ADVANCE THEORY OF STRUCTURES

INTRODUCTION
1. REFERENCE
a. Problems in Matrix Structural Analysis, Bhatt
2. SYLLABUS
a. Introduction

b. Matrix Structural Analysis

i. Special Matrix Operations

ii. Truss (Ch. 3)
1. Manual Solution
2. Computer Based Solution
iii. Plane Frames (Ch. 4)
iv. Plane Grids (Ch. 5)
v. Combination (Ch. 6)
vi. Self-straining Loads (Ch.7)

c. Lagrangian Mechanics (Energy Methods)

i. Principle of Virtual Work (PVW)

ii. Stationary Potential Energy (SPE)
iii. Stability
iv. Continuous Systems
v. Calculus of Variations
vi. Rayleigh / Rayleigh-Ritz Method
vii. Timoshenko Beams (Deep Beams) (Optional)
Lecture 1: SPECIAL MATRIX OPERATIONS
Example:

20 -4 3 0 x1 -200
-4 10 2 0 x2 0
* =
3 2 10 -3 x3 100
0 0 -3 20 x4 300

20x1 – 4x2 + x3 = 200

-4x1 +10x2 + 2x3 = 0

3x1 +2x2 + 10x3 -3x4 = 100

-3x3 +20x4 = 300

Number of column represents number of unknowns

 Addition & Subtraction

[A] ± [B] = [C]

(mxn) ± (mxn) = (mxn)
aij ± bij = cij

 Multiplication
[A] [B] [C] [D] = [E]
(m x n) (n x o) (o x p) (p x q) = (m x q)

Example:
4 3 4 3 8 6
1 0 2 0
[ 0 1] [ ] = [0 1 0 2]
0 1 0 2
−4 1 −4 1 −8 2

(3 x 2)(2 x 4) = (3 x 4)

 Division
Vector – single matrix
[ A ] {x} = {y}
(n x n) (n x 1) = (n x 1)
 A(nxn) x(n) = b(n) Given: A & b, solve for x(n)
 Gaussian Elimination or Cramer’s Rule
MATRIX PROPERTIES: [A]

1. Square: nxn
 Number of rows = no. of equations & no. of columns = no. of unknowns.
 To have a unique solution, the number of independent equations = no. of
unknowns.

2. Symmetric: (aij = aji)

 With mirror image from the main diagonal

30 -5 4 -2
-5 20 -3 6
4 -3 25 -7
-2 6 -7 40

3. Positive Definite:
 Main diagonal of original is the main diagonal of the sub-matrices
 All matrices and sub-matrices formed whose main diagonal elements are part of
the main diagonal of matrix A will have determinants that are positive.
30 -5 4 -2
-5 20 -3 6
4 -3 25 -7
-2 6 -7 40

Simultaneous linear equations are best solved using matrix operations if the sizes of the
matrices are large.

CHOLESKY PROCEDURE:

Principle in CHOLESKY Method:

Given: A, b
Unknown: x
[ A ]{x} = {b }
[ A ]= [ L ] x [ U ]
Therefore: [ L ] x [ U ] {x} = {b }
Let: [ U ] {x} = {y }
[ L ] {y} = {b }
1. Decomposition of Matrix A

 Starts with 1st row and 1st column, then from main diagonal

a. [ A ] = [L] x [U]

Where:
L  Lower triangular matrix:
x 0 0 0
x x 0 0
x x x 0
x x x x

U  Upper triangular matrix:

x x x x
0 x x x
0 0 x x
0 0 0 x

b. But L & U are transpose of each other.

 There are infinite number of matrix pairs L & U but only one unique pair
will be transpose of each other
 If we compare it to scalar values:
Example: 12 = 3x4 or 2x6 or 5x2.4 or 10x1.2 or …
 But unique pair is the pair where the factors are equal,
Meaning: 12 = √12x √12

[L ] = [ U ]T Unique pair
Lij =Uji
 Cholesky Procedure involves 3 steps.
o Step 1. Decomposition, [A] = [L][U]
o But [A]{x} = {b} ==> [L][U]{x} = {b}
o Let [U]{x} = {y}, then [L]{y} = {b}
o Step 2. Forward Substitution, [L]{y} = {b}
o Step 3. Backward Substitution, [U]{x} = {y}
 c. Decomposition Procedure

a11 a12 a13 a14 l11 0 0 0 u11 u12 u13 u14

Table 1: a21 a22 a23 a24 l21 l22 0 0 0 u22 u23 u24
= *
a31 a32 a33 a34 l31 l32 l33 0 0 0 u33 u34
a41 a42 a43 a44 l41 l42 l43 l44 0 0 0 u44

a11 a12 a13 a14 u11 0 0 0 u11 u12 u13 u14

Table 2: a21 a22 a23 a24 u12 u22 0 0 0 u22 u23 u24
= *
a31 a32 a33 a34 u13 u23 u33 0 0 0 u33 u34
a41 a42 a43 a44 u14 u24 u34 u44 0 0 0 u44

