2101-310 Structural Analysis I

1 - 15

Static Indeterminacy
Idealized structures of interest
Consider planar (2D) structures consisting of 1D structural components or members and subjected to in-plane loadings Truss structures (Fig1) Consisting of axial members connected by pinned joints Subjected to forces only at joints Internal member forces: axial force 2D geometry Beam structures (Fig2) Consisting of flexural members Subjected only to transverse loading Internal member forces: shear force and bending moment 1D geometry Frame structures (Fig3) Consisting of flexural-axial members Subjected to transverse and longitudinal loading Internal member forces: axial force, shear force, and bending moment 2D geometry or 1D geometry with additional longitudinal loading Compound structures (Fig4) Combination of 1 and/or 2 and/or 3

Fig1. Truss structure

Fig2. Beam structure

2101-310 Structural Analysis I

1 - 16

Fig3. Frame structure

Fig4. Compound structure

Classification of structures using static stability criteria

The structure is called a statically stable structure if and only if it can resist any actions (e.g. applied loads and kinematics conditions) without the development of mechanisms or rigid body displacement (e.g. rigid translation and rigid rotation). All desirable structures fall into this category, e.g. Fig1-Fig4. The structure is called a statically unstable structure if and only if it is not a statically stable structure or, in the other word, it is a structure that exhibits mechanisms or rigid body displacement (e.g. rigid translation and rigid rotation) for the entire structure or within any parts of the structure when subjected to a particular action, e.g. Fig5-Fig8. The structure is called an externally, statically unstable structure if it is a statically unstable structure with the development of the mechanism on the entire structure, e.g. Fig5-Fig6. The structure is called an internally, statically unstable structure if it is a statically unstable structure with the development of the mechanism only on certain parts of components of the structure, e.g. Fig7-Fig8.

Fig5.

Fig6.

2101-310 Structural Analysis I

1 - 17

Fig7.

Fig8.

Classification of structures using static indeterminacy criteria

The statically stable structure is called an externally, statically determinate structure if and only if all support reactions can be determined by using only static equilibrium equations, e.g. Fig9-Fig11. The statically stable structure is called a statically determinate structure if and only if all support reactions and internal forces at any locations within the structure can be completely determined by using only static equilibrium equations, e.g. Fig9-Fig10. Note that all statically determinate structures are always externally, statically determinate structures.

Fig9.

Fig10.

Fig11.

The statically stable structure is called a statically indeterminate structure if and only if it is not a statically determinate structure or, in the other word, static equilibrium equations are insufficient for determining support reactions and/or internal member forces at any locations within the structure, e.g. Fig11-Fig13. The statically stable structure is called an internally, statically indeterminate structure if and only if it is statically indeterminate but externally, statically determinate, e.g. Fig11-Fig12. For this particular type of structures, all support reactions can be determined from static equilibrium equations while the internal forces can not be completely obtained.

2101-310 Structural Analysis I

1 - 18

Fig12.

Fig13.

Degree of static indeterminacy (DI)

Terms and Definitions The degree of static indeterminacy is a number of static unknowns (support reactions and/or internal forces) that exceeds the number of independent equilibrium equations and static conditions available. The static conditions are additional equations associated with the prescribed static unknowns at certain locations within the structure; e.g. presence of the hinge at a particular point indicates that the bending moment at that point vanishes. The degree of static indeterminacy is also known as the degree of static redundancy. If the degree of static indeterminacy is equal to zero, the structure is statically determinate; if the degree of static indeterminacy is greater than zero, the structure is statically indeterminate. General Formula For a given statically stable structure, the degree of static indeterminacy, denoted by DI, can be determined from the general formula

DI = ra + nm nj - nc
where

ra

is the total number of components of the support reactions

nm is the total number of internal member forces nj nc

Support Reactions Unknown reactions exerted to a structure by the supports Total number of independent components of support reactions depending on Number of supports Number of components of support reactions at each support. Types of supports is the total number of independent equilibrium equations is the total number of internal static conditions

2101-310 Structural Analysis I

1 - 19

Roller support 1 direction of translational constraint 1 component of support reactions in the direction of constraint

Pinned support 2 directions of translational constraint 2 components of support reactions in the directions of constraint

Fixed support 2 directions of translational constraint 1 direction of rotational constraint 3 components of support reactions in the directions of constraint

Guide support 1 direction of translational constraint 1 direction of rotational constraint 2 components of support reactions in the directions of constraint

Nonrotational support 1 direction of rotational constraint 1 component of support reactions in the directions of constraint

2101-310 Structural Analysis I

1 - 20

Example 1: Find the total number of components of support reactions (Ns) of the structures shown in Fig1-Fig4.

