Thomas Telford
Published by Thomas Telford Publishing, Thomas Telford Limited, 1 Heron Quay, London E14 4JD.
URL: http://www.t-telford.co.uk
Distributors for Thomas Telford books are
USA: ASCE Press, 1801 Alexander Bell Drive, Reston, VA 20191-4400
Japan: Maruzen Co. Ltd, Book Department, 310 Nihonbashi 2-chome, Chuo-ku, Tokyo 103
Australia: DA Books and Journals, 648 Whitehorse Road, Mitcham 3132, Victoria
First published 1999
A catalogue record for this book is available from the British Library
ISBN: 0 7277 2757 5
# F. Guarracino and A. Walker, and Thomas Telford Limited, 1999
All rights, including translation, reserved. Except for fair copying, no part of this publication may be
reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying or otherwise, without the prior written permission of the Books Publisher, Thomas
Telford Publishing, Thomas Telford Limited, 1 Heron Quay, London E14 4JD.
This book is published on the understanding that the authors are solely responsible for the statements
made and opinions expressed in it and that its publication does not necessarily imply that such statements
and/or opinions are or reect the views of the publishers.
Typeset by Academic Technical Typesetting, Bristol
Printed and bound in Great Britain by Bookcraft (Bath) Limited
Preface
The last two centuries have witnessed an impressive development in the
size and complexity of engineering structures. During the early part of
the 19th century much of the design analysis was based on empiricism
and experience. The latter half of the 1800s saw the inception of methods giving insight to the forces generated in frame structures due to
external eects, such as gravity, wind and thermal radiation. Supreme
examples of the complexity of structures that could be constructed on
the basis of these hand calculation methods are the Eiel Tower (Fig. 1)
and the Forth Bridge (Fig. 2). These structures are evidently robust
and their continued use is a tribute to the skill of the engineers to
apply the analysis methods available to them and to ensure that the
structures incorporated adequate levels of safety to compensate for
the engineers' ignorance of the detailed forces and deformations in
the elements of their structures.
The methods that were available to structural and mechanical
engineers from 1860 to 1950 were based essentially on energy principles
and on the requirements of equilibrium of forces and compatibility of
deformations. These factors, basically, still underlie all the current
methods of structural analysis. The major change in the intervening
years since the last quarter of the 19th century has been the possibility
of applying the methods to even more complex forms of structures and
the possibility of extending the linear analysis into the non-linear
regime to examine the failure modes of the structures.
The advent of structures such as aircraft and airships, and their
development during the period 19001930 emphasised the need for
the design of minimum weight structures which implied that the very
large levels of conservatism incorporated in bridge and building
design had to be reduced. The methods available to airship designers
were adequate to allow them to calculate the forces in the quite complex shapes of wires and beams that formed the frames of the ships.
An example of this is given in Fig. 3, which shows an airship called
the R27 on the right. The photograph shows the bulkhead between
iv
Preface
gas bags. The bulkhead was formed by an outer ring frame supported
from an inner hub by tensioned wires, much like the construction of a
bicycle wheel. The novelist Nevil Shute1 was an engineer working on a
later airship called the R100, a sister ship of the ill-fated R101, which
had a similar bulkhead, and he describes how he and a colleague
worked together for many weeks calculating day after day the tensions
in the wires until eventually their analysis converged to satisfy force
equilibrium and deformation compatibility requirements.
This higher degree of analysis complexity was required for airships to
maintain their low weights but, in general, for bridges and framed
1
Preface
buildings the level of analysis was much less sophisticated which meant
that the estimation of the real forces in the members of structures could
be quite inaccurate. However, reliance on experience and factors of
safety enabled a satisfactory approach to the design and construction
vi
Preface
of bridges during the rst half of the 20th century. The analysis of
complex structures such as aircraft and ships was based on formulations derived from experience, testing and the results of research and
specialist analysis performed on elements such as plates and curved
shells.
It was widely appreciated that the availability of analysis capabilities
that would supply many more accurate details on the deformations
and loads in structural elements in complex structures, and that
could be applied in a commercial environment, would provide engineers with the facility to design structures with specied levels of
safety and with greater economy of materials. More particularly, however, the growth of the aerospace industry, with supersonic military
and passenger aircraft ying at very great altitudes, and the need to
design huge oshore structures and ships with high levels of structural
eciency and the ability to withstand extreme environmental loads,
provided a signicant spur to develop more eective structural analysis
capabilities. The major innovation that has enabled success to be
achieved came not from the mechanical or structural engineers but
from electronic engineers, mathematicians and physicists. They have
made available extremely powerful computing capabilities that
enable tasks, such as those tackled by Nevil Shute, to be completed
in a few seconds instead of weeks and at very much greater structural
detail. The present generation of structural and mechanical engineers
has access to powerful computers and programs that enable designers
routinely to evaluate the strains and displacements in very complex
structures and thus to rene the form of their structure to obtain
greater economic and technical eciency. Figs 46 are a few examples
of structures that have been designed during the last 20 years using
computer-based analysis methods.
This book presents a unied development of the analysis principles
and methods that are currently embodied in computer analysis programs. The development is founded on fundamental energy principles,
particularly the law of conservation of energy, and proceeds through a
uniform yet essentially rigorous approach by gradually introducing the
reader to variational principles and thus deriving the underlying
approaches in frame and nite element analysis. It is the authors'
experience in teaching structural analysis methods, and applying
them in practice, that in text books the presentations of the basis of
energy methods and frame and nite element analysis can too often
be confusing and lead engineers to misunderstand the results they
obtain from the application of these methods. In fact, in many cases,
because engineers do not have a sucient understanding of the principles underlying nite elements, they treat computer analysis as a `black
Preface
vii
box' and take an uncritical approach to the results from the analyses.
This, we feel, is dangerous since a computer analysis will nearly always
achieve some result from the calculations, but this does not necessarily
imply that the result is appropriate to the structure being designed.
In preparing this book we have followed a logical structure that will
enable the reader to follow the development of the nite element and
frame analysis methods from fundamental energy principles through
to the type of formulations that are embedded in commercial nite
element programs. The emphasis in the development is on strain, compatibility of deformations and energy. Stress is considered as a less
important, secondary concept calculated from the strains in a structure,
so that it practically plays no part in the theoretical basis of the analysis
methods. Our intention is to provide engineers with an understanding
that allows them to interpret results from nite element analyses and
to determine what the results mean in a physical sense. The presentation
in the text encompasses methods of structural analysis that can be used
to provide simplied formulations in particular cases and enable the
investigation of parametric variation without recourse to lengthy computation. Our experience is that these methods, such as those proposed
by Rayleigh, Cotterill, Castigliano and others, are very valuable during
preliminary design where a `feel' for the structure's capability to resist
the applied loads is being investigated. The text shows that these simplifying methods are one step towards the computer-based methods used
in the design oce. By basing the development in this text rmly on
viii
Preface
Preface
ix
chapter of this book to show how geometric non-linearity can be introduced into nite element and frame analysis. Of course, this type of
non-linearity leading to failure in practical structures is only one
facet of the limit state behaviour of structures. The other facets such
as material non-linearity, local buckling and the eects of the variations in structural geometry are reserved for consideration in a
future text.
F. Guarracino
A. Walker
Acknowledgement
This book has been a long time in gestation. During that period, our
wives have shown considerable forbearance over the time we have
spent discussing the contents of the book and developing the presentation.
We are truly grateful to Angela and Barbara, without whose patience
and encouragement this book would never have seen the light of day.
Contents
1
11
11
11
49
49
50
58
60
63
1
1
1
5
9
20
33
35
43
46
67
70
73
75
78
79
xii
Contents
81
87
91
93
93
95
98
102
105
141
141
151
151
154
155
169
169
170
111
116
121
126
130
137
142
147
151
158
160
166
Contents
10
xiii
173
178
183
187
189
199
203
205
205
233
233
267
267
269
270
274
206
212
221
226
230
233
240
245
249
254
259
261
263
286
290
xiv
Contents
12
295
303
303
305
307
314
318
323
330
335
341
404
408
417
Index
421
353
353
353
357
358
365
372
384
391
399
1.
Introduction
This chapter introduces the concepts of work and energy that are the
basic building blocks of the methods of analysis that are developed
later in the textbook. We take as self-evident the concept of force and
follow Newton's1 approach that a force is an inuence that causes
changes in displacements and velocities within a dened mechanical
system. A force may also cause deformation of a body and is represented
by a vector that impinges on a body along a specied line of action.
This chapter proposes a denition for equilibrium and establishes a
test for the equilibrium of a body in a given frame of reference.
1.1
1:1
1:2
1:3
A2
Sy
A1
P
Py
x
Px
Fig. 1.1
Ps ds
1:4
a0
a1
a0
Ps
Fig. 1.2
Fig. 1.3
1:5
m2
m2
m1
v*1
v1
m1
Fig. 1.4
l0
l < l0
Fig. 1.5
was of course the primary source of power of the Industrial Revolution. This is illustrated diagrammatically in Fig. 1.6. Other examples
of energy are found in chemical and nuclear reactions.
Appropriate mathematical expressions can be derived to quantify
the energy gained or lost by a system. We say, for example, that
within a certain coordinate frame a mass m moving at a velocity v
possesses the kinetic energy described by the formula
K 12 mv2
1:6
1:7
H2O
Fig. 1.6
1.2
1:8
1:9
l
l'
Fig. 1.7
1:10
where, by denition,
dW P dl
1:11
P
lT T0
k
1:12
1:13
provided the coecient of heat capacity C is not a function of temperature or stiness; which experimentally is accurate for a limited temperature range and small deformations. The requirement in equation
(1.13) is adequate for the type of mechanics considered here.
By means of equations (1.11), (1.12) and (1.13), equation (1.10)
becomes
dE C dT kl l T T0 dl
1:14
1:15
1:16
1:17
ET; l 0 CT T0 12 k l 2 kl l T T0
1:18
and
This expression constitutes the denition of the internal energy E of
the structural member in term of its variables of state, i.e. its actual
length l 0 and its temperature T.
In the same manner, from equation (1.9), we can derive the expression of the energy possessed by a body of mass m dened as a point
moving along a straight path at a certain velocity v, as illustrated in
Fig. 1.8.
Let us assume that the body is motionless at the beginning of the
path and attribute zero energy to this initial state. Subsequent states
of the system will be dened by a single variable; the most convenient
variable is the position x along the straight path. According to the
second of Newton's laws, a force must be applied to the body in
order to move it along its direction.
Fig. 1.8
This force will produce a variation of velocity with the time t given
by the formula
dx_
1:19
dt
where the force Ft is considered as a function of time and the dot
represents the derivative with respect to the time, i.e.
Ft m
dx
1:20
dt
Equation (1.9) states, in absence of any exchange of heat energy, that
v x_
dE dW
1:21
1:22
dE mx_ dx_
1:23
1:24
This is the expression that was stated earlier, see equation (1.6), and
represents the energy possessed by the body due to its velocity v, i.e.
the rate of change of its state variable x with respect to time.
1.3
1:25
The kinetic energy of the system is thus constant and can be set equal
to zero. That is
X
1
_2
K
1:26
2 mi xi 0
i
10
related to the deformation of the system: in equation (1.18), for example, it is represented by the term 1=2k l 2 kl0 l T T0 . This
aspect of the energy is considered in greater detail in chapter 3.
For the moment, we can state that for a mechanical system in
equilibrium we have, from the principle of conservation of energy
(equation (1.10)),
dE dU dW
1:27
1:28
This relationship is at the same time a condition and a test of equilibrium. Thus, if the condition in equation (1.28) is satised for any
eld of displacements then equation (1.27) is true and we have
dK 0: this means that the kinetic energy of the system is constant
and equal to zero and the system is in equilibrium.
Alternatively, we can simply specify any possible set of displacements of the system and verify that equation (1.28) is satised: this
operation constitutes a practical test of equilibrium.
This very important approach, which is central to engineering
mechanics, is explored in detail throughout this book. In the following
chapter our study starts with the equilibrium of simple systems of rigid
bodies.
2.
Introduction
2.1
We will dene as rigid a body whose distance between any pair of its
points remains unchanged for any transformation and for all time.
12
and
dU 0
2:1
2:2
which requires the work done by the external forces for any eld of
virtual displacements to be zero. This equation is generally known as
the principle of stationary work. In the case of rigid bodies it is possible
to perform this test of equilibrium in a very simple manner as the components of any innitesimal displacement eld can be represented in
terms of linear diagrams.
Let us start from the analysis of a rigid body free from any constraints on its movements in the two-dimensional Cartesian space
(i.e. in our case a plane whose points are referred to coordinates relative to two mutually orthogonal axis; essentially this idea was introduced by Descartes1 ). Its positions will be completely dened by the
coordinates of two of its points or, alternatively, by the coordinates
of one point and an angle of rotation in the plane. We say that the
body possesses three degrees of freedom and we call these parameters
(i.e. the two coordinates of a xed point and the angle of rotation)
Lagrangian coordinates (after Lagrange2 ). The numbers of degrees of
freedom can be determined, at least for simple collections of bodies,
by counting the number of coordinates that are needed to draw the
xed shapes of the bodies in some arbitrary position.
To x our ideas consider a simple rigid bar (Fig. 2.1) subject to two
forces PA and PB at the ends A and B. As an eect of its denition,
a rigid bar is one that cannot deform by bending or stretching and can
only experience rigid body movements.
To describe the position of the bar in the xy space we choose as
Lagrangian coordinates, for example, the coordinates of the extremity
1
Descartes, Rene (La Haye, Touraine, 1596 Stockholm, 1650), French mathematician and philosopher.
2
Lagrange, Joseph-Louis (Turin, 1736 Paris, 1813), Italian mathematician of French
origins.
13
B
C
P (A)
P (B)
y
d (C)
Fig. 2.1
2:3
yC yA dC sin
2:4
2:5
y C y A dC sin
2:6
u (C)
u (A)
y
'
A
Fig. 2.2
B
C
14
If instead of an actual nite displacement we consider a virtual displacement eld, the virtual movement can be dened by
0
Therefore, equations (2.5) and (2.6) become
2:7
3
2:8
2:9
Now, since the virtual displacement eld is required to be innitesimal, for small displacements expand the terms sin and cos in
the following manner
cos0
sin0 2
2:10
1!
2!
sin0
cos0 2
2:11
cos cos0
1!
2!
and take into consideration only the rst order terms in the above series;
that is, we can assume 2 , 4 ; . . . 1 and 3 , 5 ; . . . , and
hence
sin sin0
sin
2:12
cos 1
2:13
y C y A dC sin dC cos
2:14
2:15
2:16
yC yA dy C dx C
2:17
ux C ux A dy C
2:18
uy C uy A dx C
2:19
Note: cos cos cos sin sin and sin sin cos cos sin .
15
ux
uy
Fig. 2.3
2:20
2:21
2:22
Py A Py B 0
2:23
Px Bly Py Blx 0
2:24
16
2:25
Py A Py B
2:26
ly Py B
lx Px B
2:27
which means that the forces PA and PB must have the same direction of the axis of the element and be opposite in direction for the
system to be in equilibrium, as shown in Fig. 2.4.
The application of zero virtual work shown above provides exactly
the same result as we would have arrived at using Newton's Laws. In
fact, equations (2.22) to (2.24) are equivalent to
.
.
.
Summation
P of vertical components of the forces being equal to
zero, i.e.
Py 0.
Summation P
of horizontal components of the forces being equal
to zero, i.e.
Px 0
Summation of the P
moments about some point in the plan being
equal to zero, i.e.
M 0.
However, the approach leading to equations (2.25) to (2.27) is somewhat more advantageous than the Newtonian method. A merit of the
energy approach is that in the case of complex systems it may be
relatively simpler for engineers to decide on the numbers of degrees
of freedom than to decide on how many equilibrium equations are
valid. In fact, the energy method automatically determines the correct
number and format of the equilibrium equations.
So far we have dealt with a rigid but unconstrained body. As a
further step and as an example of a constrained body let us now consider the same rigid bar hinged at one end (Fig. 2.5).
B
P(B)
ly
A
P(A)
Fig. 2.4
lx
17
B
P(B)
Fig. 2.5
2:28
lx Px B
2:29
This requires that the direction of the applied force is along the axis of
the bar.
A further and particular merit of the energy approach is that it automatically rules out the presence of constraint reactions in absence of
friction.
The situation becomes slightly more complicated dealing with a
system of rigid bodies mutually constrained. As usual, it is rst of all
necessary to identify the number of Lagrangian parameters required
to completely dene the position of the system in the Cartesian
space. We have already seen that in the Cartesian two-dimensional
space a rigid unconstrained body possesses three degrees of freedom.
With reference to the hinged rigid bar in Fig. 2.5 this number has
reduced to one because a point of the bar is xed in the space and
no displacements are allowed at that point.
From observation, we can intuitively state a formula that provides
the number of degrees of freedom of a rigid body in two-dimensional
18
Fig. 2.6
space, i.e.
f 3c
2:30
2:31
2:32
This means that all the congurations of the system can be determined
by a single coordinate, which can be the angle of rotation of the rst
rigid bar member or the y-coordinate of the central hinge, yB.
This can be conrmed by sketching the bodies at some arbitrary position and noting that only one angle has to be dened to enable the
sketch to be completed, as is shown in Fig. 2.7.
19
uy (B)
y
Fig. 2.7
uy
Fig. 2.8
20
2.2
2:33
cos 1
2:34
This is true in general and holds both for innitesimal and nite displacement elds. We are not going to demonstrate this theorem, but the
reader will nd it easy to verify the generality of the theorem by trial
sketches. In fact, once two points A and B have been chosen on a
rigid body, by denition the line AB will retain the same length for
any displacement of the body. Dening A0 B 0 as the position of the
line after the displacement has occurred, it is straightforward to recognise that in every instance we can bring AB on A0 B 0 (and therefore
the whole body) by means of a simple translation or a rotation.
Conversely, it is worth noting that, dealing with innitesimal displacement elds, we can take the normal to the radius for the arc, as
shown in Fig. 2.9; actually, this is the geometrical meaning of formulae
(2.12) and (2.13), i.e. taking the rst-order terms only in the series of
equations (2.10) and (2.11).
In the present section we will assume that all the displacements are
innitesimal and their components will be simply indicated as ux and
uy . Rotations from the reference conguration, which also are assumed
to be innitesimal, will be simply indicated by .
In this case the kinematics of a free body is extremely simple; once
we have dened the centre of rotation (which is a proper one in the
4
21
A
A'
Fig. 2.9
case of a rotation and an improper one in the case of a simple translation), we can project this point on the axes where we are drawing the
components of displacement. When the centre is a proper one, its displacement is zero, otherwise the centre is said to be at innity and this
means that all the points have the same components of displacement.
In fact, a translation is nothing more than an act of rotation having its
centre at an innite distance, being 0.
The displacement of any of the points of the body, shown in Fig. 2.9,
can be given with reference to the displacement of the centre of
rotation, according to equations (2.18) and (2.19)
ux A ux C dy C
2:35
uy A uy C dx C
2:36
where dx A and dy A are, respectively, the components of the distance d from the centre of rotation C to the point A along the axes x
and y. As stated, in the case of a simple translation the centre is an
improper point at innity, 0 and we have
ux A ux B
2:37
uy A uy B
2:38
where A and B are any pair of points on the body. Note that the diagrams of the displacement components form two straight lines as was
pointed out in the previous section and is illustrated in Fig. 2.10.
With regard to the constraints a distinction is made between external
and internal constraints. External constraints have the eect of limiting
22
dy (A)
dx (A)
C
uy
Fig. 2.10
the displacement of the body with reference to the points of the plane,
which are considered xed. Internal constraints have the eect of limiting the displacement of the body with reference to the points of another
body of the system. Therefore the internal constraints aect relative
displacements. External and internal constraints both can be classied
according to the number of degrees of freedom they aect. For example the xed end of the rigid rod in Fig. 2.11 prevents the displacement
Fig. 2.11
ux (A) = uy (A) = = 0
23
B
ux (A) = uy (A) = 0
Fig. 2.12
ux (A) 0
uy (A) = 0
0
x
Fig. 2.13
of the point A and any rotation, and therefore suppresses all the three
degrees of freedom of the rod.
A hinge acts to prevent any displacement of the point to which it is
applied but leaves open the possibility of rotation (Fig. 2.12). A roller prevents any displacements of the point P along its normal axis (Fig. 2.13).
A two-pinned bar prevents, for innitesimal displacement elds, any
displacements along its axis and therefore acts like a roller (Fig. 2.14).
ux (A) 0
uy (A) = 0
0
x
Fig. 2.14
24
Type
Notes
Roller
Simple
ux 6 0
uy 0
6 0
Simple
ux 6 0
uy 0
6 0
Double
ux 0
uy 0
6 0
Double
ux 6 0
uy 0
0
Triple
ux 0
uy 0
0
y
x
Two-pinned bar
y
x
Hinge
y
x
Pair of parallel
two-pinned bars
y
x
Fixed end
y
x
Fig. 2.15
25
Fig. 2.16
26
Fig. 2.17
Fig. 2.18
27
ux
cB
cAB
cA
uy
Fig. 2.19
2:39
28
This is because that in two-dimensional space the relative centre of rotation is a point which has the same absolute displacement either considered belonging to A or to B. Since we know that the displacement of a
point P in the rst case is orthogonal to the direction CA P and in the
second to the directions CB P we are led to the conclusion that the
relative centre CAB must lie on the line CA CB .
We can therefore state the rst of the proposed theorems
If each of two rigid bodies A and B undergoes an innitesimal displacement eld in twodimensional space, the absolute centres of rotation CA and CB and the relative centre
CAB must all lie on the same straight line.
The rst and the second rule of concatenated displacements for rigid
bodies allow us to deal quite simply with the kinematics of any
system of rigid bodies. For example, consider the system of rigid
rods in Fig. 2.20.
This is a system of three rods constrained to a foundation by two
hinges and mutually connected by two more hinges. The number of
double constraints is four and we get from formula (2.31)
f 3b c 3 3 2 4 1
2:40
This means that we have at least one degree of freedom for the system,
which therefore can actually move.
In order to discover if the constraints are all eective, we can
perform the analysis of its kinematics by means of the two rules
stated. First of all locate the absolute centres of rotation C1 and C3 ,
29
C
2
Fig. 2.20
which must coincide with the pinned ends A and D, and thereafter the
relative centres C12 and C23 , which have to be located at the hinges B
and C. This is shown in Fig. 2.21.
The rst rule of concatenated displacements now enables us to dene
the position of the absolute centre C2 . This centre must lie at the intersection of the lines C1 C12 and C23 C3 , as it is shown in Fig. 2.22. No
constraints can be classied as ineective and the knowledge of these
centres is sucient to draw the diagrams of the components of displacement of the system. These diagrams depend on the parameter chosen
B C12
C23 C
2
A C1
C3 D
Fig. 2.21
30
C2
C12
C23
C3
C1
uy
Fig. 2.22
2:42
2:43
C
1
31
E
2
Fig. 2.23
We can now reect on the fact that we usually take into consideration systems whose elds of displacement are dependent on a single
parameter; that is, one degree of freedom activated at a time. In
order to dene any diagram of displacement components for such
systems we must draw n straight lines and we need to dene 2n 1
points. We are thus led to the conclusion that in order to draw these
diagrams we do not need to locate all the centres of rotation but we
just need to know the position of 2n 1 centres.
Finally, it is necessary to underline that a careful study of the centres
of rotation of the system must be always carried out, as this is the only
way to investigate the kinematics of rigid bodies in a consistent and
rigorous manner. In fact, as we have already pointed out, we can
often have an odd layout of the constraints themselves. For example,
let us consider the structure in Fig. 2.23.
In this system we have two rigid rods constrained by two double
constraints and three simple ones. If equation (2.31) is applied, regardless of the eectiveness of the constraints, we have
f 3b c 3 2 2 2 1 1 1 1
2:44
The fact that the number of degrees of freedom is negative might suggest that the system is not only allowed to move, but it has one redundant constraint, too. However, if we carry on the study of the centres of
rotation, as illustrated in Fig. 2.24 we discover that rod 1 cannot move
because its absolute centre of rotation must belong to the axes of the
two-pinned bars and at the same time it must be an improper centre
on the direction of the pair of parallel two-pinned bars. As the twopinned bars are not aligned with the pair of parallel ones this centre
cannot exist. Moreover, each of these two-pinned bars is sucient to
forbid the existence of the centre C1 and therefore one is redundant.
The hinge in D can therefore be considered as an absolute centre of
rotation for rod 2 and this is the case, as the roller in E requires this
32
C1
B
A
y
Fig. 2.24
centre to be aligned with its axis. It is evident that the roller constitutes
an ineective constraint. Therefore, element 2 can actually move and its
eld of displacements is dened by a single degree of freedom, i.e. the
angle of rotation , as is shown in Fig. 2.25.
Equation (2.31) gives the correct result if we drop from the calculation the redundant constraint and the ineective one
f 3b c 3 2 2 2 1 1
2:45
Fig. 2.25
33
2.3
Reactions of constraints
2:46
for any of its points and therefore equation (1.26), which has been proposed as the denition of equilibrium,
X
1
_2
K
2 mi xi 0
i
always holds true. However, the principle of stationary work can also
be applied to evaluate the forces that the constraints must apply to the
system to keep it in equilibrium. This approach can be dened as the
principle of substitution of constraints and establishes an equivalence
between a geometrical entity, i.e. a constraint, and a static entity, i.e.
a force.
As an example, consider the three-pinned arch shown in Fig. 2.26,
that is subjected to the vertical force P at the hinge B.
Equation (2.31) gives
f 3b c 3 2 2 2 2 0
2:47
34
C12 B
C1 A
C2 C
Fig. 2.26
P
2:49
2
The negative sign means that the force R has the opposite direction to
the force P. We call R the reaction of the horizontal roller. The procedure is therefore very simple
R
A
A
Fig. 2.27
35
C12
C1 C2
R
uy
uy (A) =
uy (B) =
2
Fig. 2.28
In order to obtain the reaction of a certain constraint we can suppress that constraint
and draw the innitesimal displacement eld thus allowed (if any). The reaction is
represented by the force that, acting instead of the constraint, renders the total work
of all the applied actions to be zero. The reaction is considered to act in the same
direction of the suppressed constraint.
2.4
36
P
z
P
2
P
2
Fig. 2.29
a portion of a structure, or system, that is abstracted from the structure and the
continuity of the structure between the free body and the rest of the structure is
represented by forces applied at the boundary of the free body.
Thus the portion of beam shown in Fig. 2.30 will be subjected to the
resultant of the forces transmitted by the portion of beam on its
right side, which must be able to maintain it in equilibrium.
Looking at the case of a beam contained in the plane zy, let us
decompose this resultant force in terms of a horizontal component N
37
z
Y
Y'
Y'
P
2
M
N
S
Fig. 2.30
P
Pz
and
MR
2:52
2
2
where the superscript R denotes that the forces are applied to the right
side of the cut.
Notice that no superscripts were applied to equation (2.51). This is
because it is conventional to assume that the axial force, the shear
force and the bending moment, i.e. the so called characteristic of internal action, are the components of the force acting on the left side of the
cut. They are normally referred to a Cartesian reference frame in which
the z-axis coincides with the axis of the beam, aligned with the centroids of the normal cross section (which for simplicity here is thought
to be uniform along the beam length), and the x and y-axes coincide
N R 0;
SR
38
Fig. 2.31
with the principal axes of inertia of the cross sections. The convention
adopted in this book is for the z axis to be positive when measured
from the left-hand end of the beam and the y axis is ordinarily arranged
to be vertical with downwards positive, as shown in Fig. 2.31.
Of course, this is purely a convenient convention and others can be
equivalently adopted, provided they enable consistent communication.
By sequentially applying the equilibrium equation (2.2) to any
chosen portion of the beam under consideration, it is easy to recognise
that
(a)
(b)
(c)
39
w (z)
z
Fig. 2.32
qzuy z dz
2:53
zo
q (t)
z
Fig. 2.33
40
z1
z
uy (z)
Fig. 2.34
2:54
M + dM
N + dN
S + dS
dz
Fig. 2.35
41
2:55
dS
qz
2:56
dz
dM
S
2:57
dz
which must hold for the equilibrium of any portion of the beam. In
particular note that equation (2.56) implies that the slope of the
shear force distribution is equal in magnitude but opposite in sign to
the intensity of the vertically distributed lateral load at any position
along the beam. Similarly, note that equation (2.57) implies that the
slope of the bending moment distribution is equal to the value of the
shear force at any position along the beam.
However, it is obvious that the presence of an applied vertical point
force P (or couple M) at a certain section A implies that for A0 and A00 ,
the sections immediately on either side of the conceptual cut, we have
SA00 SA0 PA
00
MA MA MA
2:58
2:59
42
(d )
locate the sections where the shear force is zero. These sections, according to equation (2.57) are positions of maximum
or minimum bending moment
(e) nd the values of the bending moment at key points along the
beam
( f ) plot the bending moment diagram according to equations
(2.57) and (2.59).
M z2 M z1
S z dz
2:61
z1
for any two sections of the beam which do not include an applied
couple.
An example of shear force and bending moment diagrams for a
system of beams is shown in Fig. 2.36.
The presence of axially directed distributed or point loads and the
consequent procedure for drawing the diagram of the axial force can
be treated by means of trivial modications of the previous equations
and is left to the reader.
q
l/2
l/2
+P
+ P + ql
Pl ql
2
P
2
+ Pl
4
Fig. 2.36
2.5
43
A three-dimensional example
x
B
2
C
y
z
l
5
Fig. 2.37
44
P
3
Section A
Section B
Section C
Fig. 2.38
45
3
2
O'
x
O
Fig. 2.39
2:62
and we have
R P
2:63
46
b
b
Fig. 2.40
W
l
P
l/2
Fig. 2.41
2.
47
l/2
B
l/2
C
l/2
P
W
Fig. 2.42
h
W
l/2
A
Fig. 2.43
3.
4.
48
4D
2D
D
Fig. 2.44
375 mm
200 m
50 mm
75 mm
P
2 kN
400 m
m
200 m
Fig. 2.45
5.
3.
Introduction
50
Before moving on to formulate the energy involved in the deformation of a body we need to examine how materials deform and to characterise the deformations, and the forces that cause the deformations.
The approach followed is to subject a sample of the material to a
simple one-dimensional test and to generalise, using mathematical
constructs, the results from the test to obtain a description of the properties of the material for deformations in three dimensions.
3.1
The approach followed for most materials is exemplied here by reference to testing of a typical structural carbon steel. Figure 3.1 shows a
specimen machined to a suitable shape for the uniaxial test. The shape
of the specimens, Figs 3.1(a) and (b), rectangular and round section,
respectively, have evolved during a century of material testing. The
objective of the shape is to ensure that the gauge length, lg , has uniform
conditions resulting from the axial force, P, applied to the specimen in
the test machine and is not inuenced by the complex conditions of
forces in the parts of the specimen gripped by the testing machine, as
shown hatched in Fig. 3.1. The test section shown in Fig. 3.1(a) has
thickness t and breadth b giving an area A.
During a typical test to evaluate the quasi-static properties of the
material the axial tensile load is applied at a slow rate that eliminates
any dynamic eects and causes the gauge length gradually to extend
from lg to lg lg . The change of length is measured by an instrument
t
P
P
b
lg
(a)
P
d
lg
(b)
Fig. 3.1
51
1
2
lg
Fig. 3.2
lg1
lg2
lg3
lg3 > lg2 > lg1
lg
Fig. 3.3
P/A
52
lg /lg
Fig. 3.4
It is also evident from tests that if the ordinates of the graphs of the
results are normalised, as shown in Fig. 3.4, by dividing the applied
load by the area of the specimen at the gauge length and by dividing
the extension by the gauge length, then all the curves coincide.
