TOPIC 2

STIFFNESS METHODS
BEAM ANALYSIS USING THE STIFFNESS METHOD
Dr. Henry LUK

SCE5321 Theory of Structures 2

 2

PRELIMINARY REMARKS
 3

Member and Node Identification

 In general, each element must
 be free from load; and
 have a prismatic cross section.
 The nodes of each element are located
 at a support or point load;
 at points where members are connected together; or
 at points where the displacement is to be determined.
 4

Global and Member Coordinates

 The global coordinate system will be identified using x, y, z
axes that generally have their origin at a node and are
positioned so that the nodes at other points on the beam have
positive coordinates.
 The local or member x’, y’, z’ coordinates have their origin at
the near end of each element.
 The positive x’ axis is directed towards the far end.
 5

Kinematic Indeterminacy
 Consider the effects of both bending and shear.
 Each node on a beam have 2 degrees of freedom (vertical
displacement and rotation).
 These displacement will be identified by code numbers.
 The lowest code numbers will be used to identify the unknown
displacement and the highest numbers are used to identify the
known displacement.
 Development of the stiffness method for beams follows a
similar procedure as that for trusses.
 6

Overall Procedure
Qu
Du
Q  KD Reactions
Unknown
displacements
K Force-
displacement
relation
Structure
stiffness
k matrix

Member
stiffness
matrix
 7

BEAM MEMBER STIFFNESS MATRIX

 8

Beam Member Stiffness Matrix

 The beam element has a constant cross-sectional area and
referenced from the local x’, y’, z’ coordinate system.
 The beam member is subjected to shear loads qNy’, qFy’ and
bending moment qNz’, qFz’ at its near and far ends respectively.
 Linear & angular displacements associated with these loadings
also follow the same sign convention.
 9

Beam Member Stiffness Matrix (cont’d)

 y’ displacements
 A positive vertical displacement dNy’ is imposed at node N while
other possible displacement are prevented.
 The resulting shear forces and bending moments that are created
are shown.
 Likewise for dFy’ at node F.
 10

Beam Member Stiffness Matrix (cont’d)

 z’ rotations
 A positive rotation dNz’ is imposed at node N while other possible
displacement are prevented.
 The required shear forces and bending moments necessary for
the deformation are shown.
 Likewise for dFz’ at node F.
 11

Beam Member Stiffness Matrix (cont’d)

 By superposition, the resulting four load-displacement relations
for the member can be expressed in matrix form as
Ny’ Nz’ Fy’ Fz’
 12 EI 6 EI 12 EI 6 EI 
q Ny '    d Ny ' 
   L
3
L2 L3 L2   

   6 EI 4 EI 6 EI 2 EI   
 q Nz '      d Nz ' 
   L L  
2
L L2
   
 qFy '   12 EI 6 EI 12 EI 6 EI  
  2  d Fy ' 
   L3 L2 L3 L  
    
 q   6 EI 4 EI  
  d Fz ' 
2 EI 6 EI
 Fz '  
 L2 L L2 L 

Matrix form q  kd Beam member

stiffness matrix, k
 12

BEAM STRUCTURE STIFFNESS

MATRIX
 13

Beam Structure Stiffness Matrix

 Once all the member stiffness matrices have been found, we
must assemble them into the structure stiffness matrix, K.
 The rows and columns of each k matrix, the equations are
identified by the 2 code numbers at the near end (Ny’, Nz’) of
the member followed by those at the far end (Fy’, Fz’).
 When assembling the matrices, each element must be placed
in the same location of the K matrix.
 14

Beam Structure Stiffness Matrix (cont’d)

 K will have an order that will be equal to the highest code
number assigned to the beam.
 Where several members are connected at a node, their
member stiffness influence coefficients will have the same
position in the K matrix.
 Therefore they must be algebraically added to determine the
nodal stiffness influence coefficient for the structure.
 15

