Steel Structures Design Guide
Steel Structures Design Guide
Prepared by;
Dr. Ni Ni Moe Kyaw
Professor
Yangon Technological University
1
Course Contents
Topic 1: Torsion
Topic 2: Lateral-Torsional Buckling of Beams
Topic 3: Plate Girders
Topic 4: Connections
Topic 5: Composite Steel-Concrete Construction
2
Forces Acting on Structures
3
Chapter 8 : Torsion
4
8.2 Pure Torsion of Homogeneous Sections
Pure torsion (Pure twisting)
A shaft is said to be in pure torsion when it is subjected to equal and
opposite end couples (twisting moment) whose axis coincide with the axis of shaft.
Due to application of the torque at the two ends the shaft is subjected to
twisting moment. This causes the shear stresses and shear strains in the material.
5
8.2 Pure Torsion of Homogeneous Sections
6
8.2 Pure Torsion of Homogeneous Sections
dϕ
Rate of twist, θ =
dz
𝐁𝐁′
γ =
𝐝𝐳
BB′ = γ dz
Arc length, BB′ = r dϕ
γ dz = r dϕ
Strain angle (or) unit shear strain, γ = r (dϕ/dz) = r θ
Using Hooke’s law, υ = γG
𝐝𝛟
dT = r υ dA = r γ G dA = r2 G dA
𝐝𝐳
𝐝𝛟
T = 𝟐 𝐫 𝐀 𝐆 𝐝𝐀
𝐝𝐳
𝐝𝛟
T = G 𝐀𝐝 𝟐 𝐫 𝐀
𝐝𝐳
𝐝𝛟
= GJ (where, J = )𝐀𝐝 𝟐 𝐫 𝐀
𝐝𝐳
𝐝𝛟 𝐓
=
𝐝𝐳 𝐆𝐉
𝐝𝛟 𝐓𝐫
υ = γG=r G=
𝐝𝐳 𝐉
⸫Torsional shear stress is proportional to the radial distance from the center of twist. 7
8.2 Pure Torsion of Homogeneous Sections
dϕ
Rate of twist, θ =
dz
t dϕ dϕ
Strain angle (or) unit shear strain, γ = 2 =t
2 dz dz
Using Hooke’s law, υ = γG
𝐝𝛟
dT = t υ dA = t γ G dA = t2 G dA
𝐝𝐳
T = 𝐭 𝐀 𝟐 𝐝𝛟 𝐆 𝐝𝐀
𝐝𝐳
𝐝𝛟
T = G 𝐀𝐝 𝟐𝐭 𝐀
𝐝𝐳
𝐝𝛟
= GJ (where, J = )𝐀𝐝 𝟐𝐭 𝐀
𝐝𝐳
𝐝𝛟 𝐓
=
𝐝𝐳 𝐆𝐉
𝐝𝛟 𝐓𝐭
υ = γG=t G=
𝐝𝐳 𝐉
8
8.2 Pure Torsion of Homogeneous Sections
9
8.2 Pure Torsion of Homogeneous Sections
I-shaped, Channel and T sections
The value of k1 and k2 become nearly constant for ratios b/t. For most common structural shape
this approximation causes little error, thus
1
J ≈ Σ 3bt3
b = long dimension
t = thin dimension
10
8.4 Shear Center (x0, y0)
The shear center is the location in a cross-section where no torsion occurs when flexural shear act in planes passing through that
location. In other words, forces acting through the shear center will cause no torsional stresses to develop.
Since the shear center does not necessary coincide with the centroid of the section, the shear center must be located in order to
evaluate the torsional stress.
n
න τt r ds=0
o
n
Vyx0 – Vxy0 = o τt r ds=0
Let Vy = 0
1 n
yo = - τt r ds
Vx o
Vx s s
τt = [Ix𝑦 o yt ds - Ix o xt ds]
Ix Iy −I2xy
Let Vx = 0
1 n
xo = - Tt r ds
V𝑦 o
− V𝑦 s s
τt = [I𝑦 o yt ds - Ix𝑦 o xt ds]
Ix Iy −I2xy
11
8.4 Shear Center (x0, y0)
For I shaped and Z shaped sections, the shear center coincides with the centroid, but for channels
and angles it does not.