 1st row: Lij= Uii

 a11 = l11* u11 = [u11]2  a11 = [u11]2  u11 = [a11]0.5

 a12 = l11 * u12  a12 = u11 * u12  u12 = a12 / u11
 a13 = l11 * u13  a13 = u11 * u13 u13 = a13 / u11
 a14 = l11 * u14  a14 = u11 * u14  u14 = a14 / u11

 2nd row: Lij= Uii

 a22 = [l21*u12 +l22* u22] a22 = [u122 + u222] u22 = [a22 – (u122)]0.5

 a23 = [l21*u13 +l22* u23] a23 =u12*u13 + u22*u23u23 = (a23 – [u12*u13]) / u22
 a24 = [l21*u14 +l22* u24]  a24 =u12*u14 + u22*u24u24 = (a24 – [u12*u14]) / u22

 3rdrow: Lij= Uii

 a33= [l31*u13 +l32* u23+l33* u33]  a33= a22 u132 + u232 + u332

 u33 = [a33 – (u132 + u232)]0.5

 a34 = [l31*u14 + l32* u24+ l33* u34]  a34 = u13*u14 + u23*u24 + u33*u34

 u34 = (a34 – [u13*u14 + u23*u24]) / u33

 4throw: Lij= Uii

 a44 = [l41*u14 + l42* u24+ l43* u34+ l44* u44]  a44 = u142 + u242 + u342 + u442

 u44 = [a44 – (u142 + u242 + u342)]0.5

 For the main diagonal elements,

u44 = [a44 – (u142 + u242 + u342)]0.5

For the off-diagonal elements,

u34 = [a34 – (u13 u14 + u23 u24)]/ u33

General Formula:

for i = j:

𝑖−1

𝑢𝑖𝑖 = √𝑎𝑖𝑖 − ∑ 𝑢𝑘𝑖 2

𝑘=1

for i< j:

𝑎𝑖𝑗 − ∑𝑖−1
𝑘=1 𝑢𝑘𝑖 𝑢𝑘𝑗
𝑢𝑖𝑗 =
𝑢𝑖𝑖

Example:
20 -4 3 0 a11 a12 a13 a14
-4 10 2 0 a21 a22 a23 a24
=
3 2 10 -3 a31 a32 a33 a34
0 0 -3 20 a41 a42 a43 a44

l11 0 0 0 u11 u12 u13 u14

l21 l22 0 0 0 u22 u23 u24
= *
l31 l32 l33 0 0 0 u33 u34
l41 l42 l43 l44 0 0 0 u44
 1. Decomposition
st
 1 row:

 u11 = [a11]0.5 = √20 = 4.472

−4
 u12 = a12 / u11 = = -0.894
4.4721

3
 u13 = a13 / u11 = = 0.671
4.4721

0
 u14 = a14 / u11 = =0
4.4721

 2nd row:
 u22 = [a22 – (u122)]0.5 = √10 − (−0.8944)2 = 3.033

2−(−0.8944)(0.6708)
 u23 = (a23 – [u12*u13]) / u22= = 0.857
3.0331

0−(−0.8944)(0)
 u24 = (a24 – [u12*u14]) / u22= =0
3.0331

 3rdrow:
 u33 = [a33 – (u132 + u232)]0.5=√10 − [(0.6708)2 + (0.8571)2 ] = 2.969
−3−(−0.6708∗0+0.8571∗0)
 u34 = (a34 – [u13*u14 + u23*u24]) / u33= = -1.010
2.9691

 4throw: Lij= Uii

 u44 = [a44 – (u142 + u242 + u342)]0.5=√20 − [(0)2 + (0)2 + (−1.0104)2 ] = 4.356

2. Forward Elimination

[ L ] {y} = {b }

u11 0 0 0 y1 b1
u12 u22 0 0 y2 b2
* =
u13 u23 u33 0 y3 b3
u14 u24 u34 u44 y4 b4

 b1 = u11*y1  y1 = b1 /u11
 b2 = u12*y1+ u22*y2  y2 = [b2 - (u12*y1)] / u22
 b3 = u13*y1 + u23*y2 +u33*y3  y3 = [b3 - (u13*y1 +u23*y2)] / u33
  b4 =u14y1 + u24y2 + u34y3 + u44y4  y4 = [b4 – (u14y1 + u24y2 + u34y3)] / u44

General Formula:

𝑏𝑖 − ∑𝑖−1
𝑘=1 𝑢𝑘𝑖 𝑦𝑘
𝑦𝑖 =
𝑢𝑖𝑖
from Step 1, on decomposition we get:
4.472 0 0 0
-0.894 3.033 0 0
0.671 0.857 2.969 0
0 0 -1.010 4.356

u11 0 0 0 y1 -200
u12 u22 0 0 y2 0
* =
u13 u23 u33 0 y3 100
u14 u24 u34 u44 y4 300

−200
 y1 = b1 /u11 = 4.472 = -44.722

0−(−0.894∗(−44.722))
 y2 = (b2 - u12*y1) / u22= = -13.182
3.033

100−(0.671∗(−44.722)+0.857∗(−13.182))
 y3 = (b3 - u13*y1 +u23*y2) / u33= = 47.594
2.969