APPLICATION OF THE STIFFNESS

METHOD FOR BEAM ANALYSIS
 16

Application of the Stiffness Method for Beam Analysis

 Once the stiffness matrix is determined, the loads at the nodes
of the beam can be related to the displacement using the
structure stiffness equation
Q  KD

 Partitioning the stiffness matrix into the known and unknown

elements of load and displacement, we have

unknown

known
 17

Application of the Stiffness Method for Beam Analysis (cont’d)

 This expands into two equations:

Q k  K11Du  K12Dk
Qu  K 21Du  K 22Dk

 The unknown displacements Du are determined from the first of

these equation.
 Using these values, the support reactions Qu are computed for
the second equation.
 18

Intermediate Loadings
 It is important that the elements of the beam be free of loading
along its length.
 This is necessary as the stiffness matrix k for each element
was developed for loadings applied only at its ends.
 Intermediate loading should be replaced by equivalent joint
loads applied at member’s ends through principle of
superposition.

Beam member
stiffness matrix k

Nodal forces Intermediate loading

(Uniformly distributed load)
 19

Intermediate Loadings (cont’d)

 For members with both end displacements and intermediate
loads, the force-displacement relationship becomes (recalled
slope deflection method):
Nodal force
vector Fixed-end
force vector
Q  KD  Q f
Q - Q f  KD
Q'  KD

Q k '  K 11 K 12  Du 
    
Q u ' K 21 K 22  D k 
 20

Intermediate Loadings (cont’d)

 Fixed-end Moment (FEM)

w
wL2 wL2
12 12

wL wL
2 2

P
PL PL
8 8

P P
2 2
 21

*Intermediate Loadings (cont’d)

 First, we will apply equivalent concentrated loads on the joints
which is the fixed end moment reactions with the direction
reversed.
 We will refer to these loadings as a column matrix -qo.

Q' KD

(a)
 22

*Intermediate Loadings (cont’d)

 Then the distributed loading and the corresponding fixed end
moment reaction qo are calculated.
 All joints are restrained against movements (i.e. fixed end
condition).

(b)
 23

*Intermediate Loadings (cont’d)

 The actual loading within the beam is determined by adding
these two results.
 Noted that the displacements calculated in (a) must be equal to
that produced by the original beam under uniformly distributed
load.

Q  KD  Q f
(a) (b)
 24

MEMBER-END FORCES
 25

Member Forces
 The shear and moment at the ends of each beam element can
be determined by adding on any fixed end reactions qo if the
element is subjected to an intermediate loading.
 We have:

q  kd  q 0 q - q 0  kd

Due to the applied Due to the fixed-

concentrated force end force vector
vector
 26

Example 1
Determine the reactions at the supports of the beam shown. EI
is constant.
 27

Solution to Example 1
The beam has 2 elements and 3 nodes identified. The known
load and displacement matrices are:
 0 1
 5  2
0  5
Qk    3 Dk   
 0 0  6
 4
 0

Each of the 2 member stiffness matrices can be determined.

 28

Solution to Example 1 (cont’d)

Assemble these elements into the structure stiffness matrix. The
matrices are partitioned as shown,
 29

Solution to Example 1 (cont’d)

Carrying out the multiplication for the first 4 rows, we have

0  2 D1  1.5D2  D3  0

5
  1.5D1  1.5D2  1.5D3  0
EI
0  D1  1.5D2  4 D3  D4

0  0  0  D3  2 D4
 30

Solution to Example 1 (cont’d)

Solving, we get the joint displacements:
16.67 26.67
D1   , D2  
EI EI
6.67 3.33
D3   , D4 
EI EI

Using these results, we get the reactions:

Q5  10 kN
Q6  5 kN
 31

Solution to Example 1 (cont’d)

Shear force and bending moment of Element 1
q Ny   1. 5 1.5  1.5 1.5  d Ny   1 .5 1 .5  1 . 5 1 .5   0   5 
q   1. 5 2  1 . 5 1  d   1 .5 2  1 . 5 1   3.33   0 
   EI 
Nz     EI 
Nz  1   
 qFy   1.5  1.5 1.5  1.5  d Fy   1.5  1.5 1.5  1.5 EI  0   5 
          
