CE 579: STRUCTRAL STABILITY AND DESIGN

Amit H. Varma
Assistant Professor
School of Civil Engineering
Purdue University
Ph. No. (765) 496 3419
Email: [email protected]
Office hours: M-T-Th 10:30-11:30 a.m.
 Chapter 1. Introduction to Structural Stability

OUTLINE
 Definition of stability
 Types of instability
 Methods of stability analyses
 Bifurcation analysis examples – small deflection analyses
 Energy method
 Examples – small deflection analyses
 Examples – large deflection analyses
 Examples – imperfect systems
 Design of steel structures
 ENERGY METHOD
 We will currently look at the use of the energy method for an
elastic system subjected to conservative forces.
 Total potential energy of the system –  – depends on the work
done by the external forces (We) and the strain energy stored in
the system (U).
 =U - We.
 For the system to be in equilibrium, its total potential energy 
must be stationary. That is, the first derivative of  must be
equal to zero.
 Investigate higher order derivatives of the total potential energy
to examine the stability of the equilibrium state, i.e., whether the
equilibrium is stable or unstable
 ENERGY METHD
 The energy method is the best for establishing the equilibrium
equation and examining its stability
 The deformations can be small or large.
 The system can have imperfections.
 It provides information regarding the post-buckling path if large
deformations are assumed
 The major limitation is that it requires the assumption of the
deformation state, and it should include all possible degrees of
freedom.
 ENERGY METHOD
 Example 1 – Rigid bar supported by rotational spring
 Assume small deflection theory
k P Rigid bar subjected to axial force P

L
Rotationally restrained at end

Step 1 - Assume a deformed shape that activates all possible d.o.f.

L P

k


L cos
L (1-cos)
 ENERGY METHOD – SMALL DEFLECTIONS
L P

k L sin


L cos
L (1-cos)
 Write the equation representing the total potential energy of system
  U  We
1
U  k2
2
We  P L (1  cos  )
1
  k  2  P L (1  cos  )
2
d
 k   P L sin 
d
d
For equilibriu m; 0
d
Therefore , k   P L sin   0
For small deflections; k  P L  0
k
Therefore , Pcr 
L
 ENERGY METHOD – SMALL DEFLECTIONS
 The energy method predicts that buckling will occur at the same load
Pcr as the bifurcation analysis method.
 At Pcr, the system will be in equilibrium in the deformed.
 Examine the stability by considering further derivatives of the total
potential energy
 This is a small deflection analysis. Hence  will be  zero.
 In this type of analysis, the further derivatives of  examine the stability of
the initial state-1 (when  =0)

1
 k  2  P L (1  cos  ) d2 
2 When P  Pcr  0 Stable equilibrium
d d 2
 k   P L sin   k   P L  d2 
d When P  Pcr  0 Unstable equilibrium
d2  d 2
 k  PL d2 
d 2
When P  Pcr  0  Not sure
d 2
 ENERGY METHOD – SMALL DEFLECTIONS
 In state-1, stable when P<Pcr, unstable when P>Pcr
 No idea about state during buckling.
 No idea about post-buckling equilibrium path or its stability.
P
Unstable
Indeterminate
Pcr

Stable


 ENERGY METHOD – LARGE DEFLECTIONS
 Example 1 – Large deflection analysis (rigid bar with rotational spring)

  U  We
1
U  k2 L P
2
We  P L (1  cos  ) k
 L sin
1
  k  2  P L (1  cos  )
2 L cos
d L (1-cos)
 k   P L sin 
d
d
For equilibrium; 0
d
Therefore , k   P L sin   0
k
Therefore , P for equilibrium
L sin 
The post  buckling P   relationsh ip is given above
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis
 See the post-buckling load-displacement path shown below
 The load carrying capacity increases after buckling at Pcr
 Pcr is where   0 Rigid bar with rotational spring
1.2

1 k
P for equilibrium
L sin 
0.8 P 
 
Pcr sin 
Load P/Pcr

0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis – Examine the stability of equilibrium using
higher order derivatives of 
1
 k  2  P L (1  cos  )
2
d
 k   P L sin 
d
d2 
 k  P L cos 
d 2
k
But , P 
L sin 
d2  k
  k  L cos 
d 2 L sin 
d2  
  k (1  )
d 2 tan 
d2 
  0 Always (i.e., all values of  )
d 2
 Always STABLE
d2 
But ,  0 for   0
d 2
 ENERGY METHOD – LARGE DEFLECTIONS
 At  =0, the second derivative of =0. Therefore, inconclusive.
 Consider the Taylor series expansion of  at =0

d 1 d2  1 d3  1 d4  1 dn 
    0    
2
 
3
  ..... 
4
n
d  0 2! d  0
2
3! d  0
3
4! d  0
4
n! d  0
n

 Determine the first non-zero term of ,

1   0  0 1 d4  1
 k  2  P L (1  cos  )   4
 k4 0
2 d 4! d  0
4
24
d 0
 k   P L sin  d   0
d d2 
d2  0
 k  P L cos  d 2   0
d 2
d3  d3 
 P L sin   P L sin   0
d 3 d 3   0
d4  d4 
 P L cos   P L cos   PL  k
d 4 d 4   0

