Stiffness Method

Chapter 2: Stiffness Method Topic 2.0 : Learning Outcomes

Outline
Stiffness Method
Analysis of Truss

Analysis of Beams

Analysis of Frames

Analysis of Composite
Structures
Chapter 2: Stiffness Method Topic 2.0 : Outline

Truss Bridge Reinforced Concrete Beam

Timber Frame
Chapter 2: Stiffness Method Topic 2.0 : Learning Outcomes

Learning Outcomes Week 1

This topic is designed to assess student

abilitys on:
Able to derive the truss-member stiffness
matrix.

Able to formulate the displacement and

force transformation matrices.
0
Able to establish the truss structure
stiffness equations.

Able to solve the non-zero nodal

displacements, and hence the support
reactions and member end forces and/or
with truss having fabrication error and
temperature change.

(CO2PO5)
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

TRUSS ANALYSIS USING THE STIFFNESS METHOD

Fundamentals of the Stiffness method

is a displacement method of analysis
used to analyse both statically determinate and indeterminate structures
yields the displacements and forces directly
much easier to formulate the necessary matrices for the computer operations.

Member Stiffness Matrix, k and Load Transformation Equations

q N AE 1 1 d N
q 1 1 d
F L F
q k'd Where,

AE 1 1
q = member end forces along
k' local axis-x
L 1 1 k = member stiffness matrix
d = displacement along local
axis-x
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis
Chapter 2 Stiffness Method Topic 2.3 : Truss Analysis

Displacement Transformation Matrix (T )

T is use to transform the global x , y displacements D into local x displacement d.

d N DN x cos x DN y cos y Let Cx = cos x; Cy = cos y

d F DFx cos x DFy cos y d N DN x C x DN y C y

d F DFx C x DFy C y
In matrix form,

DN x

d N C x C y 0 0 DN y
d 0 0 C C D
F x y
Fx
DF
y
d TD
Chapter 2: Stiffness Method Topic 2.3: Truss Analysis

Force Transformation Matrix (TT)

TT is use to transforms local forces q acting at the ends of the member into global for components Q

QN x qN cos x ; QN y qN cos y QN x C x 0

QN y C y 0 q N
Q 0
Using Cx = cos x; Cy = cos y

C x qF
Fx
QN x qN Cx ; QN y qN C y QF 0 C y
y
QFx qF Cx ; QFy qF C y
Q TTq
Chapter 2 : Stiffness Method Topic 2.3 : Truss Analysis

xF x N
C x cos x
L
xF x N

( xF x N ) 2 ( y F y N ) 2

yF yN
C y cos y
L
yF yN

( xF x N ) 2 ( y F y N ) 2
Chapter 2 Stiffness Method Topic 2.3 : Truss Analysis

Determine Cx and Cy by Coordinate System

y
Steps:
Set up (0,0) to any joint of the truss
(XF , YF) Determine the remaining joints coordinate
F
Identify the Near End and Far End for every member
L Cx and Cy to be determined by:-

xF x N
C x cos x
L
yF yN
C y cos y
(XN , YN) L
x
N L = Length of member

Example 1 : Calculate the value of Cx and Cy by the coordinate system for the
truss shown in Figure Q1

Solution:

Figure Q1
Chapter 2 Stiffness Method Topic 2.3 : Truss Analysis

Member 1 , L=3m Member 2 , L=5m

30 30
(3 , 4)
Cx 1 Cx 0.6
3 5
00 40
Cy 0 Cy 0.8
3 5
(0 , 0) (3 , 0)

Member 1 , L=3m Member 2 , L=5m

0 (3) 0 (3)
(0 , 0) Cx 1 Cx 0.6
3 5
4 (4) 0 (4)
Cy 0 Cy 0.8
3 5
(-3 , -4) (0 , -4)
Chapter 2 : Stiffness Method Topic 2.3 : Truss Analysis

Member 1 , L=3m
x 0
C x cos x cos 0 1
N F
1 C y sin x cos 0 0

Member 1 , L=5m

F
x 53.13
C x cos x cos 53.13 0.6
2
x 53.13 C y sin x sin 53.13 0.8
N
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Member Global Stiffness Matrix

