Bazant,

Z.P. (1966).

Papp7leC:rMeehanics Surveys,
453-464.

"Analysis of framed structures,

ed. by

Abramson et al. (Appl. Mech. Reviews), Spartan Books, Washington, D.C.,

ANALYSIS OF FRAMED STRUCTURES

Z.

PART

BAiANT and

Z.

simple frame, each elastic equation can contain only

one unknown if the components 0, internal forces in

a section or of reactions are transferred to the elastic

Framed structures are systems of bars with rigid

joints. The rigidity of joints causes the bending of

center of the frame.

bars with equal rotation of all bars connected ill a

joint.

P. BAiANT, 1/1

The analysis of continuous beams with unyielding

Trussed girders, with (actual or supposed)

supports successfully uses fixed points, introduced

(4). This method of analysis can be

hinged connections at the joints are determinate or

by C. Culmann

overdeterminate in form, whereas framed structures

applied also to framed structures (5).

(without diagonals) having hinged joints are geo

member in the system is loaded, the bending mo

If only one

metrically indeterminte. With rigid joints, the bars

ments in each unloaded member are given by a

in plane systems are acted on by axial forces, bend

straight line which meets the axis of the member in a

fixed point. Calculating in advance the fixed points

ing moments, and shearing forces. This greatly in

creases the number of unknowns, framed structures

in all members, we can determine the bending mo

being many times statically indeterminate.

ments in all members for only one member loaded;

Exact

solution with usual methods is complicated and la

from bending moments.,

borious.

shearing and axial forces. This method is advan

tageous for a frame whose joints are immovable, as

The greatest possible simplification of

analysis for practical purposes is the aim of all new

publications.

is the case for a symmetrical and symmetrically

As in the case of all hyperstatic systems, framed

loaded frame or for a frame whose supports pre

vent displacement of joints for every . loading. If the

structures can be analyzed by Catigliano's method of

least work (I). The statically indeterminate quauti

joints move, equilibrium cannot be calculated as in

ties are the components of reactions or internal

forces (axial and shearing forces, bending moments)

the case of immovable joints. It is then necessary to

put the system in equilibrium by suppressing the

in chosen sections.

Expressing by these unknowns

forces obtained in some joints as the resultants of

the components of internal forces in all sections of

the bars, we derive by the theorem of least work as

internal forces; a new calculation must be made.

Instead of stress or reaction components, the

many equations as there are unknowns.

analysis of frames can use as unknowns

We then

com

This

ponents of deformation; e.g., joint and bar rota

method of analysis is simple if each equation con

tions. The number of these unknowns is generally

,tains only a small number of unknowns.

much smaller as compared to the number of stati

have a great number of linear equations.

For this

purpose, it is possible to choose the sections con

cally indeterminate components of internal or ex

taining hyperstatic components and their directions

ternal forces; this substantially facilitates the cal

so that each hyperstatic quantity produces deforma

culations.

The

origin

of

this

slope-deflection

method can be traced to J. Cl. Maxwell (6). For

the solution of secondary stresses in trusses, this

tion in the least number of directions, least affects

the other unknowns (2,3). For a closed or fixed-end

Part I of the present contribution was originally published in the March 1955 issue of AMR by the late Z. BaZant. Part II was pre
pared by his grandson, Z. P. BaZant, III.

451

452

MECHANICS OF SOLIDS

method was applied by H. Manderla (7), E. Wink

ler (8) and O. Mohr (9). For frames, this method
was systematically elaborated by A. Ostenfeld (10).
Slope-deflection method can be applied for simul
taneous loading of many or all members.
The basic equations for calculation by the slope
deflection method are joint equations (following
from equilibrium of bending moments in joints) and
bent equations (expressing the equilibrium of hori
zontal components of external and internal forces
for a section through one story). With respect to
unknown angles, all these equations are linear
equations with a large number of unknowns. Pre
cise solution is possible by successive substitution,
or by Gauss' method of elimination, for a determi
nant symmetrical to the diagonal by shortened
elimination (II). A great number of equations can
be solved by successive approximation or iteration.
For frames with many stories and bays, we can
choose a simpler system as a part of the given struc
ture and calculate from it the original system.
The laborious solution of the slope-deflection
equations can be avoided by the method of moment
distribution. which calculates successively, and very
simply, the end moments in members. The method
is due to H. Cross (12,13). Similar to the method of
fixed points, this method calculates directly the dis
tribution of resultant (unbalanced) moments at the
joints in the members meeting at a joint, as well as
their carry-over to the other end of each member.
After determining the distribution and carry-over
factors, end moments in members can be calculated
directly by successive approximation, which allows
an exactness to any desired degree. The method has
the advantage that errors of calculation can be im
proved by further distribution without correcting
the previous solution. This method is very simple in
principle. It solves no equations, and all computa
tions consist of the simplest arithmetic. Especially
simple is the analysis of frames whose joints do not
move. But also for moving joints, this method is
advantageous if moment distribution is combined
with the distribution of forces acting in horizontal
sections through stories (14). Another advantage is
,that bending moments necessary for proportioning
of sections can be derived directly.
Another method of frame analysis uses deforma
tion of the system, determined by joint rotations, as
unknown quantities. This method first calculates
primary joint rotations, caused by the loading of
members connected at the joint, and distributes
them to next joints as secondary rotations which
add to the primary. Repeating this solution, any

