
ql
C
132 ) 11 / 14 1 (
1
4
+
= where
3
6
l
EI
k =
0
EI
ql
B
66
3
= ,
EI
ql
C
132
4
=

EI
ql
B
84
3
= , 0 =
C
k
C
16
2.2.7 Support Settlement
DOF :
B
Analysis
i) All fixed
l l
EI
M
f
BA

=
6
,
l l
EI
M
f
BC

=
3
ii) 0
B
B BA
l
EI
M =
4
1
,
B BC
l
EI
M =
3
1
Construct the Equilibrium Equation
0 3 4 3 6 0
1
= + +
=
B B
i
i
l
EI
l
EI
l l
EI
l l
EI
M
l
B

=
7
3
2.2.8 Temperature Change
T
1
T
2
l
h
T T
l
h
T T
B A
2
) (
,
2
) (
1 2 1 2

=

=
Fixed End Moment
EI
h
T T
L
EI
L
EI
M
EI
h
T T
L
EI
L
EI
M
B A B
B A A
) ( 4 2
) ( 2 4
1 2
1 2

= + =

= + =
A
B
EI EI
l
l
A
B
C

17
2.3 Analysis of Frames
2.3.1 A Portal Frame without Sidesway
DOF :
B
,
C
Analysis
i) All fixed
8
0
Pl
M
BC
= ,
8
0
Pl
M
CB
=
ii) 0
B
B AB
l
EI
M =
1 1
2
,
B BA
l
EI
M =
1 1
4
B BC
l
EI
M =
2 1
4
,
B CB
l
EI
M =
2 1
2
iii) 0
C
C BC
l
EI
M =
2 2
2
,
C CB
l
EI
M =
2 2
4
C CD
l
EI
M =
1 2
4
,
C DC
l
EI
M =
1 2
2
0
2
)
4 4
(
8
0
2 2 1
= + + + =
C B
i
B
l
EI
l
EI
l
EI Pl
M
0 )
4 4
(
2
8
0
2 1 2
= + + + =
C B
i
C
l
EI
l
EI
l
EI Pl
M
8 2 4
1
2
2 1
Pl
EI EI
C B
+
= =
l/2
P
A
B C
D
EI
1
EI
2
EI
1
18
Member End Forces
8 2 4
2 2
2 1
1 1
Pl
EI EI
EI
l
EI
M
B AB
+
= =
8 2 4
4 4
2 1
1 1
Pl
EI EI
EI
l
EI
M
B BA
+
= =
8 2 4
4 2 4
8
2 1
1 2 2
Pl
EI EI
EI
l
EI
l
EI Pl
M
C B BC
+
= + + =
8 2 4
4 4 2
8
2 1
1 2 2
Pl
EI EI
EI
l
EI
l
EI Pl
M
C B CB
+
= + + =
8 2 4
4 4
2 1
1 1
Pl
EI EI
EI
l
EI
M
C CD
+
= =
8 2 4
2 2
2 1
1 1
Pl
EI EI
EI
l
EI
M
C DC
+
= =
In case
2 1
EI EI =
24
Pl
M
AB
= ,
12
Pl
M
BA
= ,
12
Pl
M
BC
= ,
12
Pl
M
CB
= ,
12
Pl
M
CD
= ,
24
Pl
M
DC
=
2.3.2 A Portal Frame without Sidesway hinged suppoorts
DOF :
B
,
C
Analysis
i) All fixed
8
0
Pl
M
BC
= ,
8
0
Pl
M
CB
=
l/2 P
A
B C
D
EI
1
EI
2
EI
1
19
ii) 0
B
B BA
l
EI
M =
1 1
3
B BC
l
EI
M =
2 1
4
,
B CB
l
EI
M =
2 1
2
iii) 0
C
C BC
l
EI
M =
2 2
2
,
C CB
l
EI
M =
2 2
4
C CD
l
EI
M =
1 2
3
0
2
)
4 3
(
8
0
2 2 1
= + + + =
C B
i
B
l
EI
l
EI
l
EI Pl
M
0 )
4 3
(
2
8
0
2 1 2
= + + + =
C B
i
C
l
EI
l
EI
l
EI Pl
M
8 2 3
1
2
2 1
Pl
EI EI
C B
+
= =
Member End Forces
0 =
AB
M
8 2 3
3 3
2 1
1 1
Pl
EI EI
EI
l
EI
M
B BA
+
= =
8 2 3
3 2 4
8
2 1
1 2 2
Pl
EI EI
EI
l
EI
l
EI Pl
M
C B BC
+
= + + =
8 2 3
3 4 2
8
2 1
1 2 2
Pl
EI EI
EI
l
EI
l
EI Pl
M
C B CB
+
= + + =
8 2 3
3 3
2 1
1 1
Pl
EI EI
EI
l
EI
M
C CD
+
= =
0 =
DC
M
In case of
2 1
EI EI =
0 =
AB
M , Pl M
BA
40
3
= , Pl M
BC
40
3
= , Pl M
CB
40
3
= , Pl M
CD
40
3
= , 0 =
DC
M
20
2.3.3 A Frame with an horizontal force
DOF :
B
,
Analysis
i) All fixed : None fixed end moment
ii) 0
B
B AB
l
EI
M =
2
1
,
B BA
l
EI
M =
4
1
B BC
l
EI
M =
3
1
,
B BA
l
EI
V =
2
1
6
iii) 0
=
2
2
6
l
EI
M
AB
, =
2
2
6
l
EI
M
BA
=
3
2
12
l
EI
V
BA
Construct the stiffness equation
0
6
)
3 4
( 0
2
= + + =
l
EI
l
EI
l
EI
M
B
i
B
P
l
EI
l
EI
P V
B
i
= + =
3 2
12 6

EI
Pl
EI
Pl
B
48
7
,
8
3 2
= =
Member end forces
Pl
l
EI
l
EI
M
B AB
8
5 6 2
2
= + = , Pl
l
EI
l
EI
M
B BA
8
3 6 4
2
= + = , Pl
l
EI
M
B BC
8
3 3
= =
P
A
B
C
EI
21
2.3.4 A Portal Frame with an Unsymmetrical Load
DOF :
B
,
C
,
Analysis
i) All fixed
2
2
0
l
Pab
M
BC
= ,
2
2
0
l
b Pa
M
CB
=
ii) 0
B
B AB
l
EI
M =
2
1
,
B BA
l
EI
M =
4
1
B BC
l
EI
M =
4
1
,
B CB
l
EI
M =
2
1
,
B BA
l
EI
V =
2
1
6
iii) 0
C
C BC
l
EI
M =
2
2
,
C CB
l
EI
M =
4
2
C CD
l
EI
M =
4
2
,
C DC
l
EI
M =
2
2
,
C CD
l
EI
V =
2
2
6
a P
A
B
C
D
22
iv) 0
= =
2
3 3
6
l
EI
M M
BA AB
, = =
2
3 3
6
l
EI
M M
DC CD
,
= =
3
3 3
12
l
EI
V V
CD BA
0
6

2 8
0
2 2
2
= + + + =
l
EI
l
EI
l
EI
l
Pab
M
c B
i
B
0
6

8 2
0
2 2
2
= + + + =
l
EI
l
EI
l
EI
l
b Pa
M
c B
i
C
0
24 6 6
0
3 2 2
= + + =
l
EI
l
EI
l
EI
V
c B
i
) (
4
C B
l
+ =
0
2 2
13

2
2
= + +
c B
l
EI
l
EI
l
b Pa
0
2
13
2
2
2
= + +
c B
l
EI
l
EI
l
Pab
l
b a
EI
Pab
B
) 13 (
84
1 +
=
l
b a
EI
Pab
C
) 13 (
84
1

+
=
) (
28
1
a b
EI
Pab
=
2.3.5 A Portal Frame with a Bracing (Vertical Load)
DOF :
B
,
C
,
Analysis
i) All fixed
2
2
0
l
Pab
M
BC
= ,
2
2
0
l
b Pa
M
CB
=
4
l
a =
a P
A
B
C
D
0 , 0 = EA EI
23
ii) 0
B
B AB
l
EI
M =
2
1
,
B BA
l
EI
M =
4
1
B BC
l
EI
M =
4
1
,
B CB
l
EI
M =
2
1
B BA
l
EI
V =
2
1
6
iii) 0
C
C BC
l
EI
M =
2
2
,
C CB
l
EI
M =
4
2
C CD
l
EI
M =
4
2
,
C DC
l
EI
M =
2
2
C CD
l
EI
V =
2
2
6
iv) 0
= =
2
3 3
6
l
EI
M M
BA AB
,
= =
2
3 3
6
l
EI
M M
DC CD
,
= =
3
3 3
12
l
EI
V V
CD BA
2 2

=
l
EA
A
BD
(C)
2 2 2
1
2 2

= =
=
l
EA
V
l
EA
V
BD BD
0
6

2 8
0
2 2
2
= + + + =
l
EI
l
EI
l
EI
l
Pab
M
c B
i
B
0
6

8 2
0
2 2
2
= + + + =
l
EI
l
EI
l
EI
l
b Pa
M
c B
i
C
0 ) 1 (
24 6 6
0
3 2 2
= + + + =
l
EI
l
EI
l
EI
V
c B
i
EI
EAl l
C B
2 48
, ) (
4 1
1
2
= +
+
=
Solution for a b 3 =
EI
Pl
B
2
) 10 7 ( 256
52 40
+
+
= ,
EI
Pl
C
2
) 10 7 ( 256
28 16
+
+
= ,
EI
Pl
3
) 10 7 ( 128
3
+
=
For a h w rectangular section and h l 20 = , 2 50 = .
EI
Pl
B
2
0203 . 0 = ,
EI
Pl
C
2
0109 . 0 =
EI
Pl
3
4
10 3282 . 0

24
Performance
Response
with Bracing
( 2 50 = )
w/o bracing
( 0 = )
Ratio(%)
B ) / (
2
EI Pl
-0.0203 -0.0223 91.03
C ) / (
2
EI Pl
0.0109 0.0089 122.47
) / (
3
EI Pl 0.328210
-4
0.0033 0.99

(Pl) -0.0404 -0.0248 162.90

(Pl) -0.0810 -0.0694 116.71
CD
(Pl) 0.0438 0.0554 79.06
DC
(Pl) 0.0220 0.0376 58.51
P
(Pl) 0.1158 0.1216 95.23
A
BD
(P) 0.0788 - -
P
max
(P
all
)* 0.0720 0.0685 105.1
P
max
/vol. 0.0163 0.0228 71.5
*) wh P
all all
= , 6 / h P M
all all
=
Unbalanced shear force in the columns = P
l
EI
C B
0564 . 0 ) (
6
2
= +
The bracing carries 99 % of the unbalanced shear force between the two columns.
2.3.6 A Portal Frame with a Bracing (Horizontal Load)
DOF :
B
,
C
,
Analysis
i) All fixed: No fixed end forces
ii)-iv) the same as the previous case
P
A
B
C
D
0 , 0 = EA EI
25
0
6

2 8
0
2
= + + =
l
EI
l
EI
l
EI
M
c B
i
B
0
6

8 2
0
2
= + + =
l
EI
l
EI
l
EI
M
c B
i
C
P
l
EI
l
EI
l
EI
V
c B
i
= + + + =
) 1 (
24 6 6
0
3 2 2
C B
= , l l
C B
= =
3
5
3
5
Solution
EI
Pl
EI
Pl
C B
3 2
) 40 28 ( 3
5
,
) 40 28 (
1

+
=
+
= =
For 2 50 = ,
EI
Pl
C B
2
3
10 3501 . 0

= = ,
EI
Pl
3
3
10 5835 . 0
=
Performance
Response
with Bracing
( 2 50 = )
w/o bracing
( 0 = )
Ratio(%)
B ) / (
2
EI Pl
3
10 3501 . 0

1
10 3571 . 0

0.98
C ) / (
2
EI Pl
3
10 3501 . 0

1
10 3571 . 0

0.98
) / (
3
EI Pl
3
10 5835 . 0

1
10 5952 . 0

0.98

(Pl)
2
10 2801 . 0

0.2857 0.98

(Pl)
2
10 2101 . 0

0.2143 0.98
CD
(Pl)
2
10 2101 . 0

0.2143 0.98
DC
(Pl)
2
10 2801 . 0

0.2857 0.98
A
BD
(P) 1.4004 - -
P
max
(P
all
)* 0.7141 0.0292 2448
P
max
/vol. 0.1617 0.0097 1670
*) Governed by A
BD
for the structure with bracing, and by M
DC
for the structure without
bracing. wh P
all all
= , 6 / h P M
all all
=
The bracing carries about 99% of the external horizontal load.
26
2.3.7 A Portal Frame with a Spring
DOF :
B
,
C
,
Analysis
iv) 0
= =
2
3 3
6
l
EI
M M
BA AB
, = =
2
3 3
6
l
EI
M M
DC CD
,
= =
3
3 3
24
l
EI
V V
CD BA
, = k V
S
3
0
6

2 8
0
2 2
2
= + + + =
l
EI
l
EI
l
EI
l
Pab
M
c B
i
B
0
6

8 2
0
2 2
2
= + + + =
l
EI
l
EI
l
EI
l
b Pa
M
c B
i
C
= + + =
k
l
EI
l
EI
l
EI
V
c B
i
3 2 2
24 6 6
0
0 )
24
(
6 6

