ANALYSIS OF

JEROME J. CONNOR, Sc.D., Massachusetts Institute of Technology, is Professor of Civil Engineering at Massa chusetts Institute of Technology. He has been active in teaching and research in structural analysis and mechanics at the U.S. Army Materials and Mechanics Research Agency and for some years at M.I.T. His primary inter est is in computer based analysis methods, and his current research is concerned with the dynamic analysis of pre stressed concrete reactor vessels and the development of finite element models for fluid flow problems. Dr. Connor is one of the original developers of ICES-STRUDL, and has published extensively in the structural field.

STRUCTURAL MEMBER SYSTEMS

JEROME J. CONNOR
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Massachusetts Institute of Technology

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Preface

Copyright 1976 by THE RONALD PRESS COMPANY All Rights Reserved No part of this book may be reproduced in any form without permission in writing from the publisher.

Library of Congress Catalog Card Number: 74-22535 PRINTED IN THE UNITED STATES OF AMERICA

With the development over the past decade of computer-based analysis methods, the teaching of structural analysis subjects has been revolutionized. The traditional division between structural analysis and structural mechanics became no longer necessary, and instead of teaching a preponderance of solu tion details it is now possible to focus on the underlying theory. What has been done here is to integrate analysis and mechanics in a sys tematic presentation which includes the mechanics of a member, the matrix formulation of the equations for a system of members, and solution techniques. The three fundamental steps in formulating a problem in solid mechanics enforcing equilibrium, relating deformations and displacements, and relating forces and deformations-form the basis of the development, and the central theme is to establish the equations for each step and then discuss how the com plete set of equations is solved. In this way, a reader obtains a more unified view of a problem, sees more clearly where the various simplifying assumptions are introduced, and is better prepared to extend the theory. The chapters of Part I contain the relevant topics for an essential back ground in linear algebra, differential geometry, and matrix transformations. Collecting this material in the first part of the book is convenient for the con tinuity of the mathematics presentation as well as for the continuity in the following development. Part II treats the analysis of an ideal truss. The governing equations for small strain but arbitrary displacement are established and then cast into matrix form. Next, we deduce the principles of virtual displacements and virtual forces by manipulating the governing equations, introduce a criterion for evaluating the stability of an equilibrium position, and interpret the gov erning equations as stationary requirements for certain variational principles. These concepts are essential for an appreciation of the solution schemes de scribed in the following two chapters. Part III is concerned with the behavior of an isolated member. For com pleteness, first are presented the governing equations for a deformable elastic solid allowing for arbitrary displacements, the continuous form of the princi ples of virtual displacements and virtual forces, and the stability criterion. Unrestrained torsion-flexure of a prismatic member is examined in detail and then an approximate engineering theory is developed. We move on to re strained torsion-flexure of a prismatic member, discussing various approaches for including warping restraint and illustrating its influence for thin-walled
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PREFACE

open and closed sections. The concluding chapters treat the behavior of planar and arbitrary curved members. How one assembles and solves the governing equations for a member sys tem is discussed in Part IV. First, the direct stiffness method is outlined; then a general formulation of the governing equations is described. Geo metrically nonlinear behavior is considered in the last chapter, which dis cusses member force-displacement relations, including torsional-flexural coupling, solution schemes, and linearized stability analysis. The objective has been a text suitable for the teaching of modern structural member system analysis, and what is offered is an outgrowth of lecture notes developed in recent years at the Massachusetts Institute of Technology. To
the many students who have provided the occasion of that development, I am deeply appreciative. Particular thanks go to Mrs. Jane Malinofsky for her patience in typing the manuscript, and to Professor Charles Miller for his encouragement. JEROME J. CONNOR Cambridge, Mass. January, 1976

Contents

I-MATHEMATICAL PRELIMINARIES 1 Introduction to Matrix Algebra

1-1 1-2 1-3 1-4 1-5 1-6 1-7 1-8 1-9 1-10 1-11 1-12 1-13 Definition of a Matrix Equality, Addition, and Subtraction of Matrices Matrix Multiplication Transpose of a Matrix Special Square Matrices Operations on Partitioned Matrices Definition and Properties of a Determinant Cofactor Expansion Formula Cramer's Rule Adjoint and Inverse Matrices Elementary Operations on a Matrix Rank of a Matrix Solvability of Linear Algebraic Equations 3 5
5
8
10
12
16
19
21
22
24
27
30
46
46
48
52
55
57
66
66
71
75
81
81
82

Characteristic-Value Problems and Quadratic Forms

2-1 2-2 2-3. 2-4 2-5 Introduction Second-Order Characteristic-Value Problem Similarity and Orthogonal Transformations The nth-Order Symmetrical Characteristic-Value Problem Quadratic Forms

Relative Extrema for a Function

3-1 3-2 3-3 Relative Extrema for a Function of One Variable Relative Extrema for a Function of n Independent Variables Lagrange Multipliers

Differential Geometry of a Member Element

4-1 4-2 Parametric Representation of a Space Curve Arc Length
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vi 4-3 4-4 4-5 4-6 4-7 4-8 5

. CONTENTS Unit Tangent Vector Principal Normal and Binormal Vectors Curvature, Torsion, and the Frenet Equations Summary of the Geometrical Relations for a Space Curve Local Reference Frame for a Member Element Curvilinear Coordinates for a Member Element 85 86 88 91 92 94 100 100 103 109 8-4 8-5

CONTENTS

Vii

Incremental Formulation; Classical Stability Criterion Linearized Stability Analysis

