MATRIX METHOD OF ANALYSIS OF BEAMS & FRAMES

1.1 Introduction
For a two-dimensional frame element each node has the capability of
translating in two directions and rotating about one axis.

Thus each node of plane frame has three degrees of freedom. Similarly
three structure forces (vertical force, shear force and bending
moment) act at a node.
For a two-dimensional beam element each node has two degrees of
freedom (one rotation and one translation).

Similarly two structure forces (vertical force and a bending moment)

act at a node.
In this module we will consider following cases only
i) Beams and frames subjected to bending moment
ii) Beams and frames subjected to shear force and bending moment
iii) Beams and frames subjected to shear force, bending moment and
axial forces
 Following steps provide a procedure for the determination of unknown
deformation, support reactions and element forces (axial forces, shear
forces and bending moment) using the force displacement relationship
(W=K). The same procedure applies both to determinate and
indeterminate structures.

1.2 PROCEDURE TO ANALYSE BEAMS AND FRAMES USING DIRECT

STIFFNESS METHOD

1.2.1. Identifying the components of the structural system or labeling the

Structures & Elements.
As a first step, divide the structure into some finite number of elements
by defining nodes or joints. Nodes may be points of supports, points of
concentrated loads, corners or bends or the points where the internal
forces or displacements are to be determined. Each element extends
between the nodes and is identified by arbitrary numbers (1,2,3).
a) Structure Forces and Deformations
At a node structure forces are assumed to act in their positive direction.
The positive direction of the forces is to the right and upward and
positive moments and rotations are clockwise. Start numbering the
known forces first and then the unknown forces.
Structures Forces not acting at the joints
Stiffness method is applicable to structures with structure forces acting at
nodes only. However if the structure is subjected to concentrated loads
which are not acting at the joints or nodal points or if it is subjected to
distributed loads then equivalent joint loads are calculated using the
following procedure.
i) All the joints are considered to be fixed. [Figure-5(b)]
ii) Fixed End Moments (FEM’s) and Reactions are calculated using the
formulae given in the table as annex-I
iii) If more than one FEM and reactions are present then the net FEM and
Reaction is calculated. This is done by algebric summation. [Figure-5(c)]
Equivalent structure forces or loads at the joints/nodes are obtained by
reversing the signs of net FEM’s & Reactions. [Figure-5(d)]
or
Reversing the signs of Net FEM’s or reaction gives the equivalent structure
loads on the joints/nodes.
v) Equivalent element forces are calculated from these equivalent structure
loads using equation 5.2, 5.3 and 5.4 as explained in article number 5.
vi) Final element forces are obtained by the following equation
w = wE + wF
where
wE = Equivalent element forces
wF = Element forces while considering the elements to be fixed.

A B C
(a) Actual Structure

M FAB M FBA M FBC M FCB

(b) Fixed End Moments

& Reactions (wf)

R1 R2 R3 R4

( M FBA+ M FBC
M FAB M FCB
(c) Net Fixed End Moments
& Reactions

R1 ( R2 + R3 ) R4

( M FBA+ M FBC
M FAB M FCB
(d) Equivalent Joint Loads (WE)

R1 ( R2 + R3 ) R4

Fig.5.1
 b) Element Forces
Specify the near and far end of each element. Draw free body diagram of
each member showing its local co-ordinate and element forces. Arbitrary
numbers can identify all the element forces of the structure.
1.2.2. Calculation of Structure Stiffness Matrices of the members
Properties of each element like its length, cross-sectional area, moment of
inertia, direction cosines, and numbers identifying the structure forces
acting at its near and far ends can be systematically tabulated. Using
values of these parameters in equation 4.53 structure stiffness matrix of
each member can be formed by applying equation 4.54,4.55 and 4.56
depending upon the situation.
1.2.3. Formation of Structure Stiffness Matrix of the Entire Structure
According to the procedure discussed in chapter 3 article 3.1.3 stiffness
matrix [K] of the entire structure is formed.
1.2.4. Calculation of Unknown Structure Forces and Displacements
Following relation expresses the force-displacement relationship of the
structure in the global coordinate system:
[W] = [K] []
Where
[W] is the structure load vector
[K] is the structure stiffness matrix
[] is the displacement vector
Partitioning the above equation into known and unknown Whereportions as
shown below: Wk = known loads
Wk   K11   K12   u  Wu = unknown loads
 