3 2 2
= + + + k
l
EI
l
EI
l
EI
c B
Deformed Shapes ( 41 . 0 =
S
)
without a spring with a spring ( ) 24
3
l
EI
k =
k
k
a P
A
B
C
D
27
2.3.8 A Portal Frame Subject to Support Settlement
DOF :
B
,
C
,
Analysis
i) All fixed
= =
2
0 0
6
l
EI
M M
CB BC
ii)-iv) the same as the previous problem
0
6

2 8 6
0
2 2
= + + + =
l
EI
l
EI
l
EI
l
EI
M
c B
i
B
0
6

8 2 6
0
2 2
= + + + =
l
EI
l
EI
l
EI
l
EI
M
c B
i
C
0
24 6 6
0
3 2 2
= + + =
l
EI
l
EI
l
EI
V
c B
i
A
B C
D

28
2.3.9 A Portal Frame with Unsymmetrical Supports
DOF :
B
,
C
,
Analysis
i) All fixed
8
0
Pl
M
BC
= ,
8
0
Pl
M
CB
=
ii) 0
B
B BA
l
EI
M =
3
1
B BC
l
EI
M =
4
1
,
B CB
l
EI
M =
2
1
B BA
l
EI
V =
2
1
3
iii) 0
C
C BC
l
EI
M =
2
2
,
C CB
l
EI
M =
4
2
C CD
l
EI
M =
4
2
,
C DC
l
EI
M =
2
2
C CD
l
EI
V =
2
2
6
iv) 0
=
2
3
3
l
EI
M
BA
,
= =
2
3 3
6
l
EI
M M
DC CD
,
=
3
3
3
l
EI
V
BA
, =
3
3
12
l
EI
V
CD
l/2
P
A
B
C
D
29
0
3

2 7
8
0
2
= + + + =
l
EI
l
EI
l
EI Pl
M
c B
i
B
0
6

8 2
8
0
2
= + + + =
l
EI
l
EI
l
EI Pl
M
c B
i
C
0
15 6 3
0
3 2 2
= + + =
l
EI
l
EI
l
EI
V
c B
i
) 2 (
5
C B
l
+ =
EI
Pl
B
2
44
1
= ,
EI
Pl
C
2
8
9
44
1
= ,
EI
Pl
3
176
1
=
Load Location that Causes No Sidesway
C B C B
l
= = + = 2 0 ) 2 (
5
- Stiffness equation
0
2 7
0
2
2
= + + =
c B
i
B
l
EI
l
EI
l
Pab
M , 0
8 2
0
2
2
= + + =
c B
i
C
l
EI
l
EI
l
b Pa
M
0
12
2
2
=
C
l
EI
l
Pab
, 0
4
2
2
= +
c
l
EI
l
b Pa
a b
l
b Pa
l
Pab
3 3
2
2
2
2
= =
a
P
A
B
C
D
30
2.3.10 A Frame with a Skewed Member
DOF :
B
,
Analysis
i) All fixed : Pl
Pl Pl
M
BC
16
3
16 8
0
= + = , P V
BC
16
11
2
2
0
=
ii) 0
B
B B AB
l
EI
l
EI
M = = 2
2
2
1
,
B BA
l
EI
M = 2 2
1
,
B BC
l
EI
M =
3
1
,
B BA
l
EI
V =
2
1
3
B BC
l
EI
V =
2
1
2
2 3
iii) 0
=
= =
2
2 2
3
2 2
6
l
EI
l l
EI
M M
AB BA
=
=
2
2
2
2 3
2
3
l
EI
l
l
EI
M
BC
, =
3
2
2 3
l
EI
V
BA
,
=
3
2
2
3
l
EI
V
BC
P
A
B
C
B B B
l
EI
l l
EI
l
EI
= +
2
3
2
1
) 2 2 2 (
B B
l
EI
l l
EI
=
2
2
2
3
2
2 1
3
B
l
EI
l l
EI
l
EI
= +
3 2 2
2 3
2
1
) 3 3 (
=
3 2
2
3
2
1 1
2
2
3
l
EI
l l
EI
31
Construct the stiffness equation
Pl
l
EI
l
EI
M
B
i
B
16
3
)
2
2 3
3 ( ) 3 2 (2 0
2
= + + =
P
l
EI
l
EI
V
B
i
16
11
2
2
)
2
3
2 3 ( ) 2
2
3
(3 0
3 2
= + + =
Pl
l
EI
l
EI
B
1875 . 0 8787 . 0 5.8284
2
= +
P
l
EI
l
EI
B
4861 . 0 7426 . 5 8787 . 0
3 2
= +
EI
Pl
B
2
0460 . 0 = ,
EI
Pl
3
0917 . 0 =
Results
- Deformed shape
- Moment diagram
- Shear force diagram
32
Chapter 3
Iterative Solution Method
&
Moment Distribution Method
33
3.1 Solution Method for Linear Algebraic Equations
3.1.1 Direct Method Gauss Elimination
n i b X a
b X a X a X a X a
b X a X a X a X a
b X a X a X a X a
b X a X a X a X a
i
n
j
j ij
n n nn i ni n n
i n in i ii i i
n n i
n n i i
L
L L
M
L L
M
L L
L L
1 for
1
2 2 1 1
2 2 1 1
2 2 2 2 22 1 21
1 1 1 2 12 1 11
= =
= + + + + +
= + + + + +
= + + + + +
= + + + + +
=
or in a matrix form
) ( ) ]( [ b X A =
By multiplying
11
1
a
a
i
to the first equation and subtracting the resulting equation from the i-th
equation for n i 2 , the first unknown X
1
is eliminated from the second equation as fol-
lows.
) 2 ( ) 2 ( ) 2 (
2 2
) 2 (
2
) 2 ( ) 2 ( ) 2 (
2
) 2 (
2
) 2 (
2
) 2 (
2
) 2 (
2 2
) 2 (
22
1 1 1 2 12 1 11
n n nn i n n
i n in i ii i
n n i
n n i i
b X a X a X a
b X a X a X a
b X a X a X a
b X a X a X a X a
= + + + +
= + + + +
= + + + +
= + + + + +
L L
M
L L
M
L L
L L
where
11
1 1
) 2 (
a
a a
a a
j i
ij ij
= . Again, the second unknown X
2
is eliminated from the third equa-
tion by multiplying
) 2 (
22
) 2 (
2
a
a
i
to the second equation and subtracting the resulting equation from
the i-th equation for n i 3 . The aforementioned procedures are repeated until the last
unknown remains in the last equation.
) ( ) (
) ( ) ( ) (
) 2 (
2
) 2 (
2
) 2 (
2 2
) 2 (
22
1 1 1 2 12 1 11
n
n n
n
nn
i
i n
i
in i
i
ii
n n i
n n i i
b X a
b X a X a
b X a X a X a
b X a X a X a X a
=
= + +
= + + + +
= + + + + +
M M
L
M M M
L L
L L
34
where
1
1 , 1
) 1 (
, 1
) 1 (
1 ,
) 1 ( ) (
=
k
k k
k
j k
k
k i
k
ij
k
ij
a
a a
a a n j i k , , and
ij ij
a a =
1
. Once the system matrix is tri-
angularized, the solution of the given system is easily obtained by the back-substitution.
=
) ( ) ( n
n n
n
nn
b X a
) (
) (
n
nn
n
n
n
a
b
X =
= +

) 1 (
1
) 1 (
, 1 1
) 1 (
1 , 1
n
n n
n
n n n
n
n n
b X a X a
2
1 , 1
) 1 (
, 1
) 1 (
1
1

=
n
n n
n
n
n n
n
n
n
a
X a b
X
= + +
) ( ) (
,
) ( i
i n
i
n i i
i
ii
b X a X a L
1
1
) ( ) (
+
=
=
i
ii
i
n k
k
i
ik
i
i
i
a
X a b
X for 1 1 n i
3.1.2 I terative Method Gauss-J ordan Method
A system of linear algebraic equations may be solved by iterative method. For this purpose,
the given system is rearranged as follows.
nn
n n n n n
n
ii
n in i i i i i i i i
i
n n
n n
a
X a X a b
X
a
X a X a X a X a b
X
a
X a X a X a b
X
a
X a X a b
X
) (
) (
) (
) (
1 1 , 1 1
1 1 , 1 1 , 1 1
22
2 3 23 1 21 2
2
11
1 2 12 1
1

+
+ +
=
+ + + + +
=
+ + +
=
+ +
=
L
L L
L
L
Suppose we substitute an approximate solution
1
) (
k
X into the right-hand side of the above
equation, a new approximate solution
k
) (X , which is not the same as
1
) (
k
X , is obtained.
This procedure is repeated until the solution converges.
) ) ( (
1
) (
1
1

=
k
n
j i
j
j ij i
ii
k i
X a b
a
X
where the subscript k denotes the iterational count.
35
3.1.3 I terative Method Gauss-Siedal Method
When we calculate a new X
i
value in the k-th iteration of Gauss-Jordan iteration, the values of
1 1
, ,
i
X X L are already updated, and we can utilize the updated values to accelerate conver-
gence rate, which leads to the Gauss-Siedal Method.
nn
k n n n k n n
k n
ii
k n in k i i i k i i i k i i
k i
k n n k k
k
k n n k
k
a
X a X a b
X
a
X a X a X a X a b
X
a
X a X a X a b
X
a
X a X a b
X
) ) ( ) ( (
) (
) ) ( ) ( ) ( ) ( (
) (
) ) ( ) ) ( (
) (
) ) ( ) ( (
) (
1 1 , 1 1
1 1 1 1 , 1 1 , 1 1
22
1 2 1 3 23 1 21 2
2
11
1 1 1 2 12 1
1

+ +

+ +
=
+ + + + +
=
+ + +
=
+ +
=
L
L L
L
L
) ) ( ) ( (
1
) (
1
1
1
1
1

<
+ =
>
=

=
k
n
n i
i j
j ij k
i
i
j
j ij i
ii
k i
X a X a b
a
X
3.1.4 Example
Stiffness Equation
0 )
3 6
(
3
0 . 450 3 . 133
0
3
)
6 3
( 3 . 133 7 . 168
= + + + +
= + + + +
C B
C B
l
EI
l
EI
l
EI
l
EI
l
EI
l
EI
For the simplicity of derivation,
C C B B
l
EI
l
EI
, . The stiffness equation becomes
0 9 3 7 . 316
0 3 9 4 . 35
= + +
= + +
C B
C B
A
B
C
D
3@30=90
EI 1.5EI EI
30 35.6 4klf
36
Gauss-Jordan Iteration
) ) ( 3 7 . 316 (
9
1
) (
) ) ( 3 4 . 35 (
9
1
) (
1
1
=
=
k B k C
k C k B
Gauss-Siedal Iteration
) ) ( 3 7 . 316 (
9
1
) (
) ) ( 3 4 . 35 (
9
1
) (
1
k B k C
k C k B
=
=

Gauss-Seidal Gauss-Jordan
GAUSS-SIEDAL ITERATION
======================
***** Iteration 1*****
X(1) = 0.3933334E+01
X(2) = -0.3650000E+02
ERROR = 0.1000000E+01
X(1) = 0.1610000E+02
X(2) = -0.4055556E+02
ERROR = 0.2939146E+00
X(1) = 0.1745185E+02
X(2) = -0.4100617E+02
ERROR = 0.3197497E-01
X(1) = 0.1760206E+02
X(2) = -0.4105624E+02
ERROR = 0.3544420E-02
X(1) = 0.1761875E+02
X(2) = -0.4106181E+02
ERROR = 0.3937214E-03
****** MOMENT ******
MBA =-115.84375
MBC = 115.82707
MCB =-326.81460
MCD = 326.81458
GAUSS-Jordan ITERATION
======================
X(1) = 0.3933334E+01
X(2) = -0.3518889E+02
ERROR = 0.1000000E+01
X(1) = 0.1566296E+02
X(2) = -0.3650000E+02
ERROR = 0.2971564E+00
X(1) = 0.1610000E+02
X(2) = -0.4040988E+02
ERROR = 0.9044394E-01
X(1) = 0.1740329E+02
X(2) = -0.4055556E+02
ERROR = 0.2971564E-01
X(1) = 0.1745185E+02
X(2) = -0.4098999E+02
ERROR = 0.9812154E-02
****** MOMENT ******
MBA =-116.34444
MBC = 115.04115
MCB =-326.88437
MCD = 327.03004
37
3.2 Moment Distribution Method
At the Joint B
- Moment distribution
B BC B
BC
BC
AB
AB
BC
BC
B
BC
BC
BC
B BA B
BC
BC
AB
AB
AB
AB
B
AB
AB
BA
BC
BC
AB
AB
B
B BC BA B
BC
BC
AB
AB
B
M D M
L
EI
L
EI
L
EI
L
EI
M
M D M
L
EI
L
EI
L
EI
L
EI
M
L
EI
L
EI
M
M M
L
EI
L
EI
M
=
+
= =
=
+
= =
+
= + = + =
4 3
4
4
4 3
3
3
4 3
)
4 3
(
1
1
1 1
- Moment carry over to joint C:
B BC B
BC
BC
CB
M D
L
EI
M
2
1 2
1
= =
At the Joint C
- Moment distribution
C CD C
CD
CD
BC
BC
CD
CD
C
CD
CD
CD
C CB C
CD
CD
BC
BC
BC
BC
C
BC
BC
CB
CD
CD
BC
BC
C
C CD CB C
CD
CD
BC
BC
C
M D M
L
EI
L
EI
L
EI
L
EI
M
M D M
L
EI
L
EI
L
EI
L
EI
M
L
EI
L
EI
M
M M
L
EI
L
EI
M
=
+
= =
=
+
= =
+
= + = + =
3 4
3
3
3 4
4
4
3 4
)
3 4
(
2
2
2 2
- Moment carry over to joint B:
2
1 2
2
C CB C
BC
BC
BC
M D
L
EI
M = =
A
B
C
D
3@30=90
EI 1.5EI EI
30 35.6 4klf
38
Stiffness Equation in terms of Moment at Joints
= + +
= + +
0
2
1
7 . 316
0
2
1
35.4
C B BC
C CB B
M M D
M D M
B BC C
C CB B
M D M
M D M
2
1
7 . 316 -
2
1
4 . 35
=
=
- Gauss-Siedal Approach
k B BC k C
k C CB k B
M D M
M D M
) (
2
1
316.7 ) (
) (
2
1
4 . 35 ) (
1
=
=