desired accuracy can be achieved. This method,

called distribution of deformation. was first applied
by G. A. Maney and W. M. Wilson (15) and was
improved in later publications (e.g., 16). The late
C. Kloucek occupied himself in detail with this
method (17,18). In many cases the method gives
precise results at once, without repeated calcula
tions.
Derived originally for the calculation of hyper
static pin-joined trusses, the relaxation method was
also used by its author, R. V. Southwell (19), for
analysis of continuous beams and frames; for con
tinuous beams, the method is identical with the
older moment distribution method. The relaxation
method can be applied analogic? fly to other physi
cal problems (electrical networks, vibrations, elastic
stability, stiffened suspension bridges, etc.).
The foregoing methods are good for any frame
system. There are also methods for special cases.
One of them is the method of four moment equations
(20), using bending moments as hyperstatic quanti
ties. This method solves simpler systems: contin
uous frames of one story and one-bay multistory
frames.
Successive approximation methods also include
the panel method, starting from a quadrilateral panel
as an element of the structure (21). It has been ap
plied to one-bay frames with several stories, having
vertical or inclined columns; also for the Vierendeel
girder (22) and for the complicated case of a hinge
less spandrel-braced arch (23).
In simple cases (continuous beams and frames,
closed frames) a quick calculation is given by the
method of relative flexure factors (24,25).
This
method determines very simply the tangents to the
elastic line in joints of the system loaded in any
member with bending moment at the joint. Thus is
derived the elastic line of the system and the in
fluence line of end-moment in a member.
All the foregoing methods concern plane frames.
There is an abundant literature dealing with them
in many languages (Czech, Italian, Polish, Russian,
etc). Their theory is very advanced, as concerns
the numerous methods and their practical applica
bility. The analysis of space frames is much more
complicated. I t is necessary to consider in every
joint components of internal forces in three perpen
dicular directions, and also moments (bending or
torsional) relative to all three axes. The number of
components of deformation increases in the same
proportion. The literature about space frames is
comparatively rare. See e.g., Richards (26) and
Baiant (27).

ANALYSIS OF FRAMED STRUCTURES-BlliNT AND BAlANT

PART II
In the eleven years since Part I was written,
the frame analysis has been going through a rapid
development and has reached remarkable achieve
ments in general formulation as well as in solutions
of new practical problems. The impetus behind this
development has been the broad introduction of
electronic computers which have enormously in
creased the speed of computations as well as the
possibilities of solving more complex and intricate
structures. On the other hand, the use of computers
required the creation of more general and common
formulations. The latter aim has been achieved by
the introduction of 1IfQtrix algebra in the analysis
(special survey, see Argyris (28 which allows an ex
cellent systemization and simplification of calcula
tions and, at the same time exceptional conciseness
and transparency of mathematical procedure.
Owing to the general character of solutions the
term of framed structures has been usually taken in
a more general way. It is defined as a complex
structure-a finite assembly of mutually connected
one-dimensional members, i.e., bars, which are sub
jected not only to normal forces but also to bending
or torsional moments. In this light, the notion of
framed structures includes not only the rigidly
jointed frames in their classical sense, but also
frames with pin-joints, semi-rigid joints and other
connections, arches, grid frameworks, etc., all of
which can be analyzed in general by the same
methods.
The use of electronic computers with the ':e!p of

453

method, action method or compatibility method.

The displacement method represents a generaliza
tion of the slope-deftection method (Part I) and is
called also the equilibrium method or stiffness (co
efficient) matrix method. The principle of the force
[displacement) method is in using internal forces
[displacements) as unknowns.

