ISBN 978-3-7643-0614-4 ISBN 978-3-0348-6892-1 (eBook)

DOI 10.1007/978-3-0348-6892-1
 Static Parameters of Beams on Elastic Foundation

Parametres statiques pour des poutres sur fondation {lastique

Statische Parameter von Balken auf elastischer Unterlage

J.J.TUMA G.ALBERTI
Prof. of Civil Engineering, Oklahoma Research Associate, Institut für Bausta-
State University, Stillwater, Oklahoma, tik, Federal Institute of Technology, Zü-
U.S.A. rich, Switzerland

lntroduction

The analysis of beams resting on elastic foundation has been developed

during the second half of the past century by WrNKLER [1], ZIMMERMANN [2],
and ScHWEDLER [3]. HAYASHI [4] extended this type of analysis to frames and
prepared a set oftables [5] facilitating the numerical calculations. New develop-
ments in this area have been initiated' by UMANSKY [6], FILONENKO-BORODIC
[7], and HETENEYI [8], designated as the method of initial parameters, and
the method of end conditioning, respectively.
The method of initial parameters [6] forms the basis for the development of
the transport matrix as shown in works ofPESTEL [9], KERSTEN [10], PETERSEN
[11], and others. The same approach in equation form has been introduced by
BAZANT [12] and recently restated by MmANDA and NAm [13].
The relationship between the transport matrix method, the flexibility
method, and the stiffness method applied to the analysis of beams on elastic
foundation is shown in this paper. The study is restricted to coplanar systems,
consisting of straight members of constant cross-section, subjected to causes
developing bending about the principal axis, normal to the system's plane. It is
assumed that the material ofthe structure follows Hooke's law, the foundation
is linearly elastic, and all deformations are small. The effect of shear and axial
forces is considered negligible, but if desired adjustments may be made for these
effects. The modulus of elasticity of the structure, and of the foundation are
assumed to be known, and no uncertainty exists in this respect.
Sign conventions are those typical for each of the methods mentioned.
248 J. J. TUMA - G. ALBERTI

Letter symbols adopted for use in this paper are defined where they first
appear, and they are arranged alphabetically in the appendix.

Differential Equation

A finite, straight bar of constant cross-section with loads, and end conditions
shown in Fig. 1, is supported along its entire length l by elastic foundation of
modulus k. End vectors ö = defl.ection, () = slope, M = bending moment, V=
shear, identified by L-, and R-subscripts, for the left, and the right end,
respectively, form the corresponding state vectors.

(l)

The geometry of the beam, and its elastic curve are defined by Fig. l.

©
ML~""s_L_+
vJ
8(x)

I· X

Fig. l. Finite Beam, Elastic Foundation.

The governing differential equation in this case is:

(2)

in which E = beam modulus of elasticity, I = moment of inertia of the beam's

cross-section, x = position coordinate, measured from L along XL, ö (x) =
defl.extion at x, measured along YL from the initialaxial of the beam, O(x) =
slope of elastic curve at the same section, and p (x) = intensity of load at x.
The general solution of Eq. (2) consists of two parts,
ö(u) = S(u)+L(u), (3)
in which S(u) = A·a(u)+B·b(u)+O·c(u)+D·d(u) (3a)
 STATIC PARAMETERS OF BEAMS ON ELASTIC FOUNDATION 249

is the shape function, representing the solution of the homogeneous Eq. (2),
and
I
u

L (u) = ~ d (u-v) ·p (v) ·dv (3b)

0
1s the load function, representing the particular integral (Fig. 2).

®
X :..!:!..
>.

Fig. 2. General Load in Term of u and v.