- Gauss-Jordan Approach
1
1
) (
2
1
316.7 ) (
) (
2
1
4 . 35 ) (
=
=
k B BC k C
k C CB k B
M D M
M D M
For the given structure
3
2
,
3
1
= = = =
CB BC CD BA
D D D D
Incremental form for the Gauss-Siedal Method
- For 1 = k
0 ) ( ) (
0 0
= =
C B
M M because we assume all degrees of freedom are fixed for step 0.
5 . 328 ) ( 4 . 35
3
2
2
1
7 . 316 ) (
2
1
7 . 316 ) (
4 . 35 ) ( 4 . 35 ) (
2
1
4 . 35 ) (
1 1 1
1 0 1
= = =
= = =
C B BC C
B c CB B
M M D M
M M D M
- For 1 > k
k B BC k C k B BC k C
k B BC k B BC k B BC k C
k c CB k B k c CB k B
k c CB k c CB k c CB k B
M D M M D M
M D M D M D M
M D M M D M
M D M D M D M
) (
2
1
) ( ) (
2
1
) (
) (
2
1
) (
2
1
7 . 316 ) (
2
1
7 . 316 ) (
) (
2
1
) ( ) (
2
1
) (
) (
2
1
) (
2
1
4 . 35 ) (
2
1
4 . 35 ) (
1
1
1 1 1
1 2 1
= =
= =
= =
= =

39
- Iteration 1
0 ) (
0
=
B
M , 0 ) (
0
=
C
M
4 . 35 ) ( 4 . 35 ) (
2
1
4 . 35 ) (
1 0 1
= = =
B C CB B
M M D M
6 . 23 ) ( 6 . 23 3 . 133 4 . 35 67 . 0 3 . 133 ) ( ) (
8 . 11 ) ( 8 . 11 7 . 168 4 . 35 33 . 0 7 . 168 ) ( ) (
1 1 1
1 1 1
= + = + = + =
= + = + = + =
BC B BC
f
BC BC
BA B BA
f
BA BA
M M D M M
M M D M M
5 . 328 ) ( 5 . 328 4 . 35
3
2
2
1
7 . 316 ) (
2
1
7 . 316 ) (
1 1 1
= = = =
c B BC C
M M D M
5 . 109 ) ( 5 . 109 450 5 . 328 33 . 0 450 ) ( ) (
0 . 219 8 . 11 ) (
0 . 219 8 . 11 3 . 133 ) ( ) (
2
1
) (
1 1 1
1
1 1 1
= = = + =
=
+ = + + =
CD C CD
f
CD CD
CB
C CB B BC
f
CB CB
M M D M M
M
M D M D M M
- Iteration 2
= =
=
+ =
= =
+ =
+ =
= =
= =
2 . 12 ) ( ) (
3 . 24 5 . 36
) ( ) (
2
1
) (
5 . 36 ) (
2
1
) (
0 . 73 5 . 109
) ( ) (
2
1
) (
5 . 36 ) ( ) (
5 . 109 ) (
2
1
) (
2 2
2 2 2
2 2
2 1 2
2 2
1 2
C CD CD
C CB B BC CB
B BC C
B BC c CB BC
B BA BA
c CB B
M D M
M D M D M
M D M
M D M D M
M D M
M D M
- Iteration 3
= =
= + =
= =
+ =
+ =
= =
= =
4 . 1 ) ( ) (
7 . 2 1 . 4 ) ( ) (
2
1
) (
1 . 4 ) (
2
1
) (
2 . 8 2 . 12
) ( ) (
2
1
) (
1 . 4 ) ( ) (
2 . 12 ) (
2
1
) (
3 3
3 3 3
3 3
3 2 3
3 3
2 3
C CD CD
C CB B BC CB
B BC C
B BC c CB BC
B BA BA
c CB B
M D M
M D M D M
M D M
M D M D M
M D M
M D M
- Final Moments
= = + =
= + + + = + =
= + + + + + = + =
= + + + = + =
k
k CD
f
CD CD
k
k CB
f
CB CB
k
k BC
f
BC BC
k
k BA
f
BA BA
M M M
M M M
M M M
M M M
9 . 326 4 . 1 2 . 12 5 . 109 0 . 450 ) (
9 . 326 ) 7 . 2 1 . 4 ( ) 3 . 24 5 . 36 ( ) 0 . 219 8 . 11 ( 3 . 133 ) (
4 . 116 ) 2 . 8 2 . 12 ( ) 0 . 73 5 . 109 ( 6 . 23 3 . 133 ) (
3 . 116 1 . 4 5 . 36 8 . 11 7 . 168 ) (
40
0.33 0.66 0.67 0.33
-168.7
11.8
36.5
4.1
0.5
-115.8
133.3
23.6
-109.5
73.0
-12.2
8.2
-1.4
0.9
115.9
-133.3
11.8
-219.0
36.5
-24.3
4.1
-2.7
-326.9
450.0
-109.5
-12.2
-1.4
326.9
Incremental form for the Gauss-Jordan Method
- For 1 = k
0 ) ( ) (
0 0
= =
C B
M M because we assume all degrees of freedom are fixed for step 0.
7 . 316 ) ( 7 . 316 ) (
2
1
7 . 316 ) (
4 . 35 ) ( 4 . 35 ) (
2
1
4 . 35 ) (
1 0 1
1 0 1
= = =
= = =
C B BC C
B c CB B
M M D M
M M D M
- For 1 > k
1 1 1
1 2 1
1 1 1
1 2 1
) (
2
1
) ( ) (
2
1
) (
) (
2
1
) (
2
1
7 . 316 ) (
2
1
7 . 316 ) (
) (
2
1
) ( ) (
2
1
) (
) (
2
1
) (
2
1
4 . 35 ) (
2
1
4 . 35 ) (

= =
= =
= =
= =
k B BC k C k B BC k C
k B BC k B BC k B BC k C
k c CB k B k c CB k B
k c CB k c CB k c CB k B
M D M M D M
M D M D M D M
M D M M D M
M D M D M D M
- Iteration 1
0 ) (
0
=
B
M , 0 ) (
0
=
C
M
4 . 35 ) ( 4 . 35 ) (
2
1
4 . 35 ) (
1 0 1
= = =
B C CB B
M M D M
6 . 23 ) ( 6 . 23 3 . 133 4 . 35 67 . 0 3 . 133 ) ( ) (
8 . 11 ) ( 8 . 11 7 . 168 4 . 35 33 . 0 7 . 168 ) ( ) (
1 1 1
1 1 1
= + = + = + =
= + = + = + =
BC B BC
f
BC BC
BA B BA
f
BA BA
M M D M M
M M D M M
41
7 . 316 ) ( 7 . 316 7 . 316 ) (
2
1
7 . 316 ) (
1 0 1
= = = =
c B BC C
M M D M
5 . 104 ) ( 5 . 104 450 7 . 316 33 . 0 450 ) ( ) (
2 . 212 ) (
2 . 212 3 . 133 7 . 316 67 . 0 3 . 133 ) ( ) (
1 1 1
1
1 1
= = = + =
=
= = + =
CD C CD
f
CD CD
CB
C CB
f
CB CB
M M D M M
M
M D M M
- Iteration 2
= =
=
+ =
= =
+ =
+ =
= =
= =
9 . 3 ) ( ) (
9 . 7 8 . 11
) ( ) (
2
1
) (
8 . 11 ) (
2
1
) (
1 . 71 1 . 106
) ( ) (
2
1
) (
0 . 35 ) ( ) (
1 . 106 ) (
2
1
) (
2 2
2 1 2
1 2
2 1 2
2 2
1 2
C CD CD
C CB B BC CB
B BC C
B BC c CB BC
B BA BA
c CB B
M D M
M D M D M
M D M
M D M D M
M D M
M D M
- Iteration 3
= =
=
+ =
= =
+ =
+ =
= =
= =
7 . 11 ) ( ) (
9 . 23 6 . 35
) ( ) (
2
1
) (
6 . 35 ) (
2
1
) (
7 . 2 0 . 4
) ( ) (
2
1
) (
3 . 1 ) ( ) (
0 . 4 ) (
2
1
) (
3 3
3 3 3
2 3
3 2 3
3 3
2 3
C CD CD
C CB B BC CB
B BC C
B BC C CB BC
B BA BA
C CB B
M D M
M D M D M
M D M
M D M D M
M D M
M D M
0.33 0.66 0.67 0.33
-168.7
11.8
35.0
1.3
4.0
0.2
0.5
-115.9
133.3
23.6
-106.1
71.1
-4.0
2. 7
-12.0
8.0
-0.5
0.3
-1.4
0.9
115.9
-133.3
-212.2
11.8
-7. 9
35.6
-23.9
1.4
-0.9
4.0
-2.7
0.2
0.1
-328.0
450.0
-104.5
-3.9
-11.7
-0.5
-1.3
0.1
328.2
42
3.3 Example - MDM for a 4-span Continuous Beam
4 . 0 )
5 . 1
4 4 ( 4 = + =
L
EI
L
EI
L
EI
D
BA
, 6 . 0 )
5 . 1
4 4 (
5 . 1
4 = + =
L
EI
L
EI
L
EI
D
BC
, 5 . 0 )
5 . 1
4
5 . 1
4 (
5 . 1
4 = + =
L
EI
L
EI
L
EI
D
CB
,
5 . 0 )
5 . 1
4
5 . 1
4 (
5 . 1
4 = + =
L
EI
L
EI
L
EI
D
CD
, 67 . 0 ) 3
5 . 1
4 (
5 . 1
4 = + =
L
EI
L
EI
L
EI
D
DC
, 33 . 0 ) 3
5 . 1
4 ( 3 = + =
L
EI
L
EI
L
EI
D
DE
Gauss-Siedal Approach
0.0 0.0 125 -125 0.0 0.0 93.8
-25.0 -50.0 -75 -37.5
40.6 81.3 81.3 40.6
-45.0 -90.0 -44.3
11.3 22.5 22.5 11.3
-10.4 -20.8 -31.1 -15.6
3.9 7.8 7.8 3.9
-5.1 -10.2 -5.0
1.3 2.6 2.6 1.3
-1.1 -2.1 -3.1 -0.9 -0.4
36.5 -72.9 72.9 -63.9 64.1 -44.0 44.1
0.4 0.6 0.5 0.5
0.67 0.33
EI, L
100
50
A
C B
D
E
EI, L 1.5EI, L 1.5EI, L
43
Gauss-Jordan Approach
0.0 0.0 125 -125 0.0 0.0 93.8
-50 -75 62.5 62.5 -62.8 -31.0
-25.0 31.3 -37.5 -31.4 31.3
-12.5 -18.8 34.5 34.5 -21.0 -10.3
-6.3 17.3 -9.4 -10.5 17.3
-6.9 -10.4 10.0 10.0 -11.6 -5.7
-3.5 5.0 -5.2 -5.8 5.0
-2.0 -3.0 5.5 5.5 -3.4 -1.6
-1.0 2.8 -1.5 -1.7 2.8
-1.1 -1.7 1.6 1.6 -1.9 -0.9
-0.6 0.8 -0.9 -1.0 0.8
-0.3 -0.5 1.0 1.0 -0.5 -0.3
-36.4 -72.8 72.8 -64.4 64.7 -44.0 44.0
0.4 0.6 0.5 0.5
0.67 0.33
44
3.4 Direct Solution Scheme by Partitioning
Slope deflection (Stiffness) Equation
=
|
|
|
.
|
\
|
+
|
|
|
.
|
\
|
(
(
(
(
(
(
0
0 . 0
4 . 44
8 . 88
24 6 6
6 8 2
6 2 8
C
B
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
0
0
) ( ) (
) (
) ( ] [
=
|
|
.
|
\
|
+
|
|
.
|
\
|

P
K K
K K

+ = = = ) ( ) ( ) ( ] [ ) ( ] [ ) ( ) ( ) ( ) ]( [
1 1 P
K K P K K P K
0 ) )( ( ) )( ( = + +

K K K
P
Direct Solution Procedure by Partitioning
- Assume = 0 and calculate ()
P
.
- Assume an arbitrary
= and calculate
) ( .
- By linearity,
) (
) (
- Calculate by the second equation by and
) ( .

