Chapter 02
Chapter 02
Learning Objectives
To define the stiffness matrix
To derive the stiffness matrix for a spring element
To demonstrate how to assemble stiffness matrices into
a global stiffness matrix
To illustrate the concept of direct stiffness method to
obtain the global stiffness matrix and solve a spring
assemblage problem
To describe and apply the different kinds of boundary
conditions relevant for spring assemblages
To show how the potential energy approach can be used
to both derive the stiffness matrix for a spring and solve
a spring assemblage problem
f1x f2x
u a1 a2 x
a
u 1 x 1 x 2 1
a2 2 x 1
CIVL 7/8117 Chapter 2 - The Stiffness Method 4/32
u( x 0) u1 a1
Boundary Conditions
u( x L ) u2 a2L a1
Solving for a2:
u2 u1
a2
L
Substituting a1 and a2 into u gives:
u u1 x x
u 2 x u1 1 u1 u2
L L L
In matrix form: x x u1
u 1
L L u2
Or in another form:
u
u N1 N2 1
u2
u a1 a2 x
x x u1
u 1
L L u2
u
u N1 N2 1
u2
x
N1 1
L
N1 N2 1
x
N2
L
T T
T k
T f1x k u2 u1 f1x k u1 u2
T f2 x k u2 u1 f2 x k u1 u2
f1x k k u1
f2 x k k u2
F K d F Kd
T k k u2 u1
For element 2: f3 x k 2 k 2 u3
f2 x k 2 k 2 u2
CIVL 7/8117 Chapter 2 - The Stiffness Method 8/32
u3(1) u3(2)
k1 0 0 0 u2 f2(1)x
1 0 1 u3 f3(1)x
For element 2:
0 0 0 u1 f1x
(1)
k 2 0 1 1 u2 f2(1)x
0 1 1 u3 f3(1)x
CIVL 7/8117 Chapter 2 - The Stiffness Method 10/32
f1(1)
x
0 F1x
(2)
0 f2 x F2 x
f (1) f (2) F
3x 3x 3x
The above equations give:
k1 0 k1 u1 F1x
0
k2 k 2 u2 F2 x
k1 k 2 k1 k2 u3 F3 x
k1 0 k1 u1
K 0 k2 k 2 u2
k1 k2 k1 k2 u3
CIVL 7/8117 Chapter 2 - The Stiffness Method 11/32
Boundary Conditions
F2 x k2u3 k2u2
Solve for u2 and u3
F3 x k 2u2 k1 k 2 u3
CIVL 7/8117 Chapter 2 - The Stiffness Method 12/32
F1x k1u3
k2 k 2 u2 F2 x
k k k u F k
2 1 2 3 3x 1
F1x k1 k1u3
CIVL 7/8117 Chapter 2 - The Stiffness Method 14/32
1 1 1 1 1
k (1) 1000
3
k (2) 2000
1 1 3
1 1 4
4 2
1 1 4
k (3) 3000
1 1 2
1000 0 1000 0
0 3000 0 3000 Element 3
K
1000 0 3000 2000
0 3000 2000 5000
Element 2
10 15
u3 in u4 in
11 11
CIVL 7/8117 Chapter 2 - The Stiffness Method 16/32
1 1
k (1) k (2) k (3) k ( 4) 200 kN / m
1 1
200 200 0 0 0
200 400 200 0 0
K 0 200 400 200 0
0 0 200 400 200
0 0 0 200 200
CIVL 7/8117 Chapter 2 - The Stiffness Method 19/32
400 200 0 u2 0
200 400 200 u 0
3
0 200 400 u4 4
f2 x 1.0kN f3 x 1.0kN
f3 x 1.0kN f4 x 1.0kN
f4 x 1.0kN f5 x 1.0kN
CIVL 7/8117 Chapter 2 - The Stiffness Method 21/32
k k1 k k 2 2 k k3
k (2) 2
1 2
k (1) 1 k (3) 3
k1 k1 2 k 2 k 2 3
k 3 k3 4
k1 k1 0 0 1
k k k 2 k 3 k k 3 2
K 1 1 2
0 k 2 k2 0 3
0 k3 0 k3 4
CIVL 7/8117 Chapter 2 - The Stiffness Method 22/32
k1 k1 0 0 1
k k k 2 k 3 k 2 k 3 2
K 1 1
0 k 2 k2 0 3
0 k 3 0 k3 4
P k1 k 2 k3 u2
P
Solving the equation gives: u2
k1 k 2 k3
dG
0
dx
p p
0 i 1, 2,, n or 0
d i d
CIVL 7/8117 Chapter 2 - The Stiffness Method 27/32
p U U
1 2
kx Fx
2
p
The variation of p with respect to x is: p x 0
x
p
Since x is arbitrary and might not be zero, then: 0
x
CIVL 7/8117 Chapter 2 - The Stiffness Method 28/32
2
Expanding the above express gives:
p
1
2
k u22 2u1u2 u12 f1x u1 f2 x u2
CIVL 7/8117 Chapter 2 - The Stiffness Method 29/32
Recall: p p
0 i 1, 2,, n or 0
d i d
Therefore:
p k
2u2 2u1 f1x 0
u1 2
p k
2u2 2u1 f2 x 0
u2 2
Therefore: k u1 u2 f1x
k u1 u2 f2x
f1x k k u1
f2 x k k u2
CIVL 7/8117 Chapter 2 - The Stiffness Method 30/32
1
p(1) k1 u3 u1 f1x u1 f3 x u3
2
p
0 k3u2 k3u4 f2 x (3)
u2
p
0 k1u3 k1u1 k 2u4 k 2u3 f3 x (1) f3 x (2)
u3
p
0 k 2u4 k 2u3 k3u2 k3u4 f4 x (2) f4 x (3)
u4
0 k3 k 2 k 2 k3 u4 f4 x f4 x
(2) (3)
f2 x (3) F2 x
f3 x (1) f3 x (2) F3 x
f4 x (2) f4 x (3) F4 x
CIVL 7/8117 Chapter 2 - The Stiffness Method 32/32
Homework Problems
End of Chapter 2