Structural Analysis IV Chapter 4 Matrix Stiffness Method 1 Dr. C. Caprani Chapter 4 -Matrix Stiffness Method 4.1 Introduction .........................................................................................................

. 3 4.1.1 Background.................................................................................................... 3 4.1.2 Basic Concepts............................................................................................... 4 4.1.3 Computer Programs to Support Learning...................................................... 6 4.2 Basic Approach.................................................................................................. 10 4.2.1 Individual Element ...................................................................................... 10 4.2.2 Assemblies of Elements............................................................................... 12 4.2.3 Example 1 .................................................................................................... 14 4.2.4 General Methodology .................................................................................. 20 4.2.5 Member contribution to global stiffness matrix .......................................... 22 4.2.6 Interpretation of Stiffness Matrix ................................................................ 27 4.2.7 Restricting a Matrix Imposing Restraints................................................. 29 4.3 Plane Trusses ..................................................................................................... 32 4.3.1 Introduction.................................................................................................. 32 4.3.2 Truss Element Stiffness Matrix ................................................................... 35 4.3.3 Element Forces ............................................................................................ 40 4.3.4 Example 2: Basic Truss ............................................................................... 43 4.3.5 Example 3: Adding Members...................................................................... 52 4.3.6 Example 4: Using Symmetry....................................................................... 56 4.3.7 Self-Strained Structures............................................................................... 59 4.3.8 Example 5 Truss with Differential Temperature...................................... 63 4.3.9 Example 6 Truss with Loads & Self Strains ............................................ 69 Structural Analysis IV Chapter 4 Matrix Stiffness Method 2 Dr. C. Caprani 4.3.10 Problems ................................................................................................... 74 4.4 Beams.................................................................................................................. 77 4.4.1 Beam Element Stiffness Matrix................................................................... 77 4.4.2 Beam Element Loading ............................................................................... 82 4.4.3 Example 7 Simple Two-Span Beam......................................................... 84 4.4.4 Example 8 Non-Prismatic Beam.............................................................. 88 4.4.5 Problems ...................................................................................................... 92 4.5 Plane Frames...................................................................................................... 95 4.5.1 Plane Frame Element Stiffness Matrix........................................................ 95 4.5.2 Example 9 Simple Plane Frame ............................................................. 104 4.5.3 Example 10 Plane Frame Using Symmetry............................................. 109 4.5.4 Problems .................................................................................................... 115 4.6 Appendix .......................................................................................................... 120 4.6.1 Plane Truss Element Stiffness Matrix in Global Coordinates................... 120 4.6.2 Coordinate Transformations ...................................................................... 129 4.6.3 Past Exam Questions ................................................................................. 137 4.7 References ........................................................................................................ 148 Rev. 1 Structural Analysis IV Chapter 4 Matrix Stiffness Method 3 Dr. C. Caprani 4.1 Introduction 4.1.1 Background The matrix stiffness method is the basis of almost all commercial structural analysis programs. It is a specific case of the more general finite element method, and was in part responsible for the development of the finite element method. An understanding of the underlying theory, limitations and means of application of the method is therefore essential so that the user of analysis software is not just operating a black box. Such users must be able to understand any errors in the modelling of structures which usually come as obtuse warnings such as zero pivot or determinant zero: structure unstable: aborting. Understanding the basics presented herein should hopefully lead to more fruitful use of the available software. Structural Analysis IV Chapter 4 Matrix Stiffness Method 4 Dr. C. Caprani 4.1.2 Basic Concepts Node The more general name for a connection between adjacent members is termed a node. For trusses and frames the terms joint and node are interchangeable. For more complex structures (e.g. plates), they are not. Element For trusses and frames element means the same as member. For more complex structures this is not the case. Degree of Freedom The number of possible directions that displacements or forces at a node can exist in is termed a degree of freedom (dof). Some examples are: Plane truss: has 2 degrees of freedom at each node: translation/forces in the x and y directions. Beams: have 2 degrees of freedom per node: vertical displacement/forces and rotation/moment. Plane Frame: has 3 degrees of freedom at each node: the translations/forces similar to a plane truss and in addition, the rotation or moment at the joint. Space Truss: a truss in three dimensions has 3 degrees of freedom: translation or forces along each axis in space. Space Frame: has 6 degrees of freedom at each node: translation/forces along each axis, and rotation/moments about each axis. Structural Analysis IV Chapter 4 Matrix Stiffness Method 5 Dr. C. Caprani Thus a plane truss with 10 joints has 20 degrees of freedom. A plane frame with two members will have three joints (one common to both members) and thus 9 degrees of freedom in total. Local and Global Forces, displacements and stiffness matrices are often derived and defined for an axis system local to the member. However there will exist an overall, or global, axis system for the structure as a whole. We must therefore transform forces, displacements etc from the local coordinate system into the global coordinate system. Structural Analysis IV Chapter 4 Matrix Stiffness Method 6 Dr. C. Caprani 4.1.3 Computer Programs to Support Learning Matlab Truss Analysis Program Description To support the ideas developed here we will introduce some Matlab scripts at each point to demonstrate how the theory described can be implemented for computer calculation. This collection of scripts will build into a program that can analyse pin-jointed trusses. The scripts will only demonstrate the calculations process, and do not have any graphical user interface facilities. This keeps the calculation process unencumbered by extra code. (In fact probably 90+% of code in commercial programs is for the graphical user interface and not for the actual calculations process.) Of course, this is not to say that graphical displays of results are unimportant; gross mistakes in data entry can sometimes only be found with careful examination of the graphical display of the input data. The scripts that are developed in these notes are written to explain the underlying concepts, and not to illustrate best programming practice. The code could actually be a lot more efficient computationally, but this would be at cost to the clarity of calculation. In fact, a full finite element analysis program can be implemented in under 50 lines (Alberty et al, 1999)! It is necessary to use a scripting language like Matlab, rather than a spreadsheet program (like MS Excel) since the number of members and member connectivity can change from structure to structure. The program will be able to analyse plane pin-jointed-trusses subject to nodal loads only. It will not deal with member prestress, support stiffness or lack of fits: it is quite rudimentary on purpose. Structural Analysis IV Chapter 4 Matrix Stiffness Method 7 Dr. C. Caprani Use To use the program, download it from the course website (www.colincaprani.com). Extract the files to a folder and change the current Matlab directory to that folder. After preparing the data (as will be explained later), execute the following statement at the command line: >> [D F R] = AnalyzeTruss(nData,eData) This assumes that the nodal data is stored in the matrix nData, and the element data matrix is stored in eData these names are arbitrary. Entering the required data into Matlab will also be explained later. Structural Analysis IV Chapter 4 Matrix Stiffness Method 8 Dr. C. Caprani TrussMaster To provide a bridge between the obvious workings of the Matlab program and the more black box nature of commercial programs, TrussMaster has been developed. This program can analyse plane trusses of any size. It has a front end that illustrates a fairly rudimentary commercial program interface, coupled with a back end (and some dialogs) that expose the calculations the program carries out. In this manner it is easy to link the hand calculations of the examples with the computer output, strengthening the link between theory and practice of the method. TrussMaster is available on the college computers. The help file can be downloaded from the course website (www.colincaprani.com). It will be used in some labs. Structural Analysis IV Chapter 4 Matrix Stiffness Method 9 Dr. C. Caprani LinPro LinPro is very useful as a study aid for this topic: for example, right click on a member and select

Stiffness Matrix to see the stiffness matrix for any member. The latest version (2.7.3) has a very useful Study Mode, which exposes the structure and member stiffness matrices to the user. A user familiar with the underlying theory can then use the program for more advanced purposes, such as spring supports, for example. You can download LinPro from www.line.co.ba. Structural Analysis IV Chapter 4 Matrix Stiffness Method 10 Dr. C. Caprani 4.2 Basic Approach 4.2.1 Individual Element We consider here the most basic form of stiffness analysis. We represent a structural member by a spring which has a node (or connection) at each end. We also consider that it can only move in the x-direction. Thus it only has 1 DOF per node. At each of its nodes, it can have a force and a displacement (again both in the x-direction): Notice that we have drawn the force and displacement vector arrows in the positive x-direction. Matrix analysis requires us to be very strict in our sign conventions. Using the basic relationship that force is equal to stiffness times displacement, we can determine the force at node 1 as: ()1net displacement at 1Fk= Thus: ()11212Fkuukuku== (4.2.1) Similarly for node 2: Structural Analysis IV Chapter 4 Matrix Stiffness Method 11 Dr. C. Caprani ()22112Fkuukuku==+ (4.2.2) We can write equations (4.2.1) and (4.2.2) in matrix form to get the element stiffness matrix for a 1DOF axial element:1122FukkFukk= (4.2.3) And using matrix notation, we write: {}[]{}ee=Fku (4.2.4) Here: {}eF is the element force vector; []k is the element stiffness matrix; {}eu is the element displacement vector. It should be clear that the element stiffness matrix is of crucial importance it links nodal forces to nodal displacements; it encapsulates how the element behaves under load. The derivation of the element stiffness matrix for different types of elements is probably the most awkward part of the matrix stiffness method. However, this does not pose as a major disadvantage since we only have a few types of elements to derive, and once derived they are readily available for use in any problem. Structural Analysis IV Chapter 4 Matrix Stiffness Method 12 Dr. C. Caprani 4.2.2 Assemblies of Elements Real structures are made up of assemblies of elements, thus we must determine how to connect the stiffness matrices of individual elements to form an overall (or global) stiffness matrix for the structure. Consider the following simple structure: Note that the individual elements have different stiffnesses, 1k and 2k. Thus we can write the force displacement relationships for both elements as: 11112112FkkuFkku= (4.2.5) 22223322FukkFukk= (4.2.6) We can expand these equations so that they encompass all the nodes in the structure: 111121123300000FkkuFkkuFu= (4.2.7) 112222322300000FuFkkuFkku = (4.2.8) Structural Analysis IV Chapter 4 Matrix Stiffness Method 13 Dr. C. Caprani We can add equations (4.2.7) and (4.2.8) to determine the total of both the forces and displacements at each node in the structure: 1111211222322300FkkuFkkkkuFkku=+ (4.2.9) As can be seen from this equation, by adding, we have the total stiffness at each node, with contributions as appropriate by each member. In particular node 2, where the members meet, has total stiffness 12kk+. We can re-write this equation as: {}[]{}=FKu (4.2.10) In which: {}F is the force vector for the structure; []K is the global stiffness matrix for the structure; {}u is the displacement vector for the structure. Structural Analysis IV Chapter 4 Matrix Stiffness Method 14 Dr. C. Caprani 4.2.3 Example 1 Problem The following axially-loaded structure has loads applied as shown: The individual member properties are: Member Length (m) Area (mm2) Material, E (kN/mm2) 1 0.28 400 70 2 0.1 200 100 3 0.1 70 200 Find the displacements of the connections and the forces in each member. Structural Analysis IV Chapter 4 Matrix Stiffness Method 15 Dr. C. Caprani Solution Our first step is to model the structure with elements and nodes, as shown: Calculate the spring stiffnesses for each member: 3117040010010kN/m0.28EAkL=== (4.2.11) 32210020020010kN/m0.1EAkL=== (4.2.12) 3332007014010kN/m0.1EAkL=== (4.2.13) Next we calculate the individual element stiffness matrices: 1132210010010100100FuFu= (4.2.14) 2233320020010200200FuFu= (4.2.15) Structural Analysis IV Chapter 4 Matrix Stiffness Method 16 Dr. C. Caprani 3334414014010140140FuFu= (4.2.16) We expand and add the element stiffness matrices to get: ()()11223334410010000100100200200010020020014014000140140FuFuFuFu +=+ (4.2.17) Notice how each member contributes to the global stiffness matrix: Node 1 Node 2 Node 3 Node 4 Node 1 0 0 Node 2 0 Node 3 0 Node 4 0 0 Notice also that where the member stiffness matrices overlap in the global stiffness matrix that the components (or entries) are added. Also notice that zeros are entered where there is no connection between nodes, e.g. node 1 to node 3. Structural Analysis IV Chapter 4 Matrix Stiffness Method 17 Dr. C. Caprani We cannot yet solve equation (4.2.17) as we have not introduced the restraints of the structure: the supports at nodes 1 and 4. We must modify equation (4.2.17) in such a way that we will obtain the known results for the displacements at nodes 1 and 4. Thus: ()()12233340100001002002000100200200140000001uuFuFu +=+ (4.2.18) What we have done here is to restrict the matrix: we have introduced a 1 on the diagonal of the node number, and set all other entries on the corresponding row and column to zero. We have entered the known displacement as the corresponding entry in force vector (zero). Thus when we now solve we will obtain 140uu==. For the remaining two equations, we have: 2233330020010200340FuFu= (4.2.19)

