Stiffness Method For 2D Frames

Stiffness method for 2D frames
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l Introduction and nomenclature l Element internal forces and displacements l Element local stiffness matrix l Transformation of internal forces and displacements l Element global stiffness matrix l Nodal equilibrium and compatibility l Direct assembly of the global stiffness matrix l Introduction of support/reactions l Solution of the equilibrium equations l Calculation of internal forces l Analysis of beams l Analysis of continuous beams l Intermediate loading
! School of Engineering Dr. Antonio Martinez EG-225 Structural Mechanics II(b)
Stiffness Method (I: frames)
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Examples of frames in Civil Engineering

SWANSEA UNIVERSITY ! ! School of Engineering Dr. Antonio Martinez EG-225 Structural Mechanics II(b)
28/02/2012 2
Introduction
l
2D frames will be analysed (3 DOF per node). Consider initially (forces and moments) to be applied at nodes Divide and conquer approach: l l Every frame member will be analysed sequentially Finally, all the element information will be assembled
l l
External moment
2 2 3 3 4
External force Element
Y
1 1
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Node
3
Global coordinate axes
3 Degrees Of Freedom (DOF) per node
Basic nomenclature
l
Define global coordinate axes
OXY
l l l
Define nodes (joints) 2 ; elements (members) Define arbitrarily element orientation Define local coordinate axes
oxy per element
2 2 3 3
x
Y
Local coordinate axes
1 1
1
o
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Global coordinate axes
Frame element kinematics

l
Contrary to a truss element (which only translates along its local axis ox ), a frame element translates and bends due to the shear force and the bending moment Notice that local displacements now involve translations u and v per node as well as rotation q These element internal forces be arranged in a vector format
l l
j!
qa j
can
Local displacements
va j
Y
y
i!
qia via
x a
j
ua j
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uia
Initial shape Displaced shape
uia a vi ia u a = a u j v a ja j
Frame element internal forces

l
Consider a single frame element extracted from a general frame structure and establish its Free Body Diagram (FBD) The frame element will be subjected to the standard internal forces: axial force, shear force and bending moment Recall the classical sign convention
BM a j
Sa j
l l
BM
BM
j!
Na j
Initial shape
Y
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S ia
N ia
Displaced shape
B M ia
i!
Frame element kinematics analysis

l
SWANSEA UNIVERSITY ! ! School of Engineering Dr. Antonio Martinez EG-225 Structural Mechanics II(b) STAGE I STAGE II Initial shape Intermediate shape Final displaced shape
The kinematics of the frame element can be split into two consecutive stages: l l STAGE I: due to axial deformation STAGE II: due to shear and bending deformation
j!
qa j va j
j!!
y
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Y
i!
qia via
x a
ua j
i
O
i!!
uia
Axial deformation: constitutive law

l
Similarly as it was carried out for a truss element, the following relationship can be derived:
Y
y
'
Na
Linear strain
uia
a
i!
x a
ua j
a =
u a uia j La
Direct stress
O
Stiffness Method (I: trusses)
a = E a a
Element geometric and mechanical properties
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E a Aa a a N a = Aa a = E a Aa a = a (u j ui ) L
Axial force Local displacements
Shear and bending deformation: constitutive law (I)

l
Following Euler beam theory, the following relationship can be established between the bending moment BM and the radius of curvature R :
E a (x)I a (x) d 2 y(x) a a BM (x) = ! E (x)I (x) R(x) dx 2
For a frame element with constant section and same material 2 throughout, a a d y(x)
BM (x) = E I dx 2
l
S
From the equilibrium of a beam section, it follows:
qa j va j
w
S + dS
BM
BM + dBM
dS(x) = !w(x) dx dBM (x) = S(x) dx
dx
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Recall that distributed loads are not considered yet, thus: w(x) = 0
y
i!
X
qia
x
i
via
a
Shear and bending deformation: constitutive law (II)

l
Combining the relationships previously derived, it yields:

E aI a d 4 y(x) =0 dx 4
This is the classical Ordinary Differential Equation (ODE) for the Euler beam theory, whose solution is the cubic polynomial:
y(x ) = ax 3 + bx 2 + cx + d; a, b, c, d
l l
Boundary Conditions (BCs) are required to calculate the unknown constants a, b, c, d Let us analyse the following four deformation cases:
1
Case 1 Case 3
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1
Case 2 Case 4
Shear and bending deformation: constitutive law (III)

l
For the deformation case 1, the BCs are as follows:

y(0) = 1
dy (x ) = 0 dx x = 0
y (La ) = 0
1
a
2 x3 ! 3 3 x2 + 1
dy (x ) = 0 dx x = La
3 2 Substituting the BCs into the cubic polynomial y(x ) = ax + bx + cx + d
it yields: l
y(x) =
( La )
(L )
a 2
The internal shear force and bending moment result in:

" % d 2 y(x) 6 ' a a $ 12 BM (x) = E I =E I x! 2 $ La 3 dx 2 ( La ) ' #( ) & ! $ 3 a a d y(x) a a # 12 & S(x) = E I =E I # La 3 & dx 3 "( ) %
a a
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6E a I a BM (0) = - ( La )2 12E I S (0) = ( La )3

a a
6E a I a BM (L ) = ( La )2
a
12E a I a S (L ) = ( La )3
a
Shear and bending deformation: constitutive law (III)

l
For the deformation case 2, the BCs are as follows:

y (0) = 0
dy (x ) = 1 dx x = 0
y (La ) = 0
1
a
1 2 x 3 - a x 2 + x L ( La )2
dy (x ) = 0 dx x = La
3 2 Substituting the BCs into the cubic polynomial y(x ) = ax + bx + cx + d
it yields: l
y (x ) =
The internal shear force and bending moment result in:

" % d 2 y(x) 6 4 ' a a$ BM (x) = E I =E I x! a $ La 2 dx 2 L ' #( ) &
a a
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BM (0) = !
4E a I a La
a 2
! $ d 3 y(x) 6 & a a# S(x) = E I =E I # La 2 & dx 3 "( ) %

a a
BM (La ) =
S(0) =
6E a I a
S(La ) =
2E a I a La 6E a I a
(L )
( La )
Frame element local internal forces

l
Consider a single frame element extracted from a general frame structure and establish its Free Body Diagram (FBD) Element local internal forces (notice the sign convention) can be introduced representing the axial, shear and bending moment effects These element internal forces can be arranged in a vector format
l l
j!
a fyj
Local internal forces
Y
a fyi
i!
M ia
i
x a
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a fxi
13
a f xi Nia a fxj f yia Sia M ia BM ia j Ma a j f = a = f xj N a j a f S a j yja a Initial shape M j BM j
Displaced shape
Element local forces-local displacements relationship

l
We must establish a relationship between the local internal forces and the local displacements This relationship will define the so called element local stiffness matrix
a ( kii ) xx a f xi a a ( kii ) yx f yi a M ia ( kii ) x a = a f xj ( k ji ) xx f a yja ( k a ) ji yx M j ( k a ) ji x
(k (k (k (k (k (k
a ii xy
a ii
a ii y a ji xy a ji
a ji y
) ) ) ) ) )
yy
yy
(k (k (k (k (k (k
a ii x y
a ii
a ii a ji x a ji y
a ji
) ) ) ) ) )
(k (k (k (k (k (k
a ij xx
a ij
a ij x a jj xx a jj
a jj x
) ) ) ) ) )
yx
yx
(k (k (k (k (k (k
a ij xy
a ij
a ij y a jj xy a jj
a jj y
) ) ) ) ) )
yy
yy
(k (k (k (k (k (k
a ij x
a ij a ij a jj a jj a jj
) ) ) ) ) )
y x y
uia a vi ia a u j v a ja j
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The same relationship can be presented in a more compact matrix notation as: a a a
f a = k a ua
f i kii a = a f j k ji
kij uia k a u a jj j
Stiffness coefficients (I)

The term k jj xx represents the horizontal force at end j caused by a unit displacement at end j and zero displacement/rotation at the rest of the degrees of freedom
( )
a
E aA a La
a
uia 0 a vi 0 ia 0 u a = a = u j 1 v a 0 ja j 0
E aA a La
(k )
a jj xx
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E a Aa a f xi La a f yi 0 M ia 0 a f = a = a a f xj E A f a La yja 0 M j 0
Stiffness coefficients (II)

The term kij yy represents the vertical force at end i caused by a unit displacement at end j and zero displacement/rotation at the rest of the degrees of freedom
12E a I a ( La )3
6E a I a ( La )2
( )
a
6E a I a ( La )2
1
a
12E a I a ( La )3
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uia 0 a vi 0 ia 0 a u = a = u j 0 v a 1 ja j 0
(k )
a ij
yy
0 12 E a I a ( La )3 a f xi 6 E a I a a f yi a 2 M ia ( L ) a f = a = f xj 0 f a 12 E a I a yja 3 M j ( La ) 6 E a I a a 2 ( L )
Stiffness coefficients (III)

represents the vertical force at end j caused by a unit rotation at end i and zero displacement/rotation at the rest of the degrees of freedom
y
The term ( k )
a ji
6E a I a ( La )2
4E a I a La
6E a I a ( La )2
1
a
2E a I a La
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uia 0 a vi 0 ia 1 a u = a = u j 0 v a 0 ja j 0
(k )
a ji
0 a a 6 E I ( La )2 a f xi a 4 E a I a f yi a M ia ( L ) f a = a = f xj 0 f a 6 E a I a yja 2 M j ( La ) 2 E a I a a ( L )
Local internal forces-local displacements

l
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UNIVERSITY !
The element local stiffness matrix k a is a 6x6 symmetric matrix ( as k = k

a
( ) ):
a T
f a = k a ua
a f i a kii a = a f j k ji
a kij k a jj
uia a u j
Local
Local forces EA L a f xi 0 a f yi M ia 0 a = f xj EA f a L yja M j 0 0
Element local stiffness matrix
0 12 EI L3 6 EI L2 0 12 EI L3 6 EI L2
0 6 EI L2 4 EI L 0 6 EI L2 2 EI L
EA L 0 0 EA L 0 0
0 12 EI L3 6 EI 2 L 0 12 EI L3 6 EI 2 L
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0 6 EI L2 2 EI L 0 6 EI 2 L 4 EI L
displacements
uia a vi ia a u j v a ja j
Transformation of displacements
l
The displacements/rotations at each joint of the member are transformed from local to global coordinate axes
Y
y
i
uia
i
From global to local displacements
aa
aa
V ia
O
l For node i:
U ia
uia uia = via ia
U ia U ia = Vi a ia
X
sa ca 0
From local to global displacements
uia c a uia = via = s a ia 0
0 U ia 0 Vi a = T aU ia 1 ia
s a = sin a c a = cos a
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l l
Analogously for node j:
ua = T aU a j j
where T a is the so-called transformation matrix
Transformation of internal forces

l
The local forces at each joint of the member are transformed from local to global coordinate axes
Y
y
M ia
a
FYai a
a fyi
From global to local forces
M ia
a a FX i
a fxi
a f xi a a f xi = f yi M ia
a FXi a Fi a = FYi M ia
X
s a ca 0
From local to global forces
l
For node i:
a FXi c a a Fi a = FYi = s a M ia 0 a 0 f xi T a 0 f yi = (T a ) fi a 1 M ia
s a = sin a c a = cos a
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l l
(T )
a T
is the transpose of the transformation matrix
Analogously for node j:
F ja = (T a ) f ja
From local to global element stiffness matrix

