ANALYSIS OF STRUCTURES BY THE

STIFFNESS MATRIX METHOD

CO4 : AN ABILITY TO APPLY THE STIFFNESS MATRIX

METHOD TO DETERMINE THE DISPLACEMENT IN TRUSSES,
BEAMS AND FRAMES
 At the end of this lesson, student should be
LESSON OUTCOMES able to:

LO 1. Derive the member stiffness matrix of

truss members, beams and frames
LO 2. Define local and global coordinates
systems
LO 3.Transform displacements from local
coordinates system to global coordinates
system
LO 4.Transforms forces from local to global
coordinates system

LO 5.Transform member stiffness matrix from

local to global coordinates system
 At the end of this lesson, student should be
LESSON OUTCOMES able to:

LO 6. Assemble member stiffness matrices

to obtain the global stiffness matrix
LO 7. Analyze trusses subjected to point
loads, udl and combination load by
stiffness matrix method
LO 8. Analyze beams subjected to point
loads, udl and combination load by
stiffness matrix method
LO 9. Analyze frames subjected to point
loads, udl and combination load by
stiffness matrix method
WHAT IS STIFFNESS METHOD
ANALYSIS OF STRUCTURES

CLASSICAL MATRIX
METHOD METHOD

VIRTUAL FORCE STIFFNESS

WORK METHOD METHOD

SLOPE MOMENT
TRUSSES BEAMS
DEFLECTION AREA

FRAMES
INTRODUCTION
 The stiffness method:
 Is a displacement method of analysis
 Can be used to analyze both statically
determinate and indeterminate structures
 Yields the displacements & forces
directly
 It is generally much easier to formulate the
necessary matrices for the computer using
the stiffness method
5
FUNDAMENTALS OF THE STIFFNESS
METHOD
 Application of the stiffness method requires
subdividing the structure into a series of
discrete finite elements & identifying their
end points as nodes
 For truss analysis, the finite elements are
represented by each of the members that
compose the truss & the nodes represent
the joints
 The force-disp properties of each element
are determined & then related to one
another using the force eqn written at the
nodes
6
FUNDAMENTALS OF THE STIFFNESS
METHOD
 These relationships for the entire structure
are then grouped together into the
structure stiffness matrix, K
 The unknown disp of the nodes can then
be determined for any given loading on the
structure
 When these disp are known, the external &
internal forces in the structure can be
calculated using the force-disp relations for
each member
7
ANALYZE THE TRUSSES BY USING THE STIFFNESS
MATRIX DUE TO POINT LOAD, UDL AND
COMBINATION LOAD

Trusses

 Axial Force Members

 Tension (+)
 Compression (-)
•Plane trusses are made up of short thin members interconnected at
hinges to form triangulated patterns
•A hinge connection can only transmit forces from one member to
another member but not the moment
• For analysis purpose, the truss is loaded at the joints
•Hence, a truss member is subjected to only axial forces and the forces
remain constant along the length of the member
•The forces in the member at its two ends must be of the same
magnitude but act in the opposite directions for equilibrium as shown in
Figure 1 below.

Figure 1: Truss member in equilibrium

Now consider a truss member having cross sectional area A ,
Young’s modulus of material E , and length of the member L . Let
the member be subjected to axial tensile force F as shown in
Figure 2 below.

Under the action of constant axial force F , applied at each end,

the member gets elongated by δ as shown in Figure.

F F

δ
Figure 2: Force – displacement relationship

F L

AE
 From Mechanics of Materials..
Combine two equations to get a stiffness element

F=k* F
k
Spring  AE
k
L
F L F A E
 Units of
AE  L Force per
Length
Axial Deformation
Now the force displacement relation for the
truss member may be written as
AE

F L
F 
AE L
AE
k
F  k L

or

F  ku / kd
 AE •Is the stiffness of the truss member
k
L and is defined as the force required
for unit deformation of the structure

• This relation is true along the centroidal

F  k
axis of the truss member but in reality
there are many members in a truss
•To analyze the plane trusses it is
required to write force-displacement
relation for the complete truss in a global
coordinate system
EXAMPLE 1: MEMBERS AND NODE NUMBERING
10 kN
5 kN
Step 1: members and node numbering