And so: ()()()()233334020050311110 m2003001002010300340200200620.048 mm0.322uu===(4.2.20) To find the forces in the bars, we can now use the member stiffness matrices, since we know the end displacements: Structural Analysis IV Chapter 4 Matrix Stiffness Method 18 Dr. C. Caprani Member 1 133210010004.810101001000.0484.8FF== (4.2.21) Thus Member 1 has a tension of 4.8 kN, since the directions of the member forces are interpreted by our sign convention: Also note that it is in equilibrium (as we might expect). Member 2 23332002000.04854.810102002000.32254.8FF== (4.2.22) Member 2 thus has tension of 54.8 kN. Member 3 33341401400.32245.081010140140045.08FF== (4.2.23) Thus Member 3 has a compression of 45.08 kN applied to it. Structural Analysis IV Chapter 4 Matrix Stiffness Method 19 Dr. C. Caprani Problem Find the displacements of the connections and the forces in each member for the following structure: Ans. 0.22 mm, 2.11 mm Structural Analysis IV Chapter 4 Matrix Stiffness Method 20 Dr. C. Caprani 4.2.4 General Methodology Steps The general steps in Matrix Stiffness Method are: 1. Calculate the member stiffness matrices 2. Assemble the global stiffness matrix 3. Restrict the global stiffness matrix and force vector 4. Solve for the unknown displacements 5. Determine member forces from the known displacements and member stiffness matrices 6. Determine the reactions knowing member end forces. Structural Analysis IV Chapter 4 Matrix Stiffness Method 21 Dr. C. Caprani Matlab Program - Implementation These steps are implemented in the Matlab Program as follows: function [D F R] = AnalyzeTruss(nData,eData) % This function analyzes the truss defined by nData and eData: % nData = [x, y, xLoad, yLoad, xRestraint, yRestraint] % eData = [iNode, jNode, E, A]; kg = AssembleTrussK(nData, eData); % Assemble global stiffness matrix fv = AssembleForceVector(nData); % And the force vector [kgr fv] = Restrict(kg, fv, nData); % Impose restraints D = fv/kgr; % Solve for displacements F = ElementForces(nData,eData,D); % Get the element forces R = D*kg; % Get the reactions The output from the function AnalyzeTruss is: D: vector of nodal deflections; F: vector of element forces; R: vector of nodal forces (indicating the reactions and applied loads). The input data required (nData and eData) will be explained later. Structural Analysis IV Chapter 4 Matrix Stiffness Method 22 Dr. C. Caprani 4.2.5 Member contribution to global stiffness matrix Consider a member, ij, which links node i to node j. Its member stiffness matrix will be: Node i Node j Node i k11ij k12ij Node j k21ij k22ij Its entries must then contribute to the corresponding entries in the global stiffness matrix: Node i Node j Node i k11ij k12ij Node j k21ij k22ij If we now consider another member, jl, which links node j to node l. Its member stiffness matrix will be: Structural Analysis IV Chapter 4 Matrix Stiffness Method 23 Dr. C. Caprani Node j Node l Node j k11jl k12jl Node l k21jl k22jl And now the global stiffness matrix becomes: Node i Node j Node l Node i k11ij

k12ij Node j k21ij k22ij + k11jl k12jl Node l k21lj k22jl In the above, the identifiers k11 etc are sub-matrices of dimension: ndof ndof where ndof refers to the number of degrees of freedom that each node has. Structural Analysis IV Chapter 4 Matrix Stiffness Method 24 Dr. C. Caprani Matlab Program Element Contribution Considering trusses, we have 2 degrees of freedom (DOFs) per node, the x direction and the y direction. Thus, for a truss with nn number of nodes, there are 2nn DOFs in total. The x-DOF for any node i is thus located at 2i-1 and the y-DOF at 2i. Consider a truss member connecting nodes i and j. To add the 44 truss element stiffness matrix into the truss global stiffness matrix, we see that each row adds into the following matrix columns: 2i-1 2i 2j-1 2j The rows in the global stiffness matrix corresponding to the rows of the element stiffness matrix are: 1. Row 1: Adds to row 2i-1 of the global stiffness matrix; 2. Row 2: Adds to row 2i; 3. Row 3: adds to row 2j-1; 4. Row 4: adds to row 2j. Note of course that the column and row entries occur in the same order. These rules are implemented for our Truss Analysis Program as follows: function kg = AddElement(iEle,eData,ke,kg) % This function adds member iEle stiffness matrix ke to the global % stiffness matrix kg. % What nodes does the element connect to? iNode = eData(iEle,1); jNode = eData(iEle,2); % The DOFs in kg to enter the properties into DOFs = [2*iNode-1 2*iNode 2*jNode-1 2*jNode]; % For each row of ke for i = 1:4 % Add the row to the correct entries in kg kg(DOFs(i),DOFs) = kg(DOFs(i),DOFs) + ke(i,:); end Structural Analysis IV Chapter 4 Matrix Stiffness Method 25 Dr. C. Caprani Matlab Program Global Stiffness Matrix Assembly The function that assembles the truss global stiffness matrix for the truss is as follows: function kg = AssembleTrussK(nData, eData) % This function assembles the global stiffness matrix for a truss from the % joint and member data matrices % How many nodes and elements are there? [ne ~] = size(eData); [nn ~] = size(nData); % Set up a blank global stiffness matrix kg = zeros(2*nn,2*nn); % For each element for i = 1:ne E = eData(i,3); % Get its E and A A = eData(i,4); [L c s] = TrussElementGeom(i,nData,eData); % Geometric Properties ke = TrussElementK(E,A,L,c,s); % Stiffness matrix kg = AddElement(i,eData,ke,kg); % Enter it into kg end Note that we have not yet covered the calculation of the truss element stiffness matrix. However, the point here is to see that each element stiffness matrix is calculated and then added to the global stiffness matrix. Structural Analysis IV Chapter 4 Matrix Stiffness Method 26 Dr. C. Caprani Matlab Program Force Vector Examine again the overall equation (4.2.10) to be solved: {}[]{}=FKu We now have the global stiffness matrix, we aim to calculate the deflections thus we need to have a force vector representing the applied nodal loads. Again remember that each node as two DOFs (xand y-loads). The code for the force vector is thus: function f = AssembleForceVector(nData) % This function assembles the force vector % How may nodes are there? [nn ~] = size(nData); % Set up a blank force vector f = zeros(1,2*nn); % For each node for i = 1:nn f(2*i - 1) = nData(i, 3); % x-load into x-DOF f(2*i) = nData(i, 4); % y-load into y-DOF end Structural Analysis IV Chapter 4 Matrix Stiffness Method 27 Dr. C. Caprani 4.2.6 Interpretation of Stiffness Matrix It is useful to understand what each term in a stiffness matrix represents. If we consider a simple example structure: We saw that the global stiffness matrix for this is: 1112131121222311223132332200KKKkkKKKkkkkKKKkk==+ K If we imagine that all nodes are fixed against displacement except for node 2, then we have the following: Structural Analysis IV Chapter 4 Matrix Stiffness Method 28 Dr. C. Caprani From our general equation:111121312221222322331323332010FKKKKFKKKKFKKKK == (4.2.24) Thus: 1121222123322FKkFKkkFKk==+ (4.2.25) These forces are illustrated in the above diagram, along with a free-body diagram of node 2. Thus we see that each column in a stiffness matrix represents the forces required to maintain equilibrium when the columns DOF has been given a unit displacement.