N ew variables u = .\x, v = .\z (4)

14/-
are functions of
,\ =V 4 ~t· (5)

The analytical expressions of a (u), b (u), c (u), d (u) are recorded in Table 1,
and designated as the static parameters. They possess certain cyclometric,

Table 1. Static Parameters

a (.\x) = cosh (.\x) cos (.\x) a(O) =1 a(.\l) =a

b (.\x) = cosh (.\x) sin (.\x) +2 sinh (.\x) cos (.\x) b (0) =0 b (.\l) =b
c(.\x) = sinh(.\x)sin(.\x)
2
c(O) =0 c (.\Z) =c
d(.\x) = cosh (.\x) sin (.\x)-4 sinh (.\x) cos (.\x) d(O) =0 d (.\l) =d

Table 2. Boundary Values

S(O) =AL = SL s (.\l) =AR =SR L (.\l) = LRL

S' (0) =.\BL = .\BL
S" (0) = .\2 CL = A2 ML
-
S"'(O) = .\3 DL = .\3 VL
S' (.\l) = .\BR = ,\BR L' (.\l) = .\LEn
-
S"(.\l) = .\2 CR = .\2 MR L"(.\l) = .\2L'!n
-
S"'(.\l) = PDR = .\3 VR L"' (.\ l) = .\3 L'Jn
250 J. J. TUMA - G. ALBERTI

and cycloantimetric characteristics, useful in the evaluation of constants A, B,

0, D. Since these constants two major values, depending of x (x = 0, x = l), the
subscript L, or R, is used respectively as shown in Table 2. Similar is the hand-
ling of L (u), and its derivates in the same table. Some special values of L (u)
are given in Table 3.

Table 3. Special Values of L (u)

u=O
I L(O) == 0 (,\=Al)
I
!
I
t t
:~
O<u<X L(u)= pl4 [1-a(u)] ·
C9 i~ x= I U/).
L
4EI ,\4

u=,\ L(~) == pl4 [1::-aJ

4EI ,\4

ip u<,\m L (0) == 0 (,\ ==

(9:
Al)
m [!

~
i
L(u) == Pl 3 d(u-Am)
® Am<u<,\
EI ,\3
x= u;). ,L
== Pza d~,\n)
l ,l u=X L(X)
EI ,\3
-----
I

: o(b, :
m I
L(u) == 0 (A ==Al)
u<,\m
I
- Q l 2 c (u-,\m)
,\m<u<,\ L(u) == - -
@ ®
r= ut:~
EI ,\2

,l L(~) == -Ql2 c(~n)

I ,l u=,\
EI ,\2

'
u=O L (0) == 0 (A = ,\l)

©~1
r·""
O<u<,\ L(u)= pl4 [u-b(u)]
4EI A5

lI ®
~ u=,\
I
L(~) == pl4 [i::-bJ
4EI ,\ 5

lu tmJj,
m I L(u) =0
t u<Am (3. =Al)
pl4 [1-a(u-,\m)]
,\m<u<A L(u)= - -
lx=u~
4EI ,\4

@ l I
~® u=,\ L(~) = pl4 [1-a(An)]
4EI A4
I
 STATIC PARAMETERS OF BEAMS ON ELASTIC FOUNDATION 251

Transport Matrix

With results of Tables l and 2, the relationship between the equivalent

vectors H R and H L becomes
(6)

The first algebraic form Eqs. (6) is developed in Table 4, and converted into
the second one, in the same table.
~ ~

HL = tLRHR. (7)

tRL, tLR are the transport matrices of a loadless segment, and tRL, tLR are the
transport matrices, including the effect of Ioads in span L R. All matrices in
Eqs. (6) and (7) are dimensionless, and possess following characteristics:

a) Inverse relationships
tRL tLR = [I], (8)

b) shift relationships
iRL = -tRLiLR' (9)

thus tLR (tLR) is the inverse of tRL (tRL), obtained from tRL (tRL) by changing
the signs of b, and d; similarly, lLR is obtained from lRL by premultiplication.
Once tRL-constants, and lRL-constants are known, Eqs. (6) and (7~ are defin~d.
The relationship between the equivalent, state vectors li R (liR), JiL (liL)
and their absolute counterparts, or vice verse, is given by means of the scaling
matrix ,\ (~), or the dimensioning matrix K (K:).

