METHODS OF STRUCTURAL ANALYSIS rom Negussie TebedgeMethods of Structural Analysis provides the student of engineering with a concise working description of the classical methods of structural analysis and introduces the concept of matrix formulations of structures. The basic principles of structural analysis are brought out by a simplified, coherent approach aided by the use of numerous diagrams and worked examples. Students undertaking courses in the theory of structures and structural analysis will find this book extremely useful either as a main text, or as a supplement to other works in the field. Fora note on the author, please see the back Hap. ISBN 0 333 35093 6METHODS OF STRUCTURAL ANALYSISThis book is published with the financial support of the African Network of Scientific and Technical Institutions (ANSTI), an organisation within UNESCO.Methods of Structural Analysis NEGUSSIE TEBEDGE Associate Professor of Civil Engineering Addis Ababa University = DI Z| Yn a© Negussie Tebedge 1983. All sights reserved. No part of this publication may be reproduced or transmitted, in any form or by any means, without permission. First published 1983 by THE MACMILLAN PRESS LTD London and Basingstoke ‘Companies and representatives throughout the world. ISBN 0 333 35093 6 hardcover ISBN 0 333 35292 O paperback Typeset by STYLESET LIMITED Salisbury, Wiltshire Printed in Hong KongTo my parentsContents PREFACE ix _ |. INTRODUCTION 1 1.1 Structural Analysis 1 1,2. Statical Indeterminacy 1 1.3 Kinematic Indeterminacy 5 1.4 Methods of Structural Analysis 6 1.5 Problems 7 2 METHODS OF CONSISTENT DISPLACEMENTS il 2.1 Introduction 11 2.2 Analysis of Beams 11 2.3 Analysis of Trusses 20 2.4 Analysisof Frames 27 2.5 The Elastic Centre Method 32 2.6 The Three-Moment Equations 38 2.7 The Method of Elastic Work 42 2.8 Problems 53 3 THE SLOPE DEFLECTION METHOD 55 3.1. Introduction 55 3.2 Development of Slope Deflection Equations $5 3.3. Application of Slope Deflection Equations to Beam Problems 60 3.4 Application of Slope Deflection Equations to Frames 66 3.5 Sway Equations 70 3.6 Problems 78CONTENTS 4 THE CROSS METHOD OF MOMENT DISTRIBUTION 4.1 Introduction 81 4.2 Iterative Solution of Slope Deflection Equations 81 43 Interpretation of the Iterative Solution 83 4.4 Fundamental Factors Used in Moment Distribution 84 4.5 Moment Distribution Method for Beam Analysis 87 4.6 Moment Distribution Method for Frame Analysis 92 4.7 Cantilever Moment Distribution 109 4.8 Arbitrary Loading on Symmetric Frames 117 49 Problems 122 5 KANI METHOD OF MOMENT DISTRIBUTION 5.1 Introduction 125 5.2 Frames without Sidesway 125 5.3. Frames with Sidesway 132 5.4 Problems 150 6 INFLUENCE LINES FOR INDETERMINATE STRUCTURES 6.1 Introduction 151 6.2 Structures With Single Redundant Reaction 151 6.3 Influence Lines for Multiple Redundant Structures 160 6.4 Problems 166 7 INTRODUCTION TO MATRIX ANALYSIS 7.1 Introduction 167 7.2 Force and Displacement Measurements 167 7.3 The FlexibilityMethod 175 74 The StiffnessMethod 183 7.5 Problems 195 SELECTED REFERENCES INDEX 31 125 151 167 199Preface This textbook has been compiled from a set of lecture notes developed while teaching courses in the theory of structures to civil engineering students at Addis Ababa University during the past seven years. The book is primarily intended for use as a text for instruction and contains sufficient material for a two-semester course in theory of structures. It may also be useful to the structural engineer who wishes to strengthen his background in structural mechanics. The purpose of this book is to present a balanced treatment of the funda- mental principles of structural mechanics, with their applications to the analysis of structural systems and their components. The coverage is selective, to allow a thorough treatment of the most common and useful analytical methods of structural analysis, An attempt is made to present the subject matter in a-unified, coherent and easy-to-understand manner which brings out the basic principles underlying the field of structural theory. The book is illustrated with ample example problems, to which solutions are presented to demonstrate the various methods, and.also to widen the scope of the subject covered by the text. The author is indebted to the authors of the many books he has freely consulted in the preparation of this work. The author also wishes to acknowledge his debt to all his students who, over the years, checked out the examples and assignment problems. NEGUSSIE TEBEDGE Addis Ababa Tune, 19821. Introduction 1,1 STRUCTURAL ANALYSIS Structural analysis is the process of determining the response of a structure due to specified loadings in order to satisfy essential requirements of function, safety, economy and sometimes aesthetics. This response is usually measured by calculat- ing the reactions, internal forces of members, and displacements of the structures. Structures may be classified into two general categories: statically determinate and statically indeterminate. A structure which can be completely analysed by means of statics alone is called statically determinate. It then follows that a statically indeterminate structure is one which cannot be analysed by means of statics alone. There are specific advantages and disadvantages in using one type of structure over the other. The primary advantage of a statically indeterminate structure is that it will generally have lower bending moment and shear force than a comparable determinate structure. Another advantage of a statically indeterminate structure is that it is generally stiffer for a given weight of material than a comparable determinate structure. Both of these advantages are a result of continuity of structural members acting to reduce stress intensities and displace- ments. A statically indeterminate structure can often furnish a compensation by redistribution within the structure in the case of overloads, On the other hand, however, indeterminate structures introduce computational difficulty in establishing the required equations. Another disadvantage is that indeterminate structures are, in normal cases, internally stressed due to differential settlement of supports, temperature changes and errors in the fabrication of members. 1.2 STATICAL INDETERMINACY Consider a structure in space subjected to non-coplanar system forces. For the structure to be in equilibrium, the components of the resultants in the three LMETHODS OF STRUCTURAL ANALYSIS orthogonal directions must vanish. This condition constitutes the six equations of equilibrium in space which are written as IF, =0 DF, =0 ZF, =0 ha =M,, =0 mM, =0 =M, =0 . For a structure subjected to a coplanar force system, only three of the six equations of equilibrium are applicable. The three equations of equilibrium in the xy plane are EF, =0 EF, =0 (1.2) =M, =0 When a structure is in equilibrium, each member, joint, or segment of the structure must also be in equilibrium and the equations of equilibrium must also be satisfied. As discussed earlier, a structure which can be analysed by means of the equations of equilibrium alone is statically determinate. This book deals with statically indeterminate structures in which the structures cannot be analysed by the equations of equilibrium alone. When a structure is statically indeterminate, there is some freedom of choice in selecting the member or reaction to be regarded as redundant. When the reaction is taken as the redundant, the structure is said to be externally indeterminate. On the other hand, when the member itself is regarded as the redundant, the structure is said to be internally indeterminate. It is also possible that the structure may have a combination of external and internal indeterminacy. The question of identifying external or internal indeterminacy is largely of academic interest. What is of primary importance in the analysis of indeterminate structures is to know the degree of total indeterminacy, Nevertheless, a separate discussion of external and internal indeterminacy is desirable as a method to evaluate the degree of total indeterminacy. (a) External Indeterminacy If the total number of reactions in a structure exceeds the number of the equations of equilibrium applicable to the structure, the structure is said to be externally indeterminate. The structures shown in Fig. 1.1 are examples of external indeterminacy. Each of the structures has five reaction components. Since there are only three equations of equilibrium, there are two extra reaction components that cannot be determined by statics. The number of unknown reactions in excess of the applicable equations of equilibrium defines the degree of indeterminacy. Thus the structures of Fig, 1.1 are indeterminate to the second degree. An alternative approach to determine the degree of indeterminacy would be to remove selected redundant reactions until the structure is reduced to a statically determinate and stable base or primary structure,INTRODUCTION fa) Figure 1.1 (b} Internal Indeterminacy A structure is internally indeterminate when it is not possible to determine all internal forces by using the three equations of static equilibrium. For the great majority of structures, the equation of whether or not they are indeterminate can be decided by inspection, For certain structures this is not so, and for these types rules have to be established, The internal indeterminacy of trusses will be first