Advanced Structure

Dr. Alaa K Abdul Karim

University of Technology Building & Construction Dept. Structural Engineering Branch

Advanced Structure
Fourth Stage Structural Eng. Branch

Dr. Alaa K. Abdul Karim

Advanced Structure

Dr. Alaa K Abdul Karim

Matrix Displacement (Stiffness) Method

Introduction:
The matrix displacement method, which is also known as the stiffness method, is a method of analysis that uses the stiffness properties of the elements of a structure to form a set of simultaneous equation relating displacements of the structure to loads acting on the structure. The governing matrix equation is of the form :

F = K.
Where F is a column matrix of external loads, K is the stiffness matrix of the structure, and is a column matrix of external displacements. For a given set of external loads, the corresponding displacements are obtained by solving the set of simultaneous equations. Force in the elements of the structure are obtained through the use of the calculated displacements and the element stiffness properties. In analyzing a structure by the matrix displacement method, it is advantageous to consider the structure in a broad fashion. A structure is considered to be an assembly of structural elements connected at a finite number of points referred to as nodal point and loaded only at these points. The following basic conditions are satisfied at each node : 1. The equations of equilibrium. 2. The compatibility of displacements. 3. The force - displacement relationship.

Advanced Structure

Dr. Alaa K Abdul Karim

In skeletal structures, it is assumed that the element of the structure is straight and prismatic thus, the position of the nodes is located at places where abrupt changes in geometry, loading or material properties occur. Examples of these natural

subdivisions are shown in Fig. below.

One Dimensional Elements :

A one dimensional element may be represented by a straight line whose ends, such as 1 and 2, are nodal points. These elements are referenced in a coordinate system Known as local or element coordinate system. In this system , x- axis is defined by element axis which is a line joining the two nodes of the elements. One - dimensional elements are used when the geometry, material properties, and dependent variables such as displacements can all be expressed in terms of one independent space coordinate which is measured along the element axis.

Advanced Structure

Dr. Alaa K Abdul Karim

Pin-Jointed Bar Element:

The pin-jointed bar or truss element shown in Fig. below is the simplest structural element and is assumed to be pin connected at both the ends. The bar element is also assumed to have constant cross-sectional area (A) and modulus of elasticity (E) over its length (L), external loads are applied at the nodes and effect of self-weight is neglected. Thus for a plane structure, this element has four degrees of freedom, two at each node.
X' F4 Global axis Y 2 F3

Local axis Y'

DOF= 4 1 F1 F2

Beam Element:
The beam element shown in Fig. below, is also known as frame element. For a plane structure, this element has six degrees of freedom, three at each node, ( axial and in-plane transverse displacements, and in-plane rotation.
Y

F3 F1

F5 1 2

F6 X F4

F2

DOF= 6

Advanced Structure

Dr. Alaa K Abdul Karim

Stiffness Matrix of Elastic Spring

A typical elastic spring is shown in Fig. below. Forces exist at nodes 1 and 2. F1 , 1

F2 , 2

Node 1

Node 2

Assume that node 2 is fixed and node 1 is displaced by 1 due to force F1,1 (case A).
1 F1,1
Node 1

K
F2,1

Node 2

Appling Equilibrium of forces ( Fx = 0 )

F1,1= - F2,1 = k 1

Similarly assume that node 1 is fixed and node 2 is displaced by 2 due to force F2,2 (case B). K
F1,2
Node 1

2 F2,2

Node 2

Appling Equilibrium of forces ( Fx = 0 )

F2,2= - F1,2 = k 2

By using the principle of superposition for case A and B (adding up algebraically the two cases A &B.) we obtain :
1 F1
Node 1

2 F2

Node 2

Advanced Structure

Dr. Alaa K Abdul Karim

F1= F1,1 + F 1,2 F 2= F 2,1 + F 2,2 Sub. The value of F1,1 , F 1,2 , F 2,1 and F 2,2 F 1= k 1 - k 2 F 2= - k 1 + k 2 In matrix notation, these equations may be re- written as :