Step 1: Global forces-local forces relationship
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! a a # Fi F = # Fa " j
Step 2: Global forces-local displacements relationship
! $ # Ta T &=# & # % # 03x3 "
( )
03x3
(T )
a
$ &! fi a &# a &# f j &" %
$ & & %
Step 3: Global forces-global displacements relationship

! T a # T a F =# # 0 # 3x3 "
( )
03x3
( )
Ta
03x3
T
$! a &# kii &# &# k a ji &" %
a $ kij &! uia $ # & a & k a &# u j % jj &" %
! T Ta # a F =# # 0 # " 3x3
( )
( )
Ta
T a ii T a ji
$ a &! kii &# &# k a ji &# %"

a T
a $ kij &! T a 03x3 # k a &# 03x3 T a jj &" %
$! U a &# i &# U a %" j
$ & & %
a $ K ij &! U ia # &# U a K a &" j jj %
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Step 4: Element global stiffness matrix
! a # T Fa =# # Ta # "
( ) k (T ) (T ) k (T ) ( ) k (T ) (T ) k (T )
a a ij a a a T a jj a
$ &! U ia &# a &# U j &" %
$ ! Ka & = # ii & # Ka % # ji "
$ & & %
Element global stiffness matrix

l
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vector, respectively l
a
F a and U a represent the element global force and displacement
The matrix K is a 6x6 symmetric ( as the element global stiffness matrix

Element Global Stiffness Submatrices
= (K
a
a T
) ) matrix called
! a a a a # Fi F =K U = # Fa " j
$ ! Ka & = # ii & # Ka % # ji "
a $ K ij &! U ia # a K a &# U j jj &" %
$ & & %
FYaj
j
qa j
V ja
a FX j
qia
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a FX i
FYai
M ia
U ia
V ia
Ma j
Nomenclature
l
The Free Body Diagram (FBD) of any frame member can then be expressed both in global and in local axes: Member global internal forces M a , qa j j FYai , V ia M ia , qia
FYaj , V ja
a j FX j ,U a j
Y O
a F X i , U ia
Member global displacements Member local displacements

a fyj , v a f a , u a j xj j a a M j , qj
Global axes
Local axes
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a a a fyi , via M i , qi a a fxi , uia i
j
Member local internal forces
Element global stiffness matrix for a general frame member

l l l l l
( * * * * * * * * a K =* * * * * * * * * * )
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Step 1: Define the global axes Step 2: Label nodes, members, element orientation, local axes per element Step 3: Calculate the angle between the local axes and the global axes Step 4: Compute transformation matrix Step 5: Compute element global stiffness matrix
EA 2 12EI 2 c + 3 s L L " EA 12EI % ! 3 ' cs $ L & # L ! ! 6EI s L2 " EA 12EI % ! 3 ' cs $ L & # L EA 2 12EI 2 s + 3 c L L 6EI c L2 " EA 12EI % + 3 ' cs $! L & # L ! EA 2 12EI 2 s ! 3 c L L 6EI c L2 6EI ! 2 s L 6EI c L2 4EI L 6EI s L2 ! 6EI c L2 2EI L EA 2 12EI 2 ! c ! 3 s L L " EA 12EI % + 3 ' cs $! L & # L 6EI s L2 EA 2 12EI 2 c + 3 s L L " EA 12EI % ! 3 ' cs $ L & # L 6EI s L2 " EA 12EI % + 3 ' cs $! L & # L ! EA 2 12EI 2 s ! 3 c L L ! 6EI c L2 6EI ! 2 s L 6EI c L2 2EI L 6EI s L2 ! 6EI c L2 4EI L + ,
EA 2 12EI 2 c ! 3 s L L
" EA 12EI % ! 3 ' cs $ L & # L EA 2 12EI 2 s + 3 c L L ! 6EI c L2
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" EA 12EI % + 3 ' cs $! L & # L ! 6EI s L2
Element global stiffness matrix for a beam

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A particular case of frame elements are continuous beams
5
l
M1
1
M2
2
M3
3
FY 2
FY 4
As local and global axes coincide, the global and local stiffness matrices coincide too, thus:
EA 0 L 12 EI 0 L3 6 EI 0 L2 K a = EA 0 L 12 EI 3 0 L 6 EI 0 L2 0 6 EI L2 4 EI L 0 6 EI L2 2 EI L EA L 0 0 EA L 0 0 0 12 EI L3 6 EI 2 L 0 12 EI L3 6 EI 2 L 6 EI L2 2 EI L 0 6 EI 2 L 4 EI L 0
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Nodal equilibrium and compatibility (I)

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M 3PY 3
3 PX 3 2
Each node and member of the structure must be in equilibrium We analyse the FBD of frame members and joints Equilibrium
1 RX1 = FX1
1 RY1 = FY1
Node 1 FBD
RY 1
F X1 1
FY11
1 M1
1 FX 3
1 M1 = M1
RX 1 M 1
FY11
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F X1 1
FY13
1 U1 = 0 = U1 V1 = 0 = V11 1 !1 = 0 = !1
Compatibility
1 M1
1 M3
Nodal equilibrium and compatibility (II)