4m

4m
• The truss has 8 displacements.
•Each displacement (degree of freedom) in a truss is
shown by a number in the figure at the joint
•The direction of the displacements is shown by an
arrow at the node
•However out of 8
displacements, 5 are unknown
•The displacements indicated
by numbers 6,7 and 8 are zero
due to support conditions
•The displacements denoted
by numbers 1-5 are known as
unconstrained degrees of
freedom of the truss and
•displacements denoted by 6-
8 represent constrained
degrees of freedom
•In this course, unknown
displacements are denoted by
lower numbers and the
known displacements are
denoted by higher code
numbers
Exercise
Label the truss-

8 kN

5 kN
LO 1. DERIVE THE MEMBER STIFFNESS MATRIX OF A
TRUSS MEMBERS, BEAMS AND FRAMES

 To establish the stiffness matrix for a

single truss member using local x’ and y’
coordinates as shown in Fig 14.2
 When a +ve disp dN is imposed on the near
end of the member while the far end is held
pinned, Fig 14.2(a)
 The forces developed at the ends of the
members are:
AE AE
q' N  d N ; q' F   dN
L L
18
MEMBER STIFFNESS MATRIX

+
=

19
MEMBER STIFFNESS MATRIX
 Likewise, a +ve disp dF at the far end,
keeping the near end pinned, Fig 14.2(b)
results in member forces
AE AE
q' ' N   d F ; q' ' F  dF
L L
 By superposition, Fig 14.2(c), the resultant
forces caused by both disp are
AE AE
qN  dN  d F eqn 14.1
L L
AE AE
qF  dF  d N eqn 14.2
L L
20
MEMBER STIFFNESS MATRIX

 These load-disp eqn may be written in

matrix form as:
q N   AE  1  1 d N 
q F  L  1 1 d F 
q  k'd eqn 14.3
AE  1  1
k' eqn 14.4
L  1 1

 This matrix, k’ is called the member

stiffness matrix
21
LO 2. DEFINE LOCAL AND GLOBAL COORDINATES
SYSTEM
• Loads & displacements are vector quantities
•Hence proper coordinate system is required to
specify their correct sense of direction
STEP 1: node is identified by a number
STEP 2: Each member is identified by a number enclosed in a
circle
STEP 3: Displacements and loads acting on the truss are
defined with respect to global coordinates system x, y z

•In a global coordinates system, each node of a planar truss

can have only two displacements : one along x- axis &
another along y- axis
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
 Since a truss is
composed of many
members, we will
develop a method
for transforming the
member forces q
and disp d defined
in local coordinates
to global
coordinates
 Global coordinates
convention: +ve x to
the right and +ve y
upward
 x and y as shown
in Fig 14.3
23
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
 The cosines of these
angles will be used in the
matrix analysis as follows
 These will be identified as
x  cos x ;  y  cos y
 For e.g. consider member
NF of the truss as
shown in Fig 14.4
 The coordinates of N & F
are (xN, yN ) and
(xF, yF ) respectively
24
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
xF  x N
x  cos  x 
L
xF  x N
 eqn 14.5
( xF  x N ) 2  ( y F  y N ) 2

yF  yN
 y  cos  y 
L
yF  yN
 eqn 14.6
( xF  x N ) 2  ( y F  y N ) 2
25
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
 Disp Transformation matrix
 In global coordinates each end of the
member can have 2 degrees of freedom or
independent disp; namely joint N has DNx
and DNy, Fig 14.5(a) and 14.5(b)
 Joint F has DFx and DFy, Fig 14.5(c) and
14.5(d)
 When the far end is held pinned & the near
end is given a global disp, Fig 14.5(a), the
corresponding disp along member is
26
DNxcosx
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
 Disp Transformation matrix (cont’d)
 A disp Dny will cause the member to be
displaced DNycosy along the x’ axis, Fig
14.5(b)

d N  DN x cos x  DN y cos y

d F  DFx cos x  DFy cos y

27
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
 Disp Transformation matrix (cont’d)
Let  x  cos x ;  y  cos y

d N  DN x  x  DN y  y ; d F  DFx  x  DFy  y

In matrix form,
 DN x 
 
 d N    x  y 0 0   D N y  eqn 14.7
d F  0 0  x  y   DFx 
 DFy 
d  TD eqn 14.8
28
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES

 Disp Transformation matrix (cont’d)

 T transforms the 4 global disp into
2 local x’ disp
 Hence, T is referred to as the disp
transformation matrix

