Lecture 1: INTRODUCTION

Course Requirements

• Class attendance is not mandatory, but is strongly encouraged.

• Lecture notes will be posted to my web page
• Completion of the assigned reading is recommended prior to each lecture. (See the
attached syllabus and reading list.)
list )
• Homework assignments are due on the following Monday from the day they are
assigned.
• Collaboration with other students on the homework assignments is permitted.
• Home work assignments will be returned one week after they are collected.
• Please do not ask the grader to solve homework problems for you. He/she will,
however, solve problems similar to your homework problems.
• Neatness counts. Straight lines should be drawn with a straight edge. Home work
assignments should be stapled, and pages numbered.
• There will be two exams and numerous home work assignments. (See the attached
syllabus.) The second exam is not comprehensive.

Lecture 1: INTRODUCTION

Course Goals

In this course students will expand their understanding of the analysis of framed
structures. Specifically students will learn to find internal forces/stresses and
deflections so that appropriate structural elements can be determined.
determined Structural
Analysis (CVE 311) dealt with “classical” methods of analysis that were performed by
hand, covering relatively simple truss, beam, and frame structures. In CVE 511 we will
revisit elements of CVE 311, then concentrate on modern “matrix” methods of analysis,
which are easily adaptable for computer solution. A very brief introduction to finite
element analysis, which is sequentially the next level of structural analysis and widely
used in industry, will be given.
 Lecture 1: INTRODUCTION

Course Objectives

• The student should gain an understanding of the theory and development of methods
to analyze linear elastic framed structures using the knowledge of mathematics
(linear algebra) engineering (mechanics and material behavior), and computer
science (MATLab,
(MATLab Excel,
Excel Visual Analysis,
Analysis RISA)

• The student begins developing a foundation of experience for how building

structures behave under load through an understanding of the flexibility (matrix)
method
h d off solution.
l i

• The student develops a foundation of experience for the effective use of computer
programs
p g that rely
y on stiffness ((matrix)) methods of solution.

• Provide a preliminary basis for the theoretical underpinnings of matrix analysis of

structural continua, i.e., begin the process of appreciating and understanding the
fi it element
finite l t method
th d off analysis.
l i

Lecture 1: INTRODUCTION

Course Outcomes

The student will be expected to show proficiency in both the theory and practical
application of matrix based structural analyses. Students will be able to use software to
analyze realistic civil engineering structures. This will require several skills, including:

1. Choosing correct modeling elements, and choosing correct load representation,

2. Developing appropriate geometry and boundary conditions,

3. Apply software to attain displacements and stresses,

4. Interpret
p outputp and validate results using
g simplified
p models and hand
calculations.
 Lecture 1: INTRODUCTION

Course Assessment

This course will measure progress in meeting the previously mentioned objectives by
requiring students to:

• Calculate the forces within members of trusses,

trusses beams,
beams and frames using
analytic and computer based techniques;
• Understand and use the principle of superposition in simplifying the analysis of
statically indeterminate structures;
• Apply the stiffness method to determine the behavior of plane truss, beams, and
frames subject to various loads; and
• Extend the planar analysis to include three-dimensional trusses and frames;

This measurement is done via exams and homework.

Lecture 1: INTRODUCTION

Brief History of “Matrix Analysis” Methods (see article posted to web page)

1850-75 Interaction concepts introduced by Castigliano,

Castigliano Maxwell,
Maxwell and Mohr

1875-1920 No significant progress due to obvious limitations in solving

large numbers of equations.

1920 Truss analysis utilizing joint displacements as solution unknowns is

introduced (Maney, Ostenfeld) .

1932 Moment distribution by Hardy-Cross increases solvability of larger

structures by an order of magnitude. Method helps in “visualizing”
the interaction of members.

1930’s Aeroelastic research at England’s National Physical Laboratory

(NPL) extends previous efforts.

1950’s Computers become available.

 Lecture 1: INTRODUCTION

Brief History of “Matrix Analysis” Methods (continued)

1956 The landmark contribution of Turner, Clough, g Martin and Topp pp

finally succeeded in deriving the stiffness of a triangular
plate. Clough observes later that this paper represents earlier
work at Boeing and is one of the two sources of present
finite element analysis.
analysis

1960 Paper by Argyris and Kelsey introduces the concept that the
displacement-based method of structural analysis is a dual
methodology to the force-based of structural analysis.

1965-1969 In 1965 NASA’s RFP to develop the NASTRAN finite

element software called for the simultaneous development of
displacement-based and force-based versions. Two separate
contracts were awarded to MSC and Martin. The contract for the
force-based version was cancelled in 1969. The following year may
b taken
be k as the
h endd off the
h force-based
f b d methods
h d as a serious
i
contender for general purpose finite element programs.

Lecture 1: INTRODUCTION

Matrix Analysis of Structures

The use of matrix notation in expressing the relationships that are key to structural analaysis
is simple and elegant.
elegant In previous classes you learned
• Castigliano’s theorem
• Slope deflection methods
• Method of consistent deformations
Matrix analysis of structures treats a structure as a unique assemblage of discrete elements. It
is an idealization of the structure,
structure so solutions obtained are approximate and not exact.
exact
However, there are ways to minimize errors which we will learn as the course unfolds.
The assemblies used in matrix methods include, but are not limited to:
• Truss and beam elements
• 2D and 3D continuum elements
• Plate and shell element
We focus on truss and beam elements in this course and build a fundamental knowledge. The
last two categories of elements are treated in a Finite Element course.
 Lecture 1: INTRODUCTION

Structural analyses of complex structures utilizing matrix methods involve five key
ingredients:

1. Basic mechanics relationships (stress-strain, compatibility, equilibrium)

2. Equation Formulation (algebraic system)

3. Equation Solution (algorithms to solve simultaneous equations)

4. Solution Interpretation (“answers”)

y relate to beam and truss elements. Elasticityy

This class focuses on these issues as they
(CVE 604) and Advanced Strength of Materials (CVE 513) focuses on #1 in preparation
for Finite Element Analysis (CVE 512) where the issues above are discussed relative to
continuum elements.

Lecture 1: INTRODUCTION

Discretizing the Structure

Structures, such as trusses, beams and frames can be defined as an assemblage of structural
elements joined together at a finite number of discrete points known as nodes or nodal points
points.
In the analysis the structure is assumed to be loaded at these nodes. The term “nodes” are
used instead of “joints” because the point of application of a concentrated load can be
considered a joint. We will see that distributed loads or other types of member loads acting
between nodes can be replaced with equivalent loads at the nodes.
Thus any structure can be cut into simpler components, or in other words, the structure can
be discretized. For instance a truss can be considered to be an assembly of two force
members pin connected at the ends. A rigid frame may be taken as an assembly of three
force members.
The behavior of the each piece (discrete element) of the assembly as well as the structure
itself must satisfy
• Equilibrium
• Compatibility of displacements
• Force displacement relationships specified by the geometric and elastic properties of
each discrete element
 Lecture 1: INTRODUCTION

Discrete
sc e e Element
e e
Methods of
Analysis

Framed Structures Structural Components

Assemblage of one and Assemblage of 2- and

two dimensional structural 3-dimensional
elements continuum elements

Lecture 1: INTRODUCTION
Lecture 1: INTRODUCTION

Lecture 1: INTRODUCTION
 Lecture 1: INTRODUCTION

Finite element mesh used for the analysis of a

single vane (axisymmetric model)

First principle stress (psi) from a cold start

on Ingersoll-Rand’s ceramic microturbine
vane

Lecture 1: INTRODUCTION

In this course we will focus on SMALL STRAIN, LINEAR ELASTIC, STATIC analysis.
Fi it Element
Finite El t analysis
l i can be
b extended
t d d to
t include
i l d more complex
l structural
t t l behavior
b h i
including:

1. Geometric nonlinearity (large displacements, e.g., tip of an airplane wing)

2. Material nonlinearity

• Plasticity
• Creep
• Viscous elasticity

3. Time dependent dynamic analysis including all of above.

 Lecture 1: INTRODUCTION

Beyond Solid Mechanics

The analytical techniques developed in this class and courses beyond this class can be utilized
to analyse components in other fields, e.g,.

Computational Fluid Dynamics - (CFD) is a branch of fluid mechanics that uses numerical
methods to analyze problems that involve fluid flows. Field equations required to simulate the
interaction of liquids and gases with surfaces defined by boundary conditions are solved with
matrix methods. Complex simulation scenarios such as transonic or turbulent flows are
examined.

Heat Transfer - a subdiscipline of mechanical engineering that concerns the transfer of

thermal energy from one physical system to another. Field equations required to simulate the
t
transfer
f are again
i solved
l d numerically
i ll with
ith matrix
t i methods.
th d Heat
H t transfer
t f isi classified
l ifi d into
i t
various mechanisms, such as heat conduction, convection, thermal radiation, and phase-
change transfer.

Computational Electromagnetics - the process of modeling the interaction of electromagnetic

fields with physical objects and the environment. It typically involves using matrix methods
to solve Maxwell's equations.

Lecture 1: INTRODUCTION

References – Other Textbooks

1. H.G. Allen and P.S. Bulson, Background to Buckling, McGraw-Hill, 1980.

2. F. Arbabi, Structural Analysis and Behavior, McGraw-Hill, 1991.
3. L.P.Felton and R.B.Nelson, Matrix Structural Analysis, Wiley,1997.
4. l d Jr., Structurall Engineering Handbook,
E.H. Gaylord, db k 3rd d ed.,
d McGraw-Hill,
ill
1990.
5. K.H. Gerstle, Basic Structural Analysis, Prentice-Hall, 1974.
6
6. R.C. Hibbler, Structural Analysis,
R C Hibbler Analysis 5th ed
ed., Prentice
Prentice-Hall,
Hall 2002.
2002
7. A. Kassimali, Matrix Analysis of Structures, Brooks/Cole, 1999.
8. R.L. Ketter, Lee, and Prawel, Structural Analysis and Design, McGraw-
Hill 1979.
Hill, 1979
9. H. Laursen, Structural Analysis, McGraw-Hill, 1988.
 Lecture 1: INTRODUCTION

References (continued)

12. J.C. McCormac and J.K. Nelson, Structural Analysis, 2nd ed. Addison-
Wesley, 1997.
13. R.K. Livesley R.K., Matrix Methods of Structural Analysis, 2nd ed.
Pergamon Press, 1975.
14. W. McGuire, R.H. Gallagher and R.D. Ziemian, Matrix Structural
Analysis, 2nd ed. John Wiley, 2000.
15 J.L.
15. Meek Matrix Structural Analysis,
J L Meek, Analysis McGraw-Hill,
McGraw Hill 1971.
1971
16. M. Paz and W.E. Leigh, Integrated Matrix Analysis of Structures - Theory
and Computation, Kluwer Pub., 2001.
17 J.S.
17. J S Przeminiecki
Przeminiecki, Theory of Matrix Structural Analysis,
Analysis Dover Press,
Press
1985.
18. R.L. Sack, Matrix Structural Analysis, Waveland Press, 1994.
19. R.E. Sennet,, Matrix Analysis
y off Structures,, Waveland Press,, 2000.
20. C-K Wang, Matrix Methods of Structural Analysis, International Textbook
Co., 1970
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Introduction

The flexibility and stiffness methods are the principle subjects of this course. The concepts
are applicable to structures of all types. We will concentrate in this course on beams and
framed structures.

All of the structural elements utilized in this course are usually components of framed
structures. They are classified as follows:

• Beams
B
• Plane trusses
• Space trusses
• Plane frames
• Grids
• Space frames

Framed structural elements are long in comparison to their cross sectional areas.
areas Loads on
these elements consist of concentrated forces, distributed loads and/or couples.

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Continuous Beam

Loads are applied in a plane containing an axis of symmetry

Beams have one or more points of support referred to as joints – points A,B,C,D.
ABCD

Beams deflect in the plane of of the loads. Internal forces consist of shear forces, bending
moments (no torques – take CVE 513), and axial loads

Shear Moment Axial load

V M A
y ș x Displacements
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Plane Truss

All structural compenents are in same plane.

Forces act in the plane of structure.

structure

Assume hinged joints - no bending moments through joint and absolutely no twisting
moments through joint (consider a gusset plate).

Loads acting on members are replaced by statically equivalent forces at the joints.

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Space Truss

Forces and structural elements may have arbitrary directions.

Couple on a member must have moment vector perpendicular to the axis of member.
member A truss
member is incapable of supporting a twisting moment.
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Plane Frame

Joints are rigid

Forces and deflection are contained in the plane X-Y.

