Computer Aided Engineering (EMS5CAE)

Week 5 – Stiffness Method for Beams Part 2

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 Revision of Last Week – Stiffness Method of
▪ Stiffness matrix of beams
Beam

1 2 3 4

 12 EI 6 EI 12 EI 6 EI 
 L3 − 1
L2 L3 L2 
 
 6 EI 4 EI 6 EI
− 2
2 EI  2
 L2 L L L 
k=
12 EI 6 EI 12 EI 6 EI 
− 3 − 2 − 2  3
 L L L3 L 
 6 EI 2 EI 6 EI 4 EI 
 − 2  4
 L2 L L L 

d1 =  i d3 =  j

d 2 = i d4 =  j

I J

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 Weekly Schedule
Week Lecture Topic Reading Tutorial/Assignment

1 Introduction Chapter 1 Assignment 2 issue

2 Stiffness method for Trusses Part 1 Chapter 14

3 Stiffness method for Trusses Part 2 Chapter 14

4 Stiffness method for Beams Part 1 Chapter 15

5 Stiffness method for Beams Part 2 Chapter 15 Quiz marks released

6 Assignment 2 Questions and Answers Lecture notes Assignment 2 due

Semester Break

7 Stiffness method for Frames Part 1 Chapter 16 Assignment 3 issue

8 Stiffness method for Frames Part 2 Chapter 16

9 Analysis of a plate with Abaqus Part 1 Lecture notes

10 Analysis of a castellated beam with Abaqus Lecture notes

11 Assignment 3 Questions and Answers Lecture notes Assignment 3 due

12 Revision Lecture notes

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 Objectives
This lecture will show how to apply the stiffness method to
analyse indeterminate beams.

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 Week 5 – Outline
1. Modelling
2. Stiffness Matrix
3. Force vector
4. Applications to Beams
5. Summary

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 Week 5 – Outline
1. Modelling
2. Stiffness Matrix
3. Force vector
4. Applications to Beams
5. Summary

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 Modelling
▪ Identify nodes and elements
Similar to truss problems, i.e. each element has two nodes

▪ Degree of freedom (DOF) of beams

Unlike the truss, the beam will be subjected to bending action, and thus each node in
the beam will have a rotational DOF in addition to the translational DOF.
The axial force is assumed to be ignored in the beam. Therefore, there are only shear
force and bending moment which cause transverse DOF and rotational DOF, respectively.

▪ Sign convention for stiffness method

- Force and displacements are positive when follow the coordination system
- Moment and rotation are positive when they act anti-clockwise

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 Modelling
▪ Modelling the following beams
The global coordinate system will be identified using x, y, z axes that generally
have their origin at a node & are positioned so that the nodes at other points
on the beam have +ve coordinates

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 Modelling
▪ Modelling the following beams

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 Week 5 – Outline
1. Modelling
2. Stiffness Matrix
3. Force vector
4. Applications to Beams
5. Summary

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 Stiffness Matrix
▪ Stiffness matrix of beam elements
qNy'   12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2   Ny' 
d
    d ' 
 qNz '   6 EI / L2 4 EI / L −6 EI / L2 2 EI / L   Nz  q = kd
→ =  
 qFy'   −12 EI / L −6 EI / L2 −6 EI / L2   d Fy' 
3
12 EI / L3
 q   6 EI / L2 2 EI / L −6 EI / L2

4 EI / L   d ' 
 Fz '   Fz 
dNy’ dNz’ dFy’ dFz’
 12 EI 6 EI 12 EI 6 EI  dNy’
 L3 −
L2 L3 L2 
 
 6 EI 4 EI 6 EI 2 EI  dNz’
− 2
 L 2
L L L 
k=
12 EI 6 EI 12 EI 6 EI  dFy’
− 3 − 2 − 2 
 L L 
3
L L
 6 EI 2 EI 6 EI 4 EI  dFz’
 − 2 
 L2 L L L 
Element stiffness is symmetry
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 Week 5 – Outline
1. Modelling
2. Stiffness Matrix
3. Force vector
4. Applications to Beams
5. Summary

