Filip C.

Filippou

Example

Nonlinear Structural Analysis

Example - Event to Event Nonlinear Analysis of Simple Truss

The following simple truss is subjected to the given load pattern. For elastic-perfectly plastic behavior of
the truss elements determine the collapse load factor, the horizontal translation at node 4 at incipient
collapse and the entire load-displacement response of the truss to collapse. What happens past the
point of incipient collapse?

La := 6
5

Lb :=

Lb = 10

Ld = 10

Lc := 8

6
d

Ld :=

10

8 +6

20

8 +6

The plastic axial capacity of all truss

elements is equal to 10 units. At first, we
will assume elastic-perfectly plastic
behavior. The axial stiffness EA = 10,000.

EA := 10000
1

2
8

There are two independent free dofs and thus equilibrium equations. There are 4 unknown basic forces.
Thus, the degree of static indeterminacy is NOS=2. We write down the compatibility (kinematic) matrix.

0 1

0.8
0.6

Af :=
1 0

0.8 0.6

6
d

The equilibrium equations are

dof 2

dof 1

P1 = 0.8 Q2 + Q3 + 0.8 Q4
a

P2 = Q1 + 0.6 Q2 0.6 Q4
Here Q1, Q2, Q3 and Q4 correspond to member forces in a,b,
c and d, respectively.

Page 1

 Filip C. Filippou

Example

Nonlinear Structural Analysis

Determination of collapse load factor

For complete collapse we need NOS+1 plastic hinges, i.e. three of the four truss elements reach the axial
capacity. Because of the direction of the applied force we assume that these are elements a, b and c.
Because Q4 is unknown, we multiply the first equation by 0.6 and the second by 0.8 and add them up.

c ( 0.6 20 + 0.8 10) = 0.8 Q1 + ( 0.6 0.8 + 0.8 0.6) Q2 + 0.6 Q3

0.8 10 + 0.96 10 + 0.6 10
0.6 20 + 0.8 10

c :=

solving for

Q4 :=

we check for Q4 from the first equation:

c = 1.18
c 20 ( 0.8 10 + 10)
0.8

Q4 = 7

since Q 4 is less than the plastic capacity the plastic condition is met and this is a lower bound as well as
an upper bound. Thus, the we determined is the actual collapse load factor.

Determination of displacement values at incipient collapse

When the collapse load factor c reaches the value 1.18, all truss element forces are known. The
corresponding deformations are only known for the elements that are still elastic. We know that this is
the case for element d, but do not know which other element is still elastic and about to reach the plastic
capacity (i.e. contains the last hinge to form). Let us assume that this is element c. Then we have:

Ve3 :=
Ve4 :=

10
Lc
EA
Q4
EA

Ld

Ve3 = 8 10

These are the elastic axial deformations in members c and d.

Ve4 = 7 10

from the last two compatibility equations we can determine the displacement values at dofs 1 and 2.
3

U1 := Ve3

U1 = 8 10

and

U2 :=

0.8 U1 Ve4
0.6

U2 = 1 10

It seems hard to believe that node 4 would translate downward under the loading: the guess is no good!
Assume that element a is the last to reach the plastic capacity. Then,

Ve1 :=

10
La
EA

Ve1 = 6 10

from the first and fourth compatibility equations we obtain:

U2 := Ve1

U2 = 6 10

and then

U1 :=

Ve4 + 0.6 U2
0.8

U1 = 13.25 10

the values are larger than those of the earlier guess and we suspect them to be correct. Before concluding
we determine the deformations in the other two elements and compare them with the elastic values

Page 2

we determine the elastic deformation in element b

Ve1
U1 Ve2
Vp := Af

U2 Ve3
Ve4

Filip C. Filippou

Example

Nonlinear Structural Analysis

Vp

4.2 3

=
10
5.25

Ve2 :=

10
Lb
EA

indeed the plastic deformations in elements

b and c are positive (i.e. the plastic work increment
with the tensile force is positive) and this makes sense

Thus, the last element to reach the plastic capacity is element a.

Note: we were able to determine all forces because the collapse mechanism is complete and the forces
can be uniquely determined from the equilibrium equations. With a partial collapse mechanism we would
not be able to determine all basic forces uniquely from the equilibrium equations only; without all basic
forces we would not be able to determine all elastic deformations and thus would also not be able to
determine the displacements at incipient collapse. Both problems are only overcome with a complete
step-by-step analysis as we will discuss next.