Member forces, q k 'TD 1 where D = Global displacements

Substitute 1 into
Q TTq

Q T T k ' TD or Q kD
Where;
k T T k'T
Performing the matrix operations yields:-

Cx 2 CxC y Cx
2
CxC y
2
CxC y C y
2
AE C xC y Cy
k
L Cx CxC y CxC y
2 2
Cx

C x C y C y
2 2
CxC y C y
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Application of the Stiffness Method for Truss Analysis

Global force components, Q KD Structure Stiffness Equation

k = structure stiffness matrix

Qk K11 Du K12 Dk ; Qu K 21 Du K 22 Dk
Often Dk = 0, since support are not displaced;

Qk K11 Du ; Qu K 21Du
Du K11 Qk
1

Member forces,
q k 'TD
Chapter 2 : Stiffness Method Topic 2.3 : Truss Analysis

DNx

qN AE 1 1 C x C x 0 0 DNy
q L 1 1 0 0 C C x DFx
F

x

DFy
Since qN = -qF for equilibrium, only one of the forces has to be found

DNx
D
qF
AE
L
Cx C y Cx C y
Ny

DFx

DFy
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Truss having Thermal Changes and Fabrication Errors

Q KD Qo Global force-displacement relationship

Qk K11Du K12 Dk (Qk )0

Qu K 21Du K 22 Dk (Qu )0
(QNx ) 0 Cx
(Q ) C Qo for Temperature change

Ny 0 AET y
(QFx ) 0 Cx

(QFy ) 0 C y
(QNx ) 0 Cx
(Q ) C Qo for Fabrication Error
Ny 0 AEL y
(QFx ) 0 L Cx

Fy 0
(Q )
y
C
Chapter 2 :Stiffness Method Topic 2.3 : Truss Analysis

Truss having Thermal Changes and Fabrication Errors

q k 'TD qo Internal member forces

Temperature change,

DNx
D
qF
AE
L
Cx C y Cx Cy Ny

DFx
AET

DFy
Fabrication Error,

DNx
D
AEL
qF
AE
L
Cx C y Cx Cy Ny

DFx

L

DFy
1

Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Example 2:
A pin-jointed plane truss is shown in Figure Q2. Member 4 was made 0.01 too short before it was fitted into
place. Assume axial rigidity AE is constant for all members, and A = 2000 mm2 and E = 210GPa.
a) Establish the element global stiffness matrices. (10 marks)
b) Construct the stiffness matrix of the structure. (5 marks)
c) Determine the unknown nodal displacements at 3. (4 marks)
d) Determine the axial forces in members 1, 2 and 3. (6 marks)

75 kN

5
3 4
50 kN
Solution:

3 5m
2

1
1 2

10 m

Figure Q2
Chapter 2 : Stiffness Method Topic 2.3 : Truss Analysis

Solution: Question 2(a) Unconstrained (Unknown displacement)

Q = 0 (unless the value is given in the question)
3 5 4
2
(0,5)
(10,5)
1
4
2 3 5m

1
(0,0) 2
1 (10,0)
10 m 4

Constrained (Unknown reaction

forces)
6 8 D=0

5 7
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Member Stiffness Matrix, k

00 10 0
Cy 0 Cx 1
Member 1, L = 10m 10 10
6 8
5 6 7 8
(0,0)

0 0.1 0
7
0.1
5 (10,0)
N 1 5
F
0 0 0 0
k1 AE
6

Member 2, L = 5m 0.1 0 0.1 0 7

2
0 0 0 0 8
F
1
(0,5)
5 6 1 2

Cx 0
2 0 0 0 0 5

0 0.2 0 0.2
k 2 AE
6
50 0
Cy 1 0 0 0 1
6 5
0 0.2 0 0.2 2
5
N
(0,0)
Chapter 2 : Stiffness Method Topic 2.3 : Truss Analysis

