1.

571StructuralAnalysisandControl
Prof.Connor
Section4:NonlinearAnalysisofTrusses

4,1Notationandkeydefinitions

4.1.1Deformation
(+) F
u = u
v v

L+e
u = cos sin
L = cos sin

()

( L + e ) 2 = ( L sin + v ) 2 + ( L cos + u ) 2
e
( L 2 + 2 Le + e 2 ) = L 2 + 2 eL 1 + ------ L 2 + 2 eL Assuming e L
2 L
Then
L 2 + 2 eL L 2 s 2 + 2 Lsv + v 2 + L 2 c 2 + 2 Lcu + u 2
where s = sin and c = cos

Combineterms
L 2 ( s 2 + c 2 ) + 2 Lsv + v 2 + 2 Lcu + u 2 L 2 + 2 eL
1
e = cu + sv + ------ ( u 2 + v 2 )
2L
1
e = u + ------ u T u
2L

= cos sin
L cos + u cos + u L u
cos = ------------------------- = ---------------------------- cos + ---
L+e 1+eL L
L sin + v sin + v L v
cos = ----------------------- = --------------------------- sin + ---
L+e 1+eL L

Then = cos + --u- sin + --v-

L L
1
= + --- u T
L

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4.1.2Force
AE
F = ------- e
L
F hasdirectiondefinedby
Define
P =Endactionmatrix

P = F cos = F
T

F sin

Atpositiveend P + end
= +P
Atnegativeend P -end
= P
(+) P+

(+)

P-
4.2IncrementalEquations

4.2.1Deformation
Consideranincrementalend displacementthatchanges u to u + u . Findthe corre
spondingchangeinelongationfrom e to e + e .
1
e = u + ------ u T u
2L
1
(e + e) = (u + u) + ------ (u + u) T (u + u)
2L
1
(e + e) = u + u + ------ (u T u + uT u + u T u + u T u)
2L
1 1
e = (e + e) e = u + --- u T u + ------ u T u
L 2L
1
e = de + --- d 2 e
2
1
de = u + --- u T u = u
L
1
d 2 e = --- u T u
L
If u issmallincomparisonto u ,itisreasonable totake e de
Then e u

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4.2.2Force

Et

NonLinearStressStrain
= ( )

+ = ( + )
FromaTaylorSeriesexpansion
1 2
= ------ + --- --------2- 2 +
2

Note ------ = Et

Wewantthechangeinstressduetothechangeindisplacement
1
= --- e
L
1 1 1
= --- e = --- de + --- d 2 e
L L 2
So
e 1 2
= ------ ------ + --- --------2- 2 +
L 2

1
= d + --- d 2 +
2
e Et Et
d = ------ ------ = ----- de = ----- u
L L L
d 2 e 2 e 2 d 2 e 2
d 2 = -------------- + --------2- ------ -------------- + --------2- ( de ) 2
L L L
Theincrementalforcesare
F = A
A
F = A = Ad + --- d 2
2
AEt AE t
Set dF = Ad = --------- de = --------- u
L L
A
d 2 F = --- d 2
2
AE
---------t = k t
L
Then dF = k t de = k t u

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4.2.3EndActions

T
P = F
Considerthechangein u to u + u and getthecorresponding
(P + P) = (F + F)( T + T )
(P + P) = F T + F T + F T + F T
P = (P + P) P = F T + F T
1
P = dP + --- d 2 P +
2
dP = Fd T + dF T

1
2
(u + u) = + = + ------ u T + --- --------2- u T u
u 2 u
1
d = ------ u T = ------ + --- u T u T
u u L

1 1
d = --- u T d T = --- u
L L
So
F
dP = k T T u + --- u
L
Canwriteas
dP = k T u
where
k T =Tangentmemberstiffnessmatrix
F
k T = k T T + --- I
L
AE T F
k T = ---------- T + --- I
L L

where I = 1 0 =Identitymatrix
01

AE
So ---------T- T
L
isthepseudolinearstiffnessbasedonthedeformed
positiondefinedby or .
F
and --- I isthegeometricstiffnessduetoinitialforces.
L

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4.2.4IllustrationGeometricstiffnessassociatedwithaninitialforce
F sin F