 Fz 
q  1 . 5 1  1 . 5 2   Fz 
d  1 . 5 1  1 . 5 2    6 . 67    10 

Shear force and bending moment of Element 2

q Ny   1 .5 1.5  1.5 1.5   0  5

q   1 .5 2  1 . 5 1    6.67   10 
   EI 
Nz  1   
 qFy   1.5  1.5 1.5  1.5 EI  26.67   5
       
 Fz 
q  1 . 5 1  1 . 5 2    16 . 67  0
 32

Solution to Example 1 (cont’d)

Q6  5 kN

Q5  10 kN
 33

Solution to Example 1 (cont’d)

Shear diagram
5 kN

 5 kN

Moment diagram

 10 kNm
 34

Example 2
Determine the internal shear and moment in member 1 of the
compound beam. EI is constant.

1 2
Mo

1 L 2 L 3
 35

Solution to Example 2
When the beam deflects, the internal pin will allow a single
deflection, however, the slope of each connected member will
be different.
6 3 5
 0  1
  7 1 1 2 2 4
 0 5
 0  2  
Qk    D k   0 6
 0  3  
   0 7
 -M o  4
1 L 2 L 3
 36

Solution to Example 2 (cont’d)

Member stiffness matrices
6 7 3 1

 12 / L3 6 / L2  12 / L3 6 / L2  6
 
 6 / L2 4/ L  6 / L2 2/ L  7
k 1  EI  
 12 / L3  6 / L2 12 / L3 6/ L 2
3
 
 6 / L2  6 / L2 4 / L  1
 2/ L

3 2 5 4

 12 / L3 6 / L2  12 / L3 6 / L2  3
 
 6 / L2 4/ L  6 / L2 2/ L  2
k 2  EI  
 12 / L3  6 / L2 12 / L3 6/ L 2
5
 
 6 / L2  6 / L2 4 / L  4
 2/ L
 37

Solution to Example 2 (cont’d)

Force-Displacement relationship
1 2 3 4 5 6 7

1  0   4/ L 0  6 / L2 0 0 6 / L2 2 / L   D1 
    
2  0   0 4/ L 6 / L2 2/ L  6 / L2 0 0   D2 
    
3  0   6 / L2 6 / L2 24 / L3 6 / L2  12 / L3  12 / L3 2 
 6 / L D3 
    
4  M o   EI  0 2/ L 6 / L2 4/ L  6 / L2 0 0   D4 
    
5  Q   0  6 / L2  12 / L3  6 / L2 12 / L3 0 0  0 
 5
   
6  Q   6 / L2 0  12 / L3 0 0 12 / L3 6 / L2   0 
 6
   
 Q   
7  7   2/ L 0  6 / L2 0 0 6 / L2 4 / L   0 
 38

Solution to Example 2 (cont’d)

Joint displacements

4 6 MoL
0 D1  2 D3 D1 
L L 2 EI
4 6 2 M L
0  D2  2 D3  D4 D2   o
L L L 6 EI
6 6 24 6
0   2 D1  2 D2  3 D3  2 D4 M o L2
D3 
L L L L 3EI
2 6 4 2M o L
 M o  D2  2 D3  D4 D4  
L L L 3EI
 39

Solution to Example 2 (cont’d)

Supported reactions  MoL 
 2 EI 
 
Q5   0  6 / L2  12 / L3  6 / L2    M o L 
Q   EI 6 / L2 0  12 / L3

0    6 EI 2 
 6   MoL 
Q7  2/ L  6 / L2 0   
3EI 
 0
  2M L 
 o

 3EI 

6 EI  M o L  12 EI  M o L2  6 EI  2 M o L  M o
Q5   2     3    2   
L  6 EI  L  3EI  L  3EI  L
6 EI  M o L  12 EI  M o L2  3M o 4 M o M
Q6  2    3      o
L  2 EI  L  3EI  L L L
2 EI  M o L  6 EI  M o L2 
Q7     2    M o  2 M o   M o
L  2 EI  L  3EI 
 40

Solution to Example 2 Mo Mo

Mo/L Mo/L
Shear force diagram

-Mo/L
Bending moment diagram
Mo

-Mo
 41

Example 3
The beam is subjected to two couple moments. If the centre
support settles 1.5 mm, determine the reactions at the supports.