considered, and then that of continuous frames. It is evident that any truss developed by using three bars connected at three joints in the form of a hinged triangle, and then using two bars to connect each additional joint, forms a stable and determinate truss. This is because the shape of the triangle cannot be changed without changing the length of any of the members. For stable and determinate trusses, built up as an assemblage of triangles, there are two conditions of equilibrium for each joint, so that if there are j joints, m members and r reaction components, a test for statical determinacy is: {jamtr (1.3) In this equation, the left-hand side represents the total possible number of equations of equilibrium, while the right-hand side represents the total number of unknown forces. The above equation is usually written in the form m=%-r [14] If there are more members than are indicated by the equation, then the 3METHODS OF STRUCTURAL ANALYSIS structure is statically indeterminate; whereas if it has fewer members it is unstable. Caution must be exercised in applying the above equation because of the fact that the fulfilment of this equation is a necessary condition but not sufficient for internal stability of trusses. This may be summarised as m = 2j —r (determinate if stable) m > 2j —r (indeterminate if stable) m<2-—r (unstable) The truss in Fig, 1.2(a) has m = 17,j = 10 andr =3. Application of [1.4] gives (10 x 2) — 3 = 17 members, thus the structure is statically determinate. Referring to Fig. 1.2(b), there are 18 members, or one more member than is needed for a determinate structure; thus, the additional diagonal member is redundant and the truss is indeterminate to the first degree. Figure 1.2(c) represents the omission of one diagonat member, keeping the same total number of bars, m = 17. Again the condition equation is satisfied. However, inspection of the truss indicates that the structure is unstable with one panel free to collapse, thus causing the entire truss to collapse. Hence, satisfaction of the above equation is not a sufficient condition for internal stability of trusses, Inspection of the structure and consideration of stress paths are more reliable approaches to settle the question of stability and intemal indeterminateness of trusses. An alternative approach to determine the degree of indeterminacy of trusses (a) (b) (c) Figure 1.2 4INTRODUCTION is by removing the redundant quantities until a determinate and stable base structure remains. The number of rigidly jointed frames are subject to shearing forces, bending moment and axial force, so that there are three unknown intemal forces for each member, or a total of 37 unknown components. Moreover, at each joint three equations of equilibrium can be written, giving 3/ equations in all. Therefore for a statical determinacy, it is necessary that 3f=3m tr [1.5] or that the number of redundants a is given by n=3m+r—-3f When there isa roller or pin support, the degree of indeterminacy is reduced by one or two, respectively, for each support. An alternative approach, which in this case may be considered more instructive, is the method by inspection where the structure is cut until it becomes a determinate and stable base structure. Consequently, the total number of released internal force components corresponds to the degree of indeterminacy, 1.3 KINEMATIC INDETERMINACY When a structure is subjected to a system of forces, the overall behaviour of the members of the structure may be defined by the displacement of the joints. The joints undergo displacements in the form of translation and rotation. A system of joint displacements is known to be independent if each displacement can be varied arbitrarily and independently of the other displacements. The number of independent joint displacements that serve to describe all possible displacements of a structure is known as the number of degrees of freedom ot degree of kinematic indeterminacy. In determining the degree of kinematic indeterminacy, attention is focused on the number of independent displacement degrees of freedom that the structure possesses. If a structure has n degrees of freedom, that is, n number of independent displacement quantities required to describe all possible displace- ments for any loading condition, the structure is said to be kinematically indeterminate to the nth degree. When these displacements are set to zero, the structure then becomes kinematically determinate. Consider, for example, the rigid-jointed plane frame shown in Fig. 1.3, which is fixed at supports A and C and has a hinged support at D, Assuming that the axial deformations are negligible, there will be no axial displacements in the frame and the only unknown displacements are the joint rotations 03 and 0p at joints B and D, respectively. Since these displacements are independent of one another, the degree of kinematic indeterminacy of this structure is two. 5METHODS OF STRUCTURAL ANALYSIS At is observed that the degree of statical indeterminacy of the frame of Fig. 1.3 is four since-there are a total of seven possible unknown reactions and three equations of equilibrium. If, for instance, the fixed support at C is replaced by a hinge, the degree of statical indeterminacy is reduced to three since an additional equilibrium condition is introduced. However, the kinematic indeterminacy is increased by one since an independent rotation at C now becomes possible. In general, an introduction of a displacement release decreases the statical indeterminacy and increases the kinematic indeterminacy. Figure 1.3 1.4 METHODS OF STRUCTURAL ANALYSIS The objective of structural analysis is to study the response of a structure to specified loadings after determining the external reactions and internal stress resultants, The forces determined must satisfy the conditions of equilibrium and the displacements produced by these forces must be compatible with the continuity of the structure and the support conditions. In determining the unknown forces in a statically indeterminate structure, the equations of equilibrium are not sufficient, and additional equations must be formulated based on compatibility of displacements. These supplementary equations that ensure the compatibility of the displacements with the geometry of the structure are known as the compatibility conditions, Two general methods of analysis are available for the solution of statically indeterminate structures. The first is the force or flexibility method. This method is simple and conceptually straightforward to understand and provides 6INTRODUCTION an effective method for certain types of structures. In this method the structure is made statically determinate by providing a sufficient number of releases by removing the redundant forces. Due to the given loading condition the primary structure undergoes inconsistency in geometry which must then be corrected by applying the redundant forces such that compatibility conditions throughout the structure are established. This method is sometimes referred to as the compatibility method. The second method of analysis of statically indeterminate structures is the displacement or stiffness method. This method is also simple and straightforward and provides an effective method for certain classes of structure. In this method, testraints are imposed to prevent displacement of joints until the structure becomes kinematically determinate and the forces required to produce the restraints are evaluated. Displacements are then permitted to take place at the restrained joints until the imposed restraining forces have been removed such that equilibrium conditions throughout the structure are established. This method is also known as the equilibrium method. Either the force or the displacement method can be used to analyse any structure. The choice of the method of analysis, either force or displacement, depends largely on the degree of statical or kinematic indeterminacy. In both methods, the analysis generally involves the solution of a system of simultaneous equations where the number of unknown variables must be equal to the degree of indeterminacy. If manual calculations are to be adopted, it would be logical to use the method that produces the smaller set of sinultaneous equations. 1.5 PROBLEMS Determine the degree of statical indeterminacy of the structures shown below. 11 12METHODS OF STRUCTURAL ANALYSIS 13 14 15 16 17INTRODUCTION Determine the degree of statical and kinematical indeterminacy of the structures shown below. 18 19 1.101.13 1.14 METHODS OF STRUCTURAL ANALYSIS. 7 7 LZ)2. Methods of Consistent Displacements 2.1 INTRODUCTION For statically indeterminate structures there will be an indefinite number of combinations of redundant forces which will satisfy equilibrium conditions. However, among them there will be only one set of values that will simultaneously satisfy the requirements of equilibrium and compatibility. Compatibility places constraints on the displacements of a structure to ensure continuity and that the structure conforms to the displacement boundary conditions prescribed by the supports. The methods of consistent displacement are based on the concept of equilibrium of forces and compatibility of displacements which may be stated as follows: Given a set of forces applied on a statically indeterminate structure, the reactions must assume such values that satisfy not only the conditions of static equilibrium with the applied loads but also the conditions of compatibility. The general method of consistent deformation is applicable for analysing all types of indeterminate structures. It is also applicable whether the structure is subjected to external loading, temperature changes, movements of supports, fabrication errors, or any other cause, Of course, there are other methods that are definitely superior for certain specific structures or loading conditions, but methods of consistent deformation are the most versatile and general. 