LECTURE 10: MATRIX METHOD (STIFFNESS

METHOD) FOR FRAME ANALYSIS

Objectives of this lecture

• Derivation of member stiffness matrix

• Procedure for analysis of a frame
• Determination of unknown degrees of freedom
(displacements)
• Calculation of reactions and member forces

1
Basic concepts:

Truss
An assemblage of relatively slender members that offer only axial resistance forces, i.e.,
tension and compression.
• Forces applied to the structure as a whole (loads) are applied only at joints.
• No bending could be transmitted via a joint from one member to another.
• The reactions for a truss are axial forces, either tension or compression. Both ends are pinned
• Economically feasible to cover spans ranging from 9m to 122m.

Beam
Beams are slender members used for supporting transverse loading.
• Can carry applied loads at any point along the beam.
• The reaction includes both shear force and bending moment in the beam.
• To resist this internal stresses, strains and deflection in the beam are produced.
• Here it is assumed that the member is always horizontal, and axial force ignored.

Frame
A frame is a load resisting skeleton with straight (or curved member)
interconnected with rigid joints.
• Its members can resist shear force, bending moment and axial force.
• Have reactions that are simple forces, moments or both.
• Economic benefits depend on the efficiency gained in using smaller beam
sizes versus increasing the size of the columns.
2
 1. Basic concepts and definitions
(a) Coordinate Systems
(b) Members and Nodes dy2 θ2
✓ dx2

✗ 3
Y ✓
dy1 θ1
dx1

x
2 2
3
f = kd

y
y

1
4  f x1  1  d x1  1
f  d  2
x

 y1  2  y1 
 m1  3  θ1  3
f =  d= 
 fx2  4 d x 2  4
1 F = KD  f y2  5 d y 2  5
   
 m2  6  θ2  6

X 3
 F = KD
1. Basic concepts and definitions

(a) Coordinate Systems  FX 1  1  DX 1  1

8 D  2
(b) Members and Nodes DY3 F 
 Y1  2  Y1 
9
Θ3 3  M1  3  Θ1  3
Y 5  
DY2 7   D
DX3 F
 X2 4  X2 4

x
6
2 2 3  FY 2  5  DY 2  5
Θ2 DX2 4    
 M2  6  Θ2  6

y
DY4
11 F= D =
Θ4  FX 3  7  DX 3  7
y

12 DX4 10
   
1
4  FY 3  8  DY 3  8
M  9 Θ  9
x

 3  3
DY1 2
Θ1  FX 4 10  DX 4  10
3 F  D 
DX1 1  Y4  11  Y 4  11
1  M 4 12  Θ4  12

D3 = Θ1 F7 = FX 3
X D5 = DY 2 F9 = M 3
4
Node Number i j
Coordinate number 3i-2 3i-1 3i 3j-2 3j-1 3j
D Dxi Dyi Θi Dxi Dyi Θj
F Fxi Fyi Mi Fxi Fyi Mj
Member Number k (i -> j)
(3i-2, 3i-1, 3i)->(3j-2, 3j-1, 3j)
DYj
Θj j
. . . . . . 3i − 2 3i-1
. DYi
. . . . . 3i − 1 DXj
  3i
. . . . . . 3i Θi
k gk =   k
. . . . . . 3 j − 2 DXi
i 3i-2
. . . . . . 3 j − 1
 
. . . . . . 3 j

6X6

For frame member, truss and beam will be different ! 5

 1) Stiffness Matrix of a Frame Member in Local Coordinate System
Let’s take a member from a frame and consider the member in its local
coordinate system.
• There are six degrees of freedom for this member.
• To derive the stiffness matrix of the member, we need first to know the
relationships between the member end forces and end displacements.
• Let’s assume the positive directions of the end forces are in the same
positive directions of the local degrees of freedom.