1
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1 3
M3
PX 3
2 PY 2
1 FX 3
1 2 M3 = M3 + M3
Equilibrium 1 2 PX 3 = FX 3 + FX 3 1 PY 3 = FY 3 + FY23
Compatibility
1 2 U3 = U3 = U3 1 V3 = V3 = V32 1 2 !3 = !3 = !3
FY13
1 M3
M 3 PY 3
3
PX 3
2 M3
FY23
Node 3 FBD
F X2 3
F X2 3
2
2 M3
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FY11
FY23
F X1 1
F X1 3
1
FY13
1 M3
1 M1
F X22
FY22 2 M2
Nodal equilibrium and compatibility (III)

1 3
M 3PY 3
PX 3
2 2
F X2 2
FY22
2 M2
F X2 3
FY23
2 M3
RY 2
Node 2 FBD
2
2
RX 2
M2
F X22
FY22
2 M2
Equilibrium
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2 RX 2 = FX 2
RY 2 = FY22
2 M2 = M2
Compatibility 2 U2 = 0 = U2 V2 = 0 = V22
2 !2 = 0 = !2
Assembling equilibrium equations (I)

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Recall the element global stiffness matrix relationships:
FY11
F X1 1
1 FX 3
FY13
F X2 3
1 M3
FY23
1 M1
! F1 $ ! K1 K1 13 # 1 & = # 11 1 & # 1 1 # F3 % " K 31 K 33 " $! U &# 1 &# U3 %" $ & & %
2 M3
! F2 # 2 2 # F3 "
$ ! K2 & = # 22 2 & # K 32 % "
K 2 $! U 2 23 & # 2 K 33 &# U3 %"
$ & & %
Combine above formulae with the nodal equilibrium and compatibility relationships derived previously:
1 R1 = F1 = K1 U1 + K1 U3 11 13
F X2 2
FY22
2 M2
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2 R 2 = F2 = K 2 U 2 + K 2 U3 22 23
1 2 2 2 P3 = F3 + F3 = K1 U1 + K1 U3 + K 32 U 2 + K 33U3 31 33
Assembling equilibrium equations (II)

l
This is the system of nodal global equilibrium equations expressed in terms of the nodal global displacements and global stiffness matrix coefficients:
1 R1 = F1 = K1 U1 + K1 U3 11 13
2 R 2 = F2 = K 2 U 2 + K 2 U3 22 23
1 2 2 2 P3 = F3 + F3 = K1 U1 + K1 U3 + K 32 U 2 + K 33U3 31 33
The above expressions can be re-written in matrix format as follows:

! R # 1 # R2 # P " 3 $ ! K1 0 11 & # 2 & = # 0 K 22 & # 1 2 % # K 31 K 32 " K1 13 K2 23
2 K1 + K 33 33
$! &# U1 &# U 2 &# &" U3 %
$ & & & %
1 3
M 3PY
PX 3
2
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ndgof
= Kndgof x ndgof Undgof
where ndgof: No. of degrees of freedom
Assembled global stiffness matrix (I)

l
Relationship between member global internal forces and member global displacements (element equilibrium and constitutive behaviour) Relationship between member global displacements and nodal global displacements (compatibility equations) Relationship between member global internal forces and external global forces or reactions (equilibrium equations)
l l
Assembled Global Stiffness Matrix

Assembled Global Displacement Vector Assembled Global Force Vector
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ndgof
The matrix K is a ndgofxndgof symmetric ( as K = KT) matrix called the assembled global stiffness matrix
Assembled global stiffness matrix (II)

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l A close examination of the assembled equilibrium equations reveals that the assembled global stiffness matrix can be obtained directly
1 1 3 2
M 3PY 3
PX 3
2
" K1 $ 11 K = $ 03!3 $ 1 $ K 31 #
03!3 K2 22
2 K 32
K1 13 K2 23
2 K1 + K 33 33
% ' ' ' ' &
a l The member global stiffness submatrices K ij must be inserted into the assembled global stiffness matrix in the appropriate joint block row and block column according to the indices i and j
28/02/2012 32
l This direct procedure avoids having to consider joint equilibrium and compatibility
Direct assembly of the Global Stiffness Matrix (GSM)

Initial GSM
0 3 3 0 3 3 0 3 3 = 0 3 3 0 3 3 0 3 3 0 3 3 0 3 3 0 3 3
1 1
3
GSM after member 1
" K1 $ 11 K= $ 03!3 $ 1 $ K 31 #
03!3 03!3 03!3
K1 13 03!3 K1 33
% ' ' ' ' &
2
2
28/02/2012 33
GSM after members 1 & 2
" K1 $ 11 K= $ 03!3 $ 1 $ K 31 #
03!3 K2 22
2 K 32
K1 13 K2 23
2 K1 + K 33 33
% ' ' ' ' &
Assembled GSM coefficients (I)

l
! # # # # # # # # # # # # # # "
The assembled global equilibrium equations can be expanded:

! $ # & # & # & # & # & # & # &=# & # & # & # & # & # & # & # % # # "
1 1 1 ( K11 ) XX ( K11 ) XY ( K11 ) X! 1 1 1 ( K11 )YX ( K11 )YY ( K11 )Y! 1 1 1 ( K11 )! X ( K11 )!Y ( K11 )!!
0 0 0
2 ( K22 ) XX 2 ( K22 )YX 2 ( K22 )! X 2 ( K32 ) XX 2 ( K32 )YX 2 ( K32 )! X
0 0 0
2 ( K22 ) XY 2 ( K22 )YY 2 ( K22 )!Y 2 ( K32 ) XY 2 ( K32 )YY 2 ( K32 )!Y
0 0 0
2 ( K22 ) XX 2 ( K22 )Y! 2 ( K22 )!! 2 ( K32 ) X! 2 ( K32 )Y! 2 ( K32 )!!
RX1 RY1 M1 RX2 RY 2 M2 PX3 P 3 Y M3
0 0 0
0 0 0
0 0 0
1 ( K13 ) XX 1 ( K13 )YX 1 ( K13 )! X 2 ( K23 ) XX 2 ( K23 )YX 2 ( K23 )! X 1+2 ( K33 ) XX 1+2 ( K33 )YX 1+2 ( K33 )! X
1 ( K13 ) XY 1 ( K13 )YY 1 ( K13 )!Y 2 ( K23 ) XY 2 ( K23 )YY 2 ( K23 )!Y 1+2 ( K33 ) XY 1+2 ( K33 )YY 1+2 ( K33 )!Y
1 ( K13 ) X! 1 ( K13 )Y! 1 ( K13 )!! 2 ( K23 ) X! 2 ( K23 )Y! 2 ( K23 )!! 1+2 ( K33 ) X! 1+2 ( K33 )Y! 1+2 ( K33 )!!
$ & & &! &# &# &# &# &# &# &# &# &# &# &# &" & & %
0 0 0 0 0 0 0 0 1
$ & & & & & & & & & & & %
1+ ( K33 2 )Y q
1+ ( K33 2 )qq
1
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1
3
1
1+ ( K33 2 )X q
Apply unit rotation at joint 3 and fix the other dgofs. Thus, the assembled global forces are the 9th column of K:
Assembled GSM coefficients (II)

l
! # # # # # # # # # # # # # # "
The assembled global equilibrium equations can be expanded:

! $ # & # & # & # & # & # & # &=# & # & # & # & # & # & # & # % # # "
0 0 0
2 ( K22 ) XX 2 ( K22 )YX 2 ( K22 )! X 2 ( K32 ) XX 2 ( K32 )YX 2 ( K32 )! X
0 0 0
2 ( K22 ) XY 2 ( K22 )YY 2 ( K22 )!Y 2 ( K32 ) XY 2 ( K32 )YY 2 ( K32 )!Y
0 0 0
2 ( K22 ) XX 2 ( K22 )Y! 2 ( K22 )!! 2 ( K32 ) X! 2 ( K32 )Y! 2 ( K32 )!!
0 0 0
0 0 0
0 0 0
1 ( K13 ) XX 1 ( K13 )YX 1 ( K13 )! X 2 ( K23 ) XX 2 ( K23 )YX 2 ( K23 )! X 1+2 ( K33 ) XX 1+2 ( K33 )YX 1+2 ( K33 )! X
$ & & &! &# &# &# &# &# &# &# &# &# &# &# &" & & %
0 0 0 0 0 0 1 0 0
$ & & & & & & & & & & & %
1+ ( K33 2 )
YX
1+ ( K33 2 )qX
1
1+ ( K33 2 )XX
3
28/02/2012 35
Apply unit OX displacement at joint 3 and fix the other dgofs. Thus, the assembled global forces are the 7th column of K:
Symmetry of the GSM: Reciprocity theorem

l
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! # # # # # # # # # # # # # # "
! $ # & # & # & # & # & # & # &=# & # & # & # & # & # & # & # % # # "
Consider two possible deformed configurations: 1 1 1 1 0 0 0 ( K11 ) XX ( K11 ) XY ( K11 ) X! ( K13 ) XX 1 1 1 1 0 0 0 ( K11 )YX ( K11 )YY ( K11 )Y! ( K13 )YX 1 1 1 1 0 0 0 ( K11 )! X ( K11 )!Y ( K11 )!! ( K13 )! X 2 2 2 2 0 0 0 ( K22 ) XX ( K22 ) XY ( K22 ) XX ( K23 ) XX 2 2 2 2 0 0 0 ( K22 )YX ( K22 )YY ( K22 )Y! ( K23 )YX 2 2 2 2 0 0 0 ( K22 )! X ( K22 )!Y ( K22 )!! ( K23 )! X 1 1 1 2 2 2 1+2 ( K31 ) XX ( K31 ) XY ( K31 ) X! ( K32 ) XX ( K32 ) XY ( K32 ) X! ( K33 ) XX 1 1 1 2 2 2 1+2 ( K31 )YX ( K31 )YY ( K31 )Y! ( K32 )YX ( K32 )YY ( K32 )Y! ( K33 )YX 1 1 1 2 2 2 1+2 ( K31 )! X ( K31 )!Y ( K31 )!! ( K32 )! X ( K32 )!Y ( K32 )!! ( K33 )! X
$ &! &# &# &# &# &# &# &# &# &# &# &# &# &# &# &" & %
U1 $ & V1 & & !1 & & U2 & V2 & & !2 & & U3 & & V3 & !3 & %
The force at node 3 along OX due to a rotation at node 3 is equal to the moment at node 3 due to a displacement at node 3 along OX [Maxwells reciprocity theorem (1864)]
1+ ( K33 2 )Y q 1+ ( K33 2 )qq
(
1
1
28/02/2012
1
3
2
1+ K33 2 YX
1+ ( K33 2 )qX
1
1+ ( K33 2 )X q
1
1+ ( K33 2 )XX
3
2
36
Introduction of loads and support conditions