XY

All couples have moment vectors parallel to Z-axis.

Internal resultants consist of bending moments, shearing forces and axial forces.

Joints may transfer moment

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Grid

Elements can intersect (rigid connection) or cross (hinged connection) one another

All forces are normal to the plane of the structure.

All couples have their vectors in the plane of the grid. Torques can be supported.

Each member is assumed to have two axes of symmetry so that bending and torsion can
occur independently of one another (see unsymmetrical bending in CVE 513)
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Space Frame

Most g
general type
yp of framed structure.

No restrictions on location of joints, directions of members, or directions of loads.

Members are assumed to have two axes of symmetry

y y for the same reason grids
g have two
axes of symmetry.

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Deformation And Displacements

When a structure is subjected

j to loads it deforms and as a consequence
q points
p in the
original configuration displace to new positions (the mathematics describing this
process are discussed in detail in CVE 513 and CVE 604)
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Actions And Displacements

The terms “action”

action and “displacement”
displacement are used to describe two fundamental concepts to
this course. An action is most commonly a single force (generalized force) or couple.

An action may also be a combination of forces, couples, or distributed loads. It is necessary

that the forces, couples and distribution loads be related to corresponding displacements in a
unique manner

The two external forces can be considered as an action. Also the two reactive forces RA and
RB can be considered as an action. The entire system of forces P, P, RA and RB could also be
considered as an action

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Internal actions are present in framed structures

Shear (V), bending moment (M)

and axial force (N) are possible
i
internal
l actions
i
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Displacements refer to a translation or a rotation of a specific point in a structure.

Actions and the displacements corresponds to one another, i.e., P1 and ¨ correspond to
each other in the previous overhead since they are of an analogous type (force-translation).
It is not implied that the displacement ¨ is caused entirely by P1, or that P1 only
corresponds to ¨. From undergraduate strength of materials we know that

P1 contributes to ¨ and directly corresponds to ¨ (force – translation)

P1 contributes to ș and thus cross corresponds to ș (force – rotation)

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Notation:

The letter A is used to denote actions - this includes concentrated forces and couples
couples.
The letter D is used to denote displacements - this includes translations and rotations.

Consider the beam shown below subjected to several actions producing several
displacements:

Clearly
C ea y three
t ee actions
act o s are
a e present
p ese t as well
we as three
t ee displacements.
d sp ace e ts.
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Each action would

contribute something to
each displacement.

If we can determine the quantities D11 through D33 then by superposition each displacement
can be written as follows:
D1 D11  D12  D13

D2 D21  D22  D23

D3 D31  D32  D33

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Equilibrium

The objectives of any structural analysis is the determination of reactions at supports and
internal actions (bending moments, shearing forces, etc.). A correct solution for any of these
quantities must satisfy the equations of equilibrium:

¦F X 0 ¦FY 0 ¦FZ 0

¦M X 0 ¦M Y 0 ¦M Z 0

In the stiffness method of analysis the equilibrium conditions at the joints of the structure are
the basic equations
q that are solved.
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Compatibility

The continuityy of the displacements

p throughout
g the structure must be satisfied in a correct
structural analysis. This is sometimes referred to as conditions of geometry.

As an example, compatibility conditions must be satisfied at all points of support. If a roller

support is present then the vertical displacement must be zero at that support.
support

We usually impose compatibility at a joint. If two structural elements frame into a joint then
there displacements and rotations at the rigid connection must be the same or consistent with
each other.

We apply a much more rigorous mathematical definition in CVE 604 for compatibility. It is
simply noted here that strain is a function of displacement.
displacement There are 6 components of strain
and only 3 components of displacement at a point in a three dimensional analysis. A
“compatible” displacement field will produce an appropriate state of strain at a point.

Flexibility
l ibili methods
h d use equations
i that
h express the h compatibility
ibili off the
h displacements.
di l
Understanding this issue as it applies to structural analyses give the student a better “feel” as
to how a structure behaves and an ability to judge the correctness of a solution.

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Static And Kinematic Indeterminacy

There are two types of indeterminacy to consider depending on whether actions or

displacements are of interest. When actions are the unkowns which is typical for the
flexibility method, then static indeterminacy is of paramount interest. From your
undergraduate education this meant that there were an excess of unkowns relative to the
number of equations of static equilibrium

The beam in (a) is

statically
indeterminate to
the first degree.
The truss in (c) is
statically
indeterminate to
second degree.
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Let

NUA = Number of unknown actions

NESE = Number of equations of static equilibrium

Unknown Actions (UA) >HA RA MA RB @

NUA 4
NESE 3

One of these four unknown is referred to as a static redundant. The number of static
redundant represents the degree of static indeterminacy of the structures

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

A distinction may also be made between external and internal indeterminacy. The
beam in the previous slide is externally statically indeterminate to the first degree.
degree
The truss below is determinate from the standpoint that we could calculate the
reactions given the loads applied. However, we would be unable to find the internal
forces in the cross members. The truss is internally indeterminate to the second
degree.
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Criteria In Determining Static Indeterminacy

Two Dimensional Beams

Degree of static indeterminacy = r - (c + 3)

r = number of reactions
c = number of internal conditions (c = 1 for a hinge; c = 2 for a roller; and c = 0 for a
structure with no geometric instability)

Two Dimensional Trusses Three Dimensional Trusses

Degree of static indeterminacy = (b + r) - (2j) Degree of static indeterminacy = (b + r) - (3j)

b = number of members b = number of members

r = number of reactions r = number of reactions
j = number of joints (this includes j = number of joints (this includes the
the joints at the reactions) joints at the reactions)

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Criteria In Determining Static Indeterminacy (continued)

Two Dimensional Frames

Degree of static indeterminacy = (b + r) - (2j + c)

b = number of members
r = number of reactions
j = number of joints Three Dimensional Frames
c = number of internal conditions
Degree of indeterminacy = (b + r) - (3j + c)

b = Number of members
r = Number of reactions
j = Number of joints
c = Number of internal conditions
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

For the stiffness method the displacement at joints become unknown quantities. Thus
kinematic indeterminacy is important here. When a structure is subjected to loads each joint
may undergo
d translations
l i and/or
d/ rotations.
i At
A supports some displacements
di l will
ill be
b known,
k
others will not. The number of unknown joint displacements corresponds to the kinematic
indeterminacy of structure. Reconsider the beams and the truss from the previous slide.

The beam in (a) is

kinematically
indeterminate to the
second degree.
The beam in (b) is
kinematically
determinate. All joint
displacements are
known, i.e., they are all
zero (displacements
and rotations).

Lecture 4: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Consider the beam in (a). At joint A the beam is fixed and cannot undergo any joint
displacement. However at joint B the beam is free to translate in the horizontal direction
and rotate in the p
plane of the beam. Thus the beam is kinematicallyy indeterminate to the
second degree.

The truss in in (c) can undergo two displacements at each joint. Although rotations can take
place
l att eachh joint,
j i t since
i moments
t cannott be
b sustained
t i d att truss
t joints,
j i t rotations
t ti have
h no
physical significance in this problem.

Often structural members are very stiff in the axial direction. Thus very little axial
displacement will take place. Removing the axial load or deformation from the system of
unknowns can reduce the degree of indeterminacy of the structure.
 Lecture 4: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Mobile Structures

When the number of reactive forces is g greater than the number of equations
q of static
equilibrium for the entire structure taken as a free body, the structure is statically
indeterminate

However a problem can appear to be statically determinate when it is not. Consider the
beam above. This is a planar problem. Thus in general there are three equations of statics
available namely
¦F X 0 ¦F Y 0 ¦M Z 0
But the summation of forces in the x-direction is not applicable, and the structure is mobile.
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Principle Of Superposition

Principle - The effects produced by several actions on a structure can be obtained by

combining the effects due to individual actions.

Requirements:

• A linear relationship exists between the actions and displacements

• The displacement of the structure are small
• There is no interaction between axial and flexural effects in the members

The first demands that the material is linear elastic. The second allows all calculations can be
conducted in terms of the original dimensions of the structure. The third implies that the
effect of axial forces on bending is neglected (moment magnification).

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Consider the beam in (a) subject to external

actions A1 and A2. These actions produce
various
i actions
i andd displacements
di l
throughout the structure. Reactions are
developed at the supports. A displacement
is p
produced at the mid span.
p
The effects of A1 and A2 are shown
separately in (b) and (c). A single prime is
associated with A1 and a double pprime with
A2.
From the figure it becomes obvious that the
following
g equations
q can be developed
p
through the use of superposition:

RA RcA  RcAc MA M cA  M cAc

RB RBc  RBcc D Dc  Dcc
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Next consider the same beam subjected

to displacements,
displacements i.e.,
i e the support at B is
translated down an amount ' and rotated
counterclockwise an amount TAgain
various actions and displacements are
i d d in
induced i the
h strucure.
Actions and displacements with single
primes are associated with '. Those
with
ith double
d bl primes
i are associated
i t d with
ith
T.

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

In the preceding discussion on superposition it appeared as if actions and

displacements are equally important,
important and typically they are.
are
An exception occurs when a statically determinate structure is solved for actions
only. Since this will require only the equations of equilibrium, displacements do
not enter into the calculations.
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Action And Displacement Equations

The relationship between actions and displacements play an important role in structural
analysis. A convenient way to see this relationship is through a linear, elastic spring

The action A will compress (translate) the spring an amount D. This can be expressed
through the simple expression:

D FA

In this equation F is the flexibility of the spring, and this quantity is defined as the
displacement produced by a unit value of the action A.

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

This relationship can also be expressed as

A SD

Here S is the stiffness of the spring

p g and is defined as the action required
q to pproduce a unit
displacement in the spring. The flexibility and stiffness of the spring are inverse to one
another.

1 1
F S
S
1
S F 1
F
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

The relationship that holds for a

spring
p g holds for any y structure.
Consider the simple beam
subjected to an action A that
produces a translation D.
The action and displacement AL3
D
equation holds if the flexibility 48 EI
F and stiffness S are determined
as shown.
shown
The action and displacement
equation given on the previous A 1 L3
D F
slide is valid only when one 48 EI
action is present and we are
looking for one displacement
within the structure. Anymore
h one action
than i andd one D 1 48EI
displacement requires a matrix A S
L3
format.

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Now consider a general example where a beam is

subjected to three actions, i.e., two forces (A1 and
A2) and
d a moment (A3). ) Theh directions
di i for
f the
h
actions are assumed positive.
The deflected shape is given in (b) and
di l
displacements
t D1, D2 andd D3 correspond d tto A1, A2,
and A3.
By using superposition each displacement can be
expressedd as the
th sum off displacements
di l t due
d to
t
actions A1 through A3

D1 D11  D12  D13

In a similar manner expressions for D2 and D3 are

D2 D21  D22  D23

D3 D31  D32  D33
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

With
D11  deflection at A1 caused by A1
D12  deflection at A1 caused by A2
D13  deflection at A1 caused by A3

and the fact that

D11 is directly proportion al to A1 only

D12 is directly proportion al to A2 only
D13 is directly proportion al to A3 only

th
then
D11 F11 A1
D12 F12 A2
D13 F13 A3

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

We can express the equations for the deformations D1,

D2 and D3 as

D1 F11 A1  F12 A2  F13 A3

D2 F21 A1  F22 A2  F23 A3
D3 F31 A1  F32 A2  F33 A3

Each term on the right-hand side of the equations is a

displacement written in the form of a coefficient times
the action that produces a deformation represented by
the coefficient. The coefficients are called flexibility
coefficients. The physical significance of the flexibility
coefficients are depicted in figures (c), (d) and (e)

All the flexibility coefficients in the figures have two subscripts (Fij). The first subscript
identifies the displacement (Di) associated with an action (Aj). The second subscript
denotes where the unit action is being applied. Figure (c) is associated with action A1,
figure (d) is associated with action A2, and figure (e) is associated with action A3.
Flexibility coefficients are taken as positive when the deformation represented by the
coefficient is in the same direction as the ith action.
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Instead of expressing displacements in terms of

actions, it is possible to express actions in terms of
di l
displacements, i.e.,
i

A1 S 11 D1  S 12 D 2  S 13 D 3
A2 S 21 D1  S 22 D 2  S 23 D 3
A3 S 31 D1  S 32 D 2  S 33 D 3

This system
Thi t off equations
ti can be
b obtained
bt i d from
f the
th
displacement system of equations under suitable
conditions.

Here S is a stiffness coefficient and represents an

action due to a unit displacement. To impose these
unit displacements requires that artificial restraints
must be provided.
provided These restraints are shown in the
figure by simple supports corresponding to actions
A1, A2 and A3.