29
30
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
 Force Transformation matrix
 Consider Fig 14.6(a)

QN x  q N cos x ; QN y  q N cos y

31
 If qF is applied to the bar, Fig 14.6(b), the
global force components at F are:

 Using

QFx  qF cos x ; QFy  qF cos y

x  cos x ;  y  cos y
QN x  q N  x ; QN y  q N  y
QFx  q F  x ; QFy  q F  y

32
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES
 Force Transformation matrix (cont’d)
 In matrix form
QN x   x 0 
QN   0  q
 y y  N
  q F  eqn 14.10
Q
 x  
F 0 x
  
QFy  0  y 

Q  TTq eqn 14.11

33
DISPLACEMENT & FORCE
TRANSFORMATION MATRICES

 Force Transformation matrix (cont’d)

 In this case, TT transforms the 2 local forces
q acting at the ends of the member into 4
global force components Q
 This force transformation matrix is the
transpose of the disp transformation matrix

34
LO 6. ASSEMBLE MEMBER STIFFNESS MATRICES
TO OBTAIN THE GLOBAL STIFFNESS MATRIX

 If we sub eqn 14.8 into eqn 14.3, we can

determine the member’s forces q in terms of
the global disp D at its end points
q  k 'TD eqn 14.13
 Sub this eqn into eqn 14.11 yields the final
result:
Q  T k ' TD
T
eqn 14.13
or Q  kD eqn 14.14

k  T T k'T eqn 14.15

35
MEMBER GLOBAL STIFFNESS MATRIX

 Performing the matrix operation yields:

36
TRUSS STIFFNESS MATRIX
 Once all the member stiffness matrices are
formed in the global coordinates, it becomes
necessary to assemble them in the proper
order so that the stiffness matrix K for the
entire truss can be found
 This is done by designating the rows &
columns of the matrix by the 4 code numbers
used to identify the 2 global degrees of
freedom that can occur at each end of the
member

37
MEMBER GLOBAL STIFFNESS MATRIX

 The structure stiffness matrix will then have

an order that will be equal to the highest
code number assigned to the truss since
this rep the total no. of degree of freedom
for the structure
 This method of assembling the member
matrices to form the structure stiffness
matrix will now be demonstrated by a
numerical example
 This process is somewhat tedious when
performed by hand but is rather easy to
program on computer

38
EXAMPLE 1: GLOBAL STIFFNESS MATRIX

 Determine the structure stiffness matrix for the 2

member truss shown in Figure below. AE is
constant

39
 SOLUTION 2

 By inspection, member 2 will have 2 unknown

disp components whereas joint 1 & 3 are
constrained from disp
 Consequently, the disp component at joint 2 are
code numbered first, followed by those at joints
3 & 1, Fig 14.7(b)
 The origin of the global coordinate system can
be located at any point
 The members are identified arbitrarily & arrows
are written along 2 members to identify the near
& far ends of each member

40
 SOLUTION 2

 The direction cosines & the stiffness

matrix for each member can now be
determined
 Member 1
 Using eqn 14.5 & 14.6 we have:
30 00
x   1; y  0
3 3

Using eqn 14.16, dividing

each element by L=
3m, we have:

41
 SOLUTION 2

 Member 2
 Since 2 is the near end & 1 is the far end,
we have: (amend eqn)
30 40
x   0.6; y   0.8
5 5
 Using eqn 14.16, dividing each element by L
= 5m, we have:

42
 SOLUTION 2

 This matrix has an order of 6x6 since there

are 6 designated degrees of freedom for the
truss, Fig 14.7(b)
 Corresponding elements of the above 2
matrices are added algebraically to form the
structure stiffness matrix

43
 SOLUTION 2

44
 SOLUTION 2

 If a computer is used for this operation,

generally one starts with K having all
zero elements
 As the member global stiffness matrices
are generated, they are placed directly
into their respective element positions in
the K matrix

45
Food of mind

i. Establish label for member,

node and ‘direction’ of the truss
shown

10 m ii. Establish label for degree of

freedom for each node.

iii. Determine the structures

10 m
stiffness matrix, K for the truss
shown
14-6 Application of the stiffness
method for truss analysis
 The global force components Q acting
on the truss can then be related to its
global displacements D using
Q  KD eqn 14.17
 This eqn is referred to as the structure
stiffness eqn

