7.

STRUCTURAL STABILITY OF
COLUMNS
7.1 Introduction
Structural failure: stiffness, strength, stability
Linear elasticity: equilibrium based on undeformed geometry
Linear stability: equilibrium based on deformed geometry

A ball resting on a surface

Stable Neutral Unstable

equilibrium equilibrium equilibrium
1
 STRUCTURAL STABILITY OF COLUMNS

A “slender” column under compression

Pcr: Critical load

P < Pcr P = Pcr P > Pcr

Lateral
disturbance

Stable Neutral Unstable

equilibrium equilibrium equilibrium
A slender column under compression may fail by sudden lateral
defection (buckling), rather than by yielding or crushing.
Method: linear stability
2
 STRUCTURAL STABILITY OF COLUMNS

In practical engineering, even no lateral disturbance,

when P >Pcr , the column will collapse because it is not “perfect”.
However, for a “short” column, failure is caused by plastic
collapse or fracture.
Static equilibrium method (exact)
Two methods:
Energy method (exact or approximate)

Based on the deformed geometry - linear stability.

(Other methods: imperfection theory, dynamic method, etc.)

The theoretical study of buckling is referred to as the theory of
stability or theory of buckling.
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 STRUCTURAL STABILITY OF COLUMNS

7.2 Euler Formula for critical load

Column with pinned ends
x Equilibrium method

P x ∑M = 0 ⇒ M = − Py
y P Elementary beam theory:
M 1
EI =M
L x ρ
y
1 d2y
= 2
y P ρ dx
Note the sign convention d2y
EI 2 + Py = 0
dx
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 STRUCTURAL STABILITY OF COLUMNS

d2y d2y P
EI 2 + Py = 0 ⇒ 2
+ y=0
dx dx EI
d2y
⇒ 2
+ k 2
y=0 (*)
dx
P
where k = 2

EI
Solution y = c1 sin kx + c2 cos kx
B.C. : y (0 ) = y (L ) = 0
c2 = 0 c1 sin kL = 0

c1 = 0 or kL = nπ , n = 1,2, 

No buckling, trivial solution 5

 STRUCTURAL STABILITY OF COLUMNS

Thus, kL = nπ , n = 1,2, 
n 2π 2 EI
Critical load: Pcr =
L2
Lowest buckling load / Euler buckling load (n = 1)

π 2 EI
Pcr =
L2
nπx
Deflection: y = c1 sin
L
Undetermined and independent of P
1 d2y
Due to = 2
ρ dx
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 STRUCTURAL STABILITY OF COLUMNS
2
d y
1 dx 2
If = , c1 depends on P, and c1= f (P, EI, L)
ρ   dy 2 
3
2
1 +   
  dx   Large deformation, practically
 
not permitted
Higher buckling mode
Infinite solutions exist for Eqn (*):
nπx
y = c1 sin
L
(yn-eigenfunctions)
((Pcr)n-eigenvalues)

Practically, only n = 1 is
significant.
Any other eigenproblems? 7
 STRUCTURAL STABILITY OF COLUMNS

7.3 Eccentrically loaded column

Practical importance, no assurance that loads are truly
concentric
Equilibrium method
Case 1
d2y
P x x M = − P( y + e ) = EI 2
dx
y P d2y
EI 2 + Py = − Pe
e M dx
L x d2y
2
+ k 2
y = − k 2
e
y dx
y e
P
P where k = 2

EI
P
Solution y = c1 sin kx + c2 cos kx − e
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 STRUCTURAL STABILITY OF COLUMNS

1 − cos kL
B.C. : y (0 ) = y (L ) = 0 c1 = e c2 = e
sin kL
 1 − cos kL 
y = e sin kx + cos kx − 1
 sin kL 
 kL 
ymax = y x = L = e sec − 1
2  2 
kL kL
M max = EIy L = EIk e sec
'' 2
= Pe sec
x= 2 2
2
When kL = nπ , y→∞
π 2 EI
For n = 1, P = Pcr =
L2
P M max P  eA  π P 

