Structural Analysis - III

Introduction to
Matrix Methods
 Module I
Matrix analysis of structures

• Definition of flexibility and stiffness influence coefficients –

development of flexibility matrices by physical approach &
energy principle.

Flexibility method
• Flexibility matrices for truss, beam and frame elements –
load transformation matrix-development of total flexibility
matrix of the structure –analysis of simple structures –
plane truss, continuous beam and plane frame- nodal loads
and element loads – lack of fit and temperature effects.

2
 Force method and Displacement method

• These methods are applicable to discretized structures

of all types

• Force method (Flexibility method)

• Actions are the primary unknowns

• Static indeterminacy: excess of unknown

actions than the available number of equations
of static equilibrium
• Displacement method (Stiffness method)

•Displacements of the joints are the primary

unknowns

•Kinematic indeterminacy: number of

independent translations and rotations (the
unknown joint displacements)

• M ore suitable for computer programming

Types of Framed Structures
a. Beams: may support bending moment, shear force and
axial force

b. Plane trusses: hinge joints; In addition to axial forces, a

member C A N have bending moments and shear forces if it
has loads directly acting on them, in addition to joint loads
c. Space trusses: hinge joints; any couple acting on a
member should have moment vector perpendicular to the axis
of the member, since a truss member is incapable of
supporting a twisting moment

d. Plane frames: Joints are rigid; all forces in the plane of
the frame, all couples normal to the plane of the frame
e. G rids: all forces normal to the plane of the grid, all
couples in the plane of the grid (includes bending and
torsion)

f. Space frames: most general framed structure; may

support bending moment, shear force, axial force and
torsion
 Deformations in Framed Structures

Three forces: N x ,V y ,Vz Three couples: Tx , M y , M z

• Significant deformations in framed structures:

Structure Significant deformations

Beams flexural
Plane trusses axial
Space trusses axial
Plane frames flexural and axial
Grids flexural and torsional
Space frames axial, flexural and torsional
Types of deformations in framed structures
b) axial c) shearing d) flexural e) torsional
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 Static indeterminacy

 Beam:

Static indeterminacy = Reaction components - number of

eqns available
E  R3

 Examples:

Single span beam with both ends hinged with

inclined loads
 C ontinuous beam
 Propped cantilever
 Fixed beam
 Rigid frame (Plane):

 External indeterminacy = Reaction components - number of

eqns available E  R3

 Internal indeterminacy = 3 × closed frames I  3a

• Total indeterminacy
= External indeterminacy + Internal indeterminacy
T  E  I  R  3  3a

• N ote: An internal hinge will provide an additional eqn

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Example 1 Example 2

T  E  I  R  3  3a T  E  I  R  3  3a
 2  2  3  3  0  1  3  3  3  3  2  12

Example 3
Example 4

T  E  I  R  3  3a T  E  I  R  3  3a
 3  2  3  3  3  12  4  3  3  3  4  21
14
 Rigid frame (Space):

External indeterminacy = Reaction components - number of

eqns available
E  R6

 Internal indeterminacy = 6 × closed frames

Example 1

T  E  I  R  6   6a
 4  6  6   6 1  24

If axial deformations are neglected, static indeterminacy is

not affected since the same number of actions still exist in
the structure
▪ Plane truss (general):
▪ External indeterminacy
= Reaction components - number of eqns available

E  R3

▪ Minimum 3 members and 3 joints.

▪ A ny additional joint requires 2 additional members.
▪ Hence, number of members for stability,

m  3  2  j  3  2 j  3
▪ Hence, internal indeterminacy, I  m  2 j  3
▪ Total (Internal and external) indeterminacy
T  E  I  R  3  m  2 j  3
mR2j

 m : number of members
 R : number of reaction components
 j : number of joints

• N ote: Internal hinge will provide additional eqn

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Example 1

T  m  R  2 j  9  3 26  0
E  R  3  3 3  0
I T E 0

Example 2
T  m  R  2 j  15  4  2  8  3
E  R 3 431
I T E 2
Example 3
T  m  R  2 j  6  4  25  0
E  R  3  1  4  4  0 Hinge at A
I T E 0
Example 4
T  m  R  2 j  7  3 25  0
E  R  3  3 3  0
I T E 0