12
Example 8.4.1. Locate the shear center for the channel section.
For shear center coordinate measured along the x-axis,
Letting 𝑉𝑥 = 0
Σ 𝑀𝐴 = 0 ( +)
𝑉𝑓 h - 𝑉𝑦 ×q = 0
s b
𝑉𝑦 ×q = o (τt) h ds = o (τt) h ds ---- 1
−𝑉𝑦 s s
τt = [ I𝑦 o yt ds - Ix𝑦 o xt ds ]
𝐼𝑥 𝐼𝑦 −I2xy
−𝑉𝑦 s
τt = o yt ds
𝐼𝑥
−ℎ
use y = , t = 𝑡𝑓
2
−𝑉𝑦 −ℎ
τt = ( ) 𝑡𝑓 s ---- 2
𝐼𝑥 2
Equation 2 substitute in Equation 1
b Vy h
Vyq = o ( ) tf h s ds
Ix 2
h2 tf s2 b
q = |
o
2Ix 2
h2tfb2
q =
4Ix
13
For shear center coordinate measured along the y-axis, t × 43
Iy = [ + t × 4 ( 2 – 0.8 )2 ] × 2 + 12 × t × 0.82 = 29.87 t
12
Letting 𝑉𝑦 = 0
S = x + 3.2 x = S – 3.2
Σ MA =0( +)
−Vx s
h τt = o ( s − 3.2 )t ds
Vfh - Vx ( 2 - y o) = 0 29.87 t
2
−Vx S2
h = [ - 3.2 S ]t ---- 5
Vx ( 2 - yo) = Vfh 29.87 t 2
2
Substitute Equation 5 in Equation 3
h b
Vx ( 2 - yo) = o (τt) h ds ---- 3 h b −Vx S2
2
Vx ( - yo) = o [ - 3.2S ] t h ds
Vx s s 2 29.87 t 2
τt = [ Ixy o yt ds - Ix o xt ds ] h −h S3 S2 4
IxIy −I2xy
- yo = [ - 3.2 ]
2 29.87 6 2 0
−Vx s
τt = xt ds ---- 4 43 42
Iy o h
- yo =
−h
[ - 3.2 ]
2 29.87 6 2
use b = 4 in, h = 12 in, t = 𝑡𝑤 h h
ΣAx A1 x1 +A2 x2
- yo =
2 2
xത = =
ΣA A1+ A2 yo = 0
2 × 4 × t × 2 + 12 × t(0)
xത = = 0.8
2 × 4 × t + 12 t
14
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
Torsional stress due to twisting consists of both shear and flexural stresses.
These stresses must be superimposed on the shear and flexural stresses that exist in the absence of torsion.
Torsion
Pure Torsion
Warping Torsion
(Saint-Venant’s torsion)
Translation
Rotation
15
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
1. Pure Torsion (Saint-Venant’s Torsion)
Ms dϕ
GJ = dz
dϕ
Ms = GJ
dz
2. Warping Torsion, Mw
16
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
Differential Equation for Torsion on I- and Channel-shaped Sections
Web is assumed thick enough compared to the flanges so that is does not bending during twisting.