 Since the first non-zero term is > 0, the state is stable at P=Pcr and =0
 ENERGY METHOD – LARGE DEFLECTIONS

Rigid bar with rotational spring

1.2

1
STABLE
STABLE
0.8
Load P/Pcr

0.6
STABLE
0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
q0=0
 ENERGY METHOD – IMPERFECT SYSTEMS
 Consider example 1 – but as a system with imperfections
 The initial imperfection given by the angle  as shown below
0

k 0 L P

L cos(0)

 The free body diagram of the deformed system is shown below

L P

k( L sin


0

L cos
L (cos0-cos)
ENERGY METHOD – IMPERFECT SYSTEMS
L P

k( L sin


0
  U  We
1 L cos
U k (   0 ) 2 L (cos0-cos)
2
We  P L (cos 0  cos )
1
 k (   0 ) 2  P L (cos 0  cos )
2
d
 k (   0 )  P L sin 
d
d
For equilibrium; 0
d
Therefore, k (   0 )  P L sin   0
k (   0 )
Therefore, P for equilibrium
L sin 
The equilibrium P   relationship is given above
 ENERGY METHOD – IMPERFECT SYSTEMS
k (   0 ) P   0
P  
L sin  Pcr sin 
P   relationsh ipswith
Rigid bar for rotational springof  0 shown below :
different values
1.2

0.8
Load P/Pcr

0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
q0=0 q0=0.05 q0=0.1 q0=0.2 q0=0.3
 ENERGY METHODS – IMPERFECT SYSTEMS
 As shown in the figure, deflection starts as soon as loads are
applied. There is no bifurcation of load-deformation path for
imperfect systems. The load-deformation path remains in the
same state through-out.
 The smaller the imperfection magnitude, the close the load-
deformation paths to the perfect system load –deformation path
 The magnitude of load, is influenced significantly by the
imperfection magnitude.
 All real systems have imperfections. They may be very small but
will be there
 The magnitude of imperfection is not easy to know or guess.
Hence if a perfect system analysis is done, the results will be
close for an imperfect system with small imperfections
 ENERGY METHODS – IMPERFECT SYSTEMS

 Examine the stability of the imperfect system using higher order

derivatives of  1
 k (   0 )  P L (cos  0  cos  )
2

2
d
 k (   0 )  P L sin 
d
d2 
 k  P L cos 
d 2
 Equilibrium path will be stable
d2 
if 0
d 2

i.e., if k  P L cos   0
k
i.e., if P 
L cos 
k (   0 ) k
i.e., if 
L sin  L cos 
i.e.,    0  tan 
 Which is always true, hence always in STABLE EQUILIBRIUM
ENERGY METHOD – SMALL DEFLECTIONS

Example 2 - Rigid bar supported by translational spring at end

P

k
L

Assume deformed state that activates all possible d.o.f.

Draw FBD in the deformed state
P
L
L sin

O
k L sin

L cos

L (1-cos)
 ENERGY METHOD – SMALL DEFLECTIONS

Write the equation representing the total potential energy of system

  U  We P
L
1 1
U k ( L sin  ) 2  k L2 2 L sin
2 2 
O
We  P L (1  cos  ) k L sin

1
 k L2  2  P L (1  cos  )
2 L cos
d
 k L2   P L sin  L (1-cos)
d
d
For equilibriu m; 0
d
Therefore , k L2   P L sin   0
For small deflections; k L2  P L  0
Therefore , Pcr  k L
 ENERGY METHOD – SMALL DEFLECTIONS
 The energy method predicts that buckling will occur at the same
load Pcr as the bifurcation analysis method.
 At Pcr, the system will be in equilibrium in the deformed.
Examine the stability by considering further derivatives of the
total potential energy
 This is a small deflection analysis. Hence  will be  zero.
 In this type of analysis, the further derivatives of  examine the
stability of the initial state-1 (when  =0)
1
 k L2  2  P L (1  cos  )
2
d2 
d When, P  k L  0  STABLE
 k L2   P L sin  d 2
d
d2  d2 
 k L2  P L cos  When, P  k L  0 UNSTABLE
d 2 d 2
For small deflections and   0 d2 
When P  kL  0  INDETERMINATE
d 
2 d 2
 k L2
P L
d 2
 ENERGY METHOD – LARGE DEFLECTIONS