The normalisation denes two parameters that are used widely in
structural analysis, namely,
strain; " lg =lg
and
stress; P=A:
If in the above denition of strain the initial gauge length is used, then
what is normally dened as the nominal strain is obtained. A dierent
measure of strain, called the true strain, can be obtained by dividing the
elongation of the bar by the actual gauge length, which increases as the
tensile load is applied. In the development of this book we will always
make reference to the nominal strain.
Stress is a parameter that can be derived simply in the analysis of the
results of a tensile test by measuring the applied load and dividing it by
the corresponding initial value of the area of the cross-section of the
gauge length, which gives the nominal stress (a more exact value of
the axial stress, known as the true stress, can be calculated by using
the actual area of the bar, which can become signicantly less than
the initial one). The denition of stress depends on the assumption
that the load is uniformly spread across the cross section of the
gauge length. In general, the state of stress is complex in practical
structures and since it cannot be measured directly it must be inferred
from measured values of strains and deformations using assumed or
measured values of material properties. Alternatively, strains can be
measured directly on the surface of a structure by arranging the readings from extensometers to be normalised by dividing the measured
53
Fig. 3.5
54
Stress, (N/mm2)
500
400
300
200
100
0
10000
20000
Strain, (%)
30000
40000
(a)
600
Stress, (N/mm2)
500
400
300
200
100
0
20000 40000 60000 80000 100000 120000 140000 160000 180000 200000
Strain, (%)
(b)
Fig. 3.6
4%, this is called strain hardening. In some structural steels the stress
does not increase with increasing strain following the onset of yielding,
up to a strain of about 2%. This is called the yield plateau, or Luder's
plateau after the famous German physicist. The maximum load is
reached at a strain of about 810%, as is shown in Fig. 3.6(b), at
which stage the cross-sectional area of the tensile specimen reduces
rapidly and the specimen fractures, this is sometimes called necking.
The ultimate load, at which necking begins, is usually about 10
20% greater than the load at which yielding is initiated. Fracture
Stress,
55
loading
(ii)
unloading
(i)
Strain,
(a)
Stress,
Strain,
(b)
Fig. 3.7
56
57
E = tan
Fig. 3.8
3:1
AE E
This equation is often referred to as Hooke's law, after Hooke,2 who
rst proposed this loaddeection proportionality.
The values of E for a typical carbon steel range from 195 000 to
210 000 N/mm2 and commonly a value of 205 000 N/mm2 is used in
design analyses. The yield strains for steels widely used in structural
applications vary from 0:12% to 0:25% depending of the grade of
material. Special heat-treated steels can have yield strains of up to
0:5%.
Stress conventionally plays a central role in structural analysis. Many
text books in strength of material and in structural mechanics make
great use of stress in the development of the theory of structures and
in the presentation of the limiting strength of materials. Mathematical
descriptions of the equilibrium of components or complete structures
"
1
Young, Thomas (Milverton, Somerset, 1773 London, 1829), English natural philosopher.
2
Hooke, Robert (Freshwater, Isle of Wight, 1635 London, 1703), English physicist.
58
3.2
lg
lg
3:2
i:e: lg lg T
3:3
lg
lg
Fig. 3.9
59
16
14
12
100
200
300
Temperature C
Fig. 3.10
book. The value of the coecient for a structural steel in the range
0 < T < 100 8C is usually taken as
1:25 105 mm=mm=8C
3:4
The actual variation of the coecient of expansion with the temperature is shown in Fig. 3.10 for a high strength carbon steel.
Notice that the thermal strain equals the yield strain at a temperature change of
"
T 0
3:5
that is, for a medium grade structural steel
1:5 103
T :
120 8C
3:6
1 25 105
The foregoing remarks relate to changes of length that result from
changes of temperature where there are no constraints or applied
forces. The situation illustrated in Fig. 3.11 is one where the change
of temperature occurs simultaneously with the application of an
external force P.
The strain " induced in the bar is the sum of the mechanical strain due
to the force and the thermal strain due to the change of temperature.
T
P
Fig. 3.11
60
Fig. 3.12
Thus
P
T
3:7
EA
The constraint can take the form of displacement restrictions on the
boundaries of the body. An extreme example is illustrated in Fig. 3.12
in which the ends of a bar are prevented from movement, i.e. l 0
and therefore the total strain in the bar is zero.
"
P
T 0 and P EA T
3:8
EA
The negative sign implies that the force is compressive to maintain zero
total strain for the increase in temperature.
3.3
Three-dimensional strain
t + t
lg
x
z
Fig. 3.13
lg + lg
b + b
61
lg
;
lg
"y
b
;
b
"z
t
t
3:9
3:10
"x
"x
The values of Poisson's ratio measured in tests for the elastic part of
the stressstrain curve of a typical carbon steel are about 0:270:31
and 0:3 is commonly used in design analyses for steel structures.
Poisson's ratio increases to about 0:5 for strains much greater than
the yield strain.
During the application of the load P the volume of the gauge length
will change due to the elastic strains. The change of volume V is
V l1 "x b1 "y t1 "z lbt
lbt"x "y "z f "2 ; "3 ; . . .
3:11
Since the strain is very small for elastic deformations, the higher order
terms in the equation can be ignored as being insignicantly small and
the volumetric strain "v that is the ratio of the change of volume to the
original volume, is
V
"x "y "z "x 1 2
3:12
V
Uniaxial tests are commonly carried out to establish relevant
material properties for use in design analyses; typical results have
been discussed above. It is possible to generalise these results to
describe the possible eects of applying simultaneously load in the
three orthogonal directions. The practical diculties of ensuring that
the loads are applied is such a manner that the test specimen has uniform conditions throughout its gauge volume have meant that there is
only a limited range of experimental conrmation of the theoretical
development that now follows. However, the application of the
theory to the analysis of real structures and the measurement of strains
"v
Poisson, Simeon-Denis (Pithiviers, Loiret, 1781 Paris, 1840), French mathematician, physicist and astronomer.
62
Px
Ay
y
x
Az
Ax
Px
Pz
Py
Fig. 3.14
Py Pz
Px
T
EAx EAy EAz
3:13
"y
Py
Px Pz
T
EAy EAx EAz
3:14
"z
Pz
Px Py
T
EAz EAx EAy
3:15
In most books equations (3.13)(3.15) are stated in terms of the nominal stresses
xx Px =Ax , yy Py =Ay and zz Pz =Az , i.e.
yy zz
T
"x xx
E
E
E
yy xx zz
"y
T
E
E
E
yy
"z zz xx
T
E
E
E
63
3:16
EAz
3.4
Straindisplacement relationships
A'
(a)
Fig. 3.15
B'
l'
(b)
64
A'
uy + duy
x
uy
ux + dux
B
A
x
Fig. 3.16
3:17
2
dx
qx
qx
qx
Thus the strain induced in the element is
2 2
quy
l0 l
qux
qux 1=2
1
2
1
EAB
l
qx
qx
qx
3:18
3:19
65
jABj
ds
3:20
3:21
z0 z uz x; y; z
where, once again, ux , uy and uz are the components of the displacement of the point along the Cartesian axes x, y and z. Without any
loss of generality, we shall consider the displacement a continuous vectorial function, together with the partial derivatives of its components.
Applying equation (3.21) to the points A and B and expanding the
right-hand side by Taylor's series and retaining only rst-order innitesimal terms, we have
qux
qu
qu
0
dx 1
dx x dy x dz
qx
qy
qz
quy
quy
quy
3:22
dy0
dx 1
dy
dz
qx
qy
qz
qu
qu
qu
dz0 z dx z dy 1 z dz
qx
qy
qz
66
3:23
3:24
3:25
where
2 2
quy
qux 2
quz
exx
qx
qx
qx
2 2
quy 1 qux 2
quy
quz
eyy
qy 2
qy
qy
qy
2 2 2
quy
qu
1 qux
quz
ezz z
qz 2
qz
qz
qz
1 quy qux qux qux quy quy quz quz
exy eyx
2 qx
qy
qx qy
qx qy
qx qy
1 quz qux qux qux quy quy quz quz
exz ezx
2 qx
qz
qx qz
qx qz
qx qz
1 quz quy qux qux quy quy quz quz
eyz ezy
2 qy
qz
qy qz
qy qz
qy qz
qu
1
x
qx 2
3:26
3:27
3:28
3:29
3:30
3:31
Green, George (Sneinton, Nottingham, 1793 ibidem, 1841), English physicist and
mathematician.
67
3:32
3:33
3.5
In fact, it is
jA0 B0 j2 jABj2 jA0 B0 j jABj jABj2 jABj2
EAB jABj jABj2 jABj2
EAB ds ds2 ds2
2
2EAB EAB
ds2
68
qy
"xx
3:35
"yy
3:36
"zz
quz
qz
1 quy qux
2 qx
qy
1 quz qux
"xz "zx
qz
2 qx
1 quz quy
"yz "zy
2 qy
qz
"xy "yx
3:37
3:38
3:39
3:40
3:41
2 qxj qxi
with i, j 2 x; y; z and the convention that xx x, xy y and xz z.
The components "xx , "yy and "zz have a simple geometrical meaning.
In fact, let us consider once more a linear element of the body which
before deformation is parallel to the x axis and has length dx. After
deformation, the projection of this linear element on the same axis is
given by the rst of equations (3.22), i.e.
qux
0
dx 1
dx 1 "xx dx
3:42
qx
Therefore, we have
dx0 dx
3:43
dx
that is "xx represents the relative increase in the projection on the x axis
of a linear element which before deformation was parallel to this
axis.
"xx
69
Pyx
dy
Pxy
Pxy
Pyx
dx
x
Fig. 3.17
Moreover, the components "xy , "xz and "yz can be simply related to
an additional form of strain called shear strain. This form can be
demonstrated, for example, by reference to the deformation of a
small element of material in which the forces are parallel to the faces
of the element, see Fig. 3.17.
A practical example of this form of strain occurs in the deformations
of a thin-walled cylinder subjected purely to torsional loading, shown
in Fig. 3.18.
The perimeters AB and CD move angularly relative to each other
and the material between closely spaced perimeters will experience the
`lozenging' shown in Fig. 3.18. Considering the general deformation at
a point on a body, restricted here for clarity to a plane section, the
point moves from O to O0 . The bres dx and dy experience extension,
but, in general, they also experience relative rotation, as shown in
Fig. 3.19.
A
T
Fig. 3.18
70
) dy
ux
y
dy
(1 +
uy
y
2
1
uy
x
dx
o'
v
u
(1 +
ux
x
) dx
Fig. 3.19
1 x x
1 tan 1
qx
qx
qx
1 qux =qx
3:44
quy
qux =qy
qux
qux
2 tan 2
1 quy =qy
qy
qy
qy
and the relative rotation 1 2 results in
quy qux
2"xy
1 2
qx
qy
3:45
3:46
xy
qx
qy
As the treatment of structural analysis in this book is almost entirely
concerned with problems which do not justify the more complicated
non-linear theory (the only partial exception being constituted by the
presentation of buckling phenomena in chapter 12), in the following
we will always make reference to the simplications introduced in
this section.
3.6
Always with reference to a deformed body, let us consider the displacement of a point B in the neighbourhood of a generic point A.
7
71
qux BA qux BA qux BA
x
z
qx A
qy A
qz A
quy BA quy BA quy BA
uy B uy A
x
z
qx A
qy A
qz A
qu
qu
qu
uz B uz A z xBA z yBA z zBA
qx A
qy A
qz A
ux B ux A
3:48
1 quz quy
!x
2 qy
qz
1 qux quz
!y
2 qz
qx
1 quy qux
!z
2 qx
qy
3:50
3:51
3:52
72
(c)
A'
z
u (A)
A
Fig. 3.20
73
Thus, apart from a translational and rotational movement, the deformation of an innitely small region surrounding A is described by
equation (3.54). This is a linear transformation, where straight lines
remain straight, planes remain plane (and both remain parallel if
they were parallel before occurrence of deformation), and in general
any second-order surfaces transform into second order surfaces, that
is, for example, a sphere transforms into an ellipsoid, as is shown in
Fig. 3.20.
3.7
x1
Fig. 3.21
74
where nx2 x1 ; . . . ; nz2 z1 are the direction cosines of the axes of the second
system with respect to the rst one.
Hence, in the passage from x2 ; y2 ; z2 to x1 ; y1 ; z1 the pure strain
displacement eld given by equation (3.54) becomes
32 3
2 3 2
nx2 x1 nx2 y1 nx2 z1
ux2
ux1
7
6 u 7 6 n
6
7
3:56
4 y1 5 4 y2 x1 ny2 y1 ny2 z1 54 uy2 5
uz1
nz2 x1
nz2 y1
nz2 z1
uz2
nz2 x1
nz2 y1
nz2 z1
uz1
(3.54)
3 2
nx2 z1 T "x1 x1
7 6
6
ny2 z1 7
5 4 "y1 x1
nz2 z1
"z1 x1
"x1 y1
"x1 z1
"y1 y1
7
"y1 z1 7
5
"z1 y1
"z1 z1
3:58
zBA
1
Thus, the following relationship holds true
2 3 2
3 2
nx2 x1 nx2 y1 nx2 z1 T "x1 x1 "x1 y1
ux2
6 7 6
7 6
6 uy 7 6 ny x ny y ny z 7 6 "y x "y y
2 1
2 1 5 4
1 1
1 1
4 25 4 2 1
nz2 x1 nz2 y1 nz2 z1
"z1 x1 "z1 y1
uz2
2
32 BA 3
nx2 x1 nx2 y1 nx2 z1
x2
6
76 BA 7
76
7
6
4 ny2 x1 ny2 y1 ny2 z1 54 y2 5
nz2 x1 nz2 y1 nz2 z1
zBA
2
"x1 z1
7
"y1 z1 7
5
"z1 z1
3:59
75
"x2 y2
3:61
3.8
dx0 dx
dx
76
This study can be performed very easily with the aid of the law of
transformation (3.61). In fact the problem amounts to nding the
values of n x1 , n y1 and n z1 for which the rst of equations (3.61)
becomes a maximum or a minimum. As by denition of direction
cosines the following relationship must hold true
n2x1 n2y1 n2z1 1
3:62
3:63
1 1
1 1
3:66
where
E1 "x1 x1 "y1 y1 "z1 z1
3:67
E2 "x1 x1 "y1 y1 "x1 x1 "z1 z1 "y1 y1 "z1 z1 "2x1 y1 "2x1 z1 "2y1 z1 3:68
E3 "x1 x1 "y1 y1 "z1 z1
"x1 x1 "2y1 z1 "y1 y1 "2x1 z1 "z1 z1 "2x1 y1 "x1 y1 "x1 z1 "y1 z1
3:69
77
Because the principal extensions are independent of the choice of direction of the coordinate axes, also the coecients E1 , E2 and E3 result
independent from this choice of the coordinate axes and are named
strain invariants.
From a mathematical standpoint, solving equation (3.65) means
nding the eigenvalues of the problem
" "I 0
3:70
3:71
Given that "1 and the set of direction cosines nx1 , ny1 , nz1 satisfy equations (3.64), then equation (3.71) becomes
" "1 n2 x1 "1 n2 y1 "1 n2 z1 "1
3:72
and, by repeating the same procedure, we nd also that " "2 and
" "3 .
An important property of the principal directions of deformation is
that along these directions the components " , " , " of strain, i.e.
the shear strain components, are zero. To show this property the
78
3:73
Again, as "1 and the set of direction cosines n x1 , n y1 , n z1 satisfy equations (3.64), equation (3.73) becomes
" 2"1 n x1 n x1 n y1 n y1 n z1 n z1 0
3:74
3.9
3:75
Plane strain
There are structural forms that are very long, in the z direction,
compared to their other dimensions. Two examples are shown in
Fig. 3.22.
Figure 3.22(a) represents a part of a very long dam wall that is supported at its base and at its ends. The ends are prevented from movement in the z direction and the loading is uniform along the length of
the dam face. We may deduce that, on account of the length, there is
symmetry of deformation at any section along the dam and that it
may reasonably be assumed that there is no displacement along the z
axis and therefore no variation of deformations or strains along the
dz
z
(a)
Fig. 3.22
(b)
79
dam wall. In fact, the deformation of the wall can be assumed to be the
same at any cross section and can be dened completely by the nonzero components of displacement ux and uy , which are assumed to
be functions of x and y only. Thus, the response of the wall to the
applied loads may be analysed using a representative length dz of
the wall as shown in the gure. Similar conditions may be assumed
for a very long tunnel that has a uniform pressure along its length
from the surrounding soil, see Fig. 3.22(b).
These cases are normally referred to as plane strain and the assumption of zero variation of strain along the length can signicantly simplify the analysis. However, it must be remembered that the results
pertain only to deformations far from the ends and that near the
ends the deformations will actually be three-dimensional.
Formally, the above assumptions can be written as
ux ux x; y
uy uy x; y
uz 0
3:76
and the expressions (3.35)(3.40) of the strain components can be simplied as follows
"xx
qux
qx
3:77
"yy
quy
qy
3:78
quz
0
qz
1 qux quy
"xy
2 qy
qx
1 quy quz
0
"yz
2 qz
qy
1 qux quz
"xz
0
2 qz
qx
"zz
3.10
3:79
3:80
3:81
3:82
80
qu
x
qx
"yy
quy
qy
"xy
1 quy qux
2 qx
qy
qy2
qx qy2
3:83
qx2
qy qx2
q2 "xy 1 q3 ux
q3 uy
qx qy 2 qx qy2 qx2 qy
3:84
2
qx qy
qy2
qx2
3:85
dz
Px
dx
81
Px
dy
y
Fig. 3.23
body, i.e.
2
q2 "xy
q2 "xx q "yy
0
2
qx qy
qy2
qx2
q2 "xx q2 "zz
q2 "xz
0
2
qx qz
qz2
qx2
q2 "yy q2 "zz
q2 "yz
0
2
qy qz
qz2
qy2
3:86
qy qz qx qy qx qz
qx2
2
2
2
q2 "xz q "yy q "xy q "yz
qx qz qy qz qx qy
qy2
qx qy qx qz qy qz
qz2
These conditions are generally known as Beltrami's equations.8
3.11
Strain energy
This text presents the development of methods for the analysis of structures using the concept of strain energy and work as a basis. The
formulations of strain energy for a linear elastic body are presented
in this section.
Figure 3.23 shows an innitesimal element of material as some position in a continuous body. The element has dimensions dx, dy and dz.
A force Px is applied to the element in the x direction. The value of the
force starts from zero and gradually reaches its nal value Px . The
8
82
U W
Px d"xx dx
3:87
As for a linearly elastic material the relationship between the force and
the strain is, according to the test results reviewed in section 3.3,
"xx
Px
E dy dz
3:88
U
Px d"xx dx
0
"xx
E"xx d"xx dx dy dz
E 2
" dV
2 xx
3:89
3:90
the work performed by the load Px in the loading process from 0 to its
nal value Px is
l
l
Px dl
0
kl dl
0
1
1
kl 2 Px l
2
2
3:91
i.e. it amounts to half the product of the nal value of the force Px by the
nal value of the displacement l.
This fact is of fundamental importance in the linear theory of elasticity
and constitutes the statement of Clapeyron's theorem, named after
Clapeyron9 who investigated the phenomenon in a wider context.
Clapeyron, Beno t-Paul-Emile (Paris, 1799 ibidem, 1864), French engineer and
physicist.
9
83
Pz
z
dz
Px
Py
dx
Pz
Px
dy
y
Fig. 3.24
E 2
U ' dV
"xx dV
3:92
2
V
We next consider the situation where also forces in the y and z directions are applied. The examination of the test results in the previous
sections showed that forces applied normal to each other inuence
the strains through a constant, called Poisson's ratio, . Figure 3.24
shows an elementary volume of material subjected to forces in the x,
y and z directions.
The strains related to these forces and directions are
Py
Px
Pz
E dy dz
E dx dz
E dx dy
Py
Px
Pz
"yy
E dx dz
E dy dz
E dx dy
Py
Pz
Px
"zz
E dx dy
E dy dz
E dx dz
"xx
3:93
3:94
3:95
84
they are constant throughout the body and are constant in every direction at every point in the body, we obtain
E
U
1 "2xx "2yy "2zz
21 1 2
V
3:96
1 dy dz
dx dz
3:97
Pz
Px
dx dy
1 dy dz
and the value of the strain energy is
E1
"2 dV
U
21 1 2 xx
3:98
Pxy
Pyx
G dy dz G dx dz
3:99
y
Pyx
Pxy
Pxy
dy
Pyx
dx
Fig. 3.25
85
Pyx
y
Pyx
C
PAC
Pxy
Pxy
Pxy
A
Pyx
PAC
Pyx
x
(a)
Pxy
x
(b)
Fig. 3.26
1
"AC pAC
E 2 dy dz
E 2 dx dz E dy dz
3:100
86
Pxy
PBD
PBD
Pxy
Pyx
Fig. 3.27
1
2
E dy dz
3:102
At this point, a simple comparison between equation (3.99) and equation (3.102) provides the relationship between the constant G and the
constants E and , that is
G
E
21
3:103
The expression of the strain energy for the situation where all the
strains, direct and shear, are present in the elementary volume is
now simple. In fact, given that there is no interaction between Hooke's
law for direct and shear strains, we can simply compute the work done
by the shear forces on the elementary volume, that is
quy
1
qux
1
1
W
Pxy
dx Pyx
dy Pxy
xy dx Pyx
xy dy
2
2
2
qx
qy
3:104
given that for the element to be in equilibrium we must have Pxy dx
Pyx dy and provided we made reference to Clapeyron's theorem. By
virtue of Hooke's Law, equation (3.99), we can write equation
(3.104) as
1 2
E
W G
xy
"2 dx dy dz
dx dy dz
2
1 xy
3:105
Finally, by superposing the eects of the shear forces Pxy , Pyz , Pxz ,
Pzx , Pyx and Pzy and by integrating over the domain of a body with
volume V we obtain the general expression of the change in strain
E
U
"2xy "2xz "2yz dV
1
87
3:106
1
3:107
At the end of this section it is worth noting that the strain energy is a
scalar quantity and by its own nature it is independent of the particular
reference frame. Hence, the expression of the strain energy density at a
point must give the same value with respect to any system of coordinate axes. In particular, when we make reference to a system of axes
coincident with the principal directions of strain , , we can write
'
E
1 "2 "2 "2
21 1 2
2" " " " " "
3:108
because the shear strain components are zero in this particular reference frame.
3.12
Yield criteria
88
E
21 1 2
2
U ' dV
3:109
V
89
3:110
3:111
and the corresponding strain energy density '0 is, according to equation (3.110),
E 2
"
3:112
2 0
Thus equating the strain energy density at some point in the structure
with the strain energy density at yield for a uniaxial tensile test specimen of corresponding material, we have
'0
"eff "0
where "eff is the eective strain dened by
1
1 "21 "22 "23
"eff
1 1 2
1=2
2"1 "2 "1 "3 "2 "3
10
3:113
3:114
90
3:115
31 1
By remembering equation (3.12) it is easy to infer that the rst term in
equation (3.115) can be associated with volumetric change owing to the
strain state by means of the material constant K, the bulk modulus.
K
E
61 2
3:116
E
1
" "2 2 "1 "3 2 "2 "3 2
2 31 1
3:117
11
'od
3:118
"eff "0
3:119
Mises, Richard von (Lemberg, Austria, 1883 Boston, 1953), German mathematician and engineer.
91
where
1
"eff p
"1 "2 2 "1 "3 2 "2 "3 2 1=2 3:120
21
Experience has shown that the von Mises criterion provides results
that accord reasonably with tests on biaxial tests on ductile materials,
such as structural steels and aluminium alloys. It is accepted that
this criterion is more appropriate for ductile materials than that
proposed by Beltrami and is preferred for application in structural
practice.
P (kN)
9:9 20:1 28:45 35:8 45:9 52:9 53:20 53:4 52:9 53:2
l (mm) 0:02 0:04 0:06 0:07 0:09 0:11 0:15 0:20 0:29 0:52
d (mm) 0:01 0:02 0:02 0:03 0:04 0:05 0:06 0:09 0:16 0:27
2.
lg = 50 mm
Fig. 3.28
4.
Introduction
The exact solution of the deformations of a generic structural element is, in general, very dicult to achieve for solids with arbitrary
shapes. The approach is simplied by dening classes of elements,
for example bars, beams, plates and shells, whose shapes have generic
features which enable us to make assumptions to reduce the complexity of the analysis. Of course, the introduction of such assumptions
94
Fig. 4.1
95
normally loaded element the simplest and acceptably accurate assumption in the realm of linear elasticity is that
the strain varies linearly through the beam in the direction of any normal to the
longitudinal axis.
4.1
We start the mathematical treatment of the deformation of one-dimensional elements by considering axial loading only, i.e. the deformation
of bars. Following what has been said in the introduction to this
chapter and without loss of generality, a bar is dened here to be a
straight element with a uniform cross section and to be axially
loaded. Reference is also made to a Cartesian frame with the z-axis
coincident with the axis of the bar, represented by the straight line
through the centroids of the cross sections. The x and y-axes are
arranged to coincide with the principal axes of inertia of the cross
section, as shown in Fig. 4.2.
N
z
N
y
Fig. 4.2
96
dl
dl'
l
l'
dA
(a)
dN
dl
(b)
Fig. 4.3
Consider the bar shown in Fig. 4.3(a), which is in equilibrium with the
two opposite axial forces N applied at the ends.
First of all it is worth noticing that we can obtain an elementary
length of the bar by means of two cuts normal to the z axis at two
very closely spaced cross sections dl apart. If we rely upon the smallness of the deformation of such a slice of the bar and consider each
of the parts of the bar as rigid bodies, we are led to the conclusion
that for the equilibrium it is necessary to have the same axial force N
applied at any section. This fact follows from equation (2.55).
We will also assume that the axis of the initially straight bar remains a
straight line. The implications of this assumption are examined in
chapter 12. Given the adopted model of deformation, we can extract
an innitesimal sectional area from the body of the bar and derive
from its behaviour a relationship which describes the behaviour of
the whole bar, see Fig. 4.3(b).
We are primarily going to deal with linearly elastic materials and
from tensile tests we know that the relationship between the length
of the innitesimal specimen before the deformation, dl, due to the
axial force dN acting on its section dA, and the length after the
97
4:1
N dN
4:2
A
and
dA
4:3
1
0
dN
C
B
N
0
A
C
B
4:4
dl @1
A dl 1 EA dl
E dA
A
provided, of course, that E is constant. This constitutes the deformation formulation for an innitesimal element of the bar between two
very near cross sections under the axial force N. As the axial force is
constant for the whole length of the bar, we can integrate over the
length l and obtain the relationship between the applied axial force
and the elongation of the whole bar
N
N
l dl 0
dl 1
1
dl
EA
EA
l
1
N
l
EA
4:5
The energy stored in the bar is simply given by the work done by the
axial forces N during the process of loading, i.e.
l
UW
Nl dl
0
4:6
98
UW
4.2
1 EA 0
l l2
2 l
4:8
Deformation of beams
Mx
My
x
Sx
y
Sy
Fig. 4.4
99
z
x
y
dz
l
Fig. 4.5
Now consider Fig. 4.6, where an element of the beam between two
cross sections at distance dz is shown.
As a consequence of the assumptions stated above, it is evident that
after deformation has occurred, the right side face of the element has
rotated through an angle d about the axis x relative to the left side
face. In this framework, it is evident that the bres of the beam have
increased or decreased their length proportionally to their distance
from the x axis, according to the simple rule
dl 0 dz y
4:9
100
z
y
dz
Fig. 4.6
Notice that the bres below the axis have increased their length, as
the sign holds for their distance from the axis, while the bres above
the axis have decreased their length, being governed by negative values
of y. We can now refer to the elongation, equation (4.1), to obtain a
relationship between the bending moment M and the radius of curvature r of the axis of the beam after deformation has occurred. Thus,
from equation (4.1) we have
dl 0 dz
E dA
4:10
dz
and this means that an axial force dN acts on the typical innitesimal
element of the cross section extracted from the beam. The magnitude
of this force is obviously dependent on the deformation. Substituting
equation (4.9) in equation (4.10) we obtain
y d
dN
E dA
4:11
dz
We can now sum all the contributions of the elementary forces on
the cross section to obtain the resulting axial force N and bending
moment M. Thus,
y d
d
E dA
E y dA
N dN
4:12
dz
dz
A
A
A
y d
d
E dA
E y2 dA
4:13
M y dN
dz
dz
dN
y dA 0
4:14
A
101
and therefore
N0
4:15
Notice that for pure moment the neutral axis, that is the position
where the longitudinal bres neither extend nor contract, passes
through the centroid of the cross section of the beam. The integral
term on the right hand part of equation (4.13) is termed the second
moment of area Ix , sometimes called the moment of inertia,
4:16
Ix y2 dA
A
In this case the second moment of area has been evaluated about the xaxis. The magnitude of this parameter will vary according to the orientation of the axis about which the second moment of area is calculated.
Now, we can write
d
EI
4:17
dz x
which yields the desired relationship between the bending moment M
and the radius of curvature r. As we have
M
d 1
dz r
it follows
4:18
M
1
EIx r
4:19
l
M
M
M
dz
dz
l
EIx
EIx
EIx
0
4:20
The strain energy stored in the beam is given by the work done by the
couple M during the process of loading and is
U W M d
0
4:21
102
1 EIx 2
2 l
4:22
So far we have dealt with a bar subjected to a constant axial force and a
beam subjected to a constant bending moment about the axis x.
It is signicant that all the relationships obtained above are linear and therefore the
behaviour of a beam subjected to both bending moment and axial force can be obtained
very straightforwardly by adding the eects of the axial load to those of the bending
moment.
In the next section we will see why this can be allowed from a geometrical point of view in the framework of the theory of very small
displacements. Following from their derivation, it is also clear that
equations (4.4), (4.17) and (4.19) hold true for any element of beam
between two innitesimally near cross sections. Therefore they can
also be applied to the analysis of beams subjected to axial forces N
and bending moments M that vary along the axis z.
4.3
These hypotheses are normally suciently accurate for the great majority of engineering applications and allow a substantial simplication for
analysing most cases of structural deformation. From a mathematical
103
dz
0
z
uy
uy + duy
ds
Fig. 4.7
2 3
r
ds
dz
duy 2
duy
1
1
dz
dz
where uy is the displacement of the beam centroid in the y direction and
is generally a function of z, i.e. uy z. Remember that conventionally,
anticlockwise rotations are considered to be positive.
As stated above, typically in the practical engineering application of
beams the deection is less than 1% of the length and the slope is also
negligible in comparison with unity, that is for an initially straight bar
with the axis coincident with the z axis
2
duy
1
4:24
dz
104
d uy
1
2
4:25
r
dz
This approximation has also a particular geometrical meaning, as it
assigns, to the same order of approximation, the identical length l to
both the undeformed uy 0 and the deformed uy uy z axis of
the beam between the values z 0 and z l. In fact, for the undeformed state, uy 0, it follows that
0
l dz l
4:26
4:27
l dz l
4:28
Therefore the line of equation y uy z has the same length of its projection on the z-axis and we can consider the horizontal displacement
of the left end of the cantilever of Fig. 4.8, to be zero when subject to
bending due to the applied couple M.