uf = lateral deflection of one of the flanges at a section a distance z from the end of the member
ϕ = twist angle at the same section
Vf = horizontal shear force developed in the flange at the section due to lateral bending
uf
ϕ = ℎ
( 2)
ℎ
uf = ϕ2
𝑑 3 𝑢𝑓 ℎ 𝑑3𝜙
𝑑𝑧 3
= 2 𝑑𝑧 3
(1)
17
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
Differential Equation for Torsion on I- and Channel-shaped Sections
𝑑 2 𝑢𝑓 −𝑀𝑓
=
𝑑𝑧 2 𝐸𝐼𝑓
𝑑 3 𝑢𝑓 −1 𝑑𝑀𝑓
=
𝑑𝑧 2 𝐸𝐼𝑓 𝑑𝑧
𝑑 3 𝑢𝑓 −𝑉𝑓
𝑑𝑧 2
= 𝐸𝐼𝑓
(2)
ℎ 2 𝑑 3𝜙
Mw = 𝑉𝑓 h =− 𝐸𝐼𝑓
2 𝑑𝑧 3
𝑑 3𝜙 ℎ2
=− 𝐸𝐶𝑤 3 [Warping Torsional Constant, Cw = 𝐼𝑓 ]
𝑑𝑧 2
18
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
Differential Equation for Torsion on I- and Channel-shaped Sections
Mz = Ms + Mw
dϕ 𝑑3𝜙
= GJ dz − 𝐸𝐶𝑤 𝑑𝑧 3
Dividing by 𝐸𝐶𝑤
𝑑3𝜙 𝐺𝐽 dϕ −𝑀
− = 𝐸𝐶 𝑧
𝑑𝑧 3 𝐸𝐶𝑤 dz 𝑤
𝐺𝐽
Letting λ2 = 𝐸𝐶 (λ = 1/a) and for homogenous solution, ϕh = Aemz
𝑤
2 dϕ
3
𝑑 𝜙
𝑑𝑧 3
−λ dz =0
Aemz (m3 - λ2 m) = 0
m(m2 - λ2) = 0; ⸫ m = 0, m = ± λ
ϕh = A1eλz + A2e-λz + A3
ϕh = A sinh λz + B cosh λz + C
19
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
Differential Equation for Torsion on I- and Channel-shaped Sections
Let ϕp = f1(z)
𝑑 3 f1(z) 2 df1(z) −1
𝑑𝑧 3
−λ dz = 𝐸𝐶 f1(z)
𝑤
20
EXAMPLE 8.5.1 (page 436)
Solution
21
EXAMPLE 8.5.1 (page 436)
Solution
Consider the boundary conditions for torsional simple support and continuity conditions.
22
EXAMPLE 8.5.1 (page 436)
Solution
23
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
3. Torsional Stresses
24
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
3. Torsional Stresses
25
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
3. Torsional Stresses
26
8.5 Torsional Stresses in I- and Channel-Shaped Steel Sections
4. Ordinary Flexure (Vertical Bending)
𝑀𝑐
normal stress due to flexure , fb = , M = flexure moment
𝐼
𝑉𝑄
shear stress due to flexure , υ =
𝐼𝑡
27
EXAMPLE 8.5.2 (page 440)
Solution
Differential Equation for this type of loading and end restraint
T 𝑠𝑖𝑛ℎλ𝑧
ϕ= [λ𝑧 − ]
2GJλ 𝑐𝑜𝑠ℎλ𝐿/2
T = P × e = 20 kips × 2 in = 40 kip in 28
GJ
λ= ECw , μ = 0.3
𝐸 2𝐸(1+μ)
= = 2.6
𝐺 𝐸
3
Σ𝑏𝑡 [2 7.635 0.810 3+(18.47−1.62) 0.495 3]
J= = =3.39 in4
3 3
𝐼𝑓 ℎ3 𝑡𝑓 𝑏3
ℎ2
0.810 ×(7.635)3 (18.47−0.810)2
Cw =
2
= 12
x 2
= 12
x 2
= 4685 in6
GJ 3.39
λ= ECw
= 2.6 ×4.685
= 0.01668
λL = 24 (12) × 0.01668 = 4.80
z λz sinhλz coshλz
0.1 L 0.480 0.499 1.118
0.2 L 0.960 1.116 1.498
0.3 L 1.441 1.994 2.231
0.4 L 1.922 3.343 3.489
0.5 L 2.402 5.477 5.567
29
(a) Pure Torsion (Saint-Venant Torsion)
Gtdϕ
υs = dz
𝑑ϕ T 𝑐𝑜𝑠ℎ𝜆𝑧
= [1 − 𝑐𝑜𝑠ℎλ𝐿/2]
𝑑𝑧 2GJ
T𝑡 𝑐𝑜𝑠ℎ𝜆𝑧 40𝑡 𝑐𝑜𝑠ℎ𝜆𝑧
υs = [1 − ]= [1 − ]
2J 5.567 2(3.39) 5.567
Shear stress, υs is a maximum at z=0 and zero at z=L/2.
