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22/3/2015 1
Chapter 1. Introduction to
Structural Stability
OUTLINE
Introduction
Concept of stability
Buckling versus stability
Stability analysis
Examples – small deflection analyses
Examples – large deflection analyses
Examples – imperfect systems
Design of steel structures
Introduction
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Concept of stability
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Concept of stability
L P
k
L cos
L (1-cos)
EXAMPLE 1: BIFURCATION ANALYSIS
L P
k L sin
L cos
L (1-cos)
• Write the equation of static equilibrium in the deformed state
M o 0 k P L sin 0
k
P
L sin
For small deformations sin
k k
Pcr
L L
• Thus, the structure will be in static equilibrium in the deformed state when
P = Pcr = k/L
• When P<Pcr, the structure will not be in the deformed state. The structure
will buckle into the deformed state when P=Pcr
EXAMPLE 2: BIFURCATION ANALYSIS
k
L
L cos
L (1-cos)
EXAMPLE 2: BIFURCATION ANALYSIS
Write equations of static equilibrium in deformed state
P
L
L sin
O
k L sin
L cos
L (1-cos)
P k k P
1 2
A L sin 2 D
L sin 1 1 – 2) L
L
C
B 1 – 2)
k P
P 2 D
1 – 2) L sin 2
L
A 1 C
L sin 1
L k(22-1)
B 1+(1-2)
k(21-2)
2k k
1 0 0
L L P 1
0 1 0
k 2k 2
L L
EXAMPLE 3: BIFURCATION ANALYSIS
• This is the classical eigenvalue problem. [K]-[I]){x}={0}.
• We are searching for the eigenvalues () of the stiffness matrix [K]. These
eigenvalues cause the stiffness matrix to become singular
– Singular stiffness matrix means that it has a zero value, which means that the
determinant of the matrix is equal to zero.
2k PL k
0
k 2k PL
(2k PL) 2 k 2 0
(2k PL k ) (2k PL k ) 0
(3k PL) (k PL) 0
3k k
Pcr or
L L
– Smallest value of Pcr will govern. Therefore, Pcr=k/L
EXAMPLE 3: BIFURCATION ANALYSIS
• Each eigenvalue or critical buckling load (Pcr) corresponds to a buckling shape that can
be determined as follows
• Pcr=k/L. Therefore substitute in the equations to determine 1 and 2
k (21 2 ) P L 1 0 k (2 2 1 ) P L 2 0
Let P Pcr k Let P Pcr k
L L
k (21 2 ) k1 0 k (2 2 1 ) k 2 0
k1 k 2 0 k1 k 2 0
1 2 1 2
• All we could find is the relationship between 1 and 2. Not their specific values.
Remember that this is a small deflection analysis. So, the values are negligible. What
we have
P
found is the bucklingkshape – not its magnitude.
k P
• The buckling
A
mode
1
is such that 1=2 Symmetric buckling
= mode
2 1 D
L
L
B C
BIFURCATION ANALYSIS
• Second eigenvalue was Pcr=3k/L. Therefore substitute in the equations to determine
1 and 2
k (21 2 ) P L 1 0 k (2 2 1 ) P L 2 0
Let P Pcr 3k Let P Pcr 3k
L L
k (21 2 ) 3k1 0 k (2 2 1 ) 3k 2 0
k1 k 2 0 k1 k 2 0
1 2 1 2
C
• The buckling mode is such that 1=-2 Antisymmetric buckling mode
L
P k k 2=-1 P
A 1 D
L
B
ENERGY METHOD
L
Rotationally restrained at end
Step 1 - Assume a deformed shape that activates all possible d.o.f.
L P
k
L cos
L (1-cos)
ENERGY METHOD – SMALL DEFLECTIONS
L P
k L sin
L cos
• Write the equation representing the total potential
L (1-cos) energy of system
1
U k2
2
We P L (1 cos )
1
U W k 2 P L (1 cos )
2
d d
k P L sin , For equilibrium; 0
d d
Therefore , k P L sin 0
k
For small deflections; k P L 0, Therefore , Pcr
L
ENERGY METHOD – SMALL DEFLECTIONS
• The energy method predicts that buckling will occur at the same load P cr as
the bifurcation analysis method.
• At Pcr, the system will be in equilibrium in the deformed.
• Examine the stability by considering further derivatives of the total potential
energy
– This is a small deflection analysis. Hence will be zero.
– In this type of analysis, the further derivatives of examine the stability of the
initial state-1 (when =0)
1
k 2 P L (1 cos ) d2
2 When P Pcr 0 Stable equilibrium
d d 2
k P L sin k P L d2
d When P Pcr 0 Unstable equilibrium
d2 d 2
k PL d2
d 2
When P Pcr 0 Not sure
d 2
ENERGY METHOD – SMALL
DEFLECTIONS
• In state-1, stable when P<Pcr, unstable when P>Pcr
• No idea about state during buckling.