47
APPLICATION OF THE STIFFNESS
METHOD FOR TRUSS ANALYSIS
 Expanding eqn 14.18 yields
Qk  K11Du  K12 Dk eqn 14.19
Qu  K 21Du  K 22 Dk eqn 14.20

 Often Dk = 0 since the supports are not

displaced
 Eqn 14.19 becomes
Qk  K11Du

48
APPLICATION OF THE STIFFNESS
METHOD FOR TRUSS ANALYSIS
 Since the elements in the partitioned matrix K11
represent the total resistance at a truss joint to
a unit disp in either the x or y direction, then the
above eqn symbolises the collection of all the
force eqm eqn applied to the joints where the
external loads are zero or have a known value
Qk
 Solving for Du, we have:

Du  K11 1 Qk eqn 14.21

49
APPLICATION OF THE STIFFNESS
METHOD FOR TRUSS ANALYSIS
 Using eqn 14.20 with Dk =0 yields
Qu  K 21Du eqn 14.22
 The member forces can be determined
using eqn 14.13
 Expanding this eqn yields

50
APPLICATION OF THE STIFFNESS
METHOD FOR TRUSS ANALYSIS
 Since with qN = -qF for eqm,

51
EXAMPLE 3: Determine the force in each
member of the 2-member truss shown in
Figure below. AE is constant.

52
 SOLUTION 3

 The origin of x,y and the numbering of

the joints & members are shown in Fig
14.9(b)
 By inspection, it is seen that the known
external disp are D3=D4=D5=D6=0
 Also, the known external loads are
Q1=0, Q2=-2kN
 Hence, 0 3
Dk  0 5  
4 0 1
Qk 
0  2 2
0 6

53
 SOLUTION 3

 Using the same notation as used here, this

matrix has been developed in example 14.1
 Writing eqn 14.17, Q = KD for the truss we
have

 We can now identify K11 and thereby

determine Du
54
 SOLUTION 3

 By matrix multiplication,
 0   AE 0.405 0.096   D1   0
 2 0.096 0.128   D2  0

 Solving, we get
4.505 19 .003
D1  ; D2 
AE AE

55
 SOLUTION 3

 By inspection of Fig 14.9(b), one would

expect a rightward and downward disp
to occur at joint 2 as indicated by the
+ve & -ve signs of the answeres
 Using these results,

56
 SOLUTION 3

 Expanding & solving for the reactions

Q3  1.5kN
Q4  0kN
Q5  1.5kN
Q6  2.0kN
 The force in each member is found from
eqn 14.23
 Using the data for x and y in example
14.1, we have:

57
 SOLUTION 3

For member 1,
 x  1,  y  0, L  3m  q1  1.5kN

For member 2,
 x  0.6,  y  0.8, L  5m  q2  2.5kN

 These answers can be verified by eqm

applied at joint 2

58
Food of mind
4 kN
**
i. Determine the support
2 kN reactions.

ii. Determine the internal

10 m
force in member ** of the
truss.

10 m Assume AE constant
 PROBLEM 4

Analyze the two member truss shown in the Figure

below. Assume EA to be constant for all members.
The length of each member is 5m
 SOLUTION 4
Step 1: members and
node numbering
SOLUTION 4
SOLUTION 4
SOLUTION 4
SOLUTION 4
SOLUTION 4
 PROBLEM 5

Analyze the truss shown in the Figure below and

evaluate reactions. Assume EA to be constant for all
members.
 SOLUTION 5
Step 1: members and
node numbering
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
SOLUTION 5
Q1. Determine the forces in the truss shown in Figure
below. Assume that all members have the same axial
rigidity
Q2.Analyze the truss shown in the Figure below.
Assume axial rigidity EA to be constant for all
members.
•The member stiffness matrix of a truss
member in local coordinates system is
defined
•Suitable transformation matrices are
derived to transform displacements and
forces from the local to global coordinates
system
•The member stiffness matrix of truss
member is obtained in global coordinates
system by suitable transformation
•The system stiffness matrix of a plane truss
is obtained by assembling member matrices
of individual members in global coordinates
system
 ANALYZED THE BEAMS BY USING STIFFENSS
LO 8 MATRIX TO DUE TO POINT LOAD, UDL AND
COMBINATION LOAD
 ANALYZED THE FRAMES BY USING STIFFNESS
LO 9 MATRIX DUE TO POINT LOAD, UDL AND
COMBINATION LOAD