Member 3, L = 5m 2
4 Member 4, L = 11.18m
(0,5)
F
3 1
N
(10,5)
4

10 10 3
Cx 0 8
5
7
(10,0)
50 8 F
Cy 1
5 7 10 0 05
Cx 0.894 Cy 0.447
N
(10,0)
11.18 11.18

7 8 3 4 1 2 7 8

0 0 0 0 7 0.071 0.036 0.071 0.036 1

0 0.2 0.036 0.018

0 0.2 2
8 0.036 0.018
k3 AE k 4 AE
0 0 0 0 3 0.071 0.036 0.072 0.036 7

0 0.2 0.036 0.018 0.036 0.018
8
0 0.2 4
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Member 5, L = 10m Equivalent nodal force vector, Qo

2 Member 4, L = 11.18m
2 4
(0,5)
(0,5)
1
1 3 N
N (10,5)
5 F 4

8
10 0 55
Cx 1 Cy 0 (Q1 ) O 0.894
10 7
10 (Q ) 0.447 (10,0)

2 O AE ( 0.01) F
Combine:
(Q7 )O 11.18 0.894
1 2 3 4
(Q1 ) O 7.996
8 O
(Q ) 0.447 (Q ) 3.998
0 0.1 0
1
0.1
0
2 O

0 0 0 2
(Q3 ) O 0
k5 AE (Q1 )O 7.996
0.1 0 0.1 0 3
(Q ) (Q4 ) O AE (10 4 ) 0
3.998
0 0 0 0 4
2 O AE (10 4 )

(Q5 ) O
0
(Q7 )O
7.996 6 O
(Q ) 0
3.998 (Q )
(Q8 )O 7 O 7.996
(Q8 ) O 3.998

Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Stiffness equation / force-displacement equation

Q KD Qo
Question 2(b)
Nodal forces, Q Nodal displ., D
D1 50 D1 335.832
50 75 D 2 167.916
75 D 2

Q3 0 Q3 0 0

0 Q4 0 0
Q4
Q D K
Q 5 0 Q 5 0
0

Q6 0 Q6 0 0

Q7 0 Q 7
0 335.832
Q8 0 Q8 0 167.916

K k1 k2 k3 k4 k5
Chapter 2: Stiffness Method Topic 2.3 : Truss Analysis

Question 2(c)
385.832 71820 15120 D1

242.916 15120 91560 D2

D1 4.988(10 3 )m
3
D2 1.829(10 )m
DNx
D
AEL
Cx C y Cx C y
Question 2(d) AE
qF
Ny

Axial forces, q L DFx L

DFy
Member 1
Member 2
q1 0 0

0
Member 3 q2
AE
Cx Cy Cx Cy 3
153.636kN
L 4.988(10 )
q3 0 1.829(10 3 )
Chapter 2: Stiffness Method Topic 2.0 : Learning Outcomes

Learning Outcomes Week 2

This topic is designed to assess student
abilitys on:

Able to derive the beam-member stiffness

matrix, considering the effects of bending
and shear only. Axial effects are ignored.

Able to obtain the member end force

vectors due to intermediate loading.

Able to establish the beam structure

stiffness equations.

Able to solve the non-zero nodal

displacements, and hence the support
reactions and member end forces and/or
with support movement.

(CO2PO5)
1

Chapter 2: Stiffness Method Topic 2.1 : Beam Analysis

BEAM ANALYSIS USING THE STIFFNESS METHOD

Member and Node Identification

Each element must be free from load
Have a prismatic cross section
Nodes of each element are located at a support or at points where
- Members are connected together
- external force is applied
- Cross-sectional area suddenly change
- vertical or rotational displacement at a point is to be determined

Kinematic indeterminacy
If consider effects of both bending & shear
- Each node on the beam can have 2 degrees of freedom, vertical displacement & rotation
These displacement will be identified by code numbers
The lowest code numbers will be used to identify the unknown displacement & the highest numbers
are used to identify the known displacement

Beam Member Stiffness Matrix

By superposition, the resulting four load-displacement relations for the member can be expressed in
equation as follows:

q kd
Chapter 2: Stiffness Method Topic 2.1 : Beam Analysis
Chapter 2 : Stiffness Method Topic 2.1 : Beam Analysis