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 Force Vector
▪ In the general case, the force-displacement relationship of the whole system is
Q   K K 12   Du 
Q = KD + Q 0 →  k  =  11    + Q0
Qu  K 21 K 22  Dk 
reaction boundary condition
where
Q = global force vector composed of known external loads at the unrestrained nodes Qk
and unknown reactions Qu at the supports.
Q0 = global force vector due to member forces, i.e. forces acting within the member
(NOT at the unrestrained nodes).

P 5kN and reactions at the supports will result Q

w

w and P will result Q0

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 Force Vector
▪ Nodal force vector Q
Q can be easily obtained from the structure based on the DOFs as follows
0
 −5
 
0
→Q = 
0
Q5 
 
Q6 

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 Force Vector
▪ Member force vector Q0
Q0 is obtained by converting the member force to equivalent nodal forces as follows

w
w
wL2 wL2 wL2 wL2
12 12 30 20
L L

wL wL 3wL 7 wL
2 2 20 20

P P
PL PL Pab 2 Pa 2b
8 8 L L
L/2 L/2 a b

P P Pb 2 ( 3a + b ) Pa 2 ( a + 3b )
2 2 L3 L3

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 Force Vector
▪ Example 0: Calculate Q0 the following beam
96 32kN/m 96
wL2 32  62
A B = = 96kNm
1 12 12

wL/2=96kN wL/2=96kN

12 48kN 12
PL 48  2
B C = = 12kNm
2 8 8

P/2=24kN P/2=24kN

 −12kNm 1
Element loads −96 + 12 = −84kNm 2
 
 96kN  4  24kN  5  96kNm 3
 96kNm  3  12kNm  2 Assembly Q0 =  
     96kN 4
q 01 =   q 02 =  
 96kN 5  24kN 6  96 + 24 = 120kN 5
−96kNm  2 −12kNm  1  6
 24kN 
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 Week 5 – Outline
1. Modelling
2. Stiffness Matrix
3. Force vector
4. Applications to Beams
5. Summary

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 Applications to Beams
▪ Summary

Example 1 (simply supported beam)

Example 2 (beam with member loading)

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 Applications to Beams
▪ Example 1
Determinate the stiffness matrix K of the beam shown in the figure.
Take E = 200 GPa and I = 120 ×106 mm4

▪ Solutions
1. Modelling: 3 nodes, 2 elements, 4 free DOFs

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 Applications to Beams
2. Element stiffness

 12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2 
 
6 EI / L2
4 EI / L −6 EI / L2 2 EI / L 
k=
 −12 EI / L3 −6 EI / L2 12 EI / L3 −6 EI / L2 
 
 6 EI / L2
2 EI / L −6 EI / L2 4 EI / L 
6 4 5 3
• Element 1: nodes 1 and 2, L = 2m  1.5 1.5 −1.5 1.5  6
 1.5 2 −1.5 1 4
k 1 = EI  
 −1.5 −1.5 1.5 −1.5 5
 3
 1.5 1 −1.5 2 

• Element 2: nodes 2 and 3, L = 2m 5 3 2 1

 1.5 1.5 −1.5 1.5  5
 1.5 2 −1.5 1 3
k 2 = EI  
 −1.5 −1.5 1.5 −1.5 2
 
 1.5 1 −1.5 2 1
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 Applications to Beams
3. Assemble stiffness of the whole system