Example 5
T  m  R  2 j  6  4  24  2
E  R 3 431
I T  E 1

Example 6
T  m  R  2 j  11  3  2  6  2
E  R 3  33  0
I T E 2
 Wall or roof attached pin jointed plane truss (Exception
to the above general case):
 Internal indeterminacy I  m  2 j

External indeterminacy = 0 (Since, once the member

forces are determined, reactions are determinable)

Example 1 Example 2 Example 3

T  I  m2 j T  I  m2 j
T  I  m2 j
 6  2 3  0  5  2 1  3
 7  2 3  1
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 Space Truss:
 External indeterminacy = Reaction components -
number of equations available E  R6
▪ Total (Internal and external) indeterminacy T  m  R  3 j

Example 1

▪ Total (Internal and external) indeterminacy

T  m R3j
T  12  9  3  6  3
E  R 6  96  3
Actions and displacements

•Actions:

• External actions (Force or couple or combinations) and

• Internal actions (Internal stress resultants – BM, SF, axial

forces, twisting moments)

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•Displacements: A translation or rotation at some point

•Displacement corresponding to an action: Need not be caused

by that action
• Notations for actions and displacements:

D32

D33
Equilibrium
•Resultant of all actions (a force, a couple or both) must vanish
for static equilibrium

•Resultant force vector must be zero; resultant moment vector

must be zero
Fx  0 Fy 0 Fz  0
M x 0 M y 0 M z 0

• For 2-dimensional problems (forces are in one plane

and couples have vectors normal to the plane),

F 0
x F 0
y M 0 z

• In stiffness method, the basic equations to be solved

are the equilibrium conditions at the joints
Compatibility
•Compatibility conditions: Conditions of continuity of
displacements throughout the structure

•Eg: at a rigid connection between two members, the

displacements (translations and rotations) of both members
must be the same

• In flexibility method, the basic equations to be solved are

the compatibility conditions
Action and displacement equations

•Spring: D  FA A  SD

•Stiffness S  F 1

•Flexibility: F  S 1

•The above equations apply to any linearly elastic

structure
•Example 1:
Flexibility and stiffness of a beam subjected to a single load

L3 48EI
Flexibility F Stiffness S  3
48EI L
•Example 2:

Flexibility coefficients of a beam subjected to several loads

A ctions on the beam

Deformations corresponding to actions

Unit load applied corresponding to each action, separately
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D1  D11  D12  D13 D2  D21  D22  D23 D3  D31  D32  D33

D1  F11 A1  F12 A2  F13 A3

D2  F21 A1  F22 A2  F23 A3
D3  F31 A1  F32 A2  F33 A3

F11 , F12 , F13 etc. Flexibility coefficients

•Flexibility coefficient F12: Displacement corresponding to A1

caused by a unit value of A2.

•In general, flexibility coefficient Fij is the displacement

corresponding to Ai caused by a unit value of Aj.
•Example 3:
Stiffness coefficients of a beam subjected to several loads

Actions on the beam

Deformations corresponding to actions

Unit displacement applied corresponding to each DOF, separately,
keeping all other displacements zero
 A1  A11  A12  A13

A1  S11D1  S12 D2  S13D3

A2  S21D1  S22 D2  S23D3

A3  S31D1  S32D2  S33D3

S11 , S12 , S13 etc. Stiffness coefficients:

•Stiffness coefficient S12: Action corresponding to D1 caused by

a unit value of D2.

•In general, stiffness coefficient Sij is the action corresponding

to Di caused by a unit value of Dj.
 • Example 4: Flexibility and stiffness coefficients of a beam

Flexibility coefficients:
Stiffness coefficients:
• Example 5: Flexibility and stiffness coefficients of a truss
Flexibility and stiffness matrices
1. Flexibility matrix

oThe compatibility equations are:

D1  F11 A1  F12 A2  F13 A3  ...  F1n An
D2  F21 A1  F22 A2  F23 A3  ...  F2n An
............................................................
Dn  Fn1 A1  Fn2 A2  Fn3 A3  ...  Fnn An
oIn matrix form,
D1   F11 F12 ... F1n A1 
   F22 ... F2n A 
D2   F21 2 
 
...  ... ... ... ... ... 
 F ... Fnn  An 
 
D n  
Fn1 n2  
n1 nn n1
 D = FA {D} Displacement matrix (vector),
[F] Flexibility matrix,
D F A {A} A ction matrix (vector)