2.2 ANALYSIS OF BEAMS The principle of consistent displacement can best be illustrated by considering singly indeterminate structures. As a simple and classic example of this method consider a propped cantilever beam as shown in Fig. 2.1. The beam has three unknown reactions Va, Ma and Vg and is therefore statically indeterminate to uMETHODS OF STRUCTURAL ANALYSIS. (a) Actual structure (c) Displacement due to known loads (d) Displacement due to Va = 1 ~—____ fe) Figure 2.1 the first degree. Any one of the unknown reactions may be taken as the redundant. A stable and determinate primary structure may be formed by determinate primary structure by selecting as the redundant the vertical reaction at the right support, Vg, as shown in Fig. 2.1(b). The displacement of the cantilever beam AB may be considered to consist of the superposition of two independent displacements: Apo = upward deflection at B of the base structure due to the known applied loads only 12METHODS OF CONSISTENT DISPLACEMENTS: App = upward deflection at B of the base structure due to the redundant Ye It may be noted that it is not possible to evaluate A), prior to the evaluation of Vg. However, by applying the principle of superposition such that Ap, = 5,,Vp. where 5,, = upward deflection at B of the base structure due to a unit upward load at B then, the condition that the support at B is rigid requires its displacement, Ap, the algebraic sum of displacements due to the applied loads and the redundant, must be zero. This geometric condition, defined as the equation of consistent deformation, may be writtten as Ap = 850 + Vaden = 0 f2.1] or |“ A EL Vy = Abo = 2.2 Bee mide (2.2) EI where M is the moment in the base structure due to the applied loads and m is the moment due to a unit load acting at B. It is noted that if Vg acts in the same direction as A,,,, a negative value is obtained which indicates that the assumed direction is wrong. Conversely, a positive value for Vg indicates that the assumed direction is correct. In general, it must be noted that the magnitude of the true reaction Vg is that required to restore the end B of the beam to its original position level with A. Ina similar manner, if My which is the moment reaction at A is taken as the redundant, the applied loads will cause the tangent at A to rotate through an angle 0,9. If the rotation due to a unit moment at A is taken as 0,, the moment Mp, necessary to rotate the tangent at A to the original horizontal position is 23] where mg is the moment due to a unit moment acting at A. The analysis of beams of higher degree of indeterminacy follows closely the procedure described above. For a beam with » degrees of indeterminacy, 2 redundants are selected which will be removed from the structure and replaced by x effectively equivalent redundant forces ¥,, X>,... Xp. All these redundant 13METHODS OF STRUCTURAL ANALYSIS forces and the given external loads are applied on the base structure such that their magnitudes must cause the displacements at the points of application of the n redundants of the base structure to be equal to the displacement of the corresponding points on the actual structure. Consider the four-span continuous beam of Fig. 2.2. The beam has three redundant reactions which can be chosen in a variety of ways, one of which is shown in Fig. 2.2(a). At this stage it is convenient to follow a definite notation for the various redundant forces and displacements. The redundant forces X,. X, and X, are recognised and identified by single subscripts which denote their point of application, The displacements are identified by double subscripts: the first subscript denotes the point on the base structure at which the displacement occurs, and the second subscript is used to denote the force producing the displacement. If, for example, the points A, B, C, etc. are the points on the base structure where the redundants occur, then, X, = the redundant force at point A. Ago = the displacement in the base structure at point A in the direction of X,, caused by the actual applied loads acting on the structure Saq = displacement in the direction of X, in the base structure caused by X_= 1 and no other load acting Sap = displacement in the base structure at A in the direction of X, caused by X, = 1 acting alone Sac = displacement in the base structure at A in the direction of X, caused by X, = 1 acting alone Since the displacements at A, B, and C should be zero, the reactions X,, Xp and X, must have values such that compatibility condition is satisfied. Thus, using the above notation in the superposition equations, which gives as many equations as there are redundants, the equations may be written as follows: Sao + Xabaa + Xp Sap + Xe8ac = 0 Ano + Xa oa + Xv5 ny +X 5¢ = 0 (2.4] Keo +X ab ca + XSep + XeB ee = 0 Since 845 = 5 pa, Sac = 5 ca, etc. by Maxwell’s principle of reciprocal deflections, [2.4] may be written as ao + Xa8aa + Xo8ap + Xe5ae = 0 Abo + XaSan + X455p + Xb 5¢ = 0 [2.5] Keo + Xa8ac + Xp8ve + XS ee = 0 14METHODS OF CONSISTENT DISPLACEMENTS Xa=l (d) Due to X, (e) Due to Xp = | be Xee! (f) Due to X, = 1 Figure 2.2 15METHODS OF STRUCTURAL ANALYSIS The equations can be written in the following matrix form: Aco §ca Sap Sac] [ Xa 0 Aro} +] San 85 Sac} | Xo] =| 0 [2.6] Aco Sac Bre See} | Xe 0 EXAMPLE 2.1 Determine the reactions and support moment of the continuous beam shown in Fig. 2.3. AY EI = Constont } 5.0m a 5.0m | {a) Actual structure JOKN s xl Xprl (b) Base structure -75kN m {Le xi +5KN m +IOKN m (e) mg — diagramMETHODS OF CONSISTENT DISPLACEMENTS, The beam is indeterminate to the second degree, and the redundants chosen are the reactions at B and C. The moment diagrams due to the applied load X, = Land X, = | are shown in Fig. 2.3(d) and (e} respectively. The elastic equations are Ato +X1611 +X2512 = 0 Ano + X1812 + X2522 =0 The displacements are obtained by graphic multiplication method: 5x5\ (175 75 Bay = (- ; ) (EB)--0.17 5x5\ (2x5 t16,, = (235) ( ; )=a161 5x5\ (25 EIB > = (5) (3) = 104.17 , 75x75\ (22.5 Elbo = (- == | = -2109.38 2 3 10x 10\ (2x10 B22 ( 5 \& ) =3333 Substituting the 6 terms into the elastic equations: -729.17 + 41.67X, + 104.17X, =0 —2109.38 + 104.17X, + 333.33X, =0 The solution of the simultancous equations is X, =7.68 kN X_ =3.93 kN Thus, Rg = 7.68 KN (upward) Ro =3.93 kN (upward) From statics Ra = 1.61 KN (downward) Mg = 2.70 KN (clockwise) 17METHODS OF STRUCTURAL ANALYSIS Alternative Solution The moment reaction and the vertical reaction at A are chosen as redundants. The moment diagram due to the applied loads X, = 1 and X, = 1 are shown in Fig, 2.4(d) and (e) respectively. The displacements are 2.5 x25) (2 12.5 x 2.5 1 EIAyo = ( 5 ) (2. 125) + (24228) (25x4. 25) = 78.13 5.0x5.0\ (2 E15, =2( 22%22) (2 15 yy 2( 7 ) (353) = 83.33 5.0x 5.0 .0x5.0\ (2x 1.0 Ely, = (--—=) (1.0) - n= #*°) a (535°) (25%) = 20.83 _ 12.5 x 2.5 2 25 12.5 x 2.5 2.5, i ran (25285) (2029) (2828) o528) = =15.63 1.0 x 5.0 EI8 9 = (1.0 x 5.0) (1.0) + (12x50) (2) 2 3 =6.67 Substituting into the elastic equations: 78.13 + 83.33X, — 20.83X, =0 —15.63 — 20.83X, + 6.67X, =0 The solution of the simultaneous equations is X, =-1.61kN X2 = -2.70 kNm The reactions are Ry =1.61 kN (upward) Mg = 2.70 KN m (clockwise) Rg =7.68kN (upward) Rc =3.93 kN (upward) 18METHODS OF CONSISTENT DISPLACEMENTS IOKN A EI=Constant + 5.0m 5.0m | (a) Actual structure x, IOkN EI =Constant (b) Base structure +5.0kKN (d) m, — diagram {e) mz — diagram Figure 2.4 19METHODS OF STRUCTURAL ANALYSIS 2.3 ANALYSIS OF TRUSSES A statically indeterminate truss with external redundant reaction or internal redundant member may be analysed by a procedure closely analogous to that followed in beams. The analysis of trusses with a redundant reaction consists of choosing a base structure by removing the redundant reactions. Acting on this base structure are the applied loading and the redundant reactions. Then the condition of compatibility is applied such that the displacements in the direction of the redundants become zero. In a similar manner, when the truss has redundant members, the base structure is obtained by cutting the redundant members and replacing it by a pair of forces and then applying the condition of compatibility. Take, for example, the truss shown in Fig. 2.5. The truss is internally indeterminate to the first degree. po P. % Nas Nap (a) Doo (b) Figure 2.5 In this truss, any member may be considered redundant. Choosing member AB as the redundant, the redundant member is removed by cutting it at any section. Due to the effect of the extemal load P on the base structure, the two faces of the cut member AB will be displaced by A,,. Now, applying a pair of forces V,y as shown in Fig. 2.5(b), such that the relative displacement of the actual truss at the cut surface is zero, gives the following relationship: dao + Napbaa = 0 2.7) where 54, is the relative