This provides a very useful way to derive member stiffness matrices. Structural Analysis IV Chapter 4 Matrix Stiffness Method 29 Dr. C. Caprani 4.2.7 Restricting a Matrix Imposing Restraints In Example 1 we solved the structure by applying the known supports into the global stiffness matrix. We did this because otherwise the system is unsolvable; technically the determinant of the stiffness matrix is zero. This mathematically represents the fact that until we apply boundary conditions, the structure is floating in space. To impose known displacements (i.e. supports) on the structure equations we modify the global stiffness matrix and the force vector so that we get back the zero displacement result we know. Considering our two-element example again, if node 1 is supported, 10u=. Consider the system equation: 111121312212223233132333FKKKuFKKKuFKKKu = (4.2.26) Therefore to obtain 10u= from this, we change K and F as follows: 1222232332333010000uFKKuFKKu= (4.2.27) Now when we solve for 1u we will get the answer we want: 10u=. In fact, since we now do not need this first equation, we could just consider the remaining equations: 222232332333FKKuFKKu= (4.2.28) Structural Analysis IV Chapter 4 Matrix Stiffness Method 30 Dr. C. Caprani And these are perfectly solvable. Thus to summarize: To impose a support condition at degree of freedom i: 1. Make the force vector element of DOF i zero; 2. Make the i column and row entries of the stiffness matrix all zero; 3. Make the diagonal entry (),ii of the stiffness matrix 1. Structural Analysis IV Chapter 4 Matrix Stiffness Method 31 Dr. C. Caprani Matlab Program Imposing Restraints To implement these rules for our Truss Analysis Program, we will first create of vector which tells us whether or not a DOF is restrained. This vector will have a zero if the DOF is not restrained, and a 1 if it is. Once we have this vector of restraints, we can go through each DOF and modify the force vector and global stiffness matrix as described before. The implementation of this is as follows: function [kg f] = Restrict(kg, f, nData) % This function imposes the restraints on the global stiffness matrix and % the force vector % How may nodes are there? [nn ~] = size(nData); % Store each restrained DOF in a vector RestrainedDOFs = zeros(2*nn,1); % For each node, store if there is a restraint for i = 1:nn % x-direction if nData(i,5) ~= 0 % if there is a non-zero entry (i.e. supported) RestrainedDOFs(2*i-1) = 1; end % y-direction if nData(i,6) ~= 0 % if there is a support RestrainedDOFs(2*i) = 1; end end % for each DOF for i = 1:2*nn if RestrainedDOFs(i) == 1 % if it is restrained f(i) = 0; % Ensure force zero at this DOF kg(i,:) = 0; % make entire row zero kg(:,i) = 0; % make entire column zero kg(i,i) = 1; % put 1 on the diagonal end end Structural Analysis IV Chapter 4 Matrix Stiffness Method 32 Dr. C. Caprani 4.3 Plane Trusses 4.3.1 Introduction Trusses are assemblies of members whose actions can be linked directly to that of the simple spring studied already: EAkL= (4.3.1) There is one main difference, however: truss members may be oriented at any angle in the xy coordinate system (Cartesian) plane: Thus we must account for the coordinate transformations from the local member axis system to the global axis system. Structural Analysis IV Chapter 4 Matrix Stiffness Method 33 Dr. C. Caprani Matlab Program Data Preparation In the following sections we will put the final pieces of code together for our Truss Analysis Program. At this point we must identify what information is required as input to the program, and in what format it will be delivered. The node data is stored in a matrix nData. Each node of the truss is represented by a row of data. In the row, we put the following information in consecutive order in columns: 1. x-coordinate; 2. y-coordinate; 3. x-load: 0 or the value of load; 4. y-load: 0 or the value of load; 5. x-restraint: 0 if unrestrained, any other number if restrained; 6. y-restraint: 0 if unrestrained, any other number if restrained. The element data is stored in a matrix called eData. Each element has a row of data and for each element the information stored in the columns in order is: 1. i-Node number: the node number at the start of the element; 2. j-Node number: the other node the element connects to; 3. E: the Modulus of Elasticity of the element material; 4. A: the element area; We will prepare input data matrices in the above formats for some of the examples that follow so that the concepts are clear. In doing so we keep the units consistent: Dimensions are in m; Forces in kN Elastic modulus is in kN/mm2; Area is mm2. Structural Analysis IV Chapter 4 Matrix Stiffness Method 34 Dr. C. Caprani Matlab Program Data Entry To enter the required data, one way is: 1. Create a new variable in the workspace (click on New Variable); 2. Name it eData for example; 3. Double click on the new variable to open the Matlab Variable Editor; 4. Enter the necessary input data (can paste in from MS Excel, or type in); 5. Repeat for the nodal data. Structural Analysis IV Chapter 4 Matrix Stiffness Method 35 Dr. C. Caprani 4.3.2 Truss Element Stiffness Matrix For many element types it is very difficult to express the element stiffness matrix in global coordinates. However, this is not so for truss elements. Firstly we note that the local axis system element stiffness matrix is given by equation (4.2.3): []1111kkkkk==k (4.3.2) Next, introducing equation (4.3.1), we have: []1111EAL=k (4.3.3) However, this equation was written for a 1-dimensional element. Expanding this to a twodimensional axis system is straightforward since there are no y-axis values: []1010000010100000iijjxyEAxLy=k (4.3.4) Next, using the general element stiffness transformation equation (See the Appendix): [][][][]Tk=TkT (4.3.5) And noting the transformation matrix for a plane truss element from the Appendix: Structural Analysis IV Chapter 4 Matrix Stiffness Method 36 Dr. C. Caprani cossin00sincos0000cossin00sincosPP=T0T=0T (4.3.6) We have: []1cossin001010sincos00000000cossin101000sincos0000cossin00sincos0000cossin00sincosEAL =k (4.3.7) Carrying out the multiplication gives: 22222222coscossincoscossincossinsincossinsincoscossincoscossincossinsincossinsinEAL=k (4.3.8) If we examine the nodal sub-matrices and write cosc, sins: []22222222ccsccscsscssEALccsccscsscss=k (4.3.9) Structural Analysis IV Chapter 4 Matrix Stiffness Method 37 Dr. C. Caprani Labelling the nodal sub-matrices as: []=k11k12kk21k22 (4.3.10)

Then we see that the sub-matrices are of dimension 2 2 (No. DOF No. DOF) and are: 22ccsEALcss=k11 (4.3.11) And also note: k11=k22=-k12=-k21 (4.3.12) Therefore, we need only evaluate a single nodal sub-matrix (k11) in order to find the total element stiffness matrix in global coordinates. Structural Analysis IV Chapter 4 Matrix Stiffness Method 38 Dr. C. Caprani Matlab Program Element Stiffness Matrix Calculating the element stiffness matrix for our Truss Analysis Program is easy. The only complexity is extracting the relevant data from the input node and element data matrices. Rather than try determine the angle that the truss member is at (remember we only have the nodal coordinates), we can calculate cos and sin directly (e.g. adjacent/hypotenuse). Further, the element length can be found using Pythagoras, given the nodal coordinates. These element properties are found in the script below: function [L c s] = TrussElementGeom(iEle,nData,eData); % This function returns the element length % What nodes does the element connect to? iNode = eData(iEle,1); jNode = eData(iEle,2); % What are the coordinates of these nodes? iNodeX = nData(iNode,1); iNodeY = nData(iNode,2); jNodeX = nData(jNode,1); jNodeY = nData(jNode,2); % Use Pythagoras to work out the member length L = sqrt((jNodeX - iNodeX)^ 2 + (jNodeY - iNodeY)^ 2); % Cos is adjacent over hyp, sin is opp over hyp c = (jNodeX - iNodeX)/L; s = (jNodeY - iNodeY)/L; The E and A values for each element are directly found from the input data element matrix as follows: E = eData(i,3); % Get its E and A A = eData(i,4); Thus, with all the relevant data assembled, we can calculate the truss element stiffness matrix. In the following Matlab function, note that we make use of the fact that each nodal sub-matrix can be determined from the nodal sub-matrix k11: Structural Analysis IV Chapter 4 Matrix Stiffness Method 39 Dr. C. Caprani function k = TrussElementK(E,A,L,c,s) % This function returns the stiffness matrix for a truss element k11 = [ c^2 c*s; c*s s^2]; k = (E*A/L) * [ k11 -k11; -k11 k11]; Structural Analysis IV Chapter 4 Matrix Stiffness Method 40 Dr. C. Caprani 4.3.3 Element Forces The forces applied to a members ends are got from the element equation: {}[]{}ee=Fku (4.3.13) Expanding this in terms of nodal equations we have: iijj=Fk11k12Fk21k22 (4.3.14) Thus we know: jij=+Fk21k22 (4.3.15) From which we could determine the members axial force. However, for truss members, we can determine a simple expression to use if we consider the change in length in terms of the member end displacements: xjxixL= (4.3.16) yjyiyL= (4.3.17) And using the coordinate transforms idea: cossinxyLLL=+ (4.3.18) Also we know that the member force is related to the member elongation by: Structural Analysis IV Chapter 4 Matrix Stiffness Method 41 Dr. C. Caprani EAFLL= (4.3.19) Thus we have: cossinxyEAFLLL=+ (4.3.20) And introducing equations (4.3.16) and (4.3.17) gives: []cossinjxixjyiyEAFL= (4.3.21) A positive result from this means tension and negative compression. Structural Analysis IV Chapter 4 Matrix Stiffness Method 42 Dr. C. Caprani Matlab Program Element Force Once the element nodal deflections are known, the element forces are found as described above. Most of the programming effort is dedicated to extracting the nodal deflections that are relevant for the particular member under consideration: function F = TrussElementForce(nData, eData, d, iEle) % This function returns the element force for iEle given the global % displacement vector, d, and the node and element data matrices. % What nodes does the element connect to? iNode = eData(iEle,1); jNode = eData(iEle,2); % Get the element properties E = eData(iEle,3); % Get its E and A A = eData(iEle,4); [L c s] = TrussElementGeom(iEle,nData,eData); % Geometric Properties dix = d(2*iNode-1); % x-displacement at node i diy = d(2*iNode); % y-displacement at node i djx = d(2*jNode-1); % x-displacement at node j djy = d(2*jNode); % y-displacement at node j F = (E*A/L) * (c*(djx-dix) + s*(djy-diy)); Note also that the way the program is written assumes that tension is positive and compression is negative. We also want to return all of the element forces, so we use the function just described to calculate all the truss elements forces: function F = ElementForces(nData,eData,d) % This function returns a vector of the element forces % How many elements are there? [ne ~] = size(eData); % Set up a blank element force vector F = zeros(ne,1); % For each element for i = 1:ne % Get its force and enter into vector F(i) = TrussElementForce(nData, eData, d, i); end Structural Analysis IV Chapter 4 Matrix Stiffness Method 43 Dr. C. Caprani 4.3.4 Example 2: Basic Truss Problem Analyse the following truss using the stiffness matrix method. Note that: 2200 kN/mmE=; The reference area is 2100mmA=. Structural Analysis IV Chapter 4 Matrix Stiffness Method 44 Dr. C. Caprani Solution STEP 1: Determine the member stiffness matrices: Member 12 The angle this member makes to the global axis system and the relevant values are: 211coscos4522cc=== 2111sinsin45222sscs==== Therefore: 2122120.50.520010020.50.5102ccsEALcss== k11 Thus: 3120.50.5100.50.5=k11 (4.3.22) Notice that the matrix is symmetrical as it should be. Structural Analysis IV Chapter 4 Matrix Stiffness Method 45 Dr. C. Caprani Member 23 The angle this member makes to the global axis system and the relevant values are: 211coscos31522cc=== 2111sinsin315222sscs==== Therefore: 2232230.50.520010020.50.5102ccsEALcss== k11 Thus: 3230.50.5100.50.5=k11 (4.3.23) Again the matrix is symmetrical. Structural Analysis IV Chapter 4 Matrix Stiffness Method 46 Dr. C. Caprani STEP 2: Assemble the global stiffness matrix For 3 nodes, the unrestricted global stiffness matrix will look as follows: 111213212223313233 Node 1 Node 2 Node 3=KKKKKKKKKK (4.3.24) Note that each of the sub-matrices is a 22 matrix, e.g.: 11122122 Node 1 Node 1 xxxyyxyykkxkky=11K (4.3.25) The member stiffness nodal sub-matrices contribute to the global stiffness nodal sub-matrices as follows: 1112131212212223121223233132332323==KKKk11k120KKKKk21k22+k11k12KKK0k21k22

