September 18, 2002

Ahmed Elgamal

Stiffness Coefficients for a Flexural Element Ahmed Elgamal

September 18, 2002

Ahmed Elgamal

Stiffness coefficients for a flexural element (neglecting axial deformations), Appendix 1, Ch. 1 Dynamics of Structures by Chopra.
u2 u 4 u3 u1 Positive directions
k21 k11 k31

4 degrees of freedom

k41

September 18, 2002

Ahmed Elgamal

To obtain k coefficients in 1st column of stiffness matrix, move u1 = 1, u2 = u3 = u4 = 0, and find forces and moments needed to maintain this shape.

u1 1.0
L

September 18, 2002

12EI L3

Ahmed Elgamal

These are (see structures textbook)

6EI L2

6EI L2

12EI L3

Note that Forces = 0 Moments = 0 M=

12EI 12EI L3 L3

= 0

i.e. remember

12EI , 3 L

and you

Positive directions
k21 k41 k11 k31
4

can find other forces & moments

September 18, 2002

Ahmed Elgamal

k 11 k k = 21 k 31 k 41

k 12 k 22 k 32 k 42

k 13 k 23 k 33 k 43

k 14 k 24 k 34 k 44

k ij = k , where i is row number

and j is column number

12 EI 12 k= 3 L 6L 6L

September 18, 2002

Ahmed Elgamal

u2 = 1, u1 = u3 = u4 = 0

1.0

u2
L

September 18, 2002

Ahmed Elgamal

12EI L3

6EI L2

u2 = 1

6EI L2

M = 0, F = 0
EI k= 3 L - 12 12 6L 6L

12EI L3

Positive directions
k22 k42 k12 k32
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September 18, 2002

Ahmed Elgamal

u3 = 1, u1 = u2 = u4 = 0

1.0

u3 = 1

September 18, 2002

Ahmed Elgamal

2EI L
6EI L2

4EI L 6EI L2

M = 0, F = 0

k=

- 6EI L2 6EI L2 4EI L 2EI L

Positive directions
k23 k43 k13 k33
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September 18, 2002

Ahmed Elgamal

u4 = 1, u1 = u2 = u3 = 0

u4 = 1

1.0

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September 18, 2002

Ahmed Elgamal

4EI L
6EI L2

2EI L
6EI L2

M = 0, F = 0
- 6EI L2 6EI 2 L 2EI L 4EI L

k=

Positive directions
k24 k44 k14 k34
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September 18, 2002

Ahmed Elgamal

Example: Water Tank

u1

m u2 L

m is lumped at a point & does not contribute in rotation

ug u2 above was u3 in the earlier section of these notes

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Ahmed Elgamal

Example: Water Tank (continued)

u1 m L k11 k12

u2

k21

k22

ug

12EI &1 L3 u m & + & 2 6EI u 0 & L2

6EI L2 u1 = m & &g u 4EI 0 u 2 L

Rotational (used to be u3) 13

Note Symmetry

September 18, 2002

Ahmed Elgamal

Example: Water Tank (continued) Static Condensation:

Way to solve a smaller system of equations by eliminating degrees of freedom with zero mass. e.g., in the above, the 2nd equation gives
6EI 4EI u + u2 = 0 1 2 L L

or

6 3 6EI L u2 = 2 u1 = u1 = u 1 ----- * 4L 2L L 4EI

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Ahmed Elgamal

Example: Water Tank (continued)

Substitute * into Equation 1
12EI 6EI 3 &1 + 3 2 &g m& u u u 1 = m& L 2L L

or,
24EI 18EI & & &g mu 1 + u u 1 = m& 3 2L

or,
3EI & & &g mu 1 + 3 u 1 = m& u L

Now, solve for u1 and u2 can be evaluated from Equation * above. Static condensation can be applied to large MDOF systems of equations, the same way as shown above.
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Ahmed Elgamal

Example: Water Tank (continued)

3EI & & &g mu 1 + 3 u 1 = m& u L

k of water tank as we were given earlier. or of column if EIb = 0 Ib

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Ahmed Elgamal

Mandatory Reading Example 9.4 page 362-364 Example 9.8 page 368-369 Sample Exercises: 9.5, 9.8, & 9.9 bending beam

17

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Ahmed Elgamal

Example
(a)

(b)

Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2

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September 18, 2002

Ahmed Elgamal

(c)

(d)

Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2

19

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Ahmed Elgamal

(e)

(f)

Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2

20

September 18, 2002

Ahmed Elgamal

(g)

(h)

Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2

21

September 18, 2002

Ahmed Elgamal

(i)

(j)

Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2

22

September 18, 2002

Ahmed Elgamal

therefore,

12 12 6L 6L 6L 0 EI 12 24 k= 3 2 2 2L L 6L 6L 4L 2 2 6L 0 2L 8L

m1 M=

m2

0 0

Sample Exercise: For the above cantilever system, write equation of motion and perform static condensation to obtain a 2 DOF system.
Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2
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Ahmed Elgamal