• No idea about post-buckling equilibrium path or its
P
stability. Unstable
Indeterminate
Pcr
Stable
ENERGY METHOD – LARGE DEFLECTIONS
• Example 1 – Large deflection analysis (rigid bar with rotational spring)
U We
1
U k2 L P
2
We P L (1 cos ) k
L sin
1
k 2 P L (1 cos )
2 L cos
d L (1-cos)
k P L sin
d
d
For equilibrium; 0
d
Therefore , k P L sin 0
k
Therefore , P for equilibrium
L sin
The post buckling P relationsh ip is given above
ENERGY METHOD – LARGE DEFLECTIONS
• Large deflection analysis
– See the post-buckling load-displacement path shown below
– The load carrying capacity increases after buckling at Pcr
– Pcr is where 0
k
P for equilibrium
L sin
P
Pcr sin
ENERGY METHOD – LARGE DEFLECTIONS
• Large deflection analysis – Examine the stability of equilibrium using higher
order derivatives of
1
k 2 P L (1 cos )
2
d
k P L sin
d
d2
k P L cos
d 2
k d2 k
But , P , k L cos k (1 )
L sin d 2 L sin tan
d2
0 Always (i.e., all values of ), Always STABLE
d 2
d2
But , 0 for 0
d 2
ENERGY METHOD – LARGE DEFLECTIONS
• At =0, the second derivative of =0. Therefore, inconclusive.
• Consider the Taylor series expansion of at =0
d 1 d2 1 d3 1 d4 1 dn
0 2
3
4
..... n
d 0 2! d 2 0 3! d 3 0 4! d 4 0 n! d n 0
1 0 0 1 d4 1
k 2 P L (1 cos ) 4
k4 0
2 d 4! d 0
4
24
d 0
k P L sin d 0
d d2
d2 0
k P L cos d 2 0
d 2
d3 d3
P L sin P L sin 0
d 3 d 3 0
d4 d4
P L cos P L cos PL k
d 4 d 4 0
• Since the first non-zero term is > 0, the state is stable at P=Pcr and =0
ENERGY METHOD – LARGE
DEFLECTIONS
STABLE
STABLE
STABLE
ENERGY METHOD – IMPERFECT
SYSTEMS
• Consider example 1 – but as a system with
imperfections: The initial imperfection given by 0
k 0 L P
L cos(0)
k( L sin
0
L cos
L (cos0-cos)
ENERGY METHOD – IMPERFECT
SYSTEMS
L P
k( L sin
1
U k ( 0 ) 2 0
2
We P L (cos 0 cos ) L cos
L (cos0-cos)
1
k ( 0 ) 2 P L (cos 0 cos )
2
d
k ( 0 ) P L sin
d
d
For equilibrium; 0, Therefore , k ( 0 ) P L sin 0
d
k ( 0 )
P for equilibrium
L sin
The equilibrium P relationship is given above
ENERGY METHOD – IMPERFECT
SYSTEMS
k ( 0 ) P 0
P
L sin Pcr sin
P relationsh ips for different values of 0 shown below :
ENERGY METHODS – IMPERFECT SYSTEMS
• As shown, deflection starts as soon as loads are applied. There is no
bifurcation of load-deformation path for imperfect systems.
• The smaller the imperfection magnitude, the close the load-
deformation paths to the perfect system load –deformation path
• All real systems have imperfections. They may be very small but
will be there
• The magnitude of imperfection is not easy to know or guess. Hence
if a perfect system analysis is done, the results will be close for an
imperfect system with small imperfections
ENERGY METHODS – IMPERFECT SYSTEMS
1
k ( 0 ) 2 P L (cos 0 cos )
2
d
k ( 0 ) P L sin
d
d2
k P L cos
d 2
L sin
1
U k ( L sin ) 2
2 O
We P L (1 cos )
1
k L2 sin 2 P L (1 cos ) L cos
2
d L (1-cos)
k L2 sin cos P L sin
d
d
For equilibrium; 0
d
Therefore , k L2 sin cos P L sin 0
Therefore , P k L cos for equilibrium
The post buckling P relationship is given above
ENERGY METHOD – LARGE DEFLECTIONS
• Large deflection analysis
– See the post-buckling load-displacement path shown below
– The load carrying capacity decreases after buckling at Pcr
– Pcr is where 0
1 2 2 d4
k L sin P L (1 cos ) 0 4 k L2
cos 2 P L cos
2 d 4
d 1 2
k L sin 2 P L sin 0 d4
d 2 4k L2 k L2 3k L2
d 4
d2
k L2
cos 2 P L cos 0 d4
d 2 0
d 4
d3 UNSTABLE at 0 when buckling occurs
2k L2 sin 2 P L sin 0
d 3
• Since the first non-zero term is < 0, the state is unstable at P=Pcr and =0
ENERGY METHOD – LARGE DEFLECTIONS
UNSTABLE
UNSTABLE
UNSTABLE
ENERGY METHOD - IMPERFECTIONS
k
L cos(0)
L sin
L sin
O
0
L cos
L (cos0-cos)
ENERGY METHOD - IMPERFECTIONS
P
L
L sin
L sin
O
0
U We
1 2
k L (sin sin 0 ) 2 P L (cos 0 cos ) L cos
2 L (cos0-cos)
d
k L2 (sin sin 0 ) cos P L sin
d
d
For equilibrium; 0
d
Therefore , k L2 (sin sin 0 ) cos P L sin 0
sin 0
Therefore , P k L cos (1 ) for equilibrium
sin
The equilibrium P relationsh ip is given above
ENERGY METHOD - IMPERFECTIONS
sin 0 P sin 0
P k L cos (1 ) cos (1 )
sin Pcr sin
dP sin 0
Pmax 0 k L( sin 2 ) 0 sin 0 sin 3
d sin
Pmax k L cos3
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ENERGY METHOD - IMPERFECTIONS
Envelope of peak
loads Pmax
ENERGY METHOD - IMPERFECTIONS