Lecture 14

Stiffness Method (2): Plane Truss

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 Standardisation of procedures
•Discretization 5 6
6
Elements, Joints (nodes)
•Element analysis 2 5
End-force ⇔End-displacement 3 3
4
Element stiffness matrix 1 4
•Assembly 1 2

Global stiffness matrix

Load vector
•Global analysis
e
Nodal displacement - unknown
•Elemental analysis
Elemental internal
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 Continuous beam

Discretization 1 1 2 2 3
1 2 --- element number i1 i2
l1 = l l2 = l
1,2,3 --- joint number
(1),(2),(3) --- DOF
δ1 δ2 δ3
Number of displacement
unknowns, independent
displacements, degrees of
freedom (DOFs), kinematic (1) (2) (3)
indeterminacy

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Discretisation Y
X
DOFs per joint = 2

2(3,4) 4(7,8) 6(11,12) 8(15,16)

4 8 12 16 10(19,20)

5 7 11 13
1 9 17
3 15
6 9(17,18)
2 3(5,6) 10 7(13,14)14
1(1,2) 5(9,10)

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Element analysis
δ 2
e

1 l , A, E 2
F1e e F2e x
δ 1
e

EA e EA e EA e EA e
F1 = ⋅ δ1 −
e
⋅δ 2 F =−2
e
⋅ δ1 + ⋅ δ 2
l l l l
e e e
 F1   EA / l − EA / l  δ1  EA  1 − 1 δ 1 
  =    =    
F2  − EA / l EA / l  δ 2  l − 1 1  δ 2 

{F } = [K ] {δ }
e e e
Element stiffness matrix in local coordinate

EA  1 − 1
[K ] = l − 1 1 
e

 

Properties of K [ ] e

1. Symmetricity [K ] = ([K ] )
e e T

2. Singularity ( )
det [K ] = 0
e

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 y δ 2e
1 l , A, E 2
F1 e e F e x
δ 1
e 2

e e
 F1  1 0 − 1 0  δ 1 
  0   
F
 1 y  EA  0 0 0 δ1 y 
  =  
 F2  l − 1 0 1 0  δ 2 
F2 y    
  0 0 0 0 δ 2 y 
 Global coordinate
y F1e = F1e cos α + F2e sin α
y F4e F 2
e
x
F1ey = − F1e sin α + F2e cos α = 0
e
F3e F2e = F3e cos α + F4e sin α
F1
e
α
e F e x F2ey = − F3e sin α + F4e cos α = 0
F1 2

e e
 F1   cos α sin α 0 0   F1 
    F 
F
 1y   − sin α cos α 0 0  2
{F } = [T ] {F }
e e e
 
F
 2
=
 0 0 cos α sin α


 
 F3 
 F2 y   0 0
 
− sin α cos α   F4 
 

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 δ1e = δ1e cos α + δ 2e sin α
δ1ey = −δ1e sin α + δ 2e cos α
α α
δ 2e = δ 3e cos α + δ 4e sin α
δ 2ey = −δ 3e sin α + δ 4e cos α

{δ } = [T ] {δ }
e e e

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 [T]e – coordinate transformation matrix
orthogonal

([T ] ) [T ] = [I ]
e T e
([T ] ) = ([T ] )
e T e −1

{F }
e
( ) {F } {F } = [K ] {δ }
= [T ]
e T e e e e

= ([T ] ) [K ] {δ } {δ } = [T ] {δ }
e T e e e e e

= ([T ] ) [K ] [T ] {δ } = [K ] {δ }
e T e e e e e

[K ] e
= [T ]( ) [K ] [T ]
e T e e

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 I7le - coordinate transformation matrix
orthogonal

The transpose of a matrix is obtained by changing its rows

into columns and its columns into rows.