40(0.810) 1
υs(flange) = [1 − ] = 3.92 ksi
2(3.39) 5.567
0.495
υs(web) = 3.92 × = 2.40 ksi
0.810
(b) Warping Torsion
Shear stress in flange, υw is a minimum at z=0 and maximum at z=L/2.
𝑏2ℎ 𝑑3ϕ
υw =E ( ) 3
16 𝑑𝑧
𝑑3ϕ 𝑇λ2 −𝑐𝑜𝑠ℎλ𝑧
𝑑𝑧 3 = 2𝐺𝐽 [ 𝐿 ]
𝑐𝑜𝑠ℎλ
2
30
𝑇 𝑏2ℎ −𝑐𝑜𝑠ℎλ𝑧
υw = ( )
2𝐶𝑤 16 𝑐𝑜𝑠ℎλ𝐿/2
40 (7.635)2×17.66 −𝑐𝑜𝑠ℎλ𝐿/2
υw (flange at z = L/2) = 2×4685
× 16
× ( 𝑐𝑜𝑠ℎλ𝐿/2 )
= 0.27 ksi
1
υw (flange at z = 0) = 0.27 × = 0.05 ksi
5.567
31
(c) Ordinary Flexure
Maximum normal stress is,
Mc M
fb = I
=S
x
𝑃𝐿
M = 4
I
Sx = = 127 in3
c
𝑃𝐿 20×24×12
fb (z = L/2) = 4𝑆x
= 4×127
= 11.34𝑘𝑠𝑖
Shear stress due to flexure are constant from z =0 to L/2.
VQ
υ =
I𝑡
V = P/2 = 20/2 =10 kips
Maximum flange shear stress
(7.635−0.495) 17.66
Q = 2
× 0.810 × 2
= 25.53in3
10×25.53
υ(flange at z = 0) = = 0.27 𝑘𝑠𝑖
1170×0.810
Maximum web shear stress
16.85 16.85
Q =[7.635× 0.810 ×(17.66/2)] +[ × 0.495 ×( )] = 72.18 in3
2 4
10×72.18
υ(web at z = 0) = 1170×0.495 = 1.25 𝑘𝑠𝑖
32
33
8.6 Analogy between Torsion and Plane Bending
Consider that the applied torsional moment T can be converted into a couple PH times h.
The force PH can then be treated as a lateral load acting on the flange of a beam.
34
EXAMPLE 8.6.1 (page 444)
Compute the stresses on the W18x71 beam of Example 8.5.2 and Fig. 8.5.8
using the flexural analogy rather than the differential equation solution.
Solution
(a) Pure Torsion
M zt
υs = J
Mz = T/2, T = P × 𝑒 = 40 kip.in
Σ𝑏𝑡3
Mz = 20 kip in , J = 3 = 3.39 in4
20(0.810)
υs(flange) = (3.39)
= 4.78 ksi
35
20(0.495)
υs(web) = (3.39)
= 2.92 ksi (OR)
(b)Warping Torsion
𝑉 𝑄
Shear stress in flange, υw = f f
If tf
Vf = PH/2= T/2h
40
= 2×17.66 = 1.13
𝑏𝑡𝑓 𝑏
Qf =
2 4
39
8.6 Analogy between Torsion and Plane Bending
40
EXAMPLE 8.6.2 (page 446)
Solution
Flexure analogy gives Mf =13.6 ft-kips
λL = 1/59.9× 24 × 12 = 4.8
From Table 8.6.1 at a = 0.5, β ≈ 0.41,
Mf = β×13.6 = 5.58 kips ft
2M 2×5.58×12
fbw = S f = 15.8 = 8.48 ksi
y
∴ OK.
