Professional Documents
Culture Documents
of Structural Analysis
Durgesh C Rai
Department of Civil Engineering
Indian Institute of Technology Kanpur
Kanpur 208016
Historical Context
Airplanes and Digital Computers
revolutionize structural analysis
In 40s -50s, structural engineers
confronted with two highly
indeterminate structural systems
Swept-wing aircrafts in 1947
analyzed using the force
method (compatibility)
simultaneous linear
algebraic equations with
flexibility as coefficients
were manipulated using
matrix algebra
Computer-oriented versus
Matrix
Matrix methods were suitable
for use with digital computers
ENIAC (1946) contained
17,468 vacuum tubes, weighed
30 tons and was roughly 2.6 m
by 0.9 m by 26 m and
consumed 150 kW of power.
Transistors in 1947 and silicon
chip in 1959 pushed
development of computer and
structural analysis
Computer-oriented Methods
Matrix methods are no new structural
theory
They are simple system of notations and
book-keeping amenable to computer
Computer employ on engineering
judgment
Engineers must use their judgment and
understanding of structural behaviour for
proper use of computer and interpreting
computer output.
Garbage in, garbage out, applies more often
than not!
Truss Element
Truss is composed of individual discrete
elements connected at node (joints).
Basic equations has to be satisfied within each
element and also by the structure.
Prismatic, cross-sectional area A
Force is collinear with centroidal axis
Element is straight and plane sections remain L
p p
normal.
Small displacements meaning strain-
displacement eqn are linear and equilibrium
equations relate to undeformed state
Material is homogeneous, isotropic and
linearly elastic
P =x A equilibrium is satisfied
' u ' is continuous function of x geometrically compatible
strains, no rips or tears associated with displn. strain-displn.
relation
L
p p
Strain-displn. relation x x
u
x + x x
o ' a ' oa x u
x = lim = lim = p A x
x 0 oa x 0 x x
u
Constitutive law
u 0 u+ x
0
a x
x = E x a a
x x
P u du
=E =E Pdx = AE du
A x dx
Integrate
px
u= + c1
AE
u(0) = 0 c1 = 0 and x = k , u = L
AE
p= L , L is total displn
L
If the element is a part of truss, then both joints move,
u ( 0 ) = ui and u ( L ) = u j then c1 = ui
p =
AE
L
(
u j ui )
Invoking conditions of equilibrium, compatibility
and relations, force displn of axial element is obtained.
p yj , v j
Global Co-ordinates
Local co-ordinates
j
pxj u
j
y
Degrees of Freedom
No of displn. co-ordinate to describe
pxi x
uniquely its position in space ui i
AE AE ui
pxI i = ui cos cos = ui cos 2 (IA)
L L piI pyiI
AE (IB)
pyI i = ui cos sin
L
AE (IC)
px Ij = p x iI = ui cos 2
L
AE (ID)
py Ij = p y iI = ui sin 2 cos
L
Its components
AE
pxiII = piII cos = vi sin cos vi
L
pxiII x
AE
pyiII = piII sin = vi sin 2 vi sin
L AE
piII = vi sin
L pyiII
Equilibrium requires
AE
px IIj = p II xi = vi sin cos
L
AE
py IIj = pyi
II
= vi sin 2
L
u j 0; ui = vi = v j = 0
AE
px III
j = p III
xi = u j cos 2
L
AE
py III
j = p III
yi = u j sin cos
L
Fourth displn. case
u j 0; ui = vi = u j = 0
AE
pxj IV = p IV
x
= v j sin cos
i L
AE
pyj IV = pyi IV = v j sin 2
L
vi 0 vi 0 u j 0 v j 0
=
AE 2
L
( )
cos ui + ( sin cos ) vi cos 2 u j ( sin cos ) v j
AE
py i = ( sin cos ) ui + sin 2
vi ( sin cos ) u j sin 2
v j
L
px j =
AE
L
( )
cos 2 ui + ( sin cos ) vi + cos 2 u j + ( sin cos ) v j
py j =
AE
L
( ) (
( sin cos ) ui sin 2 vi + ( sin cos ) u j + sin 2 v j
)
CE222: Structural Analysis/Dr Durgesh Rai/2008/14
ELEMENT STIFFNESS MATRIX
In matrix form:
px i cos 2 sin cos cos 2 sin cos ui
p
yi sin cos sin 2 sin cos 2
sin vi
px =
j cos
2
sin cos cos 2 sin cos u j
p v
y j sin cos sin 2 sin cos sin 2 j
p=k u
Important properties
Column of k contains forces associated with specified displaced config.
