Sa2 08HSL PDF

Class Note for Structural Analysis 2
Fall Semester, 2013
Hae Sung Lee, Professor

Dept. of Civil and Environmental Engineering
Seoul National University
Seoul, Korea
Contents
Chapter 1 Slope Deflection Method
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
2.1 Solution Method for Linear Algebraic Equations
2.2 Moment Distribution Method...
2.3 Example - MDM for a 4-span Continuous Beam.
2.4 Direct Solution Scheme by Partitioning...
2.5 Moment Distribution Method for Frames
Chapter 3 Energy Principles
32
33
37
42
44
45
47
3.1 Spring-Force Systems... 48

3.2 Beam Problems. 49
3.3 Truss problems. 53
Chapter 4 Matrix Structural Analysis
4.1 Truss Problems
4.2 Beam Problems
4.3 Frame Problems...
Chapter 5 Buckling of Structures
5.0 Stability of Structures...
5.1 Governing Equation for a Beam with Axial Force...
5.2 Homogeneous Solutions...
5.3 Homogeneous and Particular solution..
5.4 Energy Method.
5.5 Approximation with the Homogeneous Beam Solutions.
5.6 Nonlinear Analysis of Truss.
56
57
68
76
79
80
81
82
85
86
89
91
School of Civil, Urban & Geosystem Eng., SNU
Chapter 1
Slope Deflection Method
Structural Analysis Lab.

Prof. Hae Sung Lee, http://strana.snu.ac.kr

2.0 Comparison of Flexibility Method and Stiffness Method
Flexibility Method
Stiffness Method
P
k1
z
P
k2
k1
Remove redundancy (Equilibrium)
k2
Compatibility
P
P
X
1 = 2 =
Compatibility
Equilibrium
1 = 2
k1
X P X
=
X =
P
k1 + k 2
k1
k2
k1 + k2 = P =
P
k1 + k 2


Flexibility Method
L/2
L/2
P
B
Stiffness Method
EI
EI
L
z
Remove redundancy (Equilibrium)
P
EI
EI
Compatibility
3PL
16
B
1
BA = BC = B
z
Compatibility
B0 =
L
1 PL
PL
2L
(1 + )
1 =
, BB =
6 EI
2 4
16 EI
3EI
B 0 + BB M B = 0 M B =
B0
3PL
=
BB
32
Equilibrium
3EI
3PL
f
B
B
, M BC
= 0 , M BA
= M BC
=
B
L
16
M B =M BAf + M BCf + M BAB + M BCB = 0
f
M BA
=
3PL 6 EI
PL2
+
B = 0 B =
16
L
32 EI


Flexibility Method
Stiffness Method
1. Release all redundancies.
1.
Fix all Degrees of Freedom.
2. Calculate displacements induced by external loads at the released

redundancies.
2.
Calculate fixed end forces induced by external loads at the fixed

DOF.
3. Apply unit loads and calculate displacements at the released

redundancies.
3.
Apply unit displacements and calculate member end forces at the

DOFs.
4. Construct the flexibility equation by superposing the displacement

based on the compatibility conditions.
4.
Construct the stiffness equation by superposing the member end

forces based on the equilibrium equations.
5. Solve the flexibility equation.
5.
Solve the stiffness equation.
6. Calculate reactions and other quantities as needed.
6.
Calculate reactions and other quantities as needed.


2.1 Analysis of Fundamental System
2.1.1 End Rotation
A
z
Flexibility Method
i) B = 0
MA
MB
L
L
MA +
M B = A
3EI
6 EI
M A = 4 EI A , M B = 2 EI A
L
L
L
L
MA +
MB = 0
6 EI
3EI
ii) A = 0
MA =
2 EI
4 EI
B , M B =
B
L
L
Sign Convention for M :Counterclockwise +
A 0 , B 0
4 EI
2 EI
A +
B
L
L
2 EI
4 EI
MB =
A +
B
L
L
MA =
2.1.2 Relative motion of joints


z
Flexibility Method
L
L
MA +
MB =
3EI
6 EI
L
L
L
MA +
MB =
6 EI
3EI
L
6 EI
6 EI
, MB =
L L
L L
or in the new sign convention : M A =
6 EI
6 EI
, MB =
L L
L L
Final Slope-Deflection Equation

4 EI
2 EI
6 EI
A +
B +
L
L
L
2 EI
4 EI
6 EI
MB =
A +
B +
L
L
L
MA =
In Case an One End is Hinged

4 EI
2 EI
6 EI
A +
B +
L
L
L
2 EI
4 EI
6 EI
MB =
A +
B +
L
L
L
MA =
EI
2 EI
3EI
=0
A = B
L
L
L
L L
3EI
3EI
=
B +
L
L
L L
2.1.3 Fixed End Force

z
Both Ends Fixed


z
One End Hinged
MB
MA
+
MA/2
MA
3
MA
2
z
3
MA
2
Ex.: Uniform load case with a hinged left end
M Bf =
3qL2
qL2 qL2
qL2
=
=
,
12 24
24
8
M Af = 0
2.1.4 Joint Equilibrium
Ffixed
Fjoint
Fmember
Joint i
F fixed Fmember + F joint = 0
or
fixed
+ Fmember = F joint


2.2 Analysis of Beams
2.2.1 A Fixed-fixed End Beam
P
B
C
EI
a
z
DOF : B , B
Analysis
i) All fixed : No fixed end forces

ii) B 0 , B = 0
2 EI
4 EI
4 EI
2 EI
1
1
B , M BA
=
B , M 1BC =
B , M CB
=
B
a
a
b
b
6 EI
6 EI
1
1
1
= VAB
= 2 B , VBC
= VCB
= 2 B
a
b
M 1AB =
1
VBA
2 EI
B
a
4 EI
B
a
6 EI
B
a2
6 EI
B
a2
4 EI
B
b
6 EI
B
b2
2 EI
B
b
6 EI
B
b2
iii) B = 0 , B 0
6 EI
6 EI
6 EI
6 EI
2
2
2
= 2 B , M BC
= 2 B
B , M BA
= 2 B M CB
2
a
b
a
b
12 EI
12 EI
2
2
2
= VAB
= 3 B , VBC
= VCB
= 2 B
a
b
2
M AB
=
2
VBA
6 EI
B
a2
12 EI
B
a3
6 EI
B
a2
12 EI
B
a3
6 EI
B
b2
12 EI
B
b3
6 EI
B
b2
12 EI
B
b3


z
Construct the Stiffness Equation
1 1
1
1
1
1
2
2
= 0 M BA
+ M BC
+ M BA
+ M BC
= 0 4 EI ( + ) B + 6 EI ( 2 2 ) B = 0
a b
a
b
1
1
1
1
6 EI ( 2 2 ) B + 12 EI ( 3 + 3 ) B = P
VBi = P VBA1 + VBC1 + VBA2 + VBC2 = P
a
b
a b
2 2
3 3
(b a )a b
ab
B =
P , B =
P
3
2 EIl
3EIl 3
i
B
ab 2
2 EI
6 EI
B + 2 B = 2 P ,
a
a
l
a 2b
2 EI
6 EI
=
B 2 B = 2 P
b
b
l
2
M AB = M 1AB + M AB
=
1
2
M CB = M CB
+ M CB
2.2.2 Analysis of a Two-span Continuous Beam (Approach I)
qL
B
2EI
EI
L
DOF : B , C
Analysis
i) Fix all DOFs and Calculate FEM.

f
=
M AB
qL2
qL2
qL2
qL2
f
f
f
, M BA
=
, M BC
=
, M CB
=
8
12
12
8
ii) B 0 , C = 0
M 1AB =
2 EI
4 EI
8 EI
4 EI
1
1
1
B , M BA
=
B , M BC
=
B , M CB
=
B
L
L
L
L
iii) B = 0 , C 0
2
M BC
=
4 EI
8 EI
2
C , M CB
=
C
L
L
i
B
f
f
1
1
2
= 0 M BA
+ M BC
+ M BA
+ M BC
+ M BC
=0
qL2
EI
EI
+ 12 B + 4 C = 0
L
L
24
i
C
f
1
2
= 0 M CB
+ M CB
+ M CB
=0
qL2
EI
EI
+ 4 B + 8 C = 0
L
L
8L

10

B =
z
Member End Forces

f
M AB = M AB
+ M 1AB =
qL2 2 EI
3
+
B = qL2
12
L
48
1
f
M BA = M BA
+ M BA
=
qL2 4 EI
1
+
B = qL2
12
L
8
1
2
f
M BC = M BC
+ M BC
+ M BC
=
qL2 8 EI
4 EI
1
+
B +
C = qL2
8
L
L
8
1
2
f
M CB = M CB
+ M CB
+ M CB
=
qL3
qL3
, C =
96 EI
48EI
qL2 4 EI
8 EI
+
B +
C = 0
L
L
8
Various Diagram
- Freebody Diagram
1 2
qL
16
1 2
qL
8
5
qL
8
9
qL
16
7
qL
16
3
qL
8
19
qL
16
- Moment Diagram
1 2
qL
16
17 2
qL
512
1 2
qL
8
3 2
qL
16
7
L
16

11

2.2.3 Analysis of a Two-span Continuous Beam (Approach II)
qL
B
A
EI
L
z
DOF : B
Analysis
2EI
i) Fix all DOFs and Calculate FEM.

f
=
M AB
qL2
qL2
qL2 1 qL2 3qL2
f
f
, M BA
=
, M BC
=
+
=
12
12
8
2 8
16
ii) B 0
M 1AB =
z
Construct Stiffness Equation
M
z
2 EI
4 EI
6 EI
1
1
B , M BA
=
B , M BC
=
B
L
L
L
1
1
f
f
= 0 M BA
+ M BC
+ M BA
+ M BC
=0
qL2 3qL2
EI
EI
qL2
+
+ 4 B + 6 B = 0 B =
12
16
L
L
96 EI
Member End Forces
qL2 2 EI
3
+
B = qL2
12
L
48
2
qL 4 EI
1
1
f
M BA = M BA
+ M BA
=
+
B = qL2
12
L
8
2
3qL
6 EI
1
1
f
M BC = M BC
+ M BC
=
+
B = qL2
16
L
8
f
M AB = M AB
+ M 1AB =

12

2.2.4 Analysis of a Beam with an Internal Hinge (4 DOFs System)
q
A
EI
l
z
DOF : B , CL , CR , C
Analysis
D
EI
EI
i) All fixed
M
f
AB
ql 2
ql 2
f
=
, M BA =
12
12
ii) B 0
M 1AB =
2 EI
4 EI
2 EI
6 EI
1
1
1
1
B , M BA
= M BC
=
B , M CB
=
B , VCB
= 2 B
l
l
l
l
iii) CL 0
2
M BC
=
2 EI L
4 EI L
6 EI
2
2
C , M CB
=
C , VCB
= 2 CL
l
l
l
iv) CR 0
3
M CD
=
4 EI R
2 EI R
6 EI
3
3
C , M DC
=
C , VCD
= 2 CL
l
l
l
v) C 0
4
4
M BC
= M CB
=
6 EI
6 EI
12 EI
4
4
4
4
C , M CD
= M DC
= 2 C , VCD
= VCB
= 2 C
2
l
l
l

13

z
Construct Stiffness Equation

ql 2
EI
EI
+ 8 B + 2 CL +
l
l
12
i
EI
EI
2 B + 4 CL +
i M 2i = 0
l
l
i
1
=0
i
3
=0
EI
C = 0
l2
EI
0
+ 6 2 C = 0
l
EI
EI
4 CR 6 2 C = 0
l
l
EI
EI
EI
EI
6 2 B + 6 2 CL 6 2 CR + 24 3 C = 0
l
l
l
l
i
4
=0
+6
Elimination of CL and CR
- 2nd and 3rd equation

2
EI L
EI
EI
EI
EI
C = ( B + 3 2 C ) , 2 CR = 3 2 C
l
l
l
l
l
- 1st equation
ql 2
EI
EI
EI
+ 8 B + 2 CL + 6 2 C =
12
l
l
l
2
ql
EI
EI
EI
EI
ql 2
EI
EI
+ 8 B ( B + 3 2 C ) + 6 2 C = 0
+7
B + 3 2 C = 0
12
12
l
l
l
l
l
l
- 4th equation
EI
EI
EI
EI
B + 6 2 CL 6 2 CR + 24 3 C =
2
l
l
l
l
EI
EI
EI
EI
EI
EI
EI
6 2 B 3( 2 B + 3 3 C ) 3(3 3 C ) + 24 3 C = 0 3 2 B + 6 3 C = 0
l
l
l
l
l
l
l
2.2.5 Analysis of a Beam with an Internal Hinge (2 DOFs System)

q
A
EI
l
z
DOF : B , C
Analysis
D
EI
EI
i) All fixed
f
M AB
=
ql 2
ql 2
f
, M BA
=
12
12