HR = ,\HHR, HL = ,\HHL,
(10)
HR = KHHR, HL = KHHL,
-"-
HR = ~HfjR'
(ll)
fJR = K:HHR,
in which
l
l
,\
l (12)
- ..\ 2 EI
I
..\ 3 EI

and ~H' K:H are obtained by extending the diagonal by one term = l.
 t-:l
Ol
Table 4. Transport Equations t-:l

Ist Form

,--- - - r- -
'sR a b c all sL - LRL SL a -b c -allsR - LLR

eR -4d a b c eL__ I+ L!n eL 4d a -b c eR LI,R

--- .. 1+
=
MR -4c -4d a b ML L-"RL Mr" -4c 4d a -b MR L-"LR
-1!1

- VR- L -4d -4c -4d a VL-

L RL VL 4b -4c 4d aj L VR _ L L "'LR ;-<
:-<
>-:3
q
] = [ ~LJLJ, RL tLJa,RL ] [~L ]+[~,RL] [ ~LJLJ, LR ~LJa, L~J [~R +
] [~LJ, LR] ~
[ ~R [ ~L] = ~
GR taLJ,RL taa,RL GL la,RL_ GL taLJ,LR taa,LR GR _la,LR_
___, ___, ___, ~ ~
0
'----'
HR tRL HL lRL HL tLR HR tLR
~
t:d
t<J
~
H
2ndForm

0 0
I~"l [~~~"" iA~ =
., ~. R"l [l [l J,.~," i~~o"R '""o"'jl~·l
laR_ la,RL
lGLJ taLJ,RL taa,RL lGL lla,LR taLJ,LR taa,LR laR
'-v- '-v-
A ~ A
-"-
HR tRL HL HL tLR HR
I
I
 STATIC PARAMETERS OF BEAMS ON ELASTIC FOUNDATION 253

With help of these matrices, Eqs. (6) take the form

(14)

Similarly, Eqs. (7) become

fJR = KHtRL~HfJL,
.__,_, fiL = KH~R>..HfiR. (15)
~
tnL fLR

Between the absolute, transport matrices holds also the relationship (8).

(16)

Transport Chain

Once the transport Eqs. (7) are available for a single, straight segment,
their extension to the analysis of multisegment beams is accomplished by
matrix multiplication.

l·
J
k
Fig. 3. Beam i j k l.

Let beam i j k l (Fig. 3), given by its geometry (lengths of segments li, lk, l1),
the moments of inertia in each span (li, Ik, 11), and the modulus of elasticity
E, be loaded by transverse loads, and supported by elastic foundation of
modulus k.
Beginning at l, the state vector at k

fik = t:lfil' ( 17 a)
at j, fJj = t:kfik (17b)
and at i, fii = ~jfij. (17 c)

4z
t~i, tik, are the absolute, transport matrices of the respective spans (Table 4),
and fii, fii, fi k, H1are the absolute, state vectors at the corresponding stations.
Combining Eqs. (17 a, b, c) into one equation by successive substitution,

fji = ~Jjk 4lfil. (17)

~

tu
254 J. J. TUMA- G. ALBERT!

The result of the chain product in (17) is a new transport matrix tiZ• connecting
directly the absolute, state vector fli to the counterpart at Z.

_1_1 __o__o____o___o_
la, iz taa, iz tae, iz taM. u ta v, iz
le,iz tea,iz tee,iz teM,il tev,iz (18)

lM,il tMa,iz tMf9,il tMM,il tMV,il

lv,iz tva,iz tve,iz fvM,il tvv,iz
This matrix is characteristic for a given beam, and independent of the end
conditions. It is designated as the transport chain, and it may be extended to
any number of segments. Since there are always eight boundary values involved
(8i, ei, Mi, ~, 81 , 81 , M 1 , Tj), of which four are known, and four are unknown,
four equations are necessary for the solution of a given problem. The transport
chain Eq. (17) provides these equations, of which only two must be solved

Table 5. Special cases

Free-Free Beam Fixed-Fixed Beam

Cib=cn
I I I
k
I

Free-Fixed Beam Hinged-Hinged Beam

Cl I [I l l
k

-r~.-
- _vl_
 STATIC PARAMETERS OF BEAMS ON ELASTIC FOUNDATION 255

simultaneously. Four typical cases are symbolically solved in Table 5, and the
starting equations are identified by ::! , in each case. The handling of inter-
mediate conditions (mechanical hinges, guides, linear springs, angular springs,
linear fixities, angular fixities) developed for ordinary beam transport (9) is
applicable here without modification.