The inverse of matrix is another matrix, which on multiplication

with the given matrix gives the multiplicative identity.

sin d

sin &

- SIN cos a

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 Element stiffness matrix in the global coordinate
e
 cos α 2
cos α sin α − cos α2
− cos α sin α 
 
EA  cos α sin α sin α
2
− cos α sin α − sin α 
2
[K ] = 
e

l − cos 2 α − cos α sin α cos 2 α cos α sin α 

 
− cos α sin α − sin α cos α sin α sin α 
2 2

 A − A
− A A  Sub-matrix A
 

α = 0 1 0 − 1 0 α = 90 0 0 0 0
0 0 0 0 0 1 0 − 1
EA  EA 
[K ]
e
= [K ]e
= ×
l − 1 0 1 0 l 0 0 0 0
   
0 0 0 0 0 −1 0 1
 Example 3 4(1,2)

2(0,0) P
Find the internal forces by using
the matrix method. EA=60, 3m
P=100. 2 1
EA
1 = 20 α 1 = 90 1(0,0) 3(0,0)
l
1 0 − 1 0 4m
0 0 0 0
[K ] 1
= 20 × 
− 1 0 1 0
  Element localisation vector
0 0 0 0

0 0 0 0 (0) 0
0 0
− 1 0 0
[K ] full 1
= 20 × 
1 0 (0)  
λ = 
1
[K ] 1
=
0 0 0 0 (1) 1  0 20
  
0 −1 0 1 (2) 2 

(0) (0) (1) (2)
 EA 3 4(1,2)
2 = 12 cos α = 4 / 5, sin α = 3 / 5 2(0,0)
P
l
3m
2 1
Member length l or EA
1(0,0) 3(0,0)
may be different!
4m

 7.68 5.76 − 7.68 − 5.76  0

 5.76 0
4.32 − 5.76 − 4.32  
[K ] full 2 = λ 2
= 
− 7.68 − 5.76 7.68 5.76  1 
  
2 
− 5.76 − 4.32 5.76 4.32  

7.68 5.76 
[K ] 2
=
5.76 4.32

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 3 4(1,2)
EA P
3 = 15 α 3 = 0 2(0,0)
l
3m
2 1
1 0 − 1 0
0 0 0 0 3(0,0)
[K ] 3
= 15 × 
− 1 0 1 0
1(0,0)
4m
 
0 0 0 0
0
0 15 0
[K ] full 3
= [K ]
3  
λ = 
3
[K ] 3
=
1  0 0
2 
 
3
0 0  7.68 5.76  15 0
[K ] = ∑ [K ] =  i
 +  +
i =1 0 20 5.76 4.32  0 0
22.68 5.76 
=  Global stiffness matrix
 5 . 76 24 . 32 
 3 4(1,2)
Nodal load vector 2(0,0)
P

100 3m
{P} =   2 1
 0 
1(0,0) 3(0,0)
Joint displacement 4m

22.68 5.76  δ1  100 δ1   4.69 

 5.76   =   = 
 24.32 δ 2   0  δ
 2  − 1 . 11

Member end forces

{F } = [K ] {δ }
e e e
{F } = [T ] {F }
e e e

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 3 4(1,2)
0 0 0 0
P
0 1 0 − 1 2(0,0)
[K ] full1 = 20 ×  3m
0 0 0 0 1
  2
0 −1 0 1
1(0,0) 3(0,0)
4m

0 0 0 0  0   0 
0 1 0 − 1  0   22.2 
   
{F }1 = 20 ×   =
  
0 0 0 0   4.69   0 
 
0 − 1 0 1   
− 1.11 − 22.2


N1 = 22.2 (tension or compression ?)

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  7.68 5.76 − 7.68 − 5.76   0  − 29.63
 5.76 4.32 − 5.76 − 4.32 
 0  − 22.22
  
{F }
2
=  =
  
− 7.68 − 5.76 7.68 5.76   4.69   29.63 
 
− 5.76 − 4.32 5.76 4.32   − 1.11
   22.22 


 0.8 0.6 0 0
− 0.6 0.8 0 0 
[T ]2 =  
 0 0 0.8 0.6
 
 0 0 − 0 .6 0 .8 

 0.8 0.6 0 0  − 29.63 − 37.03

− 0.6 0.8 0 0  − 22.22  0 
    
{F }2 = [T ]2 {F }2 =  = 
0 0 0.8 0.6  29.63   37.03 
 
 0 0 − 0. 6 0 . 8   22.22   0 

N 2 = 37.03 (tension)
 1 0 − 1 0
0 0 0 0
[K ] 3
= 15 × 
− 1 0 1 0
 
0 0 0 0

1 0 −1 0  0  − 70.35
0 0 0 0    
 0   0 
{F }3 = 15 ×   = 
− 1 0 1 0  4.69   70.35 
 
0 0 0 0   
− 1.11  0  

N 3 = 70.35 (tension)

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