 Wu   K21   K22   k  u = unknown
deformation
k = known
Expansion of the above leads to the following equation. deformation
[Wk] = [K11] [u] + [K12] [k] --------------------- (A)
[Wu] = [K21] [u] + K22 k --------------------- (B)
As k = 0
So, unknown structure displacement [u] can be calculated by
solving the relation (A), which takes the following form.
[u] = [K11]-1 [Wk] ---------------------- (C)
Unknown structure force i.e. reactions can be calculated by solving equation
B which takes the following form
Wu = [K21] [u] ---------------------- (D)
1.2.5. Calculation of element forces:
Finally element forces at the end of the member are computed using the
following equation (E).
w = k
 = T
w = kT --------------- (E)
where [w] is the element force vector
[kT] is the product of [k] and [T] matrices of the element
where [w] is the element force vector
[kT] is the product of [k] and [T] matrices of the element
[] is the structure displacement vector for the element.
Following are the [kT] matrices for different elements used in the
subsequent examples.
Case-I Beam/frame subjected to bending moment only

 4 EI 2 EI 
 L L 
kT    2 EI 4 EI 
 
 L L 
Case-II Beams subjected to Shear Forces & Bending Moment

 4 EI 2 EI  6 EI 6 EI 
 L L L2 L2 
 2 EI 4 EI  6 EI 6 EI 
 
kT     6LEI L
 6 EI
L2
12 EI
L2 
 12 EI 

 L2 L2 L3 L3 
 6 EI 6 EI  12 EI 12 EI 
 
 L2 L2 L3 L3 

Case-IIIFor frame element subjected to axial force, shear force and bending
moment.  6 EI .l  6 EI .m
4 EI 2 EI 6 EI .l 6 EI .m 
 L L L 2
L2
L 2
L 2 
 2 EI 4 EI  6 EI .l 6 EI .l 6 EI .m  6 EI .m 
 
 L L L2 L2 L2 L2 
  6 EI  6 EI  12 EI .l   12 EI .l    12 EI .m    12 EI .m 
 L2        
L2  L 
3
 L 
3
 L3   L3 
kT m   6 EI 6 EI  12 EI .l   12 EI .l    12 EI .m    12 EI .m 
        
 L2 L2  L 
3
 L 
3
 L3   L3 
  AE   AE   AE.l   AE.l 
 0 0  m  m    
  L   L   L   L 
  AE   AE   AE.l   AE.l 
 0 0  m  m    
  L   L   L   L 
Plotting bending moment and shearing force diagrams:

Bending moment and shearing force diagrams of the structure

are plotted using the element forces calculated in step-5.
Examples on the next pages have been solved using the
above-mentioned procedure.
1.3 ILLUSTRATIVE EXAMPLES
EXAMPLE 1.1 Solve the beam shown in the figure using stiffness method.
Solution
Numbering element and structure forces

10k

10k
2kip/ft

5' 5' 15' 6' 6'

W1 , 1 W2 , 2 W3 , 3 W4 , 4

Structure loads and deformations

w1, 1 w2,2 w3 , 3 w4 ,4 w5 , 5 w6 ,6

1 2 3

Element forces and deformation

Calculating fixed end moments and equivalent joint loads

  12.5
 12.5
  10k
 37.5 -12.5k' 10k 12.5k' -39 39
2k/ft

FEF ' s  
2k/ft


 37.5 -37.5k' 37.5k'

  39
  Fixed end moments
 39

W1F   12.5
W    25
W F  Net Fixed End Moments   2 F    
W3 F    1.5
   
W
 4F   39 

-12.5 -25 -1.5 39

1 2 3

Net fixed end moment

Equivalent joint loads are :
W1E  12.5
W   25 12.5 25 1.5 -39

W K   2E    
W3 E   1.5 1
    2 3
W
 4E    39  Equivalent joint Moments

Calculating structure stiffness matrices of element

Following table lists the properties needed to form structure stiffness
matrices of elements.
Member Length (ft) I J