Flexibilities

The end flexibility of a straight beam on elastic foundation is defined as the

end deformation produced by a unit end cause, or by loads. Since the unite
causes are moments and forces, the end deformations are deflections, and slopes,
and the point of unit cause is the near, or the far end, sixteen unit cause
flexibilities, and four load flexibilities, are required, for the formulation of a
member flexibility matrix equation. Because of symmetry, and antisymmetry,
only ten constants are necessary.
The derivations of the flexibility matrix follows from equations (6, rows 3,
and 4 of Table 4).

As conventional in this case,

LILR =-LI~, (20)

and with these changes the deflection-slope equations become

LI LR = t;;}RL taa,RL äL- t;;~,RL äR + t;;}RL la,RL'

(21)
LI RL = t;;}LR äL- t;;}LR taa,LR äR- t;;}LR ia,LR •

In these equations,

t;;~,RL = 4(c2~bd) [ -~ _;]'

and laa,RL' taa,LR' ia,RL' iu,LR are submatrices defined in Table 4.

The algebraic evaluation of Eqs. (21) is shown in Table 6, and recorded in
rearranged form below.
SLR ELL ELR GLL. GLR -vL f.LR
SRL ERL ERR GRL GRR VR f.RL
+ (23)
@LR -GLL GLR FLL FLR ML TLR
@RL_ GRL -GRR FRL FRR_ MR _TRL_

Eqs. (23) define analytically the end deformation (in the flexibility sign con-
vention), and consequently arealso equations of respective elastic weights.
 Table G. Flexibilities t:-:l
01
~

(I) (2) (3) (2) (3) I (4)

I I (4 ) I (I) I
I I
[3 (bc-ad) [3 sinh (2A) -sin (2A) [3 d [3 cosh (A) sin (A)- sinh (A) cos (A)
~

ELL ~
I ~
e ELR ~- ce
EJ ,\3 <X EJ 2.\3y E J A3 "' EJ ,\3y

[3 d [3cosh (A) sin (A)- sinh (A) cos (A) [3 (bc-ad) [3sinh (2 A)- sin (2 A)
~
~
~
~- e
EnL ce Enn
EJ A3 "' EJ ,\3y EJ ,\3 <X EJ 2.\3y

[2 (ac+4d 2) [2 cosh (2 A)- cos (2 A) -l2 c [2 -2 sinh (A) sin (A)

~
~-
~ ~ cg
GLL g GLR ~
EJ ,\2 <X EJ 2.\2 y EJ A2 <X EJ ,\2y
~
[2 c [22 sinh (A) sin (A) -l 2 (ac+4d 2) [2- cosh (2 A) + cos (2 A) >-:3
~