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

Each stiffness coefficient is shown acting in its assumed positive direction, which is
the same direction as the corresponding action.
action If the actual direction of one of the
stiffnesses is opposite to that assumption, then the stiffness coefficient will have a
negative value.
The calculations of the stiffness coefficients for the beam shown can be quite
lengthy. However, analyzing a beam like the one shown previously by the stiffness
method can be expedited by utilizing a special structure where all the joints of the
structure are restrained. We will get into the details of this in the next section of
notes.
t
The primary purpose of this discussion is for the student to visualize what flexibility
and stiffness coefficients represent physically.
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

Equivalent Joint Loads

The calculations of displacements in larger more extensive structures by the means of the
matrix methods derived later requires that the structure be subject to loads applied only at the
joints. Thus in general, loads are categorized into those applied at joints, and those that are
not.
t Loads
L d that
th t are nott applied
li d to
t joints
j i t mustt be
b replaced
l d with
ith statically
t ti ll equivalent
i l t loads.
l d
Consider the statically indeterminate beam with a distributed load between joints A and B, and
a point load between joints B and C:

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

First one must identify joints, and here we select points A, B, and C for convenience. By
superposition the beam can be separated into two beams, one with loads located at the joints,
and a second with loads between the joints:
 Lecture 5: PRELIMINARY CONCEPTS OF
STRUCTURAL ANALYSIS

To transfer the loads that act on the members to the joints, the joints of the structure are
restrained against all displacements. This produces two fixed end beams:

When these fixed end beams are subjected to the member loads, a set of fixed end actions is
produced.
d d The Th same fixed-end
fi d d actions
ti are shown
h in
i the
th following
f ll i figure
fi where
h they
th are
depicted as restraint actions in the restrained structure.

Lecture 5: PRELIMINARY CONCEPTS OF

STRUCTURAL ANALYSIS

If the restraint actions are reversed in direction, they constitute a set of forces and couples that
are statically equivalent to the member loads. These equivalent joint loads, when added to the
actual joint loads produce the combined joint loads shown in the next figure.
figure

The combined loads are then used in carrying out the structural analysis. Will the unknown
displacements at nodes be correct using this statically equivalent system? Will the
displacements computed along segment AB in the figure above be equivalent to the
displacements along segment AB given the original load configuration?
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

Flexibility And Stiffness Matrices

We can now generalize the concepts introduced in the preceding section.

section If the number
of actions applied to a structure is n, the corresponding equations for displacements are:
D1 F11 A1  F12 A2    F1n An
D2 F21 A1  F22 A2    F2 n An
    
Dn Fn1 A1  Fn 2 A2    Fnn An
In matrix format these equations become
­ D1 ½ ª F11 F12  F1n º ­ A1 ½
°D ° «F  F2 n »» °A °
° 2° « 21 F22 ° 2°
® ¾ ® ¾
«    » ° °
° ° « »
°¯ Dn °¿ ¬ Fn1 Fn 2  Fnn ¼ °¯ An °¿

or
n n n
^D` >F @ ^A` ¦ Di ¦ ¦F ij Aj
i 1 i 1 j 1

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

The action equations with n actions applied to the structure are

A1 S11 D1  S12 D2    S1n Dn

A2 S 21 D1  S 22 D2    S 2 n Dn
    
An S n1 D1  S n 2 D2    S nn Dn

In matrix format these equations become

­ A1 ½ ª S11 S12  S1n º ­ D1 ½

°A ° «S  S 2 n »» °D °
° 2° « 21 S 22 ° 2°
® ¾ ® ¾
° ° «   » ° °
°¯ An °¿ « » °¯ Dn ¿°
¬ S n1 S n 2  S nn ¼

or
n n n
^A` >S @ ^D` ¦ Ai ¦ ¦S ij Dj
i 1 i 1 j 1
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

Since the actions Ai and displacements Di correspond to one another in both formats, it
follows the flexibility matrix Fij and the stiffness matrix Sij are related to each other.
Taking the matrix inverse of

^D` >F @ ^A`

yields

^A` >F @1 ^D`

With

^A` >S @ ^D`

then

>S @ >F @1

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

In a similar fashion one can show that

>F @ >S @1

Thus the stiffness matrix is the inverse of the flexibility matrix and vice versa provided that
the same set of actions and displacements are being considered in both equations

Note that a flexibility matrix or stiffness matrix is not an array that is determined by the
geometry of the structure only.
only The matrices are directly related to the geometry and the set
of actions and displacements under consideration.
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES
Example

The cantilever beam shown in the figure below is subjected to a force (A1) and moment (A2)
at the free end. Develop the flexibility matrix and the stiffness matrix for assuming
displacements D1 and D2 are of interest.

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

Making use of Case #7 and Case #8 from the following table

 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

(continued)

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

Then the flexibility coefficients are as follows:

L3 L2 L
F11 F12 F21 F22
3EI 2 EI EI

The displacements are

L3 L2 L2 L
D1 A1  A2 D2 A1  A2
3EI 2 EI 2 EI EI

The flexibility matrix becomes

ª L3 L2 º
« »
>F @ « 3EI 2 EI »
« 2 »
« L L »
«¬ 2 EI EI »¼
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

In order to develop the stiffness matrix consider the following beam reactions
due to applied displacements:

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

The stiffness coefficients are as follows:

12 EI 6 EI 4 EI
S11 S12 S 21  S 22
L3 L2 L

The actions are

12 EI 6 EI 6 EI 4 EI
A1 D1  D2 A2  D1  D2
L3 L2 L2 L

The stiffness matrix becomes

ª 12 EI 6 EI º
« L3 
L2 »
>S @ «
«
»
»
« 6 EI 4 EI »
«¬ L2 L »¼
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

When the flexibility matrix and the stiffness matrix are multiplied together, the
result is the identity matrix:

ª 12 EI 6 EI º ª L3 L2 º
« L3  « » ª1 0º
L2 » « 3EI 2 EI » « »
>S @>F @ «
«
»
»« 2 » « »
« 6 EI 4 EI » « L L » «¬0 1 »¼
«¬ L2 L »¼ «¬ 2 EI EI »¼
This infers but does not prove that the two matrices are inverses of one another.

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

Reciprocal Theorems

If th
the lloads
d on a structure
t t are zero andd gradually
d ll increase
i suchh that
th t all
ll loadings
l di hit peakk
values at the same time, the work done during this period of time will be the average, hence

1
W A1 D1  A2 D2  A3 D3    An Dn
2

In a matrix format but both A and D are column vectors by definition so to perform this
matrix multiplication we must use the transpose of one or the other column vectors.
vectors Thus

§1· §1·
¨ ¸ ^A` ^D` ¨ ¸ ^A`^D`
T T
W
©2¹ ©2¹

Recall that

^D` >F @ ^A`

Now, substitute this in the above equation.
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

This substitution leads to

§1· §1·
¨ ¸ ^A` ^D` ¨ ¸ ^A` >F @^A`
T T
W
©2¹ ©2¹

In addition the following relationship holds from matrix algebra

^D`T ^>F @^A``T

>F @T ^A`T

Substituting this relationship in the equation from the previous slide yields

§1· §1·
¨ ^A`^D` ¨ ^A` >F @ ^A`
T T T
W
©2¹ ©2¹

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

Equating the two equations for work we obtain

§1· T §1·
¨ ¸^A` >F @^A` ¨ ¸^A`>F @ ^A`
T T

©2¹ ©2¹

^A`T >F @^A` ^A`>F @T ^A`T

Multiplying both sides by ({A}T)-1 and {A}-1 we obtain

^A ` ^A` ^A` >F @^A`

T 1 1 T
^A ` ^A` ^A`>F @ ^A`
T 1 1 T T

^^A ` ^A` `^^A` ^A` ` >F @

T 1 T 1
^^A ` ^A` `^^A` ^A` `>F @
T 1 T 1 T

>I @>I @>F @ >I @>I @>F @T

>F @ >F @T
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

Thus the flexibility matrix must be symmetric. To prove the stiffness matrix is symmetric
recall that

^A` >S @^D`

Substituting this in the equation for work

§1· §1·
¨ ¸ ^A`^D` ¨ ¸ >S @^D`^D`
T T
W
©2¹ ©2¹

In addition, the following relationship holds from matrix algebra

^A`T >S @^D` T

^A`T >S @T ^D`T

Lecture 6: FLEXIBILITY AND STIFFNESS

MATRICES

Substituting this in the above equation for work

§1· §1· T
¨ ^A` ^D` ¨ >S @ ^D` ^D`
T T
W
©2¹ ©2¹

Equating these two relationships for work

§1· §1· T
¨ ¸ >S @^D`^D` ¨ ¸ >S @ ^D` ^D`
T T

©2¹ ©2¹

>S @^D`^D`T >S @T ^D`T ^D`

Multiplying both sides by [D]-1 and [DT]-1 we obtain

^D`T ^D`1^D`T >S @^D` ^D`T ^D`1^D`>S @T ^D`T

1 1
 Lecture 6: FLEXIBILITY AND STIFFNESS
MATRICES

Further manipulation yields

^D`T ^D`T ^D`1^D` >S @ ^D`T ^D`T ^D`1^D` >S @T

1 1

>I @>I @>S @ >I @>I @>S @T

>S @ >S @T
Hence the stiffness matrix is symmetric. Of course the fact that the stiffness matrix is
symmetric could have been concluded from the fact that the flexibility matrix is symmetric
and the stiffness matrix is the inverse of the flexibility matrix. But this has not been
f
formally
ll proven.
 Lecture 7: The Flexibility Method

Flexibility Method

In 1864 James Clerk Maxwell published the first consistent treatment of the flexibility
method for indeterminate structures. His method was based on considering deflections, but
the presentation was rather brief and attraced little attention. Ten years later Otto Mohr
independently extended Maxwell’s theory to the present day treatment. The flexibility
method will sometimes be referred to in the literature as Maxwell-Mohr method.

With the flexibility method equations of compatibility involving displacements at each of

the redundant forces in the structure are introduced to provide the additional equations
needed for solution. This method is somewhat useful in analyzing beams, framse and
trusses that are statically indeterminate to the first or second degree. For structures with a
high degree of static indeterminacy such as multi-story buildings and large complex trusses
stiffness methods are more appropriate. Nevertheless flexibility methods provide an
understanding of the behavior of statically indeterminate structures.

Lecture 7: The Flexibility Method

The fundamental concepts that underpin the flexibility method will be illustrated by the
study of a two span beam
beam. The procedure is as follows

1. Pick a sufficient number of redundants corresponding to the degree of

indeterminacy

2. Remove the redundants

3. Determine displacements at the redundants on released structure due to external or

imposed actions

4. Determine displacements due to unit loads at the redundants on released structure

5. Employ equation of compatibility, e.g., if a pin reaction is removed as a redundant

the compatibility equation could be the summation of vertical displacements in the
released structure must add to zero.
 Lecture 7: The Flexibility Method

The beam to the left is

statically indeterminate to
the first degree. The
reaction at the middle
support RB is chosen as the
redundant.
The released beam is also
shown. Under the external
loads the released beam
deflects an amount 'B.
A second beam is
considered where the
released redundant is treated
as an external load and the
corresponding deflection at
the redundant is set equal to
'B.
§5·
RB ¨ ¸wL
©8¹

Lecture 7: The Flexibility Method

A more general approach consists in finding the displacement at B caused by a unit load in
the direction of RB. Then this displacement can be multiplied by RB to determine the total
displacement

Also in a more general approach a consistent sign convention for actions and displacements
must be adopted. The displacements in the released structure at B are positive when they are
in the direction of the action released,
released i.e.,
i e upwards is positive.
positive

The displacement at B caused by the unit action is

L3
GB
48 EI
The displacement at B caused by RB is įB RB. The displacement caused by the uniform load
w acting on the released structure is

5 w L4
'B 
384 EI
Th by
Thus b the
h compatibility
ibili equation
i
'B §5·
'B  G B RB 0 RB  ¨ ¸w L
GB ©8¹
Lecture 7: The Flexibility Method

If a structure is statically indeterminate to more

than one degree, the approach used in the
preceeding example must be further organized
and more generalize notation introduced.
introduced

Consider the beam to the left. The beam is

statically indeterminate to the second degree. A
statically determinate structure can be obtained
by releasing two redundant reactions. Four
possible released structures are shown.

Lecture 7: The Flexibility Method

The redundants chosen are at B and C. The

redundant reactions are designated Q1 and Q2.