σ max = + = 1 + sec 
A S A  S 2 Pcr  9
 STRUCTURAL STABILITY OF COLUMNS

If σ max = σ allow , then P = Pallow

Pallow can be obtained by trial and error

Pallow < σ allow ⋅ A (=the allowable load without eccentricity)

i.e., loading capacity decreases

r : radius of gyration
I
r=
A
eA eA ec
= = 2
S I r
c
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 STRUCTURAL STABILITY OF COLUMNS

Case 2
Equilibrium method
P x
x M = − Py − Pxe / L
y P d2y
e M = EI 2
dx
L Pe/L d 2
y
x 2 ex
2
+ k y = −k
2

y dx L
Pe/L P
y P where k = 2

EI
ex
Solution y = c1 sin kx + c2 cos kx −
L
B.C. : y (0 ) = y (L ) = 0
 sin kx x  π 2 EI
y = e −  Pcr =
 sin kL L  L2 11
 STRUCTURAL STABILITY OF COLUMNS

7.4 Initially curved column

Pined-pined ends

x The initial unloaded shape

πx
P y0 = a0 sin
y0 L

d 2 y1
y=y0+ y1 EI 2
= − Py = − P( y0 + y1 )
L dx

d 2 y1 πx
y 2
+ k y1 = −k a0 sin
2 2
(#)
dx L
P
k =
2

EI
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 STRUCTURAL STABILITY OF COLUMNS

Homogenous solution y1h = c1 sin kx + c2 cos kx

πx
Particular solution y1 p = B sin
L
Pa0 a0
Sub. into (#): B = =
EIπ2 Pcr
−1
−P
L2 P
a0 πx
y1 = c1 sin kx + c2 cos kx + sin
Pcr L
−1
P
a0 πx
y = y0 + y1 = c1 sin kx + c2 cos kx + sin
Pcr L
1−
P
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 STRUCTURAL STABILITY OF COLUMNS

B.C. : y (0 ) = y (L ) = 0 ⇒ c1 = c2 = 0
a0 πx
⇒ y= sin
P L
1 − cr
P
 
P M P  a0 A 1 
σ max = + = 1 +  S: section modulus
A S A S 1 − Pcr 

 P 
If σ max = σ y , P = Pallow

Using above eqn. to find Pallow by trial and error.

Pallow < σ y A , which is a0=0, no initial curvature

i.e., capacity of loading decreases.
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 STRUCTURAL STABILITY OF COLUMNS

7.5 Differential equation for general support

x
∑M = 0:
dy P Vdx + Pdy − M + (M + dM ) = 0
M+dM dy dM
V +P + =0
V+dV dx dx
dx
V
∑ Fy = 0 : V + dx dx − V = 0
dV
M
P
y dV
= 0 V = const
dx
d 2 y d 2M d2y d4y d 2
y
P 2 + 2
=0 M = EI 2 +k 2
=0
dx dx dx dx 4
dx 2

15
 STRUCTURAL STABILITY OF COLUMNS

Solution: y = A sin kx + B cos kx + Cx + D

Case 1: pined-pined ends

y (0 ) = y (L ) = 0 
 B= D=C =0
B.C.:
EIy" (0 ) = EIy" ( L) = 0
− Ak 2 sin kL = 0
[M (0) = M (L ) = 0] 
π 2 EI
Non-trivial solution: kL = nπ ⇒ Pcr =
L2
Case 2: fixed-fixed ends
y (0 ) = y (L ) = 0
y ' (0 ) = y ' (L ) = 0
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 STRUCTURAL STABILITY OF COLUMNS

 B+D =0
 A sin kL + B cos kL + CL + D = 0


 Ak + C = 0
 Ak cos kL − Bk sin kL + C = 0

 D = −B
 C = − Ak


 A(sin kL − kL ) + B(cos kL − 1) = 0
 A(k cos kL − k ) − Bk sin kL = 0
Non-trivial solution

sin kL − kL cos kL − 1
=0
k (cos kL − 1) − k sin kL
17
 STRUCTURAL STABILITY OF COLUMNS