14

ii) B 0
M 1AB =
2 EI
4 EI
3EI
3EI
1
1
1
1
B , M BA
=
B , M BC
=
B , VBC
= VCB
= 2 B
l
l
l
l
iii) C 0
2
2
M BC
= M DC
=
3EI
3EI
3EI
2
2
2
2
C , VBC
= VCB
= 2 C , VCD
= VDC
= 2 C
2
l
l
l
=0
i
1
i
2
=0
ql 2
EI
EI
+ 7 B + 3 2 C = 0
12
l
l
EI
EI
3 2 B + 6 3 C = 0
l
l
B =
ql 3
ql 4
, C =
66 EI
132 EI
2 EI R
3EI C
3 C
3 ql 3
C =
( ) CR =
=
l
l
l
2 l
264 EI
3
3
1
3
ql
3 ql
ql 3
CL = B
=
+
=
2
2L
132 EI 2 132 EI 264 EI
2.2.6 Beam with a Spring Support

q
EI
l
z
D
EI
l
EI
l
Analysis
i) All fixed
f
=
M AB
ql 2
ql 2
f
, M BA
=
12
12

15

ii) B 0
M 1AB =
2 EI
4 EI
3EI
3EI
1
1
1
1
B , M BA
=
B , M BC
=
B , VBC
= VCB
= 2 B
l
l
l
l
iii) C 0
kC
3EI
C
l2
3EI
3EI
2
2
= 2 C , VCD
= VDC
= 2 C , VS2 = k C
l
l
2
2
M BC
= M DC
=
2
2
VBC
= VCB
M 1i = 0
i
i
2
=0
B =
z
ql 2
EI
EI
+ 7 B
+ 3 2 C = 0
12
l
l
EI
EI
3 2 B + (6 3 + k ) C = 0
l
l
1+
ql 3
1
ql 4
, C =
(1 + 14 / 11) 132 EI
1 + 14 / 11 66 EI
6 EI
l3
B =
z
where k =
ql 3
ql 4
, C =
66 EI
132 EI
B =
ql 3
, C = 0
84 EI

16

2.2.7 Support Settlement
A
EI
EI
DOF : B
Analysis
i) All fixed
f
M BA
=
6 EI
3EI
f
, M BC
=
l l
l l
ii) B 0
1
M BA
=
4 EI
3EI
1
B , M BC
=
B
l
l
Construct the Equilibrium Equation
M
i
i
1
=06
3
EI
EI
EI
EI
3
+ 4 B + 3 B = 0 B =
l l
l l
l
l
7l
2.2.8 Temperature Change

A
B
T1
T2
A =
z
(T2 T1 )
(T2 T1 )
l , B =
l
2h
2h
Fixed End Moment
4 EI
A +
L
2 EI
MB =
A +
L
MA =
2 EI
(T2 T1 )
EI
B =
L
h
4 EI
(T2 T1 )
EI
B =
L
h

17

2.3 Analysis of Frames
2.3.1 A Portal Frame without Sidesway
l/2
B
C
EI2
DOF : B , C
Analysis
EI1
EI1
i) All fixed
Pl
Pl
0
0
=
, M CB
=
M BC
8
8
ii) B 0
M 1AB =
2 EI1
4 EI1
1
B , M BA
=
B
l
l
1
M BC
=
4 EI 2
2 EI 2
1
B , M CB
=
B
l
l
iii) C 0
2
M BC
=
2 EI 2
4 EI 2
2
C , M CB
=
C
l
l
2
M CD
=
4 EI1
2 EI1
2
C , M DC
=
C
l
l
i
B
=0
4 EI1 4 EI 2
2 EI 2
Pl
+(
+
) B +
C = 0
8
l
l
l
4 EI1 4 EI 2
Pl 2 EI 2
+
B + (
+
) C = 0
8
l
l
l
1
Pl 2
B = C =
4 EI1 + 2 EI 2 8
i
C
=0

18

z
Member End Forces
M AB =
2 EI1
2 EI1
Pl
B =
4 EI1 + 2 EI 2 8
l
M BA =
4 EI1
4 EI1
Pl
B =
4 EI1 + 2 EI 2 8
l
M BC =
2 EI 2
4 EI1
Pl 4 EI 2
Pl
+
B +
C =
8
4 EI1 + 2 EI 2 8
l
l
M CB =
4 EI 2
4 EI1
Pl 2 EI 2
Pl
+
B +
C =
8
4 EI1 + 2 EI 2 8
l
l
M CD =
4 EI1
4 EI1
Pl
C =
4 EI1 + 2 EI 2 8
l
M DC =
2 EI1
2 EI1
Pl
C =
4 EI1 + 2 EI 2 8
l
In case EI1 = EI 2
M AB =
Pl
Pl
Pl
Pl
Pl
, M BA =
, M BC =
, M CB =
, M CD =
24
12
12
12
12
, M DC =
Pl
24
2.3.2 A Portal Frame without Sidesway hinged suppoorts
l/2
B
C
EI2
DOF : B , C
Analysis
EI1
EI1
i) All fixed
0
=
M BC
Pl
Pl
0
, M CB
=
8
8

19
ii) B 0
3EI1
B
l
4 EI 2
2 EI 2
1
=
B , M CB
=
B
l
l
1
M BA
=
1
M BC
iii) C 0
2 EI 2
4 EI 2
2
C , M CB
=
C
l
l
3EI1
=
C
l
2
M BC
=
2
M CD
i
B
=0
Pl 3EI1 4 EI 2
2 EI 2
+(
+
) B +
C = 0
l
l
l
8
i
C
=0
3EI1 4 EI 2
Pl 2 EI 2
+
B + (
+
) C = 0
8
l
l
l
B = C =
z
1
Pl 2
3EI1 + 2 EI 2 8
Member End Forces

M AB = 0
3EI1
3EI1
Pl
B =
M BA =
3EI1 + 2 EI 2 8
l
2 EI 2
3EI1
Pl 4 EI 2
Pl
+
B +
C =
M BC =
8
3EI1 + 2 EI 2 8
l
l
4 EI 2
3EI1
Pl 2 EI 2
Pl
B +
C =
M CB = +
8
3EI1 + 2 EI 2 8
l
l
3EI1
3EI1
Pl
C =
M CD =
3EI1 + 2 EI 2 8
l
M DC = 0
In case of EI1 = EI 2
M AB = 0 , M BA =
3
3
3
3
Pl , M BC =
Pl , M CB = Pl , M CD =
Pl , M DC = 0
40
40
40
40

20

2.3.3 A Frame with an horizontal force
EI
A
z
DOF : B ,
Analysis
i) All fixed : None fixed end moment

ii) B 0
2 EI
4 EI
1
B , M BA
=
B
l
l
3EI
6 EI
1
=
B , VBA
= 2 B
l
l
M 1AB =
1
M BC
iii) 0
6 EI
6 EI
2
, M BA
= 2
2
l
l
12 EI
= 3
l
2
=
M AB
2
VBA
Construct the stiffness equation
M
V
i
B
=0 (
4 EI 3EI
6 EI
+
) B + 2 = 0
l
l
l
6 EI
12 EI
B + 3 = P
2
l
l
=P
Pl 2
7 Pl 3
, =
B =
8EI
48 EI
z
Member end forces
M AB =
2 EI
6 EI
5
4 EI
6 EI
3
3EI
3
B + 2 = Pl , M BA =
B + 2 = Pl , M BC =
B = Pl
8
8
8
l
l
l
l
l

21
2.3.4 A Portal Frame with an Unsymmetrical Load
A
z
DOF : B , C ,
Analysis
i) All fixed
0
=
M BC
Pab 2
Pa 2b
0
,
=
M
CB
l2
l2
ii) B 0
2 EI
4 EI
1
B , M BA
=
B
l
l
4 EI
2 EI
6 EI
1
1
=
B , M CB
=
B , VBA
= 2 B
l
l
l
M 1AB =
1
M BC
iii) C 0
2 EI
4 EI
2
C , M CB
=
C
l
l
4 EI
2 EI
6 EI
2
2
=
C , M DC
=
C , VCD
= 2 C
l
l
l
2
M BC
=
2
M CD

22

iv) 0
6 EI
6 EI
3
3
, M CD
= M DC
= 2 ,
2
l
l
12 EI
= 3
l
3
3
= M BA
=
M AB
3
3
= VCD
VBA
M Bi = 0
Pab 2 8EI
2 EI
6 EI
+
B +
c + 2 = 0
2
l
l
l
l
M Ci = 0
Pa 2b 2 EI
8 EI
6 EI
+
B +
c + 2 = 0
2
l
l
l
l
6 EI
6 EI
24 EI
B + 2 c + 3 = 0
2
l
l
l
=0
l
= ( B + C )
4
Pa 2b 13EI
EI
+
B +
c = 0
2
l
2l
2l
Pab 2 EI
13EI
2 +
B +
c = 0
2l
2l
l
1 Pab (a + 13b)
B =
l
84 EI
1 Pab (13a + b)
C =
l
84 EI
1 Pab
=
(b a)
28 EI
a=
l
4
2.3.5 A Portal Frame with a Bracing (Vertical Load)
a
B
P
C
EI = 0, EA 0
DOF : B , C ,
Analysis
i) All fixed
0
=
M BC
Pab 2
Pa 2b
0
,
=
M
CB
l2
l2

23

ii) B 0
2 EI
4 EI
1
B , M BA
=
B
l
l
4 EI
2 EI
1
1
M BC
=
B , M CB
=
B
l
l
6 EI
1
VBA
= 2 B
l
M 1AB =
iii) C 0
2 EI
4 EI
2
C , M CB
=
C
l
l
4 EI
2 EI
2
2
M CD
=
C , M DC
=
C
l
l
6 EI
2
VCD
= 2 C
l
iv) 0
2
M BC
=
6 EI
M = M = 2 ,
l
6 EI
3
3
M CD
= M DC
= 2 ,
l
12
EI
3
3
VBA
= VCD
= 3
l
3
AB
3
BA
ABD =
z
EA
EA 1
EA
(C) VBD =
= VBD =
2l 2 2
2l 2
2l 2
Pab 2 8EI
2 EI
6 EI
+
B +
c + 2 = 0
2
l
l
l
l
2
Pa b 2 EI
8 EI
6 EI
M Ci = 0 l 2 + l B + l c + l 2 = 0
6 EI
6 EI
24 EI
B + 2 c + 3 (1 + ) = 0
V i = 0
2
l
l
l
EAl 2
1 l
=
( B + C ) , =
1+ 4
48 2 EI
M Bi = 0
Solution for b = 3a
B =
40 + 52 Pl 2
16 + 28 Pl 2
3
Pl 3
, C =
, =
256(7 + 10 ) EI
256(7 + 10) EI
128(7 + 10) EI
For a w h rectangular section and l = 20h , = 50 2 .

Pl 2
Pl 2
Pl 3
B = 0.0203
, C = 0.0109
= 0.3282 10 4
EI
EI
EI

24

z
Performance
with Bracing
( = 50 2 )
Response
w/o bracing
( = 0)
Ratio(%)
B ( Pl 2 / EI )
-0.0203
-0.0223
91.03
C ( Pl 2 / EI )
0.0109
0.0089
122.47
( Pl 3 / EI )
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
ABD (P)
0.0788
Pmax (Pall)*
0.0720
0.0685
105.1
Pmax/vol.
0.0163
0.0228
71.5
*) Pall = all wh , M all = Pall h / 6

Unbalanced shear force in the columns =
6 EI
( B + C ) = 0.0564 P
l2
The bracing carries 99 % of the unbalanced shear force between the two columns.
2.3.6 A Portal Frame with a Bracing (Horizontal Load)
EI = 0, EA 0
A
z
DOF : B , C ,
Analysis
i) All fixed: No fixed end forces

ii)-iv) the same as the previous case

25

z
8EI
2 EI
6 EI
B +
c + 2 = 0
l
l
l
EI
EI
EI
2
8
6
M Ci = 0 l B + l c + l 2 = 0
6 EI
6 EI
24 EI
V i = 0 l 2 B + l 2 c + l 3 (1 + ) = P
i
B
=0
5
5
B = C , = B l = C l
3
3
z
Solution
1
Pl 2
5
Pl 3
B = C =
, =
(28 + 40) EI
3(28 + 40) EI
For = 50 2 ,
B = C = 0.3501 10 3
z
Pl 2
Pl 3
, = 0.5835 10 3
EI
EI
Performance
Response
with Bracing
( = 50 2 )
w/o bracing
( = 0)
Ratio(%)
B ( Pl 2 / EI )
0.3501 103
0.3571 101
0.98
C ( Pl 2 / EI )
0.3501 103
0.3571 101
0.98
( Pl 3 / EI )
0.5835 103
0.5952 101
0.98
(Pl)
0.2801 102
0.2857
0.98
(Pl)
0.2101 102
0.2143
0.98
CD (Pl)
0.2101 102
0.2143
0.98
DC (Pl)
0.2801 102
0.2857
0.98
ABD (P)
1.4004
Pmax(Pall)*
0.7141
0.0292
2448
Pmax/vol.
0.1617
0.0097
1670
*) Governed by ABD for the structure with bracing, and by MDC for the structure without
bracing. Pall = all wh , M all = Pall h / 6
The bracing carries about 99% of the external horizontal load.

