Engineering Structures 128 (2016) 161–165

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Engineering Structures
journal homepage: www.elsevier.com/locate/engstruct

Torsion equations for lateral buckling

Nicholas Trahair
Emeritus Professor of Civil Engineering, The University of Sydney, Sydney, NSW 2006, Australia

a r t i c l e i n f o a b s t r a c t

Article history: A torsion differential equation previously used for analysing the elastic lateral buckling of simply sup-
Received 7 July 2016 ported doubly symmetric beams with distributed loads acting away from the centroidal axis omits an
Revised 12 September 2016 expected term and includes an unexpected term. A different equation is derived by two different meth-
Accepted 19 September 2016
ods, either by using the calculus of variations with the second variation of the total potential, or by con-
sidering the equilibrium of the deflected and twisted beam.
Four different methods are used to find solutions for the elastic buckling of beams with uniformly dis-
Keywords:
tributed loads. Two of these solve the differential equations numerically, either by using a computer pro-
Beam
Buckling
gram based on the method of finite integrals, or by making hand calculations with a single term
Differential equation approximation of the buckled shape. These methods produce different solutions for the two torsion dif-
Distributed load ferential equations.
Elasticity The two other methods used are based on the energy equation for lateral buckling. The first of these
Torsion uses hand calculations and a limited series for the buckled shape, while the second uses a finite element
computer program based on cubic deformation fields. Both of these produce solutions which agree clo-
sely with the finite integral and approximate solutions for the different differential equation derived in
this paper, but are markedly different from the solutions for the previously used equation.
It is concluded that the previously used torsion differential equation is in error.
Ó 2016 Elsevier Ltd. All rights reserved.

1. Introduction Eq. (1) omits an expected term of the type qyq/ and includes an
unexpected term - VYyqd//dz. It is asserted that Eq. (1) is incorrect.
The differential equation for the variation of the twist rotation / The purpose of this paper is to show how the correct torsion differ-
along the z centroidal axis of a doubly symmetric I-beam loaded in ential equation can be derived and to compare its predictions with
the YZ principal plane is reported in [1] as being those of Eq. (1).
4 2
d / d / d/ M 2X
EIw 4

GJ 2

V Y yq
/¼0 ð1Þ 2. Derivation of torsion differential equation
dz dz dz EIy
in which E, G are the elastic moduli, Iy, J, and Iw are the second 2.1. Calculus of variations
moment of area about the y axis, the torsion section constant, and
the warping section constant, VY and MX are the internal shear The calculus of variations can be used to derive the torsion dif-
and moment stress resultants, and yq is the distance below the cen- ferential equation from the energy equation for lateral buckling.
troidal axis at which a distributed load q acts. For a simply sup- The energy equation for doubly symmetric sections with dis-
ported beam under uniformly distributed load q (Fig. 1) tributed loads only is [2,3]
Z L
2
M x ¼ qL8 4ðLz
Lz2 Þ
2
1 2 1
ð2Þ d UT ¼ fEIy u002 þ GJ/02 þ EIw /002 þ 2M X u00 / þ qyq /2 gdz

 2 2 0
V Y ¼ qL 1
2zL ¼ dM X
2 dz
¼0 ð3Þ
in which UT is the total potential, L is the length, u is the lateral dis-
placement, and ‘d/dz. According to the calculus of variations, the
functions u, / which make

E-mail address: N.Trahair@civil.usyd.edu.au

http://dx.doi.org/10.1016/j.engstruct.2016.09.039
0141-0296/Ó 2016 Elsevier Ltd. All rights reserved.
162 N. Trahair / Engineering Structures 128 (2016) 161–165

Nomenclature

a parameter in buckled shape [N] integrating matrix

A1–4 constants of integration {NNL}T last line of [N][N]
dw web depth {NNNNL}T
E Young’s modulus of elasticity last line of [N][N][N][N]
F function Py column elastic buckling load
G shear modulus of elasticity q intensity of distributed load
h interval = L/n [T] total torsional stiffness matrix
Iy minor axis second moment of area u lateral deflection parallel to X direction
Iw warping section constant UT total potential
[I1–4] finite integral matrices VY shear
J uniform torsion section constant x, y local principal axes of the cross section
L length X, Y, Z fixed global axes
MX bending moment yq distance of load below centroidal axis
Myq maximum moment at elastic buckling z buckled centroidal axis
Myz uniform bending elastic buckling moment [z1,2,3] diagonal matrices of values of z, z2, z3
Mz torque about displaced and rotated z axis / angle of twist rotation
MZ moment about fixed Z axis
M0 value of Myq for yq = 0
n number of intervals

