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Contprrrers & S~rwtwes Vol. 21. No. 6. pp. 1355-1359.

1985 O&45-7949/85
S3.00+ .W
Printedin GreatBritain. 0 1985Pergamon
PressLtd.

EXACT STIFFNESS MATRIX FOR BEAMS ON ELASTIC


FOUNDATION

MOSHE EISENBERGER and DAVID Z. YANKELEVSKY


Faculty of Civil Engineering, Technion-Israel Institute of Technology, Haifa 32000, Israel

(Received 28 February 1984)

Abstract-An exact stiffness matrix of a beam element on elastic foundation is formulated. A single
element is required to exactly represent a continuous part of a beam on a Winkler foundation. Thus
only a few elements are sufficient for a typical problem solution. The stiffness matrix is assembled in
a computer program and some numerical examples are presented.

INTRODUCTION
EI3 +ky = 0.
The problem of beams on an elastic foundation has
been treated by numerous authors and closed form
solutions of the differential equation have been pro- The general solution of eqn (1) can be written in
posed[l-41. terms of four functions (sign convention is shown
Numerical methods, like the finite difference in Fig. 1):
method, have been applied to solve this problem[5]
and yield approximate solutions to the differential 1
Y(X) = YOFI(h) + - 8oFz(hx)
equation, which converge to the exact solution with A
increasing number of nodes. Such numerical tech-
niques can easily be extended to handle nonlinear
foundation properties, variation of cross section di-
mensions, etc.
Finite element solution of a beam on elastic where
foundation may be obtained by discrete springs
connected to structure nodes, thus roughly ap- F,(hr) = cash AXcos AX, (3a)
proximating the problem[6]. A more complicated Fz(Ax) = t(cosh Ax sin AX + sinh hr cos LXX),
model is the Winkler foundation where the discrete
springs are smeared to form a continuous founda- (3b)
tion[6-81. This is a common technique adopted in F3@_x) = f sinh Ax sin AX, (3c)
a finite element formulation of the problem.
R(hr) = t(cosh Ax sin Xx - sinh hx cos Ax),
However, the shape functions which yield exact
solution for a free beam, yield only approximate (Ml
solutions for a beam on elastic foundation, and ac-
curacy is improved by increasing the number of ele-
ments.
In this paper an exact stiffness matrix for a beam
h=
J4EI’
4k

on a Winkler foundation is formulated. Using this and yo, 00, MO, and Q. are the values at x = 0. The
element, a single element is required between dis- slope along the beam is given by
continuities (i.e. concentrated forces, abrupt
change in section dimensions, etc.) to yield exact Y’(X) = 4XYoF4(hx) + BOFl(hx)
solutions. Only a few elements are therefore re-
quired to exactly solve a typical problem and so-
lution may be obtained on any small size micro-
computer. Some examples show the agreement
with exact solutions and comparisons with approx- The terms of the stiffness matrix, are defined as
imate methods. the holding actions at the ends of the beam, due to
unit translations and rotations, as shown in Fig. 2.
From the expression in eqns (2) and (41, all 16 terms
STIFFNESSMATRIXDERIVATION of the stiffness matrix can be found. As an example,
The differential equation for the deflection curve the values Sll-S,4, for the case shown in Fig. 2(a),
of the beam supported on an elastic foundation in are computed. The values for y. and O. are 1 and
Fig. 1, is[l] 0, respectively, and thus deflection and slope at x

13.55
1356 M. EISENBERGERand D. Z. YANKELEVSKY

‘k
Fig. 1. Beam on elastic foundation.

I.

1
1
L 1
1 1
1
L 7
1

(b) (d)
Fig. 2. Member stiffnesses.

= L can be written as where

Y(L) = Fl(AL) - &I C sinh* AL - sin2 AL. (6~)

The actions at x = L can be found from the gen-


+ AI F,(AL)S,, = 0, (W
eral expressions for M(x) and Q(x):

J”(L) = -4AF,(AL) - &IFz(hL)s,,


M(x) = - $ yoF3W - ; BoFdW

+ &I F3(AL)S,, = 0. (5b) 1


- MoF~(hr) + - QoF2W, Va)
A
These are two equations with two unknowns,
and the terms are found as Q(x) = ; ~oF2(Ax) + 5 8oF~(Ax)

S = If cos AL sinh AL + cos AL sin AL (6a) 4AMoF,(hr) - QoF, (hx). (7b)


II
A c
k sinh2 AL + sin2 AL (6bl Substitution of the values for the shear and moment
s2, = -
2A’ c ’ at x = 0 given in eqn (6) yields the actions at the
Exact stiffness matrix 1357

right end (x = L): Sl4 = S4I 9 (lla)

s24 = s42, (lib)


k sinh AL cos AL + cash AL sin AL
s3, = -- , @aI
A c s34 = s43, (llc)

so, = ksinh AL sin AL s44 = s22. (lid)


(8b)
A2 c .
This stiffness matrix has been incorporated into
In a similar way, actions in Figs. 2(b)-2(d) are a standard beam programI91. Only minor changes
found to be are required to extend the program’s capabilities.

