Course Stabilty of Structures

Lecture notes 2015.03.06 about

 3D beams, some preliminaries (1:st order theory)
 Torsion, 1:st order theory
 3D beams 2:nd order theory
 Torsional buckling
 Coupled buckling modes, examples
 Numerical calculation method
/Per J. G.

Pelarknäckning,
Vridknäckning
i-planet
.
knäckning,
böjknäckning. Torsional
buckling.
In-plane column
buckling.

Böjvridknäckning.
Bending-torsional
buckling?

Vippning, kantring
Lateral-torsional
buckling. Tilting?

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3D beams, some preliminaries
Coordinate system (right hand side orientation):

Stresses in beam (as considered in governing equations):

σ y  σz  τ yz  0
σx  0, τ xy  0 and τ xz  0 (in general)

Cross section reference points and directions:

Shear Rotation
y centre centre (yo, zo)

Principal
directions x

Centre
of gravity
z

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1:st order governing equations for 3D Bernoulli/Euler/StVenant/Vlasov beam

y,

mx
z,
w
x, u

Shear Rotation
y, centre centre (yo, zo)
ϕ

Principal
directions x, u

Centre
of gravity
z,

 (EAu)  -qx  No bar-action (1)

 (EIv)  q  m  M
 y z zo bending in x-y plane (2)
 (EIw)  q  m  M
 z y yo bending in x-z plane (3)
 (EIω )  (GKv )  mx torsion (4)
The equations are linear and uncoupled.
v=v(xo,yo) and w=(xo,yo). Thus v(x,y)=v-(z-zo)ϕ and w(x,y)=w+(y-yo)ϕ.

3
Torsion
y, v

x, u Rotation center (yo, zo)

z, w
TL

Kinematics:
1) In the y-z plane, the beam cross-section moves as a rigid body rotating
around the rotation center

TL

2) Displacement u is not equal in different parts of a cross section: warping

4
Two torsion deformation modes:
The magnitude of warping may be constant or vary along the beam.
These two cases corresponds to different stress and deformation performance.

a) (“St Venant theory”) The warping is constant along the beam. This is the case
if the torque is constant and there is nothing preventing warping at the ends
of the beam.

T T

x L

In this case σx=εx=0. Twisting and warping is due to γxy≠0 and γxz≠0.
 (L)   (0) d T
   
L dx GKv
For distributed load, equilibrium for a part dx gives dT+mxdx=0, i.e. T´=-mx :
(GKv )  mx (5)

To be strict, mx≠0 should not be allowed since it gives varying T and warping, and
therefor contradicts the theory.
The case of constant warping is the “St Venants torsion theory”. Cross section
geometry parameter Kv and shear stress distribution are in this theory
determined by an Poisson’s equation, derived from definition of shear strain,
τ=Gγ and σx=0.

5
b) (“Vlasov theory”) The warping is varying along the beam. This is the case if
the torque is varying or warping is prevented at an end of the beam.

x L

In “pure Vlasov torsion” is γxy=0 and γxz=0, and twisting is due to εx≠0.

Prevention of warping is of great importance the torsional stiffness of beams with

certain thin-walled cross-sections, eg:

For most other cross-sections is the influence (on torsional stiffness) of prevented
warping disregarded.

The pure Vlasov torsion gives:

(EI )  mx (6)

6
An illustration
Prevented warping (“Vlasov”). Twist of beam due to normal stress σx
and strain εx giving bending deformation of upper and lower flanges.

Free warping (“St Venant”). Twist of beam due to shear stress and strain
giving “spiral shape” of the web and each of the two flanges.

Superposition of the two stress-systems gives

“the governing equation for mixed torsion” acc. to 1:st order theory:

(EI ) - (GKv )  mx (7)

Boundary conditions if Iω=0
 ϕ=0 (or other known value)
 T known, giving ϕ’=T/(GKv)
Boundary conditions if Iω≠0
 ϕ=0 (or other known value)
 ϕ’=0 (prevented warping, clamped)
 ϕ’’=0 (free warping (or known normal stress giving some ϕ’’≠0 ) )
 T known, giving -(EIωϕ’’)’+GKvϕ’=T

7
2:nd order governing equations for 3D Bernoulli/Euler/-
StVenant/Vlasov beam

Assumptions
 Linear elastic material
 Constant EA, EI, GKv, EIω and N along beam
 No initial stress and no initial curvature (imperfections)
 No distributed moment loads
 N known and no influence of shear on normal axial force
y

EAu  qx bar-action (8)


EIz v' ' ' '  qy  N(v' 'zo ' ' )  (Moy )'' bending in x-y plane (9)

EIy w'' ' '  qz  N(w''y o ' ' )  (Moz )'' bending in x-z plane (10)
EI  ' ' ' ' GK  ' '  mx  (2 :nd order terms) torsion (11)
ω v
where (2:nd order terms)=
 N(Io /A) ' '  N(yow''zo v' ' ) ...
 (Moy v' )'  (Vzo v)'  (Mo z w' )'  (Vow)' ...
y
 2 (Moy ' ) zo  2 (Mo z  ' ) yo ...
 qz v  qy w  qz (z1  zo )  qy (y1  yo )

Notations: see next page.