displacement of the cut faces due to Nag = 1. The internal force in the redundant member is Naw = - = [2.8]METHODS OF CONSISTENT DISPLACEMENTS But from virtual work principle, Nal ao = 27 [2.9] WL 8 aa = 2 where N = force in any member due to the external applied load acting on the base structure n= force in any member due to a unit pair of forces applied at the cut faces of the member. Thus NaL EA pre EA Nap = [2.10] Note that the summation in the denominator is taken over the whole truss, and the summation in the numerator applies only on the base structure. The analysis of trusses of higher degree of indeterminacy follows closely the procedure described above, Consider, for example, the truss shown in Fig. 2.6 which is externally statically indeterminate to the second degree. If the supports at B and C are removed, a simple truss supported at A and D will be the basic determinate truss. The deflected bottom chord due to the applied loading is shown in Fig. 2.6(b). The displacements at B and C are determined from the expressions Ago == et 2.11] Dog =» Ate ee EA Figure 2.6(b) shows the displacements at B and C due to a unit load applied at B, and in Fig. 2.6(c) due to a unit load applied at C. The vertical displacements are determined from the expressions 2 BL 555 = 2 —— bb FA Bae = Sqp = 2 Meek [2.12] nL ce 21METHODS OF STRUCTURAL ANALYSIS (a) (b) (c) (d) Figure 2.6 In the above expressions V stands for forces in the members due to the external applied loads on the base structure, and NV, and N, are the forces in the members due to a unit.load applied at B and C, respectively. The conditions of compatibility required fram which Rg and Rc can be determined are Avo tRrdnp + ReBpe = 0 [2.13] Beco + Ry8 pe + Reb ee = 0 22METHODS OF CONSISTENT DISPLACEMENTS (a) (b) {c) (d) Figure 2.7 Consider again the truss shown in Fig. 2.6. If the redundants are taken as the bar forces X, and X, shown in Fig. 2.7(b), then the determinate truss is three independent simple span trusses. Due to the effect of the external loading on the base structure, the two faces of the cut members 1 and 2 will be displaced by Ato and Ago, respectively. After applying a pair of forces F, = 1 and F, = 1 as shown in Fig. 2.7(c) and (d), the corresponding relative displacements of the cut 23METHODS OF STRUCTURAL ANALYSIS. faces can be determined. The displacements are [2.14] The conditions of compatibility from which X, and X, can be determined are Ato + X1811 +X2612 =0 [2.15] Aono + X1812 + X2592 =0 EXAMPLE 2.2 Find the reaction at B and the bar force in member BF, of the truss in Fig. 2.8. The cross-sectional area of the members in cm? are shown in parentheses. E is constant. The given truss is indeterminate to the second degree; it has one redundant member (internal indeterminacy) and one redundant reaction (external indeterminacy). A base structure is obtained by removing the reaction at B and cutting the diagonal member BF, The two conditions of compatibility are: Ap tRpdpp t Fprdor=0 Ap +Rpbpy + Ford =0 The displacements are computed in tabular form as shown in Table 2.1. Substitut- ing the displacements: 1680.8 + 134.91Rp + 54.52F gp = 0 — 202.3+ 54.52Rp + 118.1F pr =0 The solution of the simultancous equations is Ry = 14.44 tonnes (upward) Fy = —4.95 tonnes (compression) 24METHODS OF CONSISTENT DISPLACEMENTS I2kN SKN (d) Due to internal redundant Fae = 1 Figure 2.8 25css VSil+ 6rEl 6z'7OZ— —-8'089T— x 0 0 ors + 0 €6bI— 0 SpO- PRTI- LOZ ST OOF ao TV6I+ «ONLI + «= THIT+ OP EOE— 86 EE 080- = 06°0- CFI LODZ STOO oa 0 0 Ty lt+ 0 18'6E£— 0 O60- = tUbIt LOOT ST OOF av pOS+ OFOT + LUE + POET -— LET + ov0- e€0- ffl - O€ Ol o0€ do 0 Of'ee + 0 0 0 0071 0 0 ee'c€ ST 00S dq 9981+ OEE + ShOIt 66EL — HIE - OOl+ 950+ CCT + EEE SI OOS go O8I+ 0801 + O'0E+ 0 0 090-00" 0 0€ O01 o0¢ ag 0 0 OSL + 0 I8'€17— 0 ssO+ sssI- S@ ~~ OZ_—sOS. dq OCL— OST + SOP + POS6I+ 96TTI- O8'0- = ShOF —bhZI- = OZ_——sCOT_~—SséOOH aa 0 0 oe e+ 0 $8°Lob— 0 TrI+ — 8L'LT St OZ _~—00S av v Vu a v v 1=487 (1 =4y) vo wo wo saquiay 7aautu |] a8u Tau 7aduy JauN dau du N 7 ¥ 7 TT Agel 26METHODS OF CONSISTENT DISPLACEMENTS 2.4 ANALYSIS OF FRAMES A framed structure is composed of an interconnected assemblage of beams and columns. A frame is said to be rigid if the members are rigidly connected. The basic analysis of statically indeterminate frames by the method of consistent deformation is essentially an extension of the same principle encountered in dealing with beams. The members in frames are usually subjected to both axial and bending stresses; however, the axial stresses in the members of rigid frames are in most cases small compared with that of bending stresses. Thus, in computing the displacements in rigid frames for the conditions of consistent deformation, the effects of the axial stresses are usually neglected and the effects of bending stresses only are considered. This, however, does not mean that there are no axial forces in the members even if the change in the length of the members of rigid frames has insignificant effect on the values of the redundants. To formulate the equations for the general case of multiply redundant structures, consider the frame shown in Fig. 2.9, which is triply statically indeterminate. Let the three support reactions at A be chosen as the redundants. When these redundants are removed, A will be displaced vertically and horizontally and will also rotate. It will be seen that it will be convenient to adopt a slightly different notation with numerical subscripts for the redundants and displacements, which are defined as Ajo, 420, 430 = displacements at A in the directions of X,, X, and X3 respectively, due to the applied loads on the base structure 811,521,531 = displacements at A on the base structure in the directions of X,, X, and X3 respectively, due to X, = 1 acting alone 512, 522, 532 = the above displacements on the base structure due to X, = 1 acting alone 513, 523, 533 = the above displacements on the base structure due to X3 = 1 acting alone If it is known that there are no support displacements, the equations of consistent deformation are Ato + X1511 + X9612 + X3813 = 0 Ago + X2512 +X252 + X3523 = 0 [2.16] Ago + X3813 +.X2523 +X3533 =0 The general equation for a structure with n redundants may then be written in 27METHODS OF STRUCTURAL ANALYSIS BR 7 x. (a) Actual structure {b) Base structure R of A30 i Ton [Pzo| i by = cn =! (a) 32 Sef i Lge X2=! ast & or o (f) (e) Figure 2.9 28METHODS OF CONSISTENT DISPLACEMENTS matrix form as Ato bi t5i2 4.2.4 8in] PX 0 Aro 812 +82 +... +8 oy Xx 0 + = [2.17] Ano Bin tant... +8ny Xn 0 These equations, sometimes referred to as the elastic equations, form the basis for several different methods of analysing statically indeterminate structures. The coefficients 5,1, 542 . . . of the redundants on the base structures, which are the displacements due to unit loads are known as flexibility coefficients or influence coefficients. Whenever support displacements occur, the right-hand side of the equations may be suitably adjusted before solving the simultaneous equations. In the general case where deflections occur as a consequence of flexural and axial deformation of members of the structure, displacements in the base structure due to the applied loads may be written in the form Aas | Mind, 5>Nnb 218 10 EI EA [2.18] and the flexibility coefficients are ‘manjdx | rnin, y= [eae +e [2.19] EXAMPLE 2.3 Determine the reaction components at support D of the frame of Fig. 2.10. Since the horizontal and vertical displacements and the rotations at support D must be zero, the compatibility equations are Ato Sir S12 83] [Xi 0 Aro | +] 521 522 23] | X2] =] 9 A30 531 832 833} [X3 0 The displacement coefficients are evaluated using the graphic multiplication method: ElAy = ( 3.0 x 1.5 Jexreso x 6.0)(3) + ( 3x2) (3.0) 2 2 = —136.125 29METHODS OF STRUCTURAL ANALYSIS Bidgg= (22248) (- 3) +(0.5 x 6)(40.5) #2 Cx 0) = 48.25 EIA3o = — (22244) (1.0) + (—5 x 6)(-1.0) + G2 2c 1.0) = 45.75 EI8\, = ( 5) (2.0) + (3.0)(5.0)(3.0) =49.5 E619 = CS ) (3.0) + (1.5)(—0.5) = -14.25 = E16, E163 = (S *) (-1.0) + (1.5 x §)(-1.0) = -17.25 = FI63, E59 = (- 3 *) (-2.0) + (- = *) (-3.0) + (- 3 ; :) (-2.0) =| 4 + 4 ( 2 5 = 34.17 EI5y3 = (23) (-1.0)+ (- or *) (-1.0)+ (- x *) (-1.0) + (23 x 2) (-1.0) = 11.5 = F163 EI633 = (—1.0 x 3)(—1.0) + (-1.0 x 3(-1.0) + (-1.0 x 5)(-1.0) =95 Substituting these values into the elastic equations: —136.125 49.5 —14.25 —17.25 xX 0 8.25 | + | -14.25 34.17 ILS X,|=1)0 45.75 -17.25 11.5 9.5 X3 0 30METHODS OF CONSISTENT DISPLACEMENTS 4kN 2.0m 3.0m (a) Actual structure (b) Base structure LI 3/El (e) my — diagram (f) a /EF — diagram Figure 2.10 31METHODS OF STRUCTURAL ANALYSIS (hy) 2g/E = diagram -LO, -0.5/E1 0, -10 -I/Eh (- I) C -I/EI WY x21 -Lo -W/EI (i) m3 — diagram {j) m3/E/ — diagram Figure 2.10 contd. Solving the simultaneous equation: Vp =X, =2.34kN (upward) Hp =X2=156KN (to left) My =X; = 2.45 KN m (counter-clockwise) 2.5 THE ELASTIC CENTRE METHOD The elastic centre method is a special method of solving statically indeterminate structures of the one-loop form. Rigid-jointed portal frames, single-bay gabled bents, single-span arch, closed or ring structures are examples of the type of problems easily solved by this method. Consider a fixed arch as in Fig. 2.11(a) under an arbitrary loading which produces bending moments Mg in the primary structure. 