41
7.11 Biaxial Bending of Symmetric Section
42
7.11 Biaxial Bending of Symmetric Section
43
8.8 LRFD for Torsion-Laterally Stable Beams
Mf
Mux T
Muy = 2Mf
44
EXAMPLE 8.8.1 (page 453)
Solution
45
mu = wu × e =
𝑆𝑥
Table 7.11.1, ( = 3) for W14
𝑆𝑦 46
(d) Select the member based on Sx
Select W14×176, Sx = 281 in3 > 266 in3
Sy = 107 in3
𝑆𝑥 281
𝑆𝑦
= 107 = 2.63
Since the actual Sx/Sy ratio for W14 sections in this weight range is 2.6.
𝑀𝑢𝑥 𝑀𝑢𝑦
fun = +
𝑆𝑥 𝑆𝑦
298×12 2×70.6×12
= 281 + 107 = 28.56 ksi > Φb Fy = 0.9× 36 = 32.4 ksi
∴ Not OK.
298 ×12 2×70.6×12×2.6
Sx(required) = + = 246 in3
0.9×36 0.9×36
Select W14×159, Sx = 254 in3 > Sx(required) = 246 in3
𝑆𝑥 254
𝑆𝑦
= 96.2 = 2.64
From steel manual (page 1-149)
GJ 1
W14×159 λ= ECw
= 68.2
λL = 1/68.2 × 28 × 12 = 4.9
β = 0.3 (Table 8.6.3)
𝑚𝑢𝐿2 0.3 ×1976
Mf = β = = 42.34 kips ft 47
8ℎ ℎ
𝑀𝑢𝑥 𝑀𝑢𝑦
fun = +
𝑆𝑥 𝑆𝑦
298×12 2×42.34×12
= 254
+ 96.2
= 24.64 ksi < Φb Fy = 0.9× 36 = 32.4 ksi
∴ OK. But for lighter section,
298 ×12 2×42.34×12×2.6
Sx(required) = + = 191 in3
0.9×36 0.9×36
Select W14×132, Sx = 209 in3 > 191 in3
Sy = 74.5 in3,d = 14.66 in, tf = 1.03in, tw = 0.648
𝑆𝑥 209
= = 2.81
𝑆𝑦 74.5
λL = 1/73.3× 28 × 12 = 4.58
β = 0.31 (Table 8.6.3)
𝑚𝑢𝐿2 0.31 ×1976
Mf = β 8ℎ = 8×(14.66−1.03)= 45.1 kips ft
𝑀 𝑀
fun = 𝑆𝑢𝑥 + 𝑆𝑢𝑦
𝑥 𝑦
298×12 2×45.1×12
= + = 31.6 ksi < Φb Fy = 0.9× 36 = 32.4 ksi
209 74.5
∴ OK.
Use W14×132
W12×132 (fun = 29.4 𝑘𝑠𝑖)
W24×131 (fun = 30.7 𝑘𝑠𝑖)
Where high torsional strength is required, the wide W14 sections are most suitable.
48
EXAMPLE 8.8.2 (page 455)
Solution
(a) Compute factored loads eccentrically applied.