The released structure is shown at the left

with all external and internal redundants
shown.
h

DQL1 is the displacement corresponding to Q1

and caused byy the external actions on the
released structure

DQL2 is the displacement corresponding to Q2

causedd bby external
t l actions
ti on the
th released
l d
structure.

Both displacements
p are shown in their
assumed positive direction.
 Lecture 7: The Flexibility Method

We can now write the compatibility equations for this structure. The displacements
p g to Q1 and Q2 will be zero. These are labeled DQ1 and DQ2 respectively
corresponding p y

DQ1 DQL1  F11Q1  F12Q2 0

DQ 2 DQL 2  F21Q1  F22Q2 0

In some cases DQ1 and DQ2 would be nonzero then we would write

DQ1 DQL1  F11Q1  F12Q2

DQ 2 DQL 2  F21Q1  F22Q2

Lecture 7: The Flexibility Method

The superposition equations from the previous page can be written in matrix format as
^D `
Q ^D `QL  >F @ ^Q`

where:
{DQ } - matrix of actual displacements corresponding to the redundant
{DQL } - matrix of displacements in the released structure corresponding to the
redundant action [Q] and due to the loads
[F] - flexibility matrix for the released structure corresponding to the redundant
actions
ti [Q]
{Q} - matrix of redundant

­ DQ1 ½ ­ DQL1 ½ ­ Q1 ½
^D `
Q ® ¾ ^D `
QL ® ¾ ^Q` ® ¾
¯ DQ 2 ¿ ¯ DQL 2 ¿ ¯Q2 ¿

ª F11 F12 º
F «F F22 »¼
¬ 21
 Lecture 7: The Flexibility Method

The vector [Q] of redundants can be found by solving for them from the matrix equation
on the p
previous overhead.

>F @>Q @ >D @  >D @

Q QL

>Q @ >F @1 >DQ @  >D @ QL

To see how this works consider the previous beam with a constant flexural rigidity EI. If
we identify actions on the beam as

P1 2P M PL P2 P P3 P

Since there are no displacements corresponding to Q1 and Q2, then

ª0º
DQ «0»
¬ ¼

Lecture 7: The Flexibility Method

The vector [[DQL] represents

p the displacements
p in the released structure corresponding
p g to
the redundant loads. These displacements are

13PL3 97 PL3
DQL1 DQL 2
24 EI 48 EI

The positive signs indicate that both displacements are upward. In a matrix format

PL3 ª 26 º
>D @
QL
48EI «¬ 97 »¼
 Lecture 7: The Flexibility Method

The flexibility matrix [F ] is obtained by subjecting the beam to unit load corresponding
to Q1 and computing the following displacements

L3 5 L3
F11 F21
3EI 6 EI

Similarly subjecting the beam to unit load corresponding to Q2 and computing the
following displacements

5 L3 8 L3
F12 F22
6 EI 3EI

Lecture 7: The Flexibility Method

The flexibility matrix is

L3 ª 2 5 º
>F @
6 EI «¬ 5 16»¼

The inverse of the flexibility matrix is

ª 16  5 º
>F @1 6 EI
« 5
7 L3 ¬ 2 »¼

As a final step the redundants [Q] can be found as follows

ªQ1 º
>Q @ «Q » >F @1 >DQ @  >D @
QL
¬ 2¼
§ 6 EI · ª 16  5 º ­ ª0º § PL3 · ª26 º ½
¨ 3 ¸« ®  ¨¨ ¸¸ « » ¾
© 7 L ¹ ¬ 5 2 »¼ ¯ «¬0»¼ © 48 EI ¹ ¬97 ¼ ¿
§ P · ª 69 º
¨ ¸« »
© 56 ¹ ¬ 64¼
 Lecture 7: The Flexibility Method

The redundants have been obtained. The other unknown reactions can be found from
the released structure.
structure Displacements can be computed from the known reactions on
the released structure and imposing the compatibility equations.

Lecture 7: The Flexibility Method

Example

A three
h span bbeam shown
h at the
h lleft
f is
i
acted upon by a uniform load w and
concentrated loads P as shown. The
g y EI.
beam has a constant flexural rigidity
Treat the supports at B and C as
redundants and compute these
redundants.
In this problem the bending moments at B
and C are chosen as redundants to
indicate how unit rotations are applied to
released structures.
Each redundant consists of two moments,
one acting in each adjoining span.
 Lecture 7: The Flexibility Method

The displacements corresponding to the two redundants consist of two rotations – one for
j g span.
each adjoining p The displacement
p DQL1 and DQL2 corresponding
p g to Q1 and Q2.
These displacements will be caused by the loads acting on the released structure.

The displacement DQL1 is composed of two parts, the rotation of end B of member AB
and the rotation of end B of member BC

wL3 PL2
DQL1 
24 EI 16 EI

Similarly,
PL2 PL2 PL2
DQL 2 
16 EI 16 EI 8 EI
such that

L2 L  3P º
ª 2 wL
DQL « »
48 EI ¬ 6P ¼

Lecture 7: The Flexibility Method

The flexibility coefficients are determined next. The flexibility coefficient F11 is the sum
of two rotations at joint B. One in span AB and the other in span BC (not shown below)

L L 2L
F11 
3EI 3EI 3EI
Similarly the coefficient F21 is equal to the sum of rotations at joint C. However, the
rotation in span CD is zero from a unit rotation at joint B. Thus

L
F21
6 EI
 Lecture 7: The Flexibility Method

Similarly

L L 2L
F22 
3EI 3EI 3EI
L
F12
6 EI

The flexibility matrix is

L ª4 1 º
F «1 4 »
6EI ¬ ¼

The inverse of the flexibility matrix is

1 2 EI ª 4  1º
F « »
5L ¬ 1 4 ¼

Lecture 7: The Flexibility Method

As a final step the redundants [Q] can be found as follows

ªQ1 º
>Q @ «Q » >F @1 >DQ @  >D @
QL
¬ 2¼
2 EI ª 4  1º ­ ª0º L2 ª 2 wL  3P º ½
«  1 4 » ® «0 »  « »¾
5L ¬ ¼ ¯¬ ¼ 48 EI ¬ 6P ¼¿
L ª 8wL  6 P º

120 ¬«  2 wL  21P »¼

and

wL2 PL wL2 7 PL
Q1   Q2 
15 20 15 40
 Lecture 8: Flexibility Method

Example

The plane frame shown at the left has

fixed supports at A and C. The frame is
acted upon by the vertical load P as
shown. In the analysis account for both
flexural and axial deformations. The
flexural rigidity EI is constant. The axial
rigidity EA is also constant. Joint B is a
rigid connection.

The structure is statically indeterminate to

the third degree. A released structure is
obtained by cutting the frame at joint B
and the released actions Q1, Q2 and Q3 are
redundants. Find the magnitude and
direction of these redundants.

Lecture 8: Flexibility Method

The displacements in the released structure caused by P and corresponding to Q1, Q2 and Q3
are in the previous figures.

The displacement DQL1 consists of the sum of two translations which are found by analyzing
the released structure as a set of two cantilever beams AB and CB.

First analyze the cantilever beam AB. The load P will cause a downward translation at B and a
clockwise rotation at B. There is no axial displacement thus

DQL1 AB
0

The displacements DQL2 and DQL3 also consist of two vertical displacements and two rotations.

5 PL3 PL2
DQL 2  DQL 3 AB

AB
48 EI 8 EI
 Lecture 8: Flexibility Method

Since there is no load on member CB, there will be no displacement at end B and

DQL1 CB
DQL 2 CB
DQL 3 CB
0

The DQL matrix becomes

­ 0 ½
° °
° ° ­ 0 ½
° 5 PL °
3
PL2 ° °
DQL ® ¾ ® 5 L ¾
° 48 EI
2 °
48 EI ° 6 °
°  PL ° ¯ ¿
° 8 EI °
¯ ¿

We now want to determine the flexibility matrix F. Consider the released structure with

Q1 1

Lecture 8: Flexibility Method

The displacements corresponding to Q1, Q2 and Q3 are shown as flexibility coefficients F11,
F21 and F31. If both axial and flexural deformations are considered, the displacements at
end B of member AB are

L
F11 AB
F21 AB
0 F31 AB
0
AE

The displacements at end B of member BC are

H3 H2
F11 CB
F21 CB
0 F31 CB

3EI 2 EI

The flexibility coefficients become

L H3 H2
F11  F21 0 F31 
AE 3EI 2 EI
 Lecture 8: Flexibility Method

The same analysis must be made with

Q2 1

For frame sections AB and CB

L3 L2
AB : F12 AB
0 F22 AB
F32 AB
3EI 2 EI

H
CB : F12 CB
0 F22 CB
F32 CB
0
AE
Which leads to flexibility coefficients
L3 H L2
F21 0 F22  F32
3EI AE 2 EI

Lecture 8: Flexibility Method

Once again from frame sections AB and CB (Q3 = 1)

L2 L
AB : F13 AB
0 F23 AB
F33 AB
2 EI EI
H2 H
CB : F13 CB
 F23 CB
0 F33 CB
2 EI EI

leading to flexibility coefficients

H2 L2 L

H
F13  F23 F33
2 EI 2 EI EI EI
 Lecture 8: Flexibility Method

Assembly of the flexibility matrix leads to

ª L H3 º
«  H2 »
0 
« EA 3EI 2 EI »
« »
« L3 L2 »
>F @ « 0 
H
»
« 3EI EA 2 EI »
« »
« H2 L2 L H»
«   »
¬« 2 EI 2 EI EI EI ¼»

Now let

P 10 K E 30,000 ksi
L H 12 ft 144 inches I 200 in 4
A 10 in 2

Lecture 8: Flexibility Method

With these numerical values

­ 0 ½
^D `
QL
° °
®  0.5184 ¾
° 0.00432 °
¯ ¿
and

L H 144
0.00048 in / kip
EA EA 30,000 10
3
H3 144
0.165888 in / kip
3EI 3 30,000 200

The axial compliance (flexibility) of each component is quite small relative to the
flexural compliance (flexibility). We will ignore the axial compliance of the beam
and the column when assembling the flexibility matrix. The inverse of compliance is
stiffness. This is equivalent to stating that the axial stiffness of the beam and column
is so large relative to flexural stiffness of the beam and column that axial
displacements are negligible.
 Lecture 8: Flexibility Method

Omitting axial deformations leads to the following flexibility matrix

ª 0.1659 0 .0  0.001728 º
>F @ « 0 .0 0.1659 0.001728 »»
«
«¬ 0.001728 0.001728 0.000048 »¼

When the flexibility matrix is inverted we obtain

ª 0.0015 - 0.0009 0.0868 º

F 1 «- 0.0009 0.0015 - 0.0868 »»
«
«¬ 0.0868 - 0.0868 8.3333 »¼

Lecture 8: Flexibility Method

With F-1 and DQL we can compute the unknown redundants utilizing the matrix
equation

^Q` >F @1 ^ ^DQ `  ^D ` `

QL

i.e.,

ª 0.0015 - 0.0009 0.0868 º ­­0.0½ ­ 0 .0 ½ ½

«- 0.0009 » °° ° ° °°
^Q` « 0.0015 - 0.0868 » ®®0.0¾  ® 0.5189 ¾¾
«¬ 0.0868 - 0.0868 8.3333 »¼ °¯°¯0.0°¿ °0.00432 °°
¯ ¿¿
­  0.938 kips ½
° °
® 4.06 kips ¾
° 90.0 kip  inches °
¯ ¿

Note that the displacements associated with the redundants in the original structural,
represented by the matrix {DQ} are zero. Because joint B is a rigid connection one can
rationalize the rotation DQ3 is zero from this assumption. The other two displacements
are zero because the axial stiffness of the beam and column is so large.
 Lecture 8: Flexibility Method

The plane truss shown

Example to the left is statically
indeterminate to the
second degree. The
horizontal reaction at
support B (positive to
the right) and axial
force in bar AD
(positive in tension) are
selected as redundants.
Find these redundants.

The cut bar remains

part of the released
structure since its
deformations must be
included in the
calculations of
displacements in the
released structure.