~
~~~---

--- -cg Gnn q

GLR -g I
EJ ,\2"' EJ ,\2y EJ ,\2 <X EJ 2.\2y ~
>
-l (ab+4cd) l -sinh (2A) -sin (2A) l b ~
l 2 [cosh (A) sin (A) + sinh (A) cos (A)]
~

FLR cl ~
FLL I
EJ .\"' EJ .\y E J ,\"' EJ .\y
>
l b l 2 [cosh (A) sin (A) + sinh (A) cos (A)] -l (ab+4cd) l - sinh (2 A)- sin (2 A) ~
~

Fnn I?:J
FnL cl I :d
EJA"' EJ .\y EJ .\"' EJ .\y >-:3
H

-c L'in+dL'Jn I - -- - - - --
€LR -{- 2 sinh (.\) sin (.\) Lln+ [cosh (.\) sin (.\) -sinh (.\) cos (.\)] L'h}
<X y

cL'Ln+dL/'in I - -- - - - -- X= .\l
€RL -{2sinh (.\) sin (.\) L'Ln + [cosh (.\) sin (.\) -sinh (.\) cos (.\)] L"in}
<X y
"'= 4 (c 2-bd)
X(b L'Jn-ci)Jn) 2.\ - - - - - - - -
7 LR y;y{[cosh (.\) sin (.\) + sinh (.\) cos (.\)] Lh-sinh (.\) sin (.\) L'h} y = 4<X = cosh(2A)+cos (2A)-2
l<X

A(bL'Ln+cL"in) 2.\ - - - - - - - -
7 RL y- {[cosh (.\) sin (.\) + sinh (,\) cos (,\)] L'Ln + sinh (,\) sin (,\) L"in}
l<X I y I - -
 STATIC PARAMETERS OF BEAl\IS OK ELASTIC FOUNDA'l'IO~ 257

From Table 6, the following identities are observed:

ELL= ERR= e, ELR = ERL = ce,

GLL = -GRR = g, (24a) GLR = -GRL = cg, (24b)
FLL = FRR = f. FLR = FRL = cf.
Constants e, g, I are the near, end flexibilities, whereas c e, c g, c I are the far, end
flexibilities (or sometimes called carry-over flexibilities). Constants ELR, ERL,
TLR' TRL are the end deformations, caused by loads.
Eqs. (23), in observance of identities (24a, b), yield a new relationship of
G-matrices.

~Ö(LR)] =
(25)
le
,_ (LRL

Flexihility Chain

Once the flexibility matrix (25) is available for a single segment, the analysis
of multi-segment bars is accomplished by chain overlapping.
Considering the beam i j k l (Fig. 3), the continuity at j (any station) requires
that,
8ji+8jk = 0,
(26)
eii+Bik=O.

With notation (23), and new equivalents:

designating the sum of the respective, near end flexibilities and load flexibilities
at j, the compatibility Eqs. (26) become typical joint, force-moment equations.

(27)

Eqs. (27) have a general meaning, and are used as recurrence formulas.
With end conditions tobe discussed later, the complete joint force-moment
matrix takes the form shown in Table 7.
In symbolic form
(28)
258 J. J. TUMA - G. ALBERTI

Table 7. Joint Force-Moment Matrix

Eii V; Eij
j Gii -----~!!_ ~-------------
0 EJ; ' ~ E11 j Eik: j G11 ·~ Gjj j GJk i Vj ~ Ej
~---- - - - - - - · : - - - - - - - - - - - - - - - : · - - - - - - - - - - - ' : 1 '

0 ____ __ }jJ~1-.---~ Ekk -----E~-~-; -------~ Gki• ~-~~-~:J Gkz j vk L•k

Ezk Eu: Vi Elk
+
:- G;; Gti : ! Fii Fi1 _____ _ M; Tij

0 G1; _-.:.:_-i·a;~ :--- G1k i j F1; ,~ F11 ' FJk j MJ ~Tj

0 ·----------_:::::·:·a~;-. ~i)i~~~------a-~;-r -------i·---JJ:~!i·~-JJ:~~--F~;-i Mk ~Tk

i Gzk - Gu i Fzk Fu f Mz Tlk
'---------------------------•1

[~]=[~E~;-z~-G,_·-zJ[~J+ [~Ei-]
~ Bt-z _ - Gt'-z Fi-z Mi-l ~Ti-l

[~ Llt-l] = ['P.da, i-l] [a;-z] + [~'7;-z]

It is interesting to observe that CfJLia,i-l is formed by four matrix chains, layed

out diagonally like a deck of cards, with overlapping corners.

-
a(ij) E(lil G(iil E(ij)

~k) Eok> G(ikl E(jk)

d==
E(kll G(kll E(kl)
8(kl)
1---- ,----

e(ij) -Goil
.. F(iJl
'--
T(ij)

8(jk) Gijk> F(jk) TQk)

e(kl) -G;o F(kl) T(kl)

-
'--

Matrices 2: Lli-l, 2: YJi-l are formed by column matrix chains, layed out
vertically like a deck of cards, with half length overlapping.