Local Global

12 EI 6 EI 12 EI 6 EI
L3 2
L
3
L
2
L
6 EI 4 EI 6 EI 2 EI
2 2
k' k L L L L
12 EI 6 EI
2
12 EI
3
6 EI
2
L3 L L L
6 EI 2 EI 6 EI 4 EI
2 2
L L L L
1

Chapter 2: Stiffness Method Topic 2.1 : Beam Analysis

Application of the Stiffness Method for Beam Analysis Intermediate Loadings

Q KD

Actual loading
Qk K11Du K12Dk
Qu K 21Du K 22 Dk

Member Forces, q
Fixed-end element loading
q kd q0 of joints

Actual loading and reactions on

fixed-supported element
Chapter 2 : Stiffness Method Topic 2.1 : Beam Analysis

Example 3 : Calculate the intermediate loadings for the beam shown in Figure Q3
5 1 3 7

20 kN/m
6 2 4 8

Figure Q3
1
I 2 3I
A B C 3 D
2m

3m 3m

5 1

(Q5 )O 0
Element 1 6 2 (Q ) 0
6 O
A
I
(Q1 ) O 0

1m 2 O 0
(Q )
Chapter 2: Stiffness Method Topic 2.1 : Beam Analysis

Example : Intermediate Loadings

wL/2 wL/2
Element 2 Element 3
w kN/m 1 3 7
3
20 kN/m
20 kN/m 8
2 4 4
A B
L
wL2/12 wL2/12 C D
B I C 3I
wL 2m
2 3m
RA wL2
FEM
AB (Q1 ) O 20kN (Q3 ) O 30kN
12 (Q ) 6.67kNm (Q ) 15kNm
RB wL
2 2 O
4 O

FEM BA
(Q3 )O 20kN (Q7 ) O 30kN
wL
2

12 4 O 6.67kNm
(Q ) 8 O 15kNm
(Q )
Chapter 2 : Stiffness Method Topic 2.1 : Beam Analysis

Member End Forces

q kd q0
12EI 6EI 12EI 6EI
L3 2
L
3
L
2
L d (q )
qNY 6EI 4EI 6EI 2EI NY NY 0
q 2 2 d (q )
NZ L L L L NZ NZ 0
qFY 12EI 6EI 12EI 6EI d FY (qFY )0
L3 2 3 2
L L L d ( q )
qFZ 6EI 2EI 6EI 4EI FZ FZ 0

2 2
L L L L
1

Chapter 2: Stiffness Method Topic 2.1 : Beam Analysis

Example 4 :
A continuous beam ABCD is subjected to the loads as shown in Figure Q4 and the flexural rigidity, EI, of
the member is as indicated. When the loads are acting, support B yields vertically downwards by 60/EI.
a) Establish the element stiffness matrices and the equivalent element nodal force vectors in the global
coordinate system. (12 marks)
b) Form the global stiffness relations corresponding to the unconstrained degrees of freedom and solve
for the non-zero degrees of freedom. (8 marks)
c) Determine the axial forces for element 1 only. (5
marks)

100 kN
30 kN/m
20 kN/m

A D
1 E 2 3

(2E) (2E) (E) Figure Q4

B C

3m 3m 8m 6m

Solution :
Chapter 2 : Stiffness Method Topic 2.1: Beam Analysis

Solution : Question 4 (a)

Chapter 2 : Stiffness Method Topic 2.1 : Beam Analysis

Equivalent element nodal force vectors, Qo

Chapter 2 : Stiffness Method Topic 2.1 : Beam Analysis

Element Stiffness Matrix

Chapter 2: Stiffness Method Topic 2.1: Beam Analysis

Assembling k1 , k2 and k3
Chapter 2 : Stiffness Method Topic 2.1 : Beam Analysis

Structure Stiffness Equation

Q KD Qo
Chapter 2 : Stiffness Method Topic 2.1 : Beam Analysis

Question 4 (b)
Chapter 2: Stiffness Method Topic 2.1 : Beam Analysis

Question 4 (c) : Axial forces for element 1 only

q kd q0
q5 0.1111 0.3333 0.1111
0.3333 0 50
q 0.3333 1.3333 0.3333 0.6667 75
6 EI 0