1 10 1 2
2 15 2 3
3 12 3 4
Structure stiffness matrices are:

1 2 1 2

 4 2 1  0 .4 0 .2  1
K 1  EI  2 4  EI  
10  2  0 . 2 0 . 4 2
2 3 2 3

EI  4 2 2 0.267 0.13  2
K 2   2 4  EI  
15  3  0 . 13 0 .267 3

3 4 3 4

EI 4 2 3  0.34 0.167  3
K 3     EI  
12 2 4 4  0 . 167 0 . 34 4
Forming structure stiffness matrix of the entire structure
Using relation [K] = [K]1 + [K]2 + [K]3 structure stiffness matrix of
the entire structure is:
 1 2 3 4
0.4 0.2 0 0 1
0.2 0.4  0.267 0 . 13 0 2
K   EI  
 0 0.13 0.267  0.34 0.167 3
 
 0 0 0 . 167 0. 33 4

1 2 3 4
0.4 0.2 0 0 1
0.2 0.667 0.13 0 2
K   EI 
0 0.13 0.597 0.167 3
 
 0 0 0.167 0.33 4
Finding unknown deformations
Unknown deformations are obtained by using the following equation
[D] = [K]-1 [W]
 1
 1  0.4 0.2 0 0 12.5 
     
     
  0.2
 2  0.667 0.13 0

 25 
 
  1    
  EI    
 3   0 0.13 0.597 0.167  1.5 
     
     
     
 4   0 0 0.167 0.33   39

 1   2.97  0.94 0.24  0.123 12.5 

     
     
    0.94
 2  1.88  0.49  0.25

 25 
 
  1    
  EI    
 3   0.24  0.49 2.08  1.05  1.5 
     
     
     
 4    0.123  0.25  1.05 3.56   39

 1   18.8
   
   
  
 2  24.85

  1  
  EI  
 3   35
   
   
   

 4   132.736
Calculating element forces
Using relation [w]=[kT][D] we get

 w1E  0.4 0.2 0 0  12.5

     
     
w  0.2
 2 E   0.4 0 0  18.8  13.7
 
       
       
 w3 E   0 0.267 0.13 
0  24.85   11.325
    1  
   EI      
      EI  
w
 4E   0 0.13 0.267 0  35  12.67 
       
       
w   0  
0 0.34 0.167 - 132.74   10.27
 5E
    
     
     
 w6 E   0 0 0.167 0.34   39.88
Actual forces on the structure are obtained by superimposing the fixed end
reactions on above calculated forces.

 w1   w1F   w1E    12.5   12.5   0 

 w   w   w   12.5   13.7   26.2 
 2   2F   2E       
 w3   w3 F   w3 E   37.5  11 .325   26.2
      
w
  4 w 4 F   w 4 E   37.5   12. 67   50. 1 
 w5   w5 F   w5 E    39    10.27    50.1
           
 w6   w6 F   w6 E   39   39.08  0 

 w 1   w 1F   w 1E    12.5   12.5   0 
 w   w   w   12.5   13.7   26.2 
 2   2F   2E       
 w 3   w 3F   w 3E   37.5  11 .325   26.2
      
w w w
 4   4F   4E   37. 5   12 . 67   50. 1 
 w 5   w 5 F   w 5 E    39    10.27    50.1
           
 6   6 F   6 E  
w w w 39    39 . 08  0 
EXAMPLE 1.2
Analyse the frame shown in the figure using stiffness method.
Solution

W2 ,2 2kip/ft 50k'

W1 , 1
Numbering element forces and deformations
10'

W3 , 3 20'

Structure forces and deformations

w1 , 1 w2 ,2 w3 ,3

2
Element forces and deformations

w4 ,4
Finding Fixed end moments and equivalent structure load

2kip/ft
 w1F   66.67 
 w   66.67 
FEM ' s    2 F    
 w3 F   0 
   
w
 4F   0 
W1F   66.67  66.67k'

W F  Net fixed end moments  W2 F    66.67

W3 F   0  Net fixed end
moment

-16.67k'
Equivalent Joint Loads

W 1E   16.67
Equivalent joint
moment
Calculating structure stiffness matrices of elements.
Following table shows the properties of the elements required to form structure
stiffness matrices of elements.