6 4 5 3
 1.5 1.5 −1.5 1.5  6
 1.5 2 −1.5 1 4 1 2 3 4 5 6
k 1 = EI    2 −1.5 1 0 1.5 0 1
 −1.5 −1.5 1.5 −1.5 5  −1.5 1.5 −1.5
 3 0 −1.5 0 2
−  
 1.5 1 1.5 2   1 −1.5 4 1 0 1.5  3
→ K = EI  4
5 3 2 1  0 0 1 2 −1.5 1.5 
 1.5 1.5 −1.5 1.5 5  1.5 −1.5 0 −1.5 3 −1.5 5
 1.5 2 −1.5 1 3  
k 2 = EI    0 0 1.5 1.5 −1.5 1.5 6
 −1.5 −1.5 1.5 −1.5 2
 
 1.5 1 −1.5 2 1

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 Applications to Beams
2. Element stiffness

 12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2 
 
6 EI / L2
4 EI / L −6 EI / L2 2 EI / L 
k=
 −12 EI / L3 −6 EI / L2 12 EI / L3 −6 EI / L2 
 
 6 EI / L2
2 EI / L −6 EI / L2 4 EI / L 
6 3 5 2
• Element 1: nodes 1 and 2, L = 2m  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
 2
 1.5 1 −1.5 2 

• Element 2: nodes 2 and 3, L = 2m 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
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 Applications to Beams
3. Assemble stiffness of the whole system

6 3 5 2
 1.5 1.5 −1.5 1.5  6
 1.5 2 −1.5 1 3 1 2 3 4 5 6
k 1 = EI    2 1 0 −1.5 1.5 0 1
 −1.5 −1.5 1.5 −1.5 5  1
 2 4 1 −1.5 0 1.5  2
−  
 1.5 1 1.5 2   0 1 2 0 −1.5 1.5  3
→ K = EI  4
5 2 4 1  −1.5 −1.5 0 1.5 −1.5 0 
 1.5 1.5 −1.5 1.5 5  1.5 0 −1.5 −1.5 3 −1.5 5
 1.5 2 −1.5 1 2  
k 2 = EI    0 1.5 1.5 0 −1.5 1.5 6
 −1.5 −1.5 1.5 −1.5 4
 
 1.5 1 −1.5 2 1

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 Applications to Beams
4. Load and displacement vectors

0  2 −1.5 1 0 1.5 0   D1 

 −5  −1.5 1.5 −1.5 0 −1.5 0   D2 
    
0  1 −1.5 4 1 0 1.5   D3 
  = EI   
0
   0 0 1 2 −1.5 1.5   D4 
Q5   1.5 −1.5 0 −1.5 3 −1.5  0 
    
 6
Q  0 0 1.5 1.5 −1.5 1.5  0 

5. Solve for D

 D1  −16.67 
D   
 2  1 −26.67 
→ =  
D
 3 EI  −6.67 
 D4   3.33 

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 Applications to Beams
6. Calculate reactions

−16.67 
 
Q5  1.5 −1.5 0 −1.5 1 −26.67  10 
  = EI     =   kN
Q6  0 0 1.5 1.5  EI  −6.67  −5
 3.33 

5 10

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 Applications to Beams
▪ Example 2 (beam with member loading)
Determinate the stiffness matrix K of the beam shown in the figure.
Take EI = constant.

▪ Solutions
1. Modelling: 3 nodes, 2 elements, 2 free DOFs

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 Applications to Beams
2. Element stiffness

 12 EI / L3 6 EI / L2 −12 EI / L3 6 EI / L2 
 
6 EI / L2
4 EI / L −6 EI / L2 2 EI / L 
k=
 −12 EI / L3 −6 EI / L2 12 EI / L3 −6 EI / L2 
 
 6 EI / L2
2 EI / L −6 EI / L2 4 EI / L 
4 3 5 2
• Element 1: nodes 1 and 2, L = 6m  0.056 0.167 −0.056 0.167  4
 0.167 0.667 −0.167 0.333  3
k 1 = EI  
 −0.056 −0.167 0.056 −0.167  5
 2
 0.167 0.333 −0.167 0.667 

• Element 2: nodes 2 and 3, L = 2m 5 2 6 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 6
 