Lecture 8: Flexibility Method

It should be noted that Q2 consists of a pair of forces acting on the released structure.
A displacement corresponding to Q2 consists of the relative translation of the ends of
the bar AD. When the ends of bar AD displace toward one another the displacements
are in the direction of Q2 and thus are positive. When the ends move away the
displacements are negative.
The first step in the analysis is determining the displacements that correspond to Q1
and Q2 in the released structure due to external loads. These displacements are
denoted DQL1 and DQL2 and are depicted in the previous slide.
Assuming that all the members have the same axial stiffness EA, then from application
of Castigliano’s theorem

PL
DQL1 
PL
1 2 2 DQL 2 2
EA EA
PL
 3.828
EA

Please verify these quantities for homework. Note the minus signs.
 Lecture 8: Flexibility Method

The next step will be the determination of the displacements associated with Q1 and Q2
in the released structure due to unit loads at Q1 and Q2, i.e., determine the flexibility
coefficients. The flexibility coefficient F11 is the displacement corresponding to Q1 and
caused by a unit value of Q1. Thus
L
F11 1 2 2
EA
L
3.828
EA

The flexibility coefficient F21 is the displacement corresponding to Q2 and caused by a

unit value of Q1. Thus

L
F21 4 2
2 EA
L
2.707
EA

Lecture 8: Flexibility Method

The flexibility coefficient F22 is the displacement corresponding to Q2 and caused by a

unit value of Q2. Thus

2L
F22 1 2
EA
L
4.828
EA

The flexibility coefficient F12 is the displacement corresponding to Q1 and caused by a

unit value of Q2. Thus

L
F12 4 2
2 EA
L
2.707
EA
 Lecture 8: Flexibility Method

The flexibility matrix is

ª3.828 2.707 º
>F @ L
«2.707 4.828»
EA ¬ ¼
The inverse of this matrix is
ª0.4328  0.2426 º
>F @ 1 EA
« 0.2426 0.3431 »
L ¬ ¼
There are no support displacements in the truss. Thus the displacement in the structure
corresponding to Q1 is
DQ1 0
In addition, the displacement in the structure corresponding to Q2 consists of a relative
displacement of the cut ends of bar AD. In the original, or primary structure, the cut
ends of bar AD occupy the same location in space before loads are applied. After loads
are applied the cut ends move to a different location in space, but relative to each other,
no translation takes place between the cut ends, i.e, the bar does not separate. Thus
DQ 2 0

Lecture 8: Flexibility Method

Substituting the inverse of the flexibility matrix into

^Q` >F @1 ^ ^DQ `  ^D ` `

QL

leads to

ª0.4328  0.2426 º ­­0½ PL ­ 3.828½½

^Q` EA
« 0.2426 0.3431 » ®®0¾  AE ®  2 ¾¾
L ¬ ¼ ¯¯ ¿ ¯ ¿¿
EA ª0.4328  0.2426 º PL ­3.828½
® ¾
L «¬ 0.2426 0.3431 »¼ AE ¯ 2 ¿
­ 1.172 ½
P® ¾
¯ 0.2432 ¿

The minus sign for Q2 indicates that member AD is in compression

 Lecture 9: Flexibility Method

Effects Of Temperature, Pre-strain & Support Displacement

IIn the
th previous
i sections
ti we have
h only
l considered
id d loads
l d acting
ti on the
th structure.
t t We
W
would also like to consider the effects of

p
• Temperature changes
g {D{ QT}
• Prestrain of members {DQP}
These effects are taken in to account by including them in the calculation of
displacements (next page) in the released structure in a manner similar to {DQL} The
effects will produce displacements in the released structure, and the displacements are
associated with the redundant actions {Q}in the released structure.

The temperature displacements {DQT } in the released structure may be due to either
uniform changes in temperature or to differential changes in temperature. A
differential change in temperature assumes that the top and the bottom of the member
changes
h temperature andd thus
h will
ill undergo
d a curvature along
l the
h axis
i off the
h structurall
component. A uniform change in temperature will increase or decrease the length of
the structural component.

Lecture 9: Flexibility Method

When the matrices {DQT } and {DQP}are found they can be added to the matrix {DQL }
of displacements due to loads in order to obtain the sum of all displacements in the
released structure. By superposition

^D `
Q ^D `
QL  ^D `
QT  ^D `
QP  >F @ ^Q`
As before the superposition equation is solved for the matrix of redundants {Q}.

Consider the possibility of known displacements occurring at the restraints (or

supports) of the structure. There are two possibilities to consider, depending on
whether
h h theh restraint
i displacements
di l corresponds
d to one off the
h redundant
d d actionsi {Q}.
{Q}

If the displacement does correspond to a redundant, its effect can be taken into account
byy includingg the displacement
p in the vector {D
{ Q }}.

In a more general situation there will be restraint displacements that do not correspond
to any of the selected redundants. In that event, the effects of restraint displacements
must be incorporated in the analysis of the released structure in a manner similar to
temperature displacements and prestrains. When restraint displacements occur in the
released structure a new matrix {DQR } is introduced.
 Lecture 9: Flexibility Method

Thus the sum of all matrices representing displacements in the released structure will be
denoted by {DQS} and is expressed as follows

^D `
QS ^D ` QL  ^D ` QT  ^D `
QP  ^D `
QR

The generalized form of the superposition equation becomes

^D ` Q ^D `
QS  >F @ ^Q`
When this expression is inverted to obtain the redundants we find that

^Q` >F @1 ^ ^DQ `  ^D ` `

QS

Lecture 9: Flexibility Method

Joint Displacements,
p Member End Actions And Reactions

In the previous sections we have focused on finding redundants using the flexibility
method. After redundants were found other actions in the released structure could be
found using equations of equilibrium.
equilibrium When all actions in a structure have been
determined it is possible to compute displacements by isolating the individual components
of a structure and computing displacements from strength of materials expression.
Usually in a structural analysis the displacements of the joints are of primary interest.

Instead of following the procedure just outlined we will now introduce a systematic
procedure for calculating joint displacements, member end actions and reactions directly
into the flexibility method computations.
computations
 Lecture 9: Flexibility Method

Consider the two span beam to the left

where we will compute the redundants
Q1 and Q2 as well as the joint
displacements DJ1 and DJ2, as well as
reactions AR1 and AR2.

Joint displacement denoted by {DJ }

can be either a translation of rotation

Member end-actions {AM} are the

couples and forces that act at the ends
of a member when that component is
isolated from the remainder if the
structure The sign convention for
structure.
member end actions will be:

+ when up for translations and forces

+ when
h counterclockwise
l k i for f rotation
i
and couples
Reactions other than redundants will be denoted {AR}.

Lecture 9: Flexibility Method

The principle of superposition will be used to obtain the joint displacements [DJ] in the actual
structure. In order to do this we need to evaluate the displacements in the released structure.
In the released structure the displacements associated with the actual joint displacements are
designated {DJL}. The rotations at joints B ( = DJ1) and C ( = DJ2) are required. Consider the
expressions
DJ 1 DJL1  DJQ11Q1  DJQ12Q2
Here

DJ1 = is the displacement

p desired, in this case the rotation at jjoint B
DJL1 = is the displacement at joint B caused by the external loads in the released
structure.
DJQ11 = is the displacement at joint B caused by a unit load at joint B
corresponding to the redundant Q1
DJQ12 = is the displacement at joint B caused by a unit action at joint C
corresponding to the redundant Q2

A similar
i il expression
i can be
b derived
d i d for
f the t ti att C ( = DJ2),
th rotation ) ii.e.,

DJ 2 DJL 2  DJQ 21Q1  DJQ 22Q2

 Lecture 9: Flexibility Method

The expressions on the previous slide can be expressed in a matrix format as follows

^DJ ` ^DJL `  >D @^Q`

JQ

where

­ DJ 1 ½ ­ DJL1 ½ ­ Q1 ½
^DJ ` ® ¾ ^DJL ` ® ¾ ^Q` ® ¾
¯ DJ 2 ¿ ¯ DJL 2 ¿ ¯Q2 ¿

ª º
>D @
JQ «
DJQ11
DJQ 21
DJQ12
DJQ 22 »
¬ ¼

Lecture 9: Flexibility Method

In a similar manner we can find member end actions via superposition

AM 1 AML 1  AMQ 11Q1  AMQ 12 Q 2
AM 2 AML 2  AMQ 21Q1  AMQ 22 Q 2

AM 3 AML 3  AMQ 31Q1  AMQ 32 Q 2

AM 4 AML 4  AMQ 41Q1  AMQ 42 Q 2

For the first expression

AM1 = is the shear force at B on member AB

AML1 = is the shear force at B on member AB caused by the external loads on
the released structure
AMQ11 = is the shear force at B on member AB caused by a unit load
corresponding to the redundant Q1
AMQ12 = is the shear force at B on member AB caused by a unit load
corresponding
di tot the d d t Q2
th redundant

The other expressions follow in a similar manner.

 Lecture 9: Flexibility Method

The expressions on the previous slide can be expressed in a matrix format as follows

^AM ` ^AML `  ^A `^Q `

MQ

where

­ AM 1 ½ ­ AML 1 ½
°A ° °A °
° M2° ° ML 2 ° ­ Q1 ½
^AM ` ® ¾ ^AML ` ® ¾ ^Q` ® ¾
A A ¯Q2 ¿
° M 3 ° ° ML 3 °
°¯ AM 4 °¿ °¯ AML 4 °¿

­ AMQ 11 AMQ 12 ½
° °
° AM Q 21 AMQ 22 °
^A `
MQ ® ¾
° AMQ 31 AMQ 32 °
°A AMQ 42 °¿
¯ MQ 41

Lecture 9: Flexibility Method

In a similar manner we can find reactions via superposition

AR 1 ARL 1  ARQ 11Q1  ARQ 12 Q 2

AR 2 ARL 2  ARQ 21Q1  ARQ 22 Q 2

For the first expression

AR1 = iis the

th reaction
ti ini the
th actual
t l beam
b att A
ARL1 = is the reaction in the released structure due to the external loads
ARQ11 = is the reaction at A in the released structure due to the unit action
corresponding
p g to the redundant Q1
ARQ12 = is the reaction at A in the released structure due to the unit action
corresponding to the redundant Q2
The other expression
p follows in a similar manner.
 Lecture 9: Flexibility Method

The expressions on the previous slide can be expressed in a matrix format as

^AR ` ^ARL `  >A @^Q `

RQ

where

­ AR1 ½ ­ ARL1 ½ ­ Q1 ½
^AR ` ® ¾ ^ARL ` ® ¾ ^Q` ® ¾
¯ AR 2 ¿ ¯ ARL 2 ¿ ¯Q2 ¿

ª º
>A @
RQ «
ARQ11
ARQ 21
ARQ12
ARQ 22 »
¬ ¼

Lecture 9: Flexibility Method

When the effects of joint displacements, member end actions and reactions are accounted for
the equation of superposition becomes
^DJ ` ^DJS `  >D @^Q`
JQ

here

^DJS ` ^DJL `  ^DJT `  ^DJP `  ^DJR `

where

{DJT } = joint displacement due to temperature

{DJP } = joint displacement due to prestrain

{DJR } = joint displacement corresponding to redundants

Hence there is no need to generalize the expression for {AM } and {AR } to account for
temperature effects, prestrain and displacement effects. None of these effects will produce
any actions or reactions in a statically determinate released structure.
structure Instead the released
structure will merely change its configurations to accommodate these effects. The effects of
these influences are merely propagated into matrices {AM } and {AR } through the value of the
redundants {Q}.
 Lecture 9: Flexibility Method

Example

Consider
C id the
th two
t span beam
b to
t the
th left
l ft
where it is assumed that the objective is
to calculate the various joint
displacements
p DJ , member end actions
AM , and end reactions AR. The beam has
a constant flexural rigidity EI and is acted
upon by the following loads

P1 2P
M PL
P2 P
P3 P

Lecture 9: Flexibility Method

Consider the released

structure
t t andd the
th attending
tt di
moment area diagrams.
The (M/EI) diagram was
drawn by parts
parts. Each
action and its attending
diagram is presented one at
a time in the figure starting
with actions on the far
right.
 Lecture 9: Flexibility Method