Matrix Eq. (28) may be written for any number of segments, and is designated
as the static flexibility chain.
Four typical cases solved symbolically be the transport chain method in
Table 5, are also symbolically solved by the flexibility chain in Table 8.
 STATIC PARAMETERS OF BEAMS ON ELASTIC FOGNDATION 259

Table 8. Flexibility chain: Special cases

Free-Free Beam Fixed-Fixed Beam

~k l j
~ i j k l

r-0;- - -o r ·o- r - -vi - ,--

0 Vj 0 Vj
0 vk 0 vk
01 0 0 Vz
'PLia. i-l + ~'YJi-l 'I'Lia, i-l + ~'YJi-l
8; 0 0 M;
0 J1:li 0 Mi
0 Mk 0 ~"'Uk
_ 8z_
- -0 - - - 0 ,__M1 _ '--

Free-Fixed Beam Hinged-Hinged Beam

~ j k l

ll;- r - -o - - '0- - -v; r -

0 Vj 0 Vj
0 Vk 0 vk
0 v; 0 Vz
'PLla, i-l + ~'YJi-l 'I'Lla, i-l + ~'YJi-1
8; 0 8; 0
0 .~j 0 Mi
0 Mk 0 2\!h
,__0- - llfz_ - ,__81_ - ,__0 -
'-- '-- -

Stiffnesses

The end stiffnesses of a straight beam on elastic foundation is defined as the

end reaction produced by a unit deformation or loads. Since the end reactions
are forces and moments, the unit deformations are deflections and slopes, and
the point ofunit deformation is the near, or the far end, sixteen unit cause stiff-
nesses are required, for the formulation of a member stiffness matrix equation.
Because of symmetry, and antisymmetry, only ten constants are necessary.
260 J. J. TUMA- G. ALBERT!

The derivation of the stiffness matrix follows from Eqs. (6, rows 1, and 2 of
Table 4).
LJR = l.J,RL+t.:Jt:J,RL'tfL+t.Ja,RLih,
(29)
LJL = l.J,LR+t,J.J,LRiJ-R+t.Ja,LRäR.

As conventional in this case,

aRL = äR (30)

and with these changes, the force-moment equations become:

aLR = t"J~,RL t.J.J,RLLJL- t"J~,RLLJR + t"J~,RL l.J,RL' (31)

aRL = tJ~,LRJL- t"J~,LR t.J.J,LRLfR- t"J~,LR l.J,LR ·
In these equations,

t"J~,LR = (e2 ~ b d) [~ :] '

--1
t.Ja,RL
1 e
= (e2-bd) [ -b
-d]e (32)

and t.J.J,RL, t.J.J,LR' l.J,LR, l.J,LR are submatrices defined in Table 4.

The algebraical evaluation ofEqs. (31) is shown in Table 9, and recorded in
rearranged form below.
- r
TLL TLR SLL SLR FVLR
TRL TRR SRL SRR FVRL
+ (33)
MLR -SLL SLR KLL KLR FMLR
_MRL_ SRL -SRR KRL KRR '--
_FMRL

Eqs. (33) define analytically the end stress-resultants (forces and moments in
the stiffness sign convention), and consequently are also the slope-deflection
equations.
From the Table 9, the following identities are observed:

TLR = TRL = et,

SLL -SRR = s, (34a) -SLR = SRL =es, (34b)
KLL= KRR=k. KLR = KRL = ek.

Constants t, s, k are the near, end stiffnesses, whereas et, es, ek are the far,
end stiffnesses (or carry-over stiffnesses). Constants F VLR' F VRL' F MLit'
FMRL are the fixed end stress resultants (fixed end forces and fixed end mo-
ments), caused by loads.
Eqs. (33), in observance of identities (34a, b), yield a new relationship of
S-matrices.

- T(LR) ] = - 'rr_LR)
(35)
_M(LR)_ -- StiR)
 Table 9. Stiffnesses

(1) 1 (2) (3) 1 (4) 1 (l} 1 (2) 1 (3) 1 (4)

I - - -
EJ ;\a(ab+4cd) EJ 4X.3[sinh(2,\)+sin(2X.)] -E J A.3 b E J -8 ~3 [cosh (A) sin (A) + sinh (A) cos (A)]
TLL TLn ct
r;a- ß za y za ß za y

-EJ A3 b ]iJ J -8 ;\a [cosh (A) sin (A) + sinh (A) cos (,\)] 1ct EJ ;\a(ab+4cd) EJ 4A3[sinh(2A)+sin(2A)]
TnL _z_a_ß Tnn ---za---T-- ---za-- t
za y y

EJA 2 (b 2 -ac) E J 2 A2 [cosh (2 ,\)- cos (2A)] EJ ,\ 2 c E J 8 ~ 2 sinh (A) sin (A)
SLL 8 SLniTß -es
