Computer Aided Engineering (EMS5CAE)

Week 4 – Stiffness Method for Beams

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Revision of Last Week – Stiffness Method for Truss
ix iy jx jy
▪ Stiffness matrix of truss
 x2 x  y −x2 −x  y  ix
 
EA  x  y  y2 −x  y − y2  iy
k=
L  −x2 −x  y x2  x  y  jx
 
 −x  y − y2 x  y  y2  jy

▪ General procedure for stiffness method x j − xi y j − yi

x = , y =
L L
1. Model of structure: identify nodes, element, DOF
Q   K K 12   Du  Qk 
2. Determine the stiffness of each element, k →  k  =  11   + 
Qu  K 21 K 22  Dk  Qu 0
3. Assemble the stiffness of the whole system K reaction boundary condition
4. Determine load vector Q and displacement vector D
5. Solve for the unknown displacement vector Du
6. Calculate reactions (Qu), member forces q’
( qm )0 = − EAT
q 'm = k 'm Tdm + ( qm )0
L
( qm )0 = − EA
L
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 Weekly Schedule
Week Lecture Topic Reading Tutorial/Assignment

1 Introduction Chapter 1 Assignment 2 issue

2 Stiffness method for Trusses Part 1 Chapter 14

3 Stiffness method for Trusses Part 2 Chapter 14

4 Stiffness method for Beams Part 1 Chapter 15

5 Stiffness method for Beams Part 2 Chapter 15

6 Assignment 2 Questions and Answers Lecture notes Assignment 2 due

Semester Break

7 Stiffness method for Frames Part 1 Chapter 16 Assignment 3 issue

8 Stiffness method for Frames Part 2 Chapter 16

9 Analysis of a plate with Abaqus Part 1 Lecture notes

10 Analysis of a castellated beam with Abaqus Lecture notes

11 Assignment 3 Questions and Answers Lecture notes Assignment 3 due

12 Revision Lecture notes

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 Objectives
This lecture will show how to apply the stiffness method to
analyse indeterminate beams.

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 Week 4 – Outline
1. Modelling
2. Stiffness Matrix
3. Applications to Beams
4. Summary

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 Week 10 – Outline
1. Modelling
2. Stiffness Matrix
3. Applications to Beams
4. Summary

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 Modelling
▪ Identify nodes and elements
Similar to truss problems, i.e. each element has two nodes

▪ Degree of freedom (DOF) of beams

Unlike the truss, the beam will be subjected to bending action, and thus each node in
the beam will have a rotational DOF in addition to the translational DOF.
The axial force is assumed to be ignored in the beam. Therefore, there are only shear
force and bending moment which cause transverse DOF and rotational DOF, respectively.

▪ Sign convention for stiffness method

- Force and displacements are positive when follow the coordination system
- Moment and rotation are positive when they act anti-clockwise

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 Modelling
▪ Modelling the following beams
The global coordinate system will be identified using x, y, z axes that generally
have their origin at a node & are positioned so that the nodes at other points
on the beam have +ve coordinates

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 Week 10 – Outline
1. Modelling
2. Stiffness Matrix
3. Applications to Beams
4. Summary

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 Stiffness Matrix
▪ Case 1: apply displacement 𝑑𝑁𝑦 ′

12 EI
qNy' = d '
L3 Ny
12 EI
qFy' = − qNy ' = − 3
d Ny '
L
6 EI
qNz ' = d '
L2 Ny
6 EI qNy'   12 EI / L3 0 0 0   d Ny ' 
qFz ' = 2 d Ny'     
L  qNz '   6 EI / L2 0 0 0  0 
→ =  
 qFy'   −12 EI / L 0 0 0  0 
3

 q   6 EI / L2 
0 0 0   0 
 Fz ' 

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 Stiffness Matrix
▪ Case 2: apply displacement 𝑑𝐹𝑦 ′

12 EI
qNy' = − d '
L3 Fy
12 EI
qFy' = − qNy' = 3 d Fy'
L

6 EI
qNz ' = − d Fy' qNy'  0
L 2
0 −12 EI / L3 0   0 
    
6 EI  qNz '  0 0 −6 EI / L2 0   0 
qFz ' = − 2 d Fy' → =  
L
 qFy'  0 0 12 EI / L3 0  d Fy' 
 q  0 
0 −6 EI / L2 0   0 
 Fz ' 

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 Stiffness Matrix
▪ Case 3: apply rotation 𝑑𝑁𝑧 ′

4 EI 2 EI
4 EI M AB =  A , M BA = A
qNz ' = d Nz ' L L
L
2 EI
qFz ' = d '
L Nz
6 EI
qNy' = 2
d Nz '
L
6 EI
qFy' = − qNy' = − d '
L2 Nz qNy'  0 6 EI / L2 0 0  0 
    
 qNz '  0 4 EI / L 0 0  d Nz ' 
→ =  
 qFy'  0 −6 EI / L 0 0  0 
2

 q  0 2 EI / L 
0 0   0 
 Fz ' 
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 Stiffness Matrix
▪ Case 4: apply rotation 𝑑𝐹𝑧 ′