+

=
) )( (
) )( (
K K
K
P
- Obtain () by
+ = ) ( ) ( ) (
P
.
L/3
20
A
B C
D
45
3.5 Moment Distribution Method for Frames
Solution Procedure
- Assume there is no sideway and do the MDM.
- Perform the MDM again for an assumed sidesway.
- Adjust the Moment obtained by the second MDM to satisfy the second equation.
- Add the adjusted moment to the moment by the first MDM.
First MDM with no Sidesway
-44.4
-8.3
-0.6
-53.3
88.8
-44.4
16.6
8.3
1.1
-0.6
53.3
-44.4
-22.2
33.3
-4.2
2.1
-0.3
0.2
-35.5
33.3
2.1
0.2
35.5
M
AB
= -53.3/2 = -26.7, M
DC
= -35.5/2 = 17.8, V
AB
= 2.67, V
DC
= -1.78, V
P
= 0.89
Second MDM with an Arbitrary Sidesway
10.0
-5.0
1.0
0.1
6.1
-5.0
-1.9
1.0
-0.2
0.1
-6.0
-2.5
-3.8
0.5
-0.3
-5.9
10.0
-3.8
-0.3
5.9
M
AB
= 10 3.9/2.0 = 8.1, M
DC
= 10 4.1/2.0 = 7.9, V
AB
=-0.47, V
DC
= -0.46,
V = -0.93
C
A D
B
A
L/3
20
B C
D
0.5
0
.
5
0
.
5
0.5
46
Shear Equilibrium Condition (the 2
nd
equation)
No Sidesway (1
st
MDM) Sidesway Only (2
nd
MDM)
= -0.89/(-0.93) = 0.97
Total Moment = 1
st
Moment + 2
nd
Moment
26.7
53.3
2.67
17.8
35.5
1.78
0.89
8.1
6.1
0.47
7.9
5.9
0.46
0.93
47
Chapter 4
Energy Principles
Principle of Minimum Potential Energy and
Principle of Virtual Work
h
Mg
P
48
Read Chapter 11 (pp.420~ 428) of Elementary Structural Analysis 4
th
Edition by C .H. Norris
et al very carefully. In this note an overbarred variable denotes a virtual quantity. The vir-
tual displacement field should satisfy the displacement boundary conditions of supports if
specified. For beam problems, displacement boundary conditions include boundary condi-
tions for rotational angle. Variables with superscript e denote the exact solution that satisfies
the equilibrium equation(s).
4.1 Spring-Force Systems
Total Potential energy
The energy required to return a mechanical system to a reference status
= + =
= = = =

P k
P k du u k du u k
ext total
ext
2
int
2
0
0
int
2
1
,
2
1
) ( ) (
Equilibrium Equation
k
e
=P
Principle of Minimum Potential Energy for an arbitrary displacement + =
e
.
e
total
e
total
e e
e e e
e e e
e e
total
k
k P k
P k k P k
P k k k
P k
+ =
+ =
+ + =
+ + + =
+ + =
2
2 2
2 2
2 2
2
) (
2
1
) (
2
1
) (
2
1
) ( ) (
2
1
) (
2
1
) ( ) (
2
1
) (
2
1
) ( ) (
2
1
In the above equation, the equality sign holds if and only if 0 = . Therefore the total
potential energy of the spring-force system becomes minimum when displacement of
spring satisfies the equilibrium equation.
P
49
4.2 Beam Problems
Potential Energy of a Beam

= + =
= = =
l l
ext total
l
ext
l l
qwdx dx
dx
w d
EI
qwdx dx
dx
w d
EI dx
EI
M
0 0
2
2
2
int
0 0
2
2
2
0
2
int
) (
2
1
, ) (
2
1
2
1
q
dx
w d
EI q
dx
M d
EI
e e
= =
4
4
2
2
or
Principle of Minimum Potential Energy for a virtual displacement w w w
e
+ = .
w dx
dx
w d
EI
dx
w d
qdx w dx
EI
M M
dx
dx
w d
EI
dx
w d
qdx w dx
dx
w d
EI
EI dx
w d
EI dx
dx
w d
EI
dx
w d
qdx w dx
dx
w d
EI
dx
w d
dx
dx
w d
EI
dx
w d
qdx w dx
dx
w d
EI
dx
w d
qdx w w dx
dx
w w d
EI
dx
w w d
e
l
e
l l e l
e
l l e l
e
l l e l
l
e
l e e
l
e
l e e
h
virtual all for ) (
2
1
) (
2
1
) (
1
) ( ) (
2
1
) ( ) (
2
1

) (
2
1
) ( )
) ( ) (
(
2
1
0
2
2
2
2
0 0 0
2
2
2
2
0 0
2
2
2
2
0
2
2
2
2
0 0
2
2
2
2
0
2
2
2
2
0 0
2
2
2
2
0 0
2
2
2
2
+ =
+ + =
+ + =
+
+ =
+
+ +
=

Since the equation in the box represents the total virtual work in a beam, the total potential energy
of a beam becomes minimum for all virtual displacement fields when the principle of virtu-
al work holds. In the above equation, the equality sign holds if and only if 0 = w .
w
w
e
w
any type of support
any type of support
q
50
Principle of Virtual Work
If a beam is in equilibrium, the principle of the virtual work holds for the beam,.
0 ) (
0
4
4
=
dx q
dx
w d
EI w
l e
for all virtual displacement w
0
0
3
3
0
2
2
0 0
2
2
2
2
= +

l
e
l
e l l e
dx
w d
EI w
dx
w d
EI
dx
w d
qdx w dx
dx
w d
EI
dx
w d
0
0 0 0 0
2
2
2
2
= =

qdx w dx
EI
M M
qdx w dx
dx
w d
EI
dx
w d
l l e l l e
In case that there is no support settlement, the boundary terms in above equation vanishes
identically since either virtual displacement including virtual rotational angle or corre-
sponding forces (moment and shear) vanish at supports. The principle of virtual work
yields the displacement of an arbitrary point x
~
in a beam by applying an unit load at x
~
and by using the reciprocal theorem.

= = = =
l e l l l
dx
EI
M M
x w dx x x w dx q w qdx w
0 0 0 0
)
~
( )
~
(
Approximation using the principle of minimum potential energy
- Approximation of displacement field
=
=
n
i
i i
g a w
1
- Total potential energy by the assumed displacement field

= = =
= =
l
n
i
i i
l
n
j
j j
n
i
i i
l l
h
qdx g a dx g a EI g a wqdx dx
dx
w d
EI
dx
w d
0
1
0
1 1
0 0
2
2
2
2
) ( ) (
2
1
) (
2
1
- The first-order Necessary Condition
0
) ] ) ( ) ( [
2
1
) ) ( ) (
2
1
(
1
0
1
0
0 0
1
0
1
0
1
0
1 1
= = =
+ =

= =
= =
= = =
n
i
k i ki
l
k
n
i
i
l
i k
l
k
l
k
n
i
i i
l
n
i
j j k
l
n
i
i i
l
n
i
i i
n
i
i i
k k
h
f a K qdx g a dx g EI g
qdx g dx g EI g a dx g a EI g
qdx g a dx g a EI g a
a a
or f Ka =
51
Example
i) with one unknown
a w lx x a l x ax w 2 ) ( ) (
2
= = =
4
4
2
1
4
) 2 (
2
1
)
2
( ) (
2
1
2
2
2
0
2
0 0
2
l
aP l a EI
l
aP dx a EI wdx
l
x P dx w EI
l l l
total
+ = + = =

) (
16 16
0
4
4 0
2
2
xl x
EI
Pl
w
EI
Pl
a
l
P aEIl
a
total
= = = + =

EI
Pl l
w
64
)
2
(
3
= ,
EI
Pl
EI
Pl l
w
e
3 3
0208 . 0
48
)
2
( = = , Error = 25 . 0
)
2
(
)
2
( )
2
(
=
l
w
l
w
l
w
e
e
ii) with two unknowns
bx a w l x bx l x ax w 6 2 ) ( ) (
2 2
+ = + =
)
8
3
4
( )
3
36
2
24 4 (
2
1
)
8
3
4
( ) 6 2 (
2
1
)
2
( ) (
2
1
3 2 3
2
2
2
3 2
0
2
0 0
2
l
b
l
a P
l
b
l
ab l a EI
l
b
l
a P dx bx a EI wdx
l
x P dx w EI
l l l
total
+ + + + =
+ = =

8
3
) 12 6 ( 0
4
) 6 4 ( 0
3
3 2
2
2
l
P b l a l EI
b
l
P b l la EI
a
total
total
= + =

= + =

0 ,
16
1
= = b
EI
Pl
a ???
iii) with three unknowns
2 3 3 2 2
12 6 2 ) ( ) ( ) ( cx bx a w l x cx l x bx l x ax w + + = + + =
)
16
7
8
3
4
(
)
4
144
3
48
2
24
5
144
3
36 4 (
2
1
)
16
7
8
3
4
( ) 12 6 2 (
2
1
)
2
( ) (
2
1
4 3 2
4 3 2 5
2
3
2 2
4 3 2
0
2 2
0 0
2
l
c
l
b
l
a P
l
bc
l
ac
l
ab
l
c
l
b l a EI
l
c
l
b
l
a P dx cx bx a EI
wdx
l
x P dx w EI
l
l l
total
+ +
+ + + + + + =
+ + =
=

P
52
16
7
)
5
144
18 8 ( 0
8
3
) 18 12 6 ( 0
4
) 8 6 4 ( 0
4
5 4 3
3
4 3 2
2
3 2
l
P c l b l a l EI
c
l
P c l b l a l EI
b
l
P c l b l la EI
a
total
total
total
= + + =

= + + =

= + + =
=
=
=
EIl
P
EI
P
b
EI
Pl
a
64
5
c

32
5

64
1
) (
64
5
) (
32
5
) (
64
1
3 3 2 2
l x x
EIl
P
l x x
EI
P
l x x
EI
Pl
w + =
EI
Pl
EI
Pl
EI
Pl l
w
3 3 3
0205 . 0
1024
21
)
16
7
64
5
8
3
32
5
4
1
64
1
( )
2
( = = + = , Error = 0.0144
iv) with one sin function
x
l l
a w x
l
a w

= =
= sin ) ( sin
2
aP
l
l
EIa aP xdx
l l
EIa
aP dx x
l l
a EI wdx
l
x P dx w EI
l
l l l
total
+
= +

=

= =

2
) (
2
1
sin ) (
2
1
) sin ) ( (
2
1
)
2
( ) (
2
1
4 2
0
2 4 2
0
2 2
0 0
2
x
l EI
Pl
w
EI
Pl
a P
l
l
EIa
a
total

= =

sin
2 2
0
2
) ( 0
3
4
3
4
4
EI
Pl l
w
3
7045 . 48
1
)
2
( = ,
EI
Pl l
w
e
48
)
2
(
3
= , Error = 0145 . 0
v) with two sin function
x
l l
b x
l l
a w x
l
b x
l
a w

+

= =
=
3
sin )
3
( sin ) (
3
sin sin
2 2
bP aP
l
l
EIb
l
l
EIa
bP aP xdx
l l
EIb
xdx
l l l l
EIab xdx
l l
EIa
bP aP dx x
l l
b x
l l
a EI
wdx
l
x P dx w EI
l
l l
l
l l
total
+
=
+

+

+

=
+

+

=
=

2
)
3
(
2
1
2
) (
2
1
3
sin )
3
(
2
1
3
sin sin )
3
( ) ( sin ) (
2
1
)
3
sin )
3
( sin ) ( (
2
1
)
2
( ) (
2
1
4 2 4 2
0
2 4 2
0
2 2
0
2 4 2
0
2 2 2
0 0
2
53
)
3
sin
81
1
(sin
2
) 3 (
2
0
2
)
3
( 0
2
0
2
) ( 0
3
4
3
4
4
3
4
4
x
l
x
l EI
Pl
w
EI
Pl
b P
l
l
EIb
b
EI
Pl
a P
l
l
EIa
a
total
total
= = +

= =

EI
Pl
EI
Pl l
w
3 3
0208 . 0 ) 0123 . 0 1 ( 0205 . 0 )
2
( = + = ,
EI
Pl l
w
e
3
0208 . 0 )
2
( = , Error 0
4.3 Truss problems
Potential Energy
) (
) (
2
1
) ( ,
) (
2
1
1 1 i
2
int
1 1 i
2
int
i i
njn
i
i i
nmb
i
i i
ext total
i i
njn
i
i i ext
nmb
i
i i
v Y u X
EA
l F
v Y u X
EA
l F
+ = + =
+ = =

= =
= =
where nmb and njn denotes the total number of members and the total numbers of joints
in a truss.
Equilibrium Equations
0 , 0
) (
1
) (
1
= + = +

= =
i
i m
j
i
j
i
i m
j
i
j
Y V X H for njn i , , 1 L =
where m(i),
i
j
H and
i
j
V are the number of member connected to joint i, the horizontal
component and the vertical component of the bar force of j-th member connected to joint
i, respectively.