Frame member: Beam member: 2 3 5 6

6 5 dy2 θ2 6  12 EI 6 EI 12 EI 6 EI 
5d θ2 −
y2  L3 L2 L3 L2 
2
dx2  6 EI 4 EI 6 EI 2 EI 
 − 2 
2 L L  3
4 kB =  L L
2  12 EI 6 EI 12 EI 6 EI 
2  − L3 − 2 − 2 
5
dy1 θ1  6 EI
L L3 L
dy1 θ1 2 EI 6 EI 4 EI 
dx1  − 2 
3  L2 L L L  6
3 1

 d x1  1 Truss member: 4
 f x1  1 4
f  d  2 dx2
 y1   y1   AE AE 
 θ1   − 1
m 
f = 1
3
kT =  l l 
k d=  AE AE 
 fx2  d x 2  4 −  4
 f y2   l l 
 
d y 2  5
  dx1
 m2 
 θ2  6
1
6
 Frame member = Beam member + Truss member

dy2 θ2 dy2 θ2 dx2

dx2

dy1 θ1 dy1 θ1 dx1

dx1

2 3 5 6
1 4
 12 EI 6 EI 12 EI 6 EI 
 L3 − 3 2
L2 L L2   AE
−
AE 
1
 6 EI 2 EI  

4 EI
− 2
6 EI
 kT =  l l 
2 L L  3 AE AE 
kB =  L L −  4
 12 EI 6 EI 12 EI 6 EI   l l 
 − L3 − 2
L L3
− 2 
L 5
 f x1   d x1  1  6 EI 2 EI 6 EI 4 EI 
f  d   − 2 
 L2 L L L  6
 y1   y1  2
m  θ  3
f = 1 d= 1   12 EI 6 EI 12 EI 6 EI 
 fx2  d x 2  4  −
L2   d   AE AE 
 f y1   6LEI L2 L3 −
3

 f y2  d y 2  4 EI 6 EI 2 EI  y1  f x1   l l   d x1 
  5 m   − 2    f  =  AE AE  d x 2 
   1= L
2
L L L   θ1   x 2  − 
 m2   θ2   f y 2  − 12 EI 6 EI 12 EI 6 EI
− 2  d y 2   l l 
6
   L3 − 2
 m2   6 EI L L3 L  θ
2 EI 6 EI 4 EI   2 
 − 2  8
 L2 L L L 
 Assemble kT and kB

1 2 3 4 5 6 1 4
 AE AE 
 EA 0 0 −
EA
0 0  1  l −
l  1
 L L
kT = 
AE AE 
  −  4
f 12 EI 6 EI 12 EI 6 EI  2d  l l 
 x1   0 0 − 3 2 
 x1   d x1 
f   L3 L2 L L  d   2 3 5 6
 y1   0 6 EI 4 EI 6 EI 2 EI    y1
y 1 d
0 − 2 3    12EI 6EI −12EI 6EI 
 m1   L 2
L L  θ 
L  1  θ 1   L3 L2 
2
 f x 2  =  EA
L2 L3
EA  d x 2  d   6EI 4EI 6EI 2EI 
  − 0 0 0 0 4  x 2
 d   kB =  L2 L
− 2
L L 3
 fy2   L 12 EI 6 EI
L
12 EI 6 EI   y 2  d y 2  − 3 − 2
12EI 6EI 12EI
−
6EI
 m2   0 − 3 − 0 − 2  5θ 2   θ   L L L3 L2  5
 L L2 L 3
L   2   6EI 2EI − 6EI 4EI 
6 EI 2 EI 6 EI 4 EI  L2 L L2 L 6
 0 0 − 2 
 L2 L L L  6

or we write it into a compact format as follows:

f = kd

in which the matrix k is the frame member stiffness matrix in the local coordinates.