F cos
v
y

F
F x
L u

u = u
v

-- 1 0 u
Geometrictermof dP = F
L 0 1 v

dP = -- u
F
L v

Thiscanalsobedonebyinspection

dP = F cos F
F sin
Assumingsmalldeformations( e L )
L + u u
cos = ---------------- 1 + -------
L+e L
v v
sin = ------------ -----
L+e L
Therefore
u
F + F ------- F
= -- u
L F
dP =
v L v
F ------
L

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4.3SystemofIncrementalEquilibriumEquations

P E =Externalloadvector
P int =Nodal loadvectorduetoendactions
ForEquilibrium
P E + ( Pint
) = 0
P E =
Pint
Let u* beanestimateofdisplacementdueto P E
P int ( u* ) =Load vector(endactions)dueto u* = P* int

Equilibirumimbalance= PE P* int

Let u beanestimateofthecorrectionrequiredtosatisfyequilibrium.

Thecorrectionisfoundwith: k*u = P E P* int where k* isapredictorstiffness

matrix.

Once u isfound,update P*int and k* anduseto determineanothercorrection.

This processisrepeateduntiltheequilibrium error satisfiesthe specifiedconvergence

criteria.

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Variouschoicesfor k*

1) k* = k linear ;theinitial stiffnessmatrix

P
P
P1

uo u 1 u2 u 3
Successiveiterationsusetheinitialstiffness

Canalsostartwithaninital displacement
P

uo

2) k* = k t ;theinstantaneoustangentstiffnessmatrix

P
P
P1

uo u1

Update k t ateachiteration.Requireslessiterationbut iscomputationallymore

expensive.

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Exampleusing k* = k t
P AE
v k = ------- E = constant
L h
sin = ---
L
L
h

PE = P P int = 2F sin
Usingsymmetry
P2

Findthetangent stiffnessofthesystem
1 1
= + --- u T = + --- u v
L L
u = 0
= cos sin

1
= cos -h- + --- 0 v = cos --h- + --v- = cos sin
L L L L
F
dP = k T u + --- u
L

u = 0
v

dP = k cos 2 sin cos 0 +F

-- 0
sin cos sin 2 v L v

Set dP = 0
P 2
F P
So ksin 2 v + --- v = ------
L 2
h v 2 F
2 k --- + --- + --- v = P
L L L
2
Ateachinterval k t (v, F) = 2 k --h- + --v- + F
--- mustbeupdated.

L L L

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Forinitialsteptake
F = 0 h2
k to = 2 k -----2
V = 0 L
Set
P
k to v o = P v o = ------
k to
P
and F o = --------------
2 sin

Update k t to k t1 byincluding v o and Fo

Get P 1 = k t1 v o
P 1 + P1 = P P1 = P P 1
k t1 v o + k t1 v = P
Then
P kt1 v 1
v 1 = ---------------------
k t1

Repeatuntil v < v tol or Pn < P tol

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4.4LinearizedStabilityAnalysis

4.4.1Bifurcation

Thesystemincrementalequationexpressedintermsoftheinstantaneoustangent
stiffnessmatrix
P = K t u
P =loadincrementfromtheequilibriumposition (P*, u* )
u =firstorderestimatefordisplacementincrement dueto P

Then u canbeevaluatedusing
u = ( Kt ) 1 P
andupdate P*, u*, Kt and P

Question:Whathappensif Kt becomessingular?

If Kt = 0 , Kt issingularandthereexistsanontrivialsolutionof Kt u = 0 . This
impliesthatthereismorethanoneequilibrium positionforagivenload.

Suppose Kt = 0 for u* and P* . Then, u* + u isalso asolutionforthe loading P* .

Theexistenceofmultipleequilibriumpositionsforagivenloadingiscalled
bifurcation. In order todeterminethe structuralbehaviourintheneighborhoodof a
bifurcationpoint,weneedtoincludesecondand higherordertermsinthe
incremental equilibriumequations.Bifurcationisviewedasanintermediatestate.
Thepositionisneitherstablenorunstable.Theterminologyneutralequilibriumis
usedtointerpret bifurcation.