i
Y

i
X

i
F
1

i
j
F

i
i m
F
) (

i
Y
i
X
54
Principle of Minimum Potential Energy
fields nt displaceme virtual all for
) (
2
1
) (
) (
) (
2
1
) (
) (
2
1
) (
) (
2
1
)) ( ) ( (
) (
2
1
1 i
2
1 i
2
1 1 i
2
1 1 i 1 i
2
1 1 i
2
1 1 i
2
e
nmb
i
i i e
nmb
i
i i
i i
njn
i
i i
nmb
i
i
e
i
i i i
njn
i
i
nmb
i
i i
e
i
nmb
i
i i
i i
njn
i
i i
nmb
i
i
e
i
i i i i
njn
i
i i
nmb
i
i i
e
i
total
EA
l F
EA
l F
v Y u X
EA
l F
v Y u X
EA
l F F
EA
l F
v Y u X
EA
l F
v v Y u u X
EA
l F F
+ =
+ + =
+ + + + =
+ + +
+
=

=
= = =
= = = = =
= =
where
e
i
F and
i
F are the bar force of i-th member induced by the real displacement of joints
and virtual displacement induced by the virtual displacement of joints. Since the equation in the
box represents the total virtual work in a truss, the total potential energy of a truss becomes
minimum for all virtual displacement fields when the principle of virtual work holds. In
the above equation, the equality sign holds if and only if the virtual displacements at all
joints are zero.
Virtual Work Expression
If a truss is in equilibrium, the principle of the virtual work holds for the truss,.
0 ) ) (- ) ((
1
) (
1
) (
1
= + + +

= = =
njn
i
i i
i m
j
i
j
i i
i m
j
i
j
v Y V u X H
i
v v sin ) (
1 2
i
u u cos ) (
1 2
i
) (
1 2
u u
) (
1 2
v v
55

= =
= = = =
= = =
+ = +
+ = +
= + + +
njn
i
i i i i
nmb
i
i i i
e
i i i i
e
i
njn
i
i i i i
njn
i
i m
j
j
i
j
i
i m
j
j
i
j
i
njn
i
i i
i m
j
j
i
j i i
i m
j
j
i
j
v Y u X v v F u u F
v Y u X F v F u
v Y F u X F
1 1
1 2 1 2
1 1
) (
1
) (
1
1
) (
1
) (
1
) ( )) ( sin ) ( cos (
) ( ) sin cos (
0 ) ) sin (- ) cos ((

= =
= = = =
+ =
= = = +
n
i
i i i i
nmb
i
i
i i
e
i
nmb
i
i
i i
e
i
i
i i
nmb
i
e
i
nmb
i
i
e
i
nmb
i
i i i i i i
e
i
v Y u X
EA
l F F
EA
l F F
EA
l F
F l F v v u u F
1 1
1 1 1 1
1 2 1 2
) (
) (
) ( ) (
)) ( sin ) ( (cos
The principle of virtual work yields the displacement of a joint k in a truss by applying an
unit load at a joint k in an arbitrary direction and by using the reciprocal theorem.
=
= = = +
nmb
i i
i i
e
i
k k k k k k
EA
l F F
v Y u X
1
) (
cos cos u u X
Since represnts the angle between the applied unit load and the displacement vector,
cos
k
u are the displacement of the joint k in the direction of the applied unit load.
56
Chapter 5
Matrix Structural Analysis
Mr. Force & Ms. Displacement
Matchmaker: Stiffness Matrix
57
5.1 Truss Problems
5.1.1 Member Stiffness Matrix
Force Displacement relation at Member ends
0
) (
) (
= =
=
=
R
y
L
y
L
x
R
x
R
x
L
x
R
x
L
x
f f
L
EA
f
L
EA
f
Member Stiffness Matrix in Local Coordinate System
e
R
y
R
x
L
y
L
x
e
R
y
R
x
L
y
L
x
L
EA
f
f
f
f
|
|
|
|
|
.
|
\
|
(
(
(
(
=
|
|
|
|
|
.
|
\
|
0 0 0 0
0 1 0 1
0 0 0 0
0 1 0 1
e e e
) ( ] [ ) ( k f =
Transformation Matrix
|
|
.
|
\
|
(

=
|
|
.
|
\
|
+ =
=
y
x
y
x
y x y
y x x
v
v
V
V
v v V
v v V
cos sin
sin cos
cos sin
sin cos
) ]( [ ) ( ) ( ] [ ) ( V v v V = =
T
x
v
y
v
x
V
y
V
R
x
f
R
y
f
L
y
f
R
x
R
y
L
y
L
x
L
x
f
58
Member End Force
|
|
|
|
|
.
|
\
|
(
(
(
(

=
|
|
|
|
|
.
|
\
|
e
R
y
R
x
L
y
L
x
e
y
x
y
x
f
f
f
f
F
F
F
F
cos sin 0 0
sin cos 0 0
0 0 cos sin
0 0 sin cos
2
2
1
1
e T e
) ( ] [ ) ( f F =
Member End Displacement
|
|
|
|
|
.
|
\
|
(
(
(
(

=
|
|
|
|
|
.
|
\
|
e
y
x
y
x
e
R
y
R
x
L
y
L
x
2
2
1
1
cos sin 0 0
sin cos 0 0
0 0 cos sin
0 0 sin cos
e e
) ]( [ ) ( =
Member Stiffness Matrix in Global Coordinate
e e T e e T e T e
) ]( [ ] [ ] [ ) ( ] [ ] [ ) ( ] [ ) ( = = = k k f F
e e e
) ( ] [ ) ( K F =
(
=
(
(
(
(

=
e e
e e
e
L
EA
] [ ] [
] [ ] [
sin cos sin sin cos sin
cos sin cos cos sin cos
] [
22 21
12 11
2 2
2 2
2 2
2 2
K K
K K
K
5.1.2 Global Stiffness Equation
Nodal Equilibrium
=
= + + + + =
) (
1
) ( 2 or 1 ) 5 ( 1 ) 4 ( 2 ) 3 ( 1 ) 2 ( 2 ) 1 ( 1
) ( ) ( ) ( ) ( ) ( ) ( ) (
m nm
k
k m m m m m m m
F F F F F F P
) 1 ( 1
) (
m
F
) 2 ( 2
) (
m
F
) 3 ( 1
) (
m
F
) 4 ( 2
) (
m
F
) 5 ( 1
) (
m
F
m
P
m
P
m-th joint
i-th member
n-th joint
59
) ]( [ ) ( ] [
) (
) (
0 0
0
0
0 0
0
) (
) (
0
) (
) (
) (
) (
) (
) (
) (
1 1 1
2
1
2
1
) (
1
) ( 2 or 1
) (
1
) ( 2 or 1
) 1 (
1
) ( 1 2 or 1
1
F E F E
F
F
I
I
F
F
F
F
F
P
P
P
P = =
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
|
|
|
.
|
\
|
=

= = =
=
=
=
p
i
i i
p
i
p
i
i
i
i
i
q nm
k
k q
m nm
k
k m
nm
k
k
q
m
M M
M M
M M
M
M
M
M
M
M
M
| |
|
|
|
|
|
|
.
|
\
|
= =
p
i p i
) (
) (
) (
) ( , ] [ ] [ ] [ ] [
1
1
F
F
F
F E E E E
M
M
L L
m-th row
n-th row
1
2
i
) (
2
F
i
) (
1
F
m-th joint
m
P
i-th member
n
P
n-th joint
60
Compatability Condition
|
|
.
|
\
|
(
=
|
|
.
|
\
|
= = =
n
m
i
i
i
n
i
m
i
u
u
u u
I 0
0 I
) (
) (
) ( ) ( , ) (
2
1
2 1

) ( ] [
0 0 0
0 0 0
) (
) (
) (
1
2
1
u C
u
u
u
u
I
I
i
q
n
m
i
i
i
=
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
M
M
M
L L L
L L L
) ]( [
] [
] [
) (
) (
) (
1
1 1
u C
u
u
C
C
=
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
=
q
p p
M M M
Contragradient
= = ) ]( [ ) ( ) ( ) ( ) ( ) ( ) ( ) ( u C F u P F u P
T T T T
] [ ) ( ) ( ) ( possible all for 0 ) ])( [ ) ( ) (( C F P u u C F P
T T T T
= =
] [ ] [ ) ]( [ ) ( ] [ ) ( E C F E F C P = = =
T T
i-th member
m
n
u
m
u
n
1
2
i
) (
1
i
) (
2
m-th column
n-th column
Compatibility Matrix
61
Unassembled Member Stiffness Equation

) (
) (
) (
] [ 0 0
0 ] [ 0
0 0 ] [
) (
) (
) (
1 1 1
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
=
|
|
|
|
|
|
.
|
\
|
p
i
p
i
p
i
M
M
L L
M L M L M
L L
L M L M
L L
M
M
K
K
K
F
F
F
) ]( [ ) ( = K F
Global Stiffness Equation
) ]( ][ [ ] [ ) ]( [ ] [ ) ( ] [ ) ( u C K C K C F C P
T T T
= = =
) ]( [ ) ( u K P = where ] ][ [ ] [ ] [ C K C K
T
=
Direct Stiffness Method
| |
p p p i i i
p
i
p
i p i T
T T T
T T T
] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [
] [
] [
] [
] [ 0 0
0 ] [ 0
0 0 ] [
] [ ] [ ] [ ] ][ [ ] [ ] [
1 1 1
1 1
1
C K C C K C C K C
C
C
C
K
K
K
C C C C K C K
+ + + + =
(
(
(
(
(
(
(
(
(
(
(
(
= =
L L
M
M
L L
M L M L M
L L
L M L M
L L
L L
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
=
0 0 0 0 0
0 ] [ 0 ] [ 0
0 0 0 0 0
0 ] [ 0 ] [ 0
0 0 0 0 0
0 ] [ ] [ 0
0 ] [ ] [ 0
0 0
0
0 0
0 0 0
0 0 0
] [ ] [
] [ ] [
0 0
0
0 0
] [ ] [ ] [
22 21
12 11
22 21
12 11
22 21
12 11
i i
i i
i i
i i
i i
i i
i i i
T
K K
K K
K K
K K
I
I
I
I
K K
K K
I
I
C K C
L L L
L L L
M M
M
M M
M M
L L L
L L L
M M
M
M M
M M
m-th row
n-th row
m-th column n-th column
62
5.1.3 Example
Member Stiffness Matrix
(
=
(
(
(
(

=
e e
e e
e
L
EA
] [ ] [
] [ ] [
] [
22 21
12 11
2 2
2 2
2 2
2 2
K K
K K
K
- Member 1: = 45
o
(
(
(
(
(
(
(
(

=
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
] [
1
L
EA
K
- Member 2: =-45
o
(
(
(
(
(
(
(
(

=
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
] [
2
L
EA
K
1
1
2
3
2L
L
P
3
, u
3
P
4
, u
4
P
6
, u
6
P
5
, u
5
P
1
, u
1
P
2
, u
2
2
3
63
- Member 3: = 0
o
(
(
(
(
=
0 0 0 0
0 1 0 1
0 0 0 0
0 1 0 1
2
] [
3
L
EA
K
3 1 2 2
6
3 1 2 2
5
2 1 1 2
4
2 1 1 2
3
3 2 1 1
2
3 2 1 1
1
) ( ) (
) ( ) (
) ( ) (
) ( ) (
) ( ) (
) ( ) (
y y
x x
y y
x x
y y
x x
F F P
F F P
F F P
F F P
F F P
F F P
+ =
+ =
+ =
+ =
+ =
+ =

0 0 1 0 1 0 0 0 0 0 0 0
0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 0 1 0 1 0 0 0
0 0 0 0 0 0 0 1 0 1 0 0
1 0 0 0 0 0 0 0 0 0 1 0
0 1 0 0 0 0 0 0 0 0 0 1
3
2
2
1
1
2
2
2
1
1
1
2
2
1
1
6
5
4
3
2
1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
.
|
\
|
y
x
y
x
y
x
y
x
y
x
y
x
F
F
F
F
F
F
F
F
F
F
F
F
P
P
P
P
P
P
) ]( [ = ) ]]( [ ] [ ] [[ = ) (
2 2 1
F E F E E E P
P
3
P
4
P
6
P
5
P
1
P
2
[E]
1
[E]
2
[E]
3
64
Compatibility Condition
| |
| |
| |
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
=
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
6
5
4
3
2
1
3
2
1
6
5
4
3
2
1
3
2
2
1
1
2
2
2
1
1
1
2
2
1
1

0 0 0 0 1 0
0 0 0 0 0 1
1 0 0 0 0 0
0 1 0 0 0 0
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
0 0 0 1 0 0
0 0 1 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
u
u
u
u
u
u
u
u
u
u
u
u
y
x
y
x
y
x
y
x
y
x
y
x
C
C
C
) ]( [ ) ( u C =
T T T T
] [ ] [ ] [ ] [ , ] [ ] [ , ] [ ] [
3 3 2 2 1 1
C E C E C E C E = = = =
Global Stiffness Matrix
3 3 3 2 2 2 1 1 1
] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] ][ [ ] [ ] [ C K C C K C C K C C K C K
T T T
T
+ + + = = L
u
3
u
6
u
5
u
2
u
1
u
4
[C]
1
[C]
3
[C]
2
65
(
(
(
(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
=
0 0 0 0 0 0
0 0 0 0 0 0
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
2
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0 0 0
0 0 0 0
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
2
0 0 1 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
0 0 0 0
0 0 0 0
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
2
] ][ [ ] [
1 1 1
L
EA
L
EA
L
EA
T
C K C
(
(
(
(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
=
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
0 0 0 0 0 0
0 0 0 0 0 0
2
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
0 0 0 0
0 0 0 0
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
2
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
0 0 0 1 0 0
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 0 0
0 0 0 0
2
] ][ [ ] [
2 2 2
L
EA
L
EA
L
EA
T
C K C
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
0 0 0 0 1 0
0 0 0 0 0 1
1 0 0 0 0 0
0 1 0 0 0 0
0 0 0 0
0 1 0 1
0 0 0 0
0 1 0 1
0 0 1 0
0 0 0 1
0 0 0 0
0 0 0 0
1 0 0 0
0 1 0 0
2
] ][ [ ] [
3 3 3
L
EA
T
C K C
66
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
(
(
=
0 0 0 0 0 0
0 1 0 0 0 1
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 1 0 0 0 1
2
0 0 0 0 0 0
0 1 0 0 0 1
0 0 0 0 0 0
0 1 0 0 0 1
0 0 1 0
0 0 0 1
0 0 0 0
0 0 0 0
1 0 0 0
0 1 0 0
2 L
EA
L
EA
(
(
(
(
(
(
(
(
(
(
(
(
(
(

