3 Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
14
Chapter Outline
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14.1
FUNDAMENTALS OF THE STIFFNESS METHOD
5
14.1
Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
Fundamentals of the Stiffness Method
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Fundamentals of the Stiffness Method
These relationships for the entire structure are then grouped together into
the structure stiffness matrix, K
The unknown displacement of the nodes can then be determined for any
structure can be calculated using the force-disp relations for each member
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14.2
MEMBER STIFFNESS MATRIX
8
14.2
Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
Member Stiffness Matrix
To establish the stiffness matrix for a single truss member using local x and
y coordinates as shown
When a +ve disp dN is imposed on the near end of the member while the far
AE AE
q' N d N ; q' F dN
L L
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Member Stiffness Matrix
Likewise, a +ve disp dF at the far end, keeping the near end pinned and
results in member forces
AE AE
q' ' N d F ; q' ' F dF
L L
By superposition, the resultant forces caused by both
disp are
AE AE
qN dN dF
L L
AE AE
qF dF dN
L L
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Member Stiffness Matrix
qN AE 1 1 dN
q d
F L 1 1 F
q k'd
AE 1 1
k'
L 1 1
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Member Stiffness Matrix
+ =
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14.3
DISPLACEMENT AND FORCE TRANSFORMATION MATRICES
14.3
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Displacement and Force Transformation Matrices
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Displacement and Force Transformation Matrices
The cosines of these angles will be used in the matrix analysis as follows
These will be identified as
x cos x ; y cos y
For e.g. consider member NF of the truss as shown
The coordinates of N & F are (xN, yN ) and (xF, yF )
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Displacement and Force Transformation Matrices
xF x N
x cos x
L
xF x N
( xF x N ) 2 ( y F y N ) 2
yF y N
y cos y
L
yF yN
( xF x N ) 2 ( y F y N ) 2
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Displacement and Force Transformation Matrices
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Displacement and Force Transformation Matrices
d N D N x cos x DN y cos y
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Displacement and Force Transformation Matrices
d TD
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Displacement and Force Transformation Matrices
QN x q N cos x ; QN y q N cos y
- If qF is applied to the bar,
the global force components at F are:
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Displacement and Force Transformation Matrices
QN x x 0
QN y y 0 qN
Q 0 x qF
Fx
QF 0 y
y
Q TTq
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Displacement and Force Transformation Matrices
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14.4
MEMBER GLOBAL STIFFNESS MATRIX
14.4
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Member Global Stiffness Matrix
We can determine the members forces q in terms of the global disp D at its
end points
q k ' TD
Substitution yields the final result:
Q T k ' TD T
or Q kD
k T k'T T
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Member Global Stiffness Matrix
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14.5
TRUSS STIFFNESS MATRIX
14.5
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Truss Stiffness Matrix
Once all the member stiffness matrices are formed in the global coordinates,
it becomes necessary to assemble them in the proper order so that the
stiffness matrix K for the entire truss can be found
This is done by designating the rows & columns of the matrix by the 4 code
numbers used to identify the 2 global degrees of freedom that can occur at
each end of the member
The structure stiffness matrix will then have an order that will be equal to
the highest code number assigned to the truss since this rep the total no. of
degrees of freedom for the structure
This method of assembling the member matrices to form the structure
stiffness matrix will now be demonstrated by numerical e.g.
This process is somewhat tedious when performed by hand but is rather easy
to program on computer
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Truss Stiffness Matrix
Example 14.1
Determine the structure stiffness matrix for the 2-member truss as shown. AE
is constant.
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Truss Stiffness Matrix
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Truss Stiffness Matrix
Member 1
We have: 30 00
x 1; y 0
3 3
Using eqn 14.16, dividing each element by L = 3 m, we have:
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Truss Stiffness Matrix
Member 2
Since 2 is the near end & 1 is the far end, we have:
30 40
x 0.6; y 0.8
5 5
Using eqn 14.16, dividing each element by L = 5 m, we have:
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Truss Stiffness Matrix
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14.6
APPLICATION OF THE STIFFNESS METHOD FOR TRUSS
ANALYSIS
14.6
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Application of the Stiffness Method for Truss
Analysis
The global force components Q acting on the truss can then be related to its
global displacements D using
Q KD
This eqn is referred to as the structure stiffness eqn
Expanding yields
Q k K 11Du K 12 D k
Q u K 21Du K 22 D k
Often Dk = 0 since the supports are not displaced, thus
Q k K 11Du
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Application of the Stiffness Method for Truss
Analysis
Since the elements in the partitioned matrix K11 represent the total
resistance at a truss joint to a unit disp in either the x or y direction, then
the above eqn symbolizes the collection of all the force equilibrium eqn
applied to the joints where the external loads are zero or have a known
value (Qk)
Du K 11 Q k
1
Solving for Du, we have:
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Application of the Stiffness Method for Truss
Analysis
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Application of the Stiffness Method for Truss
Analysis
Example 14.3
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Application of the Stiffness Method for Truss
Analysis
The origin of x, y and the numbering of the joints & members are shown.