4.4.2LinearizedAnalysis

Considerthecasewheretheequilibriumposition(i.e.the displacedposition)isvery
closetotheinitial unloadedposition.Inthiscase,itisreasonabletoneglectthe
differencebetweenthedirectioncosinesfortheinitialanddeformedconfiguration.
Theexpressionforthemembertangentstiffnessreducesto
F F
K t = k t T + --- I k t T + --- I
L L
AE
Whenthe materialislinearelasticandthe memberisprismatic k t = ------
L
Thiscanbestated
F
K t = K l + --- I
L

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Usingthisresult,thesystemtangent stiffnessmatrixisexpressedas
Kt = Kl + Kg
where
K l =linearsystemstiffnessmatrix
K g =geometricstiffnessmatrixcontainingthetermsinvolving
thememb erforces
K g dependsontheloading. Astheloadingisincreased, K t variesfromitsinitial
linearvalue Kl . Dependingontheloadingandstructuralmakeup, Kt maydecrease
withincreasingloadandeventuallyreach0,atwhich pointa bifurcationoccurs. To
evaluatewhetherthisispossible,oneevaluates Kl + Kg asafunctionoftheloading.

4.4.2Example1
L
P, v
k1
A 1 B u

2 k2 L

Fromequilibrium
F 2 = P

k1 0
k t1 k l1 =
0 0

0 0 F
k t2 k l2 + k g2 = + ----2- 1 0
0 k2 L 01

+ P L 0
0 0
k t2 =
0 k2 0 P L

k1 P L 0
Kt =
0 k2 P L
Solve K t = ( k 1 P L)(k 2 P L) = 0
Giving
For P = k1 L ; u isarbitrary
For P = k2 L ; v isarbitrary

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4.4.3ModifiedGeometricStiffnessMatrix
1
= ------------ (x + u) T (exectexpression)
L+e
For(+)and()ends
x =differenceinnodalcoordinates
u =differenceinnodaldisplacements
u
Y, v
v
(+)

y
()
x
X, u

x = x u = u
y v
Case1 y 0 (Element~parallelto x direction)

u willbesmallwrt x
T
1
--- x
L y + v

1
T
Then d T = ---------- du = --- 0
u L dv
T
and Fd T
F
= -- 0 = 0 0 du
L dv 0 F L dv

Case2 x 0 (Element~parallelto y direction)

v willbesmallwrt y
T
- - x + u
1
L y
T
d T = --- du
1
Then
L 0
T
Fd T = -- du = F L 0 du
F
and
L 0 0 0 dv

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Generalizing
F
k g = --- E
L
Examine
= x y

If x closeto1,take E = 0 0
01

If y closeto1,take E = 1 0
00

4.4.4Example2

P
L1
R F1 = R
1
F2 = P

Y, v 2 L2
X, u

0 0
k1 0
k t1 + R
0 0 0 ----
L1

P
0 0 ----- 0
k t2 + L2
0 k2
0 0

P
k 1 ----- 0
L2
Kt =
R
0 k 2 ----
L1

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4.4.5Equilibrium Approach

Perturb structure from its initial equilibrium position, holding the loading constant.
Apply equilibriumequationstotheperturbedposition.Determinewhetheranontriv
ialsolutionfortheperturbed displacementispossible.Thisapproachisalsoseeking
whether Kt = 0 . However,onedoesnotformallyestablish Kt .

Example3
P u P
k
B B
F

A A

M A = 0 = FL Pu
F = ku
Then
kuL = Pu
P cr = kL
Example4
P u 2
k2 P
B F2 B
L2 u 1
k1
F1
L1

A A

EquilibriumEquations
M top of B = P(u 2 u 1 ) = F 2 L2

M A = Pu 2 = F2 (L 1 + L 2 ) + F1 L1

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MemberRelations
F 1 = k 1 u 1
F 2 = k 2 u 2
Then
P k2L2 P u 1
= 0
k 1 L 1 k 2 (L 1 + L 2 ) P u 2 0
Solvebysettingdetrminant=0
P 2 P ( k 1 L 1 + k 2 (L 1 + L 2 )) + k 1 k 2 L 1 L 2 = 0
If k 1 = k 2 and L 1 = L 2
P- 1
----- = --- {3 5 } = 0.38, 2.62
kL 2

u 2 = u 1 ---------------- ModeShapes
P kL

4.4.6EigenvalueApproach

Forthecasewheretheloadingis definedin termsof a singleparameter, , onecan

interpretlinearized stabilityanalysisasaneigenvalueproblem.

Write
F = F

k t = k l + --- I
L
Set
k t = k l k g

andtheequilibriumequationscanbewrittenas
k l u = k g u

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