24

Stability Of
Structures:
Discrete Models

241
Lecture 24: STABILITY OF STRUCTURES: DISCRETE MODELS

TABLE OF CONTENTS

Page
24.1 Introduction . . . . . . . . . . . . . . . . . . . . . 243
24.2 Example 1: A Cantilevered Two-Strut Column . . . . . . . . 243
24.2.1 Equilibrium Analysis . . . . . . . . . . . . . . . 243
24.2.2 Critical Loads . . . . . . . . . . . . . . . . . 245
24.2.3 Buckling Mode Shapes . . . . . . . . . . . . . . 245
24.3 Example 2: A Pinned-Pinned Three-Strut Column . . . . . . . 246
24.3.1 Equilibrium Analysis . . . . . . . . . . . . . . . 246
24.3.2 Critical Loads . . . . . . . . . . . . . . . . . 247
24.3.3 Buckling Mode Shapes . . . . . . . . . . . . . . 248
24.4 Example 3: Strut Propped by Inclined Springs . . . . . . . . 248
24.4.1 Equilibrium Analysis . . . . . . . . . . . . . . . 249
24.4.2 Critical Load . . . . . . . . . . . . . . . . . 249
24.4.3 Optimal Rise Angle . . . . . . . . . . . . . . . 2410

242
 24.2 EXAMPLE 1: A CANTILEVERED TWO-STRUT COLUMN

24.1. Introduction

This Lecture describes the formulation determination of critical loads of a discrete structrural system
by the LPB approach as a matrix algebraic eigenproblem. For a system with n degrees of freedom
(DOF), the eigensystem fits the following form

Ax = Bx (24.1)

Here A and B are square matrices of order n, the n eigenvalues i are the critical load factors, and
the eigenvectors xi are the associated buckling shapes. Generally only the smallest eigenvalue,
which will be denoted by 1 , will be of interest for engineering design.
Matrices A and B may be obtained by either equilibrium analysis, or by energy methods, as
discussed in the preceding Lecture. If the equilibrium approach is used, the matrices A and B are
not necessarily symmetric, but may be symmetrized if necessary. If the energy metod is used, the
symmetry of both matrices is guaranteed from the start.
In this course we will cover only the equilibrium method, which is based on doing Free Body
Diagrams (FBD) on a slightly perturbed configuration. This technique is illustrated through several
examples. In all cases the system is a column consisting of one or more rigid links (called struts
by structural engineers) linked at joints, and stabilized by extensional or torsional springs.
In the following three examples, the load factor that gives the applied load P = Pr e f is not
explicitly used. Instead P is used directly. This is equivalent to taking Pr e f = 1, since if so P .

24.2. Example 1: A Cantilevered Two-Strut Column

The problem investigated here in detail is the buckling of the two-hinged-cantilever column depicted
in Figure 24.1(a).1 Rigid links of equal length L/2 are connected at the joints A, B and at the bottom
C by frictionless hinges. The column is propped by two extensional springs attached at A and B
with the stiffnesses shown in the figure.
Data: Length L and spring stiffness k. Required: Set up the stability equations as a matrix
eigenproblem, find critical loads in terms of the data and display buckling shapes as separate
diagrams.
Draw an arbitrary, but admissible2 buckling shape as in Figure 24.1(b). This shape is completely
defined by the two lateral deflections v A and v B of points A and B, respectively, positive to the
right. Note: The deflections are highly exaggerated in the figure for visibility; they are actually
infinitesimally small.
24.2.1. Equilibrium Analysis
Figure 24.2(c1,c2,c3) shows free body diagrams (FBD) of links AB, BC and of the whole column
ABC, respectively. To facilitate visualization applied forces are pictured in black, spring forces in
blue, whereas internal reactions are shown in red.

1 Adapted from E. P. Popov, Engineering Mechanics of Solids, Prentice Hall, 2nd ed., 1999.
2 Admissible in the sense stated in Table 23.2 of the previous Lecture. That is, the assumed buckling shape must satisfy
all kinematic compatibility and boundary conditions.