4 kNm 4 kNm
1 2

2
1 3
2m 2m

E = 200 GPa
I = 22(10-6) m4
 42

Solution to Example 3
The beam has two elements and three unknown degrees of
freedom.

6 5 4
3 2 1
1 2
4 1  0  4
Q k   0  2 D k   0.0015 5
 4 3 2  0  6
1 3
2m 2m
 43

Solution to Example 3 (cont’d)

Element stiffness matrices
6 3 5 2

 1 .5 1 .5  1 .5 1 .5  6
 
 1 .5 2  1 .5 1  3
k 1  EI  
  1 .5  1 .5 1 .5  1 .5  5
 
 1.5 1  1 .5 2  2

5 2 4 1

 1 .5 1 .5  1 .5 1 .5  5
 
 1 .5 2  1 .5 1  2
k 2  EI  
  1 .5  1 .5 1 .5  1 .5  4
 
 1.5 1  1 .5 2  1
 44

Solution to Example 3 (cont’d)

Force-Displacement relationship

1 2 3 4 5 6
1 4  2 1 0  1 . 5 1 .5 0   D1 
    
2 0  1 4 1  1 .5 0 1.5   D2 
    
3   4  0 1 2 0  1.5 1.5   D3 
   EI   
4  Q4    1 .5  1 .5 0 1 .5  1 .5 0  0 
    
5 Q   1 .5 0  1 .5  1 . 5 3  1.5  0.015
  5
  
Q   0  1.5 1.5   0 
6  6  1 .5 1 .5 0
 45

Solution to Example 3 (cont’d)

Joint displacements
4
 2 D1  D2  0 D3  1.5(0)  1.5(0.0015)
EI
0  1D1  4 D2  1D3  1.5(0)  0  0
4
 0 D1  1D2  2 D3  0  1.5(0.0015)  0
EI

Substituting EI = 200(106)(22)(10-6), and solving,

D1  0.001580 rad
D2  0
D3  0.001580 rad
 46

Solution to Example 3 (cont’d)

Support reactions

Q4  200(106 )  22(10 6 )  [1.5(0.001580)  1.5(0)  0  1.5(0)  1.5(0.0015)  0]

 0.525 kN
Q5  200(106 )  22(10 6 )  [1.5(0.001580)  0  1.5(0.001580)  1.5(0)  3(0.0015)  1.5(0)]
 1.05 kN
Q6  200(106 )  22(10 6 )  [0  1.5(0)  1.5(0.001580)  0  1.5(0.0015)  1.5(0)]
 0.525 kN

4 kNm 4 kNm

0.525 kN 1.05 kN 0.525 kN

 47

Solution to Example 3 (cont’d)

Shear force diagram 0.525 kN

-0.525 kN

Bending moment diagram

4 kNm 2.95 kNm 4 kNm

 48

Solution to Example 3 (cont’d)

Member end forces of member 1

q Ny   1.5 1 .5  1 .5 1 .5   0   0.525
      
 q Nz   1.5 2  1 .5 1   0.001580   4 
   (200 10  22 10 ) 
6 6
  
 qFy   1.5  1.5 1.5  1.5   0.0015   0.525 
      
 qFz   1.5 1  1 .5 2   0   2.95 

1
4 kNm 2.95 kNm

0.525 kN 0.525 kN
 49

Example 4
Determine the moment developed at support A of the beam
shown as follows. Assume the roller support can pull down or
push up on the beam.
48 kN
32 kN/m

6m 1m 1m
1 2 3
E = 200 GPa
I = 216(106) mm4
 50

Solution to Example 4
The beam has two unconstrained degrees of freedom, identified
the code number s 1 and 2.