Most generally they

were presented in Argyris' articles (29,30). Let us

note that a generalized mixed method can also be
introduced, in which simultaneously internal forces
and displacements are taken as unknowns (28,31).
The force and displacement methods represent
two dually corresponding techniques. Namely, they
are formally identified as forces (and moments) in
one method are replaced by the

displacements

(rotations, deflections) in the othr 'l1ethod. Simul

taneously, the compatibility (kinp 'atic) conditions
correspond to the equilibrium conditions and so
forth.
Let us demonstrate the procedure of both methods
(dual terms are written in brackets). The solution by
the force [displacement] method is based on two
rectangular matrices. The elements of the first one
are the internal forces [displacements] which stati
cally [kinematically) correspond to given external
loads [prescribed displacements) in the chosen pri1IfQry [or basic) static [kinematic] system, i.e., in the
frame in which the statically [kinematically] indeter
minate quantities, called also redundants, are taken
as zero.

The elements of the second one are the

internal forces (displacements) which statically

[kinematically] correspond to unit values of individ
ual statically [kinematically] indeterminate quanti

matrix algebra allows the solution of many stati

cally indeterminate structures leading to a very large,

ties in the primary system without external loads

but not unlimited, system of equations.

second matrix, the diagonal flexibility [st{ffness 1

matrix for the chosen primary static {kinematic]

However,
the benefit from electronic computers would be
small if their use were limited only to the solution
of these equations. The determination of their coef
ficients from initial data, characterizing the struc
ture as well as the derivation of all internal forces
and displacements from solved unknowns,. repre
sents an oft laborious task and therefore it is neces

and prescribed displacements. With the help of the

system is derived. Using further the first matrix and

the column matrix of prescribed external loads
[displacements}, the column matrix of load terms is
found. The matrix equation for the unknown stat
ically [kinematically) indeterminate quantities fol

sary to express all calculations in matrix algebra.

lows then from the compatibility (equilibrium] con

ditions applied to the chosen primary system. It is

In matrix analysis of frames the parallel to all

methods described in Part I may be given. How
ever, the importance of the two basic methods-the

terms is equal to the product of the diagonal ftexi

bility [stiffness] matrix of the primary system and

simply obtained that the column matrix of load

force method and the displacement method- has

the column matrix of unknown statically [kinemati

been increasing, while the help of electronic com

puters enables the solution of considerably larger

cally] indeterminate quantities.

then given by inversion of the flexibility [stiffness]

systems of equations. The force method is also

called the method of least work (Part I), flexibility
(influence) coefficient method, flexibility matrix

matrix of the primary system.

Their solution is

All the internal

forces [displacements) are obtained by multiplying
the column matrix of indeterminate quantities with

454

MECHANICS OF SOLIDS

the second rectangular matrix, mentioned above,

and adding the first rectangular matrix. It is clear
that all needed matrix operations are the ele
mentary one.
The equations for statically {kinematically] in
determinate quantities may be also derived from
dual energy theorems (e.g., Argyris (29), and Mathe
son (36, which select from all statically (kine
matically) possible states of stress (strain] of the
frame this one which fulfils the compatibility
[equilibrium) conditions. For this purpose may be
used the second Castigliano theorem for minimum
of the complementary potential energy which is the
consequence of the principle of complementary
virtual work (or of virtual forces) [the first Castig
liano theorem for minimum of the potential energy,
which is the consequence of the principle of virtual
work (or virtual displacements). In the case of
linearly elastic material the work and energy is
equal to the complementary one. Different energy
quantities are here introduced in order to give
validity to the corresponding theorems in a general
case of physically nonlinear material.
The determination of the flexibility [stWness)
coefficients and of load terms may be done, most
generally. with the help of the principle of comple
mentary virtual works [of virtual works] (unit load
method, Mohr's dummy load method [unit displace
ment method) (29,30,34. Here, it should be noted
that if the primary statical system is chosen as
statically indeterminate, the virtual forces, inte
grated in product with the deformations of the re
dundant primary system in order to obtain ;t:, J;s
placements (ftexibilities, load terms), can be taken
on a statically determinate primary system. This
simplifies the calculation. This statement (e.g.,
Beyer (32), Dasek (33, denoted as reduction
theorem, follows directly from the general form of
the principle of complementary virtual work (29).
In matrix solution there is often used the direct
determination of ftexibilities and stiffnesses by
superposition and transformation of flexibilities or
stWnesses of single members and parts (along cer
tain series of bars) according to relations corre
sponding to the transformation of coordinate sys
tems (e.g., Hall (34), Shore (35. The stiffness
matrix of a member is there the inverse of its flexi
bility matrix, but only when the column matrices of
statically and kinematically indeterminate quantities
mutually correspond.
If bar elongations can be neglected, it is also
possible to determine the flexibilities and load terms
in a similar way as in Mohr's well-known theorem