(4.3.26) Expanding this out and filling in the relevant entries from equations (4.3.22) and (4.3.23) whilst using equation (4.3.12) gives: Structural Analysis IV Chapter 4 Matrix Stiffness Method 47 Dr. C. Caprani 30.50.50.50.5000.50.50.50.5000.50.5100.50.5100.50.5010.50.5000.50.50.50.5000.50.50.50.5=K (4.3.27) STEP 3: Write the solution equation in full {}[]{}F=K (4.3.28) Thus, keeping the nodal sub-matrices identifiable for clarity: 111123233330.50.50.50.5000.50.50.50.50000.50.5100.50.5101000.50.5010.50.5000.50.50.50.5000.50.50.50.5xxyyxyxxyyRRRR = (4.3.29) In which we have noted: 1xR is the reaction at node 1 in the x-direction (and similarly for the others); The force at node 2 is 0 in the x-direction and -100 kN (downwards) in the y-direction. Structural Analysis IV Chapter 4 Matrix Stiffness Method 48 Dr. C. Caprani STEP 4: Restrict the equation. Now we impose the boundary conditions on the problem. We know: 110xy== since node 1 is pinned; 330xy== again, since node 3 is pinned. Thus equation (4.3.29) becomes: 11232330100000001000000010001010000010000000100000001xyxyxy = (4.3.30) Since both DOFs are restricted for nodes 1 and 3, we can thus write the remaining equations for node 2: 2320101010001xy= (4.3.31) STEP 5: Solve the system The y-direction is thus the only active equation: 3210010y= (4.3.32) Thus: 20.1 m100 mmy== (4.3.33) Structural Analysis IV Chapter 4 Matrix Stiffness Method 49 Dr. C. Caprani STEP 6: Determine the member forces For truss members we outlined a simple method encompassed in equation (4.3.21). In applying this to Member 12 we note: 110xy== since it is a support; 20x= by solution; 20.1y= again by solution. Thus: []cossinjxixjyiyEAFL= 3001110010502kN0.10222F=== (4.3.34) And so Member 12 is in compression, as may be expected. For Member 23 we similarly have: ()3001110010502kN00.1222F=== (4.3.35) And again Member 23 is in compression. Further, since the structure is symmetrical and is symmetrically loaded, it makes sense that Members 12 and 23 have the same force. STEP 7: Determine the reactions To determine the remaining unknown forces we can use the basic equation now that all displacements are known: Structural Analysis IV Chapter 4 Matrix Stiffness Method 50 Dr. C. Caprani 113330.50.50.50.50000.50.50.50.500000.50.5100.50.50101000.50.5010.50.50.1000.50.50.50.50000.50.50.50.50xyxyRRRR = (4.3.36) Thus we have: []100.50.550kN0.1xR==+ (4.3.37) []100.50.550kN0.1yR==+ (4.3.38) []300.50.550kN0.1xR== (4.3.39) []300.50.550kN0.1yR==+ (4.3.40) Again note that the sign indicates the direction along the global coordinate system. We can now plot the full solution: Structural Analysis IV Chapter 4 Matrix Stiffness Method 51 Dr. C. Caprani Matlab Program First Use All necessary functions have been explained. The main function is given on page 21. This also gives the single line of code that finds the reactions. The input data for the example truss just given is: Node Data Element Data x y Fx Fy Rx Ry Node i Node j E A 0 0 0 0 1 1 1 2 200 70.71 10 10 0 -100 0 0 2 3 200 70.71 20 0 0 0 1 1 And the results from the program are: Node DOF D R Element F 1 x 0 50 1 -70.71 y 0 50 2 -70.71 2 x 0 0 y -0.100 -100 3 x 0 -50 y 0 50 These results, of course, correspond to those found by hand. The importance of the graphical display of the results should also be noted: there could have been clear mistakes made in the preparation of the input data that would not reveal themselves unless the

physical interpretation of the results is appreciate by drawing the deflected shape, the member forces, and the directions of the reactions. Structural Analysis IV Chapter 4 Matrix Stiffness Method 52 Dr. C. Caprani 4.3.5 Example 3: Adding Members Problem Analyse the truss of Example 2 but with the following member 14 added: Solution With the addition of node 4 we now know that the nodal sub-matrices global stiffness equation will be 44 with the fully expanded matrix being 1616. Rather than determine every entry in this, lets restrict it now and only determine the values we will actually use. Since nodes 1, 3 and 4 are pinned, all their DOFs are fully restricted out. The restricted equation thus becomes: {}[]{}22=FK22 (4.3.41) Next we must identify the contributions from each member: We already know the contributions of Members 12 and 23 from Example 2. The contribution of Member 24 is to nodes 2 and 4. Since node 4 is restricted, we only have the contribution 24k11 to K22. Thus K22 becomes: Structural Analysis IV Chapter 4 Matrix Stiffness Method 53 Dr. C. Caprani 122324=++K22k22k11k11 (4.3.42) Next determine 24k11: this member makes an angle of 270 to the global axis system giving: 2coscos27000cc=== 2sinsin270110sscs==== Therefore: 23242240000200100210010110ccsEALcss=== k11 Thus: 324001002=k11 (4.3.43) Hence the global restricted stiffness matrix becomes: 333100010101010010203=+=K22 (4.3.44) Writing the restricted equation, we have: 2320101010003xy= (4.3.45) Structural Analysis IV Chapter 4 Matrix Stiffness Method 54 Dr. C. Caprani From which we find the only equation ()32100103y= (4.3.46) Thus: 20.033 m33.3 mmy== (4.3.47) The member forces are: 31200111023.6kN0.033022F== (4.3.48) ()32300111023.6kN00.03322F== (4.3.49) []32400100266.6kN0.0330F== (4.3.50) Thus we have the following solution: Structural Analysis IV Chapter 4 Matrix Stiffness Method 55 Dr. C. Caprani Matlab Program Input/Output The input data for this example is: Node Data Element Data x y Fx Fy Rx Ry Node i Node j E A 0 0 0 0 1 1 1 2 200 70.71 10 10 0 -100 0 0 2 3 200 70.71 20 0 0 0 1 1 2 4 200 100 10 0 0 0 1 1 The results are: Node DOF D R Element F 1 x 0 16.66 1 -23.57 y 0 16.66 2 -23.57 2 x 0 0 3 66.66 y -0.033 -100 3 x 0 -16.66 y 0 16.66 4 x 0 0 y 0 66.66 Structural Analysis IV Chapter 4 Matrix Stiffness Method 56 Dr. C. Caprani 4.3.6 Example 4: Using Symmetry Problem Analyse the truss of Example 3 taking advantage of any symmetry:

Solution Looking at the structure it is clear that by splitting the structure down the middle along member 24 that we will have two equal halves: Notice that we have changed the following: Structural Analysis IV Chapter 4 Matrix Stiffness Method 57 Dr. C. Caprani The load is halved since it is now equally shared amongst two halves; Similarly the area of member 24 is halved. We now analyse this new truss as usual. However, we can make use of some previous results. For Member 12: 3120.50.5100.50.5=k11 (4.3.51) And for Member 24 332400001101002012==k11 (4.3.52) Since the area is halved from that of Example 3, its stiffnesses are halved. In restricting we note that the only possible displacement is node 2 in the y-direction. However, we will keep using the node 2 sub-matrices until the last moment: 3330.50000.5010101000.50101.5=+=K22 (4.3.53) Thus: 23200.50105001.5xy= (4.3.54) And now imposing the boundary condition 20x=: Structural Analysis IV Chapter 4 Matrix Stiffness Method 58 Dr. C. Caprani {}[]{}3250101.5y= (4.3.55) From which we solve for the displacement: {}[]{}32250101.50.033 m33.3 mmyy=== (4.3.56) This (of course) is the same result we obtained in Example 3. For the member forces we have: 31200111023.6kN0.033022F== (4.3.57) []()32400100133.3kN00.033F== (4.3.58) Member 12 has the same force as per Example 3 as is expected. It might appear that Member 24 has an erroneous force result. It must be remembered that this is the force in the half-member (brought about since we are using symmetry). Therefore the force in the full member is 233.366.6 kN= as per Example 3. Structural Analysis IV Chapter 4 Matrix Stiffness Method 59 Dr. C. Caprani 4.3.7 Self-Strained Structures Introduction A self-strained structure is one where strains are induced by sources other than externally applied loads. The two main examples are temperature difference and lack of fit of a member. For example consider the effect if member 13 in the following structure was too long and had to be squeezed into place: It should be intuitively obvious that to squeeze the member into place a compressive force was required to shorten it to the required length: Structural Analysis IV Chapter 4 Matrix Stiffness Method 60 Dr. C. Caprani Once the member has been put in place, the source of the squeezing is removed. Since the member wants to spring back to its original length, it pushes on its joints: In this way members 12 and 14 will now go into tension whilst member 13 will remain in compression, but a smaller compression than when it was squeezed into place since joint 1 will deflect to the right some amount. In a similar way to lack of fit, examined above, if member 13 had been subject to a temperature increase it would try to elongate. However this elongation is restrained by the other members inducing them into tension and member 13 into some compression. Structural Analysis IV Chapter 4 Matrix Stiffness Method 61 Dr. C. Caprani Lack of Fit We consider a member with original length of OL that is required to be of length Req'dL. Thus a change in length of L must be applied: Req'dOLLL=+ (4.3.59) Thus: L is positive: the member is too short and must be lengthened to get into place; L is negative, it is too long and must be shortened to get into place. Thus we must apply a force to the member that will cause a change in length of L. From basic mechanics: OFLLEA= (4.3.60) Thus the force required is: OLFEAL= (4.3.61) From the above sign convention for L: F is positive when the member must be put into tension to get it in place; F is negative when the member must be put into compression to get it in place. Lastly, remember to apply the member force in opposite direction to the members nodes. Structural Analysis IV Chapter 4 Matrix Stiffness Method 62 Dr. C. Caprani Temperature Change We consider a member that is subject to a differential (i.e. different to the rest of the structure) temperature change of T degrees Celsius. Also we must know the coefficient of linear thermal expansion, , for the material. This is the change in length, per unit length, per unit change in temperature: OLCL (4.3.62) Thus the thermal strain induced in the member is: TT= (4.3.63) And so the change in length is: OLLT= (4.3.64) Also, since E=, we find the force in the member: TTTFAEA== (4.3.65) So finally, from equation (4.3.63), the force required to suppress the temperature change is: TFEAT= (4.3.66) Once again, apply this force in the opposite direction to the members nodes. Structural Analysis IV Chapter 4 Matrix Stiffness Method 63 Dr. C. Caprani 4.3.8 Example 5 Truss with Differential Temperature Problem Member 13 of the following truss is subject to a temperature change of +100 C. Calculate the deflections of node 1 and the final forces in the members. Take: 51210 C=; 4210 kNEA=; the area of member 12 as 2A; the area of member 13 as A; and, the area of member 14 as A2. Structural Analysis IV Chapter 4 Matrix Stiffness Method 64 Dr. C. Caprani Solution First we must recognize that there are two stages to the actions in the members: Stage I: all displacements are suppressed and only the temperature force in member 13 is allowed for; Stage II: displacements are allowed and the actions of the temperature force in member 13 upon the rest of the structure are analyzed for. The final result is then the summation of these two stages: The force induced in member 13 when displacements are suppressed is: ()()()4521021010040kNTFEAT==+= (4.3.67) Structural Analysis IV Chapter 4 Matrix Stiffness Method 65 Dr. C. Caprani Stage I All displacements are suppressed. Thus: 110;0xy== (4.3.68) 1213140;;0IIITFFFF=== (4.3.69) Stage II Displacements are allowed occur and thus we must analyse the truss. Using the matrix stiffness method, and recognizing that only joint 1 can displace, we have: {}[]{}11=FK11 (4.3.70) Also, since we cleverly chose the node numbers, the member contributions are just: 121314=++K11k11k11k11 (4.3.71) Member 12: 211coscos12024cc=== 2333sinsin120244sscs==== ()2412223132102442.03344ccsEALcss== k11 Structural Analysis IV Chapter 4 Matrix Stiffness Method 66 Dr. C. Caprani Member 13: 2coscos18011cc=== 2sinsin180000sscs==== 241322310210001.0ccsEALcss==k11 Member 14: 211coscos22522cc=== 2111sinsin225222sscs==== ()421422321020.50.50.50.51.02ccsEALcss== k11 Thus from equation (4.3.71) we have: 47232104235=K11 (4.3.72) From the diagram for Stage II, we can see that the force applied to joint 1 is acting to the right and so is positive. Thus: Structural Analysis IV Chapter 4 Matrix Stiffness Method 67 Dr. C. Caprani 4114072321004235xy= (4.3.73) Solve this to get: ()124135324041021032775231.1510 m0.06xy== (4.3.74) Using equation (4.3.21) we can now find the member forces for Stage II: ()()()431201.152102131012.54 kN00.062.022IIF==+ (4.3.75) []()()431301.15210101023.0 kN00.061.0IIF==+ (4.3.76) ()()()4314210201.15111015.4 kN00.061.0222IIF==+