Step-by-step (or event-to-event) piecewise linear analysis of truss

In order to determine the entire load displacement response and the sequence of hinge formation we
resort to a step-by-step piecewise linear analysis of the truss. To this end we use the displacement method
of analysis with 2 independent free dofs.
Before starting the analysis we need to introduce a consistent notation to keep track of the changing
response. We identify the response values of each step of the event-to-event process with a number
subscript corresponding to the step number.
The initial state of the structural model is unstressed: the load factor is zero, the resulting displacements are
zero. We identify these initial values with subscript 0. Thus,

0 := 0

U0 :=

0

0

T
Q0 := ( 0 0 0 0 )

Note that the load distribution is specified in a reference load vector (or load pattern) Pref
and that the applied load vector for the initial state is given by

Pref :=

20

10

P0 := 0 Pref

Because we will be dealing with response changes from one step to the next we introduce the Greek letter
to denote "change of". Thus, the change in the displacement vector from one step to the next is U with an
appropriate subscript corresponding to the step number.
Before we start we define the plastic strength values in a vector

Page 3

T
Qpl := ( 10 10 10 10 )

 Filip C. Filippou

Example

Nonlinear Structural Analysis

1. Step:
The initial stiffness of the truss elements is given. We use the collection of truss element stiffness to form
the stiffness matrix at the global dofs. Alternatively, and much faster for hand calculation we can set up
the structural stiffness matrix directly.

EA 0 0 0

La

EA
0
0
0 L
b

Ks :=

EA
0
0
0

Lc

EA
0 0 0 Ld

and the structure stiffness matrix becomes

T
Kf := Af Ks Af

Kf =

2.53 0 3

10
0 2.39

it is interesting to note that there is no coupling between the two

dofs for this geometry and element properties. Can you explain why?

Under the reference load the change in the global dof displacement values from the initial state is
U := lsolve ( Kf , Pref)

U =

7.905 3

10
4.19

and the corresponding change in the basic forces is

Q := Ks Af U

T
Q = ( 6.98 8.84 9.88 3.81 )

Since the truss elements are unstressed in the initial state their residual plastic capacity is equal to the
specified plastic strength (this may not be so, if elements are pre-heated and initial forces result).
residual plastic capacity is

Qpl.res := Qpl

we form the ratio of the basic force increment and the residual plastic capacity for each element. This ratio is
known as demand-capacity ratio and is denoted by DC. We have:

DC :=

T
DC = ( 0.698 0.884 0.988 0.381 )

Qpl.res

The element with the highest DC is the most critical and the first to reach the plastic capacity. This
constitutes the next "event". The load factor increment to this event is equal to the inverse of the highest DC
value. Thus,

1 :=

= 1.012

1
DC
3
The displacement and basic force increments to the next event are obtained by scaling

Q 1 := 1 Q

U1 := 1 U

Page 4

 Filip C. Filippou

Example

Nonlinear Structural Analysis

To obtain the loading and corresponding response values at the end of step 1 all we need to do is add
the increments to the values at the beginning of the step. We obtain

1 := 0 + 1

P1 := 1 Pref

and

P1 =

Q1 := Q0 + Q 1

T
Q1 = ( 7.067 8.944 10 3.856 )

U1 := U0 + U1

U1 =

20.24

10.12

8 3

10
4.24

since we are new at this we should check the equilibrium equations at the end of step 1. We have:
T
P1 Af Q1 =

0

0

and equilibrium is obviously satisfied

With the basic force values at the end of step 1 we determine the residual plastic capacity of the truss
elements for the next step. It is
T
Qpl.res = ( 2.933 1.056 0 6.144 )

Qpl.res := Qpl Q1

Element c has no residual plastic capacity since it reached its plastic strength under load factor 1.

2. Step:
for any load factor higher than 1 element c is behaving plastically and has zero stiffness. Thus, Ks needs
to be modified accordingly. In hand calculations it may be easier to subtract the contribution of the element
that changes stiffness from the stiffness matrix of the preceding step. Here we choose to determine from
scratch the new stiffness matrix for the step.