9
 2) Transform Local Stiffness Matrix to Global Stiffness Matrix
The above member stiffness matrices for frame are based on the local
coordinate system. Now we want to know the member stiffness matrix based
on the global coordinate system. To do so, we need to find the relationships
between local and global member end displacements and relationships
between local and global member end forces.
y DY1 x
i) Displacement transformation matrix

Let’s consider a frame member α

α DX1
Y DY2
Θ2 dx2
dy2 θ2
α
DX2
2 d x1 = DX 1 cosα + DY 1 sin α

 d x1   DX 1  d y1 = − DX 1 sin α + DY 1 cos α
d  D 
DY1  y1   Y1  θ1 = Θ1
 θ1   Θ1 
Θ1 d x 2   DX 2  d x 2 = DX 2 cos α + DY 2 sin α
θ1 dx1  
 
dy1 α d y 2   DY 2  d y 2 = − DX 2 sin α + DY 2 cosα
θ  Θ 
DX1  2  2
1 θ 2 = Θ2
X 10
 i) Displacement transformation matrix

We can write the derived member end degrees of freedom in matrix form
as follows:
d x 1 = D X 1 cos α + DY 1 sin α
 d x1   cos α sin α 0 0 0 0  D X 1 
d y 1 = − D X 1 sin α + D Y 1 cos α  d  − sin α cos α 0 0 0 0  DY 1 
 y1    
θ 1 = Θ1  θ1   0 0 1 0 0 0  Θ1 
d x 2 = D X 2 cos α + DY 2 sin α
d  =  0 0 0 cos α sin α

0  D X 2 
 x2    
d y 2 = − D X 2 sin α + DY 2 cos α d y 2   0 0 0 − sin α cos α  D
0  Y2 
θ    
θ 2 = Θ2  2   0 0 0 0 0 1  Θ 2 

or in a compact form: d = TD

where T is the displacement transformation matrix.

 cosα sin α 0 0 0 0
− sin α cosα 0 0 0 0
 
 0 0 1 0 0 0
T= 
 0 0 0 cosα sin α 0
 0 0 0 − sin α cosα 0
 
 0 0 0 0 0 1
11
ii) Force transformation matrix

We can write the derived global nodal forces in matrix form as follows:

 FX 1  cos α − sin α 0 0 0 0  f x1 
 F   sin α cos α 0 0 0 0  f y1 
 Y1    
 M1   0 0 1 0 0 0  m1 
F  =  0 0 0 cos α − sin α

0  f x 2 
 X 2   
 FY 2   0 0 0 sin α cos α  f
0  y2 
M    
 2   0 0 0 0 0 1  m2 

or in a compact form: F = TT f
where TT is the force transformation matrix.

cos α − sin α 0 0 0 0
 sin α cos α 0 0 0 0
 
 0 0 1 0 0 0
T =
T

 0 0 0 cos α − sin α 0
 0 0 0 sin α cos α 0
 
 0 0 0 0 0 1
12
iii) Frame member stiffness matrix in global coordinates

As we know

F = TT f and f = kd

thus
F = T T kd

We also know that

d = TD

Substituting this equation into the previous one, we get

F = T T kTD = k g D
where

k g = T T kT
13
 Obviously, the global stiffness matrix for a frame member is

k g = TT kT =

 EA 12 EI  EA 12 EI  6 EI EA 12 EI  EA 12 EI  6 EI 

2
cos α +
2
sin α  −  sin α cos α − sin α −
2
cos α −
2
sin α  − +  sin α cos α − sin α 
 L L
3
 L L3  L
2 L L
3
 L L3  L
2

  EA 12 EI  EA 12 EI 6 EI  EA 12 EI  EA 12 EI 6 EI 
  −  sin α cos α 2
sin α +
2
cos α cos α  − +  sin α cos α −
2
sin α −
2
cos α cos α 
  L L3  L L
3
L
2
 L L3  L L
3
L
2

 6 EI 6 EI 4 EI 6 EI 6 EI 2 EI 
 − sin α cos α sin α − cos α 
2 2 L 2 2 L
 L L L L 
 EA 12 EI  EA 12 EI  6 EI EA 12 EI  EA 12 EI  6 EI 
−
2
cos α −
2
sin α  − +  sin α cos α sin α
2
cos α +
2
sin α  −  sin α cos α sin α
 3  3  