26

2.3.7 A Portal Frame with a Spring
C
k
A
z
z
DOF : B , C ,
Analysis
iv) 0
6 EI
6 EI
3
3
, M CD
= M DC
= 2 ,
2
l
l
24 EI
= 3 , VS3 = k
l
3
3
M AB
= M BA
=
3
3
VBA
= VCD
Pab 2 8EI
2 EI
6 EI
M = 0 l 2 + l B + l c + l 2 = 0
Pa 2b 2 EI
8 EI
6 EI
i
M
=
0
+
B +
c + 2 = 0
C
2
l
l
l
l
6 EI
6 EI
24 EI
B + 2 c + 3 = k
V i = 0
2
l
l
l
i
B
6 EI
6 EI
24 EI
B + 2 c + ( 3 + k ) = 0
2
l
l
l
z
Deformed Shapes (
S
= 0.41 )
without a spring
with a spring ( k = 24
EI
)
l3

27

2.3.8 A Portal Frame Subject to Support Settlement
DOF : B , C ,
Analysis
i) All fixed
6 EI
l2
ii)-iv) the same as the previous problem
0
0
M BC
= M CB
=

6 EI
8EI
2 EI
6 EI
M Bi = 0 l 2 + l B + l c + l 2 = 0
6 EI
2 EI
8EI
6 EI
M Ci = 0 l 2 + l B + l c + l 2 = 0
6 EI
6 EI
24 EI
B + 2 c + 3 = 0
V i = 0
2
l
l
l

28

2.3.9 A Portal Frame with Unsymmetrical Supports
l/2
B
A
z
DOF : B , C ,
Analysis
P
C
i) All fixed
0
M BC
=
Pl
Pl
0
, M CB
=
8
8
ii) B 0
3EI
B
l
4 EI
2 EI
1
1
M BC
=
B , M CB
=
B
l
l
3EI
1
VBA
= 2 B
l
1
M BA
=
iii) C 0
2 EI
4 EI
2
C , M CB
=
C
l
l
4 EI
2 EI
2
2
M CD
=
C , M DC
=
C
l
l
6 EI
2
VCD
= 2 C
l
2
M BC
=
iv) 0
3
M BA
=
3EI
,
l2
6 EI
,
l2
3EI
12 EI
3
= 3 , VCD
= 3
l
l
3
3
M CD
= M DC
=
3
V BA

29

z
Pl 7 EI
2 EI
3EI
+
B +
c + 2 = 0
l
l
l
8
Pl
EI
EI
EI
2
8
6
M Ci = 0 8 + l B + l c + l 2 = 0
3EI
6 EI
15 EI
B + 2 c + 3 = 0
V i = 0
2
l
l
l
l
= ( B + 2C )
5
2
1 Pl
1 9 Pl 2
1 Pl 3
B =
, C =
, =
44 EI
44 8 EI
176 EI
i
B
=0
Load Location that Causes No Sidesway
l
= ( B + 2C ) = 0 B = 2C
5
- Stiffness equation
M Bi = 0
Pab 2 7 EI
2 EI
+
B +
c = 0 ,
2
l
l
l
Pab 2 12 EI
C = 0
l2
l
M Ci = 0
Pa 2b 2 EI
8EI
+
B +
c = 0
2
l
l
l
Pa 2b 4 EI
+
c = 0
l2
l
Pab 2
Pa 2b
3
=
b = 3a
l2
l2

30

2.3.10 A Frame with a Skewed Member
DOF : B ,
Analysis
0
i) All fixed : M BC
=
2 11
Pl Pl 3
0
+
= Pl , VBC
=
P
2 16
8 16 16
ii) B 0
M 1AB =
2 EI
EI
EI
3EI
EI
1
1
1
B = 2
B , M BA
=2 2
B , M BC
=
B , VBA
= 3 2 B
l
l
l
l
2l
1
VBC
=
3 2 EI
B
2 l2
3
(2 2
EI 1 2
2 EI
B
=3
B
l
l 2
2 l2
EI
EI
EI
1
B + 2
B )
= 3 2 B
l
l
l
2l
iii) 0
2
2
M BA
= M AB
=
2
VBC
=
3EI
3 2 EI
EI
6 EI
3EI
2
2
= 2 M BC
=
=
, VBA
=3 2 3 ,
2
l
l
l
2 l
2l 2l
2l
3 EI
2 l3
3
(3
2 EI 1 1
3 EI
2
l 2 2 l3
2 l
EI
EI
EI
1
+ 3 2 )
= 3 2 3 B
2
l
l
l
2l


z
31
Construct the stiffness equation
3 2 EI
EI
3
) 2 = Pl
B + (3
2 l
l
16
3
3 EI
EI
2 11
V i = 0 (3 2 2) l 2 B + (3 2 + 2 ) l 3 = 2 16 P
i
B
= 0 (2 2 + 3)
EI
EI
B + 0.8787 2 = 0.1875 Pl
l
l
EI
EI
0.8787 2 B + 5.7426 3 = 0.4861P
l
l
5.8284
Pl 2
Pl 3
B = 0.0460
, = 0.0917
EI
EI
z
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
a11 X 1 + a12 X 2 + L + a1i X i
a 21 X 1 + a 22 X 2 + L + a 2i X
M
a i1 X 1 + ai 2 X 2 + L + aii X i
M
a n1 X 1 + a n 2 X 2 + L + a ni X i
+ L + a1n X n = b1
+ L + a 2 n X n = b2
aij X j = bi for i = 1L n
+ L + a in X n = bi
j =1
+ L + a nn X n = bn
or in a matrix form
[ A]( X) = (b)
By multiplying
ai1
to the first equation and subtracting the resulting equation from the i-th
a11
equation for 2 i n , the first unknown X1 is eliminated from the second equation as follows.
a11 X 1 + a12 X 2 + L + a1i X i
( 2)
a 22
X 2 + L + a 2( 2i ) X
M
( 2)
( 2)
ai 2 X 2 + L + aii X i
M
( 2)
( 2)
an2 X 2 + L + an2 X i
where aij( 2) = aij
ai1 a1 j
a11
+ L + a1n X n = b1
+ L + a 2( 2n) X n = b2( 2 )
+ L + ain( 2) X n = bi( 2 )
( 2)
+ L + a nn
X n = bn( 2 )
. Again, the second unknown X2 is eliminated from the third equa-
ai(22)
tion by multiplying ( 2) to the second equation and subtracting the resulting equation from
a 22
the i-th equation for 3 i n .
The aforementioned procedures are repeated until the last
unknown remains in the last equation.

a11 X 1 + a12 X 2 + L + a1i X i + L + a1n X n
( 2)
a 22
X 2 + L + a 2( 2i ) X + L + a 2( 2n) X n
M
M
(i )
(i )
aii X i + L + ain X n
M
(n)
a nn X n
= b1
= b2( 2 )
M
= bi( i )
M
(n)
= bn

34
=a
( k 1)
ij
( n 1)
n 1, n 1
ai(,kk11) a k( k1,1j)
k i, j n , and a ij1 = aij . Once the system matrix is tria kk11,k 1

angularized, the solution of the given system is easily obtained by the back-substitution.
bn( n )
(n)
( n)
X n = (n)
a nn X n = bn
a nn
where a
(k )
ij
X n 1 + a
( n 1)
n 1, n
Xn = b
( n 1)
n 1
X n 1 =
bn( n11) a n( n1,1n) X n

a nn12,n 1
i +1
aii( i ) X i + L + a i(,in) X n = bi(i )
Xi =
bi( i ) aik(i ) X k
k =n
i 1
ii
for 1 i n 1
3.1.2 Iterative Method Gauss-Jordan Method
A system of linear algebraic equations may be solved by iterative method. For this purpose,
the given system is rearranged as follows.
X1 =
b1 (a12 X 2 + L + a1n X n )
a11
X2 =
b2 (a 21 X 1 + a 23 X 3 + L + a 2 n X n )
a 22
Xi =
Xn =
bi (ai1 X 1 + L + ai ,i 1 X i 1 + ai ,i +1 X i 1 + L + ain X n )
aii
bn (a n1 X 1 + L + a n ,n 1 X n 1 )
a nn
Suppose we substitute an approximate solution ( X) k 1 into the right-hand side of the above
equation, a new approximate solution ( X) k , which is not the same as ( X) k 1 , is obtained.
This procedure is repeated until the solution converges.
( X i )k =
n
1
(bi aij ( X j ) k 1 )
aii
j =1
i j
where the subscript k denotes the iterational count.

35

3.1.3 Iterative Method Gauss-Siedal Method
When we calculate a new Xi value in the k-th iteration of Gauss-Jordan iteration, the values of
X 1 ,L, X i 1 are already updated, and we can utilize the updated values to accelerate conver-
gence rate, which leads to the Gauss-Siedal Method.

( X1)k =
b1 (a12 ( X 2 ) k 1 + L + a1n ( X n ) k 1 )
a11
( X 2 )k =
b2 (a 21 ( X 1 ) k + a 23 X 3 ) k 1 + L + (a 2 n X n ) k 1 )
a 22
( X i )k =
( X n )k =
bi (ai1 ( X 1 ) k + L + ai ,i 1 ( X i 1 ) k + ai ,i +1 ( X i +1 ) k 1 + L + ain ( X n ) k 1 )
aii
bn (a n1 ( X 1 ) k + L + a n ,n 1 ( X n 1 ) k )
a nn
( X i )k =
i 1
1
(bi aij ( X j ) k
aii
j =1
i >1
j =i +1
i<n
ij
( X j ) k 1 )
3.1.4 Example
30
35.6
B
A
EI
4klf
C
1.5EI
D
EI
3@30=90
z
Stiffness Equation
3EI 6 EI
3EI
+
) B +
C = 0
l
l
l
3EI
6 EI 3EI
133.3 + 450.0 +
B + (
+
)C = 0
l
l
l
168.7 + 133.3 + (
For the simplicity of derivation,
EI
EI
B B ,
C C . The stiffness equation becomes
l
l
35.4 + 9 B + 3 C = 0
316.7 + 3 B + 9 C = 0

36

z
Gauss-Jordan Iteration
1
(35.4 3( C ) k 1 )
9
1
( C ) k = (316.7 3( B ) k 1 )
9
( B ) k =
Gauss-Siedal Iteration
1
(35.4 3( C ) k 1 )
9
1
( C ) k = (316.7 3( B ) k )
9
( B ) k =
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
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 ******
****** MOMENT ******
MBA
MBC
MCB
MCD
=-115.84375
= 115.82707
=-326.81460
= 326.81458
MBA
MBC
MCB
MCD
=-116.34444
= 115.04115
=-326.88437
= 327.03004

37

3.2 Moment Distribution Method
30
35.6
B
A
EI
4klf
C
1.5EI
D
EI
3@30=90
At the Joint B
- Moment distribution
MB = (
1
=
M BA
MB
3EI AB 4 EI BC
1
1
+
+ M BC
B =
) B = M BA
3EI AB 4 EI BC
L AB
LBC
+
L AB
LBC
3EI AB
L AB
3EI AB
L AB
B =
M = DBA M B
3EI AB 4 EI BC B
+
L AB
LBC
4 EI BC
4 EI BC
LBC
1
=
B =
M BC
M = DBC M B
3EI AB 4 EI BC B
LBC
+
L AB
LBC
2 EI BC
1
1
- Moment carry over to joint C: M CB
=
B = DBC M B
2
LBC
z
At the Joint C
- Moment distribution
MC = (
2
M CB
=
2
=
M CD
4 EI BC 3EI CD
MC
2
2
+
) C = M CB
+ M CD
C =
4 EI BC 3EI CD
LBC
LCD
+
LBC
LCD
4 EI BC
LBC
4 EI BC
LBC
C =
M = DCB M C
4 EI BC 3EI CD C
+
LBC
LCD
3EI CD
LCD
3EI CD
LCD
C =
M = DCD M C
4 EI BC 3EI CD C
+
LBC
LCD
2
- Moment carry over to joint B: M BC
=
2 EI BC
1
C = DCB M C
LBC
2

38

z
Stiffness Equation in terms of Moment at Joints
1
DCB M C = 0
M B = 35.4 DCB M C
2
2
1
1
316.7 + DBC M B + M C = 0
M C = - 316.7 DBC M B
2
2
35.4 + M B +
- Gauss-Siedal Approach
1
DCB ( M C ) k 1
2
1
( M C ) k = 316.7 DBC ( M B ) k
2
( M B ) k = 35.4
- Gauss-Jordan Approach
1
DCB ( M C ) k 1
2
1
( M C ) k = 316.7 DBC ( M B ) k 1
2
( M B ) k = 35.4
For the given structure
D BA = DCD =
z
1
,
3
D BC = DCB =
2
3
Incremental form for the Gauss-Siedal Method
- For k = 1
( M B ) 0 = ( M C ) 0 = 0 because we assume all degrees of freedom are fixed for step 0.
1
DCB ( M c ) 0 = 35.4 (M B )1 = 35.4
2
1
12
( M C )1 = 316.7 DBC ( M B )1 = 316.7
35.4 (M C )1 = 328.5
2
23
( M B )1 = 35.4
- For k > 1
1
1
1
DCB ( M c ) k 1 = 35.4 DCB ( M c ) k 2 DCB (M c ) k 1
2
2
2
1
1
= ( M B ) k 1 DCB (M c ) k 1 (M B ) k = DCB (M c ) k 1
2
2
1
1
1
( M C ) k = 316.7 DBC ( M B ) k = 316.7 DBC ( M B ) k 1 DBC (M B ) k
2
2
2
1
1
= ( M C ) k 1 DBC (M B ) k (M C ) k = DBC (M B ) k
2
2
( M B ) k = 35.4