kL sin kL + 2 cos kL − 2 = 0
kL  kL kL kL 
⇒ sin  cos − sin  = 0
2  2 2 2 
kL 4π 2 EI
sin = 0 ⇒ kL = 2nπ ⇒ Pcr =
2 L2
kL kL kL kL kL
cos − sin = 0 ⇒ tan =
2 2 2 2 2
80.766 EI
Lowest solution kL = 9.987 ⇒ Pcr =
L2
4π 2 EI
Thus, Pcr =
L2
18
* Bisection method for solving equation like tan x = x
3π
Inspecting the graph: solution range π < x <
2
or 3.142 < x < 4.60
Let f ( x ) = tan x − x → 0
Implement Bisection Method
x3 =
Trial No. x1 x2 ( x1 + x2 ) / 2 f ( x3 )
1 3.142 4.60 3.871 -2.977
2 3.871 4.60 4.236 -2.300
3 4.236 4.60 4.418 -1.123
4 4.418 4.60 4.509 0.340
5 4.418 4.509 4.4635 -0.529
6 4.4635 4.509 4.486 -0.139
7 4.486 4.509 4.4975 0.084
8 4.486 4.4975 4.492 -0.033
9 4.492 4.4975 4.495 0.025
10 4.492 4.495 4.4935 0.002 19
 STRUCTURAL STABILITY OF COLUMNS

Case 3: free-fixed ends

 y (0 ) = 0 : B+D =0
 y ' (0 ) = 0 : Ak + C = 0

 EIy" (L ) = 0 : Ak 2 sin kL + Bk 2 cos kL = 0

 EIy" ' (L ) + Py ' (L ) = 0 :
( )
EI − Ak 3 cos kL + Bk 3 sin kL
 + P( Ak cos kL − Bk sin kL + C ) = 0

C = 0, A = 0, D = − B, B cos kL = 0
2n − 1
Non-trivial solution: kL = π , n = 1,2,
2
π 2 EI
n = 1 ⇒ Pcr =
4 L2
20
 STRUCTURAL STABILITY OF COLUMNS
(Homework)
Case 4, fixed-pinned ends Case 5, fixed-guided ends

y ( L) = 0 y ' (L ) = 0
EIy" (L ) = 0 EIy" ' (L ) = 0

y (0 ) = 0
y ' (0 ) = 0 y (0 ) = 0
y ' (0 ) = 0
y ' (L ) = 0
EIy" ' (L ) = 0
Case 6, pinned-guided ends

y ( 0) = 0
EIy" (0 ) = 0
21
 STRUCTURAL STABILITY OF COLUMNS
(Homework)
Case 7, pinned-pinned ends with linear rotational spring

Case 8, pinned-guided ends with linear translational spring

α y ( L) = 0 β
EIy" (L ) + αy ' (L ) = 0
y' ( L ) = 0
EIy" ' (L ) − βy (L ) = 0
y (0) = 0
y ( 0) = 0
EIy" (0 ) = 0 EIy" (0 ) = 0

22
Example 1 (past exam question)
fixed-free
free

Can we determine the upper and lower bounds of the critical load before
working on the solution?

β
π 2 EI 2.05π 2 EI
2
< Pcr <
4L L2

23
Solution

24
 STRUCTURAL STABILITY OF COLUMNS

Critical loads for different supports (boundary conditions):

π 2 EI π 2 EI
Euler buckling load Pcr = = Le = µL
L2
e (µL )2
Effective length
Pined-pined µ =1
Fixed-fixed µ = 0.5

Fixed-pinned µ = 0.7

Fixed-free µ=2
Fixed-guided µ =1
Pined-guided µ=2 25
 STRUCTURAL STABILITY OF COLUMNS

7.6 Critical stress

Pcr π 2 EI π 2E
σ cr = = = 2
A A(µL ) 2
λ
µL I
λ= : slenderness ratio r= : Radius of gyration
r A
1) long/slender column
λ ≥ λC , buckling, Euler formula
2) short column
P
λ ≤ λ0 , compression, σ = , strength problem (yield/fracture)
A
3) intermediate column
λ0 < λ < λC , inelastic buckling, tangent modulus theory
26
 STRUCTURAL STABILITY OF COLUMNS

P
A
π 2 Et
σ cr = 2
σ PL λ

Trial and error λ0 λC λ

1) From Fig.a, obtain σ cr and corresponding Et

π 2
Et
2) Calculate σ cr = 2
'

λ
3) Compare σ cr & σ '
cr . If not close, repeat 1) and 2)