Members Length (ft) i j

1 20 2 1
2 10 1 3

Structure stiffness matrices of both elements are:

2 1 2 1
EI 4 2 2 0.2 0.1 2
K 1     EI  1
20 2 4 1  0.1 0 .2 
1 3 1 3
EI 4 2 1  0 .4 0 .2  1
K 2     EI  
10 2 4 3 0.2 0.4 3
Forming structure stiffness matrix for the entire structure.
Structure stiffness matrix for the entire frame is obtained using relation
[K] = [K]1 + [K]2

1 2 3
0.6 0.1 0.2 1
 
K   EI  0.1 0.2 0 2
 
0.2 0 0.4 3

finding unknown deformation

Unknown deformation can be calculated by using equation
[]u = [K11]-1 [W]k

This can be done by partitioning the structure stiffness matrix into known
and unknown deformations and forces
Wk   K 11 K 12   u 
   
Wu   K 21 K 22   k 

[u] = [K11]-1[Wu]

16.67 0.6 0.1 0.2 1 

      1
 W2 E   EI  0.1 0.2 0   0  EI
 W3E  0.2 0 0.4  0 

1  1   27.78
1     16.667 
EI  0.6  EI

Finding Unknown Reactions

Unknown reactions can be calculated using the following equation.

W u  K 21 u
 W2 E   0.1
W   EI 0.21 / EI  27.78
 3E   
W2 E    2.78 
W    5.556
 3E   
W=WF+WE

W2   66.67   2.78   69.45

W    0    5.556    5.56 
 3      

Calculating element forces(Moments)

Using relation
w  kT 
 w1E   0 .2 0.1 0   2.78 
w   0.1  0 
 2 E   EI  0.2 0   

1   5.56 

- 27.78 
 w3 E  0 0 .4 0 .2   EI  11 .11
     0   
 w 4 E  0 0 .2 0 .4    5.56 
 OR

 w1E  0.2 0.1  0   2.78

w   EI  0.1 0.2  27.781 / EI    5.56
 2E      

 w3 E  O.4 0.2  27.78  11 .11

w   EI  0.2 0.4  0  1 / EI    5.56 
 4E      

Actual forces acting on the structure can be found by superimposing the

fixed end reactions on the forces calculated above.

w  wF  wE
 w1    2.78   66.667  69.45
 w    5.56   66.667   61.11 
 2     
 w3   11 .11  0    11 .11 
       
w
 4   5.56   0    5.56 
69.45 61.11 11.11
11.11

1
61.11
2
Final element forces BMD
69.45
5.56

5.56
 P

Pab 2 Pa 2 b
a b

MA
A B
MB MA   2
MB 
L L2
L

P
L/2 L/2

A B Pab 2 Pa 2 b
MA MB MA   MB 
L2 L2
L

A w B

MA  -
wL2 wL2
MB 
MA MB

L
12 12

L/2
A w B
5 11
MA MB MA  - wL2 MB  wL2
192 192
L

A w B
MA wL2 wL2
MB MA  - MB 
L
30 20

L/2 L/2
w
A B 5wL2 5wL2
MA MB
MA  - MB 
96 96
L

a b Mb  3a 
M
MA  -  - 1
A B L  L 
MA MB Ma  3b 
MB   - 1
L L L 
1 ) What is transformation matrix Explain with suitable
example

Transformation matrix is used to transform nodal

displacements and forces from local to global coordinate
system and vice versa

F’ = T.F

Example of transforming nodal displacement from

coordinate axes inclined to Ø is given by T(Ø)