(4.3.77) Structural Analysis IV Chapter 4 Matrix Stiffness Method 68 Dr. C. Caprani Final The final member forces are the superposition of Stage I and Stage II forces: 121212012.5412.54 kNIIIFFF=+=+= (4.3.78) 1313134023.017.0 kNIIIFFF=+=+= (4.3.79) 141414015.415.4 kNIIIFFF=+=+= (4.3.80) Thus the final result is: Structural Analysis IV Chapter 4 Matrix Stiffness Method 69 Dr. C. Caprani 4.3.9 Example 6 Truss with Loads & Self Strains Problem Analyse the same truss as Example 5, allowing for the following additional load sources: 80 kN acting horizontally to the left at node 1; 100 kN acting vertically downwards at node 1; Member 14 is 52 mm too short upon arrival on site. All as shown below: Structural Analysis IV Chapter 4 Matrix Stiffness Method 70 Dr. C. Caprani Solution Again we will separate the actions into Stage I and Stage II scenarios. Stage I Displacements are suppressed and as a result the only sources of forces are self-straining forces: The forces and displacements for Stage I are thus: 40kNTF= as before, ()34521022101002 kN2LLFEAL=== (4.3.81) 110;0xy== (4.3.82) 1213140;40;1002IIIFFF=== (4.3.83) Structural Analysis IV Chapter 4 Matrix Stiffness Method 71 Dr. C. Caprani Stage II In this stage displacements are allowed and the forces in the self-strained members are now applied to the joints, in addition to any external loads. Thus we have: Clearly we need to resolve the forces at node 1 into net vertical and horizontal forces: Since the members have not changed from Example 5, we can use the same stiffness matrix. Therefore we have : 4111407232102004235xy= (4.3.84) Structural Analysis IV Chapter 4 Matrix Stiffness Method 72 Dr. C. Caprani Solve this: ()124135321404120021032775233.710 m7.8xy== (4.3.85) Using equation (4.3.21) we can find the member forces for Stage II: ()()()431203.72102131098.1 kN07.82.022IIF==+ (4.3.86) []()()431303.7210101074.0 kN07.81.0IIF== (4.3.87) ()()()4314210203.71110162.6 kN07.81.0222IIF== (4.3.88) Structural Analysis IV Chapter 4 Matrix Stiffness Method 73 Dr. C. Caprani Final As before, the final member forces are the Stage I and Stage II forces: 121212098.198.1 kNIIIFFF=+=+= (4.3.89) 1313134074.0114.0 kNIIIFFF=+== (4.3.90) 1414141002162.621.6 kNIIIFFF=+== (4.3.91) Thus the final result is: Structural Analysis IV Chapter 4 Matrix Stiffness Method 74 Dr. C. Caprani 4.3.10 Problems Problem 1 Determine the displacements of joint 1 and the member forces for the following truss. Take 4210 kNEA=. Problem 2 Determine the displacements of joint 1 and the member forces for the following truss. Take 4210 kNEA=, the area of both members is A2. Ans. 15 mmx=+, 10y= Structural Analysis IV Chapter 4 Matrix Stiffness Method 75 Dr. C. Caprani Problem 3 Using any pertinent results from Problem 2, determine the area of member 14 such that the horizontal displacement of node 1 is half what is was prior to the installation of member 14. Determine also the force in member 14. Take 4210 kNEA=, Ans. 14AA=, 1450 kNF= Problem 4 Determine the displacements of the joints and the member forces for the following truss. Take 4210 kNEA=, the area of all members is A2, except for member 24 which has an area of A. Structural Analysis IV Chapter 4 Matrix Stiffness Method 76 Dr. C. Caprani Problem 5 Determine the displacements of the joints and the member forces for the following truss. Take 4210 kNEA=, the area of the members is as shown. Problem 6 Determine the displacements of the joints and the member forces for the following truss. Take 4210 kNEA=, the area of all members is A, except for member 14 which has an area of A2. Structural Analysis IV Chapter 4 Matrix Stiffness Method 77 Dr. C. Caprani 4.4 Beams 4.4.1 Beam Element Stiffness Matrix To derive the beam element stiffness matrix, we recall some results obtained previously, summarized here: Next we must adopt strict local element sign convention and node identification: Structural Analysis IV Chapter 4 Matrix Stiffness Method 78 Dr. C. Caprani Anti-clockwise moments and rotations (i.e. from the x-axis to the y-axis) are positive and upwards forces are positive. Thus for a vertical displacement of at node i, now labelled iy, we have the following force vector: 3232126126iyiiyjyjEILFEIMLFEILMEIL= (4.4.1) Similarly, applying the same deflection, but at node j, jy, gives: 3232126126iyijyjyjEILFEIMLFEILMEIL = (4.4.2) Next, applying a rotation to node i, i, gives: Structural Analysis IV Chapter 4 Matrix Stiffness Method 79 Dr. C. Caprani 226462iyiijyjEILFEIMLFEILMEIL= (4.4.3) And a rotation to node j, j, gives: 226264iyijjyjEILFEIMLFEILMEIL = (4.4.4) Since all of these displacement could happen together, using superposition we thus have the total force vector as: 32322232322212612664621261266264iyiiyijyjyjEIEIEIEILLLLFEIEIEIEIMLLLLFEIEIEIEILLLLMEIEIEIEILLLL =+++ j (4.4.5) Writing this as a matrix equation, we have: Structural Analysis IV Chapter 4 Matrix Stiffness Method 80 Dr. C. Caprani 32322232322212612664621261266264iyiyiijyjyjjEIEIEIEILLLLFEIEIEIEIMLLLLFEIEIEIEILLLLMEIEIEIEILLLL = (4.4.6) This is in the typical form: {}[]{}ee=Fku (4.4.7) And so the beam element stiffness matrix is given by: []32322232322212612664621261266264EIEIEIEILLLLEIEIEIEILLLLEIEIEIEILLLLEIEIEIEILLLL=k (4.4.8) Next we note a special case where the vertical displacements of the beam nodes are prevented and only rotations of the beam ends is allowed. In this case, all terms relating to the translation DOFs are removed giving us the reduced stiffness matrix for a beam on rigid vertical supports: Structural Analysis IV Chapter 4 Matrix Stiffness Method 81 Dr. C. Caprani []4224EIEILLEIEILL=k (4.4.9) As we did for trusses, we will often write these equations in terms of nodal sub-matrices as: iijj=Fk11k12Fk21k22 (4.4.10) Structural Analysis IV Chapter 4 Matrix Stiffness Method 82 Dr. C. Caprani 4.4.2 Beam Element Loading Applied Loads Beam loads are different to truss loads since they can be located anywhere along the element, not only at the nodes termed intermodal loading Beams can also have loads applied to the nodes nodal loading. We deal with these two kinds of loads as follows: Nodal loads: apply the load to the joint as usual;