The second of the hypotheses stated above can be claried by saying
that we can consider a force N which is perfectly axial before the deformation to be still axial after the deformation has occurred; or if the
force N is normal to the beam before deformation it will still be
normal after the deformation has occurred as it can be always referred
to the unstrained conguration of the beam. This is shown in Fig. 4.9.
Fig. 4.8
105
Fig. 4.9
4.4
In the previous sections expressions have been derived for the strain
energy of a beam that deforms under the inuence of axial forces and
bending moments. Now we consider the methods with which we can
extend these expressions to analyse the behaviour of actual beams
subjected to specied loading and constraints. From a general point
of view there are two distinct approaches to this analysis process, i.e.
.
.
106
Fig. 4.10
simple boundary conditions, uniform geometry and loading are evaluated using simple expressions derived from the dierential equation of
equilibrium developed in this section. The deformations of more complex conditions of beam geometry and loading are usually calculated
by means of approximate methods, such as the nite element methods
developed later in this text, but the exact solution of simplied beam
conditions is always kept as a validation benchmark.
It is also possible to obtain approximate solutions from the dierential equation of beam equilibrium by using the method of nite dierences. This was a quite popular and successful approach in the years
19301950. However, the nite element method has essentially
eclipsed the nite dierence approach for structural analysis, although
the latter remains the basis for computer modelling of uid dynamics.
For the sake of completeness, section 4.7 presents the nite dierence
method as applied to the analysis of the deformations of beams. From
a purely theoretical standpoint, it may be noted2 that the nite dierence and the nite element method, introduced later in this text, can
both be considered to be essentially forms of assumed trial functions,
with the former applied to the functions involved in the dierential
equations of equilibrium derived from the energy formulation and
the latter applied directly to the energy functionals.
In order to derive the dierential equation of equilibrium for
straight beams we apply the classical variational calculus to the
energy functional. This route is essentially due to the eminent Swiss
mathematician Euler (actually, after a suggestion by Bernoulli3 )
hence the classication of this development can be stated as Euler's
method of analysis of beam deformations.
Consider the simple supported beam shown in Fig. 4.10, subject to a
uniformly distributed vertical load per unit length q.
2
Croll, J. and Walker, A. C. 1971 Finite dierence method as a localised Ritz process.
Intnl J. of Eng. Math. 3, 155.
3
Bernoulli, Daniel (Groningen, 1700 Basel, 1782), Swiss mathematician and physicist, nephew of Jacob.
107
4:29
4:30
which holds true provided the curvature, and therefore the bending
moment, is evaluated point by point along the beam. In fact, in general
the moment and therefore the curvature varies along the length of the
beam. The energy stored in the whole simply supported beam is given
by the integral
l
1
d2
U
EIx
2
dz
4:31
or, equivalently,
2
l
1
d
EIx
dz
U
2
dz
4:32
4:33
108
4:34
EIx u00y
u00y
l
dz q uy dz
4:36
4
The application of the calculus of variations provides a means to minimise the energy
functional and is summarised as follows. Suppose we are given a functional U in the
integral form
q
q
; ::: dV G ;
; ::: dS
U F ;
qx
qx
V
where F and G are functions of x; . . . and S is the boundary of the closed region V.
Suppose also that the variations in are taken among the admissible set of functions
satisfying the general boundary conditions
H1 0
on S1
H2 0
on S2
where S1 S2 S.
Then, for a small admissible variation from to we dene the corresponding
rst variation in U by
qF
qF
q
dV
U
q
qq =qx
qx
V
qG
qG
q
dS
q
qq =qx
qx
109
EIx u00y
u00y
dz
EIx u00y
u0y l0
0
EIx u000
y uy dz
4:37
EIx u00y
u00y
dz
EIx u00y
u0y l0
EIx u000
y
uy l0
EIx u0000
y uy dz
0
(4.38)
4:39
4:40
4:41
is also equal to zero, as the variation must vanish on the simple supports at A and B which do not allow any vertical displacement.
Thus, the condition of equilibrium (equation (4.36)) reduces to
l
EIx u0000
y
l
uy dz q uy dz 0
4:42
4:43
110
qz4
Az3 Bz2 Cz D
24EIx
4:44
for z 0
EIx u00y z
and z l
for
z0
4:45
and z l
4:46
Al 3 Bl 2 Cl D 0
y
>
>
24EI
x
>
>
>
2
>
>
> EI u00 l ql 6EI Al 2EI B 0
:
x y
x
x
2
or, in matrix form,
2
32 3 2
3
A
0
0 0 0 1
6 0 2 0 0 76 B 7 6
7
0
6
76 7 6
7
4:48
6 3 2
76 7 6
7
4
4l
5
4
5
4
l
l 1
C
ql =24EIx 5
6l
0 0
ql 2 =2EIx
and yields
A
C
ql
;
12EIx
ql 3
;
24EIx
B0
D0
4:49
4:50
Finally, we get
uy z
q
z4 2lz3 ql 3 z
24EIx
4:51
111
z
B
y
l
Fig. 4.11
4.5
112
q (z)
y
l
Fig. 4.12
4:52
and, if we consider Fig. 4.13, we can readily deduce that in the theory
of innitesimal displacements
z tg
duy z
dz
4:53
duy
dz
Fig. 4.13
113
That is, the rotation of a generic cross section can be identied with the
negative value of the slope of the axis of the beam. Therefore we can
attribute a precise physical meaning to the terms which appear in
equation (4.38), as follows
EIx u00y M
4:54
u0y
4:55
4:56
4:58
4:59
l
and EIx u000
y uy 0
4:60
are zero. Therefore, also in this case Euler's equation of beam equilibrium (4.43) is valid. Of course, while integrating the dierential
q (z)
Fig. 4.14
114
l/2
l/2
Fig. 4.15
EIx u001y
u001y
l
dz
4:61
l=2
where, of course, the displacement at the mid point of the whole span is
unique and is denoted by u1y l=2 u2y l=2 uy l=2.
After integrating equation (4.61) twice by parts, as discussed above,
we get
l=2
l=2
000
l
EIx u001y u01y 0 EIx u002y u02y ll=2 EIx u000
1y u1y 0 EIx u2y u2y l=2
l=2
0
5
EIx u0000
1y
l
u1y dz
EIx u0000
2y u2y dz Puy l=2
4:62
l=2
It is worth pointing out that for the cantilever in Fig. 4.8, which actually corresponds
to the situation in Fig. 4.5, it is found that uy M=2EIz2 . This represents an arc
of a circle only under the assumptions of small displacement theory developed in
section 4.3.
115
4:63
4:64
4:65
4:66
000
EIx u000
1y l=2 EIx u2y l=2 P
4:67
u2y l 0
and M2 l
EIx u002y l
4:68
which impose the geometrical and mechanical aspects of the constraints at both ends of the beam and require the continuity at the
mid-point of the span, we are led to the equation
l=2
EIx u0000
1y
l
u1y dz
EIx u0000
2y u2y dz 0
4:69
l=2
and 0 u01y 0 0
4:74
4:75
4:76
4:77
116
u2y l 0 and
M2 l
4:78
EIx u002y l
4:79
l
z 2 0;
2
4:80
for
5 P 3
5 Pl 2
Pl 2
Pl 3
z
z
z
96 EIx
32 EIx
8EIx
48EIx
l
for z 2 ; l
2
u2y z
4:81
4.6
We have seen above that it is fairly straightforward to obtain an analytical solution to Euler's dierential equation (4.43) for a beam with a
uniform exural stiness EIx . The analysis becomes more complicated
when we consider beams with variable loading and geometry. As an
illustration of this, the following analysis considers a cantilever with
a linearly varying depth subjected to a load at its tip, as shown in
Fig. 4.16.
The gure shows that the cantilever has a length l. At the built-in end
the depth of the section is d1 and at the tip the depth is d2 . The uniform
d1
dx
d2
y
l
Fig. 4.16
117
breadth of the beam is b, so that the second moment of area of the cross
section at some position z along the beam is
Ix z
bd 3 z
12
4:82
z
l
4:83
4:84
dz d dz l d
4:85
4:89
4:90
118
Pl Bl 0
P
l
4:91
BP
4:92
A
)
so that
2
EIx d uy
Pl1
l2
d 2
By virtue of equations (4.82) and (4.84) we can write
2
1 d uy
Pl
12Pl
1
1
EIx
l 2 d 2
Eb d13 1 13
4:93
4:94
C
Eb d13 2 12 1 2
4:95
1 duy
0
l d
at 0
4:96
Hence, we have
A
2
2 12
4:97
1 duy
12Pl 2 2 2
l d
Eb d13 21 2
4:98
The deection function for the beam is obtained from equation (4.98)
once again by integration, thus
12Pl 3 f1 ;
uy ;
D
4:99
Eb d13 f2 ;
119
where
f1 ; 3 2 2 42 2 5 2 3 2 2 2
21 2 ln1
4:100
f2 ; 21 13
Evaluating the constant D for the boundary condition
uy 0; 0
we have
D
2 13
4:101
4:102
4Pl 3
Eb d13
4:104
Figures 4.17(a)(c) show typical results for the deection along the
beam for values of 1, 0.5 and 0.05, respectively.
In these gures the value of the deection has been normalised with
respect to the deection of the tip of a cantilever with a uniform depth,
that is all the calculated values have been divided by equation (4.104).
The value 0:05 has been chosen since the value of 0 causes the
tip of the cantilever to have no depth and therefore the deection
becomes unrealistically large at the tip.
The variation of the normalised deection at the tip of the cantilever
with the parameter is given by
3
42 3 2 ln
u~y 1; 3
4:105
2 13
Figure 4.18 shows results from equation (4.105).
It is clear that for dierent and more complicate variations of the
depth of the section along the beam length the integration of the dierential equation can pose some problems. In such a case, if we wished
we could integrate the equation of equilibrium numerically. However,
120
=1
08
u ()
06
04
02
0
0
02
04
(a)
06
08
10
06
08
10
06
08
10
20
= 05
u ()
15
10
05
0
0
02
04
(b)
= 005
5
u ()
4
3
2
1
0
0
Fig. 4.17
02
04
(c)
121
Fig. 4.18
following such an approach a simple formula for use in design calculations would not be readily available. The next section shows an alternative approach to obtaining a solution to the Euler dierential
equation of deformation.
4.7
122
(n +1)
(n 1)
(n)
Fig. 4.19
1
f
fn 1
4:107
2h n 1
Intuitively, as the nodes become very closely spaced, i.e. h ! 0, the
approximate value for the slope approaches the analytical value. The
higher order derivatives can be obtained using the same approach.
For example, the second derivative is written as the ratio between
the increment of the rst derivative between the mid-points of the
arcs n 1; n and n; n 1 and the distance h, namely
d df x
fn 1 fn
fn fn 1
00
f n x
dx dx x xn
h
h
f n0 xn
1
fn 1 2fn fn 1
h2
4:108
123
f n0000
4:109
:
2
384EIx 76 8EIx
Figure 4.20 shows the arrangement of the nodes along the beam, in this
case the model includes three internal nodes, i.e. between the end
boundary conditions. The boundary conditions are chosen so that displacement in the y direction is zero at z 0 and l and that the moment,
and therefore the curvature, is also zero at these positions.
Thus
u0 u4 0
and
u1
u1 ;
u5
u3
4:110
l
q
EI
z
y
1
h=
Fig. 4.20
l
4
124
qh4
EIx
and by setting
l
h ;
4
Q
ql 4
256EIx
5
A 4 4
1
4
6
4
4:111
2 3
3
2 3
u1
1
1
4 5 un 4 u2 5 Qn Q4 1 5
u3
1
5
4:112
The values of the deections at the nodes may be obtained from equation (4.111) by rearranging the equation as
un A1 Qn
which gives
2 : 3
2 3
25
u1
4 u2 5 Q4 3:5 5
2:5
u3
and the deection at the mid-span is
u2
3:5 ql 4
ql 4
:
256 EIx 73 1EIx
125
u5 u1
Now
l
h ;
6
ql 4
1296EIx
Thus, dealing with each of the nodes in turn, a matrix equation, similar
to equation (4.111), can be obtained. In this case
2
3
5 4
1
6
7
A 4 4
7 4 5
2 8
6
and the solution is
2 : 3
8 75
6 : 7
un Q4 15 0 5
17:25
The deection at mid-span is
u3
17:25 ql 4
ql 4
Symmetry
Fig. 4.21
126
4.8
4:113
and u0y l 0
at A
4:114
uy l u and u0y l at B
4:115
Fig. 4.22
uy
Fig. 4.23
127
uy z 2 3 z
z
4:116
l l2
l
l
On account of this deformation the beam will possess a certain level
of strain energy U. This can be calculated using the expression in
equation (4.33)
l
1
U
EIx u00y 2 dz
2
0
4:117
However, one could object that the expression of the internal energy
(equation (4.117)) should actually be zero, as the principle of conservation of energy requires that
U U W
4:118
and in our case there are no externally applied forces, and so it would
seem
W 0
4:119
But obviously this is not really the actual situation. In fact, a displacement applied to its constraints requires the structure to assume a
certain conguration. Remembering what has been presented in
chapter 2, section 2.3, we can have two cases, namely
(a)
(b)
In the rst case the structure can move bodily without deforming, in
accordance to the kinematics of rigid bodies studied in chapter 2.
This is the case shown in Fig. 4.24.
Of course no strains are induced, as the reader can easily verify by
integrating Euler's equation of beam deformation with the following
128
uy
Fig. 4.24
boundary conditions
uy 0 0
uy l u and
EIx u00y l
at A
at B
4:120
4:121
We know as well that, in this case, in the absence of applied forces the
reactions of constraints are zero (section 2.3) and therefore U is eectively zero. The case of the structure in Figs 4.22 and 4.23 is, on the
contrary, that of a statically indeterminate system. In this case some
of the constraints are redundant and a rigid body displacement eld
cannot take place. An imposed displacement and/or rotation of the
built-in end B can only occur by means of a deformation of the structure. Moreover, we discover that at B we have non-zero values of the
bending moment and of the shear force, which represent the reactions
of the constraint. Thus, we have
6
u 4
MB
Ml EIx u00y l EIx 2
6 0
4:122
l
l
12
u 6
RB
Sl EIx u000
6 0
4:123
l
EI
x
y
l3
l2
Notice that also at A, i.e. for z 0, we also have non-zero values for
the reactions at the xed ends. These are
6
u 2
00
MA M0 EIx uy 0 EIx 2
6 0
4:124
l
l
12
u 6
000
RA S0 EIx uy 0 EIx 3 2 6 0
4:125
l
l
We will now see that the deection of the beam can be related to the
reactions arising at the constraints. First of all it must be pointed out
that the deformed conguration of the beam is the same as would have
obtained by considering a cantilever xed at A and subject to a force R
at the end B, where the values of the moment and force
and a couple M
are given by equations (4.122) and (4.123). This would have clearly
meant imposing the following two mechanical conditions at B instead
129
Fig. 4.25
RB
EI
x
y
l3
l2
4:126
4:127
and the result would have been seen to be identical. Because of this
result, let us evaluate the strain energy for the beam shown in Fig.
4.25, which is therefore perfectly equivalent to the beam in Fig. 4.23.
We have, by Clapeyron's theorem
1
1
R
u M
2
2
1
12
u 6
1
6
u 4
EIx
2 u EIx 2
2
2
l
l3
l
l
4:128
4:129
In other words, the strain energy stored in the beam results from the
work that we must perform against the stiness of the beam in order
to apply a given displacement at the built-end B. Therefore U is not
zero, and the principle of conservation of energy is not violated as
W is also not zero.
It should be noted that the magnitudes of the reactions, equations
(4.122) and (4.123), are linear functions of the bending stiness EIx .
As a consequence, very rigid structures induce very high values of
the bending moments and shear forces, even for quite small displacements of the constraints. At the end of this section we shall derive
130
uy
Fig. 4.26
4.9
4:133
In this, the nal section of this chapter, we wish to deal briey with the
eects of temperature changes on bars and beams. In section 1.2 we
presented the expression of the energy of a bar which we assume is in
equilibrium under the actions of equal and opposite axial forces N and
N and a temperature increase T T T0 . This is, see equation
131
(1.13),
ET; l 0 CT T0 12 k l 2 kl lT T0
We attribute the zero value of energy to the state dened by T T0
and l 0 l. The relationship between the elongation l l 0 l and
the applied forces and variation of temperature is given by equation
(1.12)
l
F
lT T0
k
where k is the axial stiness of the bar and is the coecient of linear
thermal expansion, which for small changes in temperature can be
considered constants for the material and the element. We can now
give a more precise meaning to the axial stiness k of the bar and,
remembering equation (4.5), write
1 EA 2 EA
l
l lT T0 4:134
2 l
l
Elucidating equation (4.134) it is noted that the rst term on the right
hand side of this equation, that is
ET; l 0 CT T0
CT T0
4:135
represents the heat stored in the bar and is directly related to the variation of temperature T T T0 . The second and third terms, i.e.
1 EA 2 EA
l
l lT T0
4:136
2 l
l
represent the dierence between the equation (4.8) for the elastic
energy U which would have been stored in the bar if the elongation
l l 0 l had been a consequence of the application of only the
axial forces N and N and a correction term. This term can be rearranged as
EA
l lT T0 NlT T0
4:137
l
and is seen to represent the work done by the axial load N as an eect
of that part of the elongation due to the thermal expansion only. This
work is not actually stored as elastic energy of the bar and is subtracted
from equation (4.8). The system is dened to be in equilibrium and
therefore the kinetic energy K has zero value. Therefore, from a
purely kinematic point of view the eect of the temperature increase
T T T0 can be reduced to the elongation
lT T0
4:138
132
Fig. 4.27
4:139
If the body is free to expand this state of strain is not associated with
elastic energy and the only energy stored in it is represented by the heat
expressed in equation (4.135). The unit change in volume "v , is given by
the expression
"v "xx "yy "zz 3 T
4:140
However, we may now also consider that the body is not free to
expand. For example, let us refer to the bar shown in Fig. 4.27. This
bar is clamped at each end and is subject to a temperature increase
T T T0 . The end constraints prevent any changes in length
and thus react to produce a state of strain which, superposed on the
thermal strain, makes the total strain equal to zero. From a mathematical viewpoint we have
N
l0
4:141
EA
where N is the axial force induced in the bar due to the constraint reactions, as shown in Fig. 4.28.
The value of the axial force is seen to be
l l T
N T EA
4:142
1 EA
T T0 l 2
2 l
4:143
133
l
l + l T
Fig. 4.28
B
l
Fig. 4.29
134
x
H
T1
Fig. 4.30
4:144
T T2 1
4:146
2
2
T T2 T1 T2
T T1 1
4:147
2
2
at H=2 and H=2, respectively. The situation is pictured in Fig. 4.31.
T2
T1
Fig. 4.31
+T
T=
T1 + T2
2
T=
T2 T1
2
T =
T1 T2
2
135
T2
T1
A
Fig. 4.32
we nd also
With reference to the uniform temperature variation T,
that the resulting thermal strains are uniform through the depth of the
beam and we have
"z T
4:148
On the other hand, with reference to the linear temperature variation
we nd that the thermal strains also vary linearly
between T and T,
through the depth of the beam and we have
2y
"z T
4:149
H
It is clear that this expression corresponds to a curvature of the
longitudinal axis of the beam given by
1
1
T
4:150
r
H
which is constant along the longitudinal axis of the beam. Therefore
the simply supported beam being considered here deforms in response
to the temperature variation as shown in Fig. 4.32, and the displacements at A and B are
l
uz B T dz Tl
uz A 0
4:151
0
l=2
A
0
l=2
B
0
1
l
dz T
H
2H
4:152
1
l
T dz T
H
2H
4:153
T
It is worth noting that in the case where the same variation of temperature is applied to a xed-ended beam (Fig. 4.33) the displacements
described in equations (4.151)(4.153) are not allowed any more.
136
B
T1
l
Fig. 4.33
In order to evaluate the reactions that arise at the ends, we can once
again imagine the thermal strains as given by the sum of the contributions in equations (4.149) and (4.150). With reference to the uniform
axial strain eld, equation (4.149), we have already found that the constraint reactions are represented by the forces
Ry A T EA
Ry B T EA
4:154
With reference to the linear strain eld, equation (4.149), by recalling
equation (4.33) we can write the elastic energy of the beam as
l
1
1
1 2
T
U
EIx
dz
2
r
H
0
l
1
1 2
EIx u00y T
dz
2
H
4:155
where the term between brackets is the elastic curvature, i.e. the
algebraic dierence between the total curvature and the thermal one.
The condition of equilibrium is
1
00
u00y dz 0
U EIx uy T
H
l
4:156
4:158
137
for
z0
z u0y z 0
and z l
for
z0
4:159
and z l
4:160
produces
uy z 0
4:161
This means that apparently the beam does not undergo any deformation. In reality the elastic strains compensate exactly the thermal
ones at any point of the beam. The bending moment resulting from
equation (4.157) is seen to be constant and has the same value of the
reactive moments at the constraints A and B, that is
1
MA M0 EIx u00y 0 EIx T
H
1
MB Ml EIx u00y 0 EIx T
H
4:162
4:163
3m
40 m
Fig. 4.34
35 m
138
q
20 mm
C
20 mm 15 m
20 mm
t
D
10 m
75 m
30 m
15 m
(a)
(b)
Fig. 4.35
2.
3.
A bridge consists of two longitudinal girders joined by a transverse beam carrying the load. The loading on the girders can be
represented by the uniform distributed load shown in Fig.
4.35(a). The girders have the cross-section geometry shown in
Fig. 4.35(b) and are made from steel with a modulus of 205 kN/
mm2 . The bottom anges of the girders are reinforced by increasing the thickness from 20 mm to 20 t mm so that the longitudinal strain in the ange at the mid-length, position C in Fig.
4.35(a), is equal to the strain at the quarter length, position D in
Fig. 4.35(a).
Calculate the required thickness t of the reinforcement and also
the reduction in the deection that will result from adding the
reinforcing plate.
[Ans: t 23:9 mm, the mid-span deection of the reinforced beam
is 76% of the beam without reinforcement]
The main beam of a bridge is supported at mid-span by a column
sitting on an elastic foundation, as shown in Fig. 4.36(a). This is
equivalent to the idealisation shown in Fig. 4.36(b) where the
column is represented by a spring with a stiness of k [N/mm].
q
EI
EI
(a)
Fig. 4.36
(b)
139
30 m
30 m
Fig. 4.37
4.
5.
50 mm diameter
2m
q
B
C
3m
Fig. 4.38
140
5.
Introduction
142
5.1
These are the two pillars on which the linear theory of elasticity is
founded, as indicated in Fig. 5.1.
The rst of the points above, which involves the linearity of the constitutive relationships of the model, is clearly a physical assumption,
Fig. 5.1
143
P
q
A
B
l/2
l/2
Fig. 5.2
and 0 0 at A
uy l 0
and Ml 0
5:1
at B
q
Fig. 5.3
144
qz2
2z2 5 l z 3l 2
48EIx
5:2
The solution for the beam in Fig. 5.2, subject to both the evenly distributed load q and the concentrated load P at the mid-point of the span, is
thus given by the simple addition of equation (5.2) to equations (4.80)
and (4.81), i.e.
u1y z
z2
9Pl 6ql 2 11P 10qlz 4qz2
96EIx
5:3
l z
2Pl 2 10Plz 5P 6qlz2 4qz3
96EIx
5:4
for z 2 l=2; l.
Of course we would have obtained the same expressions by writing
the condition of equilibrium for the beam subjected to both these
loads simultaneously and developing all the calculations accordingly.
However, as will become clearer in the following, the principle of
superposition of the eects is a very powerful tool not only from a
practical, but also from a theoretical point of view.
For example, let us x our attention on two apparently very simple
questions
.
.
145
Pi
V
u=0
Fig. 5.4
U f "ij dV
5:5
V
5:6
146
2 qx
qy
quB
x
qx
B
1 quy
quBx
2 qx
qy
"A
xx
"A
xy
"Bxx
"Bxy
5:7
5:8
5:9
5:10
5:11
"A
zz
"Bzz 2
B
A
B
2 "A
xx "xx "yy "yy
B
A
B
A
B
A
B
"A
xx "xx "zz "zz "yy "yy "zz "zz
21 2 A
B 2
A
B 2
"xy "Bxy 2 "A
"
"
"
dV
xz
xz
yz
yz
1
5:12
147
B
where U is zero only if "A
ij "ij . With reference to the relationships in
equations (5.7) and (5.8), this means that the displacement elds
uA x; y; z and uB x; y; z, which represent two dierent solutions of
the problem of the elastic equilibrium, must dier at most by a constant, corresponding to a rigid displacement of the whole body. Therefore, if, as is the usual condition, the geometrical constraints are such
as to prevent any rigid displacements, the two solutions A and B must
coincide and the uniqueness of the solution is demonstrated.
5.2
P1
Fig. 5.5
P2
148
P2
P1
Fig. 5.6
11
21
5:16
5:17
149
P uAB P uBA
5:18
6.
Introduction
6.1
152
6:1
K 0
6:2
we have
0
U W 0
6:3
6:4
6:5
153
(s)
E
D
A
B
C
h (s)
Fig. 6.1
where the work W is performed only by the force acting on the system,
i.e. the gravitational force P. The reaction R of the supporting surface
cannot perform work, as by its denition its direction is orthogonal to
any virtual displacement, which, by denition, must be tangential to
the landscape surface.
Since the gravitational force P is directed downwards, its virtual
work has value only in the case where a virtual displacement possesses
a vertical component. We are consequently led to the self-evident conclusion that the ball in the landscape represented in Fig. 6.1 cannot be
in equilibrium except at the top of a hill, the bottom of a valley or at a
point of inection.
In order to express the condition of equilibrium (equation (1.28))
with reference to the total potential energy of the system, we can write
s Phs
6:6
where h(s) is the height of the landscape path, described by the parameter s. The condition of stationary value of the total potential
energy is
s P hs P us W 0
6:7
and coincides with zero value for the virtual work performed by the
gravity force P, as shown in Fig. 6.2. It is worth noting that the
height function h(s) can be measured with reference to some base
level C. We already know that the value C of the constant cannot
aect the equilibrium, as we are interested only in variations.
From a physical point of view this means that only relative heights
are relevant and it does not matter if the whole landscape is raised of a
constant quantity everywhere.
154
h (s)
P
P
Equilibrium
No equilibrium
Fig. 6.2
6.2
(b)
155
6.3
6:8
and is a functional of the eld of vertical displacements uy z, according to Bernoulli's model of beam. As we have seen in chapter 4, the
strain energy functional Uuy can be expressed as
l
1
EIx u002
Uuy
y dz
2
6:9
1
2
Cotterill, James Henry (Norfolk, 1836 Parkstone, Dorset, 1922), English engineer.
Castigliano, Carlo Alberto (Asti, 1847 Milan, 1884), Italian engineer.
156
P
z
A
(B)
Fig. 6.3
and 0 u0y 0 0
Ml EIx u y00l 0
and uy l
6:10
6:11
Remember that the general integral of Euler's equation of beam deformation in the absence of point loads along the beam is the third-order
expression
uy z Az3 Bz2 Cz D
6:12
6:14
P0
6:15
d d
and allows us to state mathematically CotterillCastigliano's rst
theorem:
dU
P
d
6:16
157
6:17
d
l3
6:18
n
X
Pk k
6:19
k1
6:21
158
6.4
6:22
where WI is the component of work of the force Pi , i.e. the work done
by the force Pi along the line of the generalised displacement i;I and
due to the application of Pi only; WI;II is the displacement work done
by the force Pi along the generalised displacement i;II due to the
second group of loading; and WII is the component of work of the
second group of loading, Pj , on account of the generalised displacements due to the second group of loading itself.
As all the forcedisplacement relationships are linear, we can write
P
i;I i
6:23
K
where K is a stiness parameter. Therefore we can express the work WI
as
1
1 P
WI Pi i;I Pi i
2
2 K
and we get
6:24
1 P
U Pi i Pi i;II WII
6:25
2 K
At this point, provided we can express the strain energy U as a function
of the n generalised forces Pk k 1; . . . ; n, we can write down the
159
6:26
6:27
6:28
l
0
M 2 z
dz
EIx
6:29
6:30
l
0
P2 l z2
dz
EIx
6:31
P 2l 3
6EIx
6:32
160
M (z) = P (l z)
lt
B
z
y
l
Fig. 6.4
6.5
dU
Pl 3
dP 3EIx
6:33
6:34
6:35
25 m
161
25 m
1
B
1
5m
A
(a)
10 mm
X
X
125 mm
10 mm
100 mm
8 mm
12 mm
150 mm
200 mm
Section 2 2
Section 1 1
(b)
Fig. 6.5
P
z
2 1
6:36
162
l/2
l/2
EI1
EI2
Fig. 6.6
l/2
P/2
MC
Zone 1
HC
z1
z2
VC
Zone 2
HA
MA
VA
Fig. 6.7
163
Zone 2
M2 z2 MC
Pl
HC z2
4
6:36b
l=2
1 6
4
2EI1
l
1
M22 z2 dz2
2EI2
0
M12 z1 dz1
l=2
7
M12 z1 dz1 I M22 z2 dz2 5
6:37
where I I1 =I2 .
Substituting equation (6.36) into equation (6.37) and after integration the strain energy is obtained. This is
1
l
l2
l3
U
MC2 MC P P2
2EI1
2
8
96
3
3
l2
l3
2
2 l
2
2 l
MC HC l PHC HC
I MC l MC P P
2
16
4
3
The deformation conditions for the frame are, because of symmetry
Zero rotation at the position C, i.e. C 0
Zero horizontal displacement at position C, i.e. wC 0
Thus from the second of CotterillCastigliano's theorems,
C
qU
0
qMC
0
qMC 2EI1 8
2
6:38
For the horizontal deection at C, it is
wC
qU
0
qHC
164
Therefore,
qU
1
2
1 3
3
2
I
0
H l MC l Pl
qHC 2EI1
3 C
4
6:39
3P
82 I
MC
I 1
Pl
42 I
6:40
1
12
1
125 2243 12
115 2003 4:04 107 mm4
I2
1
12
1
100 1703 12
92 1503 1:51 107 mm4
1
MB = 4 (I + 2) Pl
B
1
MB = 4 (I + 2)
Pl
B
l/3
A M = 1 Pl
A
8 (2 + I)
Fig. 6.8
C
(I + 1)
MC = 4 (I + 2) Pl
165
hence
I
I1
2:68
I2
Taking rst the condition at position B for member AB, the moment is
MB 0:0534Pl 267P
the strain " is
"
My
EI
where y is the distance from the XX axis to the outer surface of the
ange. Thus,
267 P 85
" :
0:7 1:2 103
2 1 105 1:51 107
The maximum allowable value of the load, P, if the strain in member
AB at position B is not to exceed the specied level is
P 11:7 104 N
Considering now the strain at position C on the member BC,
983 P 112
0:7 1:2 103
" :
5
7
:
2 1 10 4 04 10
hence
P 6:47 104 N
It is evident that the lesser of the loads calculated above is that which
governs the permissible loading condition.
The vertical deection of the member BC at the point of application
of the load P, i.e. vc , can be calculated from the strain energy using
again CotterillCastigliano's second theorem
vC
qU
qP=2
qU
1 1
1 3
1 3 1
1
2
2
3
M l Pl I Pl MC l HC l
qP=2 2EI1 8 C
48
8
2
4
Hence, the vertical deection at C is
vC
1 2I Pl 3
2 I 96EI1
166
Thus
vC
1 2 2:68
6:47 104 50003
13:49 mm
2 2:68 96 2:1 105 4:04 107
370
l
This result can be considered acceptable as codied guidelines give
admissible levels of deection as
vC
1
180
l
R
X
d
b
Section X X
Fig. 6.9
167
A
B
D
2P cos
Fig. 6.10
2.