Write the equation representing the total potential energy of system

P
  U  We L

L sin
1
U  k ( L sin  ) 2 
2 O

We  P L (1  cos )
1
 k L2 sin 2   P L (1  cos ) L cos
2
d L (1-cos)
 k L2 sin  cos  P L sin 
d
d
For equilibrium; 0
d
Therefore, k L2 sin  cos  P L sin   0
Therefore, P  k L cos for equilibrium
The post  buckling P   relationship is given above
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis
 See the post-buckling load-displacement path shown below
 The load carrying capacity decreases after buckling at Pcr
 Pcr is where   0
Rigid bar with translational spring
1.2
P  k L cos  for equilibrium
P
  cos 
1 Pcr

0.8
Load P/Pcr

0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
 ENERGY METHOD – LARGE DEFLECTIONS
 Large deflection analysis – Examine the stability of equilibrium using
higher order derivatives of 
1
 k L2 sin 2   P L (1  cos  )
2
d
 k L2 sin  cos   P L sin 
d
d2 
 k L2 cos 2  P L cos 
d 2

For equilibrium P  k L cos 

d2 
  k L2 cos 2  k L2 cos 2 
d 2
d2 
  k L2 (cos 2   sin 2  )  k L2 cos 2 
d 2
d2 
  k L2 sin 2 
d 2
d2 
 0 ALWAYS . HENCE UNSTABLE
d 2
 ENERGY METHOD – LARGE DEFLECTIONS
 At  =0, the second derivative of =0. Therefore, inconclusive.
 Consider the Taylor series expansion of  at =0

d 1 d2  1 d3  1 d4  1 dn 
    0    
2
 
3
  ..... 
4
n
d  0 2! d  0
2
3! d  0
3
4! d  0
4
n! d  0
n

 Determine the first non-zero term of ,

1
 k L2 sin 2   P L (1  cos )  0 d4 
2  4 k L 2
cos 2  P L cos 
d 4
d 1
 k L2 sin 2  P L sin   0 d4 
d 2    4 k L2
 k L2
 3 k L2

d 4
d2 
 k L2
cos 2  P L cos  0 d4 
d 2
 0
d 4
d3 
 2k L2 sin 2  P L sin   0 UNSTABLE at   0 when buckling occurs
d 3

 Since the first non-zero term is < 0, the state is unstable at P=Pcr and =
 ENERGY METHOD – LARGE DEFLECTIONS

Rigid bar with translational spring

1.2

1 UNSTABLE
UNSTABLE
0.8
Load P/Pcr

0.6

UNSTABLE
0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
 ENERGY METHOD - IMPERFECTIONS
 Consider example 2 – but as a system with imperfections
 The initial imperfection given by the angle  as shown below
0
0 P
L

k
L cos(0)

 The free body diagram of the deformed system is shown below

P
L

L sin

L sin
O
0

L cos

L (cos0-cos)
 ENERGY METHOD - IMPERFECTIONS
P
L

L sin

L sin
O
0
  U  We
1
U k L2 (sin   sin  0 ) 2
2 L cos
We  P L (cos  0  cos  ) L (cos0-cos)

1
 k L2 (sin   sin  0 ) 2  P L (cos  0  cos  )
2
d
 k L2 (sin   sin  0 ) cos   P L sin 
d
d
For equilibrium; 0
d
Therefore , k L2 (sin   sin  0 ) cos   P L sin   0
sin  0
Therefore , P  k L cos  (1  ) for equilibrium
sin 
The equilibrium P   relationsh ip is given above
 ENERGY METHOD - IMPERFECTIONS
sin  0 P sin  0
P  k L cos (1  )   cos (1  )
sin  Pcr sin 
dP sin  0
Pmax   0  k L( sin   )  0  sin   sin 3 
1.2
d sin 
2

 Pmax  k L cos 3  Envelope of peak

1 loads Pmax

0.8
Load P/Pcr

0.6

0.4

0.2

0
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
End rotation q
q0=0 q0=0.05 q0=0.1 q0=0.2 q0=0.3
 ENERGY METHOD - IMPERFECTIONS
 As shown in the figure, deflection starts as soon as loads are
applied. There is no bifurcation of load-deformation path for
imperfect systems. The load-deformation path remains in the
same state through-out.
 The smaller the imperfection magnitude, the close the load-
deformation paths to the perfect system load –deformation path.
 The magnitude of load, is influenced significantly by the
imperfection magnitude.
 All real systems have imperfections. They may be very small but
will be there
 The magnitude of imperfection is not easy to know or guess.
Hence if a perfect system analysis is done, the results will be
close for an imperfect system with small imperfections.
 However, for an unstable system – the effects of imperfections
may be too large.