1
1 3
M 3PY 3 l Known support conditions can be introduced into the assembled global PX 3
displacement vector
2
l
! # # # # # # F =# # # # # # # # " FX1 FY1 M1 FX 2 FY 2 M2 FX3 FY 3 M3 $ & ! & # & # & # & # & # &=# & # & # & # & # & # & # & " %
Suppose initially zero displacement wherever there is a support (no settlement allowed) Loads can be introduced into the assembled global force vector F
RX1 RY1 M1 Rx2 RY 2 M2 PX3 PY 3 M3
28/02/2012 37
! # $ # & & # & # & # & & U =# & # & # & # & & # & # % # "
U1 V1 !1 U2 V2 !2 U3 V3
!3
$ & ! & # & # & # & # &=# & # & # & # & # & # & # " %
0 0 0 0 0 0 U3 V3
!3
$ & & & & & & & & & & & %
Notice that known loads and known displacement cannot coincide for the same node and same degree of freedom
Known values Unknown values
Internal forces calculation

Step 1: Extract element global displacements from
assembled global displacement vector SWANSEA
UNIVERSITY !
qa j
V ja
! a Ui U =# a # U " j
a
$ T &=! Ua V a !a Ua V a !a $ i i j j j & & # i " % %
qia
FYaj
j
FYai
a FX i
Ua M ia i
Vi
Ma j
a a FX j U j
Step 2: Compute element local displacements
! a $ a # ui & = ! u a u = # ua & # i " j % "

a $ f xi & ! 'N ia # a & # f yi Sia & # a M ia & # 'BM i &=# a a f xj & # N j & # a a f yj & # 'S j & # a M a & # BM j j % "
via ! ia
ua j
va ! a j j
! a 03x3 $ # T & =# % 03x3 T a "

T
$! U a &# i &# U a %" j
$ & & %
! Stiffness Method # (I: trusses) # # # a # 28/02/2012 f = # # # 38 # # "
Step 3: Compute element internal forces
$ & & & & ! ka & = # ii & # ka " ji & # & & & %
a $ kij &! T a 03x3 # k a &# 03x3 T a jj &" %
$! U a &# i &# U a %" j
$ ! k aT aU a + k aT aU a i ij j & = # ii & # k a T aU a + k a T aU a i jj j % # ji "
$ & & & %
The road to non-perdition in the stiffness method

Step 1: Establish global axes
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Step 2: Label nodes and elements Step 3: Establish element local axes Step 4: Calculate element geometrical and mechanical properties Step 5: Compute element GSM Step 6: Formulate the assembled GSM Step 7: Assemble global force and displacement vectors Step 8: Substitute known nodal loads and known support conditions Step 9: Solve for unknown displacements/rotations Step 10: Compute unknown reactions Step 11: Verify overall translational and rotational equilibrium Step 12: Extract element global displacements
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Step 13: Compute element local displacements Step 14: Compute element local forces Step 15: Deduce element axial force, shear force and bending moment
Prescribed support displacements

l
Generally, the equilibrium equations can be partitioned by rearranging the rows and columns:
! F # f # Rs "
l
$ ! K ff &=# & # K sf % "
K fs $! U f &# K ss &# U s %"

1 3
$s: prescribed support &displacements &f: displacements free to move %
In general, non-zero prescribed displacements can be imposed in some support as a result of possible settlement:
1'
2
The unknown displacements can be obtained as:
Ff = K ff U f + K fs U s ! U f = K "1 (Ff " K fs U s ) ff

28/02/2012 40
The unknown reactions are calculated subsequently:
R s = K sf U f + K ss U s ! R s = K sf K "1 (Ff " K fs U s ) + K ss U s ff
Analysis of beams: introduction

l
For beam elements, the rotations and vertical displacements at the joints are the only degrees of freedom The local and global axes coincide so no transformation is required The global and local stiffness matrices are identical The axial components of the stiffness matrix are not required
l l l
5
M1
1
M1
2 2
2 Degrees Of Freedom (DOF) per node
M1
3
FY 2
FY 4
28/02/2012 41
1 1
2 2
3 3
4 4
Analysis of beams: the simplified element GSM

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1 1
2 2
0 6EI L2 4EI L 0 ! 6EI L2 2EI L ! EA L 0 0 EA L 0 0 " EA $ 0 $ L $ 12EI $ 0 L3 $ $ 6EI $ 0 L2 Ka =$ $ EA 0 $ ! L $ 12EI $ 0 ! 3 $ L $ 6EI $ 0 $ L2 #
3
0 ! 12EI L3 6EI ! 2 L 0 12EI L3 6EI ! 2 L % 0 ' ' 6EI ' ' L2 ' 2EI ' ' L ' ' 0 ' ' 6EI ' ! 2 L ' ' 4EI ' ' L &
4 3 4
28/02/2012 42
! a # K ii a K = # Ka # " ji
a K ij
Ka jj
! 12EI # L3 # # $ # 6EI &=# L2 & # 12EI & % # ' 3 L # # 6EI # L2 "
6EI L2 4EI L 6EI ' 2 L 2EI L
12EI ' 3 L 6EI ' 2 L 12EI L3 6EI ' 2 L
6EI L2 2EI L 6EI ' 2 L 4EI L
$ & & & & Rotational & and vertical & components & & & & %
Analysis of beams: the assembled GSM

SWANSEA
UNIVERSITY !
M1
M1
2 2
F
! 1+2 # K11 YY ! F $ # Y 1 & # K 1+2 11 !Y # M & # 1 # # & 2 # FY 2 & # K 21 YY # &=# 2 # M 2 & # K 21 !Y # F & # 1 # Y 3 & # K 31 YY # M3 & # " % # 1 # K 31 !Y "
ndgof