3.
q
D
t
l
60
Fig. 6.11
168
10 m
B
10 kN
C
1m
05 m
Fig. 6.12
4.
frame is not to exceed the material yield strain "0 of the tube
material.
[Ans: qa ED2 t"0 =16:8l 2 ]
A diving board consists of a beam attached to a frame, as shown in
Fig. 6.12. The board is to be proof tested by applying a 10 kN load
at the end C. Analysing the frame as being pin-jointed, calculate
the vertical and horizontal deections at C, hC , vC , that
would be expected to occur during the proof test. The beam has
a second moment of area of 5 104 mm4 and the bars have a
cross-sectional area 200 mm2 . E 200 kN/mm2 .
[Ans: hC 0:13 mm, vC 0:87 mm]
7.
Introduction
170
7.1
From the outset we must be aware that the method of trial functions is
an approximate approach that enables engineers to obtain predictions
for the response of complex structures to practical loading where no
exact solution to the behaviour of the structural model can be
obtained. The degree of approximation and how to estimate this is
considered in the following text.
So far we have dealt with basic ideas in the theory of elastic structures and in particular with the treatment of the Bernoulli model for
a beam. This is a particularly simple model of the behaviour of a
one-dimensional structure, with an approximation to the strain distribution that is quite satisfactory from an engineering point of view. As
we have seen in chapter 4, the general expression for the displacement
eld of a generic beam with constant bending stiness EIx is yielded by
the fourth-order dierential equation (4.43).
However, even in the simple case in which we need to take into consideration a straight beam whose section is variable along the axis and
subjected to a distributed load qz, the value of which is dependent on
z, we have seen in section 4.6 that we are led to a dierent and more
complicated equation, equation (4.86), that can be also written as
d2 uy z
d2
EIx z
qz
7:1
dz2
dz2
The solution of this equation cannot now be expressed as a fourthorder polynomial as was the case for equation (4.44), and the possibility of obtaining a closed form is strictly dependent on the particular
expressions of the functions EIx zand q(z) for the problem at hand.
This in the general case is not possible.
Thus even this very simple case clearly illustrates the necessity for
establishing an approximate method of solution. As was pointed out
in chapter 6, the ability to provide approximate solutions is one of
the most important applications of the principle of stationary value
of total potential energy, i.e. determining approximate solutions to
the problem of elastic equilibrium. This important application of the
principle of stationary potential energy is made by assuming equations
(6.2) and (6.3) as starting points and making use of trial functions. This
application is described below.
The trial function is essentially a possible representation of the
unknown quantity that has been used to describe the total potential
energy functional; in general this quantity is the displacement eld of
the structure or its elements. Under some circumstances, the quantity
is also called the shape or coordinate function.
171
7:2
7:3
for
z 0 and
Mz EIx u00y 0
for
zl
7:4
z0
and z l
7:5
172
uy* = a sin
z
l
Fig. 7.1
l
l
4
z
1
2
2 z
dz qa sin
dz
EIx a 4 sin
2
l
l
l
0
4
ql
EIx a2 2 a
3
4l
7:8
a4
ql 4
EIx 5
7:9
173
(exact solution)
ql 4
uy l=2 0:0130711
EIx
(trial function)
7:10
7:10b
7.2
174
RayleighRitz.1;2 Section 7.1 has shown that the goal of the method of
trial functions consists of commuting the minimisation of a functional,
which requires a variational treatment and leads to a dierential
formulation, to the minimisation of a function, which is achieved by
means of elementary derivatives and leads to an algebraic problem.
Algebraic formulations are very much easier to solve than ones involving functionals.
The RayleighRitz procedure consists of the following steps
(a)
(b)
(c)
(d)
(e)
1
Lord Rayleigh (Strutt, John William) (Langford Grove, Essex, 1842 Witham, Essex,
1919), English physicist.
2
Ritz, Walther (Sion, Valais, 1878 Gottingen, 1909), Swiss physicist.
175
B
l
Fig. 7.2
7:11
(b) Select a shape function with several degrees of freedom, for example we choose here ve variables of the type
z
z
b1 cos
uy a0 a1 sin
l
l
2z
2z
b2 cos
7:12
a2 sin
l
l
where the variables are a0 , a1 , b1 , a2 , b2 .
This shape function must satisfy the geometrical boundary conditions at A and B in Fig. 7.2, i.e.
uy 0 and u0y 0
uy z 0
for
z0
for z l
7:13
7:14
As we have
z
z
b1 sin
uy 0 a1 cos
l
l
l
l
2
2z
2
2z
b2 sin
a2 cos
l
l
l
l
7:15
176
7:17
b1 0
and consequently the suitable trial function is
2z
2z
z
1 a2 sin
2 sin
uy b2 cos
l
l
l
7:18
(c) We substitute the trial function, equation (7.18), into the energy
functional, equation (7.11) and integrate over the length l of the
beam
uy
l
l
1
00 2
EIx uy dz qu dz
2
0
2
l
1
4
2z
EIx b2 2 cos
2
l
l
0
2
42
2z
22
z
a2 2 sin
2 sin
dz
l
l
l
l
l
2z
1
q b2 cos
l
0
a2 sin
2z
l
2 sin
z
l
dz
7:19
177
7:21
q 16EIx 3
8EI
a2 3 x 4 b2 ql 0
3
qb2
3l
l
EIx 2
162 454 128 3602
a2
7:22
7:23
Back substituting the results in equations (7.22) and (7.23) in the trial
function, equation (7.18) we have the expression for the approximate
solution of the problem of the elastic equilibrium for the beam
shown in Fig. 7.2.
It is instructive to compare the values of the deection, of the slope
and of the bending moment at the middle of the span furnished by the
two term trial function, equation (7.18), with those derived from the
exact solution, see equation (5.2). With regard to the deection at
the mid-span we have
ql 4
uy l=2 0:0052083
EIx
(exact solution)
uy l=2
(trial function)
ql 4
0:0043468
EIx
7:24
ql
l=2 u0y l=2 0:0052083
EIx
0
l=2
uy 0 l=2
ql 3
0:0070998
EIx
(exact solution)
7:25
(trial function)
178
That is, the trial function over-estimates the slope at the mid-span with
an absolute error of 36.3%. Finally, with regard to the bending
moment we have
Ml=2 EIx u00y l=2 0:0625000ql 2
(exact solution)
(trial function)
7:26
showing that the trial function provides a good estimate for the
moment at mid-span and has an error of 1.6%.
It is worth noting that, despite the fact that we have employed a trial
function with ve degrees of freedom, we have obtained an approximate deection that is 16.6% larger that the exact one, while in the
previous section we got an error of 0.39% using a trial function with
only one degree of freedom. Moreover, in the example shown above
the approximation for the slope is much worse than that for the deection and the approximation for the bending moment is far better than
those for the deection and the slope. This variability of the degree of
accuracy of the approximate results is due to the capability of the
particular chosen trial function to t the exact solution and its derivatives. This aspect of the method underlies much of the problems associated with approximating techniques in structural mechanics and will
be discussed to more detail in the next section.
7.3
So far we have presented the results obtained for the beam shown in
Fig. 7.2 by means of the trial function described in equation (7.12) in
comparison to the exact solution given by the expression (equation
(5.2)). In order to make some simple observations about the quality
of the results yielded by the RayleighRitz method, let us take into
account another trial function, once again of the type
z
z
nz
uy a0 a1 sin
b1 cos
an sin
l
l
l
nz
7:27
bn cos
l
It is natural to expect that the quality of the approximation tends
to increase along with the number of degrees of freedom since the
additional terms may be thought of as giving greater exibility to the
functions to meet the requirements for the minimum energy conditions. To check this hypothesis we assume a seven degrees of freedom
179
Table 7.1
N
uy l=2
l=2
My l=2
5
7
exact
0:004347ql 4 =EIx
0:005097ql 4 =EIx
0:005208ql 4 =EIx
0:007100ql 3 =EIx
0:004711ql 3 =EIx
0:005208ql 3 =EIx
0:063499ql 2
0:059914ql 2
0:062500ql 2
z
z
2z
b1 cos
a2 sin
a0 a1 sin
l
l
l
2z
3z
3z
a3 sin
b3 cos
b2 cos
l
l
l
7:28
uy uy %
y y %
My My %
5
7
16.54%
2.13%
36.32%
9.54%
1.60%
4.14%
180
a
y0
db (y0)
dz
y
z
Fig. 7.3
181
for
zl
7:29
7:31
b2 0
As a consequence, the trial function becomes
2z
z
2 sin
uy a2 sin
l
l
7:32
If we substitute equation (7.32) in potential energy functional, equation (7.11) and integrate, as before, over the length l of the beam, we
obtain
5EIx 4 2 4ql
a
a2
7:33
2
l3
It should be noted that by imposing an additional condition, i.e. the
moment requirement, another degree of freedom has been suppressed
and so the substitution of the approximating function, equation (7.32),
into the energy functional, equation (7.11) results in a function only of
the parameter, a2 .
We minimise the function a2 with respect to the parameter a2 ,
and get
a2
d 10EIx 4
4ql
0
a2
da2
l3
7:34
182
2ql 4
5EIx 5
7:35
ql
uy l=2 0:0026142
EIx
3
ql
l=2 0:0082128
EIx
7:36
7:37
7.4
183
and
duy
0
dz
at z 0
d
2
dz2
d 2
2l 3
l
0
7:40
and note again that the exural stiness EIx must be contained
within the integral sign since for this beam the stiness varies along
the beam.
From equations (4.82) and (4.83) we can write the second moment of
area for the beam as
3
bd1
Ix
1 1 3 Ix 1 1 3
7:41
12
where Ix is the second moment of area corresponding to the crosssection geometry of the cantilever at the built-in end and d2 =d1 .
184
7:42
3 2
3
1 21 61 a21 7:43
16
The total potential energy of the deformation of the cantilever comprises the strain energy due to the exure of the beam and the loss of
potential of the load P applied at the tip of the cantilever. Thus
U Puy l U Pa1
7:44
7:45
Pl 3
uy 1 :
3 02EI1
0:5
Pl 3
uy 1 :
1 95EI1
Pl 3
uy 1 :
1 31EI1
7:47
185
Fig. 7.4
186
10
05
0
0
02
04
06
08
10
Fig. 7.5
q
0
qa2
7:49
f1
f2
f3
f4
a1
a2
Pl 3 1
0
2E Ix 1
7:50
3 2
16 1
2 3 34 1 3 32 3
1 4
1 2 3
64
f2
135 2
64 1
2
3
23 2 23 3 27
4 1 3 3
f3
135 2
64 1
2
3
23 2 23 3 27
4 1 3 3
f4
27 2
16 1
2 3 94 3 2 33
4
2
3
81
64 1
7:51
187
25
Exact solution
20
uy (1)
15
10
05
0
0
02
04
06
08
10
Fig. 7.6
The values for the generalised coordinates in the trial function are
simply calculated using
Pl 3 1 f2
a1
f1
2EI1
7:52
Pl 3
f3 f1
a2
2EI1 f2 f3 f4 f1
and the deection at the tip of the cantilever is obtained from
uy 1 a1 a2
7:53
7.5
188
appreciation of the physical meaning of the problem. Generally, engineers develop with practice a good `feel' for the deected shapes of
structures. However, one may wonder if there is a systematic way of
nding such a function and, more importantly, if this function tends
to converge to the exact solution along with the increase of the
number of degrees of freedom taken into consideration.
The answer is yes, but unfortunately this is a quite complicated
matter and cannot be reasoned on the basis of simple mathematics,
to which this book is restricted. We will simply state that in order to
establish some criteria of convergence for the trial function, in the
rst instance we must deal with a special set of approximation functions, also named coordinate functions.
These coordinate functions fi are characterised by the following
properties
.
.
.
nz
an sin
l
7:55
is a set of coordinate functions. Each of the terms in the series, equation (7.54) fulls the geometrical boundary conditions specied in
equation (7.4). On the other hand, with regard to the beam shown in
Fig. 7.2 the choice of the approximate function described in equation
189
(7.27), i.e.
uy
z
z
nz
b1 cos
an sin
a0 a1 sin
l
l
l
nz
bn cos
7:56
l
7.6
It is fairly evident from the foregoing examples and analyses that the
RayleighRitz technique cannot be simply and directly automated for
general use in practical structural analysis. Nevertheless, the power of
the method lends value to the search for an automated application.
This section presents the basis whereby the method of trial functions, as applied to beams, may incorporate simple functions that,
through the stationary conditions of the potential energy of the
structure, can combine to describe the deected shape of beams with
a variety of boundary and loading conditions to a high degree of accuracy. The approach is introduced here as the localised RayleighRitz
technique, but it may be seen essentially as the progenitor of the
nite element method.
Suppose we sub-divide a beam into a number of regions. The end
points of these regions are called nodes and are numbered sequentially
along the beam, as shown in Fig. 7.7.
Now, we consider a trial function centred on one of these nodes, i, as
shown in Fig. 7.8.
The trial function has the following attributes
.
.
.
l
1
1
2
2
region 2
Fig. 7.7
3
3
4
4
5
5
6
6
node 5
7
7
8
8
9
9
10
10
11
190
i 2
li
i 1
fi
i +1
i+ 2
z
zi1
zi
Fig. 7.8
0 z i li
7:57
and 0 i 1
7:59
i 1
ui 1
i 1
Fig. 7.9
ui
i+ 1
191
at i 1 0
fi 1 i 1 1
at i 1 1
dfi 1 i 1
0
di 1
7:60
at i 1 0 and 1
7:61
The trial function fi between nodes i and i+1 is obtained in the same
way, and the corresponding polynomial function is
fi i 1 3i2 2i3
7:62
i 0
fi i 0 at
i 1
dfi i
0 at
di
7:63
i 0 and 1
With this trial function the deection of the beam is obtained by multiplying the trial function by the deection, ui , at node i as shown in
Fig. 7.9.
It is clear in the gure that the deection of the beam in the region
between nodes i 1 and i is governed only by the values of the deections at these nodes.
This region between the nodes is called an element and the deection
function for element i 1 can be obtained by combining equations
(7.61) and (7.62), i.e.
uiy 1 1 ui 1 1 3i2 1 2i3 1 ui 3i2 1 2i3 1
7:64
EI
x
2
li 1
EI
3x
2li 1
d2 uiy 1 zi 1 2
dzi 1
dz2i 1
1 2 i 1
d uy i 1 2
di 1
di2 1
0
EI
3 x 12
ui 1 ui 2
2li 1
7:65
192
Elements
Nodes
Fig. 7.10
EIx
12
u1 u2 2
u2 u3 2
3
2l=4
u3 u4 2
u4 u5 2
7:66
U P
u3
Now, the boundary conditions for the simply supported beam are
u1 0
and
u5 0
7:68
384EIx 2
u2
u2 u3 2
u3 u4 2
u4 2 P
u3
l3
7:69
The equilibrium conditions result from the stationary value of the total
potential energy, that is
q
0;
q
u2
q
0;
q
u3
q
0
q
u4
7:70
193
Pl 3
768EIx
u2 u4
and
u3
2
7:72
It is evident that this value for the deection at the mid-length of the
beam is quite dierent from the exact analytical solution of Euler's
equation of beam deformation, i.e.
uy l=2
Pl 3
48EI
7:73
u8
(7.74)
194
Elements
Nodes
Fig. 7.11
Pl 3
768EIx
u
u2 u8 5 ;
4
and
u
u3 u7 5 ;
2
3
u
u4 u6 5
4
7:75
which does not dier from equation (7.72). It is therefore clear that
this approach is not very fruitful. The reason lies in the fact that the
choice of the localised trial function was such as not to allow any rotations at the nodes, as a result of the third of the boundary conditions,
equations (7.60) and (7.63). In other words, the representation of the
deection makes the beam unrealistically over-stiened.
As mentioned before, the alternative approach to improve the accuracy of the localised method is to increase the complexity of the trial
function within an element. Thus, we now extend the trial function
for an element of the length of the beam to include two degrees of freedom at each node. These degrees of freedom relate to the deection at
the node i, ui , and the slope at that node, i .
Following the approach shown above for the derivation of the trial
function for the deection, the shape for the trial function for the slope
at node i is shown in Fig. 7.12.
The corresponding boundary conditions are
gi 1 i 1 0
at i 1 0; 1
dgi 1 i 1
0
di 1
at i 1 0
d gi 1 i 1
1
di 1
at i 1 1
7:76
i 1
g (i)
i
gi
i+ 1
i+ 2
z
i 1
195
Fig. 7.12
gi i 0
at i 0; 1
dgi i
1
di
at i 0
dgi i
0
di
at i 1
7:76 cont:
7:77
7:78
196
EI
3x
2li 1
1
0
d2 uiy 1 i 1
di2 1
2
di 1
EIx
12
u2i 1 12
ui 1 i 1 12
ui 1 i 42i 1
2li3 1
12
ui i 1 4i 1 i 12
u2i 12
ui i 42i
It is worth noticing that the results from evaluating the partial derivatives of the strain energy with respect to the degrees of freedom ui 1 ,
i 1 , ui and i , in matrix notation are
2
3
qUi 1
6 q
7
6 ui 1 7
32
2
3
6 qUi 1 7
ui 1
24 12 24 12
6
7
7
6
6 q
7
8
12
47
EIx 6
76 i 1 7
6 12
6 i1 7
7:79
76
7
6
7 3 6
6 qUi 1 7 2li 1 4 24
12
24
12 54 ui 5
6
7
6 q
7
12
4
12
8
i
6 ui 7
4 qU
5
i1
qi
Essentially this is the basis for the stiness matrix for a typical element. In the analysis of the simply supported beam, given the increased
complexity of the trial function, we may restrict ourselves with a subdivision of the beam into only two regions, as shown in Fig. 7.13.
The total potential energy is
U P
u2
7:80
and again, once the boundary conditions for the simply supported
beam, i.e. u1 0 and u3 0, have been imposed, the equilibrium
P
1
Fig. 7.13
Elements
Nodes
197
q
0;
q
u2
q
0;
q2
q
0
q3
7:81
Pl 3
48EIx
7:83
This corresponds exactly with the result from the analytical solution of
Euler's beam deformation equation, primarily because that solution
shows the beam deformation can be described by a cubic function of
z and the localised trial functions used here include cubic terms.
In conclusion, it is worth noting that a further step to introduce the
automation of the procedure can consist in applying the natural
boundary conditions after the stationarity of the total potential
energy has been required. In the case at hand it would have meant
rst writing the results of equation (7.81) as
2
32 3
2 3
u1
24 12
24 12
0
0
0
6 12
7
6
7
6
7
8
12
4
0
0 76 1 7
6
607
6
76 7
7
3 6
6 24
617
12
48
0 24 12 76 u2 7
6
76 7 Pl 6 7 0
6 12
6 7
6 7
4
0
16
12
47
6
76 2 7 4EIx 6 0 7
6
76 7
6 7
4 0
405
0 24
12
24
12 54 u3 5
0
0 12
4
12
8
0
3
7:84
198
Elements
Nodes
Fig. 7.14
and then setting u1 0 and u3 0 by eliminating the rows and
columns relating to u1 and u3 , which gives the matrix shown in
equation (7.82).
In this manner the formulation can very easily be adjusted to enable
the analysis of beam with other boundary conditions than simply
supported. This can be exemplied with regard to a cantilever beam,
encastre at node 1 and having a concentrated load P at node 3, see
Fig. 7.14.
The natural boundary conditions are
u1 0
and
1 0
at node 1
7:85
Thus, we can simply eliminate the rst two rows and columns from the
matrix (7.84) and set the contribution of the load P at node 3. The equilibrium equations are
32 3
2
2 3
u2
48 0 24 12
0
3 6 7
7
6 0 16
7
6
12
4 76 2 7
Pl 6 0 7
6
7:86
76 7
6
6 70
4 24 12
24
12 54 u3 5 4EIx 4 1 5
12 4
12
8
0
3
and the result from this matrix equation is
u3
Pl 3
3EIx
7:87
To sum up, we see that with an accurate choice of the shape functions,
even with only two elements this approach of localised functions provides the exact answer for the deection of the cantilever and the central
deection of a simply supported beam. However, perhaps even more
impressive is the ease with which the resulting matrix formulation can
be particularised to incorporate the relevant boundary conditions for
the structure. It is this capability of the localised RayleighRitz
199
7.7
l/2
Symmetry
P
Node 3
B
l/2
Region 3
Region 2
I2
I1
Node 4
I2
Node 2
l=5m
l/2
I=
Region 1
Node 1
A
Fig. 7.15
I1
I2
= 268
200
u3 0 at B
4 0 at C
and
Applying these boundary conditions and taking into account the term
relative to the potential of the vertical load P the condition of equilibrium of one half of the symmetric frame is
2 3
2
32 3
48 0
12
0
u2
0
6
6
7
6
7
4
0 76 2 7 P 6 0 7
4EI2 6 0 16
7
6
76 7 6 7 0
3
4
4
5
4
5
2
12 4 81 I 12I
l
05
3
0
12I
24I
u4
The matrix equation can be solved to give the deected shape for the
portal frame corresponding to various values of I.
201
1
Pl 3
191:97 EI1
1 Pl 3
192 EI1
Thus the analysis compares nearly exactly with the analytical formulation. This is because the analytical solution which describes exactly
the deformations of the members of the frame is a cubic polynomial.
The trial function actually is also a cubic polynomial and therefore
completely satises the requirement.
Consider now the analysis of the portal frame shown in Fig. 6.5,
which has been shown in section 6.5 to have I 2:68. We have the
result from the matrix analysis as
3
2 :
2 3
u2
0 0134
7
6 7
Pl 3 6
6 0:0134 7
6 27
7
6 :
6 7
4 3 5 8EI2 4 0 0534 5
0:0423
u4
Hence the deection u4 at mid-span of the horizontal member, for a
load, P 64:7 kN, is
Pl 3
u4 0:0423
8EI2
202
d 2 uy
d2
2
ui 1 1 3 2 2 3 i 1 2 2 3
2
d
d
ui 3 2 2 3 i 2 3
ui 1 6 12 i 1 4 6
ui 6 12 i 2 6
2
d 2 uy
1 d uy
dz2
ln2 d 2
4
u3 6 12 3 4 6
l2
u4 6 12 4 2 6
where
0 at node 3, 1 at node 4 and with u3 4 0:
The result from the analysis for I 2:68 gives the curvature at C as
d 2 uy
Pl
Pl
20:0534 60:0423 :
2
2EI2
13 605EI2
dz
2.
3.
203
B
EI
Fig. 7.16
EI
2EI
l
Fig. 7.17
204
A
EI
Fig. 7.18
8.
Introduction
206
8.1
207
45
30
A
P
Fig. 8.1
1 EA 0
l l2
2 l
208
Fig. 8.2
8:2
8:3
l' i
209
ux (K )
uy (K )
K
ux (J)
uy (J)
J
li
Fig. 8.3
freedom, that is, the degrees of freedom are the two components of
displacement of the point A, which in our example, see Fig. 8.1, is
the only one free to move. Once we have dened its position under
the applied load P, then we can immediately determine for each
member how much it is stretched and the value of the axial force it
is carrying (see equation (4.7)). In order to achieve this, let us relate
the initial and nal lengths of each bar to the coordinates of its ends
and to the displacement of the point A. With reference to Fig. 8.3,
we can write for a generic element, whose end points are J and K
q
l i xK xJ2 yK yJ2
8:4
s
fxK ux K xJ ux Jg2
l 0i
8:5
fyK uy K yJ uy Jg2
The following relationships hold true between the angle i and the
coordinates of the end points J and K
cos i
1
xK xJ
li
8:6
sin i
1
yK yJ
li
8:7
210
8:9
sin i
cos i
ux J
uy J
ux K
uy (K)
ux A
uy A
l 0BA l BA ux A
U BA
8:10
1 EABA
ux A2
2 l BA
8:11
Element CA
i
sin i
308
12
cos i
p
23
ux J
uy J
ux K
uy K
ux A
uy A
p
3
1
ux A uy A
l
l
2
2
p
2
CA
1 EA
1
3
CA
u A uy A
U
2 l CA
2
2 x
0CA
CA
8:12
8:13
Element DA
i
458
sin i
p
22
cos i
p
2
2
ux J
uy J
ux K
uy K
ux A
uy A
p
p
2
2
u A
u A
l
l
2 x
2 y
p
p
2
1 EADA
2
2
DA
u A
u A
U
2 l DA
2 x
2 y
0DA
DA
211
8:14
8:15
2 l BA
2 l CA
2
2 x
p
2
1 EADA
2
2
u
u
A
2 l DA
2 x
2 y
Px ux A Py uy A
8:16
212
us to determine the exact position in the plane of the structure after the
deformation has taken place.
In addition, quite distinct from what happens for the systems of rigid
bodies examined in chapter 2 that can experience a displacement eld
only and only if the constraints are not sucient to x their position in
the space, elastic structures always tend to deform under loading, even
if rigid body displacements are prevented by the restraints. Strictly
speaking, any elastic body can be thus thought to be characterised
by an innite number of degrees of freedom, as each of the degrees
is necessary to dene the displacement of any of its points. However,
if we can describe by means of appropriate functions the behaviour
of an individual elastic element, as in the case of the elongation of
axially loaded bars or the solution to Euler's equation of beam deformation, we can always analyse very complex structures by dividing
them into their members and studying the overall systems with respect
to a nite number of variables, which we call once again degrees of
freedom of the system.
As we have just seen, in the case of the pin-jointed structures these
variables can be assumed to be the displacements of the joints, or
nodal points, that link the structural components together.
8.2
In the present section we will show how the equilibrium equations that
we have derived in section 8.1 can be formulated in a much more compact form, one that is particularly suited to automatic processing by
means of computers. Many engineering structures consist of a collection of bars and beams assembled together to provide an ecient
way for resisting applied forces and carrying required loads. From a
theoretical point of view these structures can always be treated as
has been shown in the previous section, but following those procedures
step-by-step would generally involve incredibly lengthy and timeconsuming hand calculations even, as we have seen, in the case of a
fairly small number of members. However, the use of computers
oers the possibility of analysing very complex structures in a very
short time and requires minimal eort on the part of the engineers,
provided the problems are formulated in a suitable manner.
The use of linear algebra, i.e. matrix notation, stems naturally when
performing calculations on a computer, as it allows very large group of
numbers to be manipulated in a systematic and well-established
manner. At the same time a matrix approach to the analysis of structures makes possible a comprehensive method that applies to a wide
variety of types of frame structures and requires only some eort to
213
input the data dening the frame geometry, the material properties and
the loading, thus minimising the possibility of errors. Many standard
commercially developed programs are now available for use on even
quite small computers. These programs provide a capability for
calculating the displacements and strains for frames ranging from
the simplest, with say three or four members, to very complex
frames with hundreds of members. The intention here is to explain
the mechanics that underlies the computation in the programs.
As an aid to our presentation of how it is possible to formulate the
equilibrium equations in a matrix form, let us once again make reference to the pin-jointed structure of Fig. 8.1. In section 8.1 the key point
of our presentation was the analysis of the truss in terms of its individual members, whose behaviour has been related to the displacements
of the nodal joints. Following exactly the same line of reasoning, let us
try to express the same steps in a matrix format. First of all, we can recast equation (8.9) in matrix notation, which provides the relationship
between the nal and the initial lengths of each bar as function of the
displacements of its end points and of the angle of the bar in the
plane. Thus, we have
2
3
u J
"
# x
6 u J 7
0
0
cos i sin i
6 y
7
l i l0i 1 1
7
i
i 6
4
5
u
K
0
0
cos sin
x
uy K
8:19
This notation enables us to identify a matrix containing terms that provide information about the position of the i-th member in the frame,
i.e.
"
#
0
0
cos i sin i
i
R
8:20
0
0
cos i sin i
A central component in equation (8.19) is the vector containing the
displacement of the member's end nodes in the general reference
frame xy, i.e.
3
2
ux J
6 u J 7
7
6 y
8:21
Di 6
7
4 ux K 5
uy K
Notice that the product between Ri and Di results in the vector d i
214
u (J)
u (J)
Fig. 8.4
1 d i 1
1 Ri Di
8:23
EAi i EAi
l i 1
li
l
1 Ri Di
8:24
1 Ri Di 1
1 Ri Di
8:25
In order to reach a much more meaningful expression to our purposes, we notice that, as the transpose of a scalar (in our case a real
number) is the scalar itself, we can apply the transpose chain rule to
215
the rst three matrices from the left in equation (8.25) (whose product
is a scalar quantity) and write
1 i i 1 EAi i T i T 1
i
1 1 Ri Di
D R
8:26
U N l
2
2 li
1
By expanding the middle product between vectors and rearranging the
terms, we obtain
1 1
1 i i 1 i T i T EAi
i
U N l D R
Ri Di
8:27
2
2
l i 1
1
The term
1 1
EAi
K i
l
1
1
i
8:28
qu J qu K
8:30
which by virtue of equations (8.22) and (8.27) implies that the stiness
matrix K i must be symmetric.
It is worth noting also that the term
1 1
EAi
K i Ri T i
Ri
8:31
l
1
1
216
8:33
8:34
At this point the total potential energy of the whole pin-jointed structure, which we have already expressed in equation (8.16), can easily be
re-cast in matrix notation.
In order to keep the procedure as general as possible (as is desirable
for a procedure suitable for computer implementation), we align all the
nodal displacements in the vector D, namely
DT ux A uy A ux B uy B ux C uy C ux D uy D
8:35
The required matrix form of the total potential energy is then accomplished by assembling a joint stiness matrix that is obtained by summing contributions corresponding to each node from the member
stiness matrices K i . This is obviously equivalent to summing all
the expressions of the elastic energy relating to each bar, being the
associative law of multiplication valid for the matrix product.