4 5 6
0  3
  1 2
0  4 3 2 1
Dk   
0  5
 
0 6
6m 1m 1m
1 2 3
 51

Solution to Example 4 (cont’d)

The matrix analysis requires that the external loading be applied
at the nodes, and hence the distributed and concentrated loads
are replaced by their equivalent fixed-end moment.

 96  4
96 kNm 96 kNm 12 kNm 12 kNm  24  5
   
 96  3  12  2
Qf  
1
 Qf  
2

 96  5  24  6
   
 96 2  12 1
6m 1m 1m
1 2 3

Fixed-end   12  1 12  1
Qf    Qk   
moment  84 2 84 2
 52

Solution to Example 4 (cont’d)

Member stiffness matrices
4 3 5 2 12 EI 12(200)(216)
  2400
 2400 7200  2400 7200  4 L3 63
  6 EI 6(200)(216)
  7200
 7200 28800  7200 14400  3 L2 62
Member 1 k1   
 2400  7200 2400  7200 5
 
 7200 14400  7200 28800  2

5 2 6 1
 64800 64800  64800 64800  5
 
 64800 86400  64800 43200  2
Member 2 k2   
 64800  64800 64800  64800 6
 
 64800 43200  64800 86400  1
 53

Solution to Example 4 (cont’d)

Fixed-end force vector Qf
Force-displacement relation

1 2 3 4 5 6
 0   86400 43200 0 0 64800  64800  D1    12  1
      
 0   43200 115200 14400 7200 57600  64800  D2   96  12 2
      
Q3   0 14400 28800 7200  7200 0   0   96  3
      
Q4   0 7200 7200 7200  2400 0   0   96  4
      
Q   64800 57600  7200  2400 67200  64800  0   96  24  5
  
5
   
Q   64800  64800  64800 64800   0   24  6
 6  0 0
 54

Solution to Example 4 (cont’d)

Force-displacement relation

1 2 3 4 5 6
 12   86400 43200 0 0 64800  64800  D1  1
    
 84   43200 115200 14400 7200 57600  64800  D2  2
    
Q3 '  0 14400 28800 7200  7200 0  0  3
   
Q4 '  0 7200 7200 7200  2400 0  0  4
    
Q '  64800 57600  7200  2400 67200  64800  0  5
  
5
 
Q '  64800  64800  64800 64800   0  6
 6  0 0
 55

Solution to Example 4 (cont’d)

Expand the matrix gives

0 86400 43200   D1    12 

      
0 43200 115200  D2   84

12  84600 D1  43200 D2
84  43200 D1  115200 D2

D1  0.2778 10 3 m
D2  0.8333 10 3 m
 56

Solution to Example 4 (cont’d)

The moment corresponding to DOF 3 is
Fixed-supported reaction
Q3  14400(0.8333 10 3 )  FEM 3
 12  96
 108 kNm

Q3  108 kNm 

   
Q4   102 kN 
Reactions   
Q5   150 kN 
   
Q6    12 kN 
 57

Solution to Example 4 (cont’d)

Member forces (moment and shear) for member 1 are
q1  k 1d  (q 0 )1

q4   2400 7200  2400 7200   0   96   102 kN 

        
 q3   7200 28800  7200 14400   0   96   108 kNm 
    (10 )  
3
 
 q5   2400  7200 2400  7200  0   96   90 kN 
        
q2   7200 14400  7200 28800  0.8333  96  72 kNm 

102 kN 90 kN

108 kNm 72 kNm

 58

Solution to Example 4 (cont’d)

Shear force diagram
102 kN 60 kN

12 kN

Bending moment diagram -90 kN

-72 kNm
-108 kNm
 59

Example 5
Determine the deflection at joint 1 and the reactions on the
beam. EI is constant.

P
1 2 3

2m 2m