 1.5 1 −1.5 2 1
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 Applications to Beams
3. Assemble stiffness of the whole system

4 3 5 2 5 2 6 1
 0.056 0.167 −0.056 0.167  4  1.5 1.5 −1.5 1.5  5
 0.167 0.667 −0.167 0.333  3  1.5 2 −1.5 1  2
k 1 = EI   k 2 = EI  
 −0.056 −0.167 0.056 −0.167  5  −1.5 −1.5 1.5 −1.5 6
 2  
 0.167 0.333 −0.167 0.667   1.5 1 −1.5 2  1

1 2 3 4 5 6
 2 1 0 0 −1.5
1.5 1
 1 2.667 0.333 0.167 1.333 −1.5 2
 
 0 0.333 0.667 0.167 −0.167 0  3
→ K = EI  
 0 0.167 0.167 0.056 −0.056 0  4

 1.5 1.333 −0.167 −0.056 1.556 −1.5 5

 
 −1.5 −1.5 0 0 −1.5 1.5  6

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 Applications to Beams
▪ Calculate Q0 the beam
96 32kN/m 96
wL2 32  62
A B = = 96kNm
1 12 12

wL/2=96kN wL/2=96kN

12 48kN 12
PL 48  2
B C = = 12kNm
2 8 8

P/2=24kN P/2=24kN

 −12kNm 1
Element loads −96 + 12 = −84kNm 2
 
 96kN  4  24kN  5  96kNm 3
 96kNm  3  12kNm  2 Assembly Q0 =  
     96kN 4
q 01 =   q 02 =  
 96kN 5  24kN 6  96 + 24 = 120kN 5
−96kNm  2 −12kNm  1  6
 24kN 
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 Applications to Beams
4. Load and displacement vectors

0  2 1 0 0 1.5−1.5  D1  −12 

0  1 2.667 0.333 0.167 1.333 −1.5  D2  −84 
      
Q3   0 0.333 0.667 0.167 −0.167 0   0   96 
  = EI   +  
Q
 4  0 0.167 0.167 0.056 −0.056 0   0   96 
Q5   1.5 1.333 −0.167 −0.056 1.556 −1.5  0  120 
      
 6
Q  −1.5 −1.5 0 0 −1.5 1.5   0   24 

5. Solve for Du

0  2 1   D1   −12 
  = EI    D  +  −84 
 
0  1 2.667  2  
 D1  1 −12 
→ =  
 2
D EI  36 

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 Applications to Beams
6. Calculate reactions

0  2 1 0 0 −1.5  D1  −12 

1.5
0  1 2.667 0.333 0.167 1.333 −1.5  D2  −84 
      
Q3   0 0.333 0.667 0.167 −0.167 0   0   96 
  = EI   +  
Q4   0 0.167 0.167 0.056 −0.056 0   0   96 
Q5   1.5 1.333 −0.167 −0.056 1.556 −1.5  0  120 
      
 6
Q  −1.5 −1.5 0 0 −1.5 1.5   0   24 

 D1  1 −12 
 =  
 2
D EI  36 

Q3   0 0.333  96  108 

Q   0 0.167   D1   96  102 
 4
→   = EI   +   =  
Q
 5  1.5 1.333   2   
D 120 150 
Q6     24  −12  108
 −1.5 −1.5  102 150 12

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 Week 5 – Outline
1. Modelling
2. Stiffness Matrix
3. Application to Beams
4. Summary

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 Summary
▪ Stiffness matrix of beams

1 2 3 4

 12 EI 6 EI 12 EI 6 EI 
 L3 − 1
L2 L3 L2 
 
 6 EI 4 EI 6 EI
− 2
2 EI  2
 L2 L L L 
k=
12 EI 6 EI 12 EI 6 EI 
− 3 − 2 − 2  3
 L L L3 L 
 6 EI 2 EI 6 EI 4 EI 
 − 2  4
 L2 L L L 

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 End of session
Thank you

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