Stiffness Matrix Structural

Analysis Educational
Package by Mathcad
R. CEDEÑO-ROSETE
Civil Engineering Department, Universidad de las Ame´ricas Puebla, Puebla, Me´xico

Received 14 October 2004; accepted 8 June 2005

ABSTRACT: This article presents an educational program designed to understand in a

simple form, the stiffness structural analysis theory of two-dimensional framed structures.
The program is written in spreadsheet form using the software Mathcad. Two examples are
presented and they may be used as templates to solve different problems in which some
interaction by the student is expected. This interaction contributes to the comprehension
of the theory and helps the student to learn the theoretical basic concepts in less time. ß 2007
Wiley Periodicals, Inc. Comput Appl Eng Educ 15: 107
113, 2007; Published online in Wiley InterScience
(www.interscience.wiley.com); DOI 10.1002/cae.20063

Keywords: matrix structural analysis; frames; education; computer program; Mathcad

INTRODUCTION quickly a large number of problems with different

The stiffness matrix structural analysis theory has
been a difficult subject to understand by civil
engineering students. The fundamental theory
concepts involved applies to trussed and framed
structures as well as continues structures where the
finite element approach is necessary to use in order to
solve a structural problem.
Many packages has been developed focused in
spreading abilities in students to manage the structural
behavior in different kind of structures by solving
Correspondence to R. Cedeño-Rosete (rafael.cedeno@udlap.mx).
ß 2007 Wiley Periodicals Inc.
load conditions or supports [1
4].
However, students still have problems to under-
stand the matrix structural analysis theory underneath
the structural analysis packages they use. This
article presents a spreadsheet developed in Mathcad
(trademark of MathSoft Engineering & Education,
Inc.) to solve 2D framed structures with the stiffness
matrix method.
Two examples are presented which can serve as
templates to solve other problems. The student must
make a few changes in the spreadsheet in order to
solve a different problem. With this technique, the
user is reviewing and practicing his theoretical
concepts. The main objective is to present a tool
which can contribute to reduce the learning curve of
the stiffness matrix structural analysis theory.

107
108 CEDEÑO-ROSETE

BACKGROUND

A civil engineering student needs to acquire a

very good understanding of structural behavior.
The structural analysis method taught nowadays is
the stiffness matrix method. Some students have
difficulties to grasp the main ideas of the stiffness
method because it is necessary to invest a lot of time
an effort to develop a structural analysis solution for a
specific problem even for a small frame. Using
Mathcad, an educational structural analysis packaged
was developed to solve bidimensional frames with
the stiffness matrix method. In this software, the
student algebraically forms the force vector and
the stiffness matrix of the structure in order to solve Figure 2 Two floor frame.
the proposed problem. The algebraic capabilities of
Mathcad allows to solve the problem in an easy and
straightforward way avoiding hard calculation
and giving a transparent insight of the theoretical
procedure. Using the programmed Mathcad sheets with two-dimensional frames, every node has three
presented in this article, a student can build his own degrees of freedom, two linear and one angular
spreadsheet and use it to solve with a few changes, any displacement. Accordingly, two forces and one
small structural problem in order to gain a deep moment can be applied to each node. The structural
insight to the structural behavior necessary to be stiffness matrix is formed with the stiffness matrix of
successful in dealing with structural problems. each element. The stiffness matrix of a two-dimen-
sional frame element is a 12  12 matrix. However, it
is better to express it as a matrix formed by four
THEORETICAL CONSIDERATIONS submatrices 3  3. Eq. (2) represent the element
stiffness matrix in a local coordinate system such as
In order to solve a structure subjected to the action of the one showed in Figure 1. The letter A represents the
applied forces, it is necessary to solve the algebraic origin of the local coordinate system and the letter B
matrix system of equations stated as: the opposite end.


fFg ¼ ½Kfdg ð1Þ kA kAB
½k ¼ ð2Þ
kBA kB
In this equation, {F} is the force vector applied to the
structure nodes, [K] is the global structure stiffness 2 3
matrix, and {d} is the unknown nodal vector dis- EA 0 0
6 L 7
placement. Most of the work is dedicated to form the 6 12EI 6EI 7
stiffness matrix [K] and solving the Eq. (1). Dealing ½kA  ¼ 6
6
0
L3
7
L2 7 ð2aÞ
4 5
0 6EI 4EI
L2 L

Figure 1 Local coordinate system of a bar. Figure 3 Node and bar numbering.
 STIFFNESS MATRIX STRUCTURAL ANALYSIS 109

(K B1 + K A2 + K A6) K AB2 K AB6 cero cero

K BA2 (K B2 + K A8) cero K AB8 cero

K := K BA6 cero (K B3 + K A4 + K B6 + K A7) K AB4 K AB7

cero K BA8 K BA4 (K B4 + K B8) cero

cero cero K BA7 cero (K B5 + K B7)

Figure 4 Stiffness structure matrix.