39
- Iteration 1
(M B ) 0 = 0 , (M C ) 0 = 0
( M B ) 1 = 35.4
1
DCB ( M C ) 0 = 35.4 (M B ) 1 = 35.4
2
f
+ DBA (M B )1 = 168.7 + 0.33 35.4 = 168.7 + 11.8 (M BA )1 = 11.8
( M BA )1 = M BA
f
( M BC )1 = M BC
+ DBC (M B )1 = 133.3 + 0.67 35.4 = 133.3 + 23.6 (M BC )1 = 23.6
( M C )1 = 316.7
f
( M CB )1 = M CB
+
1
12
DBC (M B )1 = 316.7
35.4 = 328.5 (M c )1 = 328.5
2
23
1
DBC (M B )1 + DCB (M C )1 = 133.3 + 11.8 219.0
2
(M CB )1 = 11.8 219.0
f
( M CD )1 = M CD
+ DCD (M C )1 = 450 0.33 328.5 = 450 109.5 (M CD )1 = 109.5
- Iteration 2
(M BA ) 2 = DBA (M B ) 2 = 36.5
1
1
(M B ) 2 = DCB (M c )1 = 109.5 (M BC ) 2 = DCB (M c )1 + DBC (M B ) 2
2
2
= 109.5 + 73.0
(M ) = 1 D (M ) + D (M )
CB 2
BC
B 2
CB
C 2
1
2
(M C ) 2 = DBC (M B ) 2 = 36.5
= 36.5 24.3
2
(M CD ) 2 = DCD (M C ) 2 = 12.2
- Iteration 3
(M BA ) 3 = D BA ( M B ) 3 = 4.1
1
1
(M B ) 3 = DCB (M c ) 2 = 12.2 (M BC ) 3 = DCB (M c ) 2 + D BC (M B ) 3
2
2
= 12.2 + 8.2
( M ) = 1 D (M ) + D (M ) = 4.1 2.7
1
CB 3
BC
B 3
CB
C 3
(M C ) 3 = D BC (M B ) 3 = 4.1
2
2
( M CD ) 3 = DCD (M C ) 3 = 1.4
- Final Moments
f
M BA = M BA
+ (M BA ) k = 168.7 + 11.8 + 36.5 + 4.1 = 116.3
k
M BC = M
f
BC
M CB = M
f
CB
M CD = M
f
CD
+ (M BC ) k = 133.3 + 23.6 + (109.5 + 73.0) + (12.2 + 8.2) = 116.4

k
+ (M CB ) k = 133.3 + (11.8 219.0) + (36.5 24.3) + (4.1 2.7) = 326.9

k
+ (M CD ) k = 450.0 109.5 12.2 1.4 = 326.9

k

40

0.33
0.66
0.67
-168.7
133.3
-133.3
11.8
23.6
11.8
-109.5
-219.0
73.0
36.5
-12.2
-24.3
8.2
4.1
-1.4
-2.7
-1.4
0.5
0.9
-326.9
326.9
-115.8
115.9
36.5
4.1
0.33
450.0
-109.5
-12.2
Incremental form for the Gauss-Jordan Method
- For k = 1
( M B ) 0 = ( M C ) 0 = 0 because we assume all degrees of freedom are fixed for step 0.
1
DCB ( M c ) 0 = 35.4 (M B )1 = 35.4
2
1
( M C )1 = 316.7 DBC ( M B ) 0 = 316.7 (M C )1 = 316.7
2
( M B )1 = 35.4
- For k > 1
1
1
1
DCB ( M c ) k 1 = 35.4 DCB ( M c ) k 2 DCB (M c ) k 1
2
2
2
1
1
= ( M B ) k 1 DCB (M c ) k 1 (M B ) k = DCB (M c ) k 1
2
2
1
1
1
( M C ) k = 316.7 DBC ( M B ) k 1 = 316.7 DBC ( M B ) k 2 DBC (M B ) k 1
2
2
2
1
1
= ( M C ) k 1 DBC (M B ) k 1 (M C ) k = DBC (M B ) k 1
2
2
( M B ) k = 35.4
- Iteration 1
(M B ) 0 = 0 , (M C ) 0 = 0
( M B ) 1 = 35.4
1
DCB ( M C ) 0 = 35.4 (M B ) 1 = 35.4
2
f
+ D BA ( M B ) 1 = 168.7 + 0.33 35.4 = 168.7 + 11.8 (M BA ) 1 = 11.8
( M BA ) 1 = M BA
f
( M BC ) 1 = M BC
+ D BC ( M B ) 1 = 133.3 + 0.67 35.4 = 133.3 + 23.6 (M BC ) 1 = 23.6

41

( M C )1 = 316.7
1
DBC ( M B ) 0 = 316.7 = 316.7 (M c )1 = 316.7
2
f
( M CB )1 = M CB
+ DCB ( M C )1 = 133.3 0.67 316.7 = 133.3 212.2
(M CB )1 = 212.2
f
( M CD )1 = M CD
+ DCD ( M C )1 = 450 0.33 316.7 = 450 104.5 (M CD )1 = 104.5
- Iteration 2
(M BA ) 2 = DBA (M B ) 2 = 35.0
1
1
(M B ) 2 = DCB (M c )1 = 106.1 (M BC ) 2 = DCB (M c )1 + DBC (M B ) 2
2
2
= 106.1 + 71.1
(M ) = 1 D (M ) + D (M )
CB 2
BC
B 1
CB
C 2
1
2
(M C ) 2 = DBC (M B )1 = 11.8
= 11.8 7.9
2
(M CD ) 2 = DCD (M C ) 2 = 3.9
- Iteration 3
(M BA ) 3 = DBA (M B ) 3 = 1.3
1
1
(M B ) 3 = DCB (M C ) 2 = 4.0 (M BC ) 3 = DCB (M C ) 2 + DBC (M B ) 3
2
2
= 4 .0 + 2 .7
(M ) = 1 D (M ) + D (M )
CB 3
BC
B 3
CB
C 3
1
2
(M C ) 3 = DBC (M B ) 2 = 35.6
= 35.6 23.9
2
(M CD ) 3 = DCD (M C ) 3 = 11.7
0.33
0.66
0.67
-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
0.33
-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
100
A
DCD = 4
z
EI
L
(4
1.5EI, L
1.5EI
L
EI
1.5 EI
1.5 EI
+4
) = 0.4 , D BC = 4
L
L
L
(4
B
EI, L
D BA = 4
50
1.5EI, L
(4
1.5EI
1.5 EI
1.5 EI
+4
) = 0.5 , D DC = 4
L
L
L
EI, L
EI
1.5 EI
1.5EI
+4
) = 0.6 , DCB = 4
L
L
L
(4
(4
1.5EI
1.5EI
+4
) = 0.5 ,
L
L
1.5EI
EI
EI
+ 3 ) = 0.67 , DDE = 3
L
L
L
(4
1.5 EI
EI
+ 3 ) = 0.33
L
L
Gauss-Siedal Approach
0.4
0.0
-25.0
-10.4
-1.1
36.5
0.0
-50.0
-20.8
-2.1
-72.9
0.6
125
-75
40.6
11.3
-31.1
3.9
1.3
-3.1
72.9
0.5
-125
-37.5
81.3
22.5
-15.6
7.8
2.6
-63.9
0.67
0.5
0.0
0.0
81.3
-45.0
22.5
40.6
-90.0
11.3
7.8
-5.1
2.6
3.9
-10.2
1.3
-0.9
-44.0
64.1
0.33
93.8
-44.3
-5.0
-0.4
44.1

43

z
Gauss-Jordan Approach
0.4
0.0
0.0
-50
-25.0
-12.5
-6.3
-6.9
-3.5
-2.0
-1.0
-1.1
-0.6
-36.4
-0.3
-72.8
0.6
125
-75
31.3
-18.8
17.3
-10.4
5.0
-3.0
2.8
-1.7
0.8
-0.5
72.8
0.5
-125
62.5
-37.5
34.5
-9.4
10.0
-5.2
5.5
-1.5
1.6
-0.9
1.0
-64.4
0.67
0.5
0.0
62.5
-31.4
34.5
-10.5
10.0
-5.8
5.5
-1.7
1.6
-1.0
1.0
64.7
0.0
-62.8
31.3
-21.0
17.3
-11.6
5.0
-3.4
2.8
-1.9
0.8
-0.5
-44.0
0.33
93.8
-31.0
-10.3
-5.7
-1.6
-0.9
-0.3
44.0

44

3.4 Direct Solution Scheme by Partitioning
20
L/3
Slope deflection (Stiffness) Equation
8EI
L
2 EI
L
6 EI
L
2 EI
L
8EI
L
6 EI
L
6 EI
L B 88.8
[K ] (K ) () (P)
6 EI
C + 44.4 = 0
+ 0 = 0
(
)
K
K
L
24 EI 0.0
L
[K ]() = (P) (K ) () = [K ] 1 (P) [K ] 1 (K ) = () P + ()

(K )() P + (K )() + K = 0
z
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 )() P
=
K + (K )( )
Obtain () by
( ) = ( ) P + ( ) .

45

3.5 Moment Distribution Method for Frames
z
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

L/3
20
B 0.5
0.5 C
0.5
-44.4
-44.4
-22.2
16.6
33.3
8.3
-4.2
1.1
2.1
-0.6
-0.6
-0.3
-53.3
53.3
0.2
0.2
-35.5
35.5
-44.4
-8.3
0.5
88.8
33.3
2.1
MAB = -53.3/2 = -26.7, MDC = -35.5/2 = 17.8, VAB = 2.67, VDC = -1.78, VP = 0.89
z
Second MDM with an Arbitrary Sidesway

B
C
10.0
10.0
-5.0
-2.5
-1.9
-3.8
1.0
0.5
-0.2
-0.3
-0.3
0.1
0.1
-5.9
5.9
6.1
-6.0
-5.0
1.0
-3.8
MAB = 10 3.9/2.0 = 8.1, MDC = 10 4.1/2.0 = 7.9, VAB =-0.47, VDC = -0.46, V = -0.93

46

z
Shear Equilibrium Condition (the 2nd equation)
Sidesway Only (2nd MDM)
No Sidesway (1st MDM)
0.93
0.89
53.3
35.5
2.67
26.7
5.9
6.1
0.47
1.78
17.8
8.1
0.46
7.9
= -0.89/(-0.93) = 0.97
Total Moment = 1st Moment + 2nd Moment

47
Chapter 4
Energy Principles
Principle of Minimum Potential Energy and
Principle of Virtual Work
Mg

48
Read Chapter 11 (pp.420~ 428) of Elementary Structural Analysis 4th 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 conditions 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
0
1
int = k ( u )du = k ( u )du = k2 , ext = P
2
0
total = int + ext =
1 2
k P
2
Equilibrium Equation
ke=P
Principle of Minimum Potential Energy for an arbitrary displacement = e + .
1
k (e + ) 2 P(e + )
2
1
1
= k (e ) 2 + ke + k ( ) 2 P(e + )
2
2
1
1
= k (e ) 2 Pe + k ( ) 2 + (ke P)
2
2
1
1
= k (e ) 2 Pe + k ( ) 2
2
2
1
e
e
= total
+ k ( ) 2 total
2
total =
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.

49

4.2 Beam Problems
q
any type of support

z
Potential Energy of a Beam

l
int =
1
d 2w 2
EI
(
) dx qwdx
2 0
dx 2
0
EI
any type of support
d 2w 2
1 M2
1
=
dx
EI
(
) dx , ext = qwdx
2 0 EI
2 0
dx 2
0
total = int + ext =

z
we
d 2M e
d 4 we
=
q
or
EI
=q
dx 2
dx 4
Principle of Minimum Potential Energy for a virtual displacement w = w e + w .

1 d 2 (we + w )
d 2 (we + w )
(
)dx ( w e + w )qdx
EI
2
2
20
dx
dx
0
l
h =
1 d 2 we
d 2 we
(
)dx w e qdx +
EI
2 0 dx 2
dx 2
0
l
1 d 2w
d 2w
d 2w
d 2 we
+
(
)dx ( 2 EI
)dx w qdx
EI
2
2 0 dx 2
dx 2
dx
dx
0
0
= e +
1 d 2w
d 2w
d 2w 1
d 2 we
+
(
EI
)
dx
(
EI
)
(
EI
)dx w qdx
0
2 0 dx 2
dx 2 EI
dx 2
dx 2
0
l
1 d 2w
d 2w
MM e
= + ( 2 EI
)dx +
dx w qdx
2 0 dx
EI
dx 2
0
0
e
= e +
1 d 2w
d 2w
(
EI
)dx e for all virtual w
2
2 0 dx 2
dx
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 virtual work holds. In the above equation, the equality sign holds if and only if w = 0 .