T ß l2 y T y

-EJ A2 c E J -8 A2 sinh (A) sin (A) csiSilni-EJ_A2(b2-ac) EJ -2~2 [cosh(2A)-cos(2A)]

SnL -8
2
- l- ß l2 y l2 ß-- l2 y

-EJ A(bc-ad) EJ -2~[sinh(2A)-sin(2A)] KLnl -EJ Ad JiJ J - Ü [ cosh (A) sin (A)- sinh (A) cos (A)]
k -T ~---- ---y---------·---- ck
KLL ~l- -·-ß-·-·· -l- y l 7f
-EJ Ad E J - Ü [cosh (A) sin (A) -sinh (A) cos (A)] I ck EJ
_l -2A[sinh(2A)-sin(2.\)]
_______ y
KnL - l---ß 1C J l{boßad)
l
""1-f I A:

FVLR -EJ ~3 (bLnL-cL[n) EJ -8~ 3 {[cosh(\)sin(A)+sinh(A)cos(A)]LnL-sinh(A)sin(~)Lin}

za ß za y

- E J ,\3 (b L LR + c LI.n) E J - 8 ,\a {[cosh (~) sin (A) + sinh (A) cos (A)] LLn + sinh (A) sin (A) L'Ln} ,\ = ,\l
FVnL za ß za y
ß = c2 -bd
E J 4 A2 - - - - - - - -
EJA2 )
-·-
FM LR I """1,2--(cLnL-dfJRL T Y {2 sinh (,\) sin (,\) Lnr,- [cosh (,\) sin (,\)- sinh (X.) cos (X.)] L'nL} y = l6ß = cosh(2A)+cos(2A)-2

2
-EJ ß
EJ
l -4~__:_{2sinh(~)sin(A)Lr,n-[cosh
y
(,\)sin(A)-sinh(A)cos(A)]LI.n}
F MnL I z2 A (cLLn+dLI.n)l
262 J. J. TUMA- G. ALBERT!

Stiffness Chain

Once the stiffness matrix (35) is available for a single segment, the analysis
of multi-segment bars is accomplished by chain overlapping.
Considering again the bar i j k l (Fig. 3), the static equilibrium at j (any
station) requires that,
Tji + Tjk = 0'
(36)
Mii+Mik = 0

with notation (33), and new equivalents:

designating the sum of the respective, near, end stiffnesses and stiffness load
functions at j, the equilibrium Eqs. (36) become typical joint, deflection-slope
equations.

(37)

Eqs. (37) have a general meaning, and are used as recurrence formulas.
With end conditions to be discussed later, the complete joint deflections-
slope matrix takes the form shown in Table 10.

Table 10. Joint Dejlection-Slope Matrix

I ---
:su 811, 8; F Vi1

_
211 : 2: 'IJ1 i i \ s,i : 2: sjj
0 'lJk : s1k : 81 2;FVj
0 -~~?:_:t~:~:~-- Tkl: -~~;-,~-~~-~-_! s~~ i 8k 2;FVk
Tzk Tll : Szk Sll i 8z FVtk
=-=---=--=---=---=--=---=--=-'=--·:=--=---=--=---=---=--=--==1
::K_:.-K_-.~-,
-------- +
Ii H t :
jE!; F 2lii1
0 j s i~-~-~~~-
ji j _::::: __~1~ •- I·-~Ji i}i~~-: Kjk ej 2;F Mi
0
'--------~-k~- -~-~-~-k~ i skz! _ -~kj l:~k~i Kkz . ek 2; F 2\ik
111_ lk Kzk Kll i Eiz FMzk

[ l:Vi-z]=[~Ti-z
2;Mi-z - S;*-z
___-][81-z] si-z
Fi-z _IBi-z +
[LFVi-z]
2; F NL-z

[2;ai-l] = [TaLI,i-l][Lli-l]+[2;Fai-l]
In symbolic form,
(38)
 STATIC PARAMETERS OF BEAMS ON ELASTIC FOC~DATION 263

It is interesting to observe, that raLJ,i-l is formed by four matrix chains, layed

out diagonally, like a deck of cards, with overlapping corners.

-
v(ij) Toi> s(ij) FV(Iil

Vok> l{jk) S(ikl FVok>

'ltkl) T(kl) So,,) FV(kll

M(lil s(in K(ij) FMon

Mok> S(ik> K(ik FMok>

M(kl) s<:u K(kll FM(kl)

'----
\--

ro-b.,i-1

Matrices 2: ai-l, 2: F ai-l are formed by column matrix chains, layed out vert-
ically like a deck of cards, with half length overlapping.
Matrix Eq. (38} may be written for any number of segments, and is desig-
nated as the static, stiffness chain.
Four typical cases solved symbolically by the transport chain method in
Table 5, by the fiexibility chain method in Table 8, arealso symbolically solved
by the stiffness chain method in Table 11.

Keywords

Beam; elastic foundation; matrix analysis; transport matrix; fiexibility

matrix; stiffness matrix; structural engineering.

Acknowledgment