+
+
+

+
=
(
(
(
(
(
(
(
(
+
(
(
(
(
(
(
(
(
(
(
(

+
(
(
(
(
(
(
(
(
(
(
(

=
2 2
1
2 2
1
2 2
1
2 2
1
0 0
2 2
1
2
1
2 2
1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
2 2
1
0 0
2 2
1
2 2
1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
2 2
1
2
1
2 2
1
0 0 0 0 0 0
0 1 0 0 0 1
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 1 0 0 0 1
2
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
0 0 0 0 0 0
0 0 0 0 0 0
2
0 0 0 0 0 0
0 0 0 0 0 0
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
0 0
2
1
2
1
2
1
2
1
2
] [
L
EA
L
EA
L
EA
L
EA
K
67
Stiffness Equation
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
+

+
=
|
|
|
|
|
|
|
|
.
|
\
|
6
5
4
3
2
1
6
5
4
3
2
1
2 2
1
2 2
1
2 2
1
2 2
1
0 0
2 2
1
2 2
2 1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
2
1
0
2 2
1
2 2
1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
0 0
2 2
1
2 2
1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
2 2
1
2 2
2 1
u
u
u
u
u
u
L
EA
P
P
P
P
P
P
Application of Support Conditions (Boundary Conditions)
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
+

+
=
|
|
|
|
|
|
|
|
.
|
\
|
6
5
4
3
2
1
6
5
4
3
2
1
2 2
1
2 2
1
2 2
1
2 2
1
0 0
2 2
1
2 2
2 1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
2
1
0
2 2
1
2 2
1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
0 0
2 2
1
2 2
1
2 2
1
2 2
1
0
2
1
2 2
1
2 2
1
2 2
1
2 2
2 1
u
u
u
u
u
u
L
EA
P
P
P
P
P
P
Final Stiffness Equation
|
|
|
.
|
\
|
(
(
(
(
(
(
(
=
|
|
|
.
|
\
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
=
|
|
|
.
|
\
|
5
4
3
1
5
4
3
5
4
3
5
4
3
2 2
2 1
2 2
1
2 2
1
2 2
1
2
1
0
2 2
1
0
2
1

2 2
2 1
2 2
1
2 2
1
2 2
1
2
1
0
2 2
1
0
2
1
P
P
P
EA
L
u
u
u
u
u
u
L
EA
P
P
P
Known
Known
Known
Unknown
Unknown
Unknown
Unknown
Unknown
Unknown
Known
Known
Known
68
5.2 Beam Problems
Force-Displacement Relation at Member Ends
R
y
e
e L
y
e
e R
e
e L
e
e
e
R
e
L
e R
y
R
y
e
e L
y
e
e R
e
e L
e
e
e
R
e
L
e L
y
R
y
e
e L
y
e
e R
e
e L
e
e R
R
y
e
e L
y
e
e R
e
e L
e
e L
L
EI
L
EI
L
EI
L
EI
L
M M
f
L
EI
L
EI
L
EI
L
EI
L
M M
f
L
EI
L
EI
L
EI
L
EI
m
L
EI
L
EI
L
EI
L
EI
m
+ =
+
=
+ + =
+
=
+ + =
+ + =
3 3 2 2
3 3 2 2
2 2
2 2
12 12 6 6
12 12 6 6
6 6 4 2
6 6 2 4
Transformation Matrix is not required
F f , M m , ,
e
y
y
y
e e
e e e e
e e
e e e e
e
e
e
y
y
L L
L L L L
L L
L L L L
L
EI
M
F
M
F
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
2
2
1
1
2 2
2 2
2
2
1
1
4
6
2
6
6 12 6 12
2
6
4
6
6 12 6 12
or
e e e
) ( ] [ ) ( K F =
L
L
m
L
y
f
R
y
f
R
R
m
R
y
L
y

69
5.1.2 Global Stiffness Matrix
Nodal Equilibrium
L
i
R
i
i
i i
i
i y i y
i
M M M
F F V
) ( ) (
) ( ) (
) ( ) (
1
1
1
2
1
1
2
F F P + =
+ =
+ =
| | ) ]( [
) (
) (
) (
] [ ] [ ] [
) (
) ( ) (

) ( ) (
) ( ) (
) ( ) (

) ( ) (
) (
1
1
1
1
1
1 2
2 1
1
1
1
1
2
1
F E
F
F
F
E E E
F
F F
F F
F F
F F
F F
F
P
P
P
P
P
P
P
=
|
|
|
|
|
|
.
|
\
|
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
+
+
+
+
+
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|

+
+
p
i p i
R
p
L
p
R
p
L
i
R
i
L
i
R
i
L
i
R
i
L R
L
p
p
i
i
i
M
M
L L
M
M
M
M
i i
R
i
L
i
R
i
L
i
) ( ] [
) (
) (
0 0
0
0
0 0
0
) (
) (
0
F E
F
F
I
I
F
F
=
|
|
.
|
\
|
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
.
|
\
|
M M
M M
M
M
Compatibility
2 2
2
1 2
2
2
1
1 2
1
) (
) (
) (
) (
+
+
=
=
=
=
i i
i i y
i i
i i y
u
u
u
u

|
|
.
|
\
|
(
=
|
|
.
|
\
|
= = =
+
+
1
1
0
0
) (
) (
) ( ) ( , ) (
i
i
R
i
L
i i i R
i
i L
i
u
u
I
I
u u

V
i
M
i
i-th Member
(i-1)-th Member
(i+1)-th row
i-th row
i-th Member
(i-1)-th Member
1 2 i
u
i
u
2
1 2 + i
u
2 2 + i
u
70
) ( ] [

0 0 0
0 0 0
) (
) (
) (
1
1
1
u C
u
u
u
u
I
I
i
p
i
i
R
i
L
i
i
=
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
+
+
M
M
L L
L L
) ]( [
] [
] [
) (
) (
) (
1
1
1 1
u C
u
u
C
C
=
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
=
+ p
p p
M M M
Unassembled Member Stiffness Equation
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
=
|
|
|
|
|
|
|
.
|
\
|
p
i
p
i
p
i
) (

) (

) (
] [ 0 0
0 ] [ 0
0 0 ] [

) (

) (

) (
1 1 1
M
M
L L
M L M L M
L L
L M L M
L L
M
M
K
K
K
F
F
F
) ]( [ ) ( = K F
) ]( ][ [ ] [ ) ]( [ ] [ ) ( ] [ ) ( u C K C K C F C P
T T T
= = =
) ]( [ ) ( u K P = where ] ][ [ ] [ ] [ C K C K
T
=
(
(
(
(
(
(
(
(
=
0
0
0
0

0 0 0 0 0
] [ ] [ 0
] [ ] [ 0
0 0 0 0 0
] [ ] [ ] [
22 21
12 11
M
M
M M M M M
L L
L L
M M M M M
i i
i i
i i
T
i
K K
K K
C K C
i-th column
(i+1)-th column
i-th row
i+1-th row
i+1-th column i-th column
71
5.2.3 Example
R R
L R L R
L R L R
L L
M M V V
M M M V V V
M M M V V V
M M V V
4
4
4
4
3 2
3
3 2
3
2 1
2
2 1
2
1
1
1
1
,
,
,
,
= =
+ = + =
+ = + =
= =
) ]( [
1 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 0 0
0 0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 0 1 0 1 0 0 0
0 0 0 0 0 0 0 1 0 1 0 0
0 0 0 0 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 0 0 0 0 1

) (
3
3
3
3
2
2
2
2
1
1
1
1
4
4
3
3
2
2
1
1
F E P =
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
=
R
R
L
L
R
R
L
L
R
R
L
L
M
V
M
V
M
V
M
V
M
V
M
V
M
V
M
V
M
V
M
V
Compatability Condition
4
3
4
3
3
3
3
3
3
2
3
2
2
2
2
2
2
1
2
1
1
1
1
1
, , ,
, , ,
, , ,
= = = =
= = = =
= = = =
R R L L
R R L L
R R L L
w w w w
w w w w
w w w w
[E]
1
[E]
2
[E]
3
1 1
, M
1 1
, w V
2 2
, M
2 2
, w V
3 3
, M
3 3
, w V
4 4
, M
4 4
, w V
72
) ]( [

] [
] [
] [

1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 1 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 1

) (
4
4
3
3
2
2
1
1
3
2
1
4
4
3
3
2
2
1
1
3
3
3
3
2
2
2
2
1
1
1
1
u C
C
C
C
=
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
=
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
=
w
w
w
w
w
w
w
w
w
w
w
w
w
w
R
R
L
L
R
R
L
L
R
R
L
L
Unassembled Member Stiffness Matrix
) ]( [
) (
) (
) (
] [ 0 0
0 ] [ 0
0 0 ] [
) (
) (
) (
) (
3
2
1
3
2
1
3
2
1
K
K
K
K
F
F
F
F =
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
=
) ]( [ ) ]( ][ [ ] [ ) ]( ][ [ ) ]( [ ) ( u K u C K C u K E F E P = = = =
T
| |
) )( ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ( ) ]( [
) (
] [
] [
] [
] [ 0 0
0 ] [ 0
0 0 ] [
] [ , ] [ , ] [ ) (
3 3 3 2 2 2 1 1 1
3
2
1
3
2
1
3 2 1
u C K C C K C C K C u K
u
C
C
C
K
K
K
C C C P
T T T
T T T
+ + = =
(
(
(
(
(
(
=
[C]
1
[C]
3
[C]
2
73
- Member 1
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 4
6
2
6
0 0 0 0
6 12 6 12
0 0 0 0 2
6
4
6
0 0 0 0
6 12 6 12
0 0 0 0 1 0 0 0
0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 1
4
6
2
6
6 12 6 12
2
6
4
6
6 12 6 12
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 1
1
2
1 1
2
1
1 1
1
2
1 1
2
1
1
1
1 1
1
2
1 1
2
1
1 1
1
2
1 1
2
1
1
L L
L L L L
L L
L L L L
L
EI
L L
L L L L
L L
L L L L
L
EI
- Member 2
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 4
6
2
6
0 0
0 0
6 12 6 12
0 0
0 0 2
6
4
6
0 0
0 0
6 12 6 12
0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 1 0 0
4
6
2
6
6 12 6 12
2
6
4
6
6 12 6 12
0 0 0 0
0 0 0 0
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 0 0
0 0 0 0
2 2
2
2
2 2
2
2
2 2
2
2
2 2
2
2
2
2
2 2
2
2
2 2
2
2
2 2
2
2
2 2
2
2
2
2
L L
L L L L
L L
L L L L
L
EI
L L
L L L L
L L
L L L L
L
EI
74
- Member 3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
4
6
2
6
0 0 0 0
6 12 6 12
0 0 0 0
2
6
4
6
0 0 0 0
6 12 6 12
0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
4
6
2
6
6 12 6 12
2
6
4
6
6 12 6 12
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
3 3
3
2
3 3
2
3
3 3
3
2
3 3
2
3
3
3
3 3
3
2
3 3
2
3
3 3
3
2
3 3
2
3
3
3
L L
L L L L
L L
L L L L
L
EI
L L
L L L L
L L
L L L L
L
EI
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

+ +
+ +
+ +
+ +
3
3
2
3
3
3
3
2
3
3
2
3
3
3
3
3
2
3
3
3
3
3
3
3
2
3
3
3
3
2
2
2
3
3
2
2
2
2
2
2
2
2
2
3
3
3
3
3
2
3
3
2
2
2
3
3
3
3
2
2
2
2
2
3
2
2
2
2
2
1
2
2
2
2
1
2
2
2
2
1
1
1
1
2
1
1
2
2
2
3
2
2
2
2
2
2
1
1
3
2
2
3
1
1
2
1
1
3
1
1
1
1
2
1
1
1
1
2
1
1
2
1
1
3
1
1
2
1
1
3
1
1
4

6 2

6
0 0 0 0
6 12

6 12
0 0 0 0
2

6 4 4

6 6 2

6
0 0
6

12 6 6 12 12

6 12
0 0
0 0
2

6 4 4

6 6 2

6

0 0
6

12 6 6 12 12

6 12
0 0 0 0
2 6 4

6

0 0 0 0
6 12 6

12

L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
E
75
Application of support Conditions
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