50

z
Principle of Virtual Work

If a beam is in equilibrium, the principle of the virtual work holds for the beam,.
l
w ( EI
0
d 4 we
q )dx = 0 for all virtual displacement w
dx 4
d 2w
d 2 we
dw
d 2 we
d 3 we
EI
dx
w
qdx
EI
w
EI
0 dx 2 dx 2
0
dx
dx 2 0
dx 3
l
=0
0
d 2w
d 2 we
MM e
EI
dx
w
qdx
=
0 dx 2 dx 2
0
0 EI dx 0 wqdx = 0
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 corresponding forces (moment and shear) vanish at supports. The principle of virtual work
x in a beam by applying an unit load at ~
x
yields the displacement of an arbitrary point ~
and by using the reciprocal theorem.
l
MM
~
~
0 w qdx = 0 wq dx = 0 w( x x )dx = w( x ) = 0 EI dx
z
Approximation using the principle of minimum potential energy

-
Approximation of displacement field

n
w = ai g i
i =1
Total potential energy by the assumed displacement field

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

n
n
n
h
1
( ( ai g i)EI ( ai g i)dx ai g i qdx)
=
a k
a k 2 0 i =1
i =1
0 i =1
l
n
n
1
= [ g k EI ( a j g j )dx + ( ai g i)EIg kdx] g k qdx)
2 0
i =1
0 i =1
0
l
i =1 0
i =1
or
Ka = f
= g k EIg idxai g k qdx = K ki ai f k = 0

51

z
Example
P
i) with one unknown
w = ax( x l ) = a ( x 2 lx) w = 2a
l
total =
l
l2 1
l2
1
1
2
2
2
EI
w
dx
P
x
wdx
EI
a
dx
aP
EI
a
l
aP
(
)
(
)
(
2
)
4
=
+
=
+
0
2 0
2
2 0
4 2
4
total
l2
Pl
Pl
= 0 4aEIl + P = 0 a =
w=
( x 2 xl )
a
4
16 EI
16 EI
l
Pl 3
l
Pl 3
Pl 3
w( ) =
, we ( ) =
= 0.0208
, Error =
2
48 EI
2
64 EI
EI
l
l
w e ( ) w( )
2
2 = 0.25
l
we ( )
2
ii) with two unknowns
w = ax( x l ) + bx( x 2 l 2 ) w = 2a + 6bx

l
total =
=
1
1
3l 3
l
l2
2
2
=
+
)
(
)
(
)
(
2
6
)
(
EI
w
dx
P
x
wdx
EI
a
bx
dx
P
a
b
0
2 0
2
2 0
4
8
1
3l 3
l2
l3
l2
)
EI (4a 2 l + 24ab + 36b 2 ) + P(a + b
2
2
3
4
8
total
l2
= 0 EI (4la + 6l 2 b) = P
a
4
total
3l 3
= 0 EI (6l 2 a + 12l 3 b) = P
b
8
a=
1 Pl
, b = 0 ???
16 EI
iii) with three unknowns
w = ax( x l ) + bx( x 2 l 2 ) + cx( x 3 l 3 ) w = 2a + 6bx + 12cx 2

l
total =
1
l
EI ( w) 2 dx P( x ) wdx
20
2
0
l
l2
1
3l 3
7l 4
2 2
= EI (2a + 6bx + 12cx ) dx P(a b
c
)
20
4
8
16
l3
l5
l2
l3
l4
1
EI (4a 2 l + 36b 2 + 144c 2 + 24ab + 48ac + 144bc ) +
2
3
5
2
3
4
2
3
4
3l
7l
l
P(a + b
+c
)
4
8
16

52

total
l2
2
3
= 0 EI (4la + 6l b + 8l c) = P
4
a
total
3l 3
= 0 EI (6l 2 a + 12l 3 b + 18l 4 c) = P
8
b
total
144 5
7l 4
l c) = P
= 0 EI (8l 3 a + 18l 4 b +
5
16
c
w=
1 Pl
a = 64 EI
5 P
b =
32 EI
5 P
c = 64 EIl
5 P
5 P
1 Pl
x( x l )
x( x 2 l 2 ) +
x( x 3 l 3 )
64 EI
32 EI
64 EIl
1 1 5 3 5 7
21 Pl 3
l
Pl 3
Pl 3
(
+
)=
= 0.0205
, Error = 0.0144
w( ) =
2
64 4 32 8 64 16 1024 EI
EI
EI
iv) with one sin function
w = a sin
1
1
= EI ( w) 2 dx P( x ) wdx = EI (a( ) 2 sin x) 2 dx aP
l
l
20
2
20
0
l
total
x = w = a( ) 2 sin x
l
l
l
l
1
1
EIa 2 ( ) 4 sin 2 xdx + aP = EIa 2 ( ) 4 + aP
l 0
l
l 2
2
2
l
total
l
2 Pl 3
2 Pl 3
= 0 EIa( ) 4 P = 0 a = 4
w= 4
sin x
a
l
l 2
EI
EI
l
1
Pl 3
l
Pl 3
,
w( ) =
, we ( ) =
2
48.7045 EI
2
48EI
Error = 0.0145
v) with two sin function

w = a sin
3
3
3
x + b sin
x = w = a( ) 2 sin x + b( ) 2 sin
x
l
l
l
l
l
l
total
1
l
= EI ( w) 2 dx P( x ) wdx
20
2
0
1
3
3 2
EI (a( ) 2 sin x + b( ) 2 sin

x) dx aP + bP
20
l
l
l
l
l
1
3
xdx +
= EIa 2 ( ) 4 sin 2 xdx +EIab( ) 2 ( ) 2 sin sin
2
l 0
l
l
l 0
l
l
l
1
3
3
EIb 2 ( ) 4 sin 2
xdx aP + bP
2
l 0
l
l
1
l 1
3 l
EIa 2 ( ) 4 + EIb 2 ( ) 4 aP + bP
2
l 2 2
l
2

53

total
l
2 Pl 3
= 0 EIa( ) 4 P = 0 a = 4
a
l 2
EI
total
3 l
2 Pl 3
= 0 EIb( ) 4 + P = 0 b =
b
l
2
(3) 4 EI
2 Pl 3
1
3
(sin x sin
x)
4
l
81
l
EI
l
Pl 3
Pl 3
l
Pl 3
w( ) = 0.0205(1 + 0.0123)
= 0.0208
, w e ( ) = 0.0208
, Error 0
2
2
EI
EI
EI
w=
4.3 Truss problems

F ji
Fmi ( i )
Xi
F1i
Yi
z
Potential Energy
int =
njn
1 nmb ( Fi ) 2 li
,
( X i u i + Yi vi )
ext
2 i =1 EA i
i =1
total = int + ext =
1 nmb ( Fi ) 2 li njn
( X i u i + Yi vi )
2 i =1 EA i
i =1
where nmb and njn denotes the total number of members and the total numbers of joints
in a truss.
z
Equilibrium Equations
m(i )
m(i )
H + X = 0 , V ji + Y i = 0
j =1
i
j
j =1
for
i = 1, L , njn
where m(i), H ij and V ji 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.

54

z
Principle of Minimum Potential Energy

total
1 nmb ( Fi e + Fi ) 2 l i njn
=
( X i (u i +u i ) + Yi (vi + vi ))
2 i =1
EAi
i =1
=
1 nmb ( Fi e ) 2 li njn
1 nmb ( Fi ) 2 li nmb Fi e Fi li njn
(
)
X
u
Y
v
+
+
+
( X i u i + Yi vi )
i i
i i
2 i =1 EAi
2 i =1 EAi
EAi
i =1
i =1
i =1
nmb
( Fi ) 2 li
1 nmb ( Fi e ) 2 li njn
(
)
X
u
Y
v
+
+
i i
i i
2 i =1 EAi
EAi
i =1
i =1
1 nmb ( Fi ) 2 l i
= +
e
2 i =1 EAi
e
for all virtual displacement fields
where Fi e and Fi 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.
z
Virtual Work Expression

If a truss is in equilibrium, the principle of the virtual work holds for the truss,.
njn
m(i )
m(i )
i =1
j =1
j =1
(( H ij + X i )u i + (-V ji + Y i )v i ) = 0
(v 2 v1 ) sin i
(v 2 v1 )
(u 2 u1 ) cos i
(u 2 u1 )

55

njn
m(i )
m(i )
i =1
j =1
j =1
(( F ji cos j + X i )u i + (- F ji sin j + Yi )vi ) = 0

m(i )
njn
(u F
i
i =1
j =1
i
j
m(i )
njn
j =1
i =1
cos j + v i F ji sin j ) = ( X i u i + Yi vi )
nmb
njn
i =1
i =1
( Fi e cos i (ui2 u i1 ) + Fi e sin i (vi2 vi1 )) = ( X i ui + Yi vi )

nmb
nmb
nmb
i =1
i =1
Fi e (cos i (ui2 u i1 ) + sin i (vi2 vi1 )) = Fi e li = Fi e

i =1
nmb
i =1
nmb
Fi l i
F eF l
= i i i
( EAi ) i =1 ( EAi )
n
Fi Fi l i
= ( X i u i + Yi vi )
( EAi )
i =1
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.
Fi e Fi l i
X k u k + Yk v k = X u k cos = u k cos =
i =1 ( EAi )
nmb
Since represnts the angle between the applied unit load and the displacement vector,
u k cos 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
R
f yR y
f yL Ly
f xL Lx
f xR Rx
Force Displacement relation at Member ends

EA R
( x Lx )
L
EA R
( x Lx )
f xR =
L
L
R
fy = fy = 0
f xL =
Member Stiffness Matrix in Local Coordinate System
f xL
1
L
fy
EA 0
=
f xR
L 1
R
fy
0
0 1 0 Lx

0
0 0 Ly

0
1 0 Rx
0
0 0 Ry
(f )e = [k ]e ( )e
z
Transformation Matrix
Vy
vy
vx
Vx
V x = cos v x sin v y V x
V y = sin v x + cos v y V y
cos sin v x
=
v
sin
cos
(V ) = [ ]T ( v) ( v) = [ ](V )

58

z
Member End Force

e
Fx1
0
cos sin 0
1
sin cos 0
0
Fy
F2 = 0
0
cos sin
x

F2
0
0
sin
cos
y
z
f xL
f yL
(F)e = []T (f )e
f xR
f yR
Member End Displacement

e
Lx
0
0 1x
cos sin
L

sin cos
0
0 1y
y
2 ()e = []()e
R = 0
0
cos
sin
x
x
2
R
0
0
sin
cos
y
y
z
Member Stiffness Matrix in Global Coordinate

(F)e = []T (f )e = []T [k ]e ( ) e = []T [k ]e []( ) e
(F ) e = [K ] e ( ) e
cos 2 sin cos

cos 2 sin cos
sin 2 [K 11 ]e [K 12 ]e
sin 2 sin cos
EA sin cos
e
[K ] =
=
L cos 2 sin cos

cos 2 sin cos [K 21 ]e [K 22 ]e
sin 2 sin cos

sin 2
sin cos
5.1.2 Global Stiffness Equation
(F1 ) m (3)
z
Nodal Equilibrium
(F 2 ) m ( 2 )
n-th joint
(F 2 ) m ( 4 )
(F1 ) m (1)
(F1 ) m ( 5)
Pm
m-th joint
Pm
i-th member
(P) m = (F 1 ) m (1) + (F 2 ) m ( 2) + (F 1 ) m ( 3) + (F 2 ) m ( 4) + (F 1 ) m (5) =
nm ( m )
(F
1 or 2 m ( k )
k =1

59
Pn
(F 2 ) i
n-th joint
2
1
i-th member
Pm
m-th joint
0
0
nm (1) 1 or 2 1( k )
(F )
M
M
(P) k =1
1 i
(
)
F
I
M
p
p
nm ( m )
1
or
2
(
)
m
k
m
( P ) = ( P ) = (F ) = M = M
k =1
i =1 (F 2 )i i =1 0
M
M
nm ( q )
q
M
1 or 2 q ( k )
(P)
M
(
)
F

0
k =1
0
1
(F1 )i
0
M m-th row
0
1 i
p
(F )
M 2 i = [E]i (F)i = [E](F )
(F ) i =1
I n-th row
M
0
(F ) 1
M
[E] = [[E]1 L [E]i L [E] p ] , (F) = (F) i
p
(F )

60

z
Compatability Condition
un
( 2 )i
um
( 1 )i
i-th member
( 1 )i I 0 u m

( 1 )i = u m , ( 2 )i = u n ( )i = 2 i =
( ) 0 I u
n
u1

M
u
m
1 i
( )
0 L I L 0 L 0
i
M = [C]i (u)
( ) =
=
( 2 ) i 0 L 0 L I L 0
u

n
M
n-th column u
q
m-th column
( )1 [C]1 u1

( ) = M = M M = [C](u)
( ) p [C] p u

q
Compatibility Matrix
z
Contragradient
(P)T (u) = (F)T () (P)T (u) = (F)T [C](u)
((P)T (F)T [C])(u) = 0 for all possible (u) (P)T = (F)T [C]
(P) = [C]T (F) = [E](F) [C]T = [E]

61

z
Unassembled Member Stiffness Equation

(F )1 [K ]1

M M
(F ) i = 0

M M
p
(F) 0
L [K ] i L
L
0 ( )1
(F) = [K ]()
0 ()
M M
[K ] p () p
Global Stiffness Equation

(P) = [C]T (F) = [C]T [K ]() = [C]T [K ][C](u)
(P) = [K ](u)
where
[K ] = [C]T [K ][C]
Direct Stiffness Method
[K ] = [C]T [K ][C] = [C]1 L[C]i L[C] p

T
[K ]1
M
0
M
0
L
L
0
M
L [K ] i
L
M
L
0
1
0 [C]
M
i
L
0 [C]
L
M M
p
L [K ] p [C]
L
L
= [C]1 [K ]1 [C]1 + L + [C]i [K ]i [C]i + L + [C] p [K ] p [C] p

T
0
M
iT
i
i
[C] [K ] [C] = M
M
M
0
0
M
= M
M
M
0
0
M
0
i
[K ]
M 11 i
[K ]
I 21
M
0
[K 12 ]i 0 L I L 0 L 0
[K 22 ]i 0 L 0 L I L 0
0
M
0
i
0 L [K 11 ]
M
0 L [K 21 ]i
M
0
m-th row
0
0
0 [ K ] i
11
L [K 12 ]i L 0
0
= 0
L [K 22 ]i L 0
0 [K 21 ]i
n-th row
0
0
m-th column
0
0
0
0
0
0
[K 12 ] 0
0
0
i
[K 22 ] 0
0
0
n-th column
0

62

5.1.3 Example
P4, u4
P3, u3
2
L
P2, u2
1
P1, u1
P6, u6
P5, u5
3
2L
Member Stiffness Matrix

cos 2 sin cos
cos 2 sin cos
sin 2 [K 11 ]e [K 12 ]e
sin 2 sin cos
EA sin cos
=
[K ] e =
L cos 2 sin cos

cos 2 sin cos [K 21 ]e [K 22 ]e
sin 2 sin cos

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

2
1

2
1
2
1
1
2
1
EA 2
[K ] 2 =
2 L 1
2
1
1
2
1
2
1
2
1
1
2
1
2
1
2
1
1
2
1

2
1
2
1
- Member 2: =-45 o

63

- Member 3: = 0o
1
EA 0
[K ] 3 =
2 L 1
0
z
0 1 0
0 0 0
0
1 0
0 0 0
P4
P3
P2
P6
P5
P1
P1 = ( Fx1 )1 + ( Fx2 ) 3
P2 = ( F ) + ( F )
1 1
y
2 3
y
P3 = ( Fx2 )1 + ( Fx1 ) 2
P4 = ( Fy2 )1 + ( Fy1 ) 2
P5 = ( Fx2 ) 2 + ( Fx1 ) 3
P6 = ( Fy2 ) 2 + ( Fy1 ) 3
P1 1