2.2. Equilibrium of the twisted beam

L
The torsion differential equation can also be obtained by con-
Z sidering the equilibrium of the applied loads in the buckled posi-
tion shown in Fig. 2. The solid line shows the projection on the
yq XZ plane of the buckled centre line z of the beam, while the dashed
line shows the projection of the buckled line at yq through which
the distributed load q acts.
qL/ 2 qL/ 2
For overall equilibrium, the LH end reactions consist of the ver-
RL
q tical force qL/2 and the torque 0 qðu
yq /Þdz=2 about the fixed Z
axis shown in Fig. 2. The global reactants of these reactions and
the distributed load q at a distance z from the LH end are MX, VY
Y (=MX0 ) and

Fig. 1. Simply supported beam. Z L Z z

MZ ¼ qðu
yq /Þdz=2
ðqðu
yq /Þdz ð9Þ
Z 0 0
1 2
d UT ¼ Fðz; u00 ; /; /0 ; /00 Þdz ð4Þ
2 acting about the fixed Z axis. The moment resultant of these acting
about the rotated x axis is
stationary satisfy the equations
Mx ¼ M X / ¼
EIy u00 ð10Þ
2
@F
d
dz2 @u
00 ¼0
2
ð5Þ and the torque resultant of these acting about the displaced and
@F d @F @F
@/

dz @/0
þ dzd 2 @/00
¼0 rotated z axis is
This leads to [4]
Mz ¼ M Z þ MX u0
V Y u
Z L Z z
ðEIy u00 Þ00 þ ðM X /Þ00 ¼ 0 ¼ qðu
yq /Þdz=2
qðu
yq /Þdz þ M X u0
M0X u ð11Þ
00 0 ð6Þ
ðEIw /00 Þ
ðGJ/0 Þ þ qyq / þ M X u00 ¼ 0 0 0

This torque is resisted by the uniform torsion and the warping

For beams with end twist rotation prevented, the first of Eq. (6)
rigidities, so that
can be integrated to

GJ/0
EIw /000 ¼ M z

EIy u00 þ M X / ¼ 0 ð7Þ Z L Z z

Substituting this into the second of Eq. (6) leads to ¼ qðu
yq /Þdz=2
qðu
yq /Þdz
0 0

þ M X u0
M0X u ð12Þ
00 0
ðEIw /00 Þ
ðGJ/0 Þ
ðM2X =EIy
qyq Þ/ ¼ 0 ð8Þ
Differentiating this equation, substituting Eq. (10), and using
This torsion differential equation includes the qyq/ term miss- M00X =
q leads to the uniform beam version of Eq. (8). Beulen [5]
ing from Eq. (1) and omits the unexpected
V Y yq d/=dz term. has reported a derivation of this version.
 N. Trahair / Engineering Structures 128 (2016) 161–165 163

z
Mx
L
∫0 q(u − y qφ )dz / 2 qL/ 2 Vy
MZ Z
q
du/dz u

X yq φ

Mz z
Fig. 2. Equilibrium of buckled beam.

3. Solutions Py ¼ p2 EIy =L2

qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð13Þ
3.1. Solution by finite integrals
Myz ¼ Py ðGJ þ p2 EIw =L2 Þ

Eqs. (1) and (8) may be solved numerically by the method of
finite integrals [6,7], as explained in the Appendix. The data used
for an example are E = 2E5 N/mm2, G = 76,923 N/mm2, Iy = 2281-
E5 mm4, J = 512E4 mm4, Iw = 64877E8 mm6, dw = 337.3 mm, and
p
L = 5000 mm, in which dw = 2 (Iw/Iy) is the distance between
flange centroids. Finite integral solutions are given in Fig. 3 for
the variation of the dimensionless elastic buckling moment Myq/
M0 with the dimensionless load distance yqPy/Myz in which M0 is
the value of Myq for yq = 0 and
3.2. Finite element solutions
Finite element solutions for the dimensionless elastic buckling
moments have been obtained by using the computer program
PRFELB [3,8,9], and are shown in Fig. 3. They are in very close
agreement with the finite integral solutions of Eq. (8), but differ
markedly from the finite integral solutions of Eq. (1).
3.3. Timoshenko’s solutions

Timoshenko and Gere [2] determined approximate solutions for

simply supported beams with uniformly distributed load by using

Finite integral solutions Finite element / ¼ sin pz=L þ a sin 3pz=L ð14Þ
Equation 1 Timoshenko [2] in the energy equation (Eq. (3)) and minimising with respect to the
Equation 8 φ = sin π z/L undetermined parameter a. The solutions shown in Fig. 3 are in very
close agreement with the finite integral solutions of Eq. (8), but dif-
2.5
fer markedly from the finite integral solutions of Eq. (1).