e.g. for u = [ 0 vi 0 0 ] gives forces corresponding 2nd displaced condn.
Sum of column element = 0, (inherent of truss element only).
(
k is symmetric kij = k ji
)
k has no inverse. (because element is not constrained
and is free to move to undergo rigid body motion)
= + k1 U a k1U b + 0 Uc k1 =
A1 E1 A E
; k2 = 2 2 ;
L1 L2
Pxb = k1 U a + k1 U b + k2 Ub k2 Uc
Pxc = 0 U a k2 U b + k2 Uc
In Matrix Form
Pxa k1 k1 0 U a K : column of K = equilibrium force
P = k k1 + k 2 k2 U b for a prescribed
xb 1 displaced shape.
Pxc 0 k2 k2 Uc
P=K U
K11 = Pxa due to unit displn. of U a with Ub = Uc = 0
K 12 = Pxa due to unit displn. U (with U a = Uc = 0 )
b
Example
1 2 3 4 5 6
6 Ua Va Ub Vb Uc Vc
c 1
5
2
3 2 3
4
4
a 1
3 5
2 1 b
6
Example y
2
Aab = 600 mm
Abc = 1000 mm2 c
Aac = 800 mm2
E = 200 GPa 4m
AE kN
= 40,000
L m
x
a b
For ab , = 0 0 cos = 1 sin = 0 3m
U a Va Ub Vb
1 0 1 0
k ab = 40000 0 0 0 0
1 0 1 0
0 0 0 0
y
For bc = 126.9
0
cos = .60 and sin = 0.8
c
Ub Vb Uc Vc
0.36 .48 .36 0.48
4m
k bc = 40,000 .48 .64 0.48 .64
.36 .48 0.36 .48
.48 .64 .48 0.64 x
a b
3m
For ac , = 90 , cos = 0 and sin = 1
0
U a Va Uc Vc
0 0 0 0
k ac = 40,000 0 1 0 1
0 0 0 0
0 1 0 1
Pxa 1 0 1 0 0 0 U a
P 0 1
ya 0 0 0 1 Va
Pxb 1 0 1.36 .48 .36 0.48 Ub
= 40,000
Pyb 0 0 .48 0.64 0.48 .64 Vb
0 0 .36 0.48 0.36 .48 Uc
Pxc
Pyc 0 1 0.48 .64 0.48 1.64 Vc
y
4m
x
a b
3m
CE222: Structural Analysis/Dr Durgesh Rai/2008/22
NODAL EQUILIBRIUM OF THE STRUCTURE
2 6
Computer Implementation 4 c
1 1 5
ID Table
3
a b 3 2
No. of rows = no. of global DOF 4
No. of col. = no. of elements a 1
3
2 1 b
Element number
1 2 3
Element number
1 2 3
1 1 0 1
1 1 3 1
Global 2 2 0 2
Dof
3 3 1 0 Element 2 2 4 2
DOF
4 4 2 0 3 3 5 5
5 0 3 3
4 4 6 6
6 0 4 4
Pxa k1 k1 U a
P = k k1 + k2 Ub
xb 1
1 1 1 1 1 Pxb
+ + P
xa +
U a 1 k1 + k 2 k1 Pxa k1 k2 k2 Pxa k k k
U = = = 1 2 2
b k1 k2 k1 k1 Pxb 1 1 Pxb P + P
xa xb
k k2
2 k2
Therefore,
U a
Pxc = [ 0 k2 ] = Pxa Pxb
U b
Pf K ff K fs U f
= =
Ps K sf K ss Us
Pf = K ff U f + K fs Us
Ps = K sf U f + K ss Us
If U s = 0 Pf = K 1 ff Pf
Ps = K sf U f
CE222: Structural Analysis/Dr Durgesh Rai/2008/26
BOUNDARY CONDITIONS
u' T u u' = T u
