CE 511 ADVANCED STRUCTURAL ANALYSIS

AND VIBRATIONS
Dr. Faisal Mukhtar
Associate Professor
Department of Civil & Environmental Engineering

King Fahd University of Petroleum & Minerals

Refs.: 1) Matrix Analysis of Framed Structures 3rd edition by W. Weaver, Jr. & J. M. Gere

2) Dynamics in the Practice of Structural Design by O.S. Saar

 Lecture #1
INTRODUCTION
Objectives
• To explain the basic concepts/terms of structures and structural analysis
• To explain the various types and features of frame structures
• To explain the concept of static and kinematic indeterminacy
 Introduction
• The first part of this course focuses on the use of two matrix methods of structural
analysis: flexibility and stiffness methods
• Structures of all types can be analyzed using the concepts

• However, this course will concentrate on framed structures

• A framed structure consists of members that are long in comparison to their

cross-sectional dimensions
• Joints in framed structures are located at all points where two or more members
intersect, at points of support, and at free ends
 Introduction
Classifications of Framed Structures
• Beams
• Plane trusses
• Space trusses
• Plane frames
• Grids
• Space frames

Although the basic principles of the flexibility and stiffness methods are the same for
all types of structures, the above six categories are sufficiently different and, hence,
require separate discussions.
 Introduction
Classifications of Framed Structures (Cont’d)
Beam Plane Truss

• All members and forces in the same plane

• Loads are applied in a plane containing axis • Assumed hinged joints – no bending moments
of symmetry through joints and absolutely no twisting moments
through joints (eg. a gusset plate)
• Beams have one or more points of support
referred to as joints (such as A, B, C & D) • Only axial forces of tension or compression results
when the truss is subjected to only joint loads
• Internal stress resultants at any cross-section • For members having loads acting directly upon
of the beam may include; an axial force, them, there will be bending moments and shearing
a shearing force & a bending moment forces in addition to the axial forces
 Introduction
Classifications of Framed Structures (Cont’d)
Space Truss Plane Frame

• Similar to plane truss, except that the memb- • All members and forces in the same plane
ers and loads may have arbitrary directions • The joints (e.g. B & C) are rigid connections
in space • All couples acting on the frame have their momen
vectors normal to the plane
• Since a truss member is incapable of suppor-
• The internal stress resultants at any cross-section
ting a twisting moment, any couple acting on
of a plane frame may consist in general of;
a member must have its vector perpendicular
a bending moment, a shearing force & an axial
to the axis of the member
force
 Introduction
Classifications of Framed Structures (Cont’d)
Grid Space Frame

• A plane structure composing of continuous

• Most general type of structure: no restrictions
members that either intersect (rigid connection)
on the locations of joints, directions of members,
or cross (hinged connection) one another
or directions of loads
• Applied forces are normal to the plane of the
• Members may carry internal axial forces, torsion-
structure
al moments, bending moments in both principal
• All couples have their vectors in the plane of directions of the cross-section, and shearing forces
the grid thereby resulting in torsion as well as in both principal directions
bending in some of the members
• Members assumed to have two axes of
• Members assumed to have two axes of
symmetry in the cross section
symmetry in the cross section
 Nature and Causes of Deformations in Framed
Structures
Consider below, a segment of arbitrary length cut from a member of a framed
structure

Axial Shearing Flexural Torsional

deformation deformation deformation deformation
 Actions and Displacements
An Action (generalized force) can be external such as:
• A single force or a couple
• A combination of forces & couples, a distributed loading, or a combination of
these actions

or internal (resultants of internal stress distributions) and they include:

• Bending moments
• Shearing forces
• Axial forces
• Twisting moments
Internal actions may appear as one force, one couple, two forces, or two couples
 Actions and Displacements
A Displacement refers to a translation or a rotation of a point in the structure.
• It is considered generally as a combination of translations & rotations

It should be noticed that:

• Actions and displacements are said to correspond to one another when they
are of analogous type. However, the displacement may not necessarily be caused
by the force
• Hence, given a particular action, the concept of corresponding displacement
refers only to the definition of the displacement without regard to the actual cause
of that displacement and vice versa
• In some cases, a corresponding displacement may be caused by a particular action
 Actions and Displacements
• The symbol A represents actions, including both concentrated forces and couples
• The symbol D represents displacements, including both translations and rotations

Principle of superposition,
𝐷 =𝐷 +𝐷 +𝐷
𝐷 =𝐷 +𝐷 +𝐷
𝐷 =𝐷 +𝐷 +𝐷

Action & displacement equations,

D = FA and 𝐴 = 𝑆𝐷

F and S: flexibility and stiffness

of the structure
 Equilibrium
Solution for the actions (i.e. support reactions and internal stress resultants) must
satisfy all conditions for static equilibrium, not only for the entire structure, but also
for any part of the structure taken as a free body.
• Let FR and MR be the resultants of all force and couple actions, respectively
For a body in a state of static equilibrium, FR = MR = 0
           
Hence, 𝐹 = 0, 𝐹 = 0, 𝐹 = 0, 𝑀 = 0, 𝑀 = 0, 𝑀 =0
                 

For a 2D problem (eg. in x-y plane), 𝐹 = 0, 𝐹 = 0, 𝑀 =0

     

The above static equilibrium equations may be applied to any free body such as an
entire structure, a portion of a structure, a single member, or a joint of a structure.
In the stiffness method of analysis, the equilibrium conditions at the joints of the struc-
ture are the basic equations that are solved.
 Compatibility

Solution for the displacements must satisfy all conditions of compatibility (continuity)
throughout the structure.
• Support displacements must be consistent with the support conditions
• Compatibility conditions must be satisfied at all points throughout the interior of
a structure
In the flexibility method of analysis, equations that express the compatibility of the
displacements (translations and rotations) are the basic equations that are solved.
 Static and Kinematic Indeterminacy
Depending on whether actions or displacements are of interest, two types of
indeterminacy exist.

(1) Static indeterminacy: Applies when actions are the unknowns (such as in the
flexibility method).

• This type of indeterminacy refers to the number of unknown actions (internal

actions and external reactions) in excess of the number of static equilibrium
equations available at the joints

• The excess unknown actions are referred to as static redundants

• The number of such redundants is the degree of static indeterminacy of the
structure
 Static and Kinematic Indeterminacy
(1) Static indeterminacy (Cont’d)
Example:

Formal procedure:
# of redundants = # of unknown actions - # of joint equil. eqns
= (NAm*m + R) – (NEJ*J)
where, NAm is the # of actions per member
R is the # of unknown reactions
NEJ is the # of equilibrium equations per joint
J is the # of joints
 Static and Kinematic Indeterminacy

(1) Static indeterminacy (Cont’d)

Reference table for determining degrees of indeterminacy

Type of Structure Unknown Actions per Equilibrium Equations Displacement per
Member per Joint Joint
Beam 2 2 2
Plane Truss 1 2 2
Space Truss 1 3 3
Plane Frame 3 3 3
Grid 3 3 3
Space Frame 6 6 6
 Static and Kinematic Indeterminacy
(1) Static indeterminacy (Cont’d)
• As a less formal procedure, counting the number of releases necessary to obtain
a statically determinate structure yield the degrees of indeterminacy as well.

• It is also worth noticing that, depending on the situation, a structure can have
either an external or internal indeterminateness or both.

• External indeterminateness of a structure refers to the calculation of its reactions,

while internal indeterminateness refers to the calculation of stress resultants
within it assuming that all reactions have been found previously.
• Total degree of indeterminateness of a structure is the sum of the external and
internal degrees of indeterminateness.
 Static and Kinematic Indeterminacy
(1) Static indeterminacy (Cont’d)
More examples
 Static and Kinematic Indeterminacy

(2) Kinematic indeterminacy: Applies when displacements of the joints are the
unknowns (such as in the stiffness method).

• The unknown joint displacements are the kinematically indeterminate quantities

or kinematic redundants

• Their number is the degree of kinematic indeterminacy of the structure or the

number of degrees of freedom

• Formal procedure:
# of degree of freedom = # of possible joint displacements - # of restraints