From first moment area theorem

1 PL 1 PL PL 1 PL L
D JL 1 2 1 L  1 .5  0 .5 L  L 
2 EI 2 EI EI 2 EI 2
5 PL 2
4 EI

1 § 2 PL · 1 § 3 PL · 3 L § PL · 1 PL L
D JL 2 ¨ ¸ 2 L  ¨ ¸  ¨ ¸L 
2 © EI ¹ 2 © 2 EI ¹ 2 © EI ¹ 2 EI 2
13 PL 2
8 EI

PL 2 ª10 º
>D JL @ «13 »
8 EI ¬ ¼

Lecture 9: Flexibility Method

Using the following free body diagram of the released structure

Th ffrom the
Then h equations
i off equilibrium
ilib i

¦ M A 0
L 3L
A RL 2  2P  PL  P  P2L
2 2
PL
A RL 2 
2

¦F Y 0
ARL 1  2P  P  P
ARL 1 2P
 Lecture 9: Flexibility Method

Using a free body diagram from segment AB of the entire beam, i.e.,

then once again from the equations of equilibrium

¦ FY 0
A ML 1  2P  2P
A ML 1 0

¦ M B 0
L PL
A ML 2  2P   2 PL
2 2
3 PL
A ML 2
2

Lecture 9: Flexibility Method

Using a free body diagram from segment BC of the entire beam, i.e.,

then once again from the equations of equilibrium

¦F Y 0
AML 3  P  P
AML 3 0

¦ M B 0
PL
A ML 4   PL
2
PL
A ML 4 
2
 Lecture 9: Flexibility Method

Thus the vectors AML and ARL are as follows:

ª 0 º
« »
« »
« 3 PL » ª 2P º
« 2 » « »
A ML « » ARL « »
« » «  PL »
« 0 »
« » ¬« 2 ¼»
« PL »
« »
¬ 2 ¼

Lecture 9: Flexibility Method

Consider the released beam with a unit load at point B

1 L 1 L
D JQ 11 L D JQ 21 L
2 EI 2 EI
L2 L2
2 EI 2 EI
 Lecture 9: Flexibility Method

Consider the released beam with a unit load at point C

1 L 1 2L
D JQ 12 2 1 L D JQ 22 2L
2 EI 2 EI
3 L2 2 L2
2 EI EI

Lecture 9: Flexibility Method

Thus
ª1 3º
^D `
JQ
L2
«1 4 »¼
2 EI ¬

IIn a similar
i il fashion,
f hi applying
l i a unit it load
l d associated ith Q1 and
i t d with d Q2 in
i the
th previous
i
cantilever beam, we obtain the following matrices

­1 1 ½
°0 L °°
^A `
MQ
°
®
1°
¾
°0
¯° 0  L °¿

ª 1 1 º
>A @
RQ « L  2 L »¼
¬
 Lecture 9: Flexibility Method

Previously (Lecture 5)
­ 60 ½
^Q ` P
® ¾
56 ¯  64 ¿
with

^DJ ` ^DJL `  >D @^Q`

JQ

then

PL 2 ­ 17 ½
^D J ` ® ¾
112 EI ¯ 5¿

Lecture 9: Flexibility Method

Similarly, with

^AM ` ^AML `  >A @^Q `

MQ

and knowing [AML], [AMQ] and [Q] leads to

­ 5 ½
° °
P ° 20 L °
^A M ` ® ¾
56 ° 64 °
°̄°¯ 36 L °¿
 Lecture 9: Flexibility Method

Finally with

^AR ` ^ARL `  >A @^Q `

RQ

then knowing [ARL], [ARQ] and [Q] leads to

­ 107 ½
^A R ` P
® ¾
56 ¯ 31 L ¿

Lecture 9: Flexibility Method

Summary Of Flexibility Method

The analysis of a structure by the flexibility method may be described by the following steps:

1. Problem statement
2. Selection of released structure
3
3. Analysis of released structure under loads
4. Analysis of released structure for other causes
5. Analysis of released structure for unit values of redundant
6. Determination of redundants through the superposition equations, i.e.,

^D ` Q ^D `
QS  >F @ ^Q`

^D `
QS ^D `QL  ^D `
QT  ^D `
QP  ^D `
QR

>Q @ >F @1 ^ ^DQ `  ^D ` `

QS
 Lecture 9: Flexibility Method

7. Determine the other displacements and actions. The following are the four flexibility
matrix equations for calculating redundants member end actions, reactions and joint
displacements
^DJ ` ^DJS `  >D @^Q`
JQ

^AM ` ^AML `  >A @^Q`

MQ

^AR ` ^ARL `  >A @^Q`

RQ

where for the released structure

^DJS ` ^DJL `  ^DJT `  ^DJP `  ^DJR `

All matrices used in the flexibility method are summarized in the following tables

Lecture 9: Flexibility Method

MATRIX ORDER DEFINITION

Q qx1 U k
Unknown redundant
d d t actions
ti ((q = N
Number
b off redundant)
d d t)

Displacements in the actual structure Corresponding to the

DQ qx1 redundant

Displacements in the released structure corresponding to the

DQL qx1 redundants and due to loads

Displacements in the released structure corresponding to the

F or DQQ qxq redundants and due unit values of the redundants (Flexibility
coefficients)

DQT , DQP , DQR Displacements

i l iin the
h released
l d structure corresponding
di to the
h
qx1 redundants and due to temperature, prestrain, and restraint
displacements (other than those in DQ)

DQS qx1 DQS DQL  DQT  DQP  DQR

 Lecture 9: Flexibility Method

MATRIX ORDER DEFINITION

DJ jx1 JJoint
i t di
displacement
l t iin th
the actual
t l structure
t t (j = number
b off
joint displacement)
D JL jx1 Joint displacements in the released structure due to loads

DQL jx1 Joint displacements in the released structure due to unit

values of the redundants

Joint displacements in the released structure due to

D JT , D JP , D JR jx1 temperature, prestrain, and restraint displacements (other
than those in DQ)

D JS jx1 D JS D JL  D JT  D JP  D JR

Lecture 9: Flexibility Method

MATRIX ORDER DEFINITION

mx1 Member end actions in the actual structure
AM (m = Number of endͲactions)
mx1 Member end actions in the released structure due to loads
AML
mxq Member end actions in the released structure due to unit
AMQ values of the redundants

AR rx1 Reactions in the actual structure (r = number of reactions)

ARL rx1 Reactions in the released structure due to loads

Reactions in the released structure due to unit values of the

ARQ rxq redundants
 Lecture 10: THE STIFFNESS METHOD

Introduction
Although the mathematical formulation of the flexibility and stiffness methods are
similar, the physical concepts involved are different.

We found that in the flexibility method, the unknowns were the redundant actionss. In
the stiffness method the unknown quantities will be the joint displacements. Hence, the
number of unknowns is equal to the degree of kinematic indeterminacy for the stiffness
method.
Flexibility Method: Stiffness Method:
• Unknown redundant actions (Q) • Unknown joint displacements (D) are
are identified and structure is released identified and structure is restrained
• Released structure is statically • Restrained structure is kinematically
determinate determinate, i.e., all displacements are zero
• Flexibility matrix is formulated and • Stiffness matrix is formulated and unknown
redundant actions (Q) are solved for joint displacements (D) are solved for
• Other
Oth unknown
k quantities
titi in
i the
th • Other
Oth unknown
k quantities
titi in
i the
th structure
t t
structure are functionally dependent are functionally dependent on the
on the redundant actions displacements.

Lecture 10: THE STIFFNESS METHOD

Actual Beam
Neglecting axial deformations,
deformations the beam
to the left is kinematically indeterminate
to the first degree. The only unknown is
a joint translation at B, that is the
Restrained Beam #1 rotation. We alter the beam such that it
becomes kinematically determinate by
making the rotation șB zero. This is
accomplished by making the end B a
Restrained Beam #2 fixed end. This new beam is then called
the restrained structure.

S
Superposition
iti off restrained
t i d beams
b #1
and #2 yields the actual beam.
Restrained Beam with unit rotation
We will discuss the restrained beam with
a unit rotation momentarily.
 Lecture 10: THE STIFFNESS METHOD

Due to the uniform load w, the moment 1MB

wL2
1 MB 
12
is developed in restrained beam #1. The moment 1MB is an action in the restrained
structure corresponding to the displacement șB in the actual beam.
beam The actual beam
does not have zero rotation at B. Thus for restrained beam #2 an additional couple at B
is developed due to the rotation șB. The additional moment is equal in magnitude but
opposite in direction to that on the loaded restrained beam.
4 EI
2 MB TB
L
Imposing equilibrium at the joint B in the restrained structure

wL2 4 EI
¦M 
12

L
TB 0
yields
i ld
wL3
TB
48 EI

Lecture 10: THE STIFFNESS METHOD

In a manner analogous to that developed for the flexibility method, we seek a way
to consider the previous simple structure under the effect of a unit load. We also
wish to utilize the superposition principle
principle. Both will help develop a systematic
approach to structures that have a higher degree of kinematic indeterminacy.

The effect of a unit rotation on the previous beam is depicted in the fourth part of
the figure on the second slide. Here the moment applied mB will produce a unit
rotation at B. Since mB is an action corresponding to the rotation at TB and is caused
by a unit rotation, then mB is a stiffness coefficient for the restrained structure. The
value of mB is
4 EI
mB
L
 Lecture 10: THE STIFFNESS METHOD

Again, equilibrium at the joint is imposed. The couple in the restrained beam from
the load on the beam will be added to the moment mB (corresponding to a unit value
of TB) multiplied by TB. The sum of these two terms must give the moment in the
actual beam, which is zero, i.e.,

MB  mBT B 0
or
wL2 § 4 EI ·
  ¨ ¸ TB 0
12 © L ¹

Solving for TB yields once again

wL3
TB
48 EI

The positive sign indicates the rotation is counterclockwise.

Lecture 10: THE STIFFNESS METHOD

This seems a little simple minded, but the systematic approach of applying the principle
of superposition will allow us to analyze more complex structures.
Having
H b i d TB then
i obtained h other
h quantities,
i i suchh as memberb end-actions
d i andd reactions
i
can be computed. For example, the reaction force R acting at A can be computed by
summing the force RA in the restrained structure due to loads and the force rA multiplied
y TB, i.e.,,
by
R RA  rAT B

The forces RA and rA are

wL 6 EI
RA rA
2 L2

thus

wL 6 EI § wL3 ·
R  ¨¨ ¸¸
2 L2 © 48 EI ¹
5wL
8
 Lecture 10: THE STIFFNESS METHOD

Useful Beam Tables

The next severall beam

Th b cases will
ill prove useful
f l in
i establishing
bli hi components off the
h
stiffness matrix. Consult your Steel Design manual for many others not found here.

Lecture 10: THE STIFFNESS METHOD

 Lecture 10: THE STIFFNESS METHOD

Lecture 10: THE STIFFNESS METHOD

Note that every example cited have fixed-fixed end conditions. All are kinematically
determinate.
 Lecture 10: THE STIFFNESS METHOD

Multiple Degrees of Kinematic Indeterminacy

If a structure is kinematically
indeterminate to more than one degree a
more generalized matrix notation will be
utilized.
Consider the beam to the left with a
constant flexural rigidity, EI. Since
rotations can occur at joints B and C, the
structure is kinematically indeterminate
t the
to th secondd degree
d when
h axial i l
displacements are neglected.
Designate the unknown rotations as D1
( d the
(and th associated
i t d bending
b di momentt as
AD1) and D2 (with a bending moment
AD2). Assume counterclockwise
rotations as p
positive. The unknown
displacements are determined by
applying the principle of superposition to
the bending moments at joints B and C.

Lecture 10: THE STIFFNESS METHOD

All loads except those corresponding to the unknown joint displacements are assumed to
act on the
h restrained
i d structure. Thus
Th onlyl actions
i P1, P2 and
d P3 are shown
h acting
i on the
h
restrained structure.

The moments ADL1 and ADL2 are the actions of the restraints associated with D1 (AD1) and D2
(AD2) respectively. The notation in parenthesis will help with the matrix notation
y
momentarily.
 Lecture 10: THE STIFFNESS METHOD

In order to generate the stiffness coefficients at joints B and C, unit values of the unknown
displacements D1 and D2 are induced in separately restrained structures.