of conjugate beam (36,37). This theorem is used in

the moment-area method (37,38), or method of
elastic weights (loads) or in string polygon analysis
(39), which are not usually presented as a special
derivation of force method equation, in spite of
being so. Further extent of this method is the
method of fictional equilibrium conditions (40)
and the conjugate frame method (41). General form
of this method was developed by the author in (42)
where there was derived the systematic way of de
termining the conjugate frame to any frame by re
placing all supports and internal connections of bars
by their conjugates. This method is based on the
force-deformation analogy, i.e., on analogy of
vectorial equation for the course of internal forces
in the bar, reSUlting from equilibrium, and of
vectorial equation of deflection line of ... u, resulting
from compatibility. It determines the displacement
vector as an internal force vector on the conjugate
frame produced by conjugate loads which are equal
to vectors of curvature change of the actual frame
caused by bending. Thus, any deformation of the
frame, e.g., flexibility of the primary system, can be
obtained with the help of equilibrium conditions.
Furthermore, the compatibility conditions of the
actual n-time statically indeterminate frame can
also be replaced by the equilibrium conditions of the
n-times kinematically indeterminate conjugate
frame. This procedure is advantageous for frames
with one (or two) story or bay and is also suitable
for transversely curved beams.
Besides physical characteristics of material and
geometric data about spatial position and dimen
sions of each member, the information about inter
connection of members, having in principle a topo
logical character, are necessary for the derivation of
flexibility or stiffness matrix and of load terms.
For an intricately interconnected frame the use of
topology (43) may be therefore advantageous and it
can give a more general approach to solution pro
cedure (e.g. (44-49, Interest about this subject in
recent years has grown and remains high. Using the
analogy with topologIcal network theory, the force
and displacement methods were presented as
counterparts of mesh and node-methods (49) for
network analysis, in which the interconnection of
members is expressed by branch-mesh and branch
node matrices. The use of the linear graph theory
for rigidly jointed frames and of the system theory
was made in (46). Also, statical indeterminacy and
stable form of structure was successfully studied
with the help of these methods (48). In application
to the structural analysis, Kron derived for net-

ANALYSIS OF FRAMED STRUCTURES-BAiANT AND BAlANT

works the technique of piecewise analysis by tearing

and interconnecting the structural parts (44), which,
when used for frames (47), is equivalent to the solu
tion with the help of the statically indeterminate
primary system.
From force or displacement methods one should
be chosen, of course, which leads to smaller number
of unknowns in the given case. Then the simplicity
of calculation depends on intelligent selection of
redundants. As was mentioned in Part I, the solu
tion becomes simpler if the redundants are chosen
in such a way that the greatest possible number of
nondiagonal flexibility (stiffness) coefficients is equal
to zero. This condition can be generally achieved
by orthogonalization of the set of redundants (e.g.,
Kohl (50) which means that the virtual stress distri
bution and the strain distribution, corresponding in
the primary system to the redundants, are orthogo
nal functions. A special case of orthogonalization
is represented by introduction of the elastic center
for simple frame or arch (Part I) and by its further
extension to Cross' column analogy (34,36,37)
which also includes the prescription for superpo
sition of influences of redundants in order to obtain
any internal force. In general, for any frame a par
tial or total orthogonalization of redundant quanti
ties can be achieved by forming certain independent
linear combinations of redundants, which means
that new group redundants. i.e., groups (combina
tions) of primarily chosen redundants, ought to be
taken into account instead of original single re
dundants. Evidently, then, the redundants need not
be represented as forces in single cuts of bars. They
can represent an arbitrary linearly independent self
equilibrating stress system in frame (12,32,34,50,51);
this idea descends from MUller-Breslau, Mohr and
Beyer (52).
Furthermore, of course, a great simplification
is obtained for symmetric frames if the given loading
is decomposed to the symmetric and antimetric part
and if a primary system with symmetric pairs of
forces or displacements as group redundants is
chosen (32,50,51).
The number of unknowns is lessened and the
-calculation is often shortened if the primary (basic)
system is chosen as statically indeterminate (32,33,
37). Formally this is identical to the inversion
of the flexibility matrix by partitioning (34,36), but
the mechanical interpretation of this procedure can
help in choosing a suitable mode of partitioning.
In the displacement methods various unknown
and corresponding systems of basic elements are