EA 0 0 0
La

EA

0
0 0

Lb
Ks :=

0
0
0
0

EA
0
0
0

Ld

and the stiffness matrix becomes

T
Kf := Af Ks Af
Kf =

1.28 0 3

10
0
2.39

Under the reference load the change in the global dof displacement values from the previous step is
U := lsolve ( Kf , Pref)

U =

15.625 3

10
4.19

and the corresponding change in the basic forces is

Q := Ks Af U

T
Q = ( 6.98 15.01 0 9.99 )
Page 5

 Filip C. Filippou

Example

Nonlinear Structural Analysis

we form again the DC ratio by dividing the basic force increment by the residual plastic capacity for each
element. We have:

DC :=

it is worth noting that Mathcad does not mind

dividing 0/0 for element c. Most programs
would have strong objections.

T
DC = ( 2.381 14.22 0 1.625 )

Qpl.res

The element with the highest DC is the most critical and the next to reach the plastic capacity. This
constitutes the next "event". The load factor increment to this event is equal to the inverse of the highest DC
value. Thus,

2 :=

= 0.07

2
DC
2
The displacement and basic force increments to the next event are obtained by scaling

Q 2 := 2 Q

U2 := 2 U

To obtain the loading and corresponding response values at the end of step 2 all we need to do is add
the increments to the values at the beginning of the step. We obtain

2 := 1 + 2

P2 := 2 Pref

and

P2 =

Q2 := Q1 + Q 2

T
Q2 = ( 7.558 10 10 4.558 )

U2 := U1 + U2

U2 =

21.647

10.823

9.099 3

10
4.535

We should check again the equilibrium equations at the end of step 2. We have:
T
P2 Af Q2 =

0

0

and equilibrium is obviously satisfied

With the basic force values at the end of step 2 we the residual plastic capacity of the truss elements. It is
Qpl.res := Qpl Q2

T
Qpl.res = ( 2.442 0 0 5.442 )

Elements b and c have no residual plastic capacity since they both reached the plastic strength under load
factor 2.

Page 6

 Filip C. Filippou

Example

Nonlinear Structural Analysis

3. Step:
for any load factor higher than 2 elements b and c are behaving plastically and have zero stiffness. Thus,
Ks needs to be modified accordingly. In hand calculations it may be easier to subtract the contribution of
the element that changes stiffness from the stiffness matrix of the preceding step. Here we choose to
determine from scratch the new stiffness matrix for the step.

EA

La
0
Ks :=
0

0 0

0 0 0

0 0 0
EA
0 0
Ld

and the stiffness matrix becomes

T
Kf := Af Ks Af
Kf =

0.64 0.48 3

10
0.48 2.03

now the two free dofs are coupled!

Under the reference load the change in the global dof displacement values from the previous step is
U := lsolve ( Kf , Pref)

U =

42.5 3

10
15

and the corresponding change in the basic forces is

Q := Ks Af U

T
Q = ( 25 0 0 25 )

we form again the DC ratio by dividing the basic force increment by the residual plastic capacity for each
element. We have:

DC :=

T
DC = ( 10.238 0 0 4.594 )

Qpl.res

The element with the highest DC is the most critical and the next to reach the plastic capacity. This
constitutes the next "event". The load factor increment to this event is equal to the inverse of the highest DC
value. Thus,

3 :=

3 = 0.098

DC
1
The displacement and basic force increments to the next event are obtained by scaling
Q 3 := 3 Q

U3 := 3 U

To obtain the loading and corresponding response values at the end of step 3 all we need to do is add
the increments to the values at the beginning of the step. We obtain

3 := 2 + 3

and

P3 := 3 Pref

P3 =

Page 7

23.6

11.8

 3 = 1.18

Noting that

Filip C. Filippou

Example

Nonlinear Structural Analysis

we have reached the collapse load factor of the structural model and we
are at the end of the event-to-event process

We update one last time the basic forces and displacements at the free dofs
Q3 := Q2 + Q 3

T
Q3 = ( 10 10 10 7 )

U3 := U2 + U3

U3 =

13.25 3

10
6

These values agree with those obtained before starting the event-to-event process.
We should check again the equilibrium equations at incipient collapse. We have:
T
P3 Af Q3 =

0

0

and equilibrium is obviously satisfied

We can plot the load factor against the horizontal translation. To this end we put the values in a vector

plot := 0 1 2 3

)T

Uplot := U0

U1

U2

U3

T
)
1

0.8

plot 0.6

0.4

0.2

0.002

0.004

0.006

0.008
Uplot

Page 8

0.01

0.012