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Lecture 24: STABILITY OF STRUCTURES: DISCRETE MODELS

(a) (b) vA
P
k
A A'
A

L/2 v deflections
+ to the right

rigid
vB
3k/2 B
L B B'
deflections
L/2

rigid
highly exaggerated
for visibility 2 DOF: vA , vB
C C

Figure 24.1. Cantilevered two-strut column. (a): structure; (b): deflected shape defined by two DOF v A and v B ;

P
vA P
A vA
A' FA A
FBD of (c1) A' FA
link AB Applied forces (c3)
in black, spring
vB forces in blue,
FA +FB B FB reactions in red vB
B' B FB
P P B'
(c2) vB FA +FB
B B' FBD of whole
column
FA +FB
FBD of C
link BC
FA +FB Restoring spring P
C forces + to the left
P Note split of
FA= k vA , FB = 3k vB /2 spring force at B

Figure 24.2. Cantilevered two-strut column. (c1,c2,c3): FBDs of link AB, link BC and whole column,
respectively. FBD color convention: applied forces in black, spring foces in blue, reactions in red.

The lateral deflections: v A and v B , are taken as independent degrees of freedom (DOF). Conse-
quently, two equilibrium equations from FBD are required. Three combinations of two FBD are
possible:
(c1-c2) Strut AB and strut BC
(c1-c3) Strut AB and whole column ABC
(c2-c3) Strut BC and whole column ABC
Now in all FBD translational force equilibrium holds identically by construction see Figure 24.2.

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 24.2 EXAMPLE 1: A CANTILEVERED TWO-STRUT COLUMN

On the other hand, the remaining moment equilibrium conditions become part of the stability
equations. Since the three FBDs are linearly dependent [for example, merging (c1) and (c2) yields
(c3)], the results of the stability analysis will be the same if done correctly. On the other hand, the
stability matrix equations will be different. For the ensuing derivations we pick (c1) and (c3).
For link AB, taking moments with respect to the displaced hinge point B, positive CW, gives

M B  = P(v A v B ) FA ( 12 L) = P(v A v B ) 12 Lkv A = 0. (24.2)

For the whole column ABC, taking moments with respect to the hinge C, positive CW, gives

MC = Pv A FA L FB ( 12 L) = Pv A k Lv A 32 k( 12 L)v B = 0. (24.3)

24.2.2. Critical Loads

Combining (24.2) and (24.3) in a matrix equation gives the stability equation
    
P 12 k L P vA 0
= , or Av = 0. (24.4)
P kL 34 k L vB 0

Matrix A is called the stability matrix or characteristic matrix. The system (24.4) has two kinds of
solutions. The trivial solution v = 0, or v A = v B = 0, corresponds to the undeflected (vertical)
column, which holds for any P. To find the critical loads we must have v = 0, that is, at least
one of the {v A , v B } must be nonzero. Consequently A must be singular or, equivalently, have zero
determinant. Since the entries of A depend on P, this is an algebraic eigenproblem in P.
The eigenvalues are the solution of the characteristic equation, which is obtained by setting the
determinant of A to zero:

det(A) = 0, or P 2 74 k L P + 38 k 2 L 2 = 0. (24.5)

Solving this quadratic equation for P gives the two critical loads:

Pcr 1 = 14 k L = 0.25 k L , Pcr 2 = 32 k L = 1.50 k L . (24.6)

The smallest one is the critical load:

Pcr = Pcr 1 = 14 k L = 0.25 k L . (24.7)

24.2.3. Buckling Mode Shapes

Replacing Pcr 1 into (24.4) gives the following equation to determine the eigenvector v1 :
        
kL 3 3 v A1 0 v A1 1
= v1 = = c1 (24.8)
4 1 1 v B1 0 v B1 1

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Lecture 24: STABILITY OF STRUCTURES: DISCRETE MODELS

Pcr = Pcr1 = 0.25 kL Pcr2 = 1.50 kL

1 1
A' A'

B' 1 2/3
B'

Figure 24.3. Buckling mode shapes for the cantilevered two-strut column.

in which c1 is an arbitrary nonzero scaling factor.