+ +
+ +
+ +
+ +
=
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
4
4
3
3
2
2
1
1
3
3
2
3
3
3
3
2
3
3
2
3
3
3
3
3
2
3
3
3
3
3
3
3
2
3
3
3
3
2
2
2
3
3
2
2
2
2
2
2
2
2
2
3
3
3
3
3
2
3
3
2
2
2
3
3
3
3
2
2
2
2
2
3
2
2
2
2
2
1
2
2
2
2
1
2
2
2
2
1
1
1
1
2
1
1
2
2
2
3
2
2
2
2
2
2
1
1
3
2
2
3
1
1
2
1
1
3
1
1
1
1
2
1
1
1
1
2
1
1
2
1
1
3
1
1
2
1
1
3
1
1
4
4
3
3
2
2
1
1

4

6 2

6
0 0 0 0
6 12

6 12
0 0 0 0
2

6 4 4

6 6 2

6
0 0
6

12 6 6 12 12

6 12
0 0
0 0
2

6 4 4

6 6 2

6

0 0
6

12 6 6 12 12

6 12
0 0 0 0
2 6 4

6

0 0 0 0
6 12 6

12

w
w
w
w
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
E
M
V
M
V
M
V
M
V
Final Stiffness Equation
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(

+
+
=
|
|
|
|
|
.
|
\
|
4
4
3
2
3
3
2
3
3
3
3
2
3
3
3
3
3
2
3
3
3
3
2
3
3
3
3
2
2
2
2
2
2
2
2
2
1
4
4
3
2

4

6 2
0
6 12 6
0
2 6 4 4 2
0 0
2 4 4
w
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
L
I
E
M
V
M
M
76
5.3 Frame Problems
Force-Displacement Relation at Member Ends
- Beam action
R
y
e
e L
y
e
e R
e
e
e L
e
e
e
e
R
e
L
e R
y
R
y
e
e L
y
e
e R
e
e
e L
e
e
e
e
R
e
L
e L
y
R
y
e
e L
y
e
e R
e
e
e L
e
e
e R
R
y
e
e L
y
e
e R
e
e
e L
e
e
e L
L
EI
L
EI
L
EI
L
EI
L
M M
f
L
EI
L
EI
L
EI
L
EI
L
M M
f
L
EI
L
EI
L
EI
L
EI
m
L
EI
L
EI
L
EI
L
EI
m
+ =
+
=
+ + =
+
=
+ + =
+ + =
3 3 2 2
3 3 2 2
2 2
2 2
12 12 6 6
12 12 6 6
6 6 4 2
6 6 2 4
- Truss action
0
) (
) (
= =
=
=
R
e
L
e
L
x
R
x
R
x
L
x
R
x
L
x
V V
L
EA
f
L
EA
f
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
R
e
R
y
R
x
L
e
L
y
L
x
e
e
e
e
e
e
e
e
e
e
e
e
e
e
e e
e
e
e
e
e
e
e
e
e
e
e
e
e
e
e e
e
R
R
y
R
x
L
L
y
L
x
I
L
I
I
L
I
L
I
L
I
L
I
L
I
A A
I
L
I
I
L
I
L
I
L
I
L
I
L
I
A A
L
E
m
f
f
m
f
f
4
6
0 2
6
0
6 12
0
6 12
0
0 0 0 0
2
6
0 4
6
0
6 12
0
6 12
0
0 0 0 0
2 2
2 2
or
e e e
) ( ] [ ) ( k f =
L L
m ,
L
y
L
y
f ,
R R
m ,
R
y
R
y
f ,
L
x
L
x
f ,
R
x
R
x
f ,
77
Transformation Matrix
|
|
|
.
|
\
|
(
(
(

=
|
|
|
.
|
\
|
=
+ =
=
m
v
v
M
V
V
m M
v v V
v v V
y
x
y
x
y x y
y x x
1 0 0
0 cos sin
0 sin cos
cos sin
sin cos
) ]( [ ) ( ) ( ] [ ) ( V v v V = =
T
Member End Force
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(

=
|
|
|
|
|
|
|
|
.
|
\
|
e
R
R
y
R
x
L
L
y
L
x
e
y
x
y
x
m
f
f
m
f
f
M
F
F
M
F
F
1 0 0 0 0 0
0 cos sin 0 0 0
0 sin cos 0 0 0
0 0 0 1 0 0
0 0 0 0 cos sin
0 0 0 0 sin cos
2
2
2
1
1
1

e T e
) ( ] [ ) ( f F =
Member End Displacement
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(

=
|
|
|
|
|
|
|
|
.
|
\
|
e
y
x
y
x
e
R
e
R
y
R
x
L
e
L
y
L
x
1
2
2
1
1
1
1 0 0 0 0 0
0 cos sin 0 0 0
0 sin cos 0 0 0
0 0 0 1 0 0
0 0 0 0 cos sin
0 0 0 0 sin cos

e e
) ]( [ ) ( =
x
V
y
V
x
v
y
v
78
Member Stiffness Matrix in Global Coordinate
e e T e e T e T e
) ]( [ ] [ ] [ ) ( ] [ ] [ ) ( ] [ ) ( = = = k k f F
e e e
) ( ] [ ) ( K F = where
(
=
e e
e e
e
] [ ] [
] [ ] [
] [
22 21
12 11
K K
K K
K
Nodal Equilibrium & Compatibility
The same as the truss problems.
) ]( ][ [ ] [ ) ]( [ ] [ ) ( ] [ ) ( u C K C K C F C P
T T T
= = =
) ]( [ ) ( u K P = where ] ][ [ ] [ ] [ C K C K
T
=
The same as the truss problems.
79
Chapter 6
Buckling of Structures
P
L

P
80
6.0 Stability of Structures
Stable state
Q KL L Q L L K > >
The structure would return its original equilibrium position for a small perturbation in .
Critical state
Q KL L Q L L K = =
Unstable state
Q KL L Q L L K < <
The structure would not return its original equilibrium position for a small perturbation in
.
Q
L
Q
81
6.1 Governing Equation for a Beam with Axial Force
Equilibrium for vertical force
q
dx
dV
qdx V dV V = = + + 0 ) (
Equilibrium for moment
V
dx
dw
Q
dx
dM
dx
dw
P
dx
qdx Vdx M dM M = = + + 0
2
) (
Elimination of shear force
q
dx
w d
Q
dx
M d
=
2
2
2
2
Strain-displacement relation
dx
du
y
dx
w d
+ =
2
2
Stress-strain relation (Hooke law)
dx
du
E y
dx
w d
E E + = =
2
2
Definition of Moment
2
2
2
2
2
) (
dx
w d
EI dA y
dx
du
E y
dx
w d
E ydA E ydA M
A A A
= = = =

Beam Equation with Axial Force
q
dx
w d
Q
dx
w d
EI = +
2
2
4
4
M
M+dM
V
V+dV
q
w
dx
dx
dw
Q
Q
82
6.2 Homogeneous Solutions
Characteristic Equation for 0 > P
0 , 0 ) (
2 2 4
i e
e w
x
x
= = +
=
where
EI
Q
=
2
Homogeneous solution
D Cx Be Ae w
ix ix
+ + + =

Exponential Function with Complex Variable
x i x
i
x
i
x
i
ix e e
x x x x e e
x
i
x
i
x
i
x
i
x
i
ix e
x
i
x
i
x
i
x
i
x
i
ix e
ix ix
ix ix
ix
ix
sin 2 )
! 7 ! 5 ! 3
( 2
cos 2 )
! 6
1
! 4
1
! 2
1
1 ( 2
! 6
) (
! 5
) (
! 4
) (
! 3
) (
! 2
) (
1
! 6 ! 5 ! 4 ! 3 ! 2
1
7 5 3
6 4 2
6
6
5
5
4
4
3
3
2
2
6
6
5
5
4
4
3
3
2
2
= + + =
= + + = +
+
+ =
+ + + + + + + =
L
L
L
L
x i x e x i x e
ix ix
sin cos , sin cos = + =

Homogeneous solution
D Cx x B x A
D Cx x B A i x B A
D Cx x i x B x i x A w
+ + + =
+ + + + =
+ + + + =
sin cos
sin ) ( cos ) (
) sin (cos ) sin (cos
Characteristic Equation for 0 < P
0 , 0 ) (
2 2 4
= =
=
x
x
e
e w
where
EI
Q
=
2
Homogeneous solution for 0 < P
D Cx x B x A
D Cx
e e
B A
e e
B A
D Cx Be Ae w
x x x x
x x
+ + + =
+ +
+
+
+ =
+ + + =

sinh cosh
2
) (
2
) (
83
Simple Beam
Boundary Condition
0 0 sin ) ( , 0 sin ) (
0 0 ) 0 ( , 0 ) 0 (
2
2
= = = = = + =
= = = = + =
C B L B L w CL L B L w
A A w D A w
Characteristic Equation
0 0 = = = = = w D C B A (trivial solution) or
L 3 , 2 , 1 ,
2
2 2
=
= = n
L
EI n
Q n L
x
L
n
B x B w

= = sin sin
Fixed-Fixed Beam
Boundary Condition
0 cos sin ) (
0 sin cos ) (
0 ) 0 (
0 ) 0 (
= + + =
= + + + =
= + =
= + =
C L B L A L w
D CL L B L A L w
C B w
D A w
Characteristic Equation
0 )
0 1 cos sin
1 sin cos
0 1 0
1 0 0 1
(
0
0
0
0
0 1 cos sin
1 sin cos
0 1 0
1 0 0 1
=
(
(
(
(
|
|
|
|
|
.
|
\
|
=
|
|
|
|
|
.
|
\
|
(
(
(
(

L L
L L L
Det
D
C
B
A
L L
L L L
1 cos sin
sin cos
1 0
0 1 cos
1 sin
0 1
0 1 cos sin
1 sin cos
0 1 0
1 0 0 1
L L
L L L
L
L L
L L
L L L

=

Q Q
Q
Q
84
0
2
sin
2
cos
2
or 0
2
sin 0 )
2
sin
2
cos
2
(
2
sin
2
cos
2
sin 2
2
sin 4
sin ) 1 (cos 2 sin 2 cos 2
0 ) sin 2 cos 2 ( ) ) sin (cos ( ) cos (
2
=

=

+
= + = +
= + = + +
L L L L L L L L
L L
L
L
L L L L L L
L L L L L L L
Eigenvalues
Symmetric modes
L 3 , 2 , 1 ,
4
2
0
2
sin
2
2 2
=
= =
n
L
EI n
Q n
L L
0 ) ( , 0 ) ( ) 0 ( , 0 ) 0 ( = + + = = + = = = + = D CL A L w C B L w w D A w
) 1
2
(cos 0
= = = + x
L
n
A w D A D A for 0 A
Anti-symmetric modes
2
2
18 . 8
2
tan
2
0
2
sin
2
cos
2 L
EI
Q
L L L L L
=

85
Cantilever Beam
Boundary Condition
0 ) (
0 ) sin cos ( ) ( ) (
0 ) 0 (
0 ) 0 (
3
3
2 2
= =
= = =
= + =
= + =
dx
dw
P
dx
w d
EI L V
L B L A EI L w EI L M
C B w
D A w
L 3 , 2 , 1 ,
4
2
2 2
=
= n
L
EI n
Q
6.3.Homogeneous and Particular solution
p p h
w D Cx x B x A w w w + + + + = + = sin cos
q
dx
w d
Q
dx
w d
EI
dx
w d
Q
dx
w d
EI
dx
w d
Q
dx
w d
EI
dx
w w d
Q
dx
w w d
EI
p p
p p
h h
p h p h
= + =
+ + + =
+
+
+
2
2
4
4
2
2
4
4
2
2
4
4
2
2
4
4
) ( ) (
Four Boundary Conditions for Simple Beams
0 )) ( sin cos ( ) ( ) (
0 ) ( sin cos ) (
0 (0)) ( ) 0 ( (0) , 0 (0) ) 0 (
2 2
2
= + = =
= + + + + =
= + = = = + + =
L w L B L A EI L w EI L M
L w D CL L B L A L w
w A EI w EI M w D A w
p
p
p p
0 0
) (
) (
) 0 (
) 0 (
0 0 sin cos
1 sin cos
0 0 0
1 0 0 1
2 2
2
= + =
|
|
|
|
|
.
|
\
|

+
|
|
|
|
|
.
|
\
|
(
(
(
(

F KX
L w
L w
w
w
D
C
B
A
L L
L L L
p
p
p
p
The homogenous solution is for the boundary conditions, while the particular solution is
for the equilibrium.
Q
Q
86
6.4.Energy Method
Total Potential Energy
dx wq dx
dx
dw
dx
dw
Q dx
dx
w d
EI
dx
w d
l l l

=
0 0 0
2
2
2
2
2
1
2
1
dx w dx w ds L
L L L
) ) (
2
1
1 ( ) ( 1
0
2
0
2
0

+ + = =
L dx w dx w dx w L L
L L L
<< = + =

for ) (
2
1
) (
2
1
) (
2
1
0
2
0
2
0
2
Principle of the Minimum Potential Energy