2 3 The supports are numbered in sequence after all the

EA
L 0 0 free nodes have been numbered. Figure 3 depicts this
6 12EI 6EI 7
6
½kAB  ¼ 4 0
3 7 ð2bÞ procedure for the structure of Figure 2.
L L2 5
The stiffness matrix of this example consists of
0
6EI 2EI
L
L2 5  5 submatrices each one with a size of 3  3,
being the full matrix size of 15  15.
½kBA  ¼ ½kAB T ð2cÞ Forming this matrix using the global submatrices
kA, kAB, kBA, and kB of each bar is very simple
2 EA 3 following the orientation of each bar. For instance the
L 0 0
60 12EI 7 position row 3, column 3 of the [K] structure matrix, is
½kB  ¼ 6
6EI 7 ð2dÞ
4 L3 L2 5 filled with the matrix kB3 þ kA4 þ kB6 þ kA7. Observ-
0
6EI 4EI
L ing that the bar 6 joints nodes 3 and 1 of the structure
L2
and we go from node B to A of the bar 6 to joint nodes
It is a common practice to form the global structure 3
1, the position row 3, column 1 of the global
[K] matrix adding element by element of each of structure matrix [K] is filled with kBA of bar 6 (kBA6).
the 12  12 global stiffness element matrix in the In the same way, position row 3, column 4 is filled
appropriate position of the structure matrix [5]. In this with kAB4 and position row 2 and column 3 is filled
work, the stiffness structure matrix [K] is assembled with the matrix 0 because there is no bar joining the
using the 3  3 global submatrices kA, kAB, kBA; kB of nodes 2 and 3. In this way, the stiffness matrix of the
each element. This alternative approach results in a structure can be written as it is shown in Figure 4.
more convenient procedure to achieve this objective.

STIFFNESS PROGRAM
EXAMPLE ONE
Mathcad has been chosen by many authors to develop
Figure 2 represents a two-dimensional frame with learning tools due to its useful algebraic capabilities
8 bars, 5 nodes and three fixed supports. The bars have [6]. In the first part of the Mathcad spreadsheet, the
rectangular sections with a modulus of elasticity of user captures some basic information such as material
21,680,000 kN/m2. To apply the stiffness matrix properties, joint coordinates and member incidences.
method to solve the structure shown in Figure 2, it is Then, many functions to obtain the moment of
necessary to follow a few steps. The nodes, bars and inertia, section area, local element stiffness matrix
supports must be numbered and the elements must be
oriented defining an initial extreme A where the origin
of its local coordinate system is assumed and a final
2
extreme B. −P⋅ a ⋅ (L − a)
MB(case , P , L, a) := if case 1
An arrow is drawn in the extreme B to L
2
indicate the position of the local coordinate system. 2
−P⋅ L
if case 2
12
3 P⋅ a
b⋅ h ⋅ [2⋅ (L − a) − a] if case 3
I( b , h ) := A ( b , h ) := b ⋅ h 2
12 L

Figure 5 Section properties functions. Figure 6 Fixed end moment function.

110 CEDEÑO-ROSETE

E⋅ A PA := 0
0 0
L VA := VA(1 , 100, 5 , 2) + VA(2 , 20, 5 , 0)
⋅ ⋅ I 6⋅ E⋅ I
12E
0 M A := MA(1 , 100, 5 , 2) + MA(2 , 20, 5 , 0)
kA(E, A , I , L) := 3 2
L L
PA PB
6⋅ E⋅ I 4⋅ E⋅ I
0 PA6I := VA PB6I := VB
2 L
L MA MB

Figure 7 Stiffness submatrix function.

Figure 9 Fixed end forces in bar 6.

and element transformation matrix were written in
Mathcad. Figure 5 shows two simple functions to
obtain the moment of inertia and section area. In the
same way Figure 6 shows a function to obtain the
fixed end moment in the extreme B of a bar for a three
different types of transverse loads.
Similar functions exist for the extreme A and for
the vertical fixed end forces.
The designed function to obtain the stiffness sub
matrix function kA is shown in Figure 7. Once the area
and moment of inertia are obtained for all the bars
calling the function showed in Figure 5, the values are
collected in two vectors as it is shown in Figure 8. For
every bar with loads the fixed end forces are obtained
using the corresponding functions. Figure 9 shows the
fixed end moment calculated for the extreme A of
beam 6.
The following step is to obtain the stiffness
matrix in a local coordinate system and transform it to
a global coordinates. Figure 10 shows the procedure
for bar number 2. Similar blocks are established for
every bar in the structure.
Forming the force vector and the stiffness
structure matrix is the next step. The force vector is
build adding the end fixed forces for every bar joining
in each node and changing the sign.
The stiffness structure matrix in Figure 4 is then
formed using the intrinsic Mathcad augment and stack
functions. Figure 11 shows the procedure.
With a simple matrix operation the displacement
vector is then determined in Mathcad as it is shown in
Figure 12.
Finally, the end forces for each bar in local
coordinates are calculated. For the bar number 2
which does not have applied loads the solution is
obtained as it is shown in Figure 13. For the bar
number 6 which has intermediate applied loads, the
fixed end moments previously calculated need to be
added to the direct solution and the final end forces are
shown in Figure 14.
Bar 2: n := 2
i := IA j := IB
n n
A := Area I := Iner
n n
xA := xy y A := xy
i, 1 i, 2

xB := xy y B := xy
j, 1 j, 2

yB − yA
A1 I1 (
L := Len xA , xB, y A , y B ) sen :=
L
A2 I2 xB − xA
cos := T2 := T(sen , cos)
L
A3 I3
kA2 := kA(E , A , I , L) kB2 := kB(E, A , I , L)
A4 I4
Area := Iner := kAB2 := kAB(E, A , I , L) kBA2 := kAB2
T
A5 I5