q4 0.1111 0.3333 0.1111 0.3333 60 / EI 50

q2 0.3333 0.6667 0.3333 1.3333 22.35 / EI 75
q5 49.22kN
q 80.10kNm
6



q4 50.78kN

q2 84.80kNm

Chapter 2: Stiffness Method Topic 2.0 : Learning Outcomes

Learning Outcomes Week 3

This topic is designed to assess student
abilitys on:
Able to derive the frame-member stiffness
matrix, considering the effects of bending,
shear and axial.

Able to obtain the member end force

vectors due to intermediate loading.

Able to establish the frame structure

stiffness equations.

Able to solve the non-zero nodal

displacements, and hence the support
reactions and member end forces and/or
with support movement.

(CO2PO5)
1

Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

PLANE FRAME ANALYSIS USING THE STIFFNESS METHOD

Frame member stiffness matrix

The frame member is subjected to three loadcases as follows:

a) axial loads qNx. qFx,
b) shear loads qNy, qFy
c) bending moment qNz, qFz

Positive sign convention

The resulting 6 load-displacement relations for the member can be expressed in matrix form or can
be written in the form of : -
q k' d

Displacement
transformation
matrix

Cx cos x ; C y cos y
Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

Load-displacement relations
1

Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

PLANE FRAME ANALYSIS USING THE STIFFNESS METHOD

The superposition of displacement in matrix form can be written as follows:

d TD

d Nx ' C x C y 0 0 0 0 DNx
d
Ny ' C y C x 0 0 0 0 DNy
d ' 0 0 1 0 0 0 DNz
Nz

d Fx' 0 0 0 Cx Cy 0 DFx
d ' 0 0 0 C y Cx 0 DFy
Fy

d Fz' 0 0 0 0 0 1 DFz

Where T is referred to as the displacement transformation matrix

1

Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

Force transformation matrix

QNx C x C y 0 0 0 0 q Nx '
Q C q
Ny y C x 0 0 0 0 Ny '
QNz 0 0 1 0 0 0 qNz '
q
QFx 0 0 0 Cx C y 0 Fx'
QFy 0 0 0 Cy Cx 0 qFy'

QFz 0 0 0 0 0 1 qFz'
Frame-member global stiffness matrix

q k ' TD qo
Q T T k'TD Qo
Q kD Where k = TTkT
Chapter 2 : Stiffness Method Topic 2.2 : Plane Frame Analysis

The global stiffness matrix for the member

AE 2 12EI 2 AE 12EI 6EI AE 2 12EI 2 AE 12EI 6EI

L C x C y C x C y C y C x C y 3 C x C y Cy
L
3 3 2 3
L L L L L L L L2
AE 12EI C C AE 2 12EI 2
C y 3 Cx 2 Cx
6EI AE 12EI
3 C x C y
AE 2 12EI 2
Cy 3 Cx
6EI
2 Cx
L L
3 x y
L L L L L L L L
6EI 6EI 4EI 6EI 6EI 2EI
2 Cy 2 Cx C y Cx
k L
2 2
L L L L L
AE 2 12EI 2 AE 12EI 6EI AE 2 12EI 2 AE 12EI 6EI

L C x C y C x C y C y C x C y 3 C x C y 2 Cy

L 3
L L 3
L 2
L L 3
L L L

AE 12EI C C AE C2 12EI C2 6EI C AE 12EI
3 C x C y
AE 2 12EI 2
Cy 3 Cx
6EI
2 Cx
L L
3 x y
L
y
L 3 x
L 2 x
L L L L L
6EI 6EI 2EI 6EI 6EI 4EI
2 Cy 2 Cx 2 Cy 2 Cx
L L L L L L
Member end forces, q

q k 'TD qo
1

Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

Example 5 :
A rigid-jointed frame ABC is subjected to moment and horizontal load at B as shown in Figure Q5. Support A
rotates in counterclockwise direction by 80/EI. All the members have the following properties:
EI = 50,000 kNm2
EA = 1600,000 kN

a) Sketch and identify the degrees of freedom in the frame (2 marks)

b) Construct the element stiffness matrices for all members in global coordinates (10 marks)
c) Determine the rotation at B and the moment reaction at C. (13 marks)