P2 0
P 0
3=
P4 0

P5 0
P 0
6
0
1
0
0
0
0
0
0
1
0
0
0
[E]1
0
0
0
1
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
[E]2
0
0
0
0
0
1
0
0
0
0
1
0
0
0
0
0
0
1
1
0
0
0
0
0
[E]3
F 1 1
x
Fy1
2
Fx
2
0 Fy
2
1 Fx1

0 Fy1

0 Fx2
0 Fy2
0 F 1 3
x

F1
y2
Fx
F 2
y
(P) = [[E1 ] [E 2 ] [E 2 ]](F) = [E](F)

64

z
Compatibility Condition
u4
u3
u2
u6
u5
u1
1 1
x 1
1y
2 0
x 0
2
y 2 0
1x 0
1
y 0
2 = 0
2x
y 0
1 3
x 0
1 0
2y
x 1
2 0
y
0
1
0
0
0
0
0
0
0
0
0
1
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
[C]1
0
0
0 u1
u1

0 u 2
1 u2
[C]
0 u 3 2 u 3
= [C]
0 u 4 3 u 4
[C]
u
1 u 5
5
u
0 u6
6
1
[C]2
0
[C]3
0
( ) = [C](u)
[E1 ] = [C1 ]T , [E 2 ] = [C 2 ]T , [E 3 ] = [C 3 ]T [E] = [C]T
z
Global Stiffness Matrix
[K ] = [C]T [K ][C] = [C]1 [K ]1 [C]1 + [C] 2 [K ] 2 [C] 2 + L + [C]3 [K ]3 [C]3

T

65

1
0
EA 0
[C1 ]T [K 1 ][C1 ] =
2 L 0
0
0
1
0
EA 0
=
2 L 0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
1
0
0
0
0
0 1
0 12
0 2
1 1
0 2
1
0
2
1
2
1
2
1
2
1
0
0
1
EA
[C 2 ]T [K 2 ][C 2 ] =
2 L 0
0
0
1
0
EA 0
=
2 L 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
EA 0
[C 3 ]T [K 3 ][C 3 ] =
2 L 0
1
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
1
2
1
0
2
1
0
2
1
0
2
0
0
0
0
0
1
1
0
0
0
0
0
0 1
0 12
0 2
1 1
0 2
1
0
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
0 1
0 12
0 2
0 1
0 2
1
1
2
1
2
1
2
1
2
1
0
1 1
0 0
0 1
0 0
1

2
1 1 0
0 1
2
1 0 0
2 0 0
1
2
1
2
0 0
1
2
0 0
EA
1
=
2 L 2
0 0
1
2
0 0
0
1
2
1
2
1
2
1
1
2 0
1
0
2
1 0

2 0
1
2
0
0
1
2
0
1

2 = EA 0
1
2L

2
0
2
0
1
2
1
2
1
2
1
1
2
1
2
1
2
1
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
0
0
1
0
0
0
0
1
0
0
0
0
0
0
0
1
1
1
2
2
2
1
1
1
2
2
2
1
1
1
2
2
2
1
1
1
2
2
2
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
1 0 1
0 0 0 0
0
0
0
1
0
0
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
0
0
0
0
0
0
0
0
1
1
1
1
2
2
2
2
1
1
1
1

2
2
2
2
1
1
1
1

2
2
2
2
1
1
1
1
2
2
2
2
1
0
0
0
0
1
0

66

0
0
EA 0
=
2 L 0
1
0
0
0
0
0
1
1
0
0
0
0
0
0
1 1
0 0
0 1
0 0
1
1
2
2
1
1
2
2
1
EA 1
[K ] =
2
2L 2
1
1
2
2
0
0
0
0
1 0 0
0 0 0
EA 0 0 0
+
2L 0 0 0
1 0 0
0 0 0
1
1
2 2 + 2
2 2
EA 2 2
=
L 1
2 2
1

2
0
0
0
0
0
0
0
0
1
0
1 0
0 0 EA 0
=
1 0 2 L 0
1
0 0
0
0
0
0
0
0
0
0
0
0
0 1 0
0 0 0
0 0 0
0 0 0
0
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
1
1
1
1
0 0
0 0
2
2
2
2
EA
1
1
1
1
0 0 +
0
0
2L
2
2
2
2
1
1
1
1
0 0

0 0
2
2
2
2
0 0
1
1
1
1
0 0
0 0 0
2
2
2
2
0
0
0
0
0
1
1
2
2
1
1
2
2
1
1
2
2
1
1
2
2
0
0
0
0 1
0
0
0
0
1
2 2
1
2 2
1
2 2
1
2 2
0
0
1
2 2
1
2 2
2 2
1
2 2
+
1
2 2
1
2 2
1
2 2
1
2 2
2 2
1
2 2
1
1
2 2 2 2
1
1
+
2 2 2 2
1
2 2
1
2 2
1
2
1
2 2
1
2 2
1
1
+
2 2 2
1
2 2
2 2
1
2 2
1
2 2
1
2 2
0

67

z
Stiffness Equation
1 + 2
2 2
1
Unknown P1
2 2

1
P
Unknown 2
Known P3 EA 2 2
=
L 1
Known P4

Known P5
2 2
1
Unknown P6
2
2 2
1
2 2
1
2 2
1
2 2
0
0
1
2 2
1
2 2
1
1
2 2
1
2
1
2 2
1+ 2
2 2
1
2 2
2 2
1
2 2
2 2
1
2
2 2
2 2
1
2 2
1
0
0 u1

1 u 2

2 2 u 3
1 u 4
2 2 u 5

1 u
6
2 2
1
2 2
0
Known
Known
Unknown
Unknown
Unknown
Known
Application of Support Conditions (Boundary Conditions)

1 + 2
2 2
1
P1
2 2

1
P2
P
EA
3
2 2
=
P4
L 1

2 2
P5
P
1
6
2
1
2 2
1
2 2
1
2 2
1
2 2
0
0
1
2 2
1
2 2
1
2
0
1
2 2
1
2 2
2 2
1
2 2
0
1
1
2
1
2 2
1
2
1
2 2
1+ 2
2 2
1
2 2
2 2
1
2 2
0 u1

1 u 2

2 2 u 3
1 u 4
2 2 u 5

1 u
6
2 2
1
2 2
0
Final Stiffness Equation
P3
2
EA
P4 =
0
L
P
5
1
2 2
0
1
2
1
2 2
1
1
2 2 u 3
u3
2
L
1
u4 u4 =
0
EA
2 2
u
u
5
1 + 2 5
1
2 2
2 2
0
1
2
1
2 2
2 2
1
2 2
1+ 2
2 2
P3

P4
P
5

68

5.2 Beam Problems
R
f yR y
f yL Ly
m R R
m L L
Force-Displacement Relation at Member Ends
mL =
4 EI e L 2 EI e R 6 EI e L 6 EI e R
+
+ 2 y 2 y
Le
Le
Le
Le
mR =
+
+ 2 y 2 y
Le
Le
Le
Le
M eL + M eR 6 EI e L 6 EI e R 12 EI e L 12 EI e R
f =
= 2 + 2 + 3 y 3 y
Le
Le
Le
Le
Le
L
y
6 EI
6 EI
12 EI
12 EI
M eL + M eR
= 2 e L 2 e R 3 e Ly + 3 e Ry
f =
Le
Le
Le
Le
Le
R
y
Transformation Matrix is not required
f F, mM
z

e
Fy1
12
L2
e
1
6
M
EI e Le
= L 12
e
Fy2
2
Le
2
Le
M
6
Le
12
2
Le
6
4
Le
6
12
Le
L2e
6
2
Le
1
6 y
Le

1
2

or (F)e = [K ]e ( )e
6
2
Le y

4
2y

69

5.1.2 Global Stiffness Matrix
z
Nodal Equilibrium
Vi
Mi
i-th Member
(i-1)-th Member
P i = (F) iR1 + (F) iL

2
1
i
M = ( M ) i 1 + ( M ) i
V i = ( Fy2 ) i 1 + ( Fy1 ) i
P 1 (F )1L
R
L
2
P
(F ) 1 + ( F ) 2
M
M
P i 1 (F ) R + (F) L
i 1
i2
i
R
L
P = (F ) i 1 + (F) i = [E]1 L [E]i L [E] p
i +1
R
L
P (F ) i + (F) i +1
M

M
p
R
L
P
(F ) p 1 + (F) p
p +1
R
P
(
)
F
i-th row
(i+1)-th row
Compatibility
0 0

M M
(F ) L I
iR =
( F ) i 0
M M
0 0
0
M
0 (F )iL
= [E]i (F)i
I (F)iR
M
0
u 2 i +1
u2i 1
u2i
(i-1)-th Member
(F ) 1
M
(F) = [E](F)
i
M
(F )
p
u2i + 2
i-th Member
(1y )i = u2i 1
(1 )i = u2i
(2y )i = u2i +1
( ) iL I 0 u i
=
( ) iL = u i , ( ) iR = u i +1 ( ) i =
i +1
R
0
I
(
)
u
i
( 2 ) i = u 2 i + 2

70

i-th column
u1
M
( ) iL 0 L I 0 L 0 u i
=
( ) i =
i +1 = [C]i (u)
R
I
L
L
0
0
0
(
)
u
(i+1)-th column p +1
u
( )1 [C]1 u1
( ) = M = M M
= [C](u)
( ) [C] u p +1
p
Unassembled Member Stiffness Equation
(F)1 [K ]1

M M

(F ) i = 0
M M

(F ) p 0
z
L
M
L [K ] i
L
M
L 0
L
L
L
L
L
0 ( )1
0 () i
M M
[K ] p () p
(F) = [K ]()

(P) = [C]T (F) = [C]T [K ]() = [C]T [K ][C](u)
(P) = [K ](u)
where
[K ] = [C]T [K ][C]

0 0
0
M
M M
0
[
K
L
11 ]i
[C]Ti [K ]i [C]i =
0 L [K 21 ]i
M M
M
0
0 0
M
[K 12 ]i
[K 22 ]i
M
0
i-th column
M M
L 0
L 0
M M
0 0
0
i-th row
i+1-th row
i+1-th column

71

5.2.3 Example
V 1 , w1
M 1 , 1
V 3 , w3
V 2 , w2
V 4 , w4
M 3 , 3
M 2 , 2
M 4 , 4
V 1 = V1L
, M 1 = M 1L
V 2 = V1R + V2L , M 2 = M 1R + M 2L
V 3 = V2R + V3L , M 3 = M 2R + M 3L
V 4 = V4R
V 1
M 1
2
V
M 2
(P) = 3
V
3
M
4
V
M 4
1

0

0
0
=
0

0
0

0
0
1
0
0
0
0
0
0
0
0
1
0
0
0
0
0
[E]1
0
0
0
1
0
0
0
0
, M 4 = M 4R
0
0
1
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
1
0
0
0
[E]2
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
[E]3
V1L
M 1L
R
0V1
R
0 M 1
L
0 V2
0 M 2L
= [E](F)
0V2R
0 M R
2
0 V L
3
1 L
M3
R
V3
M R
3
Compatability Condition
w1L = w1 , 1L = 1 , w1R = w 2 , 1R = 2
w2L = w 2 , 2L = 2 , w2R = w 3 , 2R = 3
w3L = w 3 , 3L = 3 , w3R = w 4 , 3R = 4

72

w1L
1
1L
R 0
w1 0
R
1 0
w2L 0
L
2 0
() = R =
w2 0
R 0
2
w3L 0
L 0
3
R 0
w3 0
R
3
z
0
1
0
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
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
1
0 w
1
0
2
0 w
0 2
0 w 3
0 3
0 w 4
0 4

0
1
[C]1
w1
[C]1 2
= [C] 2
w 3

[
]
C
3 3
[C]3 [C]
= [C](u)
Unassembled Member Stiffness Matrix

0
(F)1 [K ]1

(F ) = (F ) 2 = 0
[K ] 2
(F ) 0
0
3
0
0
1
0
1
0
0
0
0
0
0
0
0 () 1
0 () 2 = [K ]()
[K ]3 () 3

(P) = [E](F) = [E][K ](u) = [C]T [K ][C](u) = [K ](u)
0
0 [C]1
[K ]1
(P) = [C]1T , [C]T2 , [C]T3 0
[K ] 2
0 [C] 2 (u)
0
0
[K ]3 [C]3
= [K ](u) = ( [C]1T [K ]1 [C]1 + [C]T2 [K ] 2 [C] 2 + [C]T3 [K ]3 [C] 3 )(u)