Truss structure shown in Fig1. 1 roller support 2 pinned supports ra = 1(1) + 2(2) = 5

Beam structure shown in Fig2. 3 roller supports 1 fixed support ra = 3(1) + 1(2) = 5

Frame structure shown in Fig3. 1 roller support 1 pinned support 3 fixed supports ra = 1(1) + 1(2) + 3(3) = 12

2101-310 Structural Analysis I

1 - 21

Compound structure shown in Fig4. 1 roller support 1 guide support 1 fixed support ra = 1(1) + 1(2) + 1(3) = 6

Remark: For beam structures, there is no longitudinal loading and therefore the number of support reactions for pinned and fixed supports reduce by one. Internal Member Forces Stress resultants at any cross sections of the member, e.g. Axial force (F) Bending moment (M) Shear force (V) Torque (T) Internal member forces induced depend on type of members Type of members Axial or truss member 1D straight member; members of truss structures Internal force at any cross section is axial force F(x) {F1,F2} are internal forces at both ends of the member Member equilibrium (1 equation) F1 = F2 and F(x) = F1 Only 1 independent internal force per member

F2 x F1 F1 F(x)

Flexural or beam member 1D straight member; members of beam structures Subjected only to transverse loading Internal forces at any cross sections are shear force V(x) and bending moment M(x) {V1, M1 ,V2, M2} are internal forces at both ends of the member Member equilibrium (2 equations) V2, M2, V(x), M(x) in terms of V1, M1

2101-310 Structural Analysis I

1 - 22

Only 2 independent internal forces per member

M1 V1

M2

M1 V1

M(x)

V2

V(x)

Frame member 1D straight member; members of frame structures Subjected to both longitudinal & transverse loading Internal forces at any cross sections are axial force F(x), shear force V(x), and bending moment M(x) {F1, V1, M1, F2, V2, M2} are internal forces at both ends of the member Member equilibrium (3 equations) V2, M2, V(x), M(x) in terms of V1, M1 Only 3 independent internal forces per member M2 F2 M1 F1 V1 V2 F1 M1 V1 x V(x) M(x) F(x)

Static Equilibrium Equations Ensure the conservation of Linear momentum Angular momentum Equilibrium equations Force equilibrium, i.e. F = 0 Moment equilibrium, i.e. M = 0 Member equilibrium Already taken into account to obtain the number of independent internal forces Joint equilibrium Pinned or hinge joints

2101-310 Structural Analysis I

1 - 23

Connecting adjacent truss members in truss structures No moment restraint at the joint No preservation of angles between each member joining at the joint Only forces can be applied at the joint Members transferring internal forces to the joint only in terms of axial force Only 2 independent equilibrium equations per joint, i.e. Fx = 0 and Fy = 0 y

x Beam rigid joint Connecting two adjacent beam members in beam structures Full moment restraint at the joint Preservation of angle between two members joining at the joint Moment and transverse force can be applied at the joint Members transferring internal forces to the joint in terms of shear force and bending moment Only 2 independent equilibrium equations per joint, i.e. Fy = 0 and = 0 y

Frame rigid joint Connecting adjacent frame members in frame structures Full moment restraint at the joint Preservation of angles between each member joining at the joint Moment and forces can be applied at the joint Members transferring internal forces to the joint in terms of axial force, shear force and bending moment 3 equilibrium equations per joint, i.e. Fx = 0, Fy = 0 and = 0 y

2101-310 Structural Analysis I

1 - 24

Compound joints Connecting more than one type of members in compound structures Moment and forces can be applied at the joint All joining members may transfer all type of internal forces to the joint, i.e. axial force, shear force and bending moment 3 equilibrium equations per joint, i.e. Fx = 0, Fy = 0 and = 0 y
Frame member Truss member Frame member

x Internal static conditions or Internal Releases

Static quantities (e.g. internal forces) are prescribed at interior points of the structure Additional equations to static equilibrium equations are introduced Such points are called internal releases Types of internal static conditions Bending moment release Bending moment is prescribed at a point, i.e. M = Mo For special case, if M = 0, it is known as a hinge Rotation at hinge point is generally discontinuous 1 additional equation is provided

1 additional equation

Shear force release Shear force is prescribed at a point, i.e. V = Vo For special case, if V = 0, it is known as a shear release Transverse displacement at shear release is generally discontinuous 1 additional equation is provided
1 additional equation

2101-310 Structural Analysis I

1 - 25

Axial force release Axial force is prescribed at a point, i.e. F = Fo For special case, if F = 0, it is known as an axial release Longitudinal displacement at axial release is generally discontinuous 1 additional equation is provided

1 additional equation

Combined internal release Internal releases shown above are combined Additional equations are provided depending on the number of released components

2 additional equations

Full moment release at joint Hinge is present at the joint and it is called hinge joint No transferring of bending moment at this joint Hinge joint cannot be subjected to applied moment For truss structures, all joints are always hinge joint and no additional equation is provided for each joint since presence of such joints has been incorporated into the reduction of the number of internal forces per member to one (i.e. only axial force is present) For beam, frame and compound structures, n-1 additional equations are provided per hinge joint where n is the number of members joining at that joint.

4-1 = 3 additional equations

Partial moment release at joint Bending moment is released at the end of certain members joining the joint Transferring of bending moment at this joint is still possible by the joining members with no end moment release. This joint can be subjected to applied moment This type of release can be found in frame and compound structures n additional equations are provided per joint where n is the number of members whose end moment is released excluding the truss members.