L L
3
 L L  L
2 L L
3
 L L  L
2

  EA 12 EI  EA 12 EI 6 EI  EA 12 EI  EA 12 EI 6 EI 
  − +  sin α cos α −
2
sin α −
2
cos α − cos α  −  sin α cos α 2
sin α +
2
cos α − cos α

  L L3  L L
3
L
2
 L L3  L L
3
L
2

 −
6 EI
sin α
6 EI
cos α
2 EI 6 EI
sin α −
6 EI
cos α
4 EI 
 L
2
L
2 L L
2
L
2 L 

For a member F = k gD part of F=KD Assemble all => total F=KD

14
3. Use Matrix Method to Analyse Frames

Following what we have done in the matrix method for truss analysis, we will
re-arrange the total stiffness matrix according to the unknown and known
degrees of freedom and then partition the total stiffness matrix to obtain the
equation which can be solved to find the values for the unknown degrees of
freedom.
(a) Equation Partitioning
From the previous lecture we have derived that
F = KD

If we write D in the following form

D u 
D= 
D k 

in which Du are the unconstrained degrees of freedom and the constrained

degrees of freedom (Dk known degrees of freedom).

The equation F = KD can be re-arranged as:

Fk  K11 K12  D u 
 = K  
Fu   21 K 22  D k 
15
(a) Equation Partitioning (continue)

D u 
D= 
D k 

Fk  K11 K12  D u 

 = K  
Fu   21 K 22  D k 

where Fk are the known global nodal forces (the positions of them are
corresponding to the positions of Du), Fu the unknown global nodal forces (the
positions of them are corresponding to the positions of Dk), and Kij are the
partitioned parts of K.
In order to solve the unknown displacements, we can expand the equation as:
Fk = K11Du + K12 D k
Fu = K 21Du + K 22 D k

Dk=0 Fk = K 11Du −1
D u = K 11 Fk
Fu = K 21Du Fu = K 21D u
16
 (b) Determine the Member End Forces
We have derived the relationship between the local member end forces and
end displacements in a frame as:
f = kd
And we also have the equation for the relationship between local end
displacements and the global nodal displacements:
d = TD
Substituting the second equation into the first one, we have
f = kTD

where

 EA EA 
 L 0 0 − 0 0 
L
 12 EI 6 EI 12 EI 6 EI   cos α sin α 0 0 0 0
 0  − sin α 0
0 − 3
 L3 L2 L L2   cos α 0 0 0
 6 EI 4 EI 6 EI 2 EI   0 0
 0 0 − 2 0 1 0 0
k= L 2 L L L  T= 
EA EA   0 0 0 cos α sin α 0
− 0 0 0 0 
 L L   0 0 0 − sin α cos α 0
 12 EI 6 EI 12 EI 6 EI   
 0 − 3 − 2 0 − 2   0 0 0 0 0 1
L L L3 L
kg ?  6 EI 2 EI 6 EI 4 EI 
 0 0 − 2 
 L2 L L L 

k g = TT kT = 17
(c) Procedure for Analysis
1. Establish the local and global coordinate systems;
2. Assign the nodal numbers and member numbers;
3. Calculate the stiffness matrices for each member in the global
coordinate system;
4. Assemble the member stiffness matrix into total stiffness matrix for the
frame;
5. Partition the total stiffness matrix according to the known and
unknown degrees of freedom;
6. Calculate the unknown degrees of freedom; and
7. Calculate the member forces and reactions.

18
Example 1. Determine the unknown nodal displacements and the member
end forces for the frame shown below. Take E = 30GPa, A = 0.16m2 and I =
0.00213m4
5kN
Y y
2 ② 3
x
4kN
2kNm
x
① 4m
y

1
6m

X
SOLUTION:
1) Local and global coordinate systems
2) Assign nodal and member numbers
19
Example 1. Determine the unknown nodal displacements and the member
end forces for the frame shown below. Take E = 30GPa, A = 0.16m2 and I =
0.00213m4
5kN V
V
Y 5 y 8   4
D = 
R 5
6 x 9  
R 4 ② u