A6 I6 T T
KA2 := T2 ⋅ kA2 ⋅ T2 KB2 := T2 ⋅ kB2⋅ T2
A7 I7
T T
KAB2 := T2 ⋅ kAB2⋅ T2 KBA2 := KAB2
A8 I8
Figure 10 Matrix stiffness element in local and global
Figure 8 Area and moment of inertia. coordinates.
 STIFFNESS MATRIX STRUCTURAL ANALYSIS 111

( )
F := stack −PA6I ,− PA8I ,− PB6I + PA7I ,− PB8I,− PB7I
 
PA6 := PA6 + PA6I PB6 := PB6 + PB6I

 ( )
K1 := augment  KB1 + KA2 + KA6 , KAB2 , KAB6 , cero , cero
 −14 14
PA6 = 95 PB6 = 105
( )
K2 := augment KBA2 , KB2 + KA8 , cero , KAB8 , cero
 
58 −132
(
K3 := augment KBA6 , cero , KB3 + KA4 + KB6 + KA7 , KAB4 , KAB7
  )
Figure 14 End bar forces for bar number 6.
(
K4 := augment cero , KBA8 , KBA4 , KB4 + KB8 , cero
  )
(
K5 := augment cero , cero , KBA7 , cero , KB5 + KB7 
  )
K := stack(K1 , K2 , K3 , K4 , K5)

Figure 11 Force vector and stiffness matrix.

Figure 15 Three bar frame.

(
F := stack −PA2I , −PB2I )

(
K1 := augment  KB1 + KA2 , KAB2
  )
(
K2 := augment KBA2 , KB2 + KA3 
  )
K := stack ( K1 , K2)

Figure 12 Displacement solution. Figure 16 Stiffness matrix.

n := 2 i := IA j := IB
n n
PA2 := PA2 + PA2I
dx( i) dx( j)
d A := dy ( i) d B := dy ( j) PB2 := PB2 + PB2I
dz( i) dz( j)

(
PA2 := T2⋅ KA2 ⋅ d A + KAB2⋅ d B 17 −17
PA2 = 42 PB2 = 58
(
PB2 := T2⋅ KBA2⋅ d A + KB2⋅ d B ) −3 −39

Figure 13 End bar forces for bar number 2. Figure 17 End forces of bar 2.
112 CEDEÑO-ROSETE

EXAMPLE TWO ACKNOWLEDGMENTS

Appling small changes in the software presented, the
user can solve different problems such as the one
depicted in Figure 15. The main changes needed are in
forming the force vector and the global stiffness
structure matrix.
These changes are shown in Figure 16.
The end forces in every bar do not require any
change except for those bars which have intermediate
loads. The corresponding change is shown in
Figure 17.
CONCLUSIONS
A civil engineering student can save a lot of time
analyzing a structural problem with this software.
Interaction with the software allows a student to
acquire the basic stiffness analysis concepts.
Using this problem as a template, a student
can solve different problems with less time and effort.
The programs allows to the user to focus on the
procedure instead of wasting time in the large amount
of calculations involved.
The author gratefully acknowledges the support given
by the Universidad de las Américas Puebla, for the
elaboration of this article.
REFERENCES
[1] Dr. Beam Pro and Dr. Frame, URL: http://www.
disoftware-home.com.
[2] Ftool, URL: http://www.tecgraf.puc-rio.br/lfm/ftool/
ftool.html.
[3] X. F. Yuan and J. G. Teng, Interactive web-based
package for computer aided learning of structural
behavior, Comp Appl Eng Educ 10 (2002), 121
136.
[4] S. F. Almeida, R. Piazzalunga, and V. G. Ribero, A
web-based 2D structural analysis educational software,
Comp Appl Eng Educ 11 (2003), 83
92.
[5] A. Kassimali, Strructural analysis, PWS Publishing
Company, USA, 1993.
[6] Ms. Al-Ansari and A. B. Senouci, Use of Mathcad as a
teaching and learning tool for reinforced concrete
design of footings, Comp Appl Eng Educ 7 (1999),
146
154.

BIOGRAPHY

Rafael Cedeño-Rosete is a faculty member

in the Universidad de las Américas
Puebla, México. His teaching is concerned
with structural analysis and design. His
research interests include prestressed con-
crete elements and steel structures. He is also
involved in developing educational software
for civil engineering courses. He received
the PhD degree in civil engineering from the
Texas Tech University, in Lubbock, Texas.