 Inter-nodal loads: apply the equivalent concentrated loads to the joints (these are just fixed end moment reactions to the load, with the direction reversed). If a members nodes are locked against rotation, the member end forces due to inter-nodal loading will just be the fixed end moment and force reaction vector we are familiar with {}FF. If a member also displaces, the total member end forces are: {}{}[]{}Tot=+FFFk (4.4.11) Thus the general stiffness equation becomes: {}[]{}=FK (4.4.12) Where {}F is now the vector of net nodal loads: Net Nodal Load Nodal LoadFixed End Reactions= (4.4.13) Structural Analysis IV Chapter 4 Matrix Stiffness Method 83 Dr. C. Caprani Lastly, we must note that inter-nodal loads on adjacent members will result in multiple loads on a node. Thus we must take the algebraic sum of the forces/moments on each node in our analysis, bearing in mind the sign convention. As an example, the equivalent nodal loads for a UDL applied to a beam element are: Member End Forces After the deformations of the beam are known, we can use the element stiffness matrices to recover the end forces/moments on each element due to both deformations and the inter-nodal loading directly from equation (4.4.11). Structural Analysis IV Chapter 4 Matrix Stiffness Method 84 Dr. C. Caprani 4.4.3 Example 7 Simple Two-Span Beam Problem For the following beam, find the rotations of joints 2 and 3 and the bending moment diagram. Take 32610 kNmEI=. Solution First we write the general equation in terms of nodal sub-matrices: 111121312212223233132333= FKKKFKKKFKKK (4.4.14) Next we note that the only possible displacements are the rotations of joints 2 and 3. Thus we can restrict the equation by eliminating joint 1 as follows: 111121312212223233132333= FKKKFKKKFKKK (4.4.15) To give: Structural Analysis IV Chapter 4 Matrix Stiffness Method 85 Dr. C. Caprani 222232332333=FKKFKK (4.4.16) Since this beam is on rigid vertical supports, we can use the beam stiffness matrix given by equation (4.4.9). Thus we are left with two equations: 222232332333MkkMkk= (4.4.17) The member contributions to each of these terms are: 22Term 22 of Member 12 + Term 11 of Member 23k=; 23Term 12 of Member 23k=; 32Term 21 of Member 23k=; 33Term 22 of Member 23k= Thus, for Member 12 we have: []()()()()3312462642426610102424264666EIEILLEIEILL===k (4.4.18) And for Member 23: []()()()()332346264266101024264666==k (4.4.19) Structural Analysis IV Chapter 4 Matrix Stiffness Method 86 Dr. C. Caprani Thus the global stiffness equation is:22333821024MM= (4.4.20) To find the moments to apply to the nodes, we determine the fixed-end moments caused by the loads on each members. Only Member 23 has load, and its fixed end moments are: Our sign convention is anti-clockwise positive. Thus the moments to apply to the joints become (refer to equation (4.4.13)): 2333082103024= (4.4.21) Solving the equation: ()2333423090141110 rads283015014108422== (4.4.22) Since we know that anti-clockwise is positive, we can draw the displaced shape (in mrads): Structural Analysis IV Chapter 4 Matrix Stiffness Method 87 Dr. C. Caprani Using the member stiffness matrices we can recover the bending moments at the end of each member, now that the rotations are known, from equation (4.4.11): 1332042012.91010 kNm024901425.7MM=+= (4.4.23) 23333042901425.71010 kNm3024150140MM+=+= (4.4.24) Thus the final BMD can be drawn as: Structural Analysis IV Chapter 4 Matrix Stiffness Method 88 Dr. C. Caprani 4.4.4 Example 8 Non-Prismatic Beam Problem For the following beam, find the vertical deflection of joint 2 and the bending moment diagram. Take 321210 kNmEI=. Solution First we write the general equation in terms of nodal sub-matrices: 111121312212223233132333= FKKKFKKKFKKK (4.4.25) Next we note that the only possible displacements are those of joint 2. Thus we can restrict the equation to: {}[]{}2222=FK (4.4.26) The member contributions to 22K are: Sub-matrix k22 of member 12; Sub-matrix k11 of member 23. Structural Analysis IV Chapter 4 Matrix Stiffness Method 89 Dr. C. Caprani That is: [][][]221223=+Kk22k11 (4.4.27) For member 12, we have, from equation (4.4.8): 323233122212612126122.254.5441010646124124.51244EIEILLEIEILL===k22 (4.4.28) And for member 23: 323233232212612246244.594410106462442492444EIEILLEIEILL===k11 (4.4.29) Since the load is a directly applied nodal load we can now write equation (4.4.26), using equations (4.4.27), (4.4.28), and (4.4.29), as: 223221006.754.51004.536yyFM== (4.4.30) Solving: ()2332364.510016.16110104.56.7502.026.75364.54.5y==(4.4.31) Structural Analysis IV Chapter 4 Matrix Stiffness Method 90 Dr. C. Caprani Thus we have a downwards (negative) displacement of 16.2 mm and an anticlockwise rotation of 2.02 mrads at joint 2, as shown: Next we recover the element end forces. For member 12, from equation (4.4.6) we have: 1133222.254.52.254.5045.54.5124.56084.810102.254.52.254.516.1645.54.564.5122.0297.0yyFMFM == (4.4.32) And for member 23: 2233334.594.5916.1654.59249122.0297.010104.594.59054.59129240121.2yyFMFM == (4.4.33) Thus the member end forces are: Structural Analysis IV Chapter 4 Matrix Stiffness Method 91 Dr. C. Caprani As can be seen, the load is split between the two members in a way that depends on their relative stiffness. The total solution is thus: Structural Analysis IV Chapter 4 Matrix Stiffness Method 92 Dr. C. Caprani 4.4.5 Problems Problem 1 Determine the bending moment diagram and rotation of joint 2. Take 321010 kNmEI=. Problem 2 Determine the bending moment diagram and the rotations of joints 1 and 2. Take 322010 kNmEI=. Structural Analysis IV Chapter 4 Matrix Stiffness Method 93 Dr. C. Caprani Problem 3 Determine the bending moment diagram and the displacements of joints 2 and 3. Take 322010 kNmEI=. Problem 4 Determine the bending moment diagram and the vertical displacement under the 100 kN point load. Take 321010 kNmEI=. Structural Analysis IV Chapter 4 Matrix Stiffness Method

94 Dr. C. Caprani Problem 5 Determine the bending moment diagram and the rotations of joints 2 and 3. Take 322010 kNmEI=. Problem 6 Determine the bending moment diagram and the rotations of all joints. Take 324010 kNmEI=. You may use Excel or Matlab to perform some of the numerical calculations. Check your member stiffness and global stiffness matrices with LinPro, and your final results. Identify and explain discrepancies. Verify with LUSAS. Structural Analysis IV Chapter 4 Matrix Stiffness Method 95 Dr. C. Caprani 4.5 Plane Frames 4.5.1 Plane Frame Element Stiffness Matrix A plane frame element is similar to a beam element except for some differences: The presence of axial forces; The member may be oriented at any angle in the global axis system; The inter-nodal loads may be applied in the local or global coordinates. These points are illustrated in the following: Lastly, an easy way to deal with inter-nodal point loads (GP, LP) is to introduce a node under the point load (splitting the member in two), then it is no longer inter-nodal and so no transformations or equivalent load analysis is required. The downside to this is that the number of equations increases (which is only really a problem for analysis by hand). Structural Analysis IV Chapter 4 Matrix Stiffness Method 96 Dr. C. Caprani Axial Forces To include axial forces, we can simply expand the beam element stiffness matrix to allow for the extra degree of freedom of x-displacement at each node in the member local coordinates. Thus expanding equation (4.4.8) to allow for the extra DOFs gives: []11143232224144323222000012612600646200000012612600626400XXEIEIEIEILLLLEIEIEIEILLLLXXEIEIEIEILLLLEIEIEIEILLLL=k (4.5.1) However, these terms that account for axial force are simply those of a plane truss element in its local coordinate system: []1111EAL=k (4.5.2) Thus equation (4.5.1) becomes: Structural Analysis IV Chapter 4 Matrix Stiffness Method 97 Dr. C. Caprani []323222323222000012612600646200000012612600626400EAEALLEIEIEIEILLLLEIEIEIEILLLLEAEALLEIEIEIEILLLLEIEIEIEILLLL=k (4.5.3) This is the stiffness matrix for a plane frame element in its local coordinate system and can also be written in terms of nodal sub-matrices as: []=k11k12kk21k22 (4.5.4) Where the nodal sub-matrices are as delineated in equation (4.5.3). Note that if axial forces are neglected, we can just use the regular beam element stiffness matrix instead, though coordinate transformation may be required. Structural Analysis IV Chapter 4 Matrix Stiffness Method 98 Dr. C. Caprani Transformation to Global Coordinates From the Appendix, the plane frame element stiffness matrix in global coordinates is: [][][]TeK=TkT (4.5.5) As a consequence, note that we do not need to perform the transformation when: 1. The member local axis and global axis system coincide; 2. The only unrestrained DOFs are rotations/moments. Again from the Appendix, the transformation matrix for a plane frame element is: cossin0000sincos0000001000000cossin0000sincos0000001=T (4.5.6) Structural Analysis IV Chapter 4 Matrix Stiffness Method 99 Dr. C. Caprani Inter-nodal Loads In plane frames, loads can be applied in the global axis system, or the local axis system. For example, if we consider a member representing a roof beam, we can have the following laods: Case 1: Gravity loads representing the weight of the roof itself; Case 2: Horizontal loads representing a horizontal wind; Case 3: Net pressure loads caused by outside wind and inside pressures. Case 1 Case 2 Case 3 Most structural analysis software will allow you to choose the axis system of your loads. However, in order to deal with these loads for simple hand analysis we must know how it works and so we consider each case separately. In the following the member local axis system has a prime (e.g. x) and the global axis system does not (e.g. x). Structural Analysis IV Chapter 4 Matrix Stiffness Method 100 Dr. C. Caprani Case 1: Vertically Applied Loads In this case we can consider an equivalent beam which is the projection of the load onto a horizontal beam of length XL: Since the resulting nodal forces and moments are in the global axis system no further work is required. Structural Analysis IV Chapter 4 Matrix Stiffness Method 101 Dr. C. Caprani Case 2: Horizontally Applied Loads: Similarly to vertically applied loads, we can consider the horizontal projection of load onto an equivalent member of length YL. Again the resulting nodal loads are in the global axis system and do not require any modification. Structural Analysis IV Chapter 4 Matrix Stiffness Method 102 Dr. C. Caprani Case 3: Loads Applied in Local Member Axis System In this case there is no need for an equivalent beam and the fixed-fixed reactions are worked out as normal: However, there is a complication here since the reactions are now not all in the global axis system. Thus the forces (not moments) must be transformed from the local axis to the global axis system. Thus there is a simple case: If axial forces are neglected, only moments are relevant and so no transformations are required. For generality though we can use the transformations given in the Appendix: {}[]{}'TF=TF (4.5.7) Writing this out in full for clarity, we have: Structural Analysis IV Chapter 4 Matrix Stiffness Method 103 Dr. C. Caprani ''''cossin0000sincos0000001000000cossin0000sincos0000001ijijixixijijiyiyijijiiijijjxjxijijjyjyijijjjFFFFMMFFFFMM = (4.5.8) Structural Analysis IV Chapter 4 Matrix Stiffness Method 104 Dr. C. Caprani 4.5.2 Example 9 Simple Plane Frame Problem For the following frame, determine the rotation of the joints and the bending moment diagram. Neglect axial deformations. Take 32110 kNmEI=. Solution The fact that we can neglect axial deformation makes this problem much simpler. As a consequence, the only possible displacements are the rotations of joints 1 and 2. Since node 3 is fully restricted out, we have the following partially-restricted set of equations in terms of nodal submatrices: =1122FK11K12FK21K22 (4.5.9) If we expand this further, we will be able to restrict out all but the rotational DOFs: Structural Analysis IV Chapter 4 Matrix Stiffness Method 105 Dr. C. Caprani 133361263662MkkMkk = (4.5.10) The member contributions to each of these terms are: 33Term 33 of Member 12k=; 36Term 36 of Member 12k=; 63Term 63 of Member 12k=; 66Term 66 of Member 12 Term 33 of Member 23k=+. Member 12: Looking at equation (4.5.3): 33124410Term 334101EIL=== (4.5.11) 33122210Term 362101EIL=== (4.5.12) 33122210Term 632101EIL=== (4.5.13) 33124410Term 664101EIL=== (4.5.14) Member 23: Again, from equation (4.5.3): Structural Analysis IV Chapter 4 Matrix Stiffness Method 106 Dr. C. Caprani 33234410Term 334101EIL=== (4.5.15) Thus the system equation becomes: 11322421028MM= (4.5.16) Next we must find the net moments applied to each node. There are no directly applied nodal moment loads, so the force vector is, from equation (4.4.13): {}{}=FFF (4.5.17) Member 12 Moments: 22121221221211 kNm12121211 kNm1212wLMwLM===+=== (4.5.18) Member 23 Moments:

Structural Analysis IV Chapter 4 Matrix Stiffness Method 107 Dr. C. Caprani 2322331612 kNm881612 kNm88PLMPLM===+=== (4.5.19) Thus the net nodal loads become: {}{}1211 kNm121MM+====+FFF (4.5.20) And so equation (4.5.16) is thus: 13214210128= (4.5.21) Which is solved to get: ()13328213141110 rads241114104822== (4.5.22) The negative results indicate both rotations are clockwise. Structural Analysis IV Chapter 4 Matrix Stiffness Method 108 Dr. C. Caprani Lastly, we must find the member end forces. Since we only need to draw the bending moment diagram so we need only consider the terms of the member stiffness matrix relating to the moments/rotations (similar to equation (4.4.9)). Also, we must account for the equivalent nodal loads as per equation (4.4.11): Member 12: 1213312214231401010 kNm124114127MM+=+= (4.5.23) Member 23: 232332332421141271010 kNm2240177MM++=+= (4.5.24) Structural Analysis IV Chapter 4 Matrix Stiffness Method 109 Dr. C. Caprani 4.5.3 Example 10 Plane Frame Using Symmetry Problem For the following frame, determine the rotation of the joints, the displacement under the 8 kN point load and the bending moment diagram. Neglect axial deformations. Take 32110 kNmEI=. Solution Again, the fact that we can neglect axial deformation makes this problem much simpler. Since the structure is symmetrical and it is symmetrically loaded, it will not sway. Further, because of this symmetry, we can adopt the following model for analysis: Structural Analysis IV Chapter 4 Matrix Stiffness Method 110 Dr. C. Caprani Notice two things from this model: we have renumber the joints there is no need to retain the old numbering system; The remaining DOFs are 2and 3y - we can restrict all other DOFs. Thus in terms of nodal submatrices we immediately have: 2233=FK11K12FK21K22 (4.5.25) And expanding this further, we restrict out all other restrained DOFs: 266682386883yyMkkFkk = (4.5.26) The member contributions to each of these terms are: 66Term 66 of Member 12 Term 33 of Member 23k=+; 68Term 35 of Member 23k=; 86Term 53 of Member 23k=; 66Term 55 of Member 23k=. Transformation of the member stiffness matrices is not required. Member 12 only has a rotational DOF and Member 23s local member coordinate system is parallel to the global axis coordinate system. Structural Analysis IV Chapter 4 Matrix Stiffness Method 111 Dr. C. Caprani Member 12: From equation (4.5.3): 33124410Term 664101EIL=== (4.5.27) Member 23: Again, from equation (4.5.3): 33234410Term 334101EIL=== (4.5.28) 3322236610Term 356101EIL=== (4.5.29) 3322236610Term 536101EIL=== (4.5.30) 333323121210Term 5512101EIL=== (4.5.31) Thus the system equation becomes: 223338610612yyMF= (4.5.32) The 4 kN point load is directly applied to node 3 so this causes no difficulty. The equivalent nodal loads for the UDL are: Structural Analysis IV Chapter 4 Matrix Stiffness Method 112 Dr. C. Caprani 22121221221211 kNm12121211 kNm1212wLMwLM===+=== (4.5.33) Notice that we do not need to find the vertical reaction forces as there is no sway of the frame and we are neglecting axial deformation. The nodal load vector, from equation (4.4.13) is thus: {}{}{}011404+===FFFF (4.5.34) And so equation (4.5.32) is thus: 233186104612y+= (4.5.35) Which is solved to get: ()()233312610.2rads11106840.43m1081266y+== (4.5.36) Structural Analysis IV Chapter 4 Matrix Stiffness Method 113 Dr. C. Caprani The negative results indicate the rotation is clockwise and the displacement downwards, as may be expected: Lastly then we find the bending moments. For member 12 only the terms relating to bending moments are relevant. Member 12: 1213312214200.61010 kNm1240.21.8MM++=+= (4.5.37) However, for member 23, the downwards deflection also causes moments and so the relevant DOFs are rotation of node i and vertical movement of node j (as calculated earlier). It is easier to see this if we write the member equation in full: Member 23: 23233233460.210100.4326MM = (4.5.38) Structural Analysis IV Chapter 4 Matrix Stiffness Method 114 Dr. C. Caprani Thus: 2322331.8 kNm2.2MM+=+ (4.5.39) And so the BMD is: Structural Analysis IV Chapter 4 Matrix Stiffness Method 115 Dr. C. Caprani 4.5.4 Problems Problem 1 Determine the bending moment diagram and the rotation of joint 2. Take 321010 kNmEI= and neglect axial deformations. (Ans. 256 mrads=) Problem 2 Determine the bending moment diagram and the rotations of joints 1 and 2. Take 322010 kNmEI= and neglect axial deformations. Structural Analysis IV Chapter 4 Matrix Stiffness Method 116 Dr. C. Caprani Problem 3 Determine the bending moment diagram. Take 322010 kNmEI= and neglect axial deformations. Problem 4 Determine the bending moment diagram, the rotation of joint 2, and the horizontal displacements of joints 2 and 3. Take 321010 kNmEI= and neglect axial deformations. (Ans. 2211.33 mrads; 44.0mmx==) Structural Analysis IV Chapter 4 Matrix Stiffness Method 117 Dr. C. Caprani Problem 5 Determine the bending moment diagram. Take 322010 kNmEI= and neglect axial deformations. Problem 6 Determine the bending moment diagram and the vertical displacement of joint 3. Take 324010 kNmEI= and neglect axial deformations. Structural Analysis IV Chapter 4 Matrix Stiffness Method 118 Dr. C. Caprani Problem 7 Determine the bending moment diagram, the rotation of joint 2, and the vertical displacement under the 80 kN point load. Take 321010 kNmEI= and neglect axial deformations. (Ans. 21.071 mrads; 1.93mmy==) Problem 8 For the frame of Problem 1, determine the bending moment diagram and the rotation and vertical displacement of joint 2 if member 24 has 31010 kNEA=. Neglect axial deformation in the other members. (Ans. 20.833 mrads; 0.01mmy==) Structural Analysis IV Chapter 4 Matrix Stiffness Method 119 Dr. C. Caprani Problem 9

Determine the bending moment diagram for the prismatic portal frame. Take 322010 kNmEI= and neglect axial deformations. You may use Excel or Matlab to perform some of the numerical calculations. Check your member stiffness and global stiffness matrices with LinPro, and your final results. Identify and explain discrepancies. Verify with LUSAS. Structural Analysis IV Chapter 4 Matrix Stiffness Method 120 Dr. C. Caprani 4.6 Appendix 4.6.1 Plane Truss Element Stiffness Matrix in Global Coordinates Compatibility Conditions Firstly we indentify the conditions of compatibility of a truss element nodal deflections and the member elongation. We use the following notation for the deflections at each node of the truss: If we now consider the deflected position of the truss member, we have: Structural Analysis IV Chapter 4 Matrix Stiffness Method 121 Dr. C. Caprani Obviously the change in length of the truss will be related to the difference between the nodal deflections. Hence, we define the changes in movements such that an elongation gives positive changes: xjxixyjyiy== Moving the deflected position of node i back to its original location gives: Looking more closely at the triangle of displacements at node j, and remembering that we are assuming small deflectionswhich in this case means the deflected position of the member is still at a rotation of . Hence we have: Structural Analysis IV Chapter 4 Matrix Stiffness Method 122 Dr. C. Caprani And so the elongation is given by: ()()cossincossinxyjxixjyiye=+=+ (4.6.1) Now multiply out and re-order to get: cossincossinixiyjxjye=+++ (4.6.2) If we define a direction vector, , and a displacement vector, , as: cossincossinixiyjxjy == (4.6.3) Then, from (4.6.2) and (4.6.3), we can say: Structural Analysis IV Chapter 4 Matrix Stiffness Method 123 Dr. C. Caprani te= (4.6.4) Thus we have related the end displacements to the elongation of the member which therefore maintain compatibility of displacement. Structural Analysis IV Chapter 4 Matrix Stiffness Method 124 Dr. C. Caprani Virtual Work for Element Forces Looking at the forces acting on the nodes of the bar element, we have: This is a force system in equilibriumthe external nodal loading is in equilibrium with the internal bar force, N. If we consider a pattern of compatible displacements such as the following: Structural Analysis IV Chapter 4 Matrix Stiffness Method 125 Dr. C. Caprani We can apply virtual work to this: 0EIWWW== And we have: Substituting in our notations for the bar element: ixixiyiyjxjxjyjyeNFFFF=+++ (4.6.5) If we define the force vector, F, as: ixiyjxjyFFFF=F (4.6.6) Then we can write (4.6.5) as: teN=F (4.6.7) Set of forces in equilibrium Set of compatible displacements Structural Analysis IV Chapter 4 Matrix Stiffness Method 126 Dr. C. Caprani If we use (4.6.4) we how have: ttN=F (4.6.8) Post-multiply both sides by 1, and noting that N is a scalar, gives: ttN=FN=F (4.6.9) Expanding this out gives: cossincossinixiyjxjyFNFNFNFN = (4.6.10) Which are the equations of equilibrium of the bar element: Structural Analysis IV Chapter 4 Matrix Stiffness Method 127 Dr. C. Caprani Relating Forces to Displacements Lastly, in order to relate the end forces to the element nodal displacements, we note from the constitutive law: EANeL= (4.6.11) And so from (4.6.9) we have: EAeL=F (4.6.12) And using equation (4.6.4) gives: tEAL=F (4.6.13) Hence the term tEAL relates force to displacement and is called the stiffness matrix, k, which is evaluated by multiplying out terms: []cossincossincossincossintEALEAL= =k (4.6.14) And multiplying this out gives: Structural Analysis IV Chapter 4 Matrix Stiffness Method 128 Dr. C. Caprani 22222222coscossincoscossincossinsincossinsincoscossincoscossincossinsincossinsinEAL=k (4.6.15) And for clarity, we write out the final equation in matrix form and in full: =Fk (4.6.16) 22222222coscossincoscossincossinsincossinsincoscossincoscossincossinsincossinsinixixiyiyjxjxjyjyFFEAFLF = (4.6.17) So for example, the stiffness that relates a horizontal force at node j to the horizontal displacement at node j is: 2cosjxjxEAFL= And other relationships can be found similarly. Structural Analysis IV Chapter 4 Matrix Stiffness Method 129 Dr. C. Caprani 4.6.2 Coordinate Transformations Point Transformation We consider the transformation of a single point P from one coordinate axis system xy to another xy: From the diagram, observe: ' coordinate of ' coordinate of OCxPPCyP== (4.6.18) Also: coordinate of coordinate of OBxPPByP== (4.6.19) Structural Analysis IV Chapter 4 Matrix Stiffness Method 130 Dr. C. Caprani Next we can say: OCOAAC=+ (4.6.20) PCPDCD= (4.6.21) Introducing the relevant coordinates: coscosOAOAx== (4.6.22) sinsinACBDPBy=== (4.6.23) Thus equation (4.6.20) becomes: 'cossinOCxxy==+ (4.6.24) Next we have: coscosPDPBy== (4.6.25) sinsinCDABOBx=== (4.6.26) Thus equation (4.6.21) becomes: 'cossinPCyyx== (4.6.27) Writing equations (4.6.24) and (4.6.27) together: 'cossinxxy=+ (4.6.28) Structural Analysis IV Chapter 4 Matrix Stiffness Method 131 Dr. C. Caprani 'sincosyxy=+ (4.6.29) And now in matrix form gives: 'cossin'sincosxxyy= (4.6.30) Often we write: cossincs (4.6.31) To give: ''xcsxyscy= (4.6.32) Lastly, if we generically name the two coordinate systems as q and q, we then have in matrix form: {}[]{}Nq'=Tq (4.6.33) Where []NT is the nodal transformation matrix given by: cossinsincosN=T (4.6.34) Structural Analysis IV Chapter 4 Matrix Stiffness Method 132 Dr. C. Caprani Force/Displacement Transformation Forces and moments can be oriented in the local member axis system or in the global structure axis system. In general we will need to transform the forces and displacements of both nodes, thus we write: ''iiNjjNFFT0=FF0T (4.6.35) And finally we can write: {}[]{}'F=TF (4.6.36) Where: []NNT0T=0T (4.6.37) Similarly for deflections: {}[]{}'=T (4.6.38) A very useful property of the transformation matrix (not derived here) is that it is orthogonal. This means that its transpose is equal to its inverse: [][]1T=TT (4.6.39) Structural Analysis IV Chapter 4 Matrix Stiffness Method 133 Dr. C. Caprani Thus when either a force or displacement is known for the local axis system, it can be found in the global axis system as follows: {}[]{}'TF=TF (4.6.40) {}[]{}'T=T (4.6.41) Structural Analysis IV Chapter 4 Matrix Stiffness Method 134 Dr. C. Caprani Transformations for Plane Truss Element For a plane truss member, there will be x and y components of force at each of its nodes. Using the transformation for a point, we therefore have: ''cossinsincosxxyyFFFF= (4.6.42) And so for a truss element, we have directly from equation (4.6.34): cossinsincosN=T (4.6.43) And so, from equation (4.6.37), []cossin00sincos0000cossin00sincos=T (4.6.44) For clarity, we write the transformation out in full: ''''cossin00sincos0000cossin00sincosixixiyiyjxjxjyjyFFFFFFFF = (4.6.45) Structural Analysis IV Chapter 4 Matrix Stiffness Method 135 Dr. C. Caprani