3.4. Approximate solutions

Approximate solutions of the torsion equations may be made by

2.0
substituting / = sin pz/L and integrating each term over the beam
length L. Thus for Eq. (1),
Z
Value of Myq /M0

L n   o
EIw /0000
GJ/00
V y yq /0
M 2x =EIy / dz ¼ 0 ð15Þ
0
1.5
leads to
   2
4yq Py M yq 32ð12
p2 Þ M yq
1þ
¼0 ð16Þ
p2 Myz Myz p4 M yz
1.0 which can be solved for values of (Myq/Myz) for given values of yqPy/
Myz. These solutions have been used to determine the values of Myq/
M0 shown in Fig. 3. These values are quite close to the finite integral
solutions of Eq. (1) shown in Fig. 3 but very different from the val-
ues obtained for Eq. (8). More accurate solutions could be obtained
0.5 by using Eq. (14) and finding the values of the parameter a which
minimise the solutions, in much the same way as did Timoshenko
and Gere [2] for their energy method solutions.
Using the same method for Eq. (8) leads to
   2
0 8yq Py M yq 32ð12
p2 Þ M yq
1þ
¼0 ð17Þ
−2 −1 0 1 2
p2 Myz Myz p4 M yz
Value of yq Py /M yz

Fig. 3. Solutions of differential equations.

164 N. Trahair / Engineering Structures 128 (2016) 161–165

The solutions of this have been used to determine the values of markedly different from the solutions for the previously used
Myq/M0 shown in Fig. 3. These values are reasonably close to the equation.
finite integral solutions of Eq. (8) shown in Fig. 3, but very different It is concluded that the previously used torsion differential
from the values obtained for Eq. (1). The reason for this can be seen equation is in error.
to be the change of the value of 4 in Eq. (16) to 8 in Eq. (17), which
suggests that Eq. (1) underestimates the significance of the load Appendix A. Finite integrals
distance yq by a factor of 2.
In the method of finite integrals [7], a differential equation is
replaced by a set of simultaneous equations which represent the
4. Discussion
differential equation at each of a number of points along a beam,
as in the method of finite differences. However, the unknowns in
The two Eqs. (1) and (8) differ by the inclusion of an unexpected
these equations are the highest order differential operators at the
term - VYyq/0 in Eq. (1) and the omission of an expected term qyq/.
points, instead of the lowest order as in the method of finite differ-
Reference 1 includes an argument for the inclusion of the unex-
ences. This allows the use of integration which is more accurate
pected term based on an unsubstantiated assumption that the
than differentiation, leading to faster convergence or more accu-
additional torque acting about the rotated centroidal axis is equal
rate solutions. In addition, the boundary conditions are treated
to - VYyq/. This is equivalent to the assumption that the internal
naturally using the constants of integration, and no fictitious points
shear VY may be treated as a vertical external force that displaces
are required.
laterally as the beam deflects and twists.
The terms of Eq. (1) may be represented by using
In general, it can be expected that the two Eqs. (1) and (8) will
R z 0000
lead to different solutions for elastic buckling. The significant dif- /000 ¼ 0
/ dz þ A1
ferences for simply supported beams with uniformly distributed R z Rz
/00 ¼ 0 0 /0000 dzdz þ A1 z þ A2
loads are demonstrated in Fig. 3. The comparison of Eqs. (16) and Rz Rz Rz
(17) suggests that in this case Eq. (1) underestimates the impor- /0 ¼ 0 0 0 /0000 dzdzdz þ A1 z2 =2 þ A2 z þ A3
R z R z R z R z 0000
tance of load height by a factor of 2, so that correct solutions might / ¼ 0 0 0 0 / dzdzdzdz þ A1 z3 =6 þ A2 z2 =2 þ A3 z þ A4
be obtained by changing - VYyqd//dz in Eq. (1) to - 2VYyqd//dz, but ðA-1Þ
there is no rational justification for such a change.
It is probable that Eq. (1) will lead to incorrect solutions when in which
there is a second component of the shear force VY which is unre-
A1 ¼ ð/000 Þ0
lated to distributed load q. For example, consider a case where
the beam of Fig. 1 has an external anticlockwise moment M acting A2 ¼ ð/00 Þ0
ðA-2Þ
at the LH end, so that the shear force is A3 ¼ ð/0 Þ0
  A4 ¼ ð/Þ0
qL 2z M
VY ¼ 1
þ ð18Þ Boundary conditions of (/)0 = 0 and (/00 )0 = 0 require A4 = A2 = 0.
2 L L
Boundary conditions of (/)L = 0 and (/00 )L = 0 require
If q is very small, then VY = M/L approximately, but the term VY yqd// RL R z R z R z
A3 L ¼
/0000 dzdzdzdz
A1 L3 =6
dz incorrectly attributes the load height yq to acting in association 0
RL R z
0 0 0
ðA-3Þ
0000
with M. A1 L ¼
0 0
/ dzdz
If the beam is divided into an even number n of equal intervals
5. Conclusions by n + 1 equally spaced nodes, then each continuous integral may
be replaced by combinations of the values of the integrand at the
A torsion differential equation previously used [1] for analysing nodes, such as
the elastic lateral buckling of simply supported doubly symmetric Z z
I-beams with distributed loads acting away from the centroidal /000 dz ¼ ðh=12Þ½Nf/0000 g ðA-4Þ
0
axis omits an expected term and includes an unexpected term. A
different equation which includes the expected term and omits in which h = L/n is the interval length and [N] is the integration
the unexpected term is derived in this paper by two different matrix
methods. The first method uses the calculus of variations with 2 3
0 0 0 0 0 0 :
the second variation of the total potential, while the second 65
method considers the equilibrium of the deflected and twisted 6 8
1 0 0 077:
6 7
beam. 64 16 4 0 0 : 07
6 7
6 7
A number of different methods are used to find solutions for the ½N ¼ 6 4 16 9 8
1 : 07 ðA-5Þ
6 7
elastic buckling of beams with uniformly distributed loads. Two of 64 16 8 16 4 : 07
6 7
these solve the torsion differential equations numerically. The first 6 7
4: : : : : : : 5
method uses a computer program based on finite integrals [7],
while the second uses hand calculations with a single term approx- 4 16 8 16 8 16 4
imation of the buckled shape. These methods produce different which is based on fitting a series of parabolas to the integrand.
solutions for the two torsion differential equations. Thus Eq. (1) is replaced by
Two other methods used are based on the energy equation for
lateral buckling. The first of these by Timoshenko and Gere [2] uses ½Tf/0000 g ¼ f0g ðA-6Þ
hand calculations and a limited series for the buckled shape, while in which
the second uses a finite element computer program [8,9] based on  
cubic deformation fields [3]. Both of these produce solutions which ½T ¼ EIw ½I0 
GJ½I2 
V y yq ½I3 
M 2x =EIy ½I4  ðA-7Þ
agree closely with the finite integral and approximate solutions for
the different differential equation derived in this paper, but are In this equation, [I0] is a unit matrix and
 N. Trahair / Engineering Structures 128 (2016) 161–165 165