1+2 11 Y ! 1+2 11 !! 2 21 Y ! 2 21 !!
FY 2
( ( ( ( ( (
) (K ) ) (K ) ) (K ) ) (K ) ) (K ) ) (K )
(K (K (K (K
2 12 YY 2 12 !Y
2 22 YY 2 22 !Y
1 31 Y ! 1 31 !!
) (K ) (K ) ) (K ) (K ) 0 ) (K ) 0 ) (K ) 0 0 (K ) 0 0 (K )
2 12 Y ! 2 12 !! 2 22 Y ! 2 22 !!
1 13 YY 1 13 !Y
(K ) (K )
0 0
1 13 Y ! 1 13 !!
1 33 YY 1 33 !Y
(K ) (K )
1 33 Y ! 1 33 !!
$ & &! &# &# &# &# &# &# &# &# " & & %
0 $ & !1 & & V2 & !2 & & 0 & 0 & %
28/02/2012 43
l l l
Select rows and columns of the assembled global stiffness matrix Solve for the unknown rotations Substitute computed rotations to obtain unknown moments
Analysis of beams: solving the equilibrium equations

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! 1+2 K11 YY ! F $ # # 1+2 # Y1 & # K11 !Y # M & 1 # & # 2 # FY 2 & # K 21 YY # &=# 2 # M 2 & # K 21 !Y # F & # 1 # Y 3 & # K 31 YY # M3 & # " % # 1 K 31 # !Y "
( ( ( ( ( (
) (K ) ) (K ) ) (K ) ) (K ) ) (K ) ) (K )
1+2 11 Y ! 1+2 11 !! 2 21 Y ! 2 21 !!
(K (K (K (K
2 12 YY 2 12 !Y
2 22 YY 2 22 !Y
1 31 Y ! 1 31 !!
) (K ) (K ) ) (K ) (K ) 0 ) (K ) 0 ) (K ) 0 0 (K ) 0 0 (K )
2 12 Y ! 2 12 !! 2 22 Y ! 2 22 !!
2 12 !Y 2 12 !! 2 22 YY 2 22 !Y 2 22 Y ! 2 22 !!
1 13 YY 1 13 !Y
(K ) (K )
0 0
1 13 Y ! 1 13 !!
1 33 YY 1 33 !Y
(K ) (K )
1 33 Y ! 1 33 !!
$ & &! &# &# &# &# &# &# &# &# " & & %
0 $ & !1 & & V2 & !2 & & 0 & 0 & %
! 1+2 ! M $ # K11 !! 1 & # # # F &=# K2 21 !Y # Y2 & # # M2 & # K2 " % 21 !! "
( ) (K ) (K ) ( ) (K ) (K ) ( ) (K ) (K )
(K )
0 0
2 12 YY
$ &! !1 $ & &# &# V2 & & &# !2 & &# " % %
28/02/2012 44
1+ ( K11 2 ) Y FY 1 F = K 1 Y 3 ( 31 )Y M 3 1 ( K31 )
(K )
0 0
2 12 Y
1 V 2 2
Continuous beams (I)

l
Most structural beams will be so-called continuous beams. They have multiple supports and the rotations at the joints are the only degrees of freedom (the vertical displacements at the joints are all constrained). Then, a reduced stiffness matrix can be employed. Only the rotational components of the stiffness matrix are required
Rotational degrees of freedom Stiffness Method (I: frames)
1 Degree Of Freedom (DOF) per node
1
28/02/2012 45
2 1 2
3 3
4 4
5 6
1
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M1
1
Continuous beams (II)

2
M2
2
M3
3
M4 5
4 6
" EA $ 0 $ L $ 12EI $ 0 L3 $ $ 6EI $ 0 L2 Ka =$ $ EA 0 $ ! L $ 12EI $ 0 ! 3 $ L $ 6EI $ 0 $ L2 #

Rotational components
0 6EI L2 4EI L 0 ! 6EI L2 2EI L

a K ij
EA ! L 0 0 EA L 0 0 !
0 12EI L3 6EI ! 2 L 0 12EI L3 6EI ! 2 L
28/02/2012 46
! a # K ii a K =# Ka # ji "
Ka jj
! 4EI $ # &=# L & # 2EI & # % " L
% 0 ' ' 6EI ' ' L2 ' 2EI ' ' L ' ' 0 ' ' 6EI ' ! 2 L ' ' 4EI ' L ' &
2EI L 4EI L
$ & & & & %
Continuous beams (III)

1 5
M1
1
M2
2
M3
3
M4 5
4 6
F
! # # # # # # # # # " ! 1 2 M 1 $ # K11 + K11 & 2 K 21 M2 & # & # M3 & # 0 =# & M4 & # 0 # 1 M5 & # K51 & M6 & # 0 % "
ndgof
=K ndgof x ndgof
0
3 K 23 3 4 K 33 + K 33 4 K 43
ndgof
2 K12 2 3 K 22 + K 22 3 K 32
0 0
4 K 34 4 5 K 44 + K 44
1 K15
0 0 0
1 K55
0 0 0
0 0
0
5 K 64
$ 0 & 0 & & 0 & & 5 K 46 & & 0 & 5 K 66 & %
! # # # # # # # # "
!1 $ & !2 & & !3 & & !4 & 0 & & 0 %
28/02/2012 47
l l l
Select rows and columns of the assembled global stiffness matrix Solve for the unknown rotations Substitute computed rotations to obtain unknown moments
Continuous beams (IV)