In fact, let us write the expression of the generic member stiness
matrix K i in complete detail
2
K i
cos2 i
i
i
EAi 6
6 sin cos
6
l i 4 cos2 i
sin i cos i
sin i cos i
cos2 i
sin i cos i
sin2 i
sin i cos i
sin i cos i
cos2 i
sin2 i
sin i cos i
sin2 i
sin i cos i
sin2 i
3
7
7
7
5
8:36
217
cos2 BA
6 sin BA cos BA
6
6
6 cos2 BA
6
BA 6
BA
BA
EA
6 sin cos
AB
K BA 6
6
l
0
6
6
6
6
4
0
cos2 BA
cos2 BA
sin2 BA
sin2 BA
07
7
7
07
7
07
7
7
07
7
07
7
7
05
sin
BA
sin
BA
cos
BA
BA
sin
(8.37)
2
cos2 CA
6 sin CA cos CA
6
6
6
0
6
CA 6
EA
0
6
CA
K CA 6
6
l
cos2 CA
6
6 sin CA cos CA
6
6
4
0
0
sin
CA
cos2 CA
sin
CA
cos
CA
sin
CA
cos2 CA
sin2 CA
sin2 CA
0
0
0
0
0
0
0
0
0
0
0
0
07
7
7
07
7
07
7
7
07
7
07
7
7
05
0
(8.38)
2
cos2 DA
6 sin DA cos CA
6
6
6
0
6
DA 6
EA
0
6
DA
K DA 6
6
l
0
6
6
0
6
6
4
cos2 DA
sin DA cos DA
sin
0
DA
0 0
cos2 DA
DA
sin
cos
DA
0
0
0
0
0 0
0 0
0
0
0
0
0
0
0 0
0 0
0 0
0
0
0
0
0 0
0 0
cos2 DA
sin DA cos DA
0
0
0
sin
0
0
0
3
7
7
7
7
7
7
7
7
7
7
7
7
7
5
(8.39)
Thus, the following expressions are valid:
U BA 12 DT K BA D
8:40
U CA 12 DT K CA D
8:41
U DA 12 DT K DA D
8:42
and it follows immediately that the elastic energy stored in the frame is
218
given by
U U BA U CA U DA
12 DT K BA D 12 DT K CA D 12 DT K DA D
12 DT KD
is the combined stiness matrix, that is
where K
K BA K CA K DA
K
8:43
8:44
0 0
0 0
8:45
8:46
and, consequently
U W 12 DT KD
DT P
8:47
At this point it is worth noting that if the reader takes the trouble to
develop the expression in equation (8.47) to its full extent by means of
the values given in the tables in section 8.1, he will nd a somewhat different result from that in equation (8.16). This is because that up to this
point we have considered as active all the possible displacements of the
nodes A, B, C and D. Even if this fact may not seem to be reasonable,
since the displacements of the joints B, C and D are actually prevented
by the attachment to a rigid wall, the reason is that we are developing
here a method suitable for an automatic procedure and our steps must
conveniently correspond to several distinct phases of operation of a
computer program. Similarly to that shown in section 7.6 in the case
of the method of localised Rayleigh functions, there is no necessity
to identify the active degrees of freedom at an early stage, as this
would impose a particularisation on the stiness matrices of the elements and prevent the possibility of implementing a totally automatic
manipulation of the data.
Moreover, to enhance further the generality of the approach we
can extend the applied load vector to include the reactions at the
constraints. Thus the loading vector in this example becomes
PT Px A Py A Rx B Ry B Rx C Rx D Ry D
8:47b
219
8:48
8:49
8:50
DII
PII
KI;II T KII
where we rearranged the equations in order to distinguish two subarrays in the nodal displacement vector D, namely DI and DII ,
corresponding, respectively, to the degrees of freedom that are active
and to the degrees of freedom which are actually suppressed by the
restraints. At the same time we distinguish two sub-arrays in the
load vector P, PI and PII ; the rst corresponds to the loads applied
to the free joints, the second to the reactions which arise at the
restrained ones. It goes without saying that the set PI is assigned,
while the set PII is unknown, as the displacements DI are unknown
and the displacements DII are set to zero. This happens because we
can obviously assign kinematic or mechanical conditions at any
degree of freedom, but never both at the same time.
220
8:51
8:53
8:55
once any rigid body displacement has been suppressed. From a physical point of view the set of equations (8.54) requires that the sum of the
elastic reactions from the end joints of each element balances the
applied forces at any joint of the structure. In the present example
this is composed only of the force P at A.
At this stage one is allowed to wonder why we have gone through all
these lengthy and apparently cumbersome calculations in order to
obtain equation (8.54).
The reason lies in the fact that once we have established that the conditions of equilibrium (equation (8.48)) can be expressed in the form shown in equations (8.49)(8.54),
we can directly and automatically build a similar system for any plane pin-jointed
structure without bothering to repeat all the underlying reasoning in terms of energy.
As a matter of fact, the only data required to produce the equilibrium equations (8.49) are the geometry of the structure, the denition
of the load and the form of the generic element stiness matrix, equation (8.36). The imposition of the restraint conditions leads subsequently and without eort to equation (8.54).
221
This constitutes the basis of the so-called direct stiness method that
in the next chapter we will apply to rigid-jointed frames.
8.3
The example concerns the analysis of a simple truss, shown in Fig. 8.5.
The structure is pinned to a rigid foundation at A and D and has a
horizontal load, P1 , applied at the joint B and a vertical load, P2 ,
applied at C.
The loads are applied proportionally such that
P1 2P2
The frame is composed of circular hollow sections, with a mean
diameter of dm 250 mm and a wall thickness of t 7:5 mm. The
cross-section area of the members is
A 257:52 242:52 5:890 103 mm2
4
The Young modulus is
E 2:1 105 N=mm2
The axial stinesses of members AB, BC and CD are equal and is
EA 2:1 105 5:890 103
3m
+ve
A
3m
Fig. 8.5
222
2
2
60
6
K AB k1 6
40
1
0
0 1 7
7
7
0
05
3
ux A
6 u A 7
6 y
7
DAB 6
7
4 ux B 5
uy B
Member BC
i BC 0
2
6 0
6
K BC k1 6
4 1
0
1 0
0 07
7
7
1 05
0 0
ux B
6 u B 7
6 y
7
DBC 6
7
4 ux C 5
uy C
Member CD
i CD
2
2
1
0
0
0
1 7
7
7
05
0 1
60
6
K CD k1 6
40
ux C
6 u C 7
7
6 y
DCD 6
7
4 ux D 5
uy D
Member AC
i AC
K AC
4
2
1 1
k2 6
6 1
6
2 4 1
1 7
7
7
15
1 1
3
ux A
6 u A 7
6 y
7
DAC 6
7
4 ux C 5
uy C
223
224
a
a
0
0
7
6
6 a
a
0
0
a
1 a 0 1 7
7
6
7
6
4 0
0
0
0
0
0
0
05
0
0
0
0
0
1
0
1
p
where a 1=2 2.
The restraint boundary conditions now are required to particularise
the stiness matrix to the truss in Fig. 8.5. These conditions are
ux A uy A ux D uy D 0
Thus, eliminating the appropriate rows and columns of the stiness
matrix we have
3
2
1 0
1
0
6 0 1
0
0 7
7
k1 6
K
7
6
4 1 0 1 a
a 5
0
1 a
ux B
6 u B 7
6 y
7
D 6
7 and
4 ux C 5
uy C
3
1
6 0 7
6
7
P 6
7
4 0 5
0:5
225
The strain levels, " , in each member can be obtained using equation
(8.9),
"i
l i0 l i
li
thus,
Member AB
"AB
P1
u B 0
kl y
Member BC
"BC
P1
P
ux C ux B 1
kl
EA
Member CD
"CD
P1
P
uy C 0:5 1
kl
EA
Member AC
P
1
P
"AC p1 p ux C uy C 1:414 1
EA
k 2l 2
It is evident from the above that the maximum strain occurs in
member BC and the allowable maximum load will be governed by
the maximum strain in that member. Therefore,
P
1:414 1 0:3"0
EA
and
0:3 1:5 103 2:1 105 5:89 103
394 kN
1:414
The forces in the various members can be evaluated from the strains
P1
as
N i "i EA
226
hence
N AB 0 kN;
N BC 394 kN tens:
N CD 197 kN tens:
N AC 557 kN comp:
8.4
The presentation in sections 8.1 and 8.2 has been concerned with the
analysis of plane pin-jointed trusses, i.e. structures which were envisaged to be entirely contained in a plane together with the applied
loads. This is the case when the axes of the elements are actually contained in a plane and any geometric or mechanical feature of the
elements themselves is symmetric with respect to the same plane.
Now we intend to illustrate the extension of the direct stiness
method to deal with structures that exist in three-dimensional spacetrusses. The approach is based directly on the direct stiness method
because all the energy concepts that underlie this method remain
exactly the same as in the case of plane structures. A space pin-jointed
structure is dened to be a collection of pin-jointed bars in the threedimensional Euclidean space, as exemplied in Fig. 8.6.
The geometry and loading of the space-truss are described by reference to a general three-dimensional system of Cartesian axes xyz.
The local axes of the system are denoted by , as shown in Fig. 8.7.
Similar to the method for the two-dimensional truss, we relate here
the behaviour of the individual members of the spacetruss, which are
subjected to tension or compression loading, to the displacement of the
nodal joints. The vector containing the displacements of the end nodes
P
y
x
Fig. 8.6
227
Fig. 8.7
8:57
8:58
i
8:59
228
ik are direction cosines of angles between the local axes , , and the
general axes x, y, z.
It easy to verify that, similar to the plane truss, in the three-dimensional space the transformation matrix (8.59) is orthogonal, i.e.
Ri T Ri I
8:60
Since we are dealing with structures composed of bars, the only internal forces that occur on account of the deformation of the elements are
the axial forces NJ and NK. However, it may be useful to collect
the nodal forces in the local reference frame in a six-elements array,
f i , that is
3
3 2
2
0
0
7 6 0 7
6
0
7
7 6
6
7
7 6
6
6 F J 7 6 NJ 7
i
7
6
7
6
8:61
f 6
76 0 7
0
7
7 6
6
7
7 6
6
5 4 0 5
4
0
F K
NK
so that in the local reference frame the relationship between the nodal
forces f i and the nodal displacements d i can be written in the
following form
f i K i d i
with
60
6
i6
60
EA
K i i 6
l 6
60
6
40
0
8:62
0
0
0
0
1
0
0
0
07
7
7
0 1 7
7
0
07
7
7
0
05
0 1
8:63
8:64
229
8:65
i
where K is the stiness matrix of the generic bar in the general reference frame, which again corresponds to the expression in equation
(8.36) obtained in the earlier two-dimensional treatment. In detail we
can write
2
ix
6
6 i i
6 x y
6
i6
6 ix iz
EA
i
K i 6
2
l 6
6 ix
6
6
6 ix iy
4
ix iz
ix iy
ix iz
ix
ix iy
iy
iy iz
ix iy
iy
iy iz
iz
ix iz
iy iz
ix iy
ix iz
ix
ix iy
iy
iy iz
ix iy
iy
iy iz
iz
ix iz
iy iz
ix iz
7
7
iy iz 7
7
2
7
iz 7
7
7
ix iz 7
7
7
iy iz 7
5
i2
z
(8.66)
The solution of the spacetruss problems proceeds then exactly as in
the case of planetruss problems shown in section 8.2: the overall joint
is obtained by assembling the contributions from
stiness matrix K
all the bars and the elastic equilibrium equation takes the now-familiar
form
KD
P 0
8:67
D is a 3n dimension array which contains all the degrees of freedom of
the space truss under consideration, n being the overall number of
is obviously
joints. The dimension of the joint stiness matrix K
3n 3n and P is the load vector, i.e. a 3n dimension array containing
all the components of the forces applied to the joints which, for the
sake of generality, can be arranged to include the reactions of the
is symmetric for the energy
constraints. The joint stiness matrix K
reasons explained in section 8.2.
At this stage in the analysis the constraint conditions can be applied
exactly as in the earlier work , i.e. by distinguishing two sub-arrays in
the nodal displacement vector D, DI and DII . These sub-arrays
correspond to the degrees of freedom that are active and to the degrees
of freedom which are prevented by the restraints, respectively. The
remainder of the procedure consists in condensing the system of equations (8.67) accordingly (see section 8.2). Once the reduced system has
been solved, we can in a straightforward manner calculate the restraint
reactions, the strains and the actually carried forces in any member of
the spacetruss.
230
A
15 kN
1m
45
45
45
45
30 kN
Fig. 8.8
1m
C
D
Fig. 8.9
2.
231
D, Av , Ah , Ev , and Eh due to the applied loads. All the
structural members have a cross-sectional area of 200 mm2 . The
modulus for steel is 205 kN=mm2 .
[Ans: Av 15:5 mm, Ah 45:7 mm, Ev 28:0 mm,
Eh 40:5 mm]
A frame made from aluminium alloy, analysed as having pinjoints, is shown in Fig. 8.9. Calculate the forces and strains in
the members BC, BD due to the application of the vertical load
Pb at B. All members have the same cross-sectional area of
150 mm2 and the modulus of aluminium is 80 kN/mm2 .
[Ans: "BC 0:55 103 , NBC 6:62 kN (comp.),
"BD 1 103 , NBD 11:8 kN (comp.)]
9.
Introduction
9.1
234
45
30
A
P
Fig. 9.1
truss, in this case we note that the members are not free to undergo relative rotation at connecting joints, thus the denition of rigid joint ( joints
are sometimes called nodes). In particular any rotation is totally prevented at the nodes connected to the wall at B, C and D, while the connection at A preserves the relative angular spacing of the attached
members AB, AC and AD at A. In other words, with rigid joints all
the ends of members connected at the same joint must experience the
same rotation. From a practical point of view, the nodes at B, C and
D can be thought of as welded to rigid elements, while the node at A
can be fabricated by welding the ends of steel elements together.
In contrast to the bar members of the previous section, the elements
into which we can divide the rigid-jointed structure are able to carry
shear forces and moments, as well as axial forces. In fact, since the
members are not free to rotate at the joints, corresponding restraint
moments will occur at the ends.
Notwithstanding the apparent complexity of the rigid-jointed structure, we can again analyse its behaviour in accordance with Bernoulli's
model, introduced in chapter 4, by taking into account both the exural and axial stiness of the members. This requires that the slopes
at the nodal points are assumed as unknown variables together with
the displacements at the nodes.
235
uy
K
ux
Fig. 9.2
u K ux K sin uy K cos
9:1
i
9:2
where we assume that the sign convention for the transverse displacement u is according to the local reference frame shown in Fig. 9.2.
In this local reference frame the bending deection of the beam can be
described as a function of the variables u J, u K, J and K by
means of the same procedure that led to equation (4.116). Therefore we
have
2u J J 2u K K 3
u
3
2
3
2
li
li
li
li
3u J 2J 3u K K 2
i2 i
i
2
l
l
l
li
J u J
9:3
236
6EI i
li
u2 J u2 K
12EI i
li
u Ju K
2EI i 2
J 2 K JK
li
6EI i
li
We can now superpose the axial and the exural behaviour of the beam
element under consideration and write the total elastic energy stored in
it on account of its deformation. By adding equations (4.8) and (9.4)
we have
Ui
1 EAi 0i
6EI i 2
i 2
l
u J u2 K
3
2 li
li
12EI i
li
6EI i
li
u Ju K
2EI i 2
J 2 K JK
li
u KK u KJ
u JJ u JK
9:5
This expression for the strain energy relates to a typical member in the
frame. With particular reference to the elements composing the example structure shown in Fig. 9.1 we can write
Element BA
i
sin i
cos i
ux J
uy J
ux K
uy K
J
K
ux A
uy A
A
l 0BA l BA ux A
9:6
u J 0
9:7
u K uy A
9:8
U BA
237
1 EABA
6EI BA 2
2
u
A
uy A
x
3
2 l BA
l BA
2EI BA 2
6EI BA
A
uy AA
2
l BA
l BA
9:9
Element CA
i
sin i
cos i
p
3
308 12
0CA
ux J
uy J
ux K uy K
J
K
ux A
A
uy A
p
3
1
u A uy A
2 x
2
CA
9:10
u J 0
9:11
p
3
1
u K ux A
9:12
u A
2
2 y
p
2
1 EACA
1
3
CA
u A uy A
U
2 l CA
2
2 x
p
2
6EI CA
1
2EI CA
3
uy A CA 2 A
CA3
ux A
2
2
l
l
p
6EI CA
1
3
u A A
ux A
9:13
CA2
2
2 y
l
Element DA
i
sin i
p
2
458
0DA
cos i
p
2
2
DA
ux J
uy J
ux K uy K J
K
ux A uy A) 0
A
p
p
2
2
u A
u A
2 x
2 y
9:14
u J 0
9:15
p
p
2
2
ux A
u A
u K
2
2 y
9:16
238
DA
p
2
p
2
2
u A
u A
2 x
2 y
p
2
p
6EI DA
2EI DA
2
2
DA3
ux A
uy A DA 2 A
2
2
l
l
p
6EI DA
2
2
ux A
uy A A
9:17
DA2
2
2
l
1 EADA
2 l DA
Following the approach used in the analysis of the pin-jointed structure of the previous section, we will now write the total potential
energy of the present frame which, using equations (9.9), (9.13) and
(9.17) above, is evidently
U W U BA U CA U DA W
1 EABA
6EI BA 2
2EI BA 2
2
u
A
u
A
A
x
y
3
2 l BA
l BA
l BA
p
2
3
6EI BA
1 EACA
1
BA2 uy AA
u A uy A
2 l CA
2
2 x
l
p
2
3
6EI CA
1
2EI CA
uy A CA 2 A
CA3 ux A
2
2
l
l
p
6EI CA
1
3
CA2
uy A A
ux A
2
2
l
p
p
2
1 EADA
2
2
u A
u A
2 l DA
2 x
2 y
p
p
2
6EI DA
2EI DA
2
2
ux A
uy A DA 2 A
DA3
2
2
l
l
p
6EI DA
2
2
u A
u A A
DA2
2 x
2 y
l
Px ux A Py uy A
9:18
239
3
6EI CA 1
6EI CA
1
ux A uy A CA2 A
CA3
2
2
2
l
l
EADA 1
1
6EI DA
ux A uy A DA3 ux A uy A
DA
2
2
l
l
p
DA
6EI
2
A Px 0
9:19
DA2
2
l
q
6EI BA
6EI BA
BA3 2uy A BA2 A
quy A
l
l
p
3
EACA 1
uy A
ux A
CA
4
4
l
p
p
3
3
6EI CA 3
6EI CA
uy A
ux A CA2
A
CA2
2
2
2
l
l
EADA 1
1
6EI DA
uy A ux A DA3 uy A ux A
DA
2
2
l
l
p
6EI DA
2
A Py 0
9:20
DA2
2
l
q
2EI BA
6EI BA
2EI CA
BA 2A BA2 uy A CA 2A
qA
l
l
l
p
CA
3
6EI
1
2EI DA
CA2 ux A
uy A DA 2A
2
2
l
l
p
6EI DA
2
2
ux A
u A 0
9:21
DA2
2
2 y
l
The extremum conditions once again represent the equilibrium equations of the structure under consideration. The unique solution of this
linear system of algebraic equations provides the magnitudes of the
displacements of the node A along the x and y axes and its rotation.
The substitution of these magnitudes in equations (4.122)(4.125),
240
9.2
241
It can be easily shown for the generic beam that the relationship
between the joint displacement vector Di in the general reference
frame and the joint displacement vector d i in the local reference
frame is governed by the following transformation matrix
2
cos i
6
6 sin i
6
6
6 0
i
R 6
6
6 0
6
6 0
4
0
sin i
cos i
0
i
sin i
cos
sin i
cos i
7
07
7
7
07
7
7
07
7
07
5
9:25
so that
d i Ri Di
9:26
9:27
242
We have therefore
2
2
EAi
7 6 li
7 6
7 6
7 6
7 6 0
7 6
7 6
7 6
7 6
7 6
7 6 0
7 6
76
7 6
7 6 EAi
7 6 i
7 6
l
7 6
7 6
7 6
7 6 0
7 6
7 6
7 6
5 4
0
3
6 F J
6
6
6
6 F J
6
6
6
6
6
6 MJ
6
6
6
6
6 F K
6
6
6
6
6 F K
6
6
6
4
MK
12EI i
l
i3
6EI i
l
i2
6EI i
l
i2
EAi
li
6EI i
i3
i2
6EI i
l
i2
4EI i
li
12EI i
l
EAi
li
2EI i
li
0
0
12EI i
li
6EI i
li
0
12EI i
li
6EI i
li
32
76 u J
76
76
6
6EI i 7
6
i2 7
76 u J
l 76
76
6
2EI i 7
76
76 J
i
76
l
76
76
76
6
0 7
76 u K
76
76
6EI i 76
76 u K
2
76
li
76
76
4EI i 54
K
li
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
(9.28)
9:29
9:30
9:31
9:32
9:34
20 i
1
EA
2 i
6 B i cos
C
6B l
C
6 @ 12EI i
A
6
2 i
6 i3 sin
6
l
6
6
6
6
6
6
sym
6
6
6
6
6
6
6
6
sym
6
6
i
6
K 6
6
6
6
6
sym
6
6
6
6
6
6
6
6
6
6
sym
6
6
6
6
6
6
4
sym
sym
sym
sym
sym
sym
cos i
sym
sin i
4EI i
li
li
2
li
6EI i
6EI
sym
0 i
1
EA
i
i
sin
cos
i
B l
C
B
C
@ 12EI i
A
i
i
sin
cos
i3
l
0 i
1
EA
2 i
sin
B li
C
B
C
@ 12EI i
A
2 i
i3 cos
l
sin i
sym
sym
0 i
1
EA
2 i
cos
B li
C
B
C
@ 12EI i 2 i A
i3 sin
l
2
li
6EI i
1
EAi
i
i
sin
cos
B li
C
B
C
@ 12EI i
A
i
i
i3 sin cos
l
1
EAi
2 i
i cos
B l
C
B
C
@ 12EI i 2 i A
sin
3
li
li
6EI i
cos i
sym
0 i
1
EA
i
i
sin
cos
B li
C
B
C
@ 12EI i
A
i
i
i3 sin cos
l
0 i
1
EA
2 i
sin
B li
C
B
C
@ 12EI i
A
2 i
i3 cos
l
1
EAi
i
i
i sin cos
B l
C
B
C
@ 12EI i
A
i
i
sin
cos
i3
l
0
1
EAi 2 i
sin
B li
C
B
C
@ 12EI i
A
2 i
i3 cos
l
0
6EI i
2
li
7
7
sin i 7
7
7
7
7
7
7
7
7
6EI i
i 7
cos
7
2
7
li
7
7
7
7
i
7
2EI
7
7
i
7
l
7
7
7
7
7
6EI i
i 7
sin
7
2
7
li
7
7
7
7
7
7
i
7
6EI
i7
i2 cos 7
7
l
7
7
7
7
5
4EI i
i
l
9:33
244
0 0
...
...
0 0
9:35
9:36
9.3
245
2
P2
P1
B
C
A = 589 x 10 3 mm
I = 461 x 10 3 mm
Fig. 9.3
246
0:02
0
6 0
:
1 96
6
6
:71
6
30
0
K AB E 6
6 0:02
0
6
6
4 0
1:96
30:71
0
30:71
0
6:14 104
0:02
0
30:71
0
1:96
0
30:71
1:96
30:71
3:07 104
0:02
0
0
3
30:71
7
0
7
7
4
3:07 10 7
7
30:71 7
7
7
5
0
4
:
6 14 10
uy A A
ux B uy B BT
BT
Member BC
i BC 0
2
1:96
6 0
6
6
6 0
BC
K E 6
6 1:96
6
6
4 0
0
Member CD
i CD
2
0
0:02
30:71
0
0:02
30:71
0
30:71
6:14 104
0
30:707
3:07 104
3
1:96
0
0
0
0:02
30:71 7
7
7
0
30:71 3:07 104 7
7
7
1:96
0
0
7
7
:
0
0:02
30 71 5
4
0
30:71 6:14 10
247
2 :
3
0 02
0
30:71
6
7
K CD E 4 0
1:836
0
5
28:83
0
5:766 104
Member AC
4
2
i AC
3
0:70
0:69
10:86
7
6
0:70
10:86 5
K AC E 4 0:69
10:86 10:86 4:34 104
Following equation (9.34), the stiness matrix for the frame, with the
boundary constraints incorporated is
K AB K BC K CD K AC
K
The loading vector is similar to that for the truss taking account of the
formulation of the stiness matrix
3
2
1
6 0 7
7
6
7
6
0 7
P1 6
7
6
P
7
E6
6 0 7
7
6
4 0:5 5
0
Thus the vector of the displacements of the unconstrained nodes can be
obtained from
1 P
D K
The result has been calculated using the value of the load P1 evaluated
for the truss, to give
3
3 2
2
3:95 mm
ux B
6 u B 7 6 0:021 mm 7
7
7 6
6 y
7
7 6
6
6 B 7 6 0:93 103 7
7
76
6
6 u C 7 6 3:02 mm 7
7
7 6
6 x
7
7 6
6
4 uy C 5 4 0:45 mm 5
0:70 104
C
248
The axial loads in the members can be obtained from these displacements using equation (8.24), i.e.
N AB uy B
l0
3000
8:7 kN
EA
l
:
:
:
3 02 3 95 2 1 105 5:89 103
383 kN
3000
EA
N CD uy C
l
:
:
0 45 2 1 105 5:89 103
185 kN
3000
1
EA
N AC p ux C uy C p
2
2l
:
:
:
3 021 0 45 2 1 105 5:89 103
530 kN
6000
In comparison with the corresponding results for the truss it may be
seen that the deections at the nodes and the axial forces in the members
are slightly less for the frame than for the truss. This eect is due to the
bending action in the members in the frame adding restraint to the
actions of the forces to induce the deections. However, for the slender
members in this frame the eect of the bending actions are fairly small
and it is evident that the analysis assuming the structure would act as a
truss would be suciently accurate for engineering purposes.
A more signicant eect of the structure acting as a frame is illustrated below. It is evident from the geometry of the structure modelled
as acting as a truss that if the bracing member AC were to be damaged
or severed the truss would collapse under the action of the loads. In
eect the truss would deteriorate to act as a mechanism. However,
the actual structure because of the bending stinesses of the members
could withstand the eects of the loading, but at the penalty of
increased deections.
Suppose for the frame the brace AC were removed, the stiness
matrix for the structure would then be
K AB K BC K CD
K
N BC ux C uy B
249
N BC 169 kN
N CD 25:6 kN
Removal of the brace means that the actions of the loading is resisted
primarily by the bending stiness of the members and this means that
the axial loads induced in the members are signicantly reduced.
Generally, for less slender structural members than considered in
this example the eect of including the bending stiness will reduce
the axial loads in the members compared to those calculated as if the
structure is a truss.
9.4
250
q
P
Fig. 9.4
251
9:41
9:42
ik are direction cosines of angles between the local axes , , and the
general axes x, y, z.
It simple to verify that once again the transformation matrix (9.42) is
orthogonal, i.e.
Ri T Ri I
9:43
The vector that contains the nodal forces in the local reference frame is
a 12-element array. It includes the internal forces that arise at each end
of the beam on account of the deformations, namely the axial forces,
the shear forces along the axes and , the bending moments about
the axes and and the twisting moment about the axis , as shown
in Fig. 9.5.
Thus we have
f i T F J F J F J M J M J M J . . . . . . M K
9:44
M
M M
N
S
S
M
N
M
Fig. 9.5
252
and in the local reference frame the relationship between the nodal
forces f i and the nodal displacements d i can be written in the
following form
f i K i d i
with
"
K i
ki11
ki21
9:45
ki12
9:46
ki22
3
0
0
GJ i
li
6EI i
li
4EI i
li
0 7
7
6EI i 7
7
7
i2 7
l 7
7
0 7
7
7
7
0 7
7
7
7
7
0 7
7
i7
4EI 5
9:47
li
3
0
0
0
GJ i
li
0
0
6EI i
li
4EI i
li
7
7
6EI 7
7
i2 7
l 7
7
7
0 7
7
7
7
0 7
7
7
7
7
0 7
7
7
4EI i 5
li
i
9:48
Note that the relationship between the twisting moment, Mi , and the corresponding
change of rotation, i , can be written as Mi GJ=l i i . J is the polar moment of area
of the section of the structural member.
253
EAi
6 li
6
6
6
6 0
6
6
6
6 0
6
6
i
i
k12 k21 6
6
6 0
6
6
6
6 0
6
6
6
4
0
3
0
12EI
li
6EI i
li
12EI i
0
0
l
0
i3
6EI i
l
i2
GJ i
li
0
0
6EI i
li
2EI i
li
7
7
7
6EI 7
i2 7
l 7
7
7
0 7
7
7
7
7
0 7
7
7
7
0 7
7
7
7
2EI i 5
li
9:49
i
Inspection of the member stiness matrix (9.46) reveals that it is symmetric, like all the stiness matrices encountered up to now.
The subsequent procedure remains the same as in the previous cases:
we can express the vector F i that collects together the nodal forces of
the generic beam in the general reference frame in the following form
F i Ri T f i
9:50
254
It must be stressed that for space structures the level of computational eort tends to increase considerably with the number of
elements and the use of a computer based automatic procedure
becomes essential for the vast majority of practical cases. However,
the analysis of many real cases can be successfully conducted by reducing three-dimensional problems to two-dimensional ones. This can be
achieved by taking account of symmetries in the geometry and loading
in the structure and treating the structure as an assemblage of plain
frames.
9.5
255
Fig. 9.6
W q W f 0
9:52
that is
l
q u d d T f^ 0
9:53
256
ql 2
12
ql 2
12
ql
2
ql
2
ql 2
12
ql 2
12
ql
2
ql
2
Fig. 9.7
FA
FA
w
MA
257
MB
FA = wa 1 ( al )2 + 12 ( al )3
FB = wa ( al )2 12 ( al )3
l=a+b
MA = wa
12 16 ( al ) + 6 ( al )2
24
2
MB = wa
8 ( al ) 6 ( al )2
24
Fab2/l2
Fba2/l2
pa (a + 2b)/2l
pa2/2l
Fig. 9.8
258
C
B
P2
P1
l/2
l/2
Fig. 9.9
The combined joint loads vector is obtained by adding the actual joint
loads, which in this case is only the force P2 , to the equivalent joint
loads, as shown in Fig. 9.12.
It is straightforward to show that, once we have applied the direct
stiness method to solve the situation pictured in Fig. 9.12, everything
is known about the structure subject to the actual loads in Fig. 9.9. In
fact, the superposition of the loads in Fig. 9.11(a) and the combined
loads in Fig. 9.12 produces the loads in Fig. 9.9. At the same time
the superposition of the displacement elds does not aect the joint
displacements given by the stiness analysis of Figs 9.10 and 9.11(a),
as the joint displacements of the frame shown in Fig. 9.10 must be zero.
Fig. 9.10
259
qh
2
qh2
12
qh
2
q
P1
P1
qh2
12
qh
2
qh2
12
P1l
8
P1l
8
P1
Pl
81
P1l
8
qh
2
P1
P1
(a)
(b)
Fig. 9.11
qh
2
qh2
12
qh2
12
qh
2
P1l
8
P1l
8
P1
P1
+ P2
Fig. 9.12
9.6
Restraint displacements
260
B
u
Fig. 9.13
(8.49), i.e.
KI
KI;II T
KI;II
KII
DI
DII
PI
PII
ux A
6
7
7
DI 6
4 uy A 5
9:56
A
T
DII ux B uy B B ux C uy C C ux D uy D D
and all the displacements of the nodes C and D are set to zero, while for
the node B we have ux 0, uy
u and 0.
Consequently, the system in equation (8.50) can be divided into the
following two expressions
KI DI PI KI;II DII
9:57
PII KI;II T DI KII DII
9:58
261
ui
Ri
Fig. 9.14
The system (9.57) is, as before, disjoint from equation (9.58), as the
sub-array DII comprises known values of the displacement. Therefore, the problem of elastic equilibrium for the structure shown
in Fig. 9.13 is reduced to the system, equation (9.57), of three
equations for the three unknown degrees of freedom contained in
the sub-array DI , which are the components of displacement and
the rotation of the loaded joint A. The substitution of these values in
the relationships in equation (9.58) yields the value of the restraint
reactions PII .
We can also take into consideration a linearly elastic displacement of
the restraints, that is a displacement of the restraint that is proportional to the restraint reaction, for example
ui J cRi J
9:59
9.7
262
263
1m
100 kN
15 m
Fig. 9.15
Calculate the forces in the frame shown in Fig. 9.15 and the vertical deection at B caused by the applied load if
(a)
(b)
1m
B
A
100 kN
15 m
Fig. 9.16
264
2P
B
2m
2m
2m
2m
3m
Fig. 9.17
2.
3.
4.