455

introduced. In contradistinction to the slope-de

flection method, with respect to simplicity of pro
gramming, for matrix analysis it is better to use as
unknowns, more generally, the joint displacements
(51,53) instead of bar rotations, although the
number of unknowns increases. Then. instead of
bent equations for stories the equations of shear
and normal forces equilibrium in each joint need
to be used. This is necessary, e.g., if axial bar
elongations are considered or if the bars have
curved or broken axis (37). Bars as basic elements
can also be used for grid frameworks (54).
The number of unknowns is reduced if a system
of more complex basic elements is introduced, which
is the dual technique to the choicP of the statically ,
indeterminate primary system and is equivalent to
the inversion of stiffness matrix by partitioning.
Thus, for instance, for a large multi-story and multi
bay frame, unknown joint rotations can be selected
in each second joint in a chessboard order if crosses
of four bars are taken as basic elements (55).
For continuous frames with hinges at midspans it
is advantageous to take the deflections of hinges as
unknowns, which means that T-shaped basic ele
ments (56) are considered. Here, it should be noted
that in the latter case as well as for the solution
by force method (57) with shear forces in hinges as
redundants, a system of equations, each containing
only three unknowns, is obtained. Hence, solutions
of these frames can be built up in an analogous
manner as the solutions for continuous beams.
Matrices of three-term (or five-term, seven-term)
equations, called also band matrices, appear for
various simple types of frames and their inversion is
easier (58,59).
The inversion of matrices for regular frames with
repeated identical parts, e.g., with members of equal
length and stiffness, can also be done in a simplified
manne'r (60). Namely, the analysis leads then to a
system of equations, for instance, of slope-deflection
equations, in which certain groups of equations
have identical form and equal coefficients at un
knowns and can therefore be written as diff erence
equations with a variable index of unknowns (60a,
6Ob). The solution of linear algebraic difference
equations with constant coefficients (or of system!;
of such equations) is found as a sum of a particular
solution and of linear combinations of powers of
roots of corresponding characteristic equations.
The general constants are determined from bound
ary conditions. This method can be used, e.g., for
regular continuous frames or tall building frames
in which certain approximate irregularities can

456

MECHANICS OF SOLIDS

be allowed (60a), for regular circular space frames

(60b), etc.
Analogically to the fixed point method (Part I) in
matrix form the method of coefficients of restrainl
can be built up (34). In principle, it is based on the
force method and corresponds to the step-by-step
inversion by partitioning of the flexibility matrix for
a primary system with moments at joints as un
knowns. Let us note that there could be derived a
dual matrix technique, analogic to the method of
fixed points for joint rotations (50), which is based
in principle on the slope-deflection method and
needs no distribution factors in joints.
The programming is easier for a frame of uni
form and regular type. For a frame which is ir
regular because of various cut-outs and missing
members but which can be made regular and sol
uble by standard programs after adding some fur
ther members, the technique of cut-outs and modi
fications 29), no. 3) can be used advantageously.
Firstly, the stresses in the regular frame with added
members are solved and then are added the stresses
which are produced in added members by such
initial strains which make the resulting stresses
in added members equal to zero.
Besides the force and displacement methods and
other related methods there is possible an other
approach, called the method of transfer matrices,
or in German Reduklionsmelhode (51). It was, in
principle, already used in works of Krylov, Mac
auley and others (61,62), but it won greater im
portance after being developed for frame' in matrix
form by Falk (63). This method is suitable for
continuous beams, but it is also usable for simpler
frames with open form (continuous frames) or
eventually with simple closed form. Whereas the
force [displacement] method corresponds in reality
to the integration of the fourth order differential
equation of bending (torsion, tension) of bars, at
which only forces [displacements] in different points
of bars are taken as integration constants, the
method of transfer matrices starts form this dif
ferential equation, taking as integration constants
all internal forces and displacements, which are
written as a row matrix, in one point, namely, at
the end of the bar. The corresponding row matrix
for the other end of the bar is then expressed by
multiplication with the rectangular transfer matrix,
which includes the stiffnesses and loading of bar.
By chain multiplication of single transfer matrices
for continuous series of bars (and of matrices for
transformation of coordinates according to the
angle between bars at joints and of matrices ex
pressing the supports conditions) the relation be-