4) Pcr = σ cr ⋅ A 27
 STRUCTURAL STABILITY OF COLUMNS

7.7 Energy Method

1st law of thermodynamics δW + δH = δU + δK
Principle of virtual work δW = δU
x 2
 dy 
P ds = dx 2
+ dy 2
= 1 +   dx
 dx 
s
L ≈ s = ∫ ds = ∫ 1 + ( y ) dx
b b
′ 2
0 0

 1 ′ 2
L
( ) 1 b
( )
b
≈∫ + = + ∫ ′ 2
b 1 y dx b y dx
0  2  2 0
y
δW = P(L − b ) = ∫ ( y′) dx ≈ ∫ ( y′)2 dx
P b 2 P L
2 0 2 0
28
 STRUCTURAL STABILITY OF COLUMNS

P2L
Unbuckled position U1 =
2 EA

P2L
( y ) dx
L EI
U2 = +∫ ′′ 2
Buckled position
2 EA 0 2

EI
( y′′)2 dx
L
δU = U 2 − U1 = ∫
0 2

EI ( y ) dx
L
∫ ′′ 2

δW = δU : P= 0

( )
L
∫0 dx ′ 2
y

29
 STRUCTURAL STABILITY OF COLUMNS

Example 2. Column with pined-pined ends. Determine Pcr

∞
nπx
Assume y (x ) = ∑ an sin Fourier series
n =1 L
∞
n π
2 2
nπx 2
EI ∫ (∑ − an 2 sin
L
( )
L
∫ ′′ ) dx
2
EI y dx 0 L L
P= 0 L = n =1

( ) L ∞ nπ nπx 2
∫0 ′
∫0 ∑
2
y dx ( a n cos ) dx
n =1 L L
π2 ∞
nπx 2
(∑ an n 2 sin
L
2 ∫0
EI ) dx
L L
= n =1
L ∞ nπx 2
∫0 (∑
n =1
an n cos
L
) dx

30
 STRUCTURAL STABILITY OF COLUMNS
L iπx jπx
For i ≠ j , ∫0 sin L sin L dx = 0;
2 iπx i 2πx
L L1 L
For i = j , ∫0 sin L dx = ∫0 2 (1 − cos L )dx = 2
L iπx jπx
For i ≠ j , ∫0 cos
L
cos
L
dx = 0;

2 iπx i 2πx
L L1 L
For i = j , ∫0 cos L dx = ∫0 2 (1 + cos L )dx = 2
∞
L
∑
π EI n =1
2 na
2
4 2
π 2 EI a12 + 2 4 a22 + 34 a32 + 
n
P= 2 ∞ = 2
2 2 L L a12 + 2 2 a22 + 32 a32 + 
∑
L
n an
n =1 2
π 2 EI
Pcr = Pmin =
L2 31
 STRUCTURAL STABILITY OF COLUMNS

Example 3

Determine the equation of elastic curve y(x).

∞
nπx
Assume y ( x ) = ∑ an sin
n =1 L
δU = δW = δWP + δWM 0

( )
∞
π 4
EI
( y′′) dx] = 3 EI
∑
L
δU = δ [ ∫ 2
n 4
δ a 2
n
0 2 4L n =1
32
 STRUCTURAL STABILITY OF COLUMNS

π P ∞ 2
( )
2
δWP = δ [ ∫ ( y′) dx] =
P L
∑ δ
2 2
n a n
2 0 4 L n =1
π ∞ nπx  πM 0 ∞ nπc
δWM 0 = M 0δ ( yc ) = M 0δ  ∑ n cos
'
an  = ∑ n cos δ (an )
 L n =1 L  x =c L n =1 L

π 4 EI π 2P nπc πM 0
( ) ( )
∞ ∞ ∞

3 ∑
nδ a =
4
∑
2
n nδ a + ∑ 2
n cos 2
n δ (an )
4 L n =1 4 L n =1 L n =1 L

2M 0 ∞
1 cos(nπc L )
an =
π
∑
n =1 n (
n π
2 2
EI L2
−P )
PL2 2 M 0 L2 ∞
cos(nπc L ) nπx
Let b = 2
π EI
y= 3
π EI
∑ (
n =1, 3, 5 n n − b
2
) sin
L
,0 ≤ x ≤ L