In the restrained beam to the left a

unit rotation is applied to joint B.
Thus the actions induced in the
restrained structure corresponding to
D1 and D2 are the stiffness
coefficients S11 and S21, respectively

In the restrained beam to the left a

unit rotation is applied to joint B.
Thus the actions induced in this
restrained structure corresponding to
D1 and D2 are the stiffness
coefficients S12 and S22, respectively

Lecture 10: THE STIFFNESS METHOD

Two superposition equations describing the moment conditions on the original structure
may now be expressed at joints B and C. The superposition equations are

AD1 ADL1  S11 D1  S12 D2

AD 2 ADL 2  S 21 D1  S 22 D2

The two superposition equations express the fact that the actions in the original structure
are equal to the corresponding actions in the restrained structure due to the loads plus the
corresponding actions in the restrained structure under the unit displacements multiplied by
the displacements themselves. These equations can be expressed in matrix format as

^AD ` ^ADL `  >S @ ^D`

 Lecture 10: THE STIFFNESS METHOD

here
­ AD1 ½
^AD ` ® ¾
¯ AD 2 ¿

­ ADL1 ½
^ADL ` ® ¾
¯ ADL 2 ¿

ª S11 S12 º
>S @ «S »
¬ 21 S 22 ¼

­ D1 ½
^D` ® ¾
¯ D2 ¿
and

^D` > S @1 ^ ^AD `  ^ADL ` `

Lecture 10: THE STIFFNESS METHOD

with
­ PL ½
^AD ` ® ¾
¯0¿

­ PL ½
° 8 °
^ADL ` ® PL ¾
° °
¯ 8 ¿

The next step is the formulation of the stiffness matrix. Consider a unit rotation at B
 Lecture 10: THE STIFFNESS METHOD

thus
4 EI 4 EI
S11c S11cc
L L
8 EI
S11 S11c  S11cc
L

2 EI
S 21
L
With a unit rotation at C

4 EI 2 EI
S 22 S12
L L

and the stiffness matrix is

EI ª8 2º
L «¬2 4»¼
S

Lecture 10: THE STIFFNESS METHOD

The inverse of the stiffness matrix is

ª2  1º
> S @1 L
« 1 4»
14 EI ¬ ¼

which leads to the following expression

­ ­ PL ½½
L ª 2  1º °° ­ Pl ½ ° 8 °°°
^D` ®® ¾  ® PL ¾¾
14 EI «¬ 1 4»¼ ° ¯ 0 ¿ ° °°
°̄°¯ ¯ 8 ¿°¿
PL2 ­ 17 ½
® ¾
112 EI ¯ 5¿
 Lecture 11: THE STIFFNESS METHOD

Member End-Actions And Reactions

We would now like to develop the equations for determining [AM] and [AR]. The procedure
closely follows the procedure developed for the flexibility method. For the stiffness
method, we determine the member end-actions due to the external loads, denoted by [AML]
and add to them the contributions of the member end-actions caused by unit displacements
multiplied by the actual displacements. Thus

^AM ` ^AML `  >AMD @ ^D`

Here:

{AM} is the vector of member end actions on the actual structure

{AML} is the vector of member end actions due to the external loads on the restrained
structure.

[AMD] is the matrix of member end-actions due to unit values of the displacements on
the restrained structure

Lecture 11: THE STIFFNESS METHOD

A similar equation can be written for the reactions, i.e.,

^AR ` ^ARL `  >ARD @ ^D`

Here:

{AR} is the vector reactions in the actual structure

{ARL} is the vector of reactions due to the external loads on the restrained structure
[ARD] is the matrix of reactions due to unit values of the displacements on the
restrained structure
 Lecture 11: THE STIFFNESS METHOD

Example

Consider again the two span beam previously discussed and determine

• The shearing force AM1 at end B of member AB.

• The bending moment AM2 at end B of member AB.
• The shearing force AM3 at end B of member BC.
• The bending moment AM4 at end B of member BC.
• The force AR1 at support A.
• The couple AR2 at support A.
• Force AR3 at support B.
• Force AR4 at support C.
P1 2P
M PL
P2 P
P3 P

Lecture 11: THE STIFFNESS METHOD

Once again, member end actions in the restrained structure will be denoted by a vector
[AML]. Keep in mind the beams below are really one restrained beam with the
cantilever support in the middle of the beam. The member end-actions are treated as if
they were support reactions for each beam segment.

2P P
AML1 P AML 3
2 2

2 Pa 2b PL PL
AML 2  AML 4
L2 4 8
 Lecture 11: THE STIFFNESS METHOD

We can use the same approach when we analyze the restrained structure after unit
displacements are applied. The corresponding member end actions, denoted by the
matrix [AMD] are given below when a unit rotation is applied at B.

6 EI 6 EI
AMD11  AMD 31
L2 L2

4 EI 4 EI
AMD 21 AMD 41
L L

Lecture 11: THE STIFFNESS METHOD

The corresponding member end actions associated with a unit rotation is applied at C
are

6 EI
AMD12 0 AMD 32
L2
2 EI
AMD 22 0 AMD 42
L
thus
ª6 0º
EI « 4 L 0»
>AMD @ « »
L2 « 6 6»
«¬ 4 L 2 L »¼
 Lecture 11: THE STIFFNESS METHOD

The superposition principle leads to the following matrix equation

^AM ` ^AML `  >AMD @ ^D`

from a previous solution

PL2 ­ 17 ½
^D` ® ¾
112 EI ¯  5¿

which leads to

­ 8 ½ ­ 6 0 ½ ­ 5 ½
° ° ° ° ° °
P ° 2 L ° EI ° 4 L 0 ° PL2 ­ 17 ½ P °20 L °
^AM ` ® ¾  ® ¾ ® ¾ ® ¾
8 ° 4 ° L2 ° 6 6 ° 112 EI ¯ 5¿ 56 ° 64 °
°¯ L °¿ °¯ 4 L 2 L °¿ °¯36 L °¿

Lecture 11: THE STIFFNESS METHOD

Turning our attention to beam reactions in the restrained structure, denoted by a vector
[ARL] once again the beams below are really one restrained beam with the cantilever
supports replaced with forces and moments. The two beams are treated as cantilever-
cantilever beams.

P P
ARL1 P c 3
ARL P ARL 4 P 
2 2

PL P
ARL 2 cc 3
ARL
4 2

3
ARL 3 c 3
ARL  cc 3
ARL P
2
 Lecture 11: THE STIFFNESS METHOD

We also analyze the restrained structure after unit displacements are applied. The
corresponding reactions, denoted by the matrix [ARD] are given below when a unit
rotation is applied at B.

6 EI 6 EI 6 EI
ARD11 c 31
ARD  ARD 41 
L2 L2 L2

2 EI 6 EI
ARD 21 cc 31
ARD
L L2

ARD31 0

Lecture 11: THE STIFFNESS METHOD

The corresponding reactions associated with a unit rotation is applied at C are

ARD12 ARD 22 c 32
ARD 0

6 EI 6 EI
cc 32
ARD ARD 32 ARD 42 
L2 L2

thus
­6 0½
°2L 0 °
EI ° °
^ARD ` 2 ® ¾
L °0 6°
°¯ 6  6°¿
 Lecture 11: THE STIFFNESS METHOD

The superposition principle leads to the following matrix equation

^AR ` ^ARL `  >ARD @ ^D`

from a previous solution

PL2 ­ 17 ½
^D` ® ¾
112 EI ¯  5¿

which leads to

­4½ ­6 0½ ­ 107 ½
° ° °2L 0 ° ° °
P °L° EI ° ° PL2 ­ 17 ½ P ° 31L °
^AR ` ® ¾  ® ¾ ® ¾ ® ¾
4 °6° L2 ° 0 6 ° 112 EI ¯ 5¿ 56 ° 69 °
°¯ 2°¿ °¯ 6  6°¿ °¯ 64°¿

Lecture 11: THE STIFFNESS METHOD

Example 2

For the two span beam previously discussed determine the unknown displacement at joints
B and C. In addition find the member end-actions as well as the reactions.

The unknowns are identified as

 Lecture 11: THE STIFFNESS METHOD

Using the following restrained structure

The actions in the restrained structure due to applied loads corresponding to the
previously identified displacements are

P1 L P2 L PL P2 P
ADL1    ADL 2
8 8 8 2 2

thus
P ­ L ½
^ADL ` ® ¾
8 ¯ 4 ¿

Lecture 11: THE STIFFNESS METHOD

Applying a unit rotation at B in the restrained structure, i.e.,

leads to the following stiffness coefficients

4 EI 4 EI 8 EI
S11 S11c  S11cc 
L L L

6 EI
S 21 
L2
 Lecture 11: THE STIFFNESS METHOD

Applying a unit translation at C in the restrained structure, i.e.,

leads to the following stiffness coefficients

12 EI
S 22
L2

6 EI
S12 
L2

Lecture 11: THE STIFFNESS METHOD

Thus
2 EI ª 4 L2  3L º
>S @ « »
L3 ¬ 3L 6 ¼

which leads to
L ª 6 3L º
>S @ 1
30 EI «¬3L 4 L2 »¼

With
>AD @ 0

and

^D` >S @ 1 ^^AD `  ^ADL ``

then
L ª 6 3L º P ­ L ½ PL2 ­  6 ½
^D` ® ¾ ® ¾
30 EI «¬3L 4 L2 »¼ 8 ¯ 4¿ 240 EI ¯ 13L ¿
 Lecture 11: THE STIFFNESS METHOD

Once again, member end actions in the restrained structure will be denoted by a vector
[AML]. Keep in mind the restrained beam is treated as two cantilever beams side by
side.

P1 L PL
AML1
P1
P AML 2  
2 8 4

thus

P ­ 4 ½
^AML ` ® ¾
4 ¯ L ¿

Lecture 11: THE STIFFNESS METHOD

We analyze the restrained structure after unit displacements are applied. The
corresponding member end actions, denoted by the matrix [AMD] are given below
when a unit rotation is applied at B.

6 EI 4 EI
AMD11  AMD 21
L2 L

When a unit translation is applied at C the .

AMD 22 0 AMD12 0
 Lecture 11: THE STIFFNESS METHOD

Thus

2 EI ª 3 0º
>AMD @
L2 «¬ 2 L 0»¼

Using superposition and previous results leads to

P ­ 23 ½
^AM ` ^AML `  >AMD @ ^D` ® ¾
20 ¯ 7 L ¿

Lecture 11: THE STIFFNESS METHOD

Next we turn our attention to beam reactions in the restrained structure subject to the
applied loads, denoted by a vector [ARL]. Keep in mind the restrained beam is treated
as two cantilever beams side by side.

P1
ARL1 P
2

P1 L PL
ARL 2
8 4

P1 P2 3P
ARL 3 
2 2 2

P2 L PL
ARL 4  
8 8
 Lecture 11: THE STIFFNESS METHOD

Thus ­ 8 ½
° °
P ° 2L °
^ARL ` ® ¾
8 ° 12 °
°¯ L °¿

We analyze the restrained structure after unit displacements are applied. The
corresponding member end actions, denoted by the matrix [AMD] are given below
when a unit rotation is applied at B.

6 EI
ARD11
L2
2 EI
ARD 21 2 EI
L ARD 41
L

6 EI 6 EI
ARD 31 c 31
ARD  cc 31
ARD   0
L2 L2

Lecture 11: THE STIFFNESS METHOD

When a unit translation is applied at C we obtain

6 EI
ARD 42 
L2

ARD12 ARD 22 0
12 EI 12 EI
ARD 32 c 32
ARD  cc 32
ARD 0  
L3 L3

thus

­3L 0 ½
° L2 0 °°
2 EI °
^ARD ` ® ¾
L3 ° 0 6 °
°¯ L2  3L °¿
 Lecture 11: THE STIFFNESS METHOD

Using superposition and previous results leads to

­17 ½
° °
P °4 L °
^AR ` ^ARL `  >ARD @ ^D` ® ¾
20 ° 43 °
°¯3L °¿
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Example
Consider the plane truss with four bars meeting at a common joint E. This truss
only has two degrees of freedom from a kinematic standpoint. It is a convenience
to identify the bars of the truss numerically. The bars have lengths L1, L2, L3 and
L4 and axial rigidities EA1, EA2, EA3 and EA4

The loads consist

of two
concentrated
f
forces P1 andd P2
action at joint E.
We will consider
g
the bar weights
identified here as
w1, w2, w3 and w4
(force/length).

The unknown displacements at joint E are identified as D1 and D2. We seek to

calculate member end actions AM1, AM2, AM3 and AM4.

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Because the weight of each truss member is included the axial forces at either end of
a truss member will be different at joints A, B, C and D then the axial force at joint
E. The
h axial
i l forces
f at joint
j i E could
ld be
b computedd as wellll as the
h shear
h stresses at the h
end of each truss member, however they are omitted in this example for simplicity.
The loads P1 and P2 correspond to unknown displacements D1 and D2, thus

­ P1 ½
^AD ` ® ¾
¯ P2 ¿

We next consider the restrained shown

at the right. Here joint E is fixed with
a pin
i supportt that
th t produce
d loads
l d ADL1
and ADL2 associated with D1 and D2.
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Each truss member can be considered loaded as shown below. The points of
support are indicated as A and E for the purpose of discussion and do not
correspondd to actuall joints
j i in i labeled
l b l d in
i the
h original
i i l truss. One
O couldld use the
h Greek
G k
alphabet, but the nomenclature should be transparent given the context where it
used.