tween column matrices at the ends of this series is

obtained, yielding equations in unknown forces and
displacements. If the series of bars is long, the
procedure is sensitive to numerical accuracy. A
similar procedure is represented by the matrix
progression method (63) or by the method of initial
parameters used for combined simple and bending
torsion of continuous beams (64). In principle, this
method is also related to the traverse method (25).
The iterative methods, which determine the solu
tion by successive approximation, still keep impor
tance and, adapted to matrix form (67), allow the
solving of considerably large frames with the help
of small-size computers. In addition to the moment
(force) distribution, to the distribution of deforma
tions and to the relaxation met'. d, which were re
viewed in Part I, a new iterative method was pre
sented by Kani (65). This method was later adapted
to matrix form (66,67). Kani's method is relatively
simpler and gives better convergence, if the multi
story frame is subjected to sideways. As well as the
methods of distribution of moments or of deforma
tions, this method is also based on Slope-deflection
equations and uses bending moments as iterated
quantities. Whereas in each step of moment dis
tribution the unbalanced moment, resulting from
equilibrium condition of the joint, is distributed to
bars meeting in the joint and then is carried over
these bars to their opposite ends, in Kani's method,
in each step, the moments acting on the joint are
calculated from the opposite end moments accord
ing to the equilibrium condition of this joint. In
the case of sideways these steps are alternated with
similar steps according to the equilibrium of the
entire story. Kani's method does not operate
with total moments, as in moment distribution, but
during all iteration the bending moments are di
vided into four parts. The first part is the constant
fixed end moment. Two further parts concern the
rotation of the corresponding joint and of the
opposite end joint. The last iterated part expresses
the relative displacements of the ends of the bar and
determines simultaneously the shear force. Thus,
this procedure is, indeed, very close to the distribu
tion of deformations (Part I).
Described iterative methods can be conceived
in an almost general way. For instance, the moment
distribution method was adapted for space frames
(35,SI), arch frames (68), grid frameworks (69,70)
and others.
There were presented also various modifications
of these methods. To speed up the moment dis
tribution method for sideways at multistory frames
suitable similar techniques were presented by

ANALYSIS OF FRAMED STRUCTURES-BAiANT AND BAiANT

Csonka (71,74) Zaytseff (72), Oswald (see also

73,75), Naylor, Bolton (36) and others (61). For
instance, according to the approximate representa
tion by simpler substitute frame or even by column,
the step of joint rotation is done simultaneously
with horizontal displacement.
Improving of convergence in relaxation method is
achieved by group relaxation steps (19,34).
For large frames Krylov (55) reduces the number
of unknowns as well as speeds up the convergence
of moment distribution (because of smaller carry
over factors) by introducing redundant restraints in
each second joint in a chessboard order, at which
there need be considered, however, more compli
cated complex basic elements, crosses of four bars
instead of single bars. The latter technique cor
responds to the selection of a (kinematically) redun
dant primary system, i.e., assembly of the crosses,
at which is iterated the entire system.
Somewhat similar, but a contrary technique of
iterative methods which corresponds to iterative
solution of a redundant primary system and speeds
up the convergence could be derived, if during the
iteration certain load terms or certain redundants
are taken as arbitrarily variable and if they are
changed after each iteration cycle in such a way that
the residues, e.g., unbalanced moments or forces in
redundant locks (noncompatible part of displace
ment in redundant cuts) will be minimized, i.e.,
approximately the sum of the squares.. This would
be especially effective as a modification of the re
laxation method, derived in (76), at which the resi
dues are simply transferred to the chosen arbitrarily
variable load terms or redundants. The solution for
prescribed values of n load terms which have been
chosen arbitrarily as variable or the solution ac
complishing the compatibility in cuts of n chosen
variable redundants would then be obtained by
linear combination according to n different inde
pendent resulting states of chosen arbitrary var
iables.
Basis for.all described iterative methods are the
slope-defiection equations or, in general, the equa
tions of the displacement method. Originally they
were deFived intuitively, by purely mechanical con
siderations without the proof of convergence and
estimation of error, but it can be shown (52,67,7779) that in principle they are identical to the well
known mathematical iterative methods for solution
of the system of linear algebraic equations. Thus,
the method of moment distribution corresponds to
the Gauss-Southwell iteration, the Kani method and
the distribution of deformations correspond to the
Gauss-Seidel iteration of slope deftection equations.

457

It does not matter here if it is operated with cor

responding moments instead of direct rotations.
There is no doubt that purely mathematical rep
resentation of iterative methods for frames as an
iteration of a system of linear equations is more
correct and theoretically precise. It enables us to
find the answer to the basic questions of conver
gence (36,67,79,79a) with its conditions and of limits
for the values of errors, the problems of which were
already solved in mathematics. At the same time, it
is also possible to give serious study to mathemati
cal properties of the system of equations for frame
analysis (80). However, in spite of this, the classi
cal, mechanically interpreted forms of these meth
ods are rather illustrative in mechanical understand
ing of the procedure and permit an easy orientation.
Space frames and space behavior of plane frames,
although the number of unknowns is large, can now
be solved with help of electronic computers by some
of the foregoing methods in matrix form (35,51), if
the case of St. Venant's simple torsion in bars can be
assumed. Let us note that plane loading of plane
frames produces space behavior too, if the bars are
subjected to skew bending, i.e., the principal axis of
inertia of sections of bars are not perpendicular to
the plane of the frame. However, in this case a sat
isfying approximate analysis, by introduction of
substitute rigidities for skew bending and of factors
of transverse deformation (81), can be done sep
arately for a plane and lateral behavior. An anal
ogous effect, which can be treated similarly, ap
pears at frames having skew supports or skew
connections of bars, the reactions of which do not lie
in the plane of the frame. Of great practical im
portance are the bridge frames with transversely
curved beams (82).
An analogous problem to that of laterally loaded
frames is represented by grid frameworks, which
will not be referred to here. We shall only mention
that for beams sufficiently closely distributed in
grillage, the solution can be transferred to a con
tinuous problem (83,84) replacing the grillage by
an anisotropic plate (partial differential equation),
which method has not yet been quoted because of
smaller importance in the plane behavior of the
frame. Solution of frame circular rnaial grid frame
work interacting with frame columns was given in
(85) where the grid framework was replaced by
semi-continuum- (ordinary differential equation),
formed by continuously distributed radial girders
and discrete circular girders.
With respect to the behavior of structural frames
further problems are arising. The inftuence of semi-