Sl2 = s21, Pa) EXAMPLES

k sinh AL cash AL - sin AL cos AL Example 1


s22 = - 1 (9b) The beam analyzed by Hetenyi (Ref. 1, p. 47)
2A3 c
was solved using the computer program (Fig. 3).
s32 = s4I 7 (9c) For this loading system, four elements are required
to obtain the exact solution (elements Al?, BC, CD,
s = _k_cosh AL sin AL - sinh AL cos AL
3 (94 and DE). The resulting ground pressure distribution
42 2A3 C
and bending moment diagram are shown in the tig-
SI3 = S3I 7 (W ure, and these are identical with those given in Ref.
1.
s23 = s32, (10b)

Example 2
s33 = s,,, (1Oc)
For partially loaded beams on elastic founda-
s43= -s21, (1W tion, Hetenyi proposes a solution in form of infinite

q= 100 k?b?./in2 (689.5 KN/m2 )


1 30in (0.762m) LP=5000 ebs L /
r48 in (I.219 m) L2Oin (0.508m) L
(22.241 KN) ’ 1

L 60 in ( 1.524 m )
1

O- *O

2-
-20
4-

I- .\ /; 40

IO- l
1.,
*-.-.‘-*
/.dC
/d
-60

12- PRESSURE DISTRIEUTIDN -80

ebsh21 KN/m2

25000 -

30000 -

35000 - . BENDING MOMENTS


- 400

4oDOo-

in-ebs KN.m

Fig. 3. Example 1: Beam on elastic support.


1358 M. EISENBERGERand D. Z. YANKELEVSKY
Y Table I. Example 2: Deflections at x = 3.m and x =
t
EJ=45000KNm2 q=l KN/m 4.m

n Y(X = 3.m) Y(x = 4.m)

1 0.300 622E-06 0.185 795E-06


I 3m 1 Im I Im 1 2 0.488 699E-06 0.490 109E-06
1 1 1 1

3 0.448 927E-06 0.554 462E-06


Fig. 4. Example 2: Partially loaded beam.
4 0.509 465E-06 0.5 17 047E-06
5 0.509 465E-06 0.5 17 047E-06
6 0.498 283E-06 0.523 958E-06
7 0.499 782E-06 0.521 533E-06
YfEl~5000KNm2 1’ 8 0.498 022E-06 0.518 687E-06
9 0.497 307E-06 0.518 245E-06
10 0.497 307E-06 0.518 245E-06
11 0.497 572E-06 0.5 I8 409E-06
12 0.497 81OE-06 0.518 794E-06
Lk=106 KN/m2 13 0.497 739E-06 0.518 91OE-06
14 0.497 918E-06 0.518 799606
11 L- Im 11 L=lm 4
15 0.497 918E-06 0.518 799E-06
16 0.497 826E-06 0.518 856E-06
Fig. 5. Example 3: Beam with both rigid and elastic sup- 17 0.497 845606 0.518 826E-06
ports. 18 0.497 813E-06 0.518 775E-06
19 0.497 796E-06 0.518 764E-06
20 0.497 7968-06 0.518 764E-06
trigonometric series (Ref. 1, p. 79): Exact 0.497 817E-06 0.518 787606

sin !!E
L
Y= These values agree with the exact solution given in
Ref. 10.

(12)
CONCLUSIONS
The convergence of this solution for was tested
An exact stiffness matrix for a beam on elastic
the beam in Fig. 4. The exact solution was obtained
foundation is directly formulated. An exact solution
using the computer program, with the beam divided
of a typical problem may be achieved by assembling
into two segments. The results are given in Table
a few elements. Nodes are placed at points of
1. It is seen that three digits accuracy can be
abrupt changes in loading, foundation or beam stiff-
achieved with eight terms for both points (x = 3.m
ness, and local supports. The efftciency and exact
and x = 4.m). Four digits accuracy will require 12
results are demonstrated through examples. This
terms.
procedure can easily be implemented into any beam
program.
Example 3
A simply supported beam on elastic foundation
(Fig. 5) was analyzed by Mohr[8] using a contact REFERENCES
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left end +, , and the deflection under the load v2 are dation. J. St. Div. ASCE 92, 131-142 (1966).

sinh AL cash AL - sin AL cos AL hsinh AL sin AL


k
].rl]={ -Or}. (131
h3C
X sinh AL sin XL h*(sinhALcoshXL + sinhLcosAL) vz

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foundations. J. Sr. Div. ASCE 90, 63-101 (1964).
values for +, and v2:
4. B. Y. Ting, Finite beams on elastic foundation with
restraints.-.I. Sr. Div. ASCE 108, 61 l-621 (1982).
VT = 0.8366P x lo+, (14a) 5. F. W. Beaufait and P. W. Hoadlev. Analvsis ofelastic
beams on nonlinear foundations.-Compur. Structures
$, = 0.1064P x 10-5. (14bl 12, 669-676 (1980).
Exact stiffness matrix 1359

6. R. D. Cook, Concepts and Applications of Finite Ele- ment problems involving external elastic restraint.
ment Analysis. Wiley, New York (1981). Comput. Struct. 12, 189-191 (1980).
I. F. Miyahara and J. G. Ergatoudis, Matrix analysis of 9. W. Weaver and J. M. Gere, Matrix Analysis of
Framed Structures. Van Nostrand Reinhold, New
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102, 251-265 (1976). York (1980).
10. S. P. Timoshenko, Strength of Materials, Part 2. 3rd
8. G. A. Mohr, A contact stiffness matrix for finite ele- Edn. Van Nostrand Reinhold, New York (1956).

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