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Since the weights of the truss members produce no horizontal reactions, the actions
ADL1 must be zero and ADL2 must be equal to half the weight of all the truss elements,
ie
i.e.,

­ 0 ½ ­0½
°° °° °° °°
^ADL ` ® ¾ ® ¾
° w1 L1 w2 L2 w3 L3 w4 L4 ° °W °
°¯ 2    °¯ 2 °¿
2 2 2 °¿

The quantity W is the total weight of the truss. For the purpose of calculating end
actions for the vector AML, consider that from the previous figure

­ w1 L1 sin J 1 ½
° °
 wi Li 1 °w2 L2 sin J 2 °
AMLi sin J i or ^AML `  ® ¾
2 2 ° w3 L3 sin J 3 °
°¯w4 L4 sin J 4 °¿
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

The next step is formulating the stiffness matrix by imposing unit displacement
associated with D1 and D2 on the restrained structure as indicated below

To obtain the stiffness values it is necessary to compute the forces in the truss
elements when the unit displacements are applied to joint E.

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

When the upper joint of the element

moves to the right, the lower joint stays
fixed.
fixed

When the upper joint of the element

moves up, again the lower joint stays
g the truss
fixed. Both actions elongate
elements. The geometry of the elongation
is determined by the translation of joint E.
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

When joint E is subjected to a unit translation to the right the truss element elongates
an amount
EA
cos J
L
When joint E is subjected to a unit translation vertically the truss element elongates
an amount
EA
sin J
L
The formulas given above are suitable for use in analyzing this plane truss. In a later
lecture a more systematic approach to the development of member stiffnesses is
developed that works for trusses and all types of structures.
The stiffness S11 is composed of contributions from various elements of the truss.
Consider the contribution to S11 from member 3, i.e.,

EAA3
S 311 cos 2 J 3
L3

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Thus

S11 S 111  S 211  S 311  S 411

EA1 EA2 EA3 EA4
cos 2 J 1  cos 2 J 2  cos 2 J 3  cos 2 J 4
L1 L2 L3 L4
EA1 EA2 EA3 EA4
1  cos 2 J 2  cos 2 J 3  0
L1 L2 L3 L4
EA1 EA2 EA3
 cos 2 J 2  cos 2 J 3
L1 L2 L3

The final expression results from the fact that truss element 1 is horizontal and truss
element 4 is vertical.
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Similarly the stiffness S21 is composed of contributions from various elements of the
truss. Consider the contribution to S21 from member 3, i.e.,

EA3
S 3 21 cos J 3 sin J 3
L3
Thus

S 21 S 121  S 2 21  S 3 21  S 4 21

EA1 EA2 EA3 EA4

cos J 1 sin J 1  cos J 2 sin J 2  cos J 3 sin J 3  cos J 4 sin J 4
L1 L2 L3 L4
EA1 EA2 EA3 EA4
1 0  cos J 2 sin J 2  cos J 3 sin J 3  0 1
L1 L2 L3 L4
EA2 EA3
cos J 2 sin J 2  cos J 3 sin J 3
L2 L3

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

By an analogous procedure S12 and S22 are

EA2 EA3
S12 cos J 2 sin J 2  cos J 3 sin J 3
L2 L3

EA2 EA3 EA4

S 22 sin 2 J 2  sin 2 J 3 
L2 L3 L4

The two expressions on this page as well as the two from the previous page
constitute the stiffness matrix [S]. The next step would be inverting this matrix and
performing the following matrix computation to find the displacement D1 and D2.

^D` >S @1 ^ ^AD `  ^ADL ` `

Th vector {AD} andd the

The h matrix
i {ADL} were established
bli h d earlier.
li
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Since the vector {AML} was determined earlier as well, we need only identify the elements
of the matrix {AMD}. This matrix contains the member end-actions due to unit
displacements associated with the displacements D1 and D2, but the end actions are
computed using the restrained structure. Thus for ith member using a previous figure
EAi EAi
AMDi1 cos J i AMDi 2 sin J i
Li Li
thus
­ EA1 EA1 ½
° L cos J 1 L1
sin J 1 °
° 1 °
° EA2 cos J EA2
sin J 2 °
° L2 2
°
^AMD ` ® EA
L2
EA3 ¾
° 3 cos J 3 sin J 3 °
° L3 L3 °
° EA4 EA4 °
° cos J 4 sin J 4 °
¯ 4L L4 ¿
And we can now solve

^AM ` ^AML `  ^AMD `^D`

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Example
The grid shown below consists of two members (AB and BC) that are rigidly joined at
B. Each member is assumed to have flexural rigidity EI and torsional rigidity GJ.
Kinematically, the only unknowns are the displacements at B. Since axial rigidities of
the members is assumed to be quite large relative to EI and GJ, the displacements at B
consist of one translation (D1) and two rotations (D2 and D3).
) Determine these
unknown displacements.
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

When analyzing a grid by the stiffness method, an artificial restraint is

provided at joint B, i.e.,

It is easier to see what the reactions are if we break the structure above into two
substructures such that

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

From the last figure it is easy to see that

P PL
c 1
ADL c 2
ADL 0 c 3
ADL 
2 8

cc 1
ADL 0 cc 2
ADL 0 cc 3
ADL 0

or
P PL
ADL1 ADL 2 0 ADL 3 
2 8

and
d iin a matrix
t i format
f t
­ 4 ½
P ° °
^ADL ` ® 0 ¾
8 ° °
¯ L ¿
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

The vector {AD} represents actions in the unrestrained structure associated

p
with the unknown displacement D1, D2 and D3. Since there are no loads
associated with these displacements {AD} is a null vector and in a matrix
format
­0½
° °
^AD ` ®0¾
°0°
¯ ¿

We have {ADL} and {AD} the next step is the solution of the superposition
expression

^D` >S @1 ^ ^AD `  ^ADL ` `

for the unknown displacements. To do that we need to formulate the stiffness
matrix and find its inverse.
inverse

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

The stiffness matrix is found by analyzing the restrained structure for the effects of unit
translations and rotations associated with the unknown displacements. In the following
figure the grid structure is once again split into two substructures.
substructures

From the figures above

12 EI 6 EI
S11c c
S 21 0 c
S 31 
L3 L2

12 EI 6 EI
S11cc cc
S 21 cc
S 31 0
L3 L2

24 EI 6 EI 6 EI
S11 S 21 S 31 
L3 L2 L2
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

To obtain the second column of the stiffness matrix utilize the following figure

From the figures above

GJ
S12c 0 c
S 22 c
S 32 0
L

6 EI 4 EI
S12cc cc
S 22 cc
S 32 0
L2 L

6 EI 4 EI GJ
S12 S 22  S 32 0
L2 L L

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

To obtain the third column of the stiffness matrix utilize the following figure

From the figures above

6 EI 4 EI
S13c  c
S 23 0 c
S 33
L2 L

GJ
S13cc 0 cc
S 23 0 cc
S 33
J

6 EI 4 EI GJ
S13  S 23 0 S 33 
L2 L L
 Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Define
GJ
K
EI
then
ª 24 6L  6L º
EI « »
>S @ 6L 4  K L2 0
L3 « »
¬« 6 L 0 4  K L »¼
2

and inverting this stiffness matrix leads to

ª L2 C1 2 6L  6L º
« »
>S @
1 1
« 6L 4  K L2 0 »
24 EIC1C2 «  6L 2»
¬ 0 4 K L ¼
where
C1 4  K
C2 1  K
C3 5  2K

Lecture 12: TRUSSES & GRIDS – STIFFNESS METHOD

Solving

^D` >S @1 ^ ^AD `  ^ADL ` `

leads to

­ L 4  K 5  2K ½
PL2 ° °
^D` ® 6 5  2K ¾
96 EI 1  K 4  K ° °
¯  18 ¿
 Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT
SETTLEMT - THE STIFFNESS METHOD

Effects Of Temperature, Pre-strain & Support Displacement

In the previous sections we have only considered loads acting on the structure. We
would also like to consider the effects of

• Temperature changes {ADT}

• Prestrain of members {ADP}

These effects are taken in to account by including them in the calculation of actions in
the restrained structure. If the changes are assumed to occur in the restrained
structure, there will be actions associated with each in the restrained structure
corresponding to the displacements {D}.

As in the flexibility method the temperature actions {ADT} in the restrained structure
may be due to either uniform changes in temperature or to differential changes in
temperature.

Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT

SETTLEMT - THE STIFFNESS METHOD

When the matrices [ADT ] and [ADP] are found they can be added to the matrix {ADL }
of actions due to loads in the restrained structure. By superposition

^AD ` ^ADL `  ^ADT `  ^ADP `  >S @ ^D`

As before the superposition equation is solved for the vector of displacements {D}.

Consider the possibility of known actions occurring at the restraints (or supports) of
the structure. There are two possibilities to consider depending on whether the
restraint actions corresponds to one of the displacements {D}.

If the action does correspond to a displacement, its effect can be taken into account by
including the displacement in the vector {AD }.

In a more general situation there will be actions at restraints that do not correspond to
any of the selected displacements. In that event, the effects these actions must be
incorporated in the analysis of the restrained structure in a manner similar to
temperature displacements and prestrains. When actions occur at a restraint in the
restrained structure a new matrix {ADS} is introduced.
 Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT
SETTLEMT - THE STIFFNESS METHOD

Thus the sum of all matrices representing displacements in the restrained structure will be
denoted by {ADS } and is expressed as follows

^ADS ` ^ADL `  ^ADT `  ^ADP `  ^ADR `

The generalized form of the superposition equation becomes

^AD ` ^ADS `  >S @ ^D`

When this expression is inverted to obtain the displacements we find that

>D @ >S @1 ^ >AD @  >ADS @ `

Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT

SETTLEMT - THE STIFFNESS METHOD
Summary Of Stiffness Method

The analysis of a structure by the stiffness method may be described by the following steps:

1. Problem statement
2. Selection of restrained structure
3. Analysis of restrained structure under loads
4. Analysis of restrained structure for other causes
5. Analysis of restrained structure for unit values of displacements
6. Determination of displacements through the superposition equations, i.e.,

^AD ` ^ADS `  >S @ ^D`

^ADS ` ^ADL `  ^ADT `  ^ADP `  ^ADR `

^D` >S @1 ^ ^AD `  ^ADS ` `

 Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT
SETTLEMT - THE STIFFNESS METHOD

7. Determine the other displacements and actions. The following are the two matrix
equations for calculating redundants member end actions and reactions

^AM ` ^AMS `  ^AMD `^D`

^AR ` ^ARS `  ^ARD `^D`

All matrices used in the stiffness method are summarized in the following tables

Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT

SETTLEMT - THE STIFFNESS METHOD

MATRIX ORDER DEFINITION

D dx1 Unknownjointdisplacements(d=numberofdisplacements)

dx1 Actionsintheactualstructurecorrespondingtotheunknown
AD displacements.

ADL dx1 Actionsintherestrainedstructurecorrespondingtothe

unknowndisplacementsduetoexternalloads.
dxd Memberactionsintherestrainedstructureduetounit
S displacementscorrespondingtotheunknowndisplacements
D.
ADT , ADP , ADR dx1 Actionsintherestrainedstructureduetotemperature,
prestrain,andrestraintdisplacement
ADS dx1 A DS ADL  ADT  ADP  ADR
 Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT
SETTLEMT - THE STIFFNESS METHOD

MATRIX ORDER DEFINITION

AM mx1 Memberendactionsintheactualstructure(m=numberof
memberendactions)
AML mx1 Memberendactionsintherestrainedstructuredueto
externalloadsexceptthosethatcorrespondtotheunknown
displacements
AMD mxd Memberendactionsintherestrainedstructureduetounit
valuesoftheunknowndisplacements

mx1 Memberendactionsintherestrainedstructuredueto
AMT , AMP , AMR
temperature,prestrain,andrestraintdisplacement

mx1
AMS AMS AML  AMT  AMP  AMR

Lecture 13: TEMPERATURE, PRESTRAIN & SUPPORT

SETTLEMT - THE STIFFNESS METHOD

MATRIX ORDER DEFINITION

AR rx1 Reactionsintheactualstructure(r=numberofreactions)

rx1 Reactionsintherestrainedstructureduetoallexternalloads
ARL exceptthosethatcorrespondtotheunknowndisplacements

ARD rxd Reactionsintherestrainedstructureduetounitvaluesofthe

unknowndisplacements

ART , ARP , ARR rx1 Reactionsintherestrainedstructureduetotemperature,

prestrain,andrestraintdisplacement

ARS rx1 ARS ARL  ART  ARP  ARR