458

MECHANICS OF SOLIDS

rigid elastic connection of bars in joints (incomplete

joint rigidity) can be considered by easy enlarge
ment of ordinary methods. In the displacement
method either relative rotation of the end of the
bar and of the core of the joint can be considered
(34,35,86, (30). Otherwise, this case can be in
terpreted also as a limiting case of bar with various
sections, the stiffness of which tends to infinitely
small value on an infinitely short portion of bar at
the end. The interaction of frames and of elastic
subsoil (86) can also be approximately treated by
described methods. The same may be stated of the
interaction of arches and upper frames, of the inter
action of frames and suspension cables (suspen
sion bridges), of the influence of prestressing cables
in frames, and of temperature and shrinkage in
fluences.
Much more complicated is the interaction of
frames and of a system of plates and infill walls
(88-90), where certain approximate idealizations
need to be done, e.g., diagonal strut replacing the
infill (91) or panels interconnected in edges.
To make the review complete, the use of influence
Jines should be mentioned here. They were intro
duced in concept in 1868 by Winkler (32,36,37) and
developed mainly by MUller-Breslau. The influence
line represents certain static or kinematic quantity
of the structure as a function of the position of mov
ing load. It is mostly used to determine extreme ef
fects of moving loads. Their determination is not a
problem different from problems previously treated,
since it can be transformed to usual stress and strain
analysis, if the principle of virtual [or comple
mentary virtual} works (or Maxwell's theorem) is
applied. The values of influence line of a certain
force [displacement) are then equal to the values
of displacement (i.e., deflection line) in the sense of
moving unity load which are caused by a displace
ment [force] of minus unity [unity) value in the
sense of the considered force [displacement]. Other
wise, they can be determined also directly as a func
tion, analyzing the frame with general parameter of
load position, or by computing their numerical
values for various load positions, in which case
the use of inverse flexibility or stiffness matrix or
of an orthogonalized set of redundants is better
than an iterative procedure which would need to be
entirely repeated for each load position. Effect of
arbitrary loading on arbitrary force or displace
ments in a frame is easily obtained by combining
unit loads and the influence lines of redundants
according to the principle of superposition. From
the standpoint of mathematical solution of the
differential equation of bending (or torsion, tension,

shear) of bars, the set of influence lines represents

Green's function or its derivatives.
Below. without exhaustive references, are sketched
briefly the problems arising if the usual classical
theoretical and physical basic assumptions are not
sufficient. These problems lie on the border of the
classical meaning of the frame analysis and are
basically discussed in other subjects, but they have
very great importance in modern trends of frame
analysis.
The greatest problem which appears with respect
to space behavior, especially to torsion, is the ad
missibility of basic deformational hypothesis for the
reduction of a three-dimensional problem to one
dimensional. The usual reduction hypothesis used
in engineer's solution for bending of bars is the
Bernoulli-Navier hypothesis of preserving plane
and perpendicular cross sections. In the case of
torsion, the case of St. Venant's simple (pure) tor
sion with zero normal stresses is usually assumed.
However, especially in the case of frames of thin
walled bars. the latter assumption is not sufficient
and the combined (nonuniform) simple and bend
ing (warping) torsion is necessary to be considered
(for survey of problem see Nowinski (92. For bars
of open cross section Wagner's assumption of zero
shear strain in the middle surface of walls is then
made. For open as well as for closed sections, the
Umanskij assumption of deplanation (warping).
proportional to that for simple torsion, can be done.
Besides internal moments, shear and normal forces.
rotations and displacements, it is necessary to intro
duce further quantities, which do not represent
static resultants of stress in cross section or displace
ment of the section as a rigid body, i.e., the bi
moments, the rate of twisting rotation. Also it
should be emphasized that the difference between
centroidal and shear center line of bars needs to be
respected. Furthermore, in some cases the com
pletely rigid form of the cross sections cannot be
assumed and their distortion should be taken into
account (64).
In a mathematically rigorous manner the stresses
and strains according to mentioned deformation
hypothesis can be regarded as first terms of infinite
series for the solution of the three-dimensional
elasticity problem by the variational method (64,92).
Eventually further terms (self-equilibrating stress
systems) also can be introduced in order to fulfil
the compatibility conditions. Here, of course, the
question of optimum selection of these deformation
hypotheses is of importance.
The solution of space behavior of fiames whose
bars are subjected to warping torsion (92-10I) or