32METHODS OF CONSISTENT DISPLACEMENTS Ww (a) Real structure Ww. = Va {b) Base structure Figure 2.11 The primary structure is taken to be a cantilever as in Fig. 2.11(b), where the left support is removed and the redundant reactions X, = Va, X2 =H, and X3 =Mzj are applied at the support point. The compatibility equations are Ato 811 S21 831 | TM 0 Aro} +] 821 822 23 | | X2 | =] 0 [2.20] Azo $31 523 833} LX3 0 The displacements are evaluated as A = Meme. [eet "0 El EI dao | Mom2ds - [4 ai EI (2.21) [es Jz since m, =x, m2 =y and m3 =1. 33METHODS OF STRUCTURAL ANALYSIS Also 3 (mis _ ea Mw) EL EI ba = jus -[4e 22°) EL EI 2 mids (2 =| =|— (2.22) 533 \ El ET [2.22] ee We 812 = 521 = zr) ET mym3ds xds $13 = 831 = El) ED mzm3ds_( yds Baa = 32 -| a \ EI If ds/EI is considered as an elemental area of length ds and a width normal to the arch axis of 1/E/, then the following interpretations may be made: 511 and 52) = moment of inertia of 1/ET area about the y axis and x axis, respectively 633 = total 1/E/ area of the arch 81 = product of inertia of 1/EY about the given axis 53 = Statical moment of 1/E/ area about the y axis and x axis, respectively If the origin of the axes can be transferred to the centroid or elastic centre of the elastic area, ds/EI, the computation may be simplified by the virtue of the fact that 5,3 and 633, being the statical moments of elastic areas, disappear. Also if the axes through the elastic centre are the principal axes, 5,, being the product of inertia, also vanishes, It is statically possible to transfer the forces X, = Va and X, = Ha to any point, provided X; = M, is properly modified, since any force may be replaced by an equal parallel force acting through any arbitrarily chosen point and a couple, Accordingly, the redundants may be applied at point 0 (xo, 9) which is attached to A by a perfectly rigid arm (Fig. 2.12). It is clear that this arm does not fundamentally change the structure, since, being rigid, it makes no direct contribution to the deflection of the arch, Taking 0 as the origin of coordinates, Va =X, Hy =X (2.23] My =X3+X 1X9 + X20METHODS OF CONSISTENT DISPLACEMENTS Figure 2.12 If the structure is symmetrical, the centroidal-principal axis will coincide with the axis of symmetry, and hence the product of inertia will be zero. Thus 812 = 81 = 813 = 831 = 523 = 532 = 0 The corresponding compatibility equations are Ajo + X184 =0 Aro + X2822 =0 [2.24] Ago + X3533 = 0 where the redundant reactions are taken at the elastic centre. If the structure is not symmetrical where the x and y axes are not the principal axes, 52 will not vanish, while 6,3, and 523 disappear. The compatibility equations for this case are Ajo + X18), + X25, =0 Azo + X1542 + X2592 =0 [2.25] A30 + X3633 =0 Solving the simultaneous equations Ato — 612/522)A20 X,=- 1 811 = © 12/822)612 Azo — 6 12/511)Ar0 X, =-= eee [2.26] > 822 — (812/511)812 X3 = —A30/533 EXAMPLE 2.4 Determine the reaction components at D of the rigid frame of Fig. 2,13, using the elastic centre method, The elastic centre is located by taking moments about AB for the x coordinate 35METHODS OF STRUCTURAL ANALYSIS 4kN {e) mz — diagram (f) m3 — diagram Figure 2.13 36METHODS OF CONSISTENT DISPLACEMENTS and about BC for the y coordinate: (3) 3) , G)G.5) 1 2 XQ = = 118 m 5 +e 3 O25) GG) Yor ——o5. =1.79m The displacement coefficients are computed using graphic multiplication method: FIA yg = (=s 18) (0.68) + (—6 x 5)(—1.18) + (2) (-1.18) = 52.87 FAs = (- a8) (1.79) + (6 x 5) (248 =47.11 EIA3o = (- 3 x18) (-1.0) + (6 x 5)(-1) + (- 2x3) (-1.0) = 47.15 EI6y, =(—1.18 x 5)(—1.18) + 3(- ees) (2x11) (- meets) (- 2 118)+(% 1899.82) = 18.18 3.21 x 3.21 2 1.79 x 1. EIB 39 = (2242) (-3x221) + (2x42) (2x 179) +5179 x 3)(1.79) + (2a) (-3* 179) 2 3 L211 + (eae x1 *) (Gx 121) 2 3 =20.25 E1833 = (5 x Da +5@ x 1)() +3 x 1) =95 37METHODS OF STRUCTURAL ANALYSIS Since the axes through 0 are not principal axes, 5,2 will not vanish. Thus, 3.21 41.79 1 (1.82 - 1.18 16, =- SAEED) 5 1845 C82 = 119) 5 (1.79) 79-1. p= 121 5 189) 2 = 6.63 The elastic equations are Ato 61 812 OO] PX 0 Aso +] 5i2 622 0 xy " ° A30 0 0 833] [X3 0 substituting 52.87 18.18 6.63 0 Xx, 0 47.11] + | 6.63 20.25 0 X,} =|0 0 47.75 0 0 9.5] | X3 The solution of the simultaneous equations is X, =—2.34 kN X_ = —1.56 kN X3 = -4.82 kNm The values of the redundants at support D are: Vip = 2.34 KN (upward) Hp = 1.56 KN (left) Mp = 4.82 — 2.34 x 1.82 + 1.56 x 1.21 = 2.45 KN m (counter-clockwise) 2.6 THE THREE-MOMENT EQUATIONS Consider a continuous beam with n spans as shown in Fig. 2.14. This beam is indeterminate to the (n — 1)th degree when the support reactions are taken as the redundants, each of which contain all the unknowns, However, when support moments are used as the redundants, although the same number of equations must eventually be solved, each equation contains only three of the unknowns. The latter choice of redundants localises the loading conditions on 38METHODS OF CONSISTENT DISPLACEMENTS Pet fi f pay the base structure and the resulting relationship between the redundants permits the equations to be written in a simple and systematic manner. These equations express the three-moment equations first presented by the French engineer Clapeyron. The three-moment equation expresses the relation between the bending moments at the three successive supports of a continuous beam, The relation is derived from the continuity of the elastic curve when the compatibility equations are obtained in terms of the support slopes of adjacent spans. Consider two adjacent spans IJ and JK of a continuous beam shown in Fig. 2.15. The moment of inertia is considered constant between I and J and equal to J; and likewise constant between J and K and equal to /;. The beam is assumed to be initially straight, and the support settlements amounting to Aj, Aj and A; take place at support I, J and K respectively, as indicated by the heavy line in Fig. 2.15(e). Compatibility equations are written at each support expressing the equality of end slopes at adjacent spans. The condition of continuity of the slope gives Aj Ait 8; Ay —Aj—8x Lio Ly Rearrange the equation as 54 Be Ar Ay Ae Li lL; Li L; [2.27] But from the Second Theorem of ihe Area-moment Method, sage] amie (Sante) cry (Fapts) crs] 1 -.(1 1 oe ET [4 i+ (441) (L)13) + (5™,) eus| [2.28] Combining [2.27] and [2.28] gives Clapeyron’s Equation of Three Moments: Li ) Ly ly M; | —— ) + 2M; +M, A jMETHODS OF STRUCTURAL ANALYSIS, P, Eli ej Ij (a) Actual beam 0 M, (b) Base structure x xX (c) Base structure bending moment {d) Support moments 1 J___Original_ Position kK os (e) Beam after displacement Figure 2.15 40METHODS OF CONSISTENT DISPLACEMENTS In the particular case when J; = J; =/ and there are no support settlements, the equation becomes Ag MyL + 2M(L; + L)) + MgLj = 6 [2.30] In the special case when the continuous beam has a fixed support, the bending moment at the fixed support is a redundant for which a new equation must be established. This case may be treated by considering the fixed support equivalent to an outer imaginary beam of finite span with infinite stiffness. This is illustrated in Fig. 2.16. (a) (b) Figure 2.16 The three-moment equation, when applied to span AgA and AB is o+ amy (224) aay (2) = 2 847 A Veo 7 B\T) ar This reduces to 2MyL + MpL = EXAMPLE 2.5 Find the support moments of the continuous beam shown in Fig. 2.17 using the three-moment equations. The three-moment equations are written for: Span ApA and AB Lo Lo 4 4\_ 6x12x7/3 Ma, (22) +2m (+4) +me($ 4 41METHODS OF STRUCTURAL ANALYSIS BkKN tng PN 2kN/m LkN/m ann Y cH . 4 7 Beet 720°! Bnd 4n 4m 2m Figure 2.17 Span AB and BC 4 4.8 8) (42) x5]3_ 6) (149.334 (3) aa( 3+) tmMe(5) = Qa — — &@) Span BC and CD 8 8 6 6\ (6) (149.33)4 (6) (18)3 ato (5) same +5) tao(5) - @®) ~ @O6 Simplifying: 2M + Mp = -10.5 2M, + 6My + Mc = —71 Mg + 6Mc = —58 Solving: Mg, = +0.01 KN m Mg = —10.52 kN m Me = -7.91kNm 2.7 THE METHOD OF ELASTIC WORK Consider the indeterminate beam shown in Fig, 2.18 which has two redundant reactions. Taking the base structure as a simply supported beam, as shown in Fig. 2.18(b), subjected to the loads and the redundant reactions Ma and Vg, it is obvious that the base structure is statically equivalent to the actual structure. Compatibility condition furnishes two additional equations, namely, the rotation at A and zero. These displacements by Castigliano’s First Theorem are 9, -2U- A OMy, =U L avy 0 AB [2.31] 42METHODS OF CONSISTENT DISPLACEMENTS. P w Za Figure 2.18 Therefore, the condition for determining the redundants M, and Vp satisfying the displacement conditions is such that the total internal energy will be a minimum, os strictly speaking a maximum, It is evident that it must be a minimum value, because there is no maximum value when the stored energy increases, as the redundant forces increase indefinitely. The above equations may also be interpreted as follows: Among all possible sets of values that redundant forces in the system may assume, the correct set of values is that which makes the strain energy U a minimum, Since one equation is obtained for each redundant force, a set of equations corresponding to the compatibility will result, Therefore, Castigliano’s Theorem of Least Work, also commonly known as Castigliano’s Second Theorem, may be stated as follows: In any loaded statically indeterminate structure with no temperature changes or support displacement, among all possible equilibrium states the correct values of the redundants are those for which the total elastic strain energy, resulting from the application of a given system of loads, has a minimum value, Consider the beam shown in Fig. 2.18. The bending moment at any point on the beam is given by M=M, + Mymg + Vang [2.32] where M, = moment in the base structure due to the applied loads ma = moment resulting from a unit couple at A mp = moment resulting from a unit vertical load at B 43METHODS OF STRUCTURAL ANALYSIS Using Casligliano’s Theorem of Least Work: 9, -2U.