45 kNm
60 kN C
B 2 Solution :

1
6m Figure Q5

4m
Chapter 2 : Stiffness Method Topic 2.2: Plane Frame Analysis

Solution: Question 5 (a)

Kinematic Indeterminacy
2 8
If consider effects of axial loads qNx. qFx,
3
45kNm 9 shear loads qNy, qFy and bending
moment qNz, qFz
1 7
60kN B 2 C
d.o.f = 3 The code numbers are specified with
d.o.f = 0
numbers assigned first to the
unconstrained degrees of freedom.

1
Degree of freedom is 3
Support A rotates in
counterclockwise
direction by 80/EI
5

6
A 4

d.o.f = 0
Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

Question 5 (b)
Chapter 2 : Stiffness Method Topic 2.2 : Plane Frame Analysis

Element stiffness matrices for all members

Member 1, Length = 6m Member 2, Length = 4m

Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis
Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

Structure Stiffness Equation

Q kD
1 2 3 4 5 6 7 8 9

-60 402.8 0 8.3 -2.78 0 8.3 -400 0 0 D1 0 1

0 0 276.4 18.8 0 -267 0 0 -9.4 18.8 D2 0 2

-45 8.3 18.8 83.3 8.3 0 16.7 0 -18.8 25.0 D3 0 3

Q4 -2.78 0 8.3 2.78 0 8.3 0 0 0 0 0 4

Q5 =103 0 -267 0 0 267 0 0 0 0 0 + 0 5

Q6 8.3 0 16.7 8.3 0 33.3 0 0 0 1.6x10-3 0 6

Q7 -400 0 0 0 0 0 400 0 0 0 0 7

Q8 0 -9.4 -18.8 0 0 0 0 9.4 -18.8 0 0 8

Q9 0 18.8 25.0 0 0 0 0 -18.8 50.0 0 0 9

Chapter 2: Stiffness Method Topic 2.2 : Plane Frame Analysis

Question 5 (c): Determine the rotation at B and the moment reaction at C

83.3

-1.6425 x 10-4 m
5.8344 x 10-5 m
-8.5779 x 10-4 rad

The rotation at B, D3 = -8.5779 x 10-4 rad

Chapter 2 : Stiffness Method Topic 2.2: Plane Frame Analysis

Support Reaction
Q4 -2.78 0 8.3 8.3 0
-1.6425x 10-4
Q5 0 -267 0 0 0

Q6 8.3 0 16.7 33.3 1.6x10-3 0

= 103 5.8344x 10-5 + 103 +
Q7 -400 0 0 0 0

Q8 0 -9.4 -18.8 0 0
-8.5779x 10-4
Q9 0 18.8 25.0 0 0

Q4 6.62kN
Q5 -15.58kN
Q6 37.59kNm The moment reaction at C,
=
Q7 65.70kN Q9 = -20.35 kNm
Q8 15.58kN
Q9 -20.35kNm
Chapter 2: Stiffness Method Topic 2.0 : Learning Outcomes

Learning Outcomes Week 4

This topic is designed to assess student
abilitys on:
Able to derive the composite-member
stiffness matrix.

Able to obtain the member end force

vectors due to intermediate loading.

Able to establish the composite structure

stiffness equations.

Able to solve the non-zero nodal

displacements, and hence the support
reactions and member end forces.

(CO2PO5)
Chapter 2: Stiffness Method Topic 2.3 : Composite structures

Exercise :
Figure Q6 shows a beam AB which is supported using two tie rods. Determine the force in each of
these rods and the moment at support A. Neglect axial compression and shear in the beam.

For the beam, I = 200 x 106 mm4, and for each tie rod, A = 100 mm2.
Take E = 200 GPa.

Figure Q6