73

-
Member 1
1
0
0
EI 1 0
L1 0
0
0
0
1
0
0
0
0
0
0
12
L2
1
6
L1
12
EI 1 L2
1
L1 6
L1
0
0
0
0
Member 2
0
0
1
EI 2 0
L2 0
0
0
0
0
0
1
0
0
0
0
0
0
0
EI 2
L2 0
0
0
0
0
0
0
0
0
0
0
12
0 2
0 L
0 6
1 L1
0 12
0 L2
1
0 6
0 L
1
6
12
2
L1
L1
6
4
L1
6
12
L1
L12
6
2
L1
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0 12
2
0 L2
0 6
0 L2
0 12
1 L22
0 6
0 L
2
0
0
0
0
12
6
L22
L2
6
4
L2
12
6
2
L2
L2
6
2
L2
0
0
0
0
0
0
0
0
1
0
0
0
6
L1
12
L12
6
4
L1
6
12
L1
L12
6
2
L1
6
L1
2
6
L1
4
0
0
0
0
6
L2
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
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 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
12
L22
6
4
L2
6
12
L2
L22
6
2
L2
0
0
12
2
L2
6
L2
12
L22
6
L2
0
0
6
L1
2 1
0
6 0
L1 0
0
0
6
L2
2
6
L2
4
0
0
6
L2
2 0
0
6 0

L2 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0

74

-
Member 3
0
0
0
EI 3 0
L3 1
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
1
0
0 12
2
0 L3
0 6
0 L3
0 12
0 L23
0 6
1 L
3
0
0
0
0
0
EI 3
L3 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
12
L23
6
L3
12
2
L3
6
L3
6
L3
12
L23
6
4
L3
6
12
L3
L23
6
2
L3
0
0
0
0
6
L3
4
6
L3
2
0
0
0
0
12
2
L3
6
L3
12
L23
6
L3
6
L3
2 0
0
6 0

L3 0
0
0
0
0
6
L3
6

L3
4
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

12 I
6I1
12 I 1 6 I 1
0
0
0
0
31
2
2
L3
L1
L1
L1
1
6
4
6
2
I
I
I
I1
1
1
1
0
0
0
0
2
L12
L1
L1
L1
12 I
6 I 12 I 1 12 I 2 6 I 1 6 I 2
12 I 2
6I 2
3 1 21
0
0
+
L1
L13
L32
L12
L22
L32
L22
L1
6I1
2 I1
6I1 6I 2
4 I1 4 I 2
6I 2
2I 2
0
0
+
+
L12
L1
L12
L22
L2
L2
L12
L2
E
12 I 2
6I 2
12 I 2 12 I 3 6 I 2 6 I 3 12 I 3 6 I 3
0
0
3
2
+ 3 2 + 2 3
L2
L2
L32
L3
L2
L3
L3
L23
6I 3
2I 3
6I 2
2I 2
6I 2 6I 3 4I 2 4I 3
0
0
2 + 2
+
2
L22
L2
L2
L3
L2
L3
L3
L3
12 I 3
6I 3
12 I 3
6I 3
0
0
0
0
3
2
2
L3
L3
L33
L3
6I 3
2I 3
6I 3
4I 3
0
0
0
0
2
2
L
L
L3
L3
3
3

75

z
Application of support Conditions
6I1
12 I 1
L3
L12
1
4I1
6I1
2
L1
L1
V 1
12 I
6
I
3 1 21
M 1
L1
L1
2
6I1
V
2I1
M 2
2
L1
= E L1
3
V
0
0
4
0
0
V
M 4
0
0
0
0
12 I 1
6I1
0
0
0
0
3
2
L1
L1
6I1
2I1
2
0
0
0
0
w1
L1
L1
12 I 1 12 I 2
6I1 6I 2
12 I 2
6I 2
1
+
0
0
3
3
2
2
3
2
L1
L2
L1
L2
L2
L2
2
w
6I1 6I 2
4I1 4I 2
6I 2
2I 2
2 + 2
+
2
0
0 2
L1
L2
L2
L2
L1
L2

6I
12 I
6 I 3 w 3
12 I
6I
12 I 2 12 I 3
6I
32
22
+ 3 22 + 23 3 3
3
L2
L2
L2
L3
L2
L3
L3
L23 3
6I 3
2 I 3 4
6I 2
2I 2
6I 2 6I 3
4I 2 4I 3
2 + 2
+
2
w
L22
L2
L2
L3
L2
L3
L3
L3
4
12 I 3
6I 3
12 I 3
6 I 3
3
2
2
0
0
L3
L3
L33
L3
6I 3
2I 3
6I 3
4I 3
0
0
L23
L3
L23
L3
Final Stiffness Equation

4 I1 4I 2
L + L
2
2
M 2
2
I
2
M 3
L2
4 = E
V
0
M 4
2I 2
L2
4I 2 4I 3
+
L2
L3
6I
23
L3
2I 3
L3
0
6I 3
L23
12 I 3
L33
6I
23
L3
0
2
2 I 3
3
L3
6 I 4
23 w
L3 4
4 I 3
L3

76

5.3 Frame Problems
f yR , Ry
f yL , Ly
mL , L
mR , R
f xL , Lx
f xR , Rx
Force-Displacement Relation at Member Ends

- Beam action
mL =
e +
e + 2 y 2 y
Le
Le
Le
Le
mR =
e +
e + 2 y 2 y
Le
Le
Le
Le
f yL =
M eL + M eR 6 EI e L 6 EI e R 12 EI e L 12 EI e R
= 2 e + 2 e + 3 y 3 y
Le
Le
Le
Le
Le
f yR =
6 EI
6 EI
12 EI
12 EI
M eL + M eR
= 2 e eL 2 e eR 3 e Ly + 3 e Ry
Le
Le
Le
Le
Le
- Truss action
EA R
( x Lx )
L
EA
f xR =
( Rx Lx )
L
L
R
Ve = Ve = 0
f xL =

f xL
0
Ae
L
12 I e
fy
0
L2e
6I e
mL
0
Le
0
A
f R Le e
Ie
12
x
0
L2e
R
6I e
0
fy
Le
mR
0
6I e
Le
Ae
4I e
0
6I e
Le
Ae
2I e
0
12 I e
2
Le
6I
e
Le
0
12 I e
L2e
6I
e
Le
Lx

0
L
6 I e y
Le

L
2I e e

or (f )e = [k ]e ( )e
0
R
6 I e x
Le

R
4 I e y

R
e

77

Transformation Matrix
Vy
vy
vx
Vx
Vx = cos vx sin v y V cos sin 0 v

x
x
Vy = sin vx + cos v y Vy = sin cos 0 v y
M 0
0
1 m
M =m

(V ) = [ ]T ( v) ( v) = [ ](V )
z
Member End Force

e
Fx1 cos sin

1
Fy sin cos
1 0
0
M2 =
0
Fx 0
F2
0
y 0
2
M 0
0

0
0
0
0
0
0
1
0
0
0 cos sin
0 sin cos
0
0
0
0 f xL
L
0 f y
0 m L
e
T
e
R (F) = [] (f )
0 f x
R
0 f y
1 m R
Member End Displacement

e
0
0
0 1x
Lx
cos sin 0
L
1
sin cos 0
0
0
0
y
y
L
0
0
1
0
0
0 1
e
e
Re =
2 () = []()
x
0
0 cos sin 0 x
0
R
2
0
0
0 sin cos 0 y
y
R
0
0
0
0
1 1
0
e


z
78
Member Stiffness Matrix in Global Coordinate

(F)e = []T (f )e = []T [k ]e ( ) e = []T [k ]e []( ) e
[K11 ]e [K12 ]e
(F) = [K ] ( ) where [K ] =
e
e
[K 21 ] [K 22 ]
e
Nodal Equilibrium & Compatibility

The same as the truss problems.

(P) = [C]T (F) = [C]T [K ]() = [C]T [K ][C](u)
(P) = [K ](u)
where
[K ] = [C]T [K ][C]

The same as the truss problems.

79
Chapter 6
Buckling of Structures

80

6.0 Stability of Structures
Stable state
KL L > QL KL > Q
The structure would return its original equilibrium position for a small perturbation in .
Critical state
KL L = QL KL = Q
Unstable state
KL L < QL KL < Q
The structure would not return its original equilibrium position for a small perturbation in
.

81

6.1 Governing Equation for a Beam with Axial Force
q
M+dM
Q
V+dV
dw
dx
dx
Q
Equilibrium for vertical force

(V + dV ) V + qdx = 0
Equilibrium for moment

( M + dM ) M Vdx + qdx
dV
= q
dx
dx
dw
dM
dw
P
=0
Q
=V
dx
dx
dx
2
Elimination of shear force
d 2M
d 2w
Q
= q
dx 2
dx 2
z
Strain-displacement relation
=
d 2w
du
y+
2
dx
dx
Stress-strain relation (Hooke law)

= E = E
Definition of Moment
M = ydA = EydA = ( E
A
d 2w
du
y+E
2
dx
dx
d 2w 2
du
d 2w
)
=
y
E
y
dA
EI
dx 2
dx
dx 2
Beam Equation with Axial Force
EI
d 4w
d 2w
+
Q
=q
dx 4
dx 2

82

6.2 Homogeneous Solutions
z
Characteristic Equation for P > 0

w = e x
x
e ( + ) = 0 = i, 0
z
2 2
where 2 =
Q
EI
Homogeneous solution
w = Aeix + Be ix + Cx + D
z
Exponential Function with Complex Variable
i 2 2 i3 3 i 4 4 i5 5 i6 6
x + x + x + x + x +L
2!
3!
4!
5!
6!
2
3
4
(i ) 2 (i ) 3 (i ) 4 (i )5 5 (i )6 6
e ix = 1 ix +
x +
x +
x +
x +
x +L
2!
3!
4!
5!
6!
1
1
1
eix + e ix = 2(1 x 2 + x 4 x 6 + L) = 2 cos x
2!
4!
6!
i
i
i
eix e ix = 2(ix x 3 + x 5 x 7 + L) = 2i sin x
3!
5!
7!
eix = 1 + ix +
eix = cos x + i sin x , e ix = cos x i sin x

z
Homogeneous solution
w = A(cos x + i sin x) + B(cos x i sin x) + Cx + D

= ( A + B) cos x + i ( A B) sin x + Cx + D
= A cos x + B sin x + Cx + D
z
Characteristic Equation for P < 0

w = e x
x
e ( ) = 0 = , 0
z
2 2
where 2 =
Q
EI
Homogeneous solution for P < 0
w = Aex + Be x + Cx + D
e x + e x
e x e x
= ( A + B)
+ ( A B)
+ Cx + D
2
2
= A cosh x + B sinh x + Cx + D

83

Simple Beam
Boundary Condition
w(0) = A + D = 0 , w(0) = A2 = 0 A = 0
w( L) = B sin L + CL = 0 , w( L) = B2 sin L = 0 B = C = 0
Characteristic Equation
A = B = C = D = 0 w = 0 (trivial solution) or
n 2 2 EI
L = n Q =
, n = 1,2,3L
L2
n
w = B sin x = B sin
x
L
z
Fixed-Fixed Beam
Boundary Condition
w(0) = A + D = 0
w(0) = B + C = 0
w( L) = A cos L + B sin L + CL + D = 0
w( L) = A sin L + B cos L + C = 0
Characteristic Equation
1
0
cos L
sin L
sin L cos L
1
0
0 1
0 1 A 0
0
1 0
1 0 B 0
)=0
Det (
=
cos L
sin L L 1
L 1 C 0

1 0 D 0
sin L cos L 1 0
1
0
0 1
0
1
1 0
0
1 0
sin L L
= sin L L 1 cos L
cos L
sin L L 1
cos L 1 0 sin L cos L 1
sin L cos L 1 0

84
( cos L) ((cos L + L sin L) + ) = (2 cos L 2 + L sin L) = 0

2 cos L 2 + L sin L = 2(cos L 1) + L sin L =
L
L
L
+ 2 L sin
cos
=
2
2
2
L L
L
L
L
L
L
L
sin
( cos
sin ) = 0 sin
= 0 or
cos
sin
=0
2 2
2
2
2
2
2
2
4 sin 2
Eigenvalues
Symmetric modes
sin
L
L
4n 2 2 EI
=0
= n Q =
, n = 1,2,3L
2
2
L2
w(0) = A + D = 0 , w(0) = w( L) = B + C = 0, w( L) = A + CL + D = 0
A + D = 0 A = D w = A(cos
2n
x 1) for A 0
L
Anti-symmetric modes
L
L
L
L
L
8.18 2 EI
cos
sin
=0
= tan
Q =
2
2
2
2
2
L2


z
85
Cantilever Beam
Q
Boundary Condition
w(0) = A + D = 0
w(0) = B + C = 0
M ( L) = EIw( L) = EI ( A 2 cos L B 2 sin L) = 0
V ( L) = EI
Q=
d 3w
dw
P
=0
3
dx
dx
n 2 2 EI
, n = 1,2,3L
4 L2
6.3.Homogeneous and Particular solution

w = wh + wp = A cos x + B sin x + Cx + D + wp
EI
d 4 ( wh + w p )
dx 4
+Q
d 2 ( wh + w p )
dx 2
d 4 wp
d 2wp
d 4 wh
d 2 wh
= EI
+Q
+ EI
+Q
dx 4
dx 2
dx 4
dx 2
d 4wp
d 2 wp
= EI
+Q
=q
dx 4
dx 2
Four Boundary Conditions for Simple Beams

w(0) = A + D + w p (0) = 0 , M (0) = EIw(0) = EI ( A 2 + wp (0)) = 0
w( L) = A cos L + B sin L + CL + D + w p ( L) = 0
M ( L) = EIw( L) = EI ( A 2 cos L B 2 sin L + wp ( L)) = 0
1
0
0 1 A w p ( 0)
B w (0)
2
0
0
0
+ p = 0 KX + F = 0
cos L
L 1 C wp ( L)
sin L

2
2
cos L sin L 0 0 D wp ( L)
The homogenous solution is for the boundary conditions, while the particular solution is
for the equilibrium.