265
P
l
E
D
30
l/2
l/2
30
60
60
Fig. 9.18
Up to now in this book we have considered structures that are composed of one-dimensional linear elements. That is, the variation of
deections and forces are related only to the axis along the length of
the elements. Particularly, the real three-dimensional nature of a
beam is reduced to the one-dimensional variation by the assumption
of linear strain through the depth of the beam section. There is, of
course, a wider class of elements that are common in practical structures, that is plates and shells. Essentially these elements have two
dimensions much greater than their third, which is called the thickness.
The dierence between plates and shells is that the former has an initially at surface dened by the two main dimensions, lx and ly whereas
shells have a surface that may be singly- or doubly-curved. In this
introductory text, we consider only plates.
Just as the analytical model of a beam is reduced to essentially a onedimensional model by a simplifying assumption so also a plate is
reduced to a two-dimensional body with the aim of facilitating mathematical analysis. The assumption leading to this simplication is
identical to that for a beam; that is, the strain is assumed to vary
linearly through the thickness of the plate. This is called the Kirchho
model of plate deformation, named after the famous natural philosopher. It must be appreciated that this is an approximation to the real
behaviour of plates, but within a restricted class of structural elements
the model provides an adequate level of accuracy. The model will have
reduced validity if, for example, the plate is composed of layers of
material with dierent moduli through the thickness, or the forces
imposed on the plate in, or normal to its plane are very localised and
the analysis is concerned with determining the strain distribution in
the region of these loads. However, when we are concerned with the
calculation of the general deections of plates composed of homogeneous material and with a thickness much less than the other dimensions, then the Kirchho model serves very well and provides practical
268
information at a decidedly acceptable level of accuracy, when compared with corresponding experimental results.
The presentation in this chapter follows closely the pattern of the
presentation of the Bernoulli beam theory in chapter 4. First, we will
analyse the equilibrium of the plate subject to stretching loads, i.e.
loads whose resultants always act in the mid-plane of the plate. Then
we shall concern ourselves initially with the derivation of the expressions for the strain through the thickness, in terms of the deection
of the mid-plane surface of the plate. The expression for the strain
energy in the plate material is developed for the condition where the
plate mid-surface is deformed laterally in response to loads that generally are applied normal to the surface of the plate. We have two choices
for attempting to determine the actual shape and magnitude of these
deections for specic values and patterns of loading. One approach
is to apply the methods of calculus of variations to the energy functional to derive the dierential equation of equilibrium, and then to
attempt to nd a solution to this equation for specic forms of loading.
This was the approach followed by some 18th and 19th century mathematicians and there is an interesting history of the search for the
solutions that are reported in many textbooks. This approach oers
also the possibility of elucidating the boundary conditions relevant
to plate bending, which are not so obvious as in the case of bending
beams. Inevitably, the solution of a fairly complex dierential equation
is dicult and in practice many of the solutions actually achieved
relate to idealised plate shapes, boundary conditions and forms of
loading.
The practical cases of plate bending in engineering tend not to be so
well conditioned and the solution of the dierential equations of
equilibrium is not feasible and so an alternative, and more widely
applicable approach is to be found through the use of approximate
energy methods, like the RayleighRitz procedure or the nite element
method, which is developed later in this book. Once again, it is emphasised that the exact solutions to plate bending, albeit for idealised
conditions, have a very valuable attribute in that they provide a basis
for the calibration and validation for the more approximate solutions
from the energy methods and the numerically based nite element
models used in engineering practice. Of course, as in the case of
beams, it is possible to obtain approximate solutions to the dierential
equation of equilibrium by using the method of nite dierences. However, experience has shown that this method is not so conducive to automatic generation of the plate modelling and the boundary conditions as
the nite element method so that this latter method is now the primary
analysis tool available to structural engineers for plate analysis. For this
269
reason the nite dierence method is not exemplied here and the main
emphasis is on the approximate solution of equilibrium using the
method of trial functions, including nite elements, applied to the
energy functional. Nevertheless, for the sake of completeness, the differential equations for equilibrium of plates for in-plane and lateral
loading, i.e. bending, are derived here.
10.1
x
y
Fig. 10.1
270
y
x
Fig. 10.2
10:1
uy x; y; z zx uy x; y; z0
10:2
uz x; y; z uz x; y; z0
10:3
10.2
We start our analysis of the equilibrium of thin plates from the case of
simply stretched plates, i.e. under the assumption that the resultants of
the surface and boundary loads are contained in the mid-plane of the
plate, as shown in Fig.10.3.
qx
qy
q
271
x
y
S
Fx
Fy
F
Fig. 10.3
10:4
uy x; y; z uy x; y; 0
10:5
uz x; y; z 0
10:6
2 qy
qx
"xx
10:7
"xy
10:8
"yy
quy
qy
10:9
where "xx and "yy are the direct strains in the x and y directions, respectively, and "xy is the shear strain in the xy plane.
Let us now consider an innitesimal element of plate, exemplied
in Fig. 10.4. This slice has been obtained by means of four innitesimally close conceptual cuts: two in the zx plane and two in the zy
plane.
Resulting from the general theory of strain for linear elasticity,
stated in chapter 3, the resultants of the internal forces per unit
272
dx
dy
z
y
x
Fig. 10.4
"
Nx h
xx
yy
1 2
E
Ny h
"yy "xx
1 2
10:10
10:11
10:12
These are a normal force Nx per unit length acting on the face of normal
x, a normal force Ny per unit length acting on the face of normal y and
nally the forces Nxy per unit length acting on both these faces. The
situation is depicted in Fig. 10.5.
On account of the above relationships the internal energy U stored
in our model of stretched plate has the following expression
1
U
Nx "xx Ny "yy 2Nxy "xy dS
10:13
2
S
Nx
Nxy
Nyx
Ny
Fig. 10.5
273
where the integral is performed over the surface S of the mid plane. At
this point, in order to study the equilibrium of the plate, we can simply
follow the usual procedure by writing the general condition (equation
(1.28)) stated in chapter 1, that is
U W
To simplify the presentation here, we suppose the loading is a distributed load qx; y, acting in the mid-plane of the plate with components
qx x; y and qy x; y, and a set of forces F per unit length on the boundary of the mid-surface, as shown in Fig. 10.3. Thus, the work done by
the external forces is
W qx ux qy uy dS Fx ux Fy uy d
10:14
S
10:15
On account of the general straindisplacement relationships equations (10.7)(10.9), the left hand side of the above equation can be
written as
quy
qux
qux quy
Ny
Nxy
dS
Nx
qx
qy
qx
qy
q
q
N u Nxy uy Ny uy Nxy ux dS
qx x x
qy
qNy qNxy
qNx qNxy
ux
uy dS 10:16
qx
qy
qy
qx
S
qfx qfy
dS fx x fy y d
qx qy
S
10:17
274
where x and y are the direction cosines of the normal to the boundary , we can write
qNy qNxy
qNx qNxy
ux
uy dS 10:18
qx
qy
qy
qx
S
qx ux
qy uy dS
qx
qy
qy
qx
S
10:19
As the virtual displacements ux and uy are arbitrary by denition, the
vanishing of the above equation requires that
qNx qNxy
qx 0
qx
qy
Nx x Nxy y Fx
and
and
qNy qNxy
qy 0 on S
qy
qx
10:20
Ny y Nxy y Fy
on
10:21
These are the equilibrium equations which relate the internal forces Nx ,
Ny and Nxy to the applied loads qx x; y, qy x; y and Fx , Fy in the case
of simply stretched thin plates.
It is worth noticing that the equations (10.20) and (10.21) are
formally independent from the deformation of the plate.
10.3
275
10:22
10:23
10:24
10:25
10:26
2 qy
qx
qx qy
"xx
10:27
"xy
10:28
"yy
quy
q2 u
z 2z
qy
qy
10:29
where "xx and "yy are the direct strains in the x and y directions, respectively, and "xy is the shear strain in the xy plane.
Let us now consider again the innitesimal element of the plate in
Fig. 10.4. Resulting from the general theory of strain for linear elasticity, stated in chapter 3, the resultants of the internal forces per unit
length are given by the relationships
h=2
Mx
h=2
E
"xx "yy z dz
1 2
h=2
h=2
2
E
q uz
q2 uz
2 z dz
qy
1 2 qx2
10:30
276
My
h=2
E
"
"
yy
xx z dz
1 2
h=2
h=2
2
E
q uz
q2 uz
z dz
qx2
1 2 qy2
10:31
h=2
Mxy Myx
2G"xy z dz
h=2
h=2
2Gz
h=2
q2 uz
z dz
qx qy
10:32
These are a bending moment Mx acting on the face of normal x direction, a bending moment My acting on the face of normal y and nally
what we will call a twisting moment Mxy on both these faces. The situation is depicted in Fig. 10.6.
My
Myx
Mx
Mxy
Mx
y
x
z
Mxy
Fig. 10.6
277
q2 uz
qx qy
10:35
Eh3
121 2
10:36
It is worth noting that in the case of the Kirchho plate model the term
D plays a role similar to that played by the term EIx for the Bernoulli
beam model.
We can now tackle the derivation of the equilibrium of the model.
With reference to Fig. 10.6, it is clear that the internal moments Mx ,
My and Mxy are responsible for the energy stored in the innitesimal
slice of plate on account of the work done by the eects of the
curvatures x , y and xy .
As we know from calculus (see also chapter 4), in the theory of
innitesimal displacements, curvatures can be related to the normal
deection of the mid-plane by
x
qx
1
q2 u
2z
ry
qy
qy
1 qx qy
q2 uz
2 qy
qx
qx qy
y
xy
qy
1
q2 u
2z
rx
qx
qx
10:37
10:38
10:39
1
U
Mx x My y 2Mxy xy dS
10:40
2
S
278
rx
y
z
Fig. 10.7
quz
quz
W qz uz dS
Msn
d
10:41
Fuz Mn
qn
qs
S
279
qz
M
F
Fig. 10.8
Fig. 10.9
qz uz dS
S
quz
quz
Msn
d 10:42
Fuz Mn
qn
qs
280
2
2
2
q uz
q uz
q uz
dS
Mx
My
2Mxy
2
2
qxqy
qx
qy
qz uz dS
S
quz
quz
Msn
d 10:43
Fuz Mn
qn
qs
q2 uz
q2 uz
q2 uz
dS
2M
y
xy
qx qy
qx2
qy2
sn quz d 10:44
n quz M
zM
qz uz dS
Fu
qn
qs
Mx
S
u
Mx
u
x
z
z
qx
qx
qx
qx2
qx2
10:45
q2 My
q2 uz
q
quz
qMx
M
u
u
y
z
z
qy
qy
qy
qy2
qy2
10:46
My
qMxy
q2 uz
q
quz
q
Mxy
uz
Mxy
qxqy
qx
qy
qy
qx
uz
q2 Mxy
qx qy
10:47
Bearing in mind that in equation (10.47) the x and the y coordinate can
be substituted one for the other, on account of the symmetry, we can
substitute the relationships in equations (10.45)(10.47) in the left
281
q2 Mxy q2 My
q2 Mx
uz dS
2
qx qy
qx2
qy2
q
qMx qMxy
uz
qx
qx
qy
qMxy qMy
q
uz
dS
qy
qx
qy
q
quz
quz
Mx
Mxy
qx
qx
qy
S
q
quz
quz
Mxy
My
dS
qy
qx
qy
Recalling the divergence theorem, i.e.
qfx qfy
dS fx x fy y d
qx qy
S
10:48
10:49
where x and y are the direction cosines of the normal to the boundary , we can apply it to the last two integrals of equation (10.48). Thus
q2 uz
q2 uz
q2 uz
Mx
dS
2M
y
xy
qx qy
qx2
qy2
S
q2 Mxy q2 My
q2 Mx
uz dS
2
qx qy
qx2
qy2
uz
qMxy qMy
qMx qMxy
y d
qx
qy
qx
qy
Mx
quz
quz
Mxy
x
qx
qy
quz
quz
My
y d
Mxy
qx
qy
10:50
282
y
Sn
qx
qy
qx
qy
and remember from calculus that
quz quz
qu
z
qx
qn x qs y
quz quz
qu
z
qy
qn y qs x
we have
quz
quz
Mxy
x
Mx
qx
qy
quz
quz
My
y d
Mxy
qx
qy
quz
quz
Mx 2x 2Mxy x y My 2y
qn
qs
2
2
My Mx x y Mxy x y d
quz
quz
Msn
d
Mn
qn
qs
10:52
10:53
10:54
10:55
10:56
uz dS
2
qxqy
qx2
qy2
S
quz
quz
Msn
d
Sn uz Mn
qn
qs
quz
quz
qz uz dS
Msn
d
10:57
Fuz Mn
qn
qs
S
283
Myx
0
Mx
My
Mxy
Msn
Mn
n
y
Fig. 10.10
2
qz uz dS
qxqy
qx2
qy2
S
sn Msn quz d
F Sn uz d M
qs
n quz d 0
Mn M
qn
10:58
2
qz 0
qx qy
qx2
qy2
on S
10:59
10:60
284
sn Msn uz d
sn Msn quz d q M
M
qs
qs
qMsn qMsn
uz d
qs
qs
10:62
where the rst integral at the right hand side is obviously zero. In fact,
this term is the line integral along a closed path (i.e. the edge of the
plate) of a perfect dierential. Combining this result with the second
integral of equation (10.58), we get
sn qMsn
qM
uz d 0
F Sn
10:63
qs
qs
10:64
Msn
s ]
285
ds
Msn ds
M
Msn + ssn
Msn
ds
ds
ds
ds
M
Sn = ssn
ds
ds
Fig. 10.11
uz uz
or Sn
sn
qMsn
qM
F
qs
qs
286
Boundary condition on
quz
n
qn
n
or Mn M
y
x
10:65
qx3 qx qy2
qy3 qx2 qy
2
q uz
q2 uz 2
q2 uz
Mn D
21
x
qx qy x y
qx2
qy2
2
q uz
q2 uz 2
y
10:66
qy2
qx2
2
2
q uz
q2 uz
q uz
q2 uz
Msn D
2
2 x y
qx2
qy
qy2
qx
D1
q2 uz 2
2y
qx qy x
10:67
It is now clear that the problem of the equilibrium of the plate bending model is not simple, even for the example of an evenly distributed
load qz x; y. Several special solutions have been developed for specic
problems of plate bending. However, the study of these solutions is not
really the purpose of this book and the interested reader can make
reference to specialised texts. We consider that what has been said is
sucient to elucidate the fundamentals of the problem. In the next
section we will deal with a more practical and general procedure that
is developed by making use of the energy approach with the method
of trial functions.
10.4
287
Fig. 10.12
The gure shows a square plate simply supported along two edges
and rigidly clamped along the other two, subject to an evenly distributed load qz x; y. Its thickness is constant, as well as its bending stiness D. To be in a position to apply the trial function method, rst of
all we must write down the expression for the total potential energy of
the system in terms of the displacement eld, uz x; y. This is simply
achieved by means of equations (10.40) and (10.41), and taking into
account equations (10.33)(10.35) and (10.37)(10.39). We thus have
uz U W
2 2 2 2
1
q uz
q uz
q2 uz q2 uz
D
2
2
qx2
qy2
qx2 qy2
S
2 2
q uz
dS
21
qx qy
quz
quz
Msn
d
qz uz dS
Fuz Mn
qn
qs
S
10:68
For the example plate being analysed here, the boundary conditions
are essentially geometrical
l
l
10:69
uz ; y 0 and uz ; y 0
2
2
l
l
uz x;
0 and uz x;
0
10:70
2
2
quz
quz
0 and
0
10:71
qy x; y l=2
qy x; y l=2
288
Since there are no forces applied on the edges, the last term of equation
(10.68) is zero, so we have
uz U W
2 2 2 2
1
q uz
q uz
q2 uz q2 uz
D
2
2
qx2
qy2
qx2 qy2
S
2 2
q uz
dS qz uz dS
21
qx qy
10:72
S
S
q2 uz q2 uz
2
qx2
qy
2
dS D1
2 2
q2 uz q2 uz
q uz
dS
qz uz dS
qx qy
qx2 qy2
10:73
2
2
qx qy
qx qy
10:74
S
q2 uz q2 uz 2
dS
qz uz dS
qx2
qy2
10:75
289
10:76
4x2
l2
10:77
8y2 16y4
gy 1 2 4
l
l
Thus we have
4x2
8y2 16y4
uz a1 1 2
1 2 4
l
l
l
10:78
10:80
1
qy2
l2
l4
l2
and
uz
1
D
2
l=2
l=2
l=2 l=2
64a21
l 12
4
2 2
2 2
2 2
4 2
3l 8l x 32l y 96x y 16y dx dy
l=2
l=2
l=2 l=2
4x2 8y2 32x2 y2
q a1 1 2 2
l
l
l4
16y4 64x2 y4
l4
l6
dx dy
10:81
10:82
290
a1
35 ql 4
18432 D
10:83
ql
uz 0; 0 0:00190
10:84
D
This value is quite accurate. In fact the analytical solution1 to the
dierential equation of equilibrium yields
4
ql
uz 0; 0 0:00192
10:85
D
We therefore have a solution from the method of trial function with an
error of only 1:1%.
10.5
a b
0 0
q2 uz q2 uz
2
qx2
qy
2
a b
dx dy
Three examples of boundary conditions are shown in Fig. 10.14, varying from the situation where all the edges are simple supported to the
condition where all the edges are encastre.
The applied loading is a uniform pressure, i.e.
qx; y q0
10:87
291
y
b
Fig. 10.13
at
x 0;
x a;
y 0;
yb
10:88
4 D 4
4q
a 2a2 b2 b4 u20 20 abu0
3 3
8a b
10:90
10:91
292
Fig. 10.14
Case (b): Two edges simple supported and two edges encastre
The boundary conditions for this case, see Fig. 10.14(b), are
uz 0
at x 0;
x a;
quz
0
qy
at y 0;
yb
y 0;
yb
10:94
293
at x 0;
x a;
y 0;
quz
0
qx
at x 0;
x a;
quz
0
qy
yb
at y 0;
yb
10:97
10:98
q0 l 4
D
10:100
and
Case
a
b
c
exact
0:00406
0:00192
0:00126
trial function
0:00416
0:00191
0:00128
As the table shows the solutions from the one degree of freedom trial
function analysis are within a few percent of the corresponding exact
solutions.
294
a/2
a
y
b/2
b
Fig. 10.15
a b
0 0
q2 uz q2 uz
2
qx2
qy
2
dx dy Pu0
10:101
4 D 4
a 2a2 b2 b4 u20 Pu0
8a3 b3
10:102
295
Pl 2
D
10:105
where
Case
a
b
c
10.6
exact
0.0116
0.0056
0:0103
0:00608
0:00513
10:106
296
z
ui1
ui
i1
i
zi1
uy
Fig. 10.16
Element n
i + 1, j
i + 1, j + 1
lxn
i, j
i, j + 1
y
lyn
uz
Fig. 10.17
i + 1, j
297
Element n
i, j
i, j + 1
Fig. 10.18
In the x direction
unz n ui 1 3n2 2n3 i n 2n2 n3
ui1 3n2 2n3 i1 n2 n3
10:107
10:108
where
n
x
lxn
n
y
lyn
10:109
The displacement function for the plate element is obtained by combining the functions in equations (10.107) and (10.108). This is exemplied for the displacement and slopes at node, i, j. The function
associated with the displacement, ui;j is
F1 n ; n ui; j 1 3n2 2n3 1 3n2 2n3
10:110
10:111
10:112
10:113
298
u
b
b
a
i, j
i, j
d
d
a
z
b
a
(a)
(b)
x
xy
b
a
i, j
i, j
d
d
z
z
y
(c)
(d)
Fig. 10.19
ui 1; j ;
ui; j 1 ;
xi 1; j ;
x ;
i; j 1
ui 1; j 1 ; xi 1; j 1 ;
i; j
yi 1; j ;
y ;
i; j 1
i; j
xyi 1; j
xy
10:114
i; j 1
yi 1; j 1 ; xyi 1; j 1
16
X
r1
Dnr Fr n ; n
10:115
where Dnr are the elements of the vector collecting the nodal degrees of
freedom of the n-th element, i.e.
2
3
ui; j
6 7
Dn 4 5
10:116
xyi 1; j 1
299
10:117
10:118
3
A0
6 7
6
7
A 6
7
4 5
10:119
A15
The transformation matrix B is
2
1
6 0
6
6
6 0
6
6 3
6
6
6 0
6
6 3
6
6
6 2
6
6 0
6
B 6
6 0
6
6 2
6
6
6 0
6
6 9
6
6
6 0
6
6 6
6
6
4 6
4
0
0
0
0
1
0
0
0
0
1
0
0
2
0
0
3
0
0
1
0
0 2
0
0
1
0
0
2
0
3 2
0
3
0 2
0
0
1
0
0
0
2 1
0
6 6
4 9
2
0
1
0
3 4
4 3
2 2
2 6
2 6
1 4
3
0
0
0
0
0
0
0 0 0 0 0
0
0
0
0
0
0
0 0 0 0 07
7
7
0
0
0
0
0
0
0 0 0 0 07
7
1
0
0
0
0
0
0 0 0 0 07
7
7
0
0
0
0
0
0
0 0 0 0 07
7
0
0
0 3
0 1
0 0 0 0 07
7
7
1
0
0
0
0
0
0 0 0 0 07
7
0 3 1
0
0
0
0 0 0 0 07
7
7
0
0
0
0 3
0 1 0 0 0 0 7
7
0
0
0
2
0
1
0 0 0 0 07
7
7
0 2 1
0
0
0
0 0 0 0 07
7
3
6
2 9
6 3
2 9 3 3 17
7
7
0
0
0
0
2
0
1 0 0 0 07
7
3
4
2 6
3 2
1 6 3 2 17
7
7
2
3
1 6
4 3
2 6 2 3 15
2
2
1 4
2 2
1 4 2 2 1
(10.120)
The formulation for the strain energy of deformation of the element of
plate bending Un is obtained from the rst term in equation (10.73).
300
In non-dimensional notations
D
Un
2lxn lyn
1 1
0 0
b q2 unz a q2 unz
a qn2 b qn2
2 n 2 n 2 n 2
q uz q uz
q uz
21
dn dn
qn qn
qn2 qn2
10:121
The strain energy for the complete plate can be obtained by summing
the energy contributions of all the elements, i.e.
X
U
Un
10:122
n
10:123
D
Dn T BT CDn B
2lxn lyn
10:124
10:125
10:126
10:127
is obtained by adding
and the stiness matrix for the whole plate, K,
the stiness matrices of the all the elements according to equation
(10.122).
The expression for total of potential energy is obtained by addition
of the loss of potential energy of the load to the strain energy equation
301
10:128
10:129
where the loading vector, P has zeros except at the position corresponding to u0 . The equilibrium condition for the whole plate is
KD
P 0
10:130
The boundary conditions are incorporated into equation (10.130) by
eliminating appropriate rows and columns. The displacements and
slopes at the nodes of the elements are obtained as
1 P
D K
10:131
P
l
Fig. 10.20
302
m=1
m=2
m=4
Fig. 10.21
10:132
0:0111
0:0115
0:0116
0:00530
0:00548
0:00557
It is evident that even with only a few elements the accuracy of the
results, see section 10.5, is very good. Again, the great merit of
localised trial function approach is that once the element derivation
is programmed for a computer it is very simple to alter the boundary
conditions and to incorporate a variety of types of loading in the
numerical model.
304
far from the structural ones, like heat diusion, uid dynamics and
magnetic eld analyses. Most of the high technology resources available to us, from supersonic aeroplanes to mobile telephones, owe
their actual present state of sophistication to the nite element
method. Thanks to this method, engineers and physicists can now
model mathematically and obtain solutions to a very wide range of
problems that would indeed be virtually impossible to handle in any
other way. Alternative approaches are the numerical integration of
the dierential equations of equilibrium, using the nite dierence
method and perhaps by very costly testing at full- or small-scale. But
these alternatives require special skills in numerical calculus and
model-making that in most cases are obviated by the nite element
programs now available. These programs can be accessed and operated very simply, often by engineers who, unfortunately, sometimes
have little understanding of the fundamental theory of the method
they are using.
Despite these impressive capabilities, the underlying idea of the nite
element method is very simple. It consists in a sub-division of the structure conceptually into smaller zones or areas. Once this sub-division
has been carried out, trial functions are given within each zone, usually
called an element, and the behaviour of each element can be analysed
separately and independently from all the others. The boundary
conditions between these elements can be imposed quite easily,
provided the choice of the trial functions are simple polynomials
that provide the continuity between the element under consideration
and those contiguous with it. Then, exactly as we have done in the
case of pin-jointed structures and frames, the stiness matrix of each
element can be assembled with the stiness matrices of all the other elements to produce the combined stiness matrix of the problem. The
forces applied to the structure are reduced once again to equivalent
nodal loads and the boundary conditions can be imposed very straightforwardly along the edges of the constrained elements. It may be easily
inferred that the fundamental basis of the nite element is in fact the
localised RayleighRitz method introduced and exemplied in earlier
chapters.
The procedure is very general and requires only limited data to
particularise the analysis to any structural form, i.e. the geometry of
the structure, the shape of the elements, the material properties. The
trial functions are often the same for each element, thus an analysis
can be fully automated on a computer by means of a standard set of
instructions. By following the standardised method even large-scale
nite element problems can be treated in a very straightforward and
almost routine manner.
305
11.1
Fig. 11.1
306
Fig. 11.2
smooth rigid planes, which implies that displacement in the axial direction is prevented at the ends and, by symmetry, also at the mid-section.
Consequently, we can assume that displacement in the axial direction
is prevented at any cross section. Thus, the deformation of the wall can
be assumed to be the same at any cross section and can be dened completely by the non-zero components of displacement ux and uy , which
are assumed to be functions of x and y only.
Hence, as already noticed in chapter 3, we have
ux ux x; y
uy uy x; y
quy
qux
"yy x; y
qx
qy
1 qux quy
"xy x; y
2 qy
qx
1 qux quz
0
"xz x; y
2 qz
qx
1 quy quz
0
"yz x; y
2 qz
qy
"xx x; y
uz 0
"zz
quz
0
qz
There are several important engineering problems of this kind, like, for
example, tunnels or cylindrical tubes subject to internal pressure, as
illustrated in Fig. 11.2.
Despite the fact that the problem of elastic equilibrium is reduced to
a two-dimensional model in the xy plane, nonetheless it remains a
quite complex problem and, apart from some cases characterised by
a very simple geometry of the boundary, no closed-form mathematical
solutions are readily available to engineers.
We make resort to the nite element procedure and start by conceptually sub-dividing the structure into zones, i.e. elements. This can be
done, for example, by means of four-noded plane elements as shown
in Fig. 11.3.
15
16
13
7
11
6
7
12
10
307
Fig. 11.3
11.2
308
uy
uy
L
ux
ux
l
uy
uy
I
ux
ux
Fig. 11.4
11:2
uy x; y b1 b2 x b3 y b4 xy
11:3
ux H a1 a2 l a3 l a4 l 2
uy I b1
uy H b1 b2 l b3 l b4 l 2
ux J a1 a2 l
uy J b1 b2 l
ux L a1 a3 l
ux L b1 b3 l
11:4
309
Solving this system and substituting the results in equations (11.2) and
(11.3), we have
x
y
x
y
ux x; y 1
1 ux I
1 ux J
l
l
l
l
xy
y
x
1
u L
11:5
2 ux H
l
l x
l
x
y
x
y
1 uy I
1 uy J
uy x; y 1
l
l
l
l
xy
y
x
1
u L
11:6
2 uy H
l
l y
l
Therefore the displacement functions, equations (11.5) and (11.6), can
be taken to represent the displacement eld inside the nite element
under consideration with respect to the displacement of its nodes.
At this point it must be stressed once again that the displacement
functions, similar to the situation in the RaleighRitz method, are
not exactly the displacement eld that would be provided by the solution of the elastic equilibrium equation for the particular structure
under consideration, but instead, represent an approximation. However, as the solution of the elastic equilibrium problem cannot be
obtained in closed form for the vast majority of engineering cases,
this approximation is very often the only one available to engineers
and in most cases may indeed be made very accurate.
For the sake of generality we can represent the displacement functions, equations (11.5) and (11.6), in matrix form. This is easily
obtained by writing
u
0 NL 0
NI 0 NJ 0 NH
x
Di
uy
0 NI 0 NJ
0 NH 0 NL
NDi
11:7
310
11:9
NI xJ; yJ 0
11:10
11:11
11:12
11:13
11:14
311
NI
NJ
L
NH
NL
Fig. 11.5
l
y
uy
uy
L
ux
ux
l
uy
uy
I
ux
Fig. 11.6
ux
312
ux H a1 a2 l a3 l a4 l 2
uy I b1
ux J a1 a2 l
uy H b1 b2 l b3 l b4 l 2
11:17
ux L a1 a3 l
uy J b1 b2 l
ux L b1 b3 l
313
functions (in the present example, equations (11.2) and (11.3)) and the
meshing of the structure is achieved using quadrilateral elements only,
it is evident that the resulting expressions for the displacement function
varies according to the shape of the element and, in general, cannot be
derived as a single function for all elements. Moreover, the conditions
fullled by the displacement functions may vary according to the shape
of the element as well. This factor can be easily explained by reference
to the property of two adjacent rectangular elements to present the
same displacement on contiguous sides.
This property does not hold true for the trapezoidal element,
Fig. 11.6. In fact, the side connecting the nodes J and H is a straight
line of equation
x l y
11:24
1 ux H
l l 2
y
1 ux L
1
l
11:25
y
1
u I
uy x l y ; y
l
y
y
y
1
1
uy J
1
l
l
y y2
2
1 uy H
l l
y
1 uy L
1
l
11:26
These expressions involve the components of displacement of all the
four nodes of the element. Therefore, the displacement along contiguous sides of adjacent elements is not governed only by the behaviour
of the nodes associated with the sides themselves and, in general, it
will not be the same for both of elements. The elimination of such a
314
pathological behaviour would imply a dierent choice of the polynomial displacement functions, equations (11.2) and (11.3). Generally
speaking, this means that an appropriate analysis of the displacement
functions is required, at least for any dierent set of elements.
However, in order to obtain a procedure with the greatest degree of
automation, it is desirable that a small amount of data can be used to
represent the various types of elements that may be required in the
analysis of a real engineering problem.
This can be obtained by making resort to the use of intrinsic coordinates and appropriate transformation rules, as we will see in the
next section.
11.3
H
L
I
I
J
J
Fig. 11.7
L
r2
r1
I
r2
J
r1
315
Fig. 11.8
the general reference frames encountered in the matrix analysis of pinjointed and rigid-jointed structures. In fact, in the previous situation
we dealt with a transformation rule that allowed us to establish a
correspondence between systems of Cartesian orthogonal axes that
diered by simple translations or rotations in the three-dimensional
space. Here we have relationships that allow a continuous distortion
of the element, too. For instance, we can consider the relationship
between cylindrical polar and Cartesian coordinates, i.e.
x r cos
y r sin
11:27
Fig. 11.9
316
11:28
11:29
11:30
where N; is the shape function matrix and ci is the array containing the global coordinates of the nodes of the generic element, i.e.
ci T xI yI xJ yJ xH yH xL yL
11:31
In this manner we obtain a set which is readily suitable for mapping.