33
 STRUCTURAL STABILITY OF COLUMNS

Example 4. Critical load of a column with fixed-free ends

Assume:
ax 2
y(x ) = 2
L
EI ( y ) dx
L
∫ ′′
y 2

Pcr = 0

( y ) dx
L
∫ ′ 2
0

4 EI a 2 L3 3EI
= 2
= 2 (1)
4 a 3L L

34
 STRUCTURAL STABILITY OF COLUMNS

L P (a − y )
( )
2
L M 2 dx 2
8 P2L
If write δU = δ ∫0 =δ∫ dx = δ a2
2 EI o 2 EI 30 EI
 2 Pa 2  2 P
δW = δ ∫ ( y′) dx = δ 
P L 2
 = δ a2 ( )
0 2
 3 3L  3 3L
EI
δU = δW : Pcr = 2.5 2 (2)
L
Exact solution: 2.4674 EI
L2

Accuracy: (1) depends on y” and y’ , (2) depends on y’ and y

hard to say which one is better, but the smaller one is better!
Why?
35
 STRUCTURAL STABILITY OF COLUMNS

Remarks

By energy method, assumed deflection different from the actual curve

not every beam segment is in equilibrium
additional constraints needed to maintain the assumed curve
tend to render the beam more rigid
critical load higher than the exact analysis.

Conclusion: energy methods always yield buckling loads higher

than the exact values.

36
 STRUCTURAL STABILITY OF COLUMNS

Example 5 Tapered column with pined-pined ends

 3x 
I ( x ) = I1 1 +  0 ≤ x ≤ L
 L 2
 3x  L ≤x≤L
= I1  4 − 
 L 2
Determine the critical load.

πx
Assume y ( x ) = a sin
L

1   2 π 4
2 πx
EI
( y′′) dx = 2δ ∫0
L L EI 3 x
δU = δ ∫ 2 2
1 + a 4 sin dx
0 2 2  L L L

37
 STRUCTURAL STABILITY OF COLUMNS

 π 4 EI1 4.125π 4 EI1  2 8.125π 4 EI1

δU =  3
+ 3

δ a( )= 3
δ a 2
( )
 4 L 16 L  16 L
π π π
δ (a 2 )
2 2
δW = δ ∫ ( y′) dx = 2δ ∫ 2 a 2 2 cos 2 dx =
L P 2
L P x P
0 2 0 2 L L 4L
EI1
δU = δW : Pcr = 20.25
L2
πx 
2
2 2
2 2 2 P a  sin 
If δU = δ ∫
L M dx
=δ∫
L P y
dx = 2δ ∫
L2
 L
dx
0 2 EI 0 2 EI 0  3x 
2 EI1 1 + 
 L

= 0.124928
P2
EI1
( )
δ a2 Non-convenient
integral
EI1
δU = δW : Pcr = 19.75 2
L 38
 STRUCTURAL STABILITY OF COLUMNS

Example 6. Column with pined-pined ends on an elastic foundation

Elastic coefficient of
foundation: k(N/m2)

∞
nπx
Assume y ( x ) = ∑ an sin
n =1 L
π 4
EI ∞ 4 2
U1 = ∫ EI ( y′′) dx =
1 L
∑
2
Strain energy in column 3
n an
2 0 4 L n =1
∞
1 kL
∑ n
L

2 ∫0
Strain energy in foundation U 2 = ky 2
dx = a 2

4 n =1
39
 STRUCTURAL STABILITY OF COLUMNS

π 2 ∞
1
( ) P
∑
L
Work W =
∫ ′ =
2 2 2
P y dx n an
2 0 4 L n =1
π 2 EI ∞
 2 kL4 
δW = δ (U1 + U 2 ) : Pcr = ∑  n + 2 2 
L2 n =1  n π EI 

Lowest critical load may occur with n=1,2,3,…, depending

on the properties of beam and foundation.
π 2 EI kL2
If n = 1, Pcr = +
L2
π2
due to foundation

40
 STRUCTURAL STABILITY OF COLUMNS

Example 7 (past exam question)

41
42
43
 STRUCTURAL STABILITY OF COLUMNS

Example 8 (past exam question)

44
45
Example 9 (past exam question)

46
47
48
The results obtained in part (b) is more accurate………………….

49