+ =
+ + + =
+
+ =
+
+ +
+ +
=
l
e
l l e e
e
l l
l e e l
e
l e e e e
l
e
l e e l e e
h
dx
dx
w d
Q
dx
w d
dx
w d
EI
dx
w d
dx
dx
w d
Q
dx
w d
dx
w d
EI
dx
w d
dx q
dx
w d
Q
dx
w d
EI w
dx
dx
w d
Q
dx
w d
dx
w d
EI
dx
w d
qdx w
dx
dx
w d
Q
dx
dw
dx
w d
EI
dx
w d
qdx w dx
dx
dw
Q
dx
dw
dx
w d
EI
dx
w d
qdx w w dx
dx
w w d
Q
dx
w w d
dx
dx
w w d
EI
dx
w w d
0
2
2
2
2
0
2
2
2
2
0
2
2
4
4
0
2
2
2
2
0
0
2
2
2
2
0 0
2
2
2
2
0 0 0
2
2
2
2
) (
2
1
) (
2
1
) (
) (
2
1
) ( ) (
2
1
) (
) ( ) (
2
1 ) ( ) (
2
1
The principle of minimum potential energy holds if and only if
w dx
dx
w d
Q
dx
w d
dx
w d
EI
dx
w d
l
possible all for 0 ) (
0
2
2
2
2
>
The principle of the minimum potential energy is not valid for the following cases.
w dx
dx
w d
Q
dx
w d
dx
w d
EI
dx
w d
l
some for 0 ) (
0
2
2
2
2

Q
87
The critical status of a structure is defined as
0 ) (
0
2
2
2
2
=
l
dx
dx
w d
Q
dx
w d
dx
w d
EI
dx
w d
Approximation
Approximation of displacement:
=
=
n
i
i i
g a w
1
Critical Status
0 ) ( 0 ) )( ( ) (
) ( ) ( ) ( ) (
1 1 1 1 1 1
0
1 1
0
0
1 1
0
1 1
= =
= =
=

= = = = = = = =
= = = =
G T G T
j
n
i
n
j
G
ij i
n
i
j
n
j
ij i j
n
i
n
j
l
j i i
n
i
j
n
j
l
i i i
l
n
j
j j
n
i
i i
l
n
j
j j
n
i
i i
Det a a
a K a Q a K a a dx g g a Q a dx g EI g a
dx g a g a P dx g a EI g a
K K K K
Example - Simple Beam
with a parabola: 2 , 2 ) (
1 1
= = = g l x g l x ax w
%) 22 error , 86 . 9 : exact (
12
0 )
3
1
4 (
3
1
) 1 2
3
4
( ) 4 4 ( ) 2 (
4 2 2
2 2
2
2
3
3 3
0
2 2
0
2
0
0 0
= =
= =
= + = + = =
= =

l
EI
l
EI
l
EI
Q l Q EIl Det
l l dx l xl x dx l x dx g EI g
EIl dx EI dx g EI g
cr
l l l
i i
l l
i i
with one sine curve: sin ) ( , cos sin
2
1 1
l
x
l
g
l
x
l
g
l
x
a w

=

=
=
) exact ( 0 )
2
) (
2
) ( (
2
) ( cos ) (
2
) ( sin ) (
2
2
2 4
2
0
2 2
0
0
4 2 4
0
l
EI
Q
l
l
Q
l
l
EI Det
l
l
dx
l
x
l
dx g EI g
l
l
EI dx
l
x
l
EI dx g EI g
l l
i i
l l
i i
= =
=

=
=

=

Q
88
Example Cantilever Beam
with one unknown:
%) 22 error , 46 . 2
4
: exact (
3
0 )
3
4
4 (
3
4
4 , 4 2 2
2 , 2
2 2
2
2
3
3
0
2
0 0 0
1 1
2
= =
= =
= = = =
= = =

l
EI
l
EI
l
EI
Q l Q EIl Det
l dx x dx g EI g EIl dx EI dx g EI g
g x g ax w
cr
l l
i i
l l
i i
with two unknowns:
3
0
2
22
2
0
21 12
0
11
5
0
4
22
4
0
3
21 12
3
0
2
11
2 1
2
2 1
3 2
12 36 , 6 12 , 4 4
5
9
9 ,
4
6
6 ,
3
4
4
6 , 2 , 3 , 2
l dx x K l xdx K K l dx K
l dx x K l dx x K K l dx x K
x g g x g x g bx ax w
l l l
l
G
l
G G
l
G
= = = = = = =
= = = = = = =
= = = = + =

32.181 or 487 . 2
0727 . 1
or
0829 . 0
45
27 . 22 26
45
180 26 26
0 45 52 4 0 ) 45 6 ( ) 54 12 )( 40 4 (
30
1
, 0
54 12 45 6
45 6 40 4
0 )
54 45
45 40
30
1
12 6
6 4
(
2 2 2 2 2 8
12 12 2 6
2 8 6 4 2 4 2 5 3 3
5 3 4 2
4 2 3
5 4
4 3
3 2
2
l
EI
l
EI
Q
l l l l
l l l
l l l l l l l l l
EI
Q
l l l l
l l l l
l l
l l
Q
l l
l l
EI Det
cr
= =
=

=
= + =
= =

=
(
2
49 . 2
l
EI
Q
exact
= (error = 1.2%) or
2
19 . 22
l
EI
Q
exact
= (error = 45%)
Q
Q
89
6.5 Approximation with the Homogeneous Beam Solutions
Homogeneous Solution of Beam
) )( ( ) )( ( ) , , , (
4 3 2 1 4 3 2 1 i i
R
z
R
y
L
z
L
y
R
z
R
y
L
z
L
y
i
N N N N N N N N N w = =
|
|
|
|
|
|
.
|
\
|
= + + + = N
3
3
2
2
1
2 3
1
L
x
L
x
N + = ,
2
3 2
2
2
L
x
L
x
x N + = ,
2
3 2
3
2 3
L
x
L
x
N = ,
2
3 2
4
L
x
L
x
N + =
6.5.1 Beam Analysis
Total Potential Energy
) ( ) ( ) ]( [ ) (
2
1
) ( ] [ ) ( ) ]( ][ [ ] [ ) (
2
1
) ( ] [ ) ( ) ]( ])[ [ ] ([ ] [ ) (
2
1
) ( ) ( ) )( [ ] ([ ) (
2
1
) ( ) ( ) ( ) ( ) (
2
1
) ( ) ( ) (
2
1
) ( ) (
2
1
) (
2
1
2
1
2
1
1 1
1 1
0
1 1
0
1
0
1
0
1
0
2
2
2
2
1
0
1
0
1
0
2
2
2
2
1
0
1
0
1
0
2
2
2
2
P u u K u
f C u u C K C u
f C u u C K K C u
f K K
N
N N N N
T T
p
i
i
T
i
T
p
i
i i
T
i
T
p
i
i
T
i
T
p
i
i
G
i i
T
i
T
p
i
i
T
i
p
i
i
G
i i
T
i
p
i
l
i
T T
i
p
i
i
l
T T
i
p
i
i
l
T T
i
p
i
l
i
T
i
p
i
l i
T i
p
i
l
i T i
p
i
l
i i
p
i
l
i i
p
i
l
i i
dx q dx
dx
d
dx
d
Q dx
dx
d
EI
dx
d
dx q w dx
dx
dw
dx
dw
Q dx
dx
w d
EI
dx
w d
dx q w dx
dx
dw
dx
dw
Q dx
dx
w d
EI
dx
w d
=
=
=
=
=
=
=

= =
= =
= =
= = =
= = =
= = =
(
(
(
(
(
(
(
(
(
=
4
6
2
6
6 12 6 12
2
6
4
6
6 12 6 12
2 2
2 2
0
i i
i i i i
i i
i i i i
i
i
i
L L
L L L L
L L
L L L L
L
EI
K ,
(
(
(
(
(
(
(
(
(
=
15
2
10
1
30 10
1
10
1
5
6
10
1
5
6
30 10
1
15
2
10
1
10
1
5
6
10
1
5
6
i i
i i
i i
i i
G
i
L L
L L
L L
L L
Q K
1 2 i
u
1 2 + i
u
i-th member
i
u
2 2 2 + i
u P
90
Principle of Minimum Potential Energy for
cr
Q Q <

= = =
= =
n
i
i i
n
i
j
n
j
ij i
T T
P u u K u
1 1 1
2
1
) ( ) ( ) ]( [ ) (
2
1
P u u K u
) ( ) ]( [ , , 1 for 0
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
1 1 1
1 1 1 1
1 1 1 1 1
P u K = = = = + =
+ = + =

= = =
= = = =
= = = = =
n k P u K P u K u K
P u K u K P K u u K
P u
u
u
K u u K
u
u
u
k j
n
j
kj k
n
j
j kj j
n
j
kj
k
n
i
i ki j
n
j
kj k
n
i
ik i j
n
j
kj
n
i
i i
n
i k
j
n
j
ij i
n
i
j
n
j
ij
k
i
k
L
Calculation of the Critical Load
0 ]) [ ] ([ ]) ([
0
= =
G
Det Det K K K
Frame Members
|
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R
e
R
y
R
x
L
e
L
y
L
x
e e
e e
e e
e e
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e e
e
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e
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e e
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R
R
y
R
x
L
L
y
L
x
L L
L L
L L
L L
P
I
L
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I
L
I
L
I
L
I
L
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L
I
A A
I
L
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L
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L
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L
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L
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A A
L
E
m
f
f
m
f
f
)
15
2
10
1
0
30 10
1
0
10
1
5
6
0
10
1
5
6
0
0 0 0 0 0 0
30 10
1
0
15
2
10
1
0
10
1
5
6
0
10
1
5
6
0
0 0 0 0 0 0
4
6
0 2
6
0
6 12
0
6 12
0
0 0 0 0
2
6
0 4
6
0
6 12
0
6 12
0
0 0 0 0
(
2 2
2 2
e
R
x
L
x
L
EA P

=
91
6.6 Nonlinear Analysis of Truss
Force Displacement relation at Member ends
R
x
L
y
R
y L
y
R
y
L
x
R
x
R
x
L
x
R
x
L
x
f
l
f f
L
EA
f
L
EA
f

= =
=
=
) (
) (
e
R
y
R
x
L
y
L
x
L
x
R
x
e
R
y
R
x
L
y
L
x
l l
EA
f
f
f
f
|
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(
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+
(
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=
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1 0 1 0
0 0 0 0
1 0 1 0
0 0 0 0
0 0 0 0
0 1 0 1
0 0 0 0
0 1 0 1
e e
g
e e e e
g
R
x
e e
p f ) )( ] [ ] ([ ) )( ] [ ] ([ ) (
0 0
k k k k f + = + =
Equilibrium Analysis
e
i
e
g
e
i
e e
i
p ) )( ] [ ] ([ ) (
0
k k f + =
e e e e
g
e
i
e T e e T e T e
p ) ( ] [ ) ]( )[ ] [ ] ([ ] [ ) ( ] [ ] [ ) ( ] [ ) (
0
K k k k f F = + = = =
Successive substitution
e e
i
e e
g
e
i
e T e
i
p ) ( ] [ ) ]( )[ ] [ ] ([ ] [ ) (
1 1 0 1

= + K k k F
i G
e
i
p ) )( )] ( [ ] ([ ) (
1 0
u K K P

+ =
R
x
f
R
y
f
L
y
f
R
x
R
y
L
y
L
x
L
x
f
92
Newton-Raphson Method
e
i
e e
g
e
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e e
i
e
i
e
g
e
i
e
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e
g
e
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e e
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e e
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g
e
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g
e
i
e
i
e
e
i
e
g
e
i
e e
i
p
p p p
p p p
p p
p
+ + + =
+ + + +
+ + + + + =
+ + + =
+ =

) ] [ ] [ ] ([ ) (
] [ ) ] [ ] ([ ) ] [ ] ([
) ( ] [ ) ] [ ] ([ ) ] [ ] ([
) )( ] )[ ( ] ([
) )( ] [ ] ([ ) (
1 0 1
1 1 0 1 1 0
1 1 0 1 1 0
1 1 0
0
k k k f
k k k k k
k k k k k
k k
k k f
e
i
e
i
e
i
e
i
e e
g
e
i
e
p ) ( ) ( ) ( ) ] [ ] [ ] ([
1 1 0
f f f k k k = = + +

i G
e
i
p ) ( ) ] [ )] ( [ ] ([
1 0
P u K K K = + +

( )
e
i
e
e
i
R
y
R
x
L
y
L
x
e
i
L
y
R
y
e
i
R
y
R
x
L
y
L
x
e
i
L
y
R
y
R
y
L
y
L
x
R
x
e
i
R
y
R
x
L
y
L
x
e
i
e
g
e
i
l
EA
l
EA
l l
EA
p
=
|
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.
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(
(
(
(
=
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=

|
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.
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\
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(
(
(
(
] [
0 1 0 1
0 0 0 0
0 1 0 1
0 0 0 0
) (
0 1 0 1
0
0
1 0 1 0
0 0 0 0
1 0 1 0
0 0 0 0
] [
1
2
1
2
1
1
k
k

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2000 Structural Analysis 2

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Class Note for Structural Analysis 2

Fall Semester, 2008

School of Civil, Urban & Geosystem Eng., SNU

School of Civil, Urban & Geosystem Eng., SNU

School of Civil, Urban & Geosystem Eng., SNU

School of Civil, Urban & Geosystem Eng., SNU

School of Civil, Urban & Geosystem Eng., SNU

School of Civil, Urban & Geosystem Eng., SNU

Unassembled Member Stiffness Equation

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