Fij are the flexibility coefficients

2. Stiffness matrix

oThe equilibrium equations are:

A1  S11 D1  S12 D2  S13 D3  ...  S1n Dn
A2  S21 D1  S22 D2  S23 D3  ...  S2n Dn
............................................................
An  S n1 D1  S n2 D2  S n3 D3  ...  S nn Dn
oIn matrix form,
A1   S11 S12 ... S1n D1 
   S 22 ... S2n 
 
A2   S21 D
2 
 
...  ... ... ... ... ... 
  S  
A
 n  n1 S n2 ... Snn  Dn 
n1 nn n1
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 A = SD {A} Action matrix (vector) ,
[S] Stiffness matrix,
A S D {D} Displacement matrix (vector)

Sij are the stiffness coefficients

• Relationship between flexibility and stiffness matrices

A  S D  S F A
1
 F  S
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•Example: Cantilever element
L3 L2
;F  L
F11  ; F21  F12 
3EI 2EI 22 EI
L3 L2
D1  A1  A2
3EI 2EI
L2 L
D2  A1  A2
2EI EI

 L3 L2 
D1  3EI 2EI  A1 
   2  
D2   L L A2 
2EI EI 


F 
 12EI 6EI 4EI
S11  3 ; S21  S12  2 ; S22 
L L L

12EI 6EI
A1  3
D1
 2
D2
L L

6EI 4EI
A2  2
D1
 D2
L L

12EI 6EI 
A 1  L3 L2 D 1
    
A2  6EI 4EI D2 
 L2 L  

0
F S   S F   
1
 I  S
0 
1
 •Flexibility matrix and stiffness matrix are relating actions and
corresponding displacements

The flexibility matrix F obtained for a structure analysed by

flexibility method may not be the inverse of the stiffness matrix S

obtained for the same structure analysed by stiffness method
because different sets of actions and corresponding displacements
may be utilized in the two methods.
Equivalent joint loads
•Analysis by flexibility and stiffness methods requires that loads
must act only at joints.

•Thus, loads acting on the members (i.e., loads that are not acting
at the joints) must be replaced by equivalent loads acting at the
joints.

•The loads that are determined from loads on the members are
called equivalent joint loads.
•Equivalent joint loads are added to the actual joint loads to get
combined joint loads.

•Analysis carried out for combined joint loads

•Combined joint loads can be evaluated in such a manner that

the resulting displacements of the structure are same as the
displacements produced by the actual loads

•This is achieved thru the use of fixed end actions to get

equivalent joint loads
• Example 1

Beam with actual applied loads

Applied joint loads

Applied loads other than joint loads
(To be converted to equivalent joint loads)
 Member fixed end actions
(Due to applied loads other than joint loads )

Fixed end actions for the entire beam

Equivalent joint loads (Negative of fixed end actions)

Combined joint loads

(Applied joint loads + Equivalent joint loads)
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Fixed end actions
M

Ma
Mb
2a  b 
a b 2b  a 
l2 l 2

6Mab
6Mab
l3
l3

M M
l l 4
4
2 2

3M 3M
2l 2l
•Example 2
40 kN/ m 120 kN 20 kN/m

A D
B 4m C
12 m 12 m 12 m

wl 2
 480 480 240
12 240

wl 240 120 120

 240
2
213.33 106.67

Fixed end actions

88.89 31.11 52
 480 266.67 133.33 240

A D
B C

240  88.89 120  31.11

240 120
 328.89  151.11

Equivalent joint loads

(Opposite of fixed end actions)

Combined joint loads are same as equivalent joint loads here,

since there are no loads applied to joints directly
•Superposition of combined joint loads and restraint actions gives
the actual loads.

Superposition of joint displacements due to the combined

joint loads and restraint actions gives the displacements
produced by the actual loads.

But joint displacements due to restraint actions are zero.

Thus, joint displacements due to the combined joint loads give
the displacements produced by the actual loads

•But member end actions due to actual loads are obtained by

superimposing member end actions due to restraint actions and
combined joint loads
 Summary
Matrix analysis of structures

• Definition of flexibility and stiffness influence coefficients –

development of flexibility matrices by physical approach &
energy principle.