Transformations for Plane Frame Element Based on the DOF transformation matrix for a plane truss member (in terms of forces), we can determine the transformation matrix for a plane frame node quite easily: cossin0sincos0001exxeyyeFFFFMM= (4.6.46) This is because a moment remains a moment in the plane. So for a single node, and both nodes, we have, respectively: {}[]{}'NF=TF (4.6.47) ''iiNjjNFFT0=FF0T (4.6.48) Thus, we can now write the final transformation matrix for a plane frame element as: cossin0000sincos0000001000000cossin0000sincos0000001=T (4.6.49) Structural Analysis IV Chapter 4 Matrix Stiffness Method 136 Dr. C. Caprani Element Stiffness Matrix Transformation Using the general expression for a single element: eeeF=K (4.6.50) Regardless of member type or the number of dimensions, we will always have some coordinate transform from local to global coordinates such that: eF=TF (4.6.51) e=T (4.6.52) Hence from equation (4.6.50) we can write: eTF=KT (4.6.53) And so the force-displacement relationship in the global axis system is: 1eF=TKT (4.6.54) The term in brackets can now be referred to as the element stiffness matrix in global coordinates. Thus, using equation (4.6.39), we write: eTeGLK=TKT (4.6.55) Structural Analysis IV Chapter 4 Matrix Stiffness Method 137 Dr. C. Caprani 4.6.3 Past Exam Questions Summer 2001 Structural Analysis IV Chapter 4 Matrix Stiffness Method 138 Dr. C. Caprani Summer 2002 Structural Analysis IV Chapter 4 Matrix Stiffness Method 139 Dr. C. Caprani Summer 2004 Structural Analysis IV Chapter 4 Matrix Stiffness Method 140 Dr. C. Caprani Summer 2006 Structural Analysis IV Chapter 4 Matrix Stiffness Method 141 Dr. C. Caprani Sample Paper 2006/7 1. (a) Using the stiffness method, determine the displacement of the joints of the pin-jointed truss shown in Fig. Q1(a), under the load as shown. (10 marks) (b) Members 15 and 16 are added to the truss of Fig. 1(a) to form the truss shown in Fig. Q1(b). However, member 16 is found to be 15 mm too long and is forced into place. The same load of 100 kN is again to be applied. Using the stiffness method, determine the displacement of the joints and the force in member 16. (15 marks) Take EA = 2104 kN and the cross sectional areas of the members as: Members 12, 13, and 16: 3A; Diagonal Members 14 and 15: 32A. Ans. (a) 25 kN; 75 kN; 252 kN; (b) 502 kN; 156.1 kN; 60.4 kN; -1002 kN; -502 kN FIG. Q1(a) FIG. Q1(b) Structural Analysis IV Chapter 4 Matrix Stiffness Method 142 Dr. C. Caprani Semester 1 2006/7 1. Using the stiffness method, determine the displacement of the joints and the forces in the members of the pin-jointed truss shown in Fig. Q1, allowing for: (i) The 100 kN vertical load as shown, and; (ii) A lack of fit of member 12, which was found to be 5 mm too short upon arrival at site, and which was then forced into place. Take EA = 2104 kN and the cross sectional areas of the members as: Members 12: 3A; Members 13 and 14: 32A. (25 marks) Ans. 50 kN; -752 kN; -252 kN. Structural Analysis IV Chapter 4 Matrix Stiffness Method 143 Dr. C. Caprani Semester 1 Repeat 2006/7 1. Using the stiffness method, determine the displacement of the joints and the forces in the members of the pin-jointed truss shown in Fig. Q1, allowing for: (ii) The 100 kN vertical load as shown, and; (ii) A lack of fit of member 12, which was found to be 102 mm too short upon arrival at site, and which was then forced into place. Take EA = 2104 kN and the cross sectional areas of all members as 32A. (25 marks) Ans. 1252 kN; -502 kN; -752 kN. FIG. Q1 Structural Analysis IV Chapter 4 Matrix Stiffness Method 144 Dr. C. Caprani Semester 1 2007/8 QUESTION 1 Using the stiffness method, determine the displacement of the joints and the forces in the members of the pin-jointed truss shown in Fig. Q1, allowing for: (i) The 100 kN load as shown, and; (ii) A lack of fit of member 13, which was found to be 4 mm too short upon arrival at site, and which was then forced into place; (iii) A temperature rise of 20 C in member 24. Note: Take 312510 kNEA=and the coefficient of thermal expansion -5-1210 C=. (25 marks) Ans. -55.7 kN; +69.7 kN; -55.3 kN. FIG. Q1 Structural Analysis IV Chapter 4 Matrix Stiffness Method 145 Dr. C. Caprani Semester 1 2008/9 QUESTION 1 Using the stiffness method, for the continuous beam shown in Fig. Q1, do the following: (i) determine the displacement of the joints; (ii) draw the bending moment diagram; (iii) determine the reactions. Note: Take 321010 kNmEI=. (25 marks) Ans. 98.7 kNm; 102.6 kNm; 60.9 kNm. FIG. Q1 Structural Analysis IV Chapter 4 Matrix Stiffness Method 146 Dr. C. Caprani Semester 1 2009/10 QUESTION 1 Using the stiffness method, for the frame shown in Fig. Q1, do the following: (i) determine the vertical displacement at the centre of the middle span; (ii) draw the bending moment diagram; (iii) determine the reactions. Note: Take 321010 kNmEI=. (25 marks) Ans. -11.88 mm FIG. Q1 Structural Analysis IV Chapter 4 Matrix Stiffness Method 147 Dr. C. Caprani Semester 1 2010/11 QUESTION 1 Using the stiffness method, for the truss shown in Fig. Q1: (a) Determine: (i) The displacement of the joints; (ii) The forces in the members; (iii) The deflected shape of the structure. (15 marks) (b) Determine the lack of fit of member 23, which would result in no horizontal displacement of joint 2 under the 100 kN load shown. (10 marks) Note: Take 2200kN/mmE=for all members. Area for member 12 is 240010mmA=.

 Area for member 23 is 2960mmA=. Area for member 13 is 26402mmA=. Ans. 68.7 kN, 34.6 kN, 49.3 kN; 5.21 mm. FIG. Q1 Structural Analysis IV Chapter 4 Matrix Stiffness Method 148 Dr. C. Caprani 4.7 References Alberty, J., Carstensen, C. and Funken, S.A. (1999), Remarks around 50 lines of Matlab: short finite element implementation, Numerical Algorithms, 20, pp. 117-137, available at: web address. Brown, D.K. (1990), An Introduction to the Finite Element Method using Basic Programs, 2nd Edn., Taylor and Francis, London. Carroll, W.F. (1999), A Primer for Finite Elements in Elastic Structures, John Wiley & Sons, New York. Coates, R.C., Coutie, M.G. and Kong, F.K. (1987), Structural Analysis, Chapman and Hall. Davies, G.A.O. (1982), Virtual Work in Structural Analysis, John Wiley & Sons. Desai, C.S. and Abel, J.F. (1972), Introduction to the Finite Element Method: A Numerical Method for Engineering Analysis, Van Nostrand Reinhold, New York. Ghali, A. and Neville, A.M. (1997), Structural Analysis A unified classical and matrix approach, 4th edn., E&FN Spon, London. McGuire, W., Gallagher, R.H. and Ziemian, R.D. (2000), Matrix Structural Analysis, 2nd Edn., John Wiley & Sons. Meek, J.L. (1991), Computer Methods in Structural Analysis, 2nd Edn., E&FN Spon. Przemieniecki, J.S. (1968), Theory of Matrix Structural Analysis, McGraw-Hill, New York. Sack, R.L. (1989), Matrix Structural Analysis, Waveland Press, Prospect Heights, Illinois, US. Thompson, F., and Haywood, G.G. (1986), Structural Analysis Using Virtual Work, Chapman and Hall. Weaver, W. and Gere, J.M (1990), Matrix Analysis of Framed Structures, 3rd Edn., Van Nostrand Reinhold, New York.