In fact, it is evident that the locations of coordinates I,
I; . . . ; L; L, i.e. the four nodes of the parent element, will automatically assume the required coordinates xI; yI; . . . ; xL; yL in
the mapping. Continuity and uniqueness requirements are generally
satised by such a type of transformation, with the exception of
excessive and pathological distortions. The feature can be checked
by making reference to the Jacobian matrix (after Jacobi1 ) of the transformation, that is
3
2
qx qy
6 q q 7
7
6
11:32
J 6
7
4 qx qy 5
q
1
q
Jacobi, Karl Gustav Jacob (Potsdam, 1804 Berlin, 1851), German mathematician.
317
B
A
Fig. 11.10
318
and the sets of global nodal coordinates are the same, it follows that
the inter-element boundary curve IJ will also be the same. The
same line of reasoning applied to the displacement functions, equation
(11.7), demonstrates that displacement is also the same along a
common edge. It goes without saying that the continuity of the displacement functions is preserved in the mapping and that isoparametric elements will be invariant as a consequence of the adoption of
the intrinsic coordinate system .
Finally, it must be underlined that, although we have limited our
development here to two-dimensional structures, nevertheless all the
comments and results derived above are equally valid and applicable
to the analysis of three-dimensional structures and components.
11.4
Now it is appropriate to consider some conditions to which displacement functions should conform so that it is likely that the exact mathematical solution of the problem of elastic equilibrium will be
approached by the nite element treatment as more and more elements
are used to mesh a certain structure. From a rigorous mathematical
standpoint this is quite a complex matter and in the past 30 years
many studies have been devoted to underwriting the intrinsically
approximate nite element method with a formal mathematical basis.
A review of such studies and the mathematical developments are outside the purpose of this textbook and we limit the following presentation to self-evident and heuristic physical convergence requirements.
These requirements are
.
.
the displacement eld must be continuous within every subdomain. This is a fairly simple requirement and is met by any
polynomial displacement function.
inter-element compatibility should be respected, i.e. there should
be no gaps or overlaps between elements. Moreover, bending
elements (like, for instance, those associated with the Kircho
plate model or the Bernouilli beam model) should not allow discontinuities in slope between elements. The rst point of this
statement is physically evident and we have seen that the use
of the isoparametric formulation provides a straightforward
way of meeting such a condition. The second point is physically
evident, too. However, it is rather more complicated to meet
such a requirement and there are many element formulations
of common use that violate the requirement in a coarse mesh
arrangement. Nevertheless, these elements may be able to
319
yield a good convergence towards the exact mathematical solution because incompatibilities in slope tend to disappear with
increasing mesh renement. Also, incompatible elements are
very often deliberately adopted because they tend to `soften'
the behaviour of the model and counteract the natural overstiness of the displacement functions. In fact it must be
borne in mind that by substituting the real solid by a nite
element model we seek the solution of the elastic equilibrium
(which for linear problems corresponds to a minimum of the
total potential energy) in a class of functions which is a subset
of the class of all the kinematically admissible functions and
therefore provides displacements that are generally smaller
than the real ones.
the elements should be geometrically invariant or isotropic. This
requirement is once again physically evident and means that
the element behaviour should have no preferred direction. It
implies that the polynomial expression adopted to interpolate
the displacement eld over the element sub-domain should be
symmetric with respect to any coordinate. Of course obtaining
a set of isotropic elements is quite easy in an isoparametric
formulation, provided the assumed displacement functions for
the parent element retain symmetry with respect to all the
intrinsic coordinates.
the elements should be able to represent rigid-body motions
exactly. Of course, a reliable nite element model must be able
to represent correctly this situation, which may occur in the
whole structure or only in a part of it. An obvious implication
of this requirement is the following: when the vector of nodal
displacements d represents a rigid body motion, the element
must exhibit a zero strain eld. From a mathematical standpoint, this implies that the polynomial adopted for the representation of the displacement eld must possess appropriate and
adequate constant terms.
the elements should be able to represent constant strain elds.
From a physical standpoint this last requirement may seem
less obvious than the previous ones, but it is nevertheless a
very signicant requirement. We can imagine any continuous
structure as a system characterised by an innite number of
elements, each one displaying a constant strain, which is the
value of the strain at each point of the whole domain. Thus, it
seems appropriate that a nite element is able to reproduce
constant strain elds so that, as the mesh is further and further
rened and the sub-division of the domain becomes ner and
320
z
y
l
z (z)
Fig. 11.11
z
l/n
y
l
Fig. 11.12
zz (z)
Fig. 11.13
321
Fig. 11.14
If, however, the elements are not able to represent a constant strain
eld, it may be that even when the dimension l/n of each element
becomes very small, the form of the axial strain resulting from the
nite element modelling will still dier signicantly from the exact
solution, as shown in Fig. 11.14.
We recall that in the linear theory of elasticity the strain eld within
the structure is derived from the displacement eld by means of the
well-known relationships
qu
"xx x
qx
...
11:34
1 quy qux
"xy
2 qx
qy
...
and it follows that a complete linear polynomial is required in order to
represent constant strain states. A complete quadratic polynomial is
required in order to represent constant curvatures in models for structural exure, such as Kircho's plates. As a generality, we can say that
it is desirable that polynomial expressions of displacement elds possess the highest order of a complete polynomial for the assigned
number of parameters to be determined. The whole set of complete
polynomials of any order can be shown graphically by means of the
Pascal2 triangle, Fig. 11.15.
However, it must be underlined that this condition, like each of the
previous requirements, if taken alone, is neither a necessary nor a sufcient condition to guarantee the convergence of the nite element
model to the exact mathematical solution. On the whole, it can be
armed that displacement functions that satisfy the above requirements show a good convergence to an accurate solution and do not
display strange or pathologic behaviours even for a relatively coarse
discretisation of the structure.
A practical test of validity for a generic non-conforming element (i.e.
those elements that do not respect the second of the conditions above,
2
322
2 2
Fig. 11.15
which is normally the case for elements used to model plates and shells,
as discussed earlier) is the so-called patch test. This test consists of
assembling an arbitrary patch of elements in such a way that at least
one node is completely surrounded by elements, see Fig. 11.16.
Then, a boundary nodal displacement that corresponds to a state of
constant strain is applied. Once the equations of elastic equilibrium
have been solved for the nite element model, the test is considered
to be passed if resulting strains agree exactly with exact values at
every point in any sub-domain. Of course, in order to be signicant,
the test must be repeated for more than one geometry, mesh arrangement and state of strain. In fact, some elements may pass the test in
some conditions and fail it in others. It can be shown that, under
some precise requirements, the patch test is a necessary and sucient
condition for convergence. In any case and apart from precise
Fig. 11.16
323
mathematical reasons, the patch test is also the most eective and
practical benchmark for nite element programming and checking.
11.5
Fig. 11.17
324
11:37
11:38
11:39
where
1
2
2
2
3
11:40
. . . . . . NP C1
11:41
325
1
Fig. 11.18
1 2 . . . k 1 k 1 . . . n
k 1 k 2 . . . k k 1 k k 1 . . . k n
11:42
and Lnk j 0
for j 6 k
11:43
s r
r
1
326
In fact, by labelling the node by its column and row number, say h
and k, we have
Nj ; Lrh Lsk
11:44
11:45
u (H)
u (L)
L
u (I)
I
Fig. 11.20
u (J)
327
Fig. 11.21
we see that it contains some high-order terms and it omits some lower
ones. In fact equation (11.45) contains, together with the complete
second order expansion, the higher order terms 2 , 2 and 2 2 ,
while it omits the terms 3 and 3 (needed for a complete third-order
expansion) and the terms 4 , 3 , 3 and 4 (needed for a complete
fourth-order expansion). This holds true for every element of the
Lagrange family, which therefore does not oset the welcome property
that polynomial expressions of displacement elds possess the highest
order of a complete polynomial for the assigned number of parameters
to be determined.
The serendipity family of shape functions is somewhat slightly less
simple to generate, but it oers substantial advantages, too. The name
serendipity was given to this class of shape functions after the princes
of Serendip, who were reported by Horace Walpole3 to be remarkable
for their chance discovery. The basis for the name stems evidently
from the way in which we derive the serendipity shape functions.
In fact, let us consider the four noded square element in Fig. 11.21.
The equations of the lines JH and LH are, respectively,
1 0
1 0
11:46
11:47
will give zero value for the coordinates of the nodes J, H and L. Thus,
we can write
NI ; a1 1
11:48
11:49
328
Fig. 11.22
By repeating the same reasoning for each of the four nodes of the
element in Fig. 11.21, we are led to the general formula
Nj ; 14 1 j 1 j
11:50
1 0
1 0
11:51
11:52
11:53
For a side node, such as the node J, the required lines are HM, OM
and IO, as shown in Fig. 11.23.
Their respective equations are
1 0
1 0
1 0
11:54
329
Fig. 11.23
11:55
11:56
Nj ; 14 j j 11 j 1 j
11:57
mid-side nodes: Nj ; 12 1 2 1 j
Nj ; 12 1 j 1 2
for j 0
for
j 0
11:58
330
11.6
1
Ui
" x; yCijhk "hk x; y dA
11:60
2 ij
Si
S is the domain of the generic element and Cijhk are the constants
which dene the elastic properties of the material. Remember that
we are examining a system of unit depth, so that the integrals can be
performed over the area A of the elements. For the sake of compactness, in the case at hand the components of strain "ij x; y can be
ordered in a three-element array, i.e.
3
2
"xx x; y
7
6
11:61
"x; y 4 "yy x; y 5
2"xy x; y
331
qx
11:64
1
1
i
T
U
" C" dA
uT ST CSu dA
11:65
2
2
Si
Si
1
i
U
Di T NT ST CSNDi dA
2
Si
1
Di T
2
NT ST CSN dADi
11:66
Si
11:67
K i NT ST CSN dA
Si
332
11:68
...
uy 9 ux 9
...
ux 16 uy 16
11:69
! 10
! 14
! 13
11:70
11:71
1 T X i
1
D
K D DT KD
2
2
i
where
K
X
i
K i
11:72
11:73
333
Let us now take into account the body forces b that act on the
domain S of the structure, and the tractions f that act on its boundary,
. If we order their components along the axes of the global reference
frame as two arrays, i.e.
bx x; y
fx x; y
bx; y
f x; y
11:74
by x; y
fy x; y
we can write the work of the applied loads as
W bj uj dA fj uj ds
S
11:75
Given the property of the addition operator for integrals, the above
expression can also be written as
X T
X T
u b dA
u f ds
11:76
W
i
Si
X
i
Si
9
=
D
N b dA N f ds
: i
;
i
i
8
T<
11:77
<
=
i
T
T
11:78
P
N b dA N f ds
: i
;
i
S
334
Thus, we have
X iT i
D P
W
11:79
where
P
P i
11:81
At this point the total potential energy of the nite element model is
U W 12 DT KD
DT P
11:82
and, from a formal point of view, appears exactly the same as equation
(8.47) obtained in the case of framed structures, as we set out to show.
The solution of the elastic equilibrium problem can be pursued by
seeking the stationary value of the total potential energy expression
equation (11.82) with respect to the degrees of freedom set in the displacement vector D. This means that we have to impose that
q
0
qDj
11:83
335
11.7
336
K i Nx; yT ST CSNx; y dA
Si
Basically, in order to perform this integration we require the expression of the matrix
Bx; y SNx; y
2 qN
I
0
6 qx
6
6
qNI
6
6 0
qy
6
6
4 qN qN
I
qy
qx
... ...
qNL
qx
... ...
... ...
qNL
qy
7
7
qNL 7
7
7
qy 7
7
qNL 5
qx
11:86
A way to attain this target is obviously by means of the explicit expression of the shape function matrix N in the global reference frame xy.
However, as said above, in the isoparametric formulation we hold the
expression of the shape functions matrix N; in the intrinsic
system and the inversion of the transformation rules, equation
(11.30), may turn out to be quite a dicult task. Fortunately, some
very simple manipulation can provide the matrix Bx; y without
requiring the inversion of equation (11.30). If we consider that the
mapping correspondence equation (11.30) yields x and y as functions
of and , i.e. x x; and y y; , the chain rule of derivatives
allows us to write
qNj qNj qx qNj qy
q
qx q
qy q
qNj qNj qx qNj qy
q
qx q
qy q
or, in matrix form,
3
3
2
2
qNj
qNj
6 qx 7
6 q 7
7
7
6
6
J
7
7
6
6
4 qNj 5
4 qNj 5
qy
q
11:87
11:88
where J is the Jacobian matrix of the transformation, given by equation (11.33). Consequently, the terms qNj =qx and qNj =qy required for
337
i
K Bx; yT CBx; y dA
11:90
Si
1 1
f x; y dA
j f~; d d
11:91
1 1
Si
with
j detJ
11:92
11:93
and
Thus the integration of equation (11.90) can be performed directly in
the intrinsic system of coordinates of the parent element, given that
the expression of Bx; y is already obtained in terms of and by
virtue of equation (11.89). Then, we have
K i
1 1
11:94
1 1
<
=
i
T
T
P
Nx; y bx; y dA Nx; y f x; y ds
: i
;
i
S
338
N1; f 1; d
where
9
=
N1; T f 1; d
;
fJ
f s 11
fn J11
fn J12
fs J12
f
N; 1T f ; 1 d
11:95
fJ
s 21
fn J21
fn J22
fs J22
f d
11:96
1
4
339
Fig. 11.24
f
Fig. 11.25
where i are the mid-points of each sub-interval and their common
length.
However, it may turn out that a better approximation can be
achieved with the same number of sampling points for the function
f if they are chosen at special locations i . Thus, we can write
X
f i Wi
11:99
I
i
340
i
Wi
0:00000
0:57735
2:00000
1:00000
0:77459
0:00000
0:86113
0:33998
0:55555
0:88888
0:34785
0:65214
2
3
4
f ; d d
11:100
1 1
X X
j
f i ; j Wi Wj
XX
i
f i ; j Wi Wj
11:101
341
p = 300 kN/m2
15 m
300 m
Fig. 11.26
11.8
l
y
x
Fig. 11.27
342
y
4
3
l
Fig. 11.28
1
l
2
3
Fig. 11.29
343
uy (H)
y
H
ux (H)
uy (J)
uy (I)
ux (J)
ux (I)
Fig. 11.30
Di NDi
uy x; y
0 NI 0 NJ
0 NH
with
ux I
6 u I 7
7
6 y
7
6
7
6
u
J
x
7
Di 6
6 u J 7
7
6 y
7
6
4 ux H 5
uy H
In this example we use the simplest assumption for the deformed
shape of the element, that is, the components along x and y of the
displacement eld are described by rst-order polynomial expressions
of the type
ux x; y a1 a2 x a3 y
uy x; y b1 b2 x b3 y
344
Notice that this very simple expression has the advantage that it
reduces the complexity of the algebra to obtain the stiness matrix
for the element but the assumed polynomial function also restricts
the variation of the strain in the plate to be piecewise constant. Thus
for the strain "x , in the x direction,
qux
a2
qx
and, similarly, for the other strain components. This simplicity of
representation, i.e. piecewise, of a continuous strain eld may have
implications for the number of elements that are required to obtain
an accurate solution using the nite element method.
By inserting in the above expressions the coordinates of the three
nodes of the element we have the following systems of linear equations
in the unknowns a1 ; a2 ; a3 and b1 ; b2 ; b3 , respectively
8
>
< ux I a1 a2 xI a3 yI
ux J a1 a2 xJ a3 yJ
>
:
ux H a1 a2 xH a3 yH
8
>
< uy I b1 b2 xI b3 yI
uy J b1 b2 xJ b3 yJ
>
:
uy H b1 b2 xH b3 yH
"xx
yH
3
1 ux I yI
7
6
a2 det4 1 ux J yJ 5=2A
1 ux H yH
3
2
1 xI ux I
7
6
a3 det4 1 xJ ux J 5=2A
1 xH ux H
2
3
uy I xI yI
6
7
b1 det4 uy J xJ yJ 5=2A
uy H xH yH
2
1
61
b2 det4
1
2
1
61
b3 det4
1
345
3
yI
yJ 7
5=2A
uy H yH
3
xI uy I
xJ uy J 7
5=2A
xH uy H
uy I
uy J
i
K BT CB dA
Si
6 qx
6
6
B 6
6 0
6
4 qN
qy
2
6
4
0
qNI
qy
qNI
qx
qNJ
qx
0
qNJ
qy
0
qNJ
qy
qNJ
qx
qNH
qx
0
qNH
qy
7
7
qNH 7
7
qy 7
7
qN 5
H
qx
yJ yH
0
0
xH xJ
yH yI
0
0
xI xH
yI yJ
0
3
0
7
xJ xI 5
xH xJ
yJ yH
xI xH
yH yI
xJ xI
yI yJ
346
2
C
6
E
6
6
1 1 2 4
1
1
1 2
2
3
7
7
7
5
It is evident that for the assumed choice of displacement polynomials the deformation matrix B actually does not depend on the
coordinates x and y of the points inside the domain of the element.
Thus, the integration over the domain of the element is simple and
straightforward, and the required stiness matrix K i can be written as
1
E1
4A 1 1 2
2 2
c4 c21 c4 c1 c4 c1
6
6
c21 c24
6
6
6
6
6
6
6
6
6
sym
4
K i
c4 c5 c1 c2
c4 c2 c1 c5
c6 c4 c1 c3
c1 c5 c4 c2
c1 c2 c4 c5
c1 c6 c4 c3
c25 c22
c5 c2 c5 c2
c5 c6 c2 c3
c22 c25
c2 c6 c5 c3
c26 c23
c4 c3 c1 c6
7
c1 c3 c4 c6 7
7
7
c3 c5 c2 c6 7
7
7
c2 c3 c5 c6 7
7
7
c6 c3 c6 c3 7
5
c23 c26
with
1
1 2
21
and
c1 xH xJ
c2 xI xH
c3 xJ xI
c4 yJ yH
c5 yH yI
c6 yI yJ
For the plane analysis being exemplied here, the stiness matrix of the
element 1 (which is dened by the coordinates I 4, J 2, H 1),
K 1 , is readily obtained from the general expression by setting
c1 l
c2 0
c3 l
c4 0
c5 l
c6 l
c2 l
c3 l
c4 l
c5 l
c6 0
347
uy 1
...
. . . ux 4 uy 4
1
5
4
21 1 2
sym
1
348
Thus, we have
0:176
0:412
2 :
3
1 412 0:588
0:412
1:412 0:412 5
KI 1:642 107 4
sym
1:412
<
=
i
T
T
N b dA N f ds
P
: i
;
S
i
X i
P
P
i
with
b
f
22
on the side 12
300
349
Notice that for the sake of clarity we kept the contribution of the body
forces and that of the applied surface load p separate. With a fairly
simple integration we obtain
3
3 2
2
0
0
6
6
l2 7
l 7
7
7 6
6
6 22 7 6 300 7
PI 6
6 76
27
7
7 6
6
5
5 4
4
l2
l
300
22
2
3
3
3 2
2
3 2
0
0
0
7
7 6
6
7 6
: 7
: 7 6
7 6
6
4 8 25 5 4 225 5 4 233 25 5
241:50
225
16:5
It is straightforward to verify that the sum of the nodal forces
corresponding to the body forces due to the self-weight of the concrete
are equal to half of the weight of the whole section, i.e.
A 22 2:25 49:5 kN (remember that we are dealing with a
plane strain problem and therefore we are examining a slice of unit
depth). Only half the weight is included in the analysis of the deformation because the remaining part of the total weight would be applied to
the constrained nodes 3 and 4 with no eect on the deformation of the
foundation. Conversely, the resultant of the surface load p, i.e.
p l 300 1:5 450 kN/m, is applied to the nodes 1 and 2 in the
form of two forces of equal value.
Finally, the equilibrium equations of the problem is
KI DI PI )
32
3
ux 1
1:412 0:588
0:412
76
7
6
1:412 0:412 54 uy 1 5
1:642 107 4
uy 2
sym
1:412
2
3
0
6
:25 7
233
4
5
2
241:50
350
1:412
uy 2
225
3
2:148710 106 m
6
7
DI 4 0:144809 104 m 5
0:133029 104 m
351
the element mesh geometry, the geometry that would give an adequately
accurate answer and ensure that the answer is not sensitive to the change
of mesh geometry.
An alternative approach would be to assume a higher order
polynomial to describe the variation of the deformations ux x; y,
uy x; y, in place of the simple linear variation assumed in this example.
This alternative approach requires the re-formulation of the stiness
matrix for a generic element. The potential advantage for this
approach is that possibly the number of elements required to converge
to an adequately accurate solution may be reduced.
12.1
354
P
P
Fig 12.1
In section 6.1 we stated that the total potential energy of the system
coincides with the load potential Phs, which represents the capability
of the gravitational force P to perform work on account of the height
hs of the ball. If no work tends to be performed by the gravitational
force, the principle of conservation of energy assures that no kinetic
energy can be gained by the system and it is in static equilibrium.
However, it is intuitively clear that the state of equilibrium attained
at the top of a hill is qualitatively very dierent from the equilibrium
attained at the bottom of a valley. In fact, let us consider the static
forces, acting as a result of a very small displacement about an equilibrium state, as a means of inferring the likely dynamic response. If the
static forces acting upon the system after such a small displacement
about an equilibrium state (i.e. the gravitational force and the frictionless reaction of the support) are in a direction which tends to restore
the system to its original equilibrium state we consider that the original
position is a stable equilibrium state, but if the static forces are such that
they tend to upset the system then the original position is considered to
be an unstable equilibrium state.
In the case under consideration, if the ball is at the bottom of a valley
then the gravitational force P will always tend to restore the ball to its
original position of equilibrium after any small displacement about
this point, as shown in Fig. 12.1. On the contrary, if the ball is at the
top of a hill then the gravitational force P will always tend to move
the ball away from its original position of equilibrium for any small
displacement about this point, see Fig. 12.2.
P
P
Fig 12.2
355
Fig 12.3
Nc
Fig 12.4
356
u (l/2)
Fig 12.5
critical value, Nc , the bar deects laterally and the value of the deection is found not to be directly proportional to the value of applied
load, even if the material is perfectly linearly elastic. At the onset of
the lateral deection we say that the bar experiences initial buckling.
Of course, as long as we remain in the realm of the linear theory of
elasticity and under the hypotheses formulated in chapter 4, such a
behaviour cannot be mathematically described, given that the deformation relationship, equation (4.5), holds for any value of the axial
load. Still, the reason for the discrepancy between the predictions of
the model introduced in chapter 4 and the observations in tests on slender columns is quite simple. Essentially, if we perturb the equilibrium
of a slender axially loaded bar, for example by slightly displacing its
mid-span, the axial load will cause a bending moment given by the
product of the force and the distance between its direction and the
deformed axis of the beam, Fig. 12.5.
As long as the elastic stiness of the beam is capable of restoring
the original conguration of equilibrium, the equilibrium is stable
and the only equilibrium conguration is the straight one. However,
when the magnitude of the axial force is such that the bending
moment yielded by the perturbation exceeds the restoring capacity
of the elastic stiness of the beam, other displaced congurations of
equilibrium become possible and the column will bend laterally. In
this case the straight conguration of equilibrium is classied as
unstable, because, as in the case of the ball at the crest of the hill of
357
Fig. 12.2, the column always departs from the crest as a result of any
small displacement of its position. From a practical point of view it
must also be said that it is experimentally very dicult to keep the
column in a straight conguration of equilibrium once the critical
value of the axial load Nc has been attained because this implies the
absence of any imperfection in the specimen or external perturbation
of the column.
It is now clear that the modelling of axially loaded bar illustrated in
chapter 4 ignores the additional moment induced by perturbations or
imperfections of the axis of the column and is therefore incapable of
describing the buckling phenomena. Intuitively it is anticipated that
initial buckling aects only slender bars, being dependent on the
length and on the bending stiness of the element. In fact, for a
squat structural member it is found that yielding and plastic deformation of the material occurs before any lateral initial buckling takes
place. However, there is a large range of practical compressed elements
that can be analysed using the theory of linear elasticity.
The mathematical problem of the lateral instability of compressed
members was solved in the 18th century by the Swiss mathematician
Leonhard Euler, who also formulated the equation of the equilibrium
for laterally loaded beams presented in chapter 4. In the realm of large
displacements this theory leads to the formulation of what is generally
known as the Euler's equation of the elastica. We will present the Euler
theory of compressed bars, i.e. struts, in section 12.4, limiting our
treatment to relatively small deections. First, however, in the next
section, we present an energy criterion for stability and give some
elementary examples.
12.2
358
12:1
12.3
359
l cos
M = k
Fig 12.6
its closed state. The relationship between rotation and the reactive
moment M is
M k
12:2
being the rotation about the hinge axis and k the rotational stiness
of the spring.
By virtue of Clapeyron's theorem, the strain energy stored in the
spring upon rotation is
U 12 k2
12:3
12:4
q
k Pl sin 0
q
12:5
360
Pc
Fig 12.7
12:6
12:7
for
6 0
and P >
k
l
361
12:9
12:10
P
e sin
l cos
M = k
Fig 12.8
362
q
k Pl sin Pe cos 0
q
12:11
12:12
12:14
Fig 12.9
363
P
l
cos
Fig 12.10
we discover that the equilibrium paths 1 and 3 are stable, while the
equilibrium path 2 is unstable.
To summarise the results, we may say that the imperfect system of
Fig. 12.8, loaded from its unloaded state, will follow a constantly
rising stable path so that no instability is encountered. The deections
will simply grow more rapidly as the critical load of the perfect system
is passed. In addition to this natural equilibrium path, the system will
also exhibit a complementary equilibrium path in the other quadrant
of the P space, which is partly stable and partly unstable and
cannot be normally encountered in a natural loading process from
P 0.
To complete our presentation of simple examples, we include a
dierent type of instability, which may occur also in perfect systems
without the presence of bifurcation of the equilibrium path. To this
purpose, we can consider the shallow arch of Fig. 12.10.
The arch comprises two axially deformable bars pinned to each
other and to rigid foundations. It is evident from the simple
equilibrium of rigid bodies that for any position, dened by the
rotation angle , the bars are always subject to axial loading only.
The deformation law (4.5) allows us to write
l
N
l
N
EA cos k
12:15
where k is the axial stiness of the bar. By dening the rotation angle
as the parameter describing the conguration of the system, we can
write the following expression for the strain energy of the system
2
1
l
l
U2 k
12:16
2 cos cos
364
12:17
2 k
Pl tan l tan
2 cos cos
12:18
The present example is simplied if we restrict it to a shallow arch,
that is we can take both and to be small and write
cos 1
tan ;
2
;
2
cos 1
2
;
2
12:19
tan
12:20
q
kl 2 22 32 3 Pl 0
q
12:21
and yields
P kl22 3 2
12:22
Fig 12.11
365
First of all we notice that there are three equilibrium positions for
P 0, i.e. 0, and 2. In order to investigate the
stability of the equilibrium path, we again make reference to the sign
of the second derivative
q2
kl 2 22 6 32
q2
12:23
In this manner we nd that the two unloaded equilibrium congurations at 0 and 2 are both stable, while the unloaded
equilibrium conguration at is unstable. Moreover, the path
0A is stable, as well as the rising path CE, while the path ABC
is unstable. In other words, starting from the unloaded origin of the
co-ordinates, the arch equilibrium will be described by the stable
rising path 0A. At this point the equilibrium would require a diminishing load along the path AB until zero magnitude is attained at B.
From B to C the magnitude of the load would be required to increase
again but with opposite direction from the initial one, until point C is
reached. In reality, on attaining the point A under the prescribed value
of the load P, the arch will move dynamically to the state D, this is
termed snap buckling. In a practical case the energy released in the
rapid transition from the geometry at A to that at D will eventually
be dissipated by vibrations due to the presence of some damping and
the system will come to rest in this position. Subsequent increments
of the load will cause the inverted arch equilibrium states to follow
the stable rising path DE.
In conclusion, in this example there are no branching points and the
quality of the equilibrium changes from stable to unstable at some
points, namely A and C, which we will call limit points. In other
words, this is a form of progressive instability in the sense that
the structure tends to lose its stiness gradually as an eect of the
change of conguration due to increasing values of loading.
At the end of the presentation of these simple examples, it seems
clear that when we have to investigate the stability of equilibrium we
must start by removing one of the fundamental assumptions of the
linear theory of elasticity, that is on account of the smallness of the
displacement eld the forces acting on the body can be always referred
to the undeformed conguration. In the next section we will see what
this implies for Euler's equation of beam deformation.
12.4
366
z
A
Fig 12.12
Since the load P is axially applied, its potential is related to the vertical
displacement of the sliding support of the structure . Given that we
have neglected any axial extensibility, this displacement is dependent
only on the lateral deection of the beamcolumn. However, in
367
12:24
so that we have
q
dz duz dz2 du2y
1
s
2
duy A
dz
duz @1 1
dz
12:25
BC),
368
duz
dz
dz
Fig 12.13
12:27
12:28
and the total potential energy functional of the system can be written
as
l
l
1
1 02
002
EIx uy dz P
u dz
uy U P
2
2 y
0
12:29
369
Once again, the stationary value of the functional uy gives the equilibrium states of the system. Thus
l
dz P u0y u0y dz 0
12:30
EIx u0000
y uy
dz P u00y uy dz 0
12:31
12:32
This equation is called Euler's equation of beam buckling, and its solution represents the deformed conguration of the elastic beamcolumn
under the specied axial load P.
By dividing both terms by the bending stiness EIx and setting
s
P
12:33
EIx
we can write
2 00
u0000
y uy 0
12:34
12:35
for
z0
Mz EIx u00y 0
and z l
for
z0
12:36
and z l
12:37
370
1
0
l
0
2 3
0
6
7
6
7
0 76 B 7 6 0 7
7
76 7 6 7
1 54 C 5 4 0 5
1
32
12:39
2 cos l
Therefore we are led to a transcendental equation (it involves trigonometric functions) in the parameter . The solution of equation (12.40)
is found to be
PE n2
2 EIx
l2
12:41
371
u00y
1 d
q
r ds
1 u02
y
where, however, this time the derivatives are taken with respect to the curvilinear coordinate of the undeformed axis of the beam, s. Moreover, we can write
2
u002
1
y
02
u002
y 1 uy
r
1 u02
y
Thus, the total potential energy is
l
l
1
P 02
02
EIx u002
1
ds
u ds
y
y
2
2 y
0
372
a2
a3
a1
PE =
EI
l2
PE = 4 2 EI
2
PE = 9 2 EI
2
Fig 12.14
12:42
q
k Pl 0
q
12:43
Equation (12.43) gives the value of the critical load Pc k=l as the
value of the load at which a non-trivial conguration of equilibrium
becomes possible, but it fails to give information about the bifurcated
equilibrium paths.
However, from a practical point of view engineers are mostly
interested in designing structures with a degree of safety such that
the critical load is not attained and therefore the knowledge only of
the magnitude of such a load is generally sucient for design analysis
purposes together with an understanding of the eects of imperfections
in the structure loading or geometry.
12.5
The analysis in this section will apply quite systematically the method
introduced above for obtaining the load at which the onset of lateral
deformations are initiated. In the previous section we have seen that
the load at which the perfect column becomes unstable and develops
lateral deformations is called the Euler, or critical load. The form of
373
A column very seldom exists as a separate entity, it is usually a component in a frame and as such it has a exural restraint at its ends from
the contiguous members of the frame. The eect of this restraint, which
is a function of the relative exural stiness of the column and the
members attached to it are considered here.
Figure 12.15(a) shows the deformed shape of an initially perfect
column subjected to a load P applied along the initial axis. The
moments m at the end of the column are applied restraints from
other members attached to the column and in the present example
the restraints are equal at both ends. Note that these restraining
moments have zero value until the column begins to deect and that
they will increase in magnitude as the magnitude of the column lateral
deection increases.
