Engineering Systems

Lumped Parameter
(Discrete)
A finite number of
state variables
describe solution
Algebraic Equations

Continuous

Differential Equations
Govern Response

Lumped Parameter

Displacements of Joints fully describe so

Matrix Structural Analysis - Objectives

Use
Equations of Equilibrium
Constitutive Equations
Compatibility Conditions

Basic Equations

Form

[A]{x}={b}
Solve for Unknown Displacements/Forces

{x}= [A]-1{b}

Terminology
Element:
Discrete Structural
Member
Nodes:
Characteristic
points that define
element
D.O.F.:
All possible
directions of
displacements @ a
node

Assumptions

Linear Strain-Displacement Relationship

Small Deformations

Equilibrium Pertains to Undeformed Configuration

The Stiffness Method

Consider a simple spring structural member
Undeformed Configuration

Deformed Configuration

Derivation of Stiffness Matrix Using Basic

Equations

1
P1

P2

Derivation of Stiffness Matrix Using Basic

Equations
2

+
=
For each case write basic equations

Derivation of Stiffness Matrix Using Basic

Equations
X
2=0

1
P11

P11

Equilibrium

P11 P21 0 P11 P21

Constitutive

P11 k 1

P21

P11 k 1
P21 k 1

Derivation of Stiffness Matrix Using Basic

Equations
1=0

P12

P22

Equilibrium

P12 P22 0 P22 P12

Constitutive

P22 k 2

P22 k 2
P12 k 2

Derivation of Stiffness Matrix Using Basic

Equations
Combined Action

P1

P2

P1 P11 P12 k 1 k 2
P2 P21 P22 k 1 k 2

Derivation of Stiffness Matrix Using Basic

Equations
In Matrix Form

P1 P11 P12 k 1 k 2
P2 P21 P22 k 1 k 2

P1
k

P2
k

k 1

k 2

Consider 2 Springs

k1

2 elements

3 nodes

k2

3 dof

1
Fix

Fix

2
Fix

Fix

3
Fix

Fix

2-Springs

k1

k1
0

k1
k1

k2
k2

1 P1

k 2 2 P2

P
3
3

k 2

Compare to 1-Spring

k1
k
1

k1

k1

1 P1

2 P2

Use Superposition
1
2
3
21

3
22

2
11

322

x
0

x0

DOF not connected directly yield 0 in SM

Properties of Stiffness Matrix

SM is Symmetric
Betti-Maxwell Law

SM is Singular

No Boundary Conditions Applied Yet

Main Diagonal of SM Positive

Necessary for Stability

Apply Boundary Conditions

kii kij kik kil kim

ui

Pi

kji K
kjj kjk kjl kjm

uj

Pj

fs
kki kkj kkk kK
kl kkm

u
uf

kli klj klk kll klm

ul

ff

Ksf

Kss

kli klj klk kll klm

= P
Pkf
Pl

uu s

PPs

Kffuf+ Kfsus=Pf

uf = K (Pf + Kfsus)

Ksfuf+ Kssus=Ps

Ksfuf+ Kssus=Ps

-1
ff

Transformations

k1

y
Global CS
x

k2

u6

u2

u5

u1
x
Local CS

u4
u3

u4

u3

Objective: Transform State Variables from LCS to GCS

Transformations
Consider

P2x

P2y

y
Global CS

P1x
P1x

P1y

P1x
P1y

P1 =

P1x = P1xcosP1ysin

P1

P1y = -P1xsinP1ycos
=

cos

sin

P1x

-sin cos

P1y

Transformations
P2x

P2y

y
Global CS

x
In General

P1x
P1x

P1y

Similarly for u
u1 =
u2 =

T
T

u1
u2

P1 =
P1 =

P2 =

P2 =

P1

-1

P1
P2

-1

or

P2

or

Transformations
Element stiffness equations in Local CS
P2x
P2y
P2
1
1 -1
P1
2
k
=
P1y
-1 1
2
P2
1

P1x

P1
k

Expand to 4 Local dof

1
0
-1
0

0
0
0
0

-1
0
1
0

0
0
0
0

u1x
u1y
u2x
u2y

P1x
P1y
P2x
P2y

SM in Global Coordinate System

Introduce the transformed variables
R

[R]=

-1

[T] [0]
[0] [T]

: Element SM in global CS

u = P

Both R and T
Depend on Particular Element

Transformations
For example for an axial element with k=AE/L

K = AE/L

l2 lm
m2
Symm.

l=cos

- l2 - lm
- lm - m2
l2

lm
m2

m=sin

In Summary

Derivation of element SM Basic

Equations
Structural SM by Superposition
Application of Boundary Conditions Elimination
Solution of Stiffness Equations
Partitioning
Local & Global CS
Transformation