Likewise, replacing Pcr 2 into (24.4) gives the following equation to determine the eigenvector v2 :
        
k L 2 3 v A2 0 v A2 3/2
= v2 = = c2 (24.9)
4 4 6 v B2 0 v B2 1

in which c2 is an arbitrary nonzero scaling factor.

A common normalization condition for eigenvectors is to make their largest component equal to
+1. This is done for (24.8) and (24.9) by taking c1 = 1 or c1 = 1 (either one works), and
c2 = 2/3, respectively. The two eigenvectors normalized as per that criterion are
   
1 1
v1 = for Pcr 1 , v2 = for Pcr 2 . (24.10)
1 2/3

The buckling shapes defined by (24.10) are plotted in Figure 24.3.

24.3. Example 2: A Pinned-Pinned Three-Strut Column

This is a slight varint of one treated in Jennings (op. cit. in footnote 1). Figure 24.4(a) shows an
axially loaded column built with three rigid struts of equal length. The struts are pinned at the
joints. It is stabilized by two extensional spring of stiffness k working as elastic supports at the
internal joints B and C. Determine the critical loads of this configuration by linearized equilibrium
analysis.
24.3.1. Equilibrium Analysis
Figure 24.4(b) depicts how the structure might realistically displace upon buckling. Because the
struts are rigid and cannot change length, joints A, B and C will necessarily move downward while
the springs tilt. Such a configuration would be correct for geometrically exact analysis.
The linearized version, which assumed infinitesimal displacements, is shown in Figure 24.4(c).
Here B and C move horizontally by v B and v D , respectively, whereas A does not move at all.
The horizontal reactions R A and R D shown in Figure 24.4(c) are obtained in terms of FB and FD
by statics on taking moments with respect to D and A, respectively, in the linearized deformed
configuration.

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 24.3 EXAMPLE 2: A PINNED-PINNED THREE-STRUT COLUMN

(a) P (b) P>Pcr (c) P

A A' A
vB
(1/3) (2FB +FC ) =

rigid
L/3 (1/3) k (2vB +vC )
k
B FB = k vB
B' B'
v deflections vC

rigid
L/3 + to the right
P
k
C FC = k vC
rigid C' C'

L/3 (1/3) (FB +2FC ) =

(1/3) k (vB +2vC )
D D D
P

Figure 24.4. Stability analysis of three-strut column propped by extensional springs: (a) reference
configuration; (b) admissible buckled shape showing realistic geometry change (struts do not change length);
(c) linearized configuration: B and C displace by small horizontal movements whereas A stays fixed.

The two FBDs used to form the stability equations are shown in Figure 24.5. We take moments
with respect to C in the left FBD and with respect to B in the right FBD:
 L 2L  L 2L
MC  = P vC FB + R A = 0, M B  = P v B FC + R D = 0. (24.11)
3 3 3 3
24.3.2. Critical Loads
Substituting R A = (2FB + FC )/3, R D = (FB + 2FC )/3, FB = k v B and FC = k vC , and casting
(24.11) in matrix form we obtain the stability equations
    
kL 2 1 vB vB
=P , (24.12)
9 1 2 vC vc
This is a 2 2 matrix eigenproblem with P as the eigenvariable. The characteristic equation is
    
kL 2 1 1 0 k2 L 2 4k P L
C(P) = det P = + P 2. (24.13)
9 1 2 0 1 27 9
This is a quadratic polynomial in P. The two roots of C(P) = 0 give the critical loads:

kL kL
Pcr 1 = , Pcr 2 = . (24.14)
9 3
An alternative eigenvalue problem is obtained on premultiplying by the inverse of the LHS matrix
in (24.12). This gives     
3P 2 1 vB vB
= , (24.15)
k L 1 2 vc vC

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Lecture 24: STABILITY OF STRUCTURES: DISCRETE MODELS

vB
P P
A FB = k vB
B'
vB
RA = (1/3) (2FB +FC ) vC
= (1/3) k (2vB +vC )

FB = k vB FC = k vC
B' C'
vC
RD = (1/3) (FB +2FC )
= (1/3) k (vB +2vC )
FC = k vC D
C'
P P

Figure 24.5. Free Body Diagrams for the 3-strut column of Figure 24.4.