F1 K = F2 K

k 1 . K 2

{F } = [K ].{}
Spring Assemblage Actual structures generally consist of basic structural components stringers, beams, thin plate, etc. properly fastened into an assemblage. For example, a truss is usually considered as an assemblage of axial force members, whereas a building frame consists of an assemblage of beams and columns. Consequently, it is vitally important to be able to form the total structure stiffness matrices for the separate components. Consider the assemblage of springs A and B shown:

1 F1
Node 1

Ka

F2

Kb

3 F3

Node 2

Node 3

Advanced Structure

Dr. Alaa K Abdul Karim

The first step is to assemble the stiffness matrix for each element : For spring a :
F1 K a = F2 K a k a 1 . K a 2

For spring b :
F2 K b = F3 K b k b 2 . k b 3

using the principle of superposition and applying the rule of matrix addition, we obtain :
F1 K a F2 = K a F 0 3
Example 1:

Ka K a + Kb Kb

0 1 K b . 2 K b 3

Analyze the linear spring system shown in Fig. below which has two linear springs connected a series with spring stiffness Ka and Kb . Ka Kb
P

Node 1

Node 2

Node 3

F1
Node 1

Ka
Element 1

F2

Kb
Element 2

F3

Node 2

Node 3

Advanced Structure

Dr. Alaa K Abdul Karim

For element 1 :
F1 K a = F2 K a k a 1 . K a 2

For element 2 :
F2 K b = F3 K b k b 2 . k b 3

overall stiffness matrix for all system (assemblage of system).

F1 K a F2 = K a F 0 3 Ka K a + Kb Kb 0 1 K b . 2 K b 3

1 = 0 F2 = 0 F3 = P
0 K a + K b = P Kb k b 2 . K b 3

solve the two equations to obtain the values of 2 and 3 2 = P/Ka 3 = P[(Ka+Kb) / KaKb]

to find reaction F1= - Ka2 = - Ka(P/Ka) = - P finally the internal forces in the elements may be obtain using the stiffness matrix for each element. For element 1 :
F1 K a = F2 K a k a 0 . p / K Ka a

F1 = - Ka * p/Ka = - p F2 = Ka * p/Ka = p

Ka

Advanced Structure

Dr. Alaa K Abdul Karim

Example 2:

The axially loaded bar system shown in Fig. below is formed from three different segments. Applied loads of 100 and 150 kN are acted at points 2 &3. Compute the displacements at these two nodes. Then determine the reactions at the fixed ends of the system and draw the axial force diagram. Use E= 30 kN/mm2 .
2 A=60*102 mm2 B 100 kN 1000 mm 2000 mm 3

Element 1

A=40*102 mm2 A 1

A=40*102 mm2 C 4

150 kN 2000 mm

For element A :
F1 K a = F2 K a
Ka =

k a 1 . K a 2

where : K=AE/L

F1 AE 1 1 1 . = F2 L 1 1 2

Aa E a 40 *10 2 * 30 = = 120kN / mm La 1000

F1 120 120 1 = . F2 120 120 2

For element B :
F2 K b = F3 K b k b 2 . K b 3 F2 90 90 2 . = F3 90 90 3

Ab Eb 60 *10 2 * 30 Kb = = = 90 kN / mm Lb 2000

For element C :
F3 K c = F4 K c k c 3 . K c 4

Advanced Structure

Dr. Alaa K Abdul Karim

Kc =

Ac E c 40 * 10 2 * 30 = = 60 kN / mm Lc 2000

F3 60 60 3 = . F4 60 60 4

overall matrix
0 0 1 = 0 120 F1 = ? 120 F = 100 0 2 = ? 90 2 120 120 + 90 . = F3 = 150 0 90 + 60 60 3 = ? 90 F4 = ? 0 0 60 4 = 0 60 100 210 90 2 = . 150 90 150 3

The solution of this pair of simultaneous equations is :

2 1.218 = mm 3 1.731

Now, we can find the reactions at nodes 1 &4 (F1 and F4 ).