86

6.4.Energy Method
z
Total Potential Energy

l
dw dw
1 d 2w d 2w
1
= 2 EI 2 dx Q
dx wqdx
2 0 dx
2 0 dx dx
dx
0
L=
ds =
0
L= L+
1 + ( w) dx
1
( w) 2 dx =
2
1
(1 + ( w) 2 )dx
2
L
1
1
( w) 2 dx ( w) 2 dx for << L
2
20
Principle of the Minimum Potential Energy

1 d 2 (w e + w )
d 2 (we + w )
1 d (we + w ) d (we + w )
EI
dx
Q
dx ( w e + w )qdx
2
2
2 0
2
dx
dx
dx
dx
0
0
l
h =
1 d 2 we
d 2 we
d 2 w e dw e dw e
d 2 w dw e dw
e
)dx w qdx + (
)dx
EI
Q
EI
Q
= (
2 0 dx 2
dx
dx
dx
dx
dx 2
dx 2
dx 2
0
0
l
w qdx +
0
1 d 2w
d 2 w dw dw
(
)dx
EI
Q
2 0 dx 2
dx dx
dx 2
d 4 we
d 2 we
1 d 2w
d 2 w dw dw
Q
q
)
dx
(
EI
Q
)dx
= + w ( EI
+
2 0 dx 2
dx dx
dx 4
dx 2
dx 2
0
e
= e +
z
1 d 2w
d 2 w dw dw
(
EI
Q
)dx
2 0 dx 2
dx dx
dx 2
The principle of minimum potential energy holds if and only if

l
(
0
d 2w
d 2 w dw dw
EI
Q
)dx > 0 for all possible w
dx dx
dx 2
dx 2
The principle of the minimum potential energy is not valid for the following cases.
l
(
0
d 2w
d 2 w dw dw
EI
Q
)dx 0 for some w
dx dx
dx 2
dx 2

87

z
The critical status of a structure is defined as

l
(
0
d 2w
d 2 w dw dw
EI
Q
)dx = 0
dx dx
dx 2
dx 2
Approximation
n
Approximation of displacement: w = ai g i
i =1
Critical Status
l
i =1
( ai g i)EI ( a j g j )dx P ( ai g i )( a j g j )dx =

i =1
j =1
j =1
ai g iEIg idxa j Q ai g ig j dxa j = ai K ij a j Q ai K ijG a j =

i =1 j =1
i =1 j =1
i =1 j =1
i =1 j =1
(a ) (K K )(a ) = 0 Det (K K ) = 0
T
Example - Simple Beam

Q
with a parabola: w = ax( x l ) g1 = 2 x l , g1 = 2

l
g iEIg idx = 2 EI 2dx = 4 EIl

l
4
1 3
2
2
2
3
0 g iEIg idx = 0 (2 x l ) dx = 0 (4 x 4 xl + l )dx = ( 3 2 + 1)l = 3 l
1
12 EI
Det (4 EIl Q l 3 ) = 0 Qcr = 2
3
l
with one sine curve: w = a sin
(exact :
EI
2 EI
= 9.86 2 , error = 22%)
2
l
l
x
x
g1 = cos , g1 = ( ) 2 sin
l
l
l
l
l
4
4 l
2 x
0 g iEIg idx = EI ( l ) 0 sin l dx = EI ( l ) 2
l
2
2 l
2 x
0 g iEIg idx = ( l ) 0 cos l dx = ( l ) 2
l
l
l
2 EI
Det ( EI ( ) 4 Q( ) 2 ) = 0 Q = 2 (exact )
l 2
l 2
l

88

z
Example Cantilever Beam

Q
with one unknown:

w = ax 2 g1 = 2 x , g1 = 2
l
g iEIg idx = 2 EI 2dx = 4EIl ,
2
g iEIg idx = 4 x dx =
4
3EI
Det (4 EIl Q l 3 ) = 0 Qcr = 2
3
l
4 3
l
3
2 EI
EI
(exact :
= 2.46 2 , error = 22%)
2
4l
l
with two unknowns:

w = ax 2 + bx 3 g1 = 2 x , g 2 = 3 x 2 , g1 = 2 , g 2 = 6 x
l
4
6
9
G
G
= 6 x 3dx = l 4 , K 22
= 9 x 4 dx = l 5
K11G = 4 x 2 dx = l 3 , K12G = K 21
3
4
5
0
0
0
l
K11 = 4dx = 4l , K12 = K 21 = 12 xdx = 6l , K 22 = 36 x 2 dx = 12l 3

2
4l 6l 2
1 40l 3
Det ( EI 2
Q 4
3
30 45l
6l 12l
45l 4
4l 40l 3 6l 2 45l 4
1 Q
= 0, =
)=0 2
5
4
3
5
30 EI
6l 45l 12l 54l
54l
(4l 40l 3 )(12l 3 54l 5 ) (6l 2 45l 4 ) 2 = 0 4l 4 52l 6 + 45l 8 2 = 0

EI
EI
26l 6 26 2 l 12 180l 12 26 22.27 0.0829
1.0727
=
=
=
or
Qcr = 2.487 2 or 32.181 2
8
2
2
2
l
l
l
l
45l
45l
Qexact = 2.49
EI
EI
(error = 1.2%) or Qexact = 22.19 2 (error = 45%)
2
l
l

89

6.5 Approximation with the Homogeneous Beam Solutions
z
Homogeneous Solution of Beam

u2i 1
u 2 i +1
P
u2 i + 2
u2i
i-th member
Ly

Lz
i
L
L
R
R
w = N 1 y + N 2 z + N 3 y + N 4 z = ( N 1 , N 2 , N 3 , N 4 ) R = ( N )( i ) = (N)( i )
y
R
z
2
3
2
3
2
x 2 x3
3x
2x
2x
x
3x
2 x3
N1 = 1 2 + 3 , N 2 = x
+ 2 , N3 =
2 , N4 = + 2
L
L
L
L
L L
L
L
6.5.1 Beam Analysis
z
Total Potential Energy

l
l
p
p l
d 2 wi
dwi dwi
1 d 2 wi
1
=
EI
dx Q
dx wi qi dx
2
dx dx
dx 2
i =1 2
i =1 0
i =1 2 0 dx
0
p
=
i =1
l
l
p
p l
d 2 wi
dwi T dw i
1 d 2 wi T
1
(
)
(
)
( wi ) T qi dx
EI
dx
Q
dx
2 0 dx 2
2
dx
dx
dx
i =1
i =1 0
0
l
p
p
1
1
d 2N T
d 2N
dN T dN
T
T
= ( i ) ( 2 ) EI
dx( i ) Q( i ) ( )
dx( i ) ( i ) T (N) T qi dx
2
dx
dx
dx
i =1 2
i =1 2
i =1
0 dx
0
0
p
p
1 p
0
T
G
(
)
([
]
[
)(
)
( i ) T (f i )
K
K
i
i
i
i
2 i =1
i =1
p
1 T p
(u) [C i ]T ([K i0 ] [K Gi ])[C i ](u) (u) T [C i ]T (f i )
2
i =1
i =1
p
1 T p
(u) [C i ]T [K i ][C i ](u) (u) T [C i ]T (f i )
2
i =1
i =1
1 T
= (u) [K ](u) (u) T (P )
2
12
L2
i
6
EI Li
K i0 = i
Li 12
2
Li
6
Li
6
Li
4
6
Li
2
12
L2i
6
Li
12
L2i
6
Li
6
Li
,
6

Li
6
5L
i
K Gi = Q 10
6
5 Li
1
10
1
10
2 Li
15
1
10
L
i
30
6
5Li
1
10
6
5Li
1
10
1
10
Li
30
1

10
2 Li
15

90

z
Principle of Minimum Potential Energy for Q < Qcr

=
n
n
1 T
1 n
(u) [K ](u) (u)T (P) = ui K ij u j ui Pi
2
2 i=1 j =1
i =1
1 n u i
=
u k 2 i =1 u k
K ij u j +
j =1
n
n
u j
1 n
u
K
u i Pi
i ij u
2 i =1 j =1
i =1
k
1
1 n
1 n
1 n
K
u
+
u
K
P
=
K
u
+
K ki u i Pk
kj j 2
kj j 2
i
ik
k
2 j =1
2 j =1
i =1
i =1
n
1 n
1 n
K kj u j + K kj u j Pk = K kj u j Pk = 0 for k = 1, L , n [K ](u) = (P)
2 j =1
2 j =1
j =1
Calculation of the Critical Load
Det ([K ]) = Det ([K 0 ] [K G ]) = 0

z
Frame Members
f xL

L
fy

mL

E
=(
f R Le
x

R
fy

mR

Ae
Ae
0
0
12 I e
L2e
6Ie
Le
0
12 I e
2
Le
6Ie
Le
0
6Ie
Le
Ae
4Ie
0
6Ie
Le
Ae
2Ie
0
12 I e
2
Le
6Ie
Le
0
12 I e
L2e
6I
e
Le
0
0
5 Le
1
2 I e
0
10
P
0
0
0
6
6Ie
0
5Le
Le
1
0
4Ie
10
0
6Ie
Le
P = EA
0
1
10
2 Le
15
0
1
10
L
e
30
0
0
0
0
0
0
0
6
5 Le
1
10
0
6
5Le
1
10
Lx

0 L
1 y

10
L
L
e e
30 )
0
1 R
x
10
2 Le R
15 y

R
e
Lx Rx
Le

91

6.6 Nonlinear Analysis of Truss
R
f yR y
f yL Ly
L
f xL x
f xR Rx
Force Displacement relation at Member ends

EA R
( x Lx )
L
EA R
f xR =
( x Lx )
L
Ry Ly R
L
R
fy = fy =
fx
l
f xL =
1
f xL
L
fy
EA 0
=
f xR
l 1
f yR
0
0 1 0
0
0 0 Rx Lx
+
0
1 0
l
0
0 0
0
0
0
1
0
0
0 1
0 Lx

0 1 Ly

0
0 Rx
0
1 Ry
0
(f )e = ([k ]e0 + f xR [k ]eg )( )e = ([k ]e0 + p e [k ]eg )( )e

z
Equilibrium Analysis
(f )ie = ([k ]e0 + pie [k ]eg )( )ie
(F)e = []T (f )e = []T [k ]e ( )e = []T ([k ]0e + pie [k ]eg )[]( )e = [K ]e ( )e
Successive substitution
(F) ie1 []T ([k ]e0 + pie1 [k ]eg )[]( ) e = [K ]ie1 ( ) e
(P) = ([K ]0 + [K ( pie1 )]G )(u)i

92

z
Newton-Raphson Method
(f )ie = ([k ]e0 + pie [k ]eg )( )ie

= ([k ]e0 + ( pie1 + pie )[k ]eg )( ie1 + ie )
= ([k ]0e + pie1[k ]eg ) ie1 + ([k ]0e + pie1[k ]eg ) ie + pie [k ]eg ( ie1 + ie )
([k ]e0 + pie1[k ]eg ) ie1 + ([k ]e0 + pie1[k ]eg ) ie + pie [k ]eg ie1
= (f )ie1 + ([k ]e0 + pie1[k ]eg + [k ]e ) ie
([k ]0e + pie1[k ]eg + [k ]e ) ie = (f )ie (f )ie1 = (f )ie
([K ]0 + [K ( pie1 )]G + [K ] )u = (P)i
pie [k ]eg ie1
0
0
0
1
EA
=
0
l 0
0 1
L
EA y
= 2
l
R
y
0 Lx

0 1 Ly Rx Lx

0
0 Rx
l
R
0
1 y
i 1
0
Lx
Ry
y
(
)
1
0
1
0
R
0
x
L
R
y
y i
i 1
0
EA R
L e 1
= 2 ( y y ) i 1
0
l
0 0 Lx
0 1 0 Ly
0
0 0 Rx
0
1 0 Ry
i
0
= [k ]e ie


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Class Note for Structural Analysis 2

Fall Semester, 2013

Hae Sung Lee, Professor

1.0 Comparison of Flexibility Method and Stiffness Method 2

3.1 Spring-Force Systems... 48

School of Civil, Urban & Geosystem Eng., SNU

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

Remove redundancy (Equilibrium)

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

Remove redundancy (Equilibrium)

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

1. Release all redundancies.

Fix all Degrees of Freedom.

2. Calculate displacements induced by external loads at the released

Calculate fixed end forces induced by external loads at the fixed

3. Apply unit loads and calculate displacements at the released

Apply unit displacements and calculate member end forces at the

4. Construct the flexibility equation by superposing the displacement

Construct the stiffness equation by superposing the member end

5. Solve the flexibility equation.

Solve the stiffness equation.

6. Calculate reactions and other quantities as needed.

Calculate reactions and other quantities as needed.

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

Sign Convention for M :Counterclockwise +

2.1.2 Relative motion of joints

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

or in the new sign convention : M A =

Final Slope-Deflection Equation

In Case an One End is Hinged

2.1.3 Fixed End Force

Both Ends Fixed

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

One End Hinged

Ex.: Uniform load case with a hinged left end

2.1.4 Joint Equilibrium

F fixed Fmember + F joint = 0

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

i) All fixed : No fixed end forces

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

Construct the Stiffness Equation

2.2.2 Analysis of a Two-span Continuous Beam (Approach I)

i) Fix all DOFs and Calculate FEM.

Construct the Stiffness Equation

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

Member End Forces

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU

i) Fix all DOFs and Calculate FEM.

Construct Stiffness Equation

Member End Forces

Structural Analysis Lab.

School of Civil, Urban & Geosystem Eng., SNU