2 EI 4 EI
M AB =  B , M BA = B
L L
6 EI
qNy' = 2
d Fz '
L
6 EI
qFy' = − qNy' = − 2
d Fz '
L
2 EI
qNz ' = d '
L Fz
4 EI
qFz ' = d Fz ' qNy'  0
L 0 0 6 EI / L2   0 
    
 qNz '  0 0 0 2 EI / L   0 
→ =  
 qFy'  0 0 0 −6 EI / L2   0 
 q  0 
0 0 4 EI / L  d Fz ' 
 Fz ' 
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 Stiffness Matrix
▪ Combine cases 1-4
qNy'   12 EI / L3 0 0 0  d Ny'  qNy'  0 6 EI / L2 0 0  0 
         
 qNz '   6 EI / L2 0 0 0  0   qNz '  0 4 EI / L 0 0  d Nz ' 
 =    =  
q
 Fy '
 −1 2 EI / L3
0 0 0  0   qFy'  0 −6 EI / L2 0 0  0 
 q   6 EI / L2 
0 0 0   0   q  0 2 EI / L

0 0   0 
 Fz '   Fz ' 
qNy'  0 0 −12 EI / L3 qNy'  0 6 EI / L2   0 
0  0    
0 0
      
 qNz '  0 0 −6 EI / L2 0  0   qNz '  0 0 0 2 EI / L   0 
 =    =  
 qFy'  0 0 12 EI / L
3
0  d Fy'   qFy'  0 0 0 −6 EI / L2   0 
 q  0 0 −6 EI / L2   q  0 
0 0 4 EI / L  d Fz ' 
0   0   Fz ' 
 Fz ' 
qNy'   12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2   Ny' 
d
    d ' 
 qNz '   6 EI / L2 4 EI / L −6 EI / L2 2 EI / L   Nz 
→ =  
q
 Fy '
 −12 EI / L3
−6 EI / L2 12 EI / L3 −6 EI / L2   d Fy' 
 q   6 EI / L2 2 EI / L −6 EI / L2

4 EI / L   d ' 
 Fz '   Fz 
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 Stiffness Matrix
▪ Stiffness matrix of beam elements
qNy'   12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2   Ny' 
d
    d ' 
 qNz '   6 EI / L2 4 EI / L −6 EI / L2 2 EI / L   Nz  q = kd
→ =  
 qFy'   −12 EI / L −6 EI / L2 −6 EI / L2   d Fy' 
3
12 EI / L3
 q   6 EI / L2 2 EI / L −6 EI / L2

4 EI / L   d ' 
 Fz '   Fz 
dNy’ dNz’ dFy’ dFz’
 12 EI 6 EI 12 EI 6 EI  dNy’
 L3 −
L2 L3 L2 
 
 6 EI 4 EI 6 EI 2 EI  dNz’
− 2
 L 2
L L L 
k=
12 EI 6 EI 12 EI 6 EI  dFy’
− 3 − 2 − 2 
 L L 
3
L L
 6 EI 2 EI 6 EI 4 EI  dFz’
 − 2 
 L2 L L L 
Element stiffness is symmetry
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 Week 10 – Outline
1. Modelling
2. Stiffness Matrix
3. Applications to Beams
4. Summary

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 Applications to Beams
▪ Summary

Example 1 (simply supported beam)

Example 2 (beam with member loading)

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 Applications to Beams
▪ Example 1
Determinate the stiffness matrix K of the beam shown in the figure.
Take E = 200 GPa and I = 120 ×106 mm4

▪ Solutions
1. Modelling: 3 nodes, 2 elements, 4 free DOFs

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 Applications to Beams
2. Element stiffness

 12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2 
 
6 EI / L2
4 EI / L −6 EI / L2 2 EI / L 
k=
 −12 EI / L3 −6 EI / L2 12 EI / L3 −6 EI / L2 
 
 6 EI / L2
2 EI / L −6 EI / L2 4 EI / L 
6 4 5 3
• Element 1: nodes 1 and 2, L = 2m  1.5 1.5 −1.5 1.5  6
 1.5 2 −1.5 1 4
k 1 = EI  
 −1.5 −1.5 1.5 −1.5 5
 3
 1.5 1 −1.5 2 

• Element 2: nodes 2 and 3, L = 2m 5 3 2 1

 1.5 1.5 −1.5 1.5  5
 1.5 2 −1.5 1 3
k 2 = EI  
 −1.5 −1.5 1.5 −1.5 2
 
 1.5 1 −1.5 2 1
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 Applications to Beams
3. Assemble stiffness of the whole system