Reference: ”Byggnadsmekanik. Knäckning” (Runesson, Samuelsson, Wiberg, 1992)

8
 Notations

(yo,zo) is the location of the rotation center

(y1,zo) is the location of load qy

(yo,z1) is the location of load qz

Io=Iy+Iz+(yo2+zo2)A is the polar moment of inertia with respect to

the rotation center

Vyo, Vzo, Myo, Mzo are section shear forces and moments acc. to 1:st
order theory

9
Outline of derivation of governing equations for 3D beam, 2:nd order
The three “beam stress” components σx, τxy and τxz, acting on a small volume
dxdydz in the beam are considered:

y, v τxy
σx
τxz

Position when Position when x, u

beam is unloaded beam is loaded
z, w

Equilibrium in y- and z-directions:

τxy  Uy  (σ x v' )  0

 (12a,b)
τxz  Uz  (σ x w')  0

Uy and Uz är load/volume in the y- and z-directions.
2:nd order effects of the shear stresses are not considered, just as in the 2D
beam analysis.
The 2:nd order equations can obtained from the 1:st order equation by adding
the second order component of the normal stress to the loads in the y- and z-
directions (loads/length qy and qz) :

 replacing load qy with load

 replacing load qz with load

(In case of torsion with prevented warping additional considerations are needed.)
Note: σx is the normal stress in direction (1, v’, w’), that is in the direction along a
line in the beam which in the unloaded beam was oriented parallel with x-axis.
This direction of σx is thus not the x-direction and in general neither
perpendicular to the surface on which σx acts. The latter is of relevance for St
Venant torsion.
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Equations (8-11) in the special case of double symmetric and massive
(thickwalled) beam cross sections:
Double symmertric: yo=zo=0
Massive (thick walled): yo≈zo≈0

For the I-
beam
section is
Iω≠0.
For all
other is
Iω≈0.

EAu  qx

EIz v' ' ' '  qy  Nv' '(Moy )''

EIy w'' ' '  qz  Nw''(Moz )'' (13a,b,c,d)
EI  ' ' ' ' GK  ' '  mx  (2 :nd order terms)
ω v
where (2:nd order terms)=
 N(Io /A) ' ' ...
 (Moyv' )'  (Vzo v)'  (Mo o
z w')'  (Vy w)' ...
 qz v  qy w  qzz1   qy y1 

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If moreover no distributed load (qx=qy=qz=mx=0):

EAu  0
 o
EIz v' ' ' '  Nv' '(My )''
 o
EIy w'' ' '  Nw''(Mz  )''
 o o o o
EIω ' ' ' ' GKv ' '  N(Io /A) ' '  (My v' )'  (Vz v)'  (Mz w')'  (Vy w)'
…..(14a,b,c,d)

And for stability analysis with respect only to compressive force –N:

EIz v' ' ' '  Nv' '  0

EI w'' ' '  Nw''  0
 y
EIω ' ' ' ' (GKv  NIo /A ) ' '  0 (15a,b,c)


Eq (15a,b,c) have the nice feature of being uncoupled.

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Torsional buckling
Only double symmetric and/or thickwalled cross sections considered.

Governing equation and solution for beams with Iω≠0:

EIω' ' ' ' (GKv  NIo /A ) ' '  0 (15c)

  C1cos (λx)  C2s i n(λx)  C3x  C4
 for (GKv  NIo /A)  0 (compres son), λ  - (GKv  NIo /A)/EIω
 i
  C cos h(λx)  C s i nh(λx)  C x  C
 1 2 3 4

 for (GKv  NIo /A)  0 (tens i onor s mal compr.),
l λ  (GKv  NIo /A)/EIω
(16a,b)
One solution for homogeneous boundary conditions is C=0.
From the boundary conditions: AC=0.

By investigation of det(A)=0 can possible Ncr for the actual boundary conditions
be determined.

Governing equation and solution for beams with Iω=0:

(GKv  NIo /A )' '  0 (17)

v  C1x  C2 (18)
One solution for homogeneous boundary conditions (ϕ=0 and/or ϕ’=0) is C=0.
Other solutions are possible only if
(GKv  NIo /A )  0 (19)
Thus the critical load for torsional buckling is

Ncr  GK A/I (20)

v o

The curve ϕ(x) may have any continuous shape in the case torsional buckling of a
beam with Iω=0! (Provided that the boundary values at x=0 and X=L are fulfilled.)

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Further studies of torsional buckling:
Thin walled pipe
σ
Cross section area =A
Radius = R
Wall thickness = t<<R

σ a σ
γ
h G h(1-cosγ) h

Potential energy, π
 π  σah(1  cos γ )  (1/2)τ γV where ah  V and τ  Gγ

 π  σ s inγ  Gγ
 π  σ cos γ  G

For γ=0 is π´=0 (equilibrium) and π´´=0 (neutral equilibrium) found for
σcr = G (a simple and useful relation!?) (21)

For the pipe this means

Ncr  GA (22)

Compare with Eq (20) for a thin walled pipe:

Ncr  GK A/I  GI A/I  GA
v o o o

14
 σ
Cross section area =A
Radius = R
Wall thickness = t<<R

σ a σ
γ
h G h(1-cosγ) h

The result σcr = G should be possible to derive also by means of equilibrium

analysis. How?

15
Further studies of torsional buckling:
Derivation of buckling load at St Venant torsion (beams with Iω=0)
x x
σ A φ rφ
r dA

γ
L

Potential energy, π
T
π    σ dA L (1  cos γ ) 
2
A
where γ  r/L , T  GKv/L and cos γ  1  γ2 /2

 (r/L)2 GKv 2 σ 2 2 GKv 2

 π  σL  dA    r dA 
 2 2L 2L 2L
A A
 σ GKv
 π    Io 
 L L
 π   σ I  GKv
o
 L L

For ϕ=0 is π´=0 (equilibrium) and π´´=0 (neutral equilibrium) found for
GKv
σ cr 
Io giving
Ncr  GK A/I which is Eq (20)
v o
The similar energy based derivation of critical load for the case Iω≠0 can be made,
but then variation of ϕ along the beam must be considered (by means of Eq
(15a)) .

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