Assume own wt = 0.15 kip/ft
Wu = 1.2 D.L + 1.6 L.L = (1.2 × 5) + 1.6 × 15 = 30 𝑘𝑖𝑝𝑠
(b) Compute factored moment Mux
𝑤𝐿2
Mux = (Wu × L) + 8
= 49
(c) Consider the torsion effect. The factored concentrated torsional moment is
Considering PH=Tu/h as the analogous lateral concentrated loads acting at one flange, the fixed-
end moments are computed; thus
Assume λL = 3, aL = 0.3 L
β1= 0.88, β2 = 0.84 (Table 8.6.2)
50
𝑆𝑥
(d) Select the member. Assume h≈14 in., = 2.6
𝑆𝑦
51
Try Select W14×132, Sx = 209 in3 > 230 in3
Sy = 74.5 in3
𝑆𝑥
= 2.81
𝑆𝑦
λL = 1/73.3× 36 ×12=5.89, aL = 0.3L
β1 = 0.68 , β2 = 0.61 (Table 8.6.2)
β = 0.74 (Table 8.6.5)
𝑀𝑓 ℎ [0.68 (80) + 0.61 (40)](12)
Mf (at z = 0) = β ℎ
= (14.66−1.03)
= 69.38 kip. ft.
𝑀𝑢𝑥 𝑀𝑢𝑦
fun = +
𝑆𝑥 𝑆𝑦
2×69.38×12
=0+ 74.5
= 22.35 ksi < Φb Fy = 0.9× 36 = 32.4 ksi
𝑀𝑓 ℎ 60(12)
Mf (at z = 0.3L) = β = 0.74 = 39.1 kip. ft.
ℎ (14.66−1.03)
𝑀𝑢𝑥 𝑀𝑢𝑦
fun = +
𝑆𝑥 𝑆𝑦
389×12 2×39.1×12
= + = 34.9 ksi > Φb Fy = 0.9× 36 = 32.4 ksi
209 74.5
∴ Not OK.
389×12 2×39.1×12×2.81
Sx(required) = + = 225 in3
0.9×36 0.9×36
52
Try Select W14×145, Sx = 232 in3 > 225 in3
Sy = 87.3 in3
𝑆𝑥
= 2.66
𝑆𝑦
λL = 1/73.5× 36 ×12=5.88, aL = 0.3L
β1 = 0.68 , β2 = 0.61 (Table 8.6.2)
β = 0.74 (Table 8.6.5)
𝑀𝑓 ℎ [0.68 (80) + 0.61 (40)](12)
Mf (at z = 0) = β ℎ
= (14.78−1.09)
= 69.07 kip. ft.
𝑀𝑢𝑥 𝑀𝑢𝑦
fun = +
𝑆𝑥 𝑆𝑦
2×69.07×12
=0+ 87.3
= 18.99 ksi < Φb Fy = 0.9× 36 = 32.4 ksi
𝑀𝑓 ℎ 60(12)
Mf (at z = 0.3L) = β = 0.74 = 38.92 kip. ft.
ℎ (14.78−1.09)
𝑀𝑢𝑥 𝑀𝑢𝑦
fun = +
𝑆𝑥 𝑆𝑦
389×12 2×38.92×12
= + = 30.82 ksi < Φb Fy = 0.9× 36 = 32.4 ksi
232 87.3
∴ OK.
Use W14×145.
53
8.9 Allowable stress design for torsion
EXAMPLE 8.9.1 (page 458)
Solution
Allowable Stress Design. W14×132, Sx = 209 in3
Sy = 74.5 in3,
(a) Compute factored loads eccentrically applied.
ω = D.L+L.L = 0.4 + 1.5 = 1.9 kips
own wt, D.L = 0.132 kips
ω = 0.132 + 1.9 = 2.032 kips
(b) Consider the torsion effect. The uniformly distributed service load torsional
moment m is
54
(c) Check the stress.
55
References
1. Steel Structures, Design and Behavior Emphasizing Load and Resistance Factor Design Fourth
Edition by Charles G. Salmon, John E. Johnson
2. Structural Steel Design by U Nyi Hla Nge
56
Thanks for Attention
57