The authors express their gratitude to Prof. B. Thürlimann, who allowed

this paper to be prepared during the sabbatical year of Prof. J. J. Tuma at
the Institute of Structural Division, Department of Civil Engineering, SFIT,
Zurich.

Bibliographie

l. WINKLER, E.: Die Lehre von Elastizität und Festigkeit, Prag 1867.
2. ZIMMERMANN, H.: Die Berechnung des Eisenbahnoberbaues, Berlin 1888.
3. ScHWEDLER, J. W.:Beiträge zur Theorie des Eisenbahnoberbaues, Z. Bauverw.,
1889, p. 86.
4. HAYASHI, K.: Theorie des Trägers auf elast-ischer Unterlage, Berlin 1921, p. 21.
264 J. J. TUMA - G. ALBERT!

5. HAYASHI, K.: Sieben- und mehrsteHige Tafeln der Kreis- und Hyperbelfunktionen
und deren Produkte sowie der Gammafunktionen, Berlin 1926.
6. UMANSKY, A. A.: Analysis of Beams on Elastic Foundation, Central Research Insti-
tute of Auto-Transportation (Leningrad, 1933).
Idem: Special Course in Structural Mechanics, General Redaction of Literature of
Building (Leningrad-Moscow, 1935), Part I. (These publications contain also biblio-
graphics of earlier Russian works.)
7. FILONENKo-BoRODIC, M. M.: Soprotivlenije materialov (2. vyd., 1940, p. 540-554).
8. HETENEY, M.: Beam on Elastic Foundation, University of Michigan Press, Ann
Arbor, 1946.
9. PESTEL, E. and LECKIE, F.: Matrix Methods in Elasto-Statics, New York, 1963.
10. KERBTEN, R. and FALK, S.: Reduktionsverfahren der Baustatik, Berlin 1962.
ll. PETERSEN, C.: Das Verfahren der Übertragungsmatrizen (Reduktionsverfahren) für
den kontinuierlich elastisch gebetteten Träger, Bautechnik 3/1965, p. 87-89.
12. BAZANT, Z.: Nauka o Pruznosti a Pevnosti, Technicky Pruvodce, Vol. 3, Prague 1955,
p. 112.
13. MIRANDA C. and NAIR K.: Finite Beams on Elastic Foundation, Journ. ofthe Struct.
Div., ASCE, Vol. 92, St. 2, Proc. Paper 4778, April 1966, p. 131-142.

Summary

Three general solutions are given in matrix form for the analysis of beams
on elastic foundation. From the transport matrix formed by the static para-
meters of a single bar, the transport chain, the flexibility chain, and the stiff-
ness chain methods are developed and applied to the solution of particular
cases. The study is restricted to coplanar systems, consisting of straight mem-
bers, acted upon by transverse loads, and deforming elastically.

Resurne

On donne pour l'etude des poutres sur appui elastique trois solutions
generales mises sous forme de matrices. A partir de la matrice de transport
formee par les parametres statiques d'une barre simple, les methodes de la
chaine de transport, de la chaine de flexibilite et de la chaine de rigidite sont
developpees et appliquees a la solution de cas particuliers. L'etude est restreinte
aux systemes coplanaires composes de pieces droites, solicites par des charges
transversales et deformees elastiquement.

Zusammenfassung

Drei generelle Lösungen in genereller Matrixform sind für die Analysis

von Balken auf elastischer Unterlage gegeben.
Ausgehend von der Übertragungsmatrix, gebildet von den statischen
Parametern eines einzelnen Balkens wird die Übertragungs-, die Flexibilitäts-
und die Steifigkeitskettenmethode entwickelt und auf Spezialfälle angewendet.
Die Untersuchung ist beschränkt auf elastisch verformbare ebene, aus geraden
Stäben gebildeten Systeme, die senkrecht zu ihrer Achse belastet werden.