ANALYSIS OF FRAMED STRUCTURES-BAiANT AND BAiANT

eventually also to distorsion of sections, is rela

tively much more complicated and further work re
mains to be done. The analogic method to the
transfer matrices method, or to the force and dis
placement methods, can be used for analysis. Es
pecially careful attention should be paid to the be
havior of joints, to their stiffening against warping,
to the transfer of bimoments and of deplanation
(warping) of sections through joints and so on. It
should be mentioned that there are joints transfer
ring the deplanation entirely, partially or not at all.
To obtain correct results, it is often necessary
to introduce second order theory, which considers
the equilibrium on the deformed form of frame and
represents a strength approach to the stability prob
lem. This is important not only for flat arches and
suspension bridges, which will not be discussed
here, but also for building frames with slender col
umns, where the moments of normal force to the de
flected centroidal axis can have considerable in
fluence ( l 02). The stiffness of bar then depends on
acting forces, so that the problem becomes non
linear. For instance, the displacement method (102,
105) and Kani's method (103), moment distribu
tion (104) and relaxation method (36, Chap. 9.5) can
be enhanced for this purpose.
If the deflections of bars are considerably great,
then it is necessary to consider finite deformations.
especially the changes of length of bars caused by
bending (106). This also influences the second or
der analysis a!!...d stability of frames (107).
In the second order theory or in the theory of
finite deformations the problem becomes nonlinear,
either statically or geometrically, respectively, and
the principle of superposition is no more valid.
The same follows if the material of frame is physi
cally nonlinear, i.e., nonlinearly elastic. Using the
force method or the theorem of complementary en
ergy, a system of nonlinear algebraic equations is
obtained. If the displacement method or the
theorem of the strain energy is used, the problem
leads to a system of first-order nonlinear ordinary
differential equations with load parameter as inde
pendent variable (108). Also various successive
approximations by series of linear analysis can be
used (109). For reinforced concrete frames (110),
the nonlinearity of concrete is complicated by the
forming of cracks and yielding of reinforcement.
Limiting case of material nonlinearity is the
elasto-plastic and the rigid-plastic stress-strain dia
gram, which can be well accepted for steel. Limited
analysis of frames with determination of collapse
load has been largely worked out (111-118). More
accurately in limit analysis the strain hardening

459

should be respected (117). For limit analysis of

concrete frames it is necessary to consider the lim
ited rotation capacity of plastic hinges (119,120,
121). Recently great attention has been paid to the
optimum design (minimum weight design) of frames
which is based on plastic analysis (122-124).
In the presence of creep. time should be taken
into account. For building frames the creep of con
crete (regardless of creep of prestressing cables),
which is not simply visco-elastic with respect to
aging, is of importance. Creep affects the increase
of deformations and the redistribution of stresses
in frame which can be caused by initial state, e.g.,
the process through which the frame was cast o
the prestressing, by shrinkage or temperature dila
tations, by nonhomogeneity, i.e., concrete-steel,
differences in age, dimensions and moisture of con
crete, and by nonlinearity of creep itself for con
crete at high stresses. In analysis of creep of
concrete frames the use of the force method is gen
erally easier than that of the displacement method.
For static redundants it follows a system of ordinary
differential equations or a system of Volterra's
integral equations which are linear, if the creep is
linear (125,126,128). The solution can be trans
formed to a series of linear elastic analyses done
by any Of the foregoing methods (125,126). The
presence of creep influences further the second order
analysis, the long-time stability, finite-deformations
theory and others. The time parameter also appears
for frames founded on creeping soil, i.e., on clay
layer. Its creep can be eventually combined with the
creep of frame (127).
The individual types of nonlinear effects, time ef
fects, deformation hypotheses and so on, can in re
However, the
ality occur also simultaneously.
analysis respecting combination of these effects is
rather complicated and further work remains to be
done.
All problems referred to up to now concern static
stress and strain analysis of frames. The closely
related problems of stability (36,104,105,129,130),
dynamics and vibrations (l 04,131) of frames can
be analyzed by further enlargement of the discus
sion, but their review would need special separate
surveys.
The following list of references does not claim to
be exhaustive and we are aware that some impor
tant contributions from the extremely vast literature
on this subject may have been omitted.
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