300−(0∗(−44.722)+0∗(−13.182)+(−1.010)∗47.594)
 y4 = [b4 – (u14y1 + u24y2 + u34y3)] / u44= =
4.356
y4 = 79.906

3. Backward Substitution
[ u ] {x} = {y }

u11 u12 u13 u14 x1 y1

0 u22 u23 u24 x2 y2
* =
0 0 u33 u34 x3 y3
0 0 0 u44 x4 y4

 y4= u44*x4  x4 = y4/u44

 y3= u33*x3 + u34*x4  x3 = (y3–u34*x4) / u33
 y2= u22*x2 + u23*x3+ u24*x4  x2 = [y2 – (u23*x3 +u24*x4) / u22
 y1= u11*x1 + u12*x2 + u13*x3+ u14*x4  x1 = [y1 – (u12*x2 +u13*x3 +u14*x4) / u11
 General Formula:

𝑦𝑖 − ∑𝑛𝑘=𝑖+1 𝑢𝑖𝑘 ∗ 𝑥𝑘
𝑥𝑖 =
𝑢𝑖𝑖
from Step1. decomposition and Step 2. forward substitution, we get:
4.472 -0.894 0.671 0
0 3.033 0.857 0
0 0 2.969 -1.01
0 0 0 4.356

u11 u12 u13 u14 x1 -44.722

0 u22 u23 u24 x2 -13.182
* =
0 0 u33 u34 x3 47.594
0 0 0 u44 x4 79.906

80.308
 x4 = y4/u44 = = 18.436
4.356
47.594−(−1.01∗18.436)
 x3 = (y3 – u34*x4) / u33 = = 22.302
2.969
−13.182−(0.857∗22.302+0∗18.436)
 x2 = [y2 – (u23*x3 +u24*x4) / u22= = -10.648
3.033
 x1 = [y1 – (u12*x2 +u13*x3 +u14*x4) / u11
−44.722−(−0.894∗(−10.648)+0.671∗22.302+0∗18.436)
= = -15.475
4.472

20 -4 3 0 -15.475 -200
-4 10 2 0 -10.648 0
* =
3 2 10 -3 22.302 100
0 0 -3 20 18.436 300

From calculator:

20 -4 3 0 -15.475 -200
-4 10 2 0 -10.648 0.006
* =
3 2 10 -3 22.302 100.01
0 0 -3 20 18.436 303.55

ALGORITHMS – see next page

 ALGORITHMS
Input N

DIM A(N,N), B(N), U(N,N), Y(N), X(N)

REM INPUT ROUTINE

input data
for I = 1 to N

for J = 1 to N

INPUT A(I,J)

next J

INPUT B(I)

next I

REM DECOMPOSITION decomposition

for I = 1 to N

for J = 1 to N

if I = J

then

Sum = 0

for K = 1 to I - 1

Sum = Sum + U(K,I)2

next K

U(I,I) = (A(I,I) – Sum)0.5

else

Sum = 0

for K = 1 to I - 1

Sum = Sum + U(K,I) *U(K,J)

next K

U(I,J) = (A(I,J) – Sum) / U(I,I)

next J

next I
 REM FORWARD ELIMINATION Forward elimination
for I = 1 to N

Sum = 0

for K = 1 to I - 1

Sum = Sum + U(K,I)*Y(K)

next K

Y(I) = (B(I) – Sum) / U(I,I)

next I

REM BACKWARD SUBSTITUTION Backward substitution

for I = N to 1 STEP -1

Sum = 0

for K = I+1 to N

Sum = Sum + U(K,I) *X(K)

next K

X(I) = (Y(I) – Sum) / U(I,I)

next I

Extra special matrix operations

Situation is 1,000 equations 1,000 rows by 1,000 columns for Matrix A

Memory requirement for double precision variables is 2 bytes of memory.

1,000 x 1,000 = 1M x 2 bytes = 2MB

To save on memory requirements which accordingly will also speed up the process,
softwares use “block” operations. The size of the block is equal to HBW x HBW.

Where HBW = half-band width

 And, HBW = (BW+1) / 2 where BW = band width
1,000 columns

1,000 rows =

A x = b

With block operations, we convert Matrix A into a “banded” matrix. A banded matrix
looks like what is shown below.

1,000 columns

Band Width
1 10
zeroes
10

1,000 rows Non zero values

10
1
zeroes
Half-band Width

Band width = 10 + 1 + 10 = 21

HBW = (21 + 1) / 2 = 11  size of the block

For Cholesky operations, we only use HBW x HBW of Matrix A at any given time and HBW
values for the corresponding “x” and “b” vectors.
HBW

HBW

Banded A x b

Decomposition  11 x 11 = 121 variables compared to 1,000,000 variables.

The band width can be minimized by adopting a numbering of the joints such that the
difference of the joint numbers of the two ends of a member is likewise minimized. This is
achieved by numbering the joints in a “wave-like” fashion in the direction of the “longer”
dimension.