- jae aM dx 8 Oy aM, EI dx af dx = | atoms 2 +My (mk +20 | maimy = 0 U -[w am -| aM ax p33} Ae = 2M Bo, av, J Vy ET dx dx 9 dx = | Moma Fr Ms J may SF Va | mk = 0 From the above two equations, the integrals are evaluated for the base structure and the redundants M, and Rx, are then soived. Writing the above equations in terms of displacements: Oy = Ag +My Saat VaSan =0 Ag = Ay +My Spa + VgSpp = 0 [2.34] Note that these equations are identical in form with those obtained from the virtual work method. EXAMPLE 2.6 Find the reactions of the propped cantilever beam shown in Fig. 2.19 using Castigliano’s Theorem of Least Work. — Val P Va = P-Vp (b) Base structure (Vg as redundant) who f (c) Base structure (Ma as redundant) Figure 2.19 4METHODS OF CONSISTENT DISPLACEMENTS (a) Taking the reaction at B, Vg, as the redundant (Fig. 2.19(b)), the redundant Vp is determined from aU —=0 aV5 Table 2.2 Origin Section x=Oat Limits M aM/dVg L L AC Cc Va{x+— }—Px x+— 2 2 CB B Vex x OU fy, Be ae oVy OV, EI 12 +l, len as at Lil +4) Ped Pix |e “m|3 2 "2) ~3 a |, 1 [ ¥yx3 ]4/? at FI| 3 Jo a1 [MoL? SPL?) EI 3 48 5 ==P Ye 76 The other reactions are ul Ry =P- Van igP Ma = & — Val = 2 PL (negative moment) 45METHODS OF STRUCTURAL ANALYSIS (b) Taking Ma as the redundant (Fig. 2.19(c)): Table 2.3 Origin Section x=Oat Limits M aM/aMy P M, AC A x=0to —-Ma + (+4) x 14% T=? 2° L L 3PL My =e “16 (negative moment) The other reactions are PM L 16 P My _5 Vp=~-—tes B'2° 1 16 Note that a moment that causes tension on the top side of the beam is considered negative moment. The positive value obtained for My indicates that the assumed negative moment is correct. EXAMPLE 2.7 Find the maximum moment and the decrease in the vertical diameter of the ring shown in Fig. 2.20. Due to symmetry, one-quarter of the ring is considered. 46METHODS OF CONSISTENT DISPLACEMENTS P —— {a) Actual structure (b) Equivalent structure Figure 2.20 (a) Maximum Moment t-te aM, ou =a OM am, EI } aM, 0 PR M=>( — cos 6)—M, aM _ aM, dx = Rad -1 47METHODS OF STRUCTURAL ANALYSIS. Substituting, an zi" (2a — cos 8) -My) Rado = 0 -£ {Eo PE sino + g0 |” a (-2 The moment at any point is PR M=>(l —cos6)—M, -78 (2 cosa) 2\r The maximum moment is at the point of load application, ie. when 0 = 7/2 PR Mmax = (6) Deflection au _( M (am bo =ap-| ar (ae) a7 (2 cosa) 2 aM _R(2 <==(=_coso ap “3(5- ) dx = RdO Substituting: 712 PR? (2 2 Ap= nl, 4 (2 cose) Rado 304 4 1 af =e 4o—Asno+te +—sin 20 EI (a 7 2°94 ° PR (at _2 ET \4a a Castigliano’s Theorem of Least Work provides a more suitable method for the analysis of partially or completely articulated structures. To illustrate the method, consider the three-span continuous truss (Fig. 2.21). 48METHODS OF CONSISTENT DISPLACEMENTS P, Re Pe Re Ps (b) Figure 2.21 By removing the interior supports and replacing them by the forces Rp and Ro which are equal in magnitude and direction to the respective reactions, the structure of Fig. 2.21(b) becomes statically equivalent to the actual structure. The bar force in any member of the structure is N=N,+RpnptRenc [235] where Ng = bar force in any member of the base structures due to applied loads ng = bar force in any member due to a unit vertical force applied at B Nc = bar force in any member due to a unit vertical force applied at C The expression for the total internal (strain) energy is NPL FA [2.36] The equations for determining the redundants are written from Castigliano’s Theorem of Least Work: aU NL aN Ry EA OR ® ® [2.37] 3U _NL aN Re 49METHODS OF STRUCTURAL ANALYSIS Note that w, aR, aU n aR Substituting [2.37] into [2.35] gives Nomal , p mi, Re Ditch =o B EA [2.38] Notch. muti neL at Ro *Re gs 0 or, in terms of displacements, Ay + RySny + Re Spe =0 [2.39] Act Rien + Reb ee = 90 These equations are identical in form with the equations obtained from the virtual work principle. EXAMPLE 2.8 Find the reaction at B and the bar force in member BF using Castigliano’s Theorem of Least Work (Fig. 2.22). The-cross-sectional area of the members, in cm?, are shown in parentheses. The truss is indeterminate to the second degree with one redundant member {internal indeterminacy) and one redundant reaction (external indeterminacy). Taking member BF and the reaction at B as redundant, the two condition equations of least work are BU sy BNL Lg aRy Ry A au av L_ OF gr OF pp A All computations necessary for the evaluation of the terms of the above equations are shown in Table 2.4, The required equations of least work are: 135.09Rg + 54.53F gr — 1680.8 =0 54.52Rp +118.2Fpp — 202.3=0 50METHODS OF CONSISTENT DISPLACEMENTS I2kN BKN (a) Actual structure l2kN BkN (b) Base structure E +0.45Ry F {c) Due to external redundant Re -0.8F or (d) Due to internal redundant Foe Figure 2.22 51AMT BIL + FATS PS + ~CTOC— yes ps + TYEO'SEL + 8O891— 0 0+ 4yors + €'6rI~ 0 sro- 0 fysro~ 49°99 st OOP MMVI + YTV OL + OP C0E— TVG + YIP IZ + Corl s0- oo0- *Mys'0+ — SxO6'0- L997 SI (OOF 0 O+ YIP IT + 18'6Ee— 0 06'0- 0 Fy060- L9°9% SI (OOF M4801 + YE ET~ Waypes + 4MLTe + LVEL g0- seo- Mys0- Fuceo- of Ol 00 Wygee+ 0 + 0 0 or 0 yO + 0 eee st 00S WMyece+ SyooRl + 66'EL— — MYLORI + FUSPOL + PhP or 9s0 Myo 1+ — By9sO+ eeec St 00s tygor+ Tysl+ 0 ‘40°81 + "ODE + 0 90- 0OI- *My90- — FYOO'I— Of ol o0€ 0 O+"yoSL + 18°E17~ 0 sso 0 fyssor St 0% 00S 18°71 + YC'L — PO'6OI My0c'L — uSO'e + 96°I1I- so- sro ‘yso- Sysror OZ 0% ~— OOF 0 0+ "NIE IE + SLOP— o wi 0 Syn i+ st Ot 00S ¥ ue vy fue ye Sue 1a. a Bo au wou 7 we % Two’ Ne Ne ¥ ¥ mu T Oy 7 MN Fz OL, 52METHODS OF CONSISTENT DISPLACEMENTS The solution of the simultaneous equations is Ry = 14.44 KN (upward) Fp = —4.95 kN (compression) 2.8 PROBLEMS 2.1 Evaluate the moments at supports A and B of the beam shown in Fig. P2.1. (Ans: My, = —0.0626L?, Mg = —0.00361L?) 1kN/m A B 21 T A f_—-$@ pte Figure P2.1 2.2. Determine the reactions and bar forces for the truss shown in Fig. P2.2. Figure P2.2 2.3 Determine the bar forces in the truss double diagonal system shown in. Fig. P2.3. The area of all top chord members is 24 and the area of the remaining members is A. (Ans: Npp =-3.05kN Npp =-5.56 KN Ngp =—3.65 KN Nep= 3.00kKN Nog 2.80 kN Ngp = —3.76 kN Nap =-2.76KN Nap= 4.60KN Nez = 4.66 KN) IOkN —— ION 3m am Figure P2.3 53METHODS OF STRUCTURAL ANALYSIS. 2.4 Construct the shear and bending moment for the continuous beam shown in Fig. P2.4. IOKN 2kN 4 2 kN/m 2en. E A ' (Bt Cw ;D sm 4m ! 5m 2m, Figure P2.4 2.5 Draw the bending moment of the frame shown in Fig. P2.5. (Ans: My = 45.40kNm = Mp =—2.65kNm My=-6.75KNm Mg = +2.71 and -7.29 kNm Mg = 47.09 kN m) SKN 4m 6m Figure P2.5 2.6 Find the support moments of the continuous beam in Fig. P2.4 using the method of three moments. 2.7 Find the joint moments of the frame shown in Fig. P2.6 using the elastic centre method. (Ans: Mg = —Mp = 0.42 KN m) 10 kN m 5m Sm Figure P2.6 543. The Slope Deflection Method 3.1 INTRODUCTION The slope deflection method was presented by G. A. Maney in 1915 as a general method of analysis for continuous beams and rigid-jointed frames. One of the main values of the slope deflection method lies in that it forms the basis of other methods such as the Cross and Kani moment distribution methods. These methods are numerical iteration solution of the slope deflection simultaneous equations. In the slope deflection method the rotations and relative joint displacements are the unknowns and the moments at the joints are found in terms of rotations, joint displacements, stiffness and length of members which are determined from the solution of simultaneous algebraic equations. The method assumes all joints to be rigid; that is, the angles between the members at the joints do not change under applied loads. Also, displacements due to axial and shearing forces, being very small, are neglected. Consequently, the joint is considered to rotate as a whole and a single angle of rotation is sufficient to define the rotation of all members at a joint. By properly determining the joint rotation and displacements at the ends of the individual members, the joint moments are formulated from the equations of equilibrium. 3.2 DEVELOPMENT OF SLOPE DEFLECTION EQUATIONS 3.2.1 Sign Convention There are different sign conventions used in different textbooks. In all subsequent discussion a statical sign convention suitable for beam and frame 55METHODS OF STRUCTURAL ANALYSIS analysis is adopted, as follows. (a) Moments An end moment M is considered positive if it tends to rotate the member counter-clockwise or the joint clockwise. That is, if the member tends to rotate the support clockwise, the moment is considered clockwise. (b) Joint Rotation The rotation @ of a joint is positive if the tangent turns in a clockwise direction. (ec) Member Rotation The rotation of the chord connecting the ends (A/L) is positive if the member turns in clockwise direction. 