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The stiffness method of analysis is the basis of all commercial structural analysis programs.
The focus of this chapter will be development of these equations that only take into account
bending deformations, i.e., ignore axial member deformations. Within the assumptions, the
stiffness method for beam and frame structures is “exact”.
In the stiffness method of analysis, we write equilibrium equations in terms of unknown joint
(node) displacements. The number of unknowns in the stiffness method of analysis is known
as the degree of kinematic indeterminacy, which refers to the number of node/joint displace-
ments that are unknown and are needed to describe the displaced shape of the structure.
One major advantage of the stiffness method of analysis is that the kinematic degrees of
freedom are well-defined.
Fixed-End Forces: Forces at the “fixed” supports of the kinematically restrained structure.
Member-End Forces: Calculated forces at the end of each element/member resulting from
the applied loading and deformation of the structure.
ILLUSTRATION
To illustrate the stiffness method of analysis, we will first consider continuous beam
structures. Start off by considering the two-span beam shown in Figure 1.
EI = constant q
3
1 2
L L
2: Kinematically restrain the structure such that the displacements identified in step 1 equal
zero.
q
3
1 2
L L
Figure 2 – Kinematically Restrained Two-Span Beam of Figure 1
The heavy vertical line drawn through the horizontal roller support at 2 signifies that
node 2 is “fixed” against displacement. Thus, the rotational displacement d1 = 0 for
the kinematically restrained structure of Figure 2.
3: Calculate the element/member fixed-end forces for the kinematically restrained structure
and vectorially add to obtain the fixed-end forces for the structure.
q
2 qL2 qL2
1
12 12
L 2 L 3
qL qL
2 2
Figure 3 – “Fixed-End” Forces for the Kinematically Restrained
Two-Span Beam of Figure 1
Since span element (member) 1-2 is not loaded, it will not produce any fixed-end
forces. However, element (member) 2-3 is loaded and the “fixed-end” forces are
labeled in Figure 3. They are simply the support reactions for the “fixed-fixed” beam.
Calculate the fixed-end forces for the structure by vectorially adding the member-end
fixed-end forces.
4: Impose a unit displacement at each kinematic degree of freedom (DOF) to establish the
structure stiffness equations.
1 2 1 3
d1 = 1
2EI
2EI 4EI L
L L 4EI
L 1
1
Figure 5 shows the displaced shape of the two-span beam for d1 = 1 as well as the
displaced shapes and member-end stiffness coefficients for the two elements comprising
the two-span beam of Figure 1. Member-end stiffness coefficients are defined as the
member-end forces resulting from the imposition of the single unit displacement for the
structure as shown in Figure 5. Derivation of the member-end stiffness coefficients
(forces) shown in Figure 5 and others will be covered later in the notes.
where [S] is the structure stiffness matrix; {d} is the structure displacement vector;
{P} is the applied structure concentrated force vector; and {Pf} is the structure fixed-
end force vector calculated in step 3. The applied structure concentrated force vector
{P} lists the point forces for each structure displacement DOF. It contains nonzero
entries only at the displacement DOF where a point force or moment is applied at the
corresponding displacement DOF.
S11
4EI 4EI Figure 6 – Equilibrium at Kinematic DOF 1 for
L L the Two-Span Beam of Figure 1
2
Q1 u1 Qf1
Q u Q
2 2
{Q}4x1 = ; {u}4x1 = ; {Qf }4x1 = f 2
Q3 u3 Qf 3
Q 4 u 4 Qf 4
12
k11 k12 k13k14 12 6L − 6L
k L3
k 22 k 23
k 24 EI
[k] = 21 = 6L 4L2 −6L 2L2
k 31 k 32 k 34 L
k 33 3
−12 −6L 12 −6L
k 41 k 42 k 44
k 43 2
6L 2L −6L 4L2
= member stiffness matrix.
The element/member fixed-end forces are defined as {Qf } = {Q} for the
kinematically determinate/restrained beam member subjected to member loading.
Q1 = Vb = 12EI
3
(u1 − u 3 ) + 6EI
2
(u 2 + u 4 ) + Qf1
L L
(internal shear at beginning node b of the element)
Q 2 = M b = 6EI (u1 − u 3 ) + 2EI (2u 2 + u 4 ) + Qf 2
L2 L
(internal bending moment at beginning node b)
Q3 = Ve = − 12EI
3
(u1 − u 3 ) − 6EI
2
(u 2 + u 4 ) + Qf 3
L L
(internal shear at end node e of the element)
In order to apply equation (1) to the calculation of the element end-forces, compatibility
between the element displacements ui (i=1, 2, 3, 4) and the structure displacements dj (j =
1, 2, …, n) must be established.
u12 23
4 = d1 ; u 2 = d1 ; and all others = 0
12 23 T
{Qf} = {0}; {Qf} = qL/2 <1 L/6 1 –L/6>
Since only one displacement is nonzero for each member, the member end forces are
6EI − qL
12 L2 16
Vb qL2
M 2EI
12 b L −qL − 48
3
{Q} = = 6EI =
Ve − L2 96EI qL
M e 16
4EI qL2
L − 24
6EI 21qL
23 L2 48
Vb 1 2
M 4EI qL
23 b L −qL3 qL L / 6 24
{Q} = = 6EI + =
Ve − L2 96EI 2 1 27qL
M e −L / 6 48
2EI 5qL2
L −
48
Typically with structural analysis problems, it is desired to draw the shear force and bending
moment diagrams, which for the example structure is given below.