Pcr1 = kL/9 Pcr2 = kL/3

A A
Buckling mode #1 Buckling mode #2
(antisymmetric) (symmetric)

B 1 B 1

1 C C 1

D D

Figure 24.6. Critical loads and buckling mode shapes for the 3-strut column of Figure 24.4.

an eigenproblem which gives the same critical loads (24.14). This is the form derived by Jennings
(except for scale factors)

24.3.3. Buckling Mode Shapes

The eigenvectors corresponding to the critical loads (24.14), normalized to 1 as largest entry, are
   
1 1
v1 = , v2 = . (24.16)
1 1

These are plotted in Figure 24.6. Note that the mode shape corresponding to the lowest critical
load, Pcr 1 = k L/9, is antisymmetric. This is in sharp contrast to the Euler column buckling treated
in Lecture 25, which buckles symmetrically.

248
 24.4 EXAMPLE 3: STRUT PROPPED BY INCLINED SPRINGS

AC

(a)
P (b) P
A vA vA (+)
A' (c)
FAC FAD vA (+)
k k
AD

rigid

rigid
L L
90o 90o
C D D
B
C
B

Figure 24.7. Rigid strut propped by two inclined springs.

24.4. Example 3: Strut Propped by Inclined Springs

The rigid column of Figure 24.7(a) is propped by two symmetrically located extensional springs
AC and AD of stiffness k. The spring rise angles with respect to ground are , as indicated. Both
springs can take tension and compression. The structure moves only in the plane of the figure.
Take the lateral displacement v A (positive to the right: ) as only degree of freedom (DOF). Only
the critical load is of interest; thus assume from the start that displacements and rotations are very
small.
24.4.1. Equilibrium Analysis
Displace A by v A , positive to the right. For infinitesimal displacements, spring AC elongates
by v A cos whereas spring AD shortens by the same amount. The resulting spring forces are
FAC = k v A cos along AC (tension if v A > 0) and FAD = FAD along AD (compression if
v A > 0), acting as pictured in Figure 24.7(b,c). Their resultant is a force of magnitude FA =
FAC cos + FAD cos = 2 k v A cos2 , acting horizontally at A in opposition to v A .
Taking moments with respect to B (positive CW) yields the characteristic equation

M B = 0 Pv A FA L = Pv A 2k L cos2 v A = (P 2k L cos2 ) v A = 0. (24.17)

There is no need to put this in matrix form, since the systems has only one DOF.
24.4.2. Critical Load
For buckling v A = 0, so the factor of v A in the characteristic equation (24.17) must vanish. This
gives
Pcr = 2k L cos2 . (24.18)
As a function of , Pcr is maximized for = 0 , as may be expected. But making 0 has two
disadvantages:
1. If springs must be attached to ground level (aligned with the strut base), their length goes to .
2. The spring stiffness k generally drops as the spring length increases.

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Lecture 24: STABILITY OF STRUCTURES: DISCRETE MODELS

So in practice there is an nonzero optimal rise angle, in terms of getting the highest critical load
under constraints on spring fabrication. One case, which gives a best rise of about 35 , is studied
below.
24.4.3. Optimal Rise Angle
Suppose that the propping springs are actually taut cables of elastic modulus E and cross section
area A. The equivalent spring stiffness of each is k E A/L s , in which L s = L/ sin is the
length of each cable. If the rise angle decreases, L s increases and k goes down, counteracting the
beneficial effect of increasing cos2 . Replacing the equivalent k into (24.18) we get

Pcr = 2E A cos2 sin , (24.19)

from which the column height L has disappeared. Maxima and minima of this Pcr with respect to
occur at d Pcr /d = E A cos (cos2 2 sin2 ) = E A cos 3 cos (2) 1 = 0. The smallest
positive root of this equation , which satisfies cos(2) = 1/3 or cos = 2/3, gives the optimal
rise angle

2 4
best = arccos 35.26 Pcr,max = E A 0.7698 E A. (24.20)
3 3 3

2410