3.2.2. The Slope Deflection Equations To develop the slope deflection equations, consider a base structure which is a straight prismatic restrained beam AB of span L and moment of inertia I subjected to a system of loads. Due to the effect of loads and the adjacent members, the beam is displaced as shown in Fig. 3.1(b). With reference to the original position, the ends rotate through @, and 0, at A and B, respectively, and a relative vertical displacement of A of the member ends. The end moments produced at A and B are, respectively Mag and Mga. The member AB is equivalent, both statically and kinematically, to the sum of those shown in Fig. 3.1(d)—(f). The effect of each displacement component to determine the end moments at A and B is studied separately. Note that the end and member rotations are assumed clockwise and therefore positive. These components are: {a) Fixed-end moments For the applied load system the fixed-end moments Mig and Mi, are first determined. (b} End moments due to rotation 0, ‘The member AB is propped cantilever with clockwise rotation 0, (Fig. 3.1(d)). Using the conjugate beam method, the rotation and displacement at support A are 4, - aw + Moa) an 21 _MApl (L\) , Mbal [2L\ _ 4a Ser (5) +“ 3) °° 56‘THE SLOPE DEFLECTION METHOD Fk AA 8 a (a) Original position Ma ( YA 5 A A a ae (b) Displaced beam 4 Mo ) Mie (c) Fixed-end moments a Libs (d) Rotation at A ~ aT vg Dad (e) Rotation at B (f) Relative displacement Figure 3.1 57METHODS OF STRUCTURAL ANALYSIS From which 1 lin Mpa =~ Map Therefore _Miok A 4EI Hence | _ 4EI0, 2E10, p= and Mia = -—* (3.1] (c} End moments due to rotation Oy (Fig. 3.1(e)) In a similar manner as above, 6 = Mike + Mal ® 21 and Ap = MpaL (L\ Mxpl (2L =0 Beer \3) 28 V3 From which. Min = 1 M" (AB 7 Mba Therefore __ Mpa BO GET Hence 0 4510, n _ 2EI0 Mga = = and Mxy = 7 [3.2] (d) End moments due to relative displacement A (Fig. 3.1(f)) The slope at support A is 9, = tae + Mond _ 4 “ 2ET 58THE SLOPE DEFLECTION METHOD Thus Mi = Mis Using the conjugate beam method aah (L) , Mia (26 261 \3 2EI 3 iin? Hence [3.3] The separate moments of Fig. 3.1(c)-(f) may be superimposed to represent the true end moments for beam AB according to the bending moment sign convention: Map = MKp + Man + Man + Map Mpa = Mba + Mpa + Mpa + Mpa or in terms of the end rotations and displacements: 2E1 Map = Mp + 28a + 03 — 34/2) 2EI Mpa = MBq — > 26p + 8a —34/L) Adopting the statical sign convention and introducing K = I/L the equations are revised as Map = Mkp — 2EK(20, + On — 3A/L) Mpa = Mb, — 2EK(20p + 0, —3A/L) The above equations are known as the slope deflection equations. They express the end moments of a member in terms of its end displacement. Note that the sign of the fixed-end moment is shown as plus, However, its correct sign will be determined by the direction it tends to rotate the joint following the adopted sign convention, These equations can further be generalised as a single equation in the form Mjm = Mf — 2EK jm (20; + Om, — 3Ajm/Ljm) [3.5] (3.4] where the subscripts j and m represent the near and far end of member JM respectively. The slope deflection equations given by [3.5] represent two equations with 39METHODS OF STRUCTURAL ANALYSIS six unknowns. The unknowns are solved by applying boundary conditions for the displacements and continuity conditions for the moments. 3.2.3 Fixed-End Moments When a beam whose supports are completely fixed against rotation or translation is subjected to transverse loads the beam is called a fixed-end beam. The bending moments at the supports of such a beam are called fixed-end moments. The values of the fixed-end moments for common types of loadings are given in Table 3.1. 3.3 APPLICATION OF SLOPE DEFLECTION EQUATIONS TO BEAM PROBLEMS 3.3.1 Beams With No Support Settlements The slope deflection equations for a member with no relative lateral displacement between the ends are: Map = Mkp — 2EK(20, + Op) Mpa = Mba — 2EK(20g + Oa) [3.6] Consider the two-span beam shown in Fig, 3.2. Fixed-end Moments The fixed-end moments depend on the applied loading. The fixed-end moments are My and Mg, for span AB and Mfc and Még for span BC. Slope Deflection Equations The slope deflection equations are written for each member as follows: Map = Mkp + 2EKap(28, + 9p) Mpa = Mba + 2EKan(@, + 28p) Mpc = Mic + 2EK yc (20p + 8c) Mcp = Méx + 2EK pc (Op + 20c) [3.7] 60THE SLOPE DEFLECTION METHOD Table 3.1 Mky Min P a b Pab? Pab a L 8 Te TE al * = B wl? wh? L t 2 2 wi? wht 30° “0 nT Ww q wa? a @ aL = Le "(16-10 2+32) w — — oN Sw? Sw? A 8 = Le we %6 % 4 M ap+o > _te 6 (ca m4 = a2 ~ a) 4 L i t Equilibrium Condition of Joints The equilibrium equations are written for each joint by taking the free-body diagram of the joints. These equations are DMy = Map =0 =Mg = Mpa + Mpc =0 [3.8] 2Mc = Mcp = 0 61METHODS OF STRUCTURAL ANALYSIS. Figure 3.2 The equilibrium equations [3.8] may be written in terms of the rotations given in [3.7] . Hence Mkp + 4EKap0a + 2EKapOp = 0 MBq +Mbc + 2EKap0a + (4EKap + 4EKpc)6p + 2EKgc8c=0 = [3.9] MEp + 2EKgc9p + 4EKpc8c = 0 The above equations may be written in matrix notation as follows: Mk 4EKap 2EKap 0 8a 0 Mix +Mfo|+|2EKan 4E(Kan+Kpc) 2£Kpc| | 3 | = |0 Més 0 2EK gc 2EK gc | | Oc 0 [3.10] The above equation may be written in compact form as {mF} + [K]{o} = {0} (3.11] where { MF} is the vector of the fixed-end moments, [K] is the member stiffness matrix, and {6} is the vector of end rotations. In [3.10] the unknown quantities are the end rotations which can be determined from the solution of the simultaneous equations. These rotation quantities can then be substituted into [3.7] to find the support moments. The procedure for analysing continuous beams is as follows: {a) Determine the fixed-end moments in each span. (b) Use the slope deflection equations to express the end-moments and end- rotations. (©) Establish the equilibrium equations of moments where the support rotations are the unknowns, at each joint capable of rotating: the sum of the end moments of all members at the joint is zero. 62‘THE SLOPE DEFLECTION METHOD (d) Evaluate the rotations by solving the simultaneous equations. (©) Substitute the rotations back into the slope deflection equations to compute the end moments. EXAMPLE 3.1 Determine the support moments for the beam shown in Fig. 3.3. IOOkN , 30kN/m | a? 7 3 Dan ar ¢ im am ém 4m Figure 3.3 Relative Stiffness I ar (Kap): =(=):(—Jes: (Kan) : (Kc) (2) (2) 5:8 Fixed-end Moments 30x 8? Mky = -ME, === 160 kNm 100 x 6 x 4? Me =~ = 96 kN m 10' 100 x 4 x 67 MBq = 100280 ag Nm 10' Slope Deflection Equations May = 160 — 5(20, + Op) = 160 — 505 (since 84 = 0) Mga = —160 — 5(205) Myc = 96 — 8(205 + Oc) Mop = —144 — 8(0y + 20¢) 63METHODS OF STRUCTURAL ANALYSIS Equilibrium Equations Atjoint B: Mga +Mpc =0 At joint C: Mcp =0 Hence 2603 + 80¢ = 64 80, + 160¢ = —144 In matrix form 26 «81 [4 64 [ 8 wl [| . [ul Solution of the above equation yields Op] _[ 0.364 (| - (ool End Moments Substitution of @ values into the slope deflection equations yields the support moments according to the statical sign convention: Map = 160 — 5(0.364) = 158.18 kNm Mpa = —160 — 5(0.726) = —163.64 KN m Mgc = 96 — 8(0.728 — 9.182) = +163.64 kN m Moy = —144 — 8(0.364 — 18.354) = 0.0 kN m 3.3.2. Beams With Support Settlements Support yielding in continuous beams induces bending moments at all supports of the beam. The general slope deflection equations are used to analyse continuous beams, The equations are Map = Mkg — 2EK(20, + 0p — 3A/L) Mga = Mba — 2EK(20p + 0, — 3A/L) [3.4] Usually the effect of support yielding only is investigated, and the result may then be combined with those of applied loadings. 64‘THE SLOPE DEFLECTION METHOD EXAMPLE 3.2 Determine the support moments of the continuous beam shown in Fig. 3.4, The support at A rotates through 0.15 radian in a clockwise direction and the support at C settles down 10 mm; E = 2.1 x 105 N/mm? and 1=4 x 10* mm* EI =2.1 x 105 x 4000 x 10-6 = 8400 kN/m? A Lo, = O15 rad Settlement &= 10mm F " 4 Slope Deflection Equations Map = — EEN 0, +03), where 0, = + 0.15 radian = —1680 — 560003 Mpa = — A 0p +0.15) = —11206, — 840 Mpc = — AS Cong + 0¢ —3A/6) (where A=10mm = 0.01 m) = —168000, — 84000¢ + 42 Mon = —2 £00835, +0 3 x00) = —16800¢ — 84000, + 42 2 x 8400 3x 0.01 Mep “oe [2 + 6p — (- q ) (where 6p = 0) = 84000 — 31.5 2 x 8400 0.03 Mpc = -—~ (sc + oe) 4 = —42008¢ — 31.5 65METHODS OF STRUCTURAL ANALYSIS Joint Equilibrium Conditions () Joint B: Mga + Mpc = 0 (ii) Joint C : Mcp + Mcp = 0 Substituting the moment expressions into the equilibrium equations gives —28000 -—8400 OB 798 Cece ovo al ° [ scco| Solving the simultaneous equations, 6p = —0.03181 radian O¢ = +0.01101 radian End Moments Map = —1680 — 5600 (—0,03181) = —1501.9 kNm Mga = —11200 (0.03181) — 840 = —483.8 kN m Mgc = —16800 (—0.03181) — 8400 (0.01101) + 42 = 483.9 KN m Mcx = —16800 (0.01101) — 8400 (—0.03181) + 42 = +124.2 kNm Mcp = —8400 (0.01101) —31.5 = —124.0 kN m Mpc = —4200 (0.01101) —31.5 = —77.7 kN m Converting the statical sign convention into bending moment convention yields My = +1501.9 kN m_ (tension at bottom fibre) Mg = —483.9 kN m Mg = +124. kN m Mp = 77.7 KN m 3.4 APPLICATION OF SLOPE DEFLECTION EQUATIONS TO FRAMES 3.4.1 Frames Without Sidesway The slope deflection equations for frames without sidesway are: Mag = MXy — 2EK(20, + Og) 1.6] Mpa = Mia ~2EK(20p + 8a) , 66THE SLOPE DEFLECTION METHOD Under this case all joints of the frame remain fixed in location during loading. Such frames are either physically held against sidesway or are symmetric and subject to symmetric Joading system. In the slope deflection equations the joint rotations are considered as the unknown while the joint moments are determined from joint conditions of equilibrium. In effect, the slope deflection solution of a frame without sidesway is essentially the same as that of a continuous beam. For frames without sidesway, there are always as many conditions of equilibrium of joints as unknown rotations. After the rotations are determined, the joint moments can be found from the slope deflection equations. 