1
M1
1
M2
2
M3
3
0 3 K 23
M4 5
4
0 0
1 K15 0
6
0 1 0 2 0 3 5 K 46 4 0 0 5 K 66 0
1 2 M 1 K11 + K11 M 2 K 21 2 M 3 0 = 0 M 4 1 M 5 K51 0 M 6
2 K12 2 3 K 22 + K 22 3 K32 0 0
3 4 K33 + K33 4 K 43 0
4 K34 4 5 K 44 + K 44 0 5 K 64
0 0 1 K55 0
0
2 K12 2 3 K 22 + K 22 3 K32 0
28/02/2012 48
1 2 M 1 K11 + K11 M 2 K12 2 = M 3 0 0 M 4
0 3 K 23 3 4 K33 + K33 4 K 43
1 0 0 2 4 K 43 3 4 5 K 44 + K 44 4
1 M 5 K51 M = 6 0
0 1 5 K64 4
Intermediate loading (I)

l
So far we have considered that beam elements are loaded at their joints. In general, apart from nodal loads and prescribed displacements at supports, a frame structure can undergo other effects In a general case, point loads or distributed loads can be acting along the span How can we account for these new effects? Consider a general beam structure subjected to multiple loads such as the ones shown below
l l l l
w
28/02/2012 49
M3
3
Intermediate loading (II)

l
Establish a STAGE I, where every frame member is analysed independently with its ends fixed. Consider only the non-nodal loads. Compute the necessary fixed end forces
wL2 24
STAGE I
wL 2
wL2 12
wL 2
wL2 12
wL2 12
wL 2 wL 2
STAGE I
P 2
PL 8
P 2
28/02/2012 50
PL 8 PL 8
PL 8
P 2 P 2
Intermediate loading (III)

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Establish a STAGE II, where the overall frame structure is subjected to forces at the nodes opposite to the previously calculated fixed end forces (plus any other already applied nodal loads) Notice that forces at supports can be removed The solution of the problem is the addition of the results in STAGE I and STAGE II
l l
wL2 12
wL 2
P 2
PL 8
M3
P 2
PL 8
wL 2
wL2 12
28/02/2012 51
This force is absorbed by the support: it does not affect the frame structure
Intermediate loading (IV)

wL2 P L - 12 8
PL + M3 8
1
" $ $ $ $ #
1 2 PL wL ! 12 8 PL +M 3 8 M
2
% " K1 ' $ 11 1 ' = $ K 21 ' $ ' $ 0 & #
1 K12 1 2 K 22 + K 22 2 K 32
2
% 0 '" 0 % $ ' 2 ' K 23 $ ! 2 ' '$ ' 2 K 33 '$ ! 3 ' & &#
STAGE II
2 wL PL 12 8 PL + M 3 8
1 2 K 22 + K 22 = 2 K32
2 K 23 2 2 K33 3
1 M 1 = K12! 2
28/02/2012 52
Recall that the shear force diagram and bending moment diagram corresponding to STAGE I must be added to obtain the final solution

Stiffness Method For 2D Frames

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Stiffness Method For 2D Frames

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Stiffness method for 2D frames

! School of Engineering Dr. Antonio Martinez EG-225 Structural Mechanics II(b)

Stiffness Method (I: frames)

Examples of frames in Civil Engineering

Stiffness Method (I: frames)

External force Element

Global coordinate axes

3 Degrees Of Freedom (DOF) per node

Define global coordinate axes

oxy per element

Local coordinate axes

Global coordinate axes

Frame element kinematics

Stiffness Method (I: frames)

Initial shape Displaced shape

Frame element internal forces

Stiffness Method (I: frames)

Frame element kinematics analysis

Stiffness Method (I: frames)

Axial deformation: constitutive law

Shear and bending deformation: constitutive law (I)

From the equilibrium of a beam section, it follows:

dS(x) = !w(x) dx dBM (x) = S(x) dx

Shear and bending deformation: constitutive law (II)

Combining the relationships previously derived, it yields:

Stiffness Method (I: frames)

Shear and bending deformation: constitutive law (III)

For the deformation case 1, the BCs are as follows:

3 2 Substituting the BCs into the cubic polynomial y(x ) = ax + bx + cx + d

The internal shear force and bending moment result in:

Stiffness Method (I: frames)

6E a I a BM (0) = - ( La )2 12E I S (0) = ( La )3

Shear and bending deformation: constitutive law (III)

For the deformation case 2, the BCs are as follows:

3 2 Substituting the BCs into the cubic polynomial y(x ) = ax + bx + cx + d

The internal shear force and bending moment result in:

Stiffness Method (I: frames)

! $ d 3 y(x) 6 & a a# S(x) = E I =E I # La 2 & dx 3 "( ) %

Frame element local internal forces

Stiffness Method (I: frames)

a f xi Nia a fxj f yia Sia M ia BM ia j Ma a j f = a = f xj N a j a f S a j yja a Initial shape M j BM j

Element local forces-local displacements relationship

Stiffness Method (I: frames)

Stiffness coefficients (I)

Stiffness Method (I: frames)

Stiffness coefficients (II)

Stiffness Method (I: frames)

Stiffness coefficients (III)

Stiffness Method (I: frames)

Local internal forces-local displacements

The element local stiffness matrix k a is a 6x6 symmetric matrix ( as k = k

! School of Engineering Dr. Antonio Martinez EG-225 Structural Mechanics II(b)

Local forces EA L a f xi 0 a f yi M ia 0 a = f xj EA f a L yja M j 0 0

Element local stiffness matrix

Stiffness Method (I: frames)

From global to local displacements

uia uia = via ia

From local to global displacements

Stiffness Method (I: frames)

uia c a uia = via = s a ia 0

Analogously for node j:

where T a is the so-called transformation matrix

Transformation of internal forces