Since T is an orthogonal matrix, T T = T 1
T T
which means p = T p' and u = T u'
u' T u u' = T u
Since T is an orthogonal matrix, T T = T 1
T
T
which means p = T p ' and u = T u '
we have p = k u
T
T
T p' = k T u'
CE222: Structural Analysis/Dr Durgesh Rai/2008/30
CO-ORDINATE TRANSFORMATION
we have
p=ku
TT p' = k TT u'
Pre multiply both sides by T ,
T T T p ' = T k T T u
p = T k T T u
p = k u k = T k T T
k = Element Stiffness Matrix in Local Co-ord. (4x4)
k = Element Stiffness Matrix in Global Co-ord. (4x4)
CE222: Structural Analysis/Dr Durgesh Rai/2008/31
CO-ORDINATE TRANSFORMATION
0 c sc c s
2
c s 0 sc c 2 0 0 1 0 1 0
s c
0 sc
0 +s2 sc 2
s s c 0 0 AE 0 0 0 0
k = T k T =
T =
0 0 c s c 2 sc c2 sc 0 0 c s L 1 0 1 0
0 0 s c 2 0 0 s c 0 0 0 0
sc s 2 sc s
Similarly,
p = k ' u '
T p = k T u
T
T It is easier to store stiffness matrix
T T p = T k T u ' in local co-ordinate and then
transfer to get global.
p = T T k T u '
It is probably more efficient to
T implement directly and cheaper.
k = T k T
CE222: Structural Analysis/Dr Durgesh Rai/2008/32
ELEMENT FORCES
Solving Eqns. we get U And construct u for each element.
p = k u
ui
v
u=
i
and
ij
u = T u pxi 1 0 1 0 ui
p
u j 0
0 0 0 v j
AE
yi
v j pxj =
L 1 0 1 0 uj
ui pyj 0 0 0 v
v 0 j
AE i
=
pxj
L
[ 1 0 1 0 ]
u
j
v j
p = k u
=k Tu
1 0 1 0 c s 0 0 ui
AE 0 0 0 0 s c 0 0 vi
=
L 1 0 1 0 0 0 c s u j
0 0 0 0 0 0 s c v j
ui
v
AE i
ij
s =
L
[ cos sin cos sin ]
u j
v j
ij
=eu e= global element force deformation matrix.
CE222: Structural Analysis/Dr Durgesh Rai/2008/34
SUMMARY
139.5
Ps = K sf U f = 90 kN Support Reactions
67.5
0
0
(
s ab = e u ab = 40,000 [ 1 0 1 0 ] 10 3 ) = 139.5kN ( t )
3.49
4m
Element force in bc 8.381
= T ubc
ubc a b
x
3m
.6 .8 0 0 3.49 4.61
.8 .6 0 0 3 8.38 7.82
= (10 ) = (10 )
3
0 0 .6 .8 0 1.80
0 0 .8 .6 2.25 1.35 4.61
7.82
sbc = e u 'bc = 40,000 [ 1 0 1 0 ] 10 3( )
1.8
= 112.5 kN ( c )
1.35
CE222: Structural Analysis/Dr Durgesh Rai/2008/37
Example
Element force in ac y
uac = T u ac c
0 1 00 0.00 0.00
1 0 0 0 3 0.00 0.00
= (10 ) = (10 )
3
0 0 0 1 0.00 2.25 4m
0 0 1 0 2.25 0.00
0.00 x
0.00 a b
(
s ac = e u 'ac = 40,000 [ 1 0 1 0 ] 10 3 )
0.00
= 90.0 kN ( t ) 3m
2.25