2
½I2  ¼ ðh=12Þ ½N½N þ A1 ½z1  References
3
½I3  ¼ ðh=12Þ ½N½N½N þ A1 ½z2 =2 þ A3 ½I0  ðA-8Þ
[1] Lamb AW, Eamon CD. Load height and moment factors for doubly symmetric
4
½I4  ¼ ðh=12Þ ½N½N½N½N þ A1 ½z3 =6 þ A3 ½z1  wide flange beams. J Struct Eng, ASCE 2015;141(12).
[2] Timoshenko SP, Gere JM. Theory of elastic stability. New York: McGraw-Hill;
in which [z1], [z2], and [z3] are diagonal matrices with the appropri- 1961.
[3] Trahair NS. Flexural-torsional buckling of structures. London: E & FN Spon;
ate values of z, z2, and z3, and 1993.
[4] Bazant ZP, Cedolin L. Stability of structures. New York: Oxford University Press;
A1 ¼
ðh=12Þ fNNL gT f/0000 g=L
2
1991.
ðA-9Þ
A3 ¼
ðh=12Þ fNNNNL gT f/0000 g=L
A1 L2 =6 [5] Beulen CP. Statik und Stabilität der Baukostruktionen: Elasto- und plasto-stat.
4
Berechnungsverfahren druckbeanspruchter Tragwerke; Nachweisformen gegen
Knicken Kippen. Wiesbaden: Braunschweig; 1980.
in which {NNL}T and {NNNNL}T are the last lines of [N][N] and [N][N]
[6] Trahair NS. Elastic stability of propped cantilevers. Civ Eng Trans, Inst Eng, Aust
[N][N] respectively. 1968;CE10(1):94–100.
Similar replacements are made for Eq. (8). [7] Brown PT, Trahair NS. Finite integral solution of differential equations. Civ Eng
Trans, Inst Eng, Aust 1968;CE10(2):193–6.
The elastic buckling loads may be determined by finding the
[8] Hancock GJ, Trahair NS. Finite element analysis of the lateral buckling of
values which satisfy continuously restrained beam-columns. Civ Eng Trans, Inst Eng, Aust 1978;
CE20(2):120–7.
jTj ¼ 0 ðA-10Þ [9] Papangelis JP, Trahair NS, Hancock GJ. Computer analysis of elastic flexural-
torsional buckling. J Singapore Struct Steel Soc 1993;4(1):59–67.
Because Eq. (A-6) is quadratic in the load, an iterative process
will be required for this.