2101-310 Structural Analysis I

1 - 26

2 additional equations

Example 2: Find the degree of static indeterminacy of the structures shown in Fig1Fig4.

Truss structure shown in Fig1 ra = 1(1) + 2(2) = 5 33 truss members nm = 33(1) = 33 18 hinge joints nj = 18(2) = 36 No internal release nc = 0 DI = ra +nm nj nc = 5 +33 36 0 = 2 Structure is statically indeterminate Beam structure shown in Fig2 ra = 3(1) + 1(2) = 5 3 beam members nm = 3(2) = 6 4 beam joints nj = 4(2) = 8 1 internal hinge nc = 1 DI = ra +nm nj nc = 5 +6 8 1 = 2 Structure is statically indeterminate

Frame structure shown in Fig3 ra = 1(1) + 1(2) + 3(3) = 12 28 frame members nm = 28(3) = 84 21 frame joints nj = 21(3) = 63 No internal release nc = 0 DI = ra +nm nj nc = 12 +84 63 0 = 33 Structure is statically indeterminate

Compound structure shown in Fig4 ra = 2(1) + 1(1) + 3(1) = 6

2101-310 Structural Analysis I

1 - 27

17 truss members + 3 frame members nm = 17(1) + 3(3) = 26 8 hinge joints + 3 frame joints + 2 compound joints nj = 8(2) + 3(3) + 3(2) = 31 No internal release nc = 0 DI = ra +nm nj nc = 6 +26 31 0 = 1 Structure is statically indeterminate Note that although bending moment is fully released at the two compound joints, there is only one frame member joining those joints; therefore, number of additional equations at each compound joint = 1 1 = 0.

Compound joints

Check of External Static Indeterminacy For a given statically stable structure, let ra be the number of all independent components of the support reactions, net be the number of independent equilibrium equations available for the entire structure and ncr be the number of additional static conditions that can be set up without introducing new static unknowns. The structure is externally, statically determinate if an only if

ra = net + ncr
and the structure is externally, statically indeterminate if an only if

ra > net + ncr

This check of external static indeterminacy is essential when the support reactions of the structure are to be determined. Remarks: The number of independent components of support reactions ra can be readily obtained in the same manner as described above. In general, for planar structures, the number of independent equilibrium equations that can be set up for the entire structure net is equal to three, i.e. net = 3, except for beam structures (that there is no axial force present in all members) where the number of independent equilibrium equations reduces to 2, i.e. net = 2 (the equilibrium of forces in the direction along the beam axis is automatically satisfied).

2101-310 Structural Analysis I

1 - 28

Additional static conditions are typically the conditions associated with internal releases present within the structure; for instance, points where components of internal forces are prescribed such as hinge, shear release, and axial release. It is important to note that not all the static conditions can be included in the counting of ncr but ones that introduce no additional unknowns other than the support reactions can be included. These additional equations can be set up in terms of equilibrium equations of certain parts of the structure resulting from proper sectioning the structure at the internal releases. - For this structure, we obtain - ra = 2(2) = 4 - 6 frame members nm = 6(3) = 18 - 6 frame joints nj = 6(3) = 18 - 2 hinges nc = 2 - DI = 4 + 18 18 2 = 2 - Structure is statically indeterminate - net = 3 (3 equilibrium equations) Not included in ncr - ncr = 1 - ra = net + ncr = 4 - Structure is externally statically determinate - All support reactions can be determined Truss Structure A truss structure is a structure that consists of only axial members being connected by pinned or hinge joints. All loads are assumed to be applied directly to the joints. For a given statically stable truss structure that consists of j hinge joints and m axial members, we obtain nm = m nj = 2j nc = 0 and, therefore, the degree of static indeterminacy of the truss is given by

DI = ra + m 2j
Remark: There is no internal release at interior points of all axial members since each member possesses only one component of internal forces; presence of the (axial) internal release will render the structure statically unstable.

2101-310 Structural Analysis I

1 - 29

Example 3: Determine the degree of static indeterminacy (DI) of the following statically stable truss structures.

Structure I

Structure II

Structure III

Structure IV

Structure I ra = 2(2) = 4 14 truss members m = 14 7 joints j=7 DI = ra + m 2j = 4 + 14 2(7) = 0 Structure is statically determinate Structure is externally, statically determinate

Structure II ra = 1(2) + 1(1) = 3 9 truss members m=9 6 joints j=6 DI = ra + m 2j = 3 + 9 2(6) = 0 Structure is statically determinate Structure is externally, statically determinate

2101-310 Structural Analysis I

1 - 30

Structure III ra = 1(2) + 1(1) = 3 14 truss members m = 14 8 joints j=8 DI = ra + m 2j = 3 + 14 2(8) = 1 Structure is statically indeterminate ra = 3, net = 3, ncr = 0 ra = net + ncr = 3 Structure is externally, statically determinate Structure is internally, statically indeterminate

Structure III ra = 2(2) + 1(1) = 5 39 truss members m = 39 20 joints j = 20 DI = ra + m 2j = 5 + 39 2(20) = 4 Structure is statically indeterminate