3.4.2. Frames With Sidesway When loads are applied to frames, there are cases in which lateral movement occur through unknown distances, although usually in known direction. The effect of such translation is to cause the joints to deflect relative to initial unloaded positions. In such cases, the joint rotations and relative displacements are the unknowns in the slope deflection equations, The governing slope deflection equations for members subjected to a sidesway are Map = Mk — 2EK(20, + Og — 34/L) [3.4] Mpa = Mga — 2EK(20y + 0, — 34/L) Assuming that all axial deformations are so small as to cause no change in member lengths, the relative sidesway of the joints may be evaluated depending on the geometry of the frame. Figure 3.5 shows a two-column frame subjected to a lateral force P applied at B. The frame will deflect to the right while joints B and C rotate clockwise. Thus, the frame has three unknown displacements namely Op, 0c and A. Hea Hoo Meo (a) (b) Figure 3.5 67METHODS OF STRUCTURAL ANALYSIS With three unknown displacements, three condition equations based on static equilibrium are required. Two equilibrium equations can be written for the two joints B and C, The third independent equation can be formulated by considering the horizontal static equilibrium of the frame. Taking the columns as free bodies, as in Fig. 3.5(b), — Mas + Mpa A (3.12] Men + Mpc h Applying the equilibrium condition ZH = 0 for the whole frame, P— Hay — Hpc = 0 [3.13] Hap Apc = This additional equation is generally known as the sway equation and sometimes known as the shear equation or the bent equation. EXAMPLE 3.3 Find the joint moments using the slope deflection equations of the frame shown in Fig. 3.6 Relative Stiffness Member AB BC cD Moment of inertia I ar I Span (m) 5 3 3 AL dS 2/3 1/3 Relative K 3 10 5 2.0 Figure 3.6 68THE SLOPE DEFLECTION METHOD Fixed-end Moments 38) Q) _ he =p HAA KN m 3Q) Gy Mga = 326" - —2.16 kN m 25 ~ 40.5? | Mc = -MEy Ge 1.5kNm Slope Deflection Equations Map = 1.44 — 6(0g — 0.6A) Mga = -2.16 — 6(20g — 0.64) Mpc = 1.5 — 20(20p + Oc) Mop = -1.5 — 20(0y + 26c) Mcp = —10(28¢ — A) Mpc = —10(0¢ — 4) Joint Equilibrium Equations (i) Atjoint B: Mga +Mpe =0 (ii) At joint C : Mog + Mcp =0 Shear Condition Substituting _ Map + Mpa + 6 IN 3 and —Mep + Mpc Hy 3 into the shear condition 3.0 — Hy, — Hp = 0: 30- (ise +Mpa +8) _ (seo-+Moc) <0 5 3 45 — 18 — 3(Map + Mpa) — S(Mcp + Mpc) = 0 540 + 1500¢ — 121.64 = —29.16 69METHODS OF STRUCTURAL ANALYSIS or —3.663 — 10.08¢ +8.11A = 1.944 Substituting the moment expressions into the joint equilibrium equations gives the following simultaneous equations: 56 20 -3.6 63 —0.667 20 60 -10 Oc | = | -1.500 -3.6 —10 8.11] LA 1.944 Solving the three simultaneous equations: 4 = —0.00195 8c =0.0195 A=0.263 End moments Map = 1.44 — 6[(—0.00195 — 0.6(0.263)] = 2.40 kN m Mga = -2.16 — 6[2(—0.00195) — 0.6(0.263)] = —1.19 kN m Mgc = 1.5 — 20{2(—-0.00195) + 0.0195] = +1.19 KN m Mcp = —1.5 — 20[-0.00195 + 2(0.0195)] = —2.24 kN m Mcp = —10[2(0.0195) — 0.263] = 2.24 kN m Mpc = —10(0.0195 — 0.263) = 2.44 KN m 3.5 SWAY EQUATIONS In simple frames the sway equation was obtained by considering the horizontal Static equilibrium of the frame. In more complicated frames, such as two or more storey frames or gabled frames, the equilibrium of the appropriate parts of the frame must be examined. To achieve this the number of independent sway modes must be identified. This may be done by replacing the rigid joints by hinged joints; the number of independent sway modes is then equal to the number of independent kinematic mechanisms. Since an independent mechanism corresponds to the action of different loading systems, each mechanism then corresponds to an independent equation of equilibrium. The sway equations are therefore obtained by considering the equilibrium of the parts of the frame corresponding to the independent mechanism in turn. A two-storey frame as shown in Fig. 3.7 is used to illustrate the derivation of 700 0 THE SLOPE DEFLECTION METHOD (b) Sway | B oD Sa {c) Sway 1! Figure 3.7 ”METHODS OF STRUCTURAL ANALYSIS sway equations. The frame has a total of six unknown displacements, namely 94, 98, 9c, 8p, Ag and Ap. The four joints furnish four equations of equilibrium and the additional two equations of equilibrium may be obtained from independent sway modes, The frame has two independent modes of sway identified by the displacements A, and A) as shown in Fig. 3.7(b) and (c). The two independent sway equations are obtained by considering the equilibrium of the portion of the frame corres- ponding to each mode of sway. Sway I In column AC, from 2M, =0 Mac + Hea= ace Mca 1 In column BD, from 2Mg = 0 Hon _ Msp = Mop 1 From ZH = 0 of frame ABCD, Hea + Hyp = Py 1 or j, Mac + Mon + Mpp + Mpg) =P [3.14] 1 Sway IT In a similar manner, the relationship between the lateral forces on the whole frame and the end moments is 1 1 i, ce + Mec) +5” Mor + Men) =Pi + Pa [3.15] For the case of a gabled frame shown in Fig, 3.8(a), there are two independent mechanisms corresponding to two sway modes as indicated in Fig. 3.8(b) and (c). Yc = ¥en = tH 2a Yan=Vea=+5 V1 72THE SLOPE DEFLECTION METHOD Since beams BC and CD are equal in length, Vc = Vos = —Wep = —Wpce = V1 Similarly for Sway I] Yc = ¥en = —¥ep =—Wpe = th2 2a Yor = ven = +52 Some of the slope deflection equations are: + 2a Map = —2EKap (+ -3 S ) Mpc = —2EK gc [208 + 8p — (—-W + H2)) Mey = -2EKep [(20¢ + Op — 3(V — ¥2)) 2a Mpr = -2EKpe (2% -3 7 vn) The sway equations are determined from the free-body diagrams shown in Fig. 3.8(d) and (e). The equilibrium equations corresponding to Sway I are: From 2Mg = 0 for member AB, Map + Mh ny = Man? Mow [3.16] From EMc = 0 for member CD, 1 VoL y= 1 (Hen +My ~~ ) (3.37) From ZMg = 0 for member ABCD L (VL Vp A (Bric — Msn) [3.18] Substituting [3.17] and using EH = P + Hy + Hp = 0, the sway equation corres- ponding to Sway I is _ VL Map t+Mpa , Mpa + Moc , Mev 4a b 2a a (3.191 Ina similar manner for Sway II, VL _ Mec+Mpe , Mor +Men Mc VS _ Mpc DE , “pe + Mp , “cp [3.20] 4a 2a b a 73METHODS OF STRUCTURAL ANALYSIS La L/2 (a) (b) Sway t (c) Sway II Le Live Le Le (a te) Figure 3.8 74THE SLOPE DEFLECTION METHOD EXAMPLE 3.4 Determine the joint moments of the gable frame of Fig. 3.9 using slope deflection equations. Relative Stiffness Member AB BC cD DE Moment of Inertia T 2 2 I Length (m) 6.0 10.2 10.2 6.0 T/L 1/6 d/5.1 15.1 1/6 Relative K 1.70 2.0 2.0 1.70 (b) Figure 3.9 75METHODS OF STRUCTURAL ANALYSIS Member Rotations Sway I: 2x2 Yap = Yaa = + E~ oy = 40.6676, Vac = Ue = —b1 Yep = ¥pc = $1 Sway II: Yee = Yen = $2 Yeo = Woe = ~$2 2x2 wpe = YeD = 2 = 0.6672 Slope Deflection Equations Since supports A and E are fixed, 0, = 0; =0 Mag =—1.7(03 — 3 x 0.66791) Mpa = —1.7(20g — 3 x 0.66791) Mpc = —2.0[26g + Oc — 3(—-¢1 + $2)I Mcp = —2.0[20¢ + Og — 3(-61 +¢2)] Men = —2.0[20¢ + Op — 3(6; — ¢2)] Myc = —2.0[26p + 8c — 3(¢1 — $2)] Mpg = -1.7(20p — 3 x 0.66762) Men = —1.10p — 3 x 0.6672) Joint Equilibrium Conditions (Joint B: Mpa +Mgc = 0 (i) Joint C: Mc + Mcp =0 Gi) Joint D: Mpc + Mpg =0 76THE SLOPE DEFLECTION METHOD Shear Conditions Using [3.19] and [3.20]: =Map +Mpa , Mpa +Moc , Mcp fi 10 w) 6 2x2 2 W) 0 = Mec *Mpr , Moz +Mep , Mcp 2x2 6 2 Substituting the moment expressions into the equilibrium equations gives the following simultaneous equations: —7.403 — 2.00¢ — 2.6; + 6$2 =0 ~2.00g — 8.08¢ — 2.08 = 0 ~2.00¢ = 7.40p + 644 — 2.64 =0 10.20g + 150¢ + 120p — 38.961 + 2742 = -60 120g + 150¢ + 10.20p +279; — 38.942 =0 Solving the five simultaneous equations, (3.21] 63 = 3.350 Oc = =1.948 Op = 4.443 by = 7.804 $2 = 6.864 End Moments Substituting the computed values of rotation into [3.21] gives Mag = —1.7(3.350 — 3 x 0.667 x 7.804) = +20.84 kN m Mpa = —1.7(2 x 3.350 — 3 x 0.667 x 7.804) = +15.14kKNm Mgc = —2.0[2 x 3.350 — 1.960 — 3(—7.804 + 6.864)] = —15.14 kN m Mcp = —2.0[-2 x 1.948 + 3.355 — 3(—7.804 + 6.864)] = —4.55 kN m Mcp = —2.0[—2 x 1.948 + 4.465 — 3(7.804 — 6.864)] = —4.55 KN m Mpc = —2.0[2 x 4.443 — 1.960 — 3(7.804 — 6.864)] = -8.23 kNm Mpg, = -1.7(2 x 4.443 — 3 x 0.667 x 6.864) = +8.23 KN m Mgp = —1.7(4.443 — 3 x 0.667 x 6.864) = +15.78 KN m The final bending moment diagram is shown in Fig. 3.9(b). 7METHODS OF STRUCTURAL ANALYSIS. 3.6 PROBLEMS 3.1 Find the joint moments of the box structure shown in Fig. P3.1. (Ans: My =Mp = -0.24 kN m Mg = Mc = —0.88 KN m) 2 kN/m. I ar 6m o _ Figure P3.1 3.2 Determine the joint moments of the frame shown in Fig. P3.2. A B IkN/m D 2 _§" Figure P3.2 3.3 Draw the bending moment diagram of the frame shown in Fig. P3.3. (Ans: Mg = 6.60 KN m Mg = +6.08 KN m Mg = —10.09 kN m and —0.09 kN m Mp = +7.19 KN m) rE]THE SLOPE DEFLECTION METHOD SkN 1OkN m Figure P3.3 3.4 Find the joint moments of the frame shown in Fig. P3.4. c Do Figure P3.4 3.5 Find the joint moments of the gable frame shown in Fig. P3.5. (Ans: Mp = +4.66 KN m Mg = —6.15 kN m and —8.15 kNm Mo = +4.45 KN m) TKN/m 2m Sm om 2m Figure P3.5 79