7qL
16
9L
16
-qL
16
SFD
83qL2 -9qL
1536 16
qL2
48
BMD -qL2
24
-5qL2
48
Modified Stiffness Analysis – Zero End Moment
A simplification of the stiffness analysis is possible if we take into account the fact
that the bending moment at an end simple support is zero. This leads to a reduction
of one rotational degree of freedom at each end support location in which the
bending moment is zero. Inclusion of this modification results in a reduction of the
number of member displacement and force degrees of freedom from 4 to 3.
Commensurate with this reduction is a change in the member stiffness coefficients
as well as the member fixed-end forces. These changes are given below.
u3, Q3
b e
u1, Q1 u2, Q2
(a) Simple-Fixed Beam (Mb = 0)
1 LM fb
θb = − [3(u1 − u 2 ) + Lu 3 ] −
2L 4EI
θb = rotation at node b
M fb = fixed-end moment at node b for
a “fixed-fixed” beam
u2, Q2 b e
u1, Q1 u3, Q3
1 −1 L
3EI
[k M ] = −1 1 − L = modified member stiffness matrix
3
L 2
L −L L
1 L −1
3EI
[k M ] = L L2 − L = modified member stiffness matrix
L3
−1 − L 1
Simple-Fixed Beam
Q1 = Vb = 3EI
3
(u1 − u 2 ) + 3EI
2
u 3 + Qf1
L L
Q2 = Ve = − 3 (u1 − u 2 ) − 3EI
3EI u 3 + Qf 2
L L2
Q3 = M e = 3EI (u1 − u 2 ) + 3EI u 3 + Qf 3
L2 L
Fixed-Simple Beam
Q1 = Vb = 3EI
3
(u1 − u 3 ) + 3EI
2
u 2 + Qf1
L L
Q2 = M b = 3EI (u1 − u 3 ) + 3EI u 2 + Qf 2
L2 L
Simple-Fixed Beams
-qL2
q 8
L
3qL 5qL
8 P 8
L
-3PL
2
16
L
5P 11P
16 16
P
a b Qf3
L
Qf1 ( L ( 2 ))
Qf1 = P b − ab3 a + b
L
Qf2
= P(
L L ( 2 ))
Qf 2 a + ab a + b
3
Qf 3 = − P ab ( a + b )
L 2 2
-3EI∆
L
L2
-3EI∆
L3 3EI∆
L3
Fixed-Simple Beams
qL2
8
q
L
5qL 3qL
8 P 8
3PL L
16 2
L
11P 5P
16 P 16
a b
Qf2
L
Qf1 (
Qf1 = P b + ab3 a + b
L L
( 2 )) Qf3
(
Qf 2 = P ab2 a + b
L 2 )
(
Qf 3 = P a − ab3 a + b
L L
( 2 ))
3EI∆
L2 ∆
3EI∆ -3EI∆
L3 L3
Stiffness Coefficient Summary
In stiffness analysis of structures that ignore axial deformation, there are only four
sets of member – displacement stiffness results that need to be applied. These four
are summarized in the figures below.
EI = constant
12EI
1 F4 F1 = − F3 =
b e L3
6EI
F2 F2 = F4 =
L L2
F1 F3
EI = constant
6EI
1 F4 F1 = − F3 =
b e L2
4EI
F2 F2 = 2F4 =
L L
F1 F3
Calculations for displacements at end e are similar to those shown for end b.
Figures (a) and (b) simply show the forces required to cause the unit
displacement and the corresponding reaction forces at the zero displacement
degrees of freedom. Compare your displaced drawing with the forces shown.
Force magnitudes will be the same. Whether the force is positive or negative
depends on whether it is in the same direction as the corresponding
displacement on the structure (positive) or in the opposite direction (negative).
EI = constant
3EI
1 F1 = − F3 =
b e L3
3EI
F2 F2 =
L L2
F1 F3
EI = constant
3EI
1 F1 = − F3 =
b e L2
3EI
F2 F2 =
L L
F1 F3
(d) “Simple-Fixed” Beam Subjected to a Unit Rotational Displacement
Calculations for displacements at end e are similar to those shown for end b.
Figures (c) and (d) simply show the forces required to cause the unit
displacement and the corresponding reaction forces at the zero displacement
degrees of freedom. Compare your displaced drawing with the forces shown.
Force magnitudes will be the same. Whether the force is positive or negative
depends on whether it is in the same direction as the corresponding
displacement on the structure (positive) or in the opposite direction (negative).