191 200 210 210 211 216 217

Force Method-Ideal Truss

9-1 9-2 9-3 9-4 General Governing Equations-Algebraic Approach Governing Equations-Variational Approach Comparison of the Force and Mesh Methods

Matrix Transformations for a Member Element 5-1 5-2 5-3 Rotation Transformation Three-Dimensional Force Transformations Three-Dimensional Displacement Transformations II-ANALYSIS OF AN IDEAL TRUSS

Ill1-ANALYSIS OF A MEMBER ELEMENT 10

115

Governing Equations for a Deformable Solid

10-1 10-2 10-3 10-4 10-5 10-6 General Summation Convention; Cartesian Tensors Analysis of Deformation; Cartesian Strains Analysis of Stress Elastic Stress-Strain Relations Principle of Virtual Displacements; Principle of Stationary Potential Energy; Classical Stability Criteria Principle of Virtual Forces; Principle of Stationary Complementary Energy 229 230 232 240 248

229

Governing Equations for an Ideal Truss 6-1 6-2 6-3 6-4 6-5 6-6 6-7 6-8 6-9 General Elongation-Joint Displacement Relation for a Bar General Elongation-Joint Displacement Relation Force-Elongation Relation for a Bar General Bar Force-Joint Displacement Relation Joint Force-Equilibrium Equations Introduction of Displacement Restraints; Governing Equations Arbitrary Restraint Direction Initial Instability 115 116 120 125 130 130 132 134 137

10-7

253 257

11
152

St. Venant Theory of Torsion-Flexure of Prismatic Members

11-1 11-2 11-3 11-4 11-5 11-6 11-7 Introduction and Notation The Pure-Torsion Problem Approximate Solution of the Torsion Problem for Thin-Walled Open Cross Sections Approximate Solution of the Torsion Problem for Thin-Walled Closed Cross Sections Torsion-Flexure with Unrestrained Warping Exact Flexural Shear Stress Distribution for a Rectangular Cross Section Engineering Theory of Flexural Shear Stress Distribution in Thin-Walled Cross Sections 271 273 281 286 293 303 306

271

Variational Principles for an Ideal Truss 7-1 7-2 7-3 7-4 7-5 7-6 General Principle of Virtual Displacements Principle of Virtual Forces Strain Energy; Principle of Stationary Potential Energy Complementary Energy; Principle of Stationary Complementary Energy Stability Criteria 152 153 159 162 165 169

Displacement Method-Ideal Truss

8-1 8-2 8-3 General Operation on the Partitioned Equations The Direct Stiffness Method 178 178 180

178 12 Engineering Theory of Prismatic Members 12-1 12-2 Introduction Force-Equilibrium Equations

330 330 331

CONTENTS 12-3 12-4 12-5 12-6 13 Force-Displacement Relations; Principle of Virtual Forces Summary of the Governing Equations Displacement Method of Solution-Prismatic Member Force Method of Solution 15-9 15-10 15-11 15-12

CONTENTS Member Matrices-Prismatic Member Member Matrices-Thin Planar Circular Member Flexibility Matrix-Circular Helix Member Force-Displacement Relations-Partial End Restraint 520
524
531
535

ix

333 339 340 349 371 371

372 375 379 383 389 0395 405 414
425
425 427 429

Restrained Torsion-Flexure of a Prismatic Member 13-1 13-2 13-3 13-4 13-5 13-6 13-7 13-8 13-9 Introduction Displacement Expansions; Equilibrium Equations Force-Displacement Relations-Displacement Model Solution for Restrained Torsion-Displacement Model Force-Displacement Relations-Mixed Formulation Solution for Restrained Torsion-Mixed Formulation Application to Thin-Walled Open Cross Sections Application to Thin-Walled Closed Cross Sections Governing Equations-Geometrically Nonlinear Restrained Torsion

IV-ANALYSIS OF A MEMBER SYSTEM 16 Direct Stiffness Method-Linear System

16-1 16-2 16-3 16-4 Introduction Member Force-Displacement Relations System Equilibrium Equations Introduction of Joint Displacement Restraints 545
546
547
548
554
554
555
557
559
560
562
565-
567
570
573
585
585
585
591
597
605 545

17

General Formulation-Linear System

Introduction Member Equations System Force-Displacement Relations System Equilibrium Equations Introduction of Joint Displacement Restraints; Governing Equations 17-6 Network Formulation ~ 17-7 Displacement Method 17-8 Force Method 17-9 Variational Principles 17-10 Introduction of Member Deformation Constraints 17-1 17-2 17-3 17-4 17-5

14
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Planar Deformation of a Planar Member 14-1 14-2 14-3 14-4 Introduction; Geometrical Relations Force-Equilibrium Equations Force-Displacement Relations; Principle of Virtual Forces Force-Displacement Relations-Displacement Expansion Approach; Principle of Virtual Displacements Cartesian Formulation Displacement Method of Solution-Circular Member Force Method of Solution Numerical Integration Procedures

14-5 14-6 14-7 14-8 15

435 445
449 458
473 485 485
488 490
493
499
507
511
517

18

Analysis of Geometrically Nonlinear Systems

18-1 18-2 18-3 18-4 Introduction Member Equations-Planar Deformation Member Equations-Arbitrary Deformation Solution Techniques; Stability Analysis

Engineering Theory of an Arbitrary Member 15-1 15-2 15-3 15-4 15-5 15-6 15-7 15-8 Introduction; Geometrical Relations Force-Equilibrium Equations Force-Displacement Relations-Negligible Warping Restraint; Principle of Virtual Forces Displacement Method-Circular Planar Member Force Method-Examples Restrained Warping Formulation Member Force-Displacement Relations-Complete End Restraint Generation of Member Matrices

Index