By inspection, it is seen that the known external displacements are D3 = D4 =
D5 = D6 = 0
Also, the known external loads are Q1 = 0, Q2 = 2 kN.
Hence,
0 3
0
4 0 1
Dk Qk 2
0 5 2
6
0
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Application of the Stiffness Method for Truss
Analysis
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Application of the Stiffness Method for Truss
Analysis
The force in each member can be found. Using the data for x and y in
example 14.1, we have: For member 1,
x 1, y 0, L 3m q1 1.5 kN
For member 2,
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14.7
NODAL COORDINATES
14.7
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Nodal Coordinates
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Nodal Coordinates
Because the roller can displace along the x axis this node will have disp
components along both global coordinates axes x & y
To solve this problem, so that it can easily be incorporated into a computer
develop force & disp transformation matrices for each of the connecting
members at this support so that the results can be summed within the same
global x, y coordinate system
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Nodal Coordinates
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Nodal Coordinates
When disp D occur so that they have components along each of these axes
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Nodal Coordinates
DN x
d N x y 0 0 DN y
d 0 0 D
F x y Fx "
DF
y"
QN x q N cos x QN y q N cos y
QFx " q F cos x" QFy " qF cos y "
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Nodal Coordinates
QN x x 0
QN 0 q
y
y N
Q 0 qF
Fx"
x "
QFy " 0 y"
The disp & force transformation matrices in the above eqn are used to
develop the member stiffness matrix for this situation
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Nodal Coordinates
We have
k TT k ' T
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Nodal Coordinates
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Nodal Coordinates
Example 14.6
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Nodal Coordinates
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Nodal Coordinates
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Nodal Coordinates
Member 2,
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Nodal Coordinates
Member 3,
x 0.8, y 0.6
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Nodal Coordinates
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Nodal Coordinates
Carrying out the matrix multiplication of the upper partitioned matrices, the
three unknown disp D are determined from solving the resulting simultaneous
eqn.
352.5 157.5 127.3
D1 , D2 , D3
AE AE AE
The unknown reactions Q are obtained from the multiplication of the lower
partitioned matrices.
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14.8
TRUSSES HAVING THERMAL CHANGES AND FABRICATON
ERRORS
14.8
58 Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
Trusses Having Thermal Changes and Fabrication
Errors
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Trusses Having Thermal Changes and Fabrication
Errors
(q N ) 0 AET
(q F ) 0 AET
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Trusses Having Thermal Changes and Fabrication
Errors
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Trusses Having Thermal Changes and Fabrication
Errors
Fabrication Errors
- If a truss member is made too long by an amount L before it is fitted into
a truss, the force q0 needed to keep the member at its design length L is q0
= AEL /L
AEL
(q N ) 0
L
AEL
(q F ) 0
L
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Trusses Having Thermal Changes and Fabrication
Errors
Fabrication Errors
- If the member is originally too short, then L becomes negative & these
forces will reverse
- In global coordinates, these forces are:
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Trusses Having Thermal Changes and Fabrication
Errors
Matrix Analysis
- With the truss subjected to applied forces, temperature changes and
fabrication errors, the initial force-disp relationship for the truss then
becomes:
Q KD Q 0
- Qo is the column matrix for the entire truss of the initial fixed-end forces
caused by temperature changes & fabrication errors
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Trusses Having Thermal Changes and Fabrication
Errors
Matrix Analysis
- Carrying out the multiplication on the RHS, we obtain:
Q k K 11Du K 12 D k (Q k ) 0
Q u K 21Du K 22 D k (Q u ) 0
- According to the superposition procedure described above, the unknown
disp are determined from the first eqn by subtracting K12Dk and (Qk)0 from
both sides & then solving for Du
65 Structural Analysis Eighth Edition l 2012 Pearson Education South Asia Pte Ltd
Trusses Having Thermal Changes and Fabrication
Errors
Matrix Analysis
- Once these nodal disp are obtained, the member forces are determined by
superposition:
q k ' TD q 0
- If this eqn is expanded to determine the force at the far end of the
member, we obtain:
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Trusses Having Thermal Changes and Fabrication
Errors
Example 14.7
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Trusses Having Thermal Changes and Fabrication
Errors
x 0.8 y 0.6
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Trusses Having Thermal Changes and Fabrication
Errors
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Trusses Having Thermal Changes and Fabrication
Errors
D1 0.003704 m
D2 0.002084 m
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Trusses Having Thermal Changes and Fabrication
Errors
Member 1
x 0, y 1, L 3 m, AE 8(103 ) kN
q1 5.56 kN
Member 2
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14.9
SPACE-TRUSS ANALYSIS
14.9
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Space-Truss Analysis
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Space-Truss Analysis
By inspection the direction cosines bet the global & local coordinates can be
found using
xF x N
x cos x
L
xF x N
( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
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Space-Truss Analysis
yF yN
y cos y
L
yF yN
( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
zF zN
z cos z
L
zF zN
( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
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Space-Truss Analysis
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Space-Truss Analysis
This eqn rep the member stiffness matrix expressed in global coordinates
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Thank
you