Computer-oriented Design of Steel Structures

Prof. Dr. Markus Knobloch

INSTITUTE OF STEEL, LIGHTWEIGHT AND COMPOSITE STRUCTURES

COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

SOLUTION OF EQUATION SYSTEMS AND

EIGENVALUE PROBLEMS

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Equation Systems
Linear equation system of FEM:

Kv=p Stiffness Matrix has

n colums and rows
k11 k12 k13 k14 v1 s1 (n = number of
degrees of
k 22 k 23 k 24 v 2 s 2
= freedom/unknown
k 33 k 34 v3 s
3 nodal variables)
sym. k 44 v 4 s 4
Symmetry: kij = kji
KT = K

k11 k12 0 0

k k
21 22 23 k 0
Band structure of K: Here: band width m = 2:
0 k
32 k 33 k 34

0 0 k 43 k 44

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Equation system for 2nd order theory:

(K + G) v = p (K + G) same band structure as K,

However, it is conditioned worse for
stability problems. While K is always
positive definite, this does not apply for
(K + G).

G: Geometric stiffness matrix

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Solution methods

Unknown deformations can be determined with: v = K -1 p

Calculation of inverse K-1 is very complex and unnecessary.
For problems in steel construction the following solution methods are
efficient:
the Gaussian algorithm
the Cholesky method and
the Gaucho method.

For application purposes the Gaucho method is recommended

The choice suggests itself for the following reasons:

reliable solution method

minor need for memory capacity
short calculation times

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Gaussian Algorithm

K is devided into a left and

K=LR right triangular matrix

1 0 0 r11 r12 r13

For the left triangular matrix
L R = 21 1 0 0 r22 r23
all values on the main

31 32 1 0 0 r33 diagonal are equal to 1

K v = (L R) v = p

Forward substitution: Lu=p u

Back substitution: Rv=u v

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Cholesky method

K is decomposed with
K = CT C
exploiting the symmetry

c11 0 0 c11 c12 c13

Decomposition into
CT C = c12 c 22 0 0 c 22 c 23 triangular matrices
c 0 c33
31 c32 c33 0

For the calculation of cii roots of the main diagonal elements have to be
solved K has to be positive definite. (Problem for 2nd order theory)

Solution by Forward and back substitution.

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Gaucho method

K = ZT D Z, - K is decomposed into three matrices

- Advancement of Gaussian method
- Also similar to Cholesky method

1 0 0 d11 0 0 1 z12 z13

ZT D Z = z12 1 0 0 d 22 0 0 1 z 23
z 0 d33 0 0 1
13 z 23 1 0

- Symmetry of K is exploited with Z and ZT (corresponding to L of Gauss.)

- D is a pure digonale matrix
- Decomposition can be carried out if K is not positive definite
The method is suitable for calculations using 2nd order theory and
determination of critical loads (eigenvalues)

An important distinguishing feature here are the signs of the main

diagonal elements dii: If all values are larger than zero, we are below
the 1st eigenvalue.

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

equation system ( )
K v = ZT D Z v = p

decomposition of K K = ZT D Z
(Z T
)
DZ v = p
u
forward substitution ZT u = p u
DZ v = u
w
considering matrix D Dw=u w

Zv = w

back substitution Zv = w v

Operations for decomposition and calculation are shown in lecture notes!

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Example

Cantilever with two single loads

Arrangement of the equation system in principle

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

4772.731 204545.6 4602.276 230113.8

20454560 230113.8 7670460
K=
4602.276 230113.8

sym. 15340920

1 42.85713 0.9642854 48.21427 4772.732 0 0 0

0 1 0.0028125 0.187500 0 11688322 0 0
Z= D=
0 0 1 199.9982 0 0 71.91151 0

0 0 0 1 0 0 0 958824.4

20 4.191 103 1.525285

5 3
857.1426 7.333 10 8.213 10
u= w= v=
46.8750 6.51843 101 2.372667
3

3
8249.916 8.604 10 8.604 10

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Solution of Eigenvalue Problems

Homogeneous matrix equation: ( K + Ki,r G ) vr = 0

A system with n unknown degrees of freedom has n
eigenvalues Ki and associated eigenvectors vr
(designated by r).

Eigenvalues and modal shapes can only be

determined correctly if the FE model allows it.

( K + Ki G ) v = 0

Solving Condition: det ( K + Ki G ) = 0

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Positive and negative eigenvalues

Eigenvalues in compression and tension members

Lateral torsional buckling of a structure with a distributed load qz

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Uncoupled stability behaviour of an asymmetric frame with pendulum support

In conjunction with independent modal shapes of decoupled substructures, the

different forms of stability failure occurring for bars are also very important:

Lateral buckling about the weak axis (modal shape: v(x))

Lateral buckling about the strong axis (modal shape: w(x))
Torsional buckling (modal shape: (x))
Lateral torsional buckling (modal shape: v(x) and (x) coupled)

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Differentiation
of the
buckling
cases for bars

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Modal shapes for the lateral buckling of a symmetrical

two span structure with intermediate hinge

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Eigenvalues and
modal shapes (x) for
the lateral torsional
buckling of a structure
with weak and strong
distributed torsional
springs
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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Matrix Decomposition Procedure

The starting point for the determination of eigenvalues with the matrix
decomposition procedure is the condition:

det ( K + Ki G ) = 0

Estimation () for searched Ki and decomposition according to GAUCHO

the determinant can be calculated using the Diagonal matrix D:

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Eigenvalues 1 to 3 and associated modal shapes w(x) for the

lateral buckling of a two span girder

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

K G v
4 2 0 2 15 1 30 0 ya 0
with EI / l2 = 1
2 8 2
Ki 1 30 4 15 1 30 yb = 0 and two elements
0 2 4

0
1 30 2 15 yc 0

Value of the determinant for the two span girder of Figure 9.7

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

In FE programs the value of the determinant is not calculated. For the elements
d11, d22 and d33 of D the following applies:
0 < < 12: All values are positive.
12 < < 30: One value is negative.
30 < < 60: Two values are negative

Value of the determinant for the two span girder

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

At the beginning, an interval is defined through a specific variation of , where the

searched eigenvalue is located, so that bottom Ki top is valid. As necessary and
sufficient criterion the number of changes of sign of det (K + G) is used, i.e. the
number of the negative diagonal elements dii counted. If the r-th eigenvalue is
supposed to be determined, it is located in the interval stated above, as long as
negative diagonal elements for bottom (r-1) and for top (r) can be determined.
Furthermore, it is completely clarified that no further eigenvalues apply to this interval.

After an interval has been found in which Ki is located, it can be minimised

iteratively, for example by bisection. The iteration is conducted until a predetermined
exactness is achieved. It has to be noted that it is a calculation exactness referring to
the Ki computable with FE modelling. In the example the two span girder this is the
value 12 for the first eigenvalue. For the search of the interval it is increased by a factor
of 5 and afterwards the interval is always halved.

Iteration for the

determination
of Ki = 12 for
the double
span girder

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

3.86667 0 0

1 = 1: D= 0 6.66408 0
0 0 3.24626

0.66667 0 0

3 = 25: D= 0 -10.7083 0
0 0 1.41634

2.40002 0 0

19 = 11.999817 12: D= 0 2.40009 0
0 0 0.00012

Decomposition using GAUCHO: F = K + G = ZT D Z

Operations for decomposition and calculation are shown in lecture notes!

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Determination of the eigenmodes

In this process, a deformation value of the vector v is chosen and set to one and
then the corresponding column of the matrix (K + Ki G) is put on the right side
representing a load vector. A system of equations emerges which can be described
as follows:

( K + Ki G ) v = q ( vi = 1)

This can cause problems in Computer programs!

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Inverse Vector Iteration

With the classical vector iteration according to von Mises, the specific eigenvalue
problem

(A - E) x = 0 or A x = x

can be solved. If the iteration

xi+1 = A xi

x iT x i +1
= T
xi xi
converges, the largest absolute eigenvalue of the matrix A is obtained.

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

However, for stability problems the lowest positive eigenvalue is usually searched and
not the largest absolute value. The general eigenvalue problem

(K + Ki G) v = 0

can be transferred into a specific eigenvalue problem:

1 1
K G + E v = 0
Ki
Complies to vector iteration Largest eigenvalue = 1 / Ki
Lowest eigenvalue Ki = -1 /

Often convergence problems spectral displacement Ki = 0 + Ki

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Modified vector iteration for the solution of stability problems

General eigenvalue problem: (K + 0 G ) + Ki G v = 0
Choose proper spectral displacement 0.
Choose adequate start vector v0.
Conduct modified vector iteration:
vi
vi =
dom v i

1
v i +1 = (K + 0 G ) G v i

v iT v i
Ki,i =
v iT v i +1
Result, if the iteration converges:
Smallest absolute eigenvalue Ki of (K + 0 G) + Ki G v = 0
Eigenvalue Ki = 0 + Ki of (K + Ki G) v = 0

Hints for the application of the modified vector iteration

For the application 3 aspects are of particular importance:
Selection of the spectral displacement 0
Selection of an appropriate starting vector v0
Check whether with Ki the searched eigenvalue has been found or not

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Eigenvalues
and modal
shapes for
the lateral
torsional
buckling of a
girder

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 COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Combination of the matrix decomposition method Gaucho and

the inverse vector iteration
It is practical to classify the iterative calculation into four steps:

1.Search of interval (matrix decomposition)

At the beginning of the calculations, an interval bottom Ki top is determined in which

the searched eigenvalue is located. This can be carried out with the matrix
decomposition method Gaucho.

2. Decrease of the interval (matrix decomposition)

After an interval has been found, it is decreased with the Gaucho-procedure until as
approximation of Ki is available with a relatively rough exactness, e.g. with approx. 1 %.
If one expects many eigenvalues being closely together, one should improve the
approximation a bit.

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

3. Inverse vector iteration for Ki and v

It is now switched to the inverse vector iteration, and the approximation of the Gaucho
method is used as spectral displacement, i.e. it is:
0 = Ki,Gaucho = (top + bottom)/2
Of course, an appropriate starting vector v1 for the vector iteration is needed. Many
comparative calculations have shown that it is best to assign the starting vector with
random numbers. The vector iteration is then carried out until the eigenvalue is
calculated with the desired exactness. Generally, 10-4 is adequate, whereas for certain
cases a higher exactness is required.

4. Check (matrix decomposition)

Using a matrix decomposition according to the Gaucho method, it is checked whether

the calculated eigenvalue under point 3 is the searched one. With this procedure the
eigenvector then contains with a great probability also the corresponding modal shape.
An absolute certainty is only obtained for special problematic cases if Ki of point 2 and
3 is calculated with a high exactness.

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COMPUTER-BASED ANALYSES OF STEEL STRUCTURES

Thank you
Folie 33