We refer to Euler's equation of initial buckling (12.32)
00
EIx u0000
y Puy 0
374
P
m
Q
z
uy (z)
Q
m
P
(a)
(b)
Fig 12.15
we obtain
2 00
u0000
y uy 0
EIx u00y
for
m
z0
and z l
for z 0 and
12:44
zl
A
sin
l
B cos l Cl D 0
y
>
>
>
:
EIx u00y l EIx A2 sin l EIx B2 cos l m
12:45
12:46
375
tan
EIx
sin l
EIx
2
12:47
m
m
B
C
0
D
EIx 2
EIx 2
so that
uy z
m
l
m
m
tan sin z
cos z
2
EIx
2
EIx
EIx 2
12:48
12:49
m
l
tan
EIx
2
12:50
we get
tan
l
2EIx
2
l
12:51
l
2 l
2
2
12:52
or also
tan
with l=EIx .
The degree of exural restraint applied to the column from a contiguous member provides the specic value of in equation (12.49) and
hence in equation (12.52) which can then be solved to provide the
appropriate value of the Euler load.
The Euler load obtained from the solution of equation (12.52) can be
written as
2 EI
12:53
l2
where
is the particular coecient related to the value of . An alternative approach and convenient to describing the Euler load is to
dene an eective length le such that
PE
PE
2 EIx
le2
12:54
376
P
09
le
le /l
08
P
(b )
P
m
07
le
06
m
P
(a )
05
0
10
15
= l/EI
20
25
30
Fig 12.16
where
l
le p
12:55
Curve (a) in Fig. 12.16 shows the variation of the eective length
with increasing values of . Curve (b) show the corresponding variation for columns in which one end is restrained and the other is
simply supported. The free body diagram for this case is shown in
Fig. 12.15(b) in which the asymmetry of the constraint moments
requires that a lateral load Q be applied at the ends of the column.
This load, as in the case of the restraint moments m is zero until
the column experiences lateral deections at the Euler load.
The physical interpretation of the eective length le is made more
clear in Fig. 12.17 where the deected shape of the columns at the
respective Euler loads are shown.
The analysis shows that for a column simply supported at each end,
the eective length is le l, and for a column encastre at both ends,
le l=2. The corresponding condition for a column encastre at one
end and simply supported at the other has le 0:71l. These are
shown graphically in Fig. 12.17(a) to (c) respectively. The eective
length is in fact the distance between the points of inection, i.e. zero
moment, in the deected shape of the columns. The case shown in
377
l
l e = 071l
l e = 05l
le = l
(a)
l e = 2l
(b)
(c)
(d)
Fig 12.17
Fig. 12.17(d) is for a column encastre at one end and totally free from
constraint at the other. The analysis shows that le 2l, that is the
Euler load for this column is 25% of that for a column simply
supported at both ends. This form of buckling mode is called sway
buckling and is of particular importance to the design of frames since
the buckling load is so low.
EIx uy dz P
u dz Q2
2
2 y
0
12:56
378
2
z
Fig 12.18
On account of the symmetry of the deection with respect to the midspan section, we can express the lateral deection at the mid-span 2 as
follows
l=2
2
0
u0y
l
1 0
dz
u dz
2 y
12:57
so that
l
l
l
1
1 02
1 0
002
EIx uy dz P
u dz Q
u dz
2
2 y
2 y
0
12:58
l
dz P
u0y u0y
l
1
dzQ
u0y dz 0
2
12:59
0
EIx u000
y uy
l
dz P
0
u0y u0y
l
1
dzQ
u0y dz 0
2
0
12:60
379
Q
2
12:61
By integrating both the left and the right hand terms, we obtain
EIx u00y Puy
Q
z const:
2
12:62
Q
z
2EIx
12:63
Q
z
2EIx 2
12:64
and
u0y l=2 0
12:65
12:66
uy l=2
tan
2
2
2EIx 3
12:67
Note that as
P ! PE
l
!
2
2
uy l=2 ! 1
12:68
that is, as the axial load increases close to the magnitude of the Euler
load for the column, the deection becomes very large. The magnitude
380
1
l 4 2
2
12
tan
12:69
2 2
2
l
2
2
This approximation enables equation (12.67) to be written as
0
1
Ql 3
1
12:70
uy l=2
PA
48EIx @
1
PE
Thus it can be seen that when the axial load, P, is zero the initial deection at the mid-length of the beam corresponds to that due to the
lateral load Q only. This is
uy l=2
Ql 3
48EIx
12:71
uy
1
P
PE
12:72
It is evident from equation (12.72) that the Euler load is the governing parameter in determining the increase in the deection as the axial
load is applied. The eect of the amplication factor is shown in
Fig. 12.19.
The previous example has shown how a column with a lateral load Q
initially will have a lateral deection and that deection will grow nonlinearly as the axial load P is imposed. It was assumed in section 12.4,
where the perfect column was analysed, that the initial form of the
column was perfectly straight. That is an idealisation of the actual
initial condition of a practical column which due to the manufacturing
process will have some degree of out-of-straightness along its length.
The present example deals with the evaluation of deections from
381
PE
uy (l/2)
uy
Fig 12.19
that initial condition as the axial load P is imposed on such an imperfect column.
The initial deformations of the column are dened as u0y z, as
shown in Fig. 12.20(a). According to equation (4.25), they dene the
curvature of the axis as
1
u000y
r0
12:73
P
u0y (z)
uy (z)
P
(a)
Fig 12.20
(b)
382
12:74
EIx u00y
u000y u00y
dz P u0y u0y dz 0
12:75
EIx u00y
u000y u00y
dz P uy u00y dz 0
12:76
12:77
z
2z
3z
b2 sin
b3 sin
l
l
l
12:78
12:79
383
12:80
for
z0
and z l
12:81
Hence
B0
and
A sin l 0
12:82
If sin kl 0, then at distinct values of the load, that is the eigenvalues l n, the magnitude of A can have any value. But at a
value of loading dierent from the eigenvalues, sin kl 6 0 and therefore A 0. Thus, provided the consideration is restricted to load
levels less than the Euler load, it is permissible to substitute A 0 in
equation (10.80). Consequently
uy
b1
P
1
PE
sin
z
b2
P
1
4PE
sin
2z
b3
P
1
9PE
sin
3z
l
12:83
b1
z
sin
l
1 P=PE
12:84
384
b1
1
12:85
P
PE
12.6
The method for applying trial functions to the evaluation of the Euler
loads for columns is very similar to that considered in chapter 7 for
beams. The method is exemplied rst by application to the perfect
columns analysed above, with uniform cross-section geometry and
with simple support and encastre boundary conditions, and then by
showing the power of the method by considering a perfect column in
which one half has a exural rigidity dierent from the other half.
For a perfect column with uniform cross-section geometry, the total
potential energy of the system, equation (12.29), is
l
l
1
1 02
002
uy U P
EIx uy dz P
u dz
2
2 y
0
1 2
1 2 2
d uy
duy
P
d
d
2
2l
d
d
0
with
z
l
12:86
The rst example concerns the derivation of the Euler load for the
column simply supported at both ends and subjected to an axial
385
load P, shown in Fig. 12.12. The boundary conditions, in non-dimensional form, are
uy 0 uy 1 0
12:87
12:88
EIx 4 2 P2 2
uy
u
4l y
4l 3
12:89
12:90
Hence
EIx 2
P uy 0
l2
12:91
2 EIx
l2
12:92
Thus we have obtained exactly the same results for the Euler load
which were obtained from the exact analytical approach presented in
section 12.4. However, in this case it is evident that the choice of
trial function coincided with the exact mode of deection of the
column at the Euler load.
Encastre column
duy
0
d
at 0
and 1
12:93
12:94
386
EIx 4 2 P2 2
u
uy
4l y
l3
12:95
42 EIx
l2
12:96
where
I
I2
I1
1=2
(12.97)
12:98
12:99
387
EI1
l/2
EI2
l/2
Fig 12.21
12:102
Substituting this function in the total potential energy functional, performing the integrations and applying the equilibrium conditions, i.e.
q
q
0;
0
12:103
q
u1
q
u2
388
32
1 I
u2 p
u1 0
3
12:104
32
1 I
u1 161 I
u2 4p
u2 0
3
where
p
2Pl 2
2 EI1
12:105
The value of the critical loads are obtained from the zero value of the
determinant of equation (12.104), that is
32
1 I p
1 I
3
12:106
0
32
1 I
161 I 4p
3
Expanding the determinant gives the quadratic equation
2
32
2
2
4p 20p1 I 161 I
1 I
0 12:107
3
Figure 12.22 shows a plot of the Euler load obtained from the solution of equation (12.107) for varying values of I, compared to the
corresponding values from equation (12.101).
It may be seen that for I ! 1 the two solutions converge and give
the Euler load that agrees with the exact analytical value. However,
as the degree of step-change of the exural rigidity along the column
25
p1 one degree of freedom
p1, p2
20
15
10
05
02
04
06
08
I
Fig 12.22
10
12
389
We now apply the method of trial functions to the case where the
column with a step-change in exural rigidity has also an initial lateral
load Q. This load is applied at mid-length, as shown in Fig. 12.23.
The non-dimensional expression of the total potential energy functional for this condition is
1 2
1 2 2
d uy
duy
EIx
P
3
d
d Q2
12:108
2
2l
d
2l
d
0
With reference to Fig. 12.23, the last term in this functional is relative
to the potential energy of the lateral load during the increase in the
deection 2 at the point of application of the load.
The two-term trial functions described in equation (12.102) are applied
to the energy functional, equation (12.116) and after the appropriate
P
EI1
l/2
EI2
l/2
Fig 12.23
390
2Pl 2
2 EI1
and q
2Ql 3
4 EI1
12:110
12:111
5
4
32
u2
0
1 I
161 I 4p
3
The solution of equations (12.111) to evaluate the development of
the lateral deections are exemplied in Fig. 12.24 for the conditions
I 0:2, q 0:1.
Figure 12.22 shows that the non-dimensional Euler load is found to be
p 0:745 by means of the same two-degrees of freedom trial function,
20
u1
u2
u1 (p), u2 (p)
15
10
0
0
Fig 12.24
01
02
03
04
p
05
06
07
08
391
25
20
uy ()
15
10
05
0
05
02
04
06
08
10
12
Fig 12.25
12.7
Perfect column
The total potential energy of the system is given by equation (12.29), i.e.
l
l
1
1 02
002
EIx uy dz P
u dz
uy U P
2
2 y
0
392
Node 1
Element 1
Node 2
Element 2
Node 3
P
Fig 12.26
column built-in at both ends, Fig. 12.26. For the sake of simplicity we
treat the column as having two elements.
The strain energy can be particularised for an element, that is
a length of the column ln between nodes, as a function of the nondimensional length . Thus we can write
1 2 n 2
d uy
EI
Un 3
d
12:112
d 2
2ln
0
393
12:113
qn
0;
qi 1
qn
0;
q
ui
qn
0
qi
12:114
6 7
15l 6
0
8 3 1 7
76 2 7
6 3 1
76 7
6
12:115
4 0
0 36 3
36 3 54 u3 5
0
0
3 1 3
4
3
The boundary conditions correspond to
u1 1 u3 3 0
thus, the system equation (12.115) reduces to
4EI 48 0 u2
P 72 0 u2
0
15l 0 8 2
l3
0 16 2
12:116
12:117
Pl 2
60EI
12:118
394
12:119
12:121
395
12:123
Pl 2
;
p
60EI
2
6
6 3
6
B 6
6 1
4
0
6
6 12
6
A 6
6 4
4
3
72
12
7
0 12 7
7
7;
0 16 4 7
5
48
0
12 4 8
3
2 3
0
1
7
6 7
6 u2 7
37
7
6 7
;
u
7
6 7
7
6 2 7
1 5
4 5
4
12:124
3
The result from the calculations are that the eigenvalues of the matrix
B1 A are 0:166, 0:894, 2:145 and 3:36. The lowest of these values is
the one of practical signicance and gives the buckling load as
PE 10EI=l 2 , which as in the previous example, compares very
well with the analytical value PE 2 EI=l 2 .
396
Element 1
Node 2
Q
Element 2
Node 3
(a)
(b)
Fig 12.27
n
X
41
P
2ln
i1
3
1 n 2
duy
d 5 Q2
d
12:125
12:126
397
10
08
P/PE
06
04
02
0
0
18
2/02
27
36
45
Fig 12.28
where
p
Pl 2
;
60EI
q
Ql 3
;
48EI
2 3
0
617
7
E 6
405
0
12:128
12:129
398
12:131
and eliminating the appropriate rows and columns in the matrix above,
the resulting system is again in the form shown in equation (12.122)
Au pBu 0
with
p
Pl 2
;
60EI1
2
4
6 3
B 6
4 1
0
8
12
4
6 12 24I 1 12I 1
A 6
4 4 12I 1 8I 1
0
12I
4I
2 3
3
1
3 1
0
6
7
72
0
37
6 u2 7
7;
u
6 7
0
8 1 5
4 2 5
3 1
4
3
3
0
12I 7
7
4I 5
8I
12:132
This equation can be solved for specic values of I and the results
compared to the corresponding values from section 12.6. The following typical results are obtained
PE
2 EI1
l2
Trial function
One-term
Two-term
Localised (two elements)
I 1
1
1
0.99
I 0:5
0:75
0:67
0:64
I 0:2
0:60
0:37
0:30
399
Thus the localised trial function agrees fairly well with the two-term
trial functions described earlier with the greater advantage that the
localised method can be automated and the numbers of elements
increases very easily.
12.8
The previous sections, namely section 12.6 and section 12.7, have
presented the application of the method of trial functions to the
calculation of the critical load of columns with various end geometric
constraints. A column is, of course, usually a component in a frame
structure and it has the important attribute that when it attains its
critical load the frame, or perhaps a region of the frame, will experience
the onset of buckling.
The ultimate load analysis of frames is the subject of many papers
and textbooks and it is not the purpose of the presentation in this
section to emulate the scope of these publications. Instead this section
introduces, by means of a simple example portal frame, the application
of the method of trial functions to the calculation of the critical loads
for frame structures.
The presentation starts by considering the analysis of the portal
frame shown in Fig. 12.29, when subjected to the loads P=2 aligned
co-axially with the vertical members of the frame.
Both the vertical members have the same exural stiness EI1 and
the horizontal member BC has a exural stiness EI2 .
As in all applications of the trial function method, we must rst
consider the likely modes in which the frame will deform at the critical
loads. Figure 12.30 shows two possible modes: (a) sway and (b)
symmetric.
There may be other modes of deformation, and each will have its
corresponding critical load. However, observations of simple tests
show that the two modes in Fig. 12.30 are related to the two lowest
critical loads. The trial functions we choose to represent these modes
are developed and incorporate the compatibility condition that the
frame is exurally rigid at joints B and C. Thus the basic assumption
is that the changes of slope of the vertical and horizontal members
have a common value at these joints.
Sway mode
z1
l
2
z2
l
12:133
400
P/2
P/2
B
C
EI2
EI1
EI1
Fig 12.29
a1
1
1 cos
2
12:134
This function satises the geometric constraints of zero slope and zero
P/2
P/2
(a)
Fig 12.30
P/2
P/2
(b)
401
B
P/2
B
a 2 = a 1/4
B
B
C
u (z 2)
a1
z2
u (z 1)
(b)
z1
A
(a)
Fig 12.31
Member BC
uBC
y a2 sin22
1 1
(12.135)
12:136
The slope of member BC at the joint with the vertical member, i.e. at
2 0, is
BC
1 duy
2
a2
12:137
BC B
l d2 2 0
l
Thus from the condition of compatibility of slope at the joint,
a
12:138
a2 1
4
Hence
a1
uBC
sin22
12:139
y
4
It is evident that in this manner the compatibility condition at the
joint C with the column CD is automatically satised, provided we
assume for the column CD the same shape function of the member
AB, equation (12.134).
402
The expression of the total potential energy for the frame results
1 2 AB 2
1 2 BC 2
d uy
d uy
EI1
EI2
2
d1 3
d2
2l 3
d12
2l
d22
0
1 AB 2
duy
P
d1
2l
d1
12:140
EI1 4 2 EI2 4 2
2 2
a
a
a
P
1
1
32 1
l 3 32
l3 2
12:141
12:142
da1
8l 1
16l 3
2l 3
and, consequently, we have
PE
2 EI1
1 8I
2l 2
12:143
where I I2 =I1 .
When the member BC has a very small value of exural stiness
compared to the vertical members, AB and CD, i.e. I ! 0, it is
evident that the critical load for the frame approaches the critical
load for initial buckling of a simple cantilever encastre at the bottom
end, i.e. PE 2 EI1 =4l 2 , by virtue of the fact that the load P is
applied equally to the two vertical members.
Symmetric mode
We assume now that the frame experiences the form of buckling shown
in Fig. 12.30(b). The deformation conditions for the members of the
frame are shown in Fig. 12.32.
Members AB and DC
As by the nature of the method we can assume any trial function which
satises the appropriate geometric constraints, we propose a function
in the form
2
5 3
2 4
uAB
y 1 b1 1 3 1 3 1
12:144
403
z2
P/2
b2 = b1 /3
B
B
B
u (z 2)
u (z1)
(b)
z1
A
(a)
Fig 12.32
uAB
y 0
and
uAB
y
at 1 1
at 1 0
12:145
12:147
12:148
b1
3
12:149
404
Substituting the trial functions in equation (12.140) gives the equilibrium condition as
d
EI1 8 EI2 2 P 4
3
b 0
12:150
db1
l 105 1
l3 5
l 9
That provides the critical load for the symmetric mode of frame buckling as
PE
4:262 EI1
1 0:343I
l2
12:151
where, as in the sway mode, we have here I I2 =I1 . In this case therefore the exural stiness of the member BC has a much less eect in
increasing the critical load of the frame than is the case for the sway
buckling mode. Notice as I becomes very small the critical load
approaches the value for the strut pinned at one end and encastre at
the other end, taking into account that the load P is applied equally
to the two vertical members of the frame.
The method of analysis presented above required a separate identication of the two signicant modes of initial buckling associated with
the critical loads of the portal frame. However, it goes without saying
that the choice of deformation mode does not have to be made at the
outset of the analysis. If sucient degrees of freedom are included in
the trial functions, then the calculation of stationary values of the
potential energy will identify the buckling modes automatically.
This is simply attained by incorporating the two buckling modes, i.e.
the sway and symmetric, as one trial function with two degrees of freedom. Thus, the trial function for the members AB and CD becomes
1
5 3 2 4
AB
2
uy 1 a1 1 cos
b 1 1 1 1
12:152
3
3
2
and by reason of compatibility of rotation at the joint B, the trial function for member BC is
uBC
y 2
12.9
a1
b
sin 22 1 sin 2
4
3
12:153
405
l/2
P
B
Q
EI2
EI1
EI1
l
Fig 12.33
response to the applied load from that of the frame analysed in the
previous section in the same manner as for a column, which was
shown in section 12.5.
Let us assume the combined trial functions given by equations
(12.152) and (12.153) where, by means of equation (12.149), we express
b1 in terms of b2 . The total potential energy functional is
1 2 AB 2
1 2 BC 2
d uy
d uy
EI1
EI2
2
d1 3
d2
2l 3
d12
2l
d22
0
1 AB 2
duy
P
12:154
q
0
qb2
12:155
Finally, we have
1 8I 4pa1 0:0611 0:2443pb2 0:405q
0:0611 0:2443pa1
0:2631 0:343I 0:1235pb2 0:405p
12:156
406
where
a1
a1
;
l
b2
b2
;
l
I
I2
;
I1
p
P
;
PES
q
Q
PES
12:157
PES 22 EI1 =l 2 is the critical load for a column built-in at one end
and simply supported at the other.
Putting equation (12.156) in matrix notation, we get
Au pBu q
where
"
A
"
B
1 8I
0:0611
4:00
12:158
0:0611
0:2631 0:343I
#
0:2443
0:2443 0:1235
" #
" #
q
a1
:405
u
q
0
p
b2
12:159
407
1000
p
q
800
a1*, b*2
600
400
a*1
b*2
200
20
15
10
p
(a)
20
a*1
16
a1*
12
20
15
10
p
05
(b)
Fig 12.34
However, the more important result from this analysis is that the
frame responded to the application of the load P as if there was no
sway buckling mode. This mode has an eigenvalue much less that
the symmetric mode and therefore it would have been anticipated
that deections in the sway mode would have developed at quite
lower values of p. However, if a small lateral load Q is applied, then
408
12.10
The method of localised trial functions, the progenitor of the nite element method, has been applied to the analysis of a frame with a linear
response to the applied loading. The method has also been shown
earlier in this chapter being applied to the analysis of columns with
various boundary conditions and step changes of section geometry.
In the present analysis the method is applied to the evaluation of the
initial buckling load for the simple frame previously considered.
The geometry of the frame is shown in Fig. 12.35. Once again the
analysis is carried out under the hypothesis that the axial deformation
l
z2
y2
y3
3
EI2
EI1
z1
Fig 12.35
y1
z3
EI1
409
l
0
EI
1
2
q2 uy1
qz21
l
0
2
EI
dz1 2
2
q2 uy3
qz23
2
l
0
q2 uy2
qz22
2
dz2
dz3
8 2l
39
2
2
l
<
=
quy3
1
1 4 quy1
P
dz1
dz3 5
;
2 :2
qz1
qz3
0
Puy2 l=2
12:160
The members are each composed of two elements with the nodes
numbered 1 to 7 as shown in Fig. 12.36. The interaction between the
elements, i.e. their boundary conditions, is claried in Fig. 12.36
where the nodes at the corners of the frame are separated into the
3"
Fig 12.36
5'
3'
5"
410
nodes 30 and 500 , associated with the vertical members of the frame, and
300 and 50 , associated with the horizontal members of the frame. The
generic displacement function for each element is obtained from equation (12.113). The boundary conditions at corner nodes are
u300 0;
30 300 ;
u50 0;
50 500
12:161
u1 0;
7 0
u7 0;
12:162
Pl 2
Pl 3
L1 D
L2 0
120
4
12:163
48
0 24
12
6 0
16 12
4
0
6
6
6 24 12
24
12
0
6
6
4 12 8 8I 12I
6 12
6
6 0
0
0
12I
48I
EI1 6
K
6
6 0
0
0
4I
0
6
6 0
0
0
0
0
6
6
6 0
0
0
0
12I
6
6
4 0
0
0
0
0
0
2
72
4I
12I
16I
4I
24
12
24
4I
12 8 8I
24
12
0 36
3 0 0
1 0 0
36
3 0 0
6 0
8
6
6
6 36 3
6
6
6 3 1
6
6 0
0
6
L1 6
6 0
0
6
6 0
0
6
6
6 0
0
6
6
4 0
0
0
12
4
0
0 0 0
36 3
72
07
7
7
07
7
7
07
7
07
7
7
07
7
37
7
7
1 7
7
7
05
0 0 0
3 1
4 0 0
0 0 0
0 0 0
0 0 0
36
0 0 0
3 36
4
12
48
07
7
7
07
7
7
07
7
07
7
7
07
7
12 7
7
7
47
7
7
05
0 16
411
2 3
0
607
6 7
6 7
607
6 7
607
6 7
6 7
617
7
L2 6
607
6 7
6 7
607
6 7
607
6 7
6 7
405
0
As usual, D is the vector containing the nodal degrees of freedom,
i.e.
3
2
u2
6 7
6 27
7
6
6 u30 7
7
6
6 0 7
6 3 7
7
6
6 u4 7
6
D 6 7
7
6 4 7
7
6
6 u500 7
7
6
6 00 7
6 5 7
7
6
4 u6 5
6
and I I2 =I1 .
Notice that the two rows and columns in L1 associated with u4 and
4 are completely null. This is because the vertical load P plays its role
through two distinct terms: the rst one is related to the shortening of
the vertical members on account of their lateral deection, the second
one is related to the vertical displacement of the mid-span of the
horizontal beam on account of its bending. However, these rows and
columns are required to maintain the correct order of matrix L1 to
be compatible with the vector D.
It is evident that the rst two terms in equation (12.163) determine
the eigenvalues and corresponding modes of the initial buckling of
the frame while the third term reects the bending deection of the
horizontal member in the frame. Eliminating for the moment the
412
P/2
EI2
EI1
EI1
Fig 12.37
12:164
where
Pl 2
;
120EI1
K
1
K
EI1
i:e:
PE1
0:5172 EI1
l2
12:165a
i:e:
PE2
4:232 EI1
l2
12:165b
= 00425
PE1
2
P/2
P/2
P/2
P/2
= 0348
I=0
0258 2 EI1
l2
PE2
2
(a)
= 01772
PE1
2
212 2 EI1
l2
(b)
P/2
P/2
P/2
P/2
413
= 06667
I=
108 2 EI1
l2
PE2
2
(c)
405 2 EI1
l2
(d)
Fig 12.38
i:e:
c2 0:6667
i:e:
Pc1
Pc2
2:152 EI1
l2
8:112 EI1
12:166
l2
with the corresponding deformed shapes shown in Figs 12.38(c) and (d).
These two initial buckling loads also correspond to sway and symmetric
modes of buckling but now for the condition where the horizontal
member of the frame has an innite exural stiness.
The value of the lowest eigenvalue is dependent on the value of I,
that is, the ratio of the exural stiness of the horizontal and vertical
members of the frame. This was shown also in section 12.8 for the
application of the method of trial functions for the initial buckling
414
Coefficient of initial
buckling load
4
3
Variation of the initial buckling load
with I (2 term trial function)
2
1
0
05
10
15
Value of I
(a)
Coefficient of initial
buckling load
12
10
08
06
04
02
0
0
05
10
15
Value of I
(b)
Fig 12.39
Section 6.5 has shown the linear analysis of a plane frame with a
vertical load at the mid-span of the horizontal member. The ratio of
the exural stiness of the horizontal and vertical member is
I 2:68. The same frame geometry is considered here from the
viewpoint of the eects of the vertical load to cause initial buckling
of the frame.
and obtaining the lowest eigenvalue from
Putting I 2:68 in K,
equation (12.164) gives
c1 0:1264
and equation (12.163) can be written
L D0 30L
K
12:167
1
415
where
1
D0 D;
l
K
1
K
EI1
thus
L 1 L
D0 30K
1
2
12:168
416
(a)
Variation of lateral deflection with increasing vertical load
(1% lateral load)
10
08
06
04
02
0
05
10
15
Non-dimensional lateral deflection
20
(b)
Fig 12.40
element modelling, where there may be thousands of degrees of freedom, the application of an initial loading system may be much more
complex. In such cases the eigenvalues can be used to introduce a
system of initial geometric imperfections that will indeed ensure that
the lowest initial buckling deformations are not overlooked in the
analysis.
The procedure is straightforward. Equation (12.164) is used to
calculate the eigenvalues of the system and the corresponding eigen~n . These eigenmodes are then introduced into equation
modes, D
(12.167) as follows
L D0 30L a D
~ 0 a D
~0
K
12:168
1
417
Normalized
vertical load
1
Non-dimensional lateral deflection
Fig 12.41
oc = 50 mm
15 m
Fig 12.42
418
oc =
l
l
500
axial load, P, such that the maximum strain does not exceed the yield
strain, "0 0:0015. The modulus of the material is 205 kN/mm2 .
[Ans: P 673 kN]
The column shown in Fig. 12.43 has a length l, and is built-in at
both ends. The column has an initial deection of 0c l=500.
The column is subjected concurrently to a lateral uniformly distributed load, q, and an axial load P. Derive an expression for
the total deection at mid-length, c , of the column in terms of
P, l, q and the exural stiness, EI.
"
#
l
1:3ql 3
Pl 2
1
c
1 2
Ans:
500
EI
4 EI
2.
3.
Mode a
l
l
oc =
l
300
Mode b
Fig 12.44
419
same exural rigidity, EI. Show, using the method of localised trial
functions, whether the rate of increase in the total strain, "t at midlength of the column is greater in mode a or mode b.
[Ans: mode b has an eigenvalue 70% of the value of the eigenvalue
of mode a, therefore the rate of growth of bending strain in mode b
is greater than in mode a at the same applied load.]
Index
amplication factor, 380
anisotropic material properties, 63
bar buckling, 373
Beltrami, Eugenio, 81
Beltrami's equations, 81
Beltrami's yield criterion, 88
bending moment, 37
bending moment diagram, 39
Bernoulli, Daniel, 106
Bernoulli, Jacob, 94
Bernoulli's model of beam bending, 94
Betti's theorem, 148
bifurcation condition, 360
branching point, 360
buckling sway, 377
buckling, bifurcation, 360
buckling, snap, 365
bulk modulus, 90
calculus of variations, 108
Castigliano, Carlo, 155
Clapeyron, Benoit-Paul-Emile, 82
Clapeyron's theorem, 82
closed system, 5
combined joint load vector, 254
compatibility equation, 214
concatenated displacements, 28
conservative systems, 154
coordinate functions, 170, 188
Cotteril, James, 155
critical load, 360, 370
Croll, James, 106
degrees of freedom, 6, 174, 211
Descartes, Rene, 12
direct stiness method, 221
Dirichlet's theorem, 358
displacement work, 147
ductility, 54
eigenvalue problem, 395
eigenwork, 148
elastic, 54
elastic energy, 3
element, 191
elements, non-conforming, 321
energy, 1
energy conservation, 5
engineering shear strain, 70
equilibrium, neutral, 355
equilibrium, unstable, 354
equilibrium, stable, 354
equivalent joint loads, 254
Euler buckling, 373
Euler buckling load, 370
Euler, Leonhard, 20
Euler's equation of beam buckling, 369
Euler's equation of beam deformation,
109
extensometer, 51
external constraints, 21
rst law of thermodynamics, 5
exural stiness, 110
free body, 36
fundamental path, 360
Gauss, Karl, 338
generalised coordinates, 6
422
Index
heat, 3
Hooke, Robert, 57
Hooke's law, 57
imperfections, 357
ineective constraint, 25
innitesimal displacements, 102
initial buckling, 356
initial imperfection, 415
initial out-of-straightness, 380
internal constraints, 21
intrinsic coordinates, 315
isoparametric, 317
isotropic material, 63
Jacobi, Karl, 316
Jacobian matrix, 316
kinetic energy, 3, 8
Kircho, Gustav, 144
Kirkho model of plate deformation,
267
Lagrange family of shape functions,
324
Lagrange, Joseph-Louis, 12
Lagrangian coordinates, 12
lateral load, 377
Legendre, Adrien-Marie, 339
limit points, 365
linear elastic, 56
localised Rayleigh-Ritz method, 189
Luder's plateau, 54
material modulus, 57
Mises, Richard von, 90
mode, sway, 399
mode, symmetric, 402
modulus, shear, 85
moment of inertia, 101
neutral equilibrium, 355
Index
static equilibrium, 9
statical determinacy, 35
statical indeterminacy, 35
stiness matrix, 215
strain compatibility, 80
strain energy, 9
strain energy density, 83
strain invariants, 76
superposition, 143
sway buckling, 377
sway mode, 399
symmetric mode, 402
theory of innitesimal displacements,
102
thermodynamics, 5
Timoshenko, Stephen, 290
423
trial displacements, 10
true strain, 52
true stress, 52
virtual displacements, 10
Von Mises yield criterion, 90
Walker, Alastair, 106
Walpole, Horace, 327
Woinowsky-Krieger, Stephen, 290
work, 1
yield plateau, 54
yield strain, 57
Young, Thomas, 57
Young's modulus, 57