1 = 0 0 0 2 = 1.218 F1 120 120 . = 0 60 60 3 = 1.731 F4 0 4 = 0 F1 146.16 = kN F4 103.86

The internal forces in the elements are: For element A:

F1 120 120 0 146.16 . = = kN 120 120 1.218 146.16 F2
A

Advanced Structure

Dr. Alaa K Abdul Karim

For element B:
F2 90 90 1.218 46.16 . = = kN 90 90 1.731 46.16 F3
B

For element C:
F3 60 60 1.731 103.84 = . = kN 60 60 0 103.84 F4
C

146.16

146.16 100

46.16

46.16 103.84 150

103.84

146.16

Tension 46.16

0 compression -103.84

Axial Force diagram

Advanced Structure

Dr. Alaa K Abdul Karim

Example 3:

Analyze the linear spring system shown in Fig. below ,determine the displacements of nodes 2 and 3 , also find the reactions at nodes 1 and 4 . where : K2 =K4 = K and K3 =2K K1= K5 = K/2 .

K1 P
2

K2
1

K3

K5
2P

K4 First we put the forces and displacements at the positive direction in each node . K1 F2
2

F1
1

K2

K3

K5 F3

F4

K4 The element stiffness matrix for each element can be written as : For element 1 :
F1 K1 = F3 K1 k1 1 . K 1 3

For element 2 :
F1 K 2 = F2 K 2 k 2 1 . k 2 2

Advanced Structure

Dr. Alaa K Abdul Karim

For element 3 :
F2 K 3 = F3 K 3 k 3 2 . K 3 3

For element 4 :
F2 K 4 = F4 K 4 k 4 2 . k 4 4

For element 5 :
F3 K 5 = F4 K 5 k 5 3 . K 5 4

overall stiffness matrix for all system (assemblage of system).

F1 K1 + K 2 F K 2 2 = F3 K1 F4 0 K2 K2 + K3 + K 4 K3 K4 K1 K3 K1 + K 3 + K 5 K5 1 K 4 2 . K 5 3 K 4 + K 5 4 0

For this system, nodes 1 and 4 are fixed (1 = 4=0 ). Also contain two unknown displacements (2 and 3 ) and unknown reaction forces (F1, F4). F2 = -p F3 = 2P
P K 2 + K 3 + K 4 = K3 2 P P 4 K = 2 P 2 K 2 . K 1 + K 3 + K 5 3 K3

2 K 2 . 3 K 3

Advanced Structure

Dr. Alaa K Abdul Karim

-P = 4K2 2K3 2P = -2K2 + 3K3 solve the above equations to get the value of 2 and 3
2 = 3 = P 8K 1 .5 P 2K

and

2 P 2K 1 * = = The ratio of 8 K 1 .5 P 6 3 Now To find the reactions (F1 and F4 )

F1 = K 2 2 K1 3

7P 1 .5 P P F1 = K = K 8 2K 8K
F4 = K 4 2

P P F4 = K = 8 8K

Advanced Structure

Dr. Alaa K Abdul Karim

Pin-Jointed Plane Bar Element:

The pin-jointed bar or truss element shown in Fig. below is the simplest type of truss element. The bar element is assumed to have constant cross-sectional area (A) and modulus of elasticity (E) over its length (L), also assumed to be homogeneous and isotropic.
X'

Local axis Y'

Global axis Y

F3'

F4' DOF= 4 1 F2'

F1'

The stiffness matrix based on local coordinate system for this type of elements as follows:
1 AE 0 = L 1 0 0 1 0 0 0 0 0 1 0 0 0 0

[K ]e

For element :

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

Advanced Structure

Dr. Alaa K Abdul Karim

In other terms, We rewrite the equation as:

F1 1 F2 AE 0 = L 1 F3 0 F4 0 1 0 0 0 1 0 0 0 1 0 2 0 3 0 4

For transformation of the stiffness matrix based on global coordinate system, referring to the above Fig. we will seen that :
F3 = F3 cos + F4 sin F4 = F3 sin + F4 cos

similar equations hold at node 1. if we put = cos and = sin , the above set of four equations may be written as :
F1 F2 = F3 0 0 F4