Column Stiffness (lateral vibration)

m
bending beam

3EI k= 3 L

k , = m

beam with EIbeam = 0

3EI k = 2 3 L
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Ahmed Elgamal

Case of EIb = (rigid roof)

k=

12EI L3

12EI k = 2 3 L

h1

h2

12E 1 I1 12E 2 I 2 k= + 3 h1 h3 2

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Ahmed Elgamal

h L = 2h

(See example 1.1 in Dynamics of Structures by Chopra)

k=

96EI c 7h 3

if

EI b = EI c
beam column

24EIc 12 + 1 , k= h 3 12 + 4

Ib = & Ec = Eb = E 4I c
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September 18, 2002

Ahmed Elgamal

Obtained by static condensation of 3x3 system u1 2 call it u3

u 1 f S u = 0 2 u 3 0

force 1 fs

call it u2

Use to represent u2 and u3 in terms of u1 & plug back into Technique can also be used for large systems of equations
27

and get fs = ku1

(See example 1.1 in Dynamics of Structures by Chopra)

September 18, 2002

Ahmed Elgamal

Draft Example
Neglect axial deformation u3 Ib Ic Ic u2 u1

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Ahmed Elgamal

u1 = 1 u2 = u3 = 0
6EI c L2 6EI c L2

12EI (2) 3 c L

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Ahmed Elgamal

u2 = 1 u1 = u3 = 0
2EI b L 4EI b L 4EI c L 6EI c L2

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Ahmed Elgamal

u3 = 1 u1 = u2 = 0
4EI b L
6EI c L2

2EI b L 4EI c L
6I c L 24I c E 2 ( ) 6I L 4 I I L k= 3 + c b c L 2 6I L 2I L c b 2 4(I b + I c )L 6I c L 2I b L2

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Ahmed Elgamal

If frame is subjected to lateral force fs Then (for simplicity, let Ic = Ib = I)

24 6L EI 2 6L 8L L3 2 6L 2L

6L u 1 f s u = 0 2L2 2 8L2 u 3 0

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Ahmed Elgamal

Static condensation: From 2nd and 3rd equations,

8L u 2 = 2 u 3 2L
2

2L 6L u1 2 8L 6L
2

Note matrix inverse:

a b c d
1

1 64L4 4L4

8L 2 2L
2

- 2L 6L u1 2 8L 6L

2 1

1 d b ad cb c a

6 1 u1 10L 1

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September 18, 2002

Ahmed Elgamal

Substitute into 1st equation

168EI EI 36 36 u1 24 u 1 = f s = 3 3 10 10 10L L

or
k= 168EI 10L3

(check this result)

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Ahmed Elgamal

Draft Example 2

u3

u2 u1

2L

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Ahmed Elgamal

u1 = 1 u2 = u3 = 0
6EI c L2 6EI c L2
12EI c (2) 3 L

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Ahmed Elgamal

u2 = 1 u1 = u3 = 0
2EI b 2L 4EI b 2L 4EI c L
6EI c L2

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September 18, 2002

Ahmed Elgamal

u3 = 1 u1 = u2 = 0
4EI b 2L 4EI c L 2EI b 2L

6EI c L2

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September 18, 2002

Ahmed Elgamal

24I 6I c L c E I k = 3 6I c L 4 b + I c L2 L 2 6I c L I b L2

6I c L I b L2 Ib 2 4 + I c L 2

For simplicity, let Ib = Ic

24 6L EI 2 6L 6L L3 2 6L L 6L u 1 f s u = 0 L2 2 6L2 u 3 0
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September 18, 2002

Ahmed Elgamal

Static condensation:
6L u 2 u = 2 3 L
2

L 6L u1 2 6L 6L
2

1 6L2 = 36L4 L4 - L2

- L 6L u1 2 6L 6L
2

30 1 6 1 u1 = u1 = 7L 1 35L 1

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September 18, 2002

Ahmed Elgamal

Substitute in 1st Equation

EI 36 36 24 u1 = f s 3 7 7 L

or,

fs =

96 EI u 3 1 7 L

or,

96EI k= 7L3

Same as in Example 1.1, Dynamics of Structures by Chopra

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September 18, 2002

Ahmed Elgamal

Sample Exercise 1) 1.1 Derive stiffness matrix k for EIb h1 EIc1 EIc2 h2

L 1.2 For the special case of Ic1 = Ic2 = Ib, h1 = h2 = h and L = 2h, find lateral stiffness k of the frame.
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Ahmed Elgamal

Sample Exercise 2) Derive equation of motion for:

m 2

EIb Flexural rigidity of beams and columns EIc EIb use 600 lb/ft EIc E = 29,000 ksi, Columns W8x24 sections with Ic = 82.4 in4 h = 12 ft Ib = Ic

EIc

EIc 2h

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September 18, 2002

Ahmed Elgamal

Sample Exercise (Optional) 3) Derive lateral k of system (need to use computer to invert 3x3 matrix)
Ib
h = 12 ft

Ib Ic Ic

Ic

24 ft E = 29,000 ksi,

24 ft

Ic = 82.4 in4 Ib = Ic

W8x24 sections

44