6 4 5 3
 1.5 1.5 −1.5 1.5  6
 1.5 2 −1.5 1 4 1 2 3 4 5 6
k 1 = EI    2 −1.5 1 0 1.5 0 1
 −1.5 −1.5 1.5 −1.5 5  −1.5 1.5 −1.5
 3 0 −1.5 0 2
−  
 1.5 1 1.5 2   1 −1.5 4 1 0 1.5  3
→ K = EI  4
5 3 2 1  0 0 1 2 −1.5 1.5 
 1.5 1.5 −1.5 1.5 5  1.5 −1.5 0 −1.5 3 −1.5 5
 1.5 2 −1.5 1 3  
k 2 = EI    0 0 1.5 1.5 −1.5 1.5 6
 −1.5 −1.5 1.5 −1.5 2
 
 1.5 1 −1.5 2 1

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 Applications to Beams
2. Element stiffness

 12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2 
 
6 EI / L2
4 EI / L −6 EI / L2 2 EI / L 
k=
 −12 EI / L3 −6 EI / L2 12 EI / L3 −6 EI / L2 
 
 6 EI / L2
2 EI / L −6 EI / L2 4 EI / L 
6 3 5 2
• Element 1: nodes 1 and 2, L = 2m  1.5 1.5 −1.5 1.5  6
 1.5 2 −1.5 1 3
k 1 = EI  
 −1.5 −1.5 1.5 −1.5 5
 2
 1.5 1 −1.5 2 

• Element 2: nodes 2 and 3, L = 2m 5 2 4 1

 1.5 1.5 −1.5 1.5  5
 1.5 2 −1.5 1 2
k 2 = EI  
 −1.5 −1.5 1.5 −1.5 4
 
 1.5 1 −1.5 2 1
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 Applications to Beams
3. Assemble stiffness of the whole system

6 3 5 2
 1.5 1.5 −1.5 1.5  6
 1.5 2 −1.5 1 3 1 2 3 4 5 6
k 1 = EI    2 1 0 −1.5 1.5 0 1
 −1.5 −1.5 1.5 −1.5 5  1
 2 4 1 −1.5 0 1.5  2
−  
 1.5 1 1.5 2   0 1 2 0 −1.5 1.5  3
→ K = EI  4
5 2 4 1  −1.5 −1.5 0 1.5 −1.5 0 
 1.5 1.5 −1.5 1.5 5  1.5 0 −1.5 −1.5 3 −1.5 5
 1.5 2 −1.5 1 2  
k 2 = EI    0 1.5 1.5 0 −1.5 1.5 6
 −1.5 −1.5 1.5 −1.5 4
 
 1.5 1 −1.5 2 1

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 Applications to Beams
▪ Example 2 (beam with member loading)
Determinate the stiffness matrix K of the beam shown in the figure.
Take EI = constant.

▪ Solutions
1. Modelling: 3 nodes, 2 elements, 2 free DOFs

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 Applications to Beams
2. Element stiffness

 12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2 
 
6 EI / L2
4 EI / L −6 EI / L2 2 EI / L 
k=
 −12 EI / L3 −6 EI / L2 12 EI / L3 −6 EI / L2 
 
 6 EI / L2
2 EI / L −6 EI / L2 4 EI / L 
4 3 5 2
• Element 1: nodes 1 and 2, L = 6m  0.056 0.167 −0.056 0.167  4
 0.167 0.667 −0.167 0.333  3
k 1 = EI  
 −0.056 −0.167 0.056 −0.167  5
 2
 0.167 0.333 −0.167 0.667 

• Element 2: nodes 2 and 3, L = 2m 5 2 6 1

 1.5 1.5 −1.5 1.5  5
 1.5 2 −1.5 1 2
k 2 = EI  
 −1.5 −1.5 1.5 −1.5 6
 
 1.5 1 −1.5 2 1
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 Applications to Beams
3. Assemble stiffness of the whole system

4 3 5 2 5 2 6 1
 0.056 0.167 −0.056 0.167  4  1.5 1.5 −1.5 1.5  5
 0.167 0.667 −0.167 0.333  3  1.5 2 −1.5 1  2
k 1 = EI   k 2 = EI  
 −0.056 −0.167 0.056 −0.167  5  −1.5 −1.5 1.5 −1.5 6
 2  
 0.167 0.333 −0.167 0.667   1.5 1 −1.5 2  1

1 2 3 4 5 6
 2 1 0 0 −1.5
1.5 1
 1 2.667 0.333 0.167 1.333 −1.5 2
 
 0 0.333 0.667 0.167 −0.167 0  3
→ K = EI  
 0 0.167 0.167 0.056 −0.056 0  4

 1.5 1.333 −0.167 −0.056 1.556 −1.5 5

 
 −1.5 −1.5 0 0 −1.5 1.5  6

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 Week 10 – Outline
1. Modelling
2. Stiffness Matrix
3. Application to Beams
4. Summary

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 Summary
▪ Stiffness matrix of beams

1 2 3 4

 12 EI 6 EI 12 EI 6 EI 
 L3 − 1
L2 L3 L2 
 
 6 EI 4 EI 6 EI
− 2
2 EI  2
 L2 L L L 
k=
12 EI 6 EI 12 EI 6 EI 
− 3 − 2 − 2  3
 L L L3 L 
 6 EI 2 EI 6 EI 4 EI 
 − 2  4
 L2 L L L 

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 End of session
Thank you

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