0 0

0 F1 0 F2 F3 F4

OR
[T ] = 0 0

0 0

0 0

{F } = [T ]{F }

Advanced Structure

Dr. Alaa K Abdul Karim

also :

{} = [T ]{}

{} = [T ]1 {}

[K ] = [T ]1 [K ] [T ]
the stiffness matrix based on global coordinate system for bar (truss) element :
c2 AE cs = L c 2 cs cs s2 cs s2 c2 cs c2 cs cs s2 cs s2

[K ]e

where C =cos and S = sin

Example 4:

Using the stiffness displacement method to find displacements at node 1 and hence solve for all the internal member forces and support reactions.
F4 F6 F3 F5 3 2 1 45 F2 F1 1
o

F8 F7 4 3 60o 3m

Given:

E = 200 kN/mm2 A = 6400 mm2

40 kN

Advanced Structure

Dr. Alaa K Abdul Karim

ELE. 1 2 3

NODE 1-2 1-3 1-4

O 135 90 30

COS -0.707 0 0.866

SIN 0.707 1 0.5

C.S -0.5 0 0.433

C2 0.5 0 0.75

S2 0.5 1 0.25

L MM 4242 3000 6000

AE/L 301.74 426.67 213.33

For Ele. 1
F1 150.87 150.87 150.87 150.87 1 F 150.87 150.87 2 2 150.87 150.87 . = 150.87 150.87 3 F3 150.87 150.87 F4 150.87 150.87 150.87 150.87 4

For Ele. 2
0 F1 0 F 2 0 426.67 = 0 F5 0 F6 0 426.67
1 0 426.67 2 . 5 0 0 0 426.67 6

For Ele.3
160 92.37 1 92.37 F1 160 F 53.33 92.37 53.33 2 2 92.37 . = 160 92.37 7 F7 160 92.37 F8 92.37 53.33 92.37 53.33 8

Advanced Structure

Dr. Alaa K Abdul Karim

Overall stiffness matrix

F1 310.87 58.48 150.87 150.87 F 2 58.48 630.87 150.87 150.87 F3 150.87 150.87 150.87 150.87 F4 150.87 150.87 150.87 150.87 = 0 0 0 F5 0 F6 0 0 0 426.67 0 0 92.37 F7 160 F 92.37 53.33 0 0 8 0 0 0 0 0 0 0 0 92.371 426.67 92.37 53.33 2 0 0 0 3 0 0 0 4 0 0 0 5 426.67 0 0 6 0 160 92.37 7 0 92.37 53.33 8 0 160

3 = 4 =5 = 6 =7 =8 = 0 F1= 0 and F2 = -40

0 310.87 58.48 1 = 40 58.48 630.87 2
0 = 310.871 58.48 2
40 = 58.481 + 630.87 2

solve (1) and (2) to get : 1= - 0.01214 2= - 0.06453 To find the reactions :
F3 150.87 150.87 F 4 150.87 150.87 F5 0 0.01214 0 = 426.67 0.06453 F6 0 F7 160 92.37 F8 92.37 53.33

Advanced Structure

Dr. Alaa K Abdul Karim

F3 = -7.903 kN F4 = 27.53 kN F5 = 0 F6 = 27.53 F7 = 7.903 To find the internal forces, first we obtain the local displacement due to global displacement for each element. For element one

{}e = [T ]e {}e
0 0 1 = 0.01214 1 0.707 0.707 0 0 2 = 0.0645 2 0.707 0.707 . = 0 0.707 0.707 3 = 0 3 0 4 0 0 0.707 0.707 4 = 0

1 = 0.037 2 = 0.053 = 0 3 4 = 0

{F }e = [K ]e {}e
F1 301.74 F 0 2 = F3 301.74 F4 0
F1 = 11.164 F2 = 0 F3 = 11.164 F = 0

0 301.74 0 1 = 0.037 0 0 0 2 = 0.053 . 0 301.74 0 = 0 3 0 0 0 4 = 0

F3/ 2

X/ Y/

Tension member

F1/

Similarly for elements 2 &3 .