4kN H 7H   6

2kNm 2 3 0   1
0  2
x  
① 4m 0  3
Dk =  
0  7
V 0  8
y

2  
0  9
R3
H
1
 4kN  4
1 6m
Fk =  − 5kN  5
 
2kNm  6
X
SOLUTION:
1) Local and global coordinate systems
2) Assign nodal and member numbers Based on support conditions, some DOF are zero.
For example:
At fixed support, all DOF's are zero 20
SOLUTION: 3) Member kg
For member 1:
L = 4m, α = π/2
cos α = 0 sin α = 1 cosα sin α = 0
A/L= 0.04000
12I/L3 =0.0003995
6I/L2 =0.0007986
4I/L =0.002130
2I/L =0.001065

1 2 3 4 5 6

1
2
3
4
5
6

Type text here

21
For member 2:

L = 6m, α = 0
cos α = 1 sin α = 0

A/L= 0.02667
12I/L3 =0.0001183
6I/L2 =0.0003550
4I/L =0.001420
2I/L =0.0007102

4 5 6 7 8 9
4
5
6
7
8
9

22
 4) Assembling &
partitioning total
stiffness matrix

Type

  4
Du =   5
 
  6

4 5 6 1 2 3 7 8 9
4
5
6
1
2
3
7
8 23
9
4) Partitioned stiffness matrix

4 5 6 1 2 3 7 8 9
4
K11 K12 5
6
1
2
K21 3
K22 7
8
9

5) We can obtain Matrix K11 directly

 0.02707 0 0.0007986
K11 = E
 0 0.04012 0.0003550
 
0.0007986 0.0003550 0.003550 

24
6) Force vector corresponding to the unknown degrees of freedom

 4000 
Fk = − 5000
 
 2000 

7) Solve unknown degrees of freedom

Solve the equation Fk = K11Du

 4000   0.02707 0 0.0007986  Dx 2 

− 5000 = E  0 0. 04012 0 .0003550  D 
    y2 
 2000  0.0007986 0.0003550 0.003550   Θ 2 

We can obtain

 Dx 2   131637 .0   0.4388 × 10 −5 m 
 D  =  − 129463 .7  / E  
 y2    =  − 0 . 4315 × 10 −5
m 
 Θ 2   546714 .9  1.8224 × 10 −5 rad 
25
8) Find member end forces

We know that the member end forces are given by

f = kTD

Thus we need to find the stiffness matrix k for the member in the local
coordinate system and the displacement transformation matrix T for the
member.

 EA EA 
 L 0 0 − 0 0 
L
 12 EI 6 EI 12 EI 6 EI   cosα sin α 0 0 0 0
 0 − 3  − sin α 0
0
 L3 L2 L L2  cosα 0 0 0
 6 EI 4 EI 6 EI 2 EI   
 0 0 − 2  0 0
L 2 L L L  T=
0 1 0 0
k=  
−
EA
0 0
EA
0 0   0 0 0 cosα sin α 0
 L L   0
 12 EI 6 EI 12 EI 6 EI  0 0 − sin α cosα 0
 0 − 3 − 2 0 3
− 2   
 L L L L  0 0 0 0 0 1
6 EI 2 EI 6 EI 4 EI 
 0 0 − 2 
 L2 L L L 

26
8) Find member end forces

f = kTD

For member 1:

D for member 1

 0  1
 0 
  2
 0  3
D12 = /E
 131637 . 0  4
 − 129463 .7  5
 
4  Dx 2   131637 .0   546714 .9  6
5  D y 2  =  − 129463 .7  / E
   
6  Θ   546714 .9 
 2    27
Thus the member end forces for member 1 is given by

f1 = k1T1D12 6x6 6x1 6x1

=E

6x1
 5178.55 N  AF 1 5.1 kN
 489.20 N  SF 1
  4.8 kN
=  687.38 Nm  Moment 1
  0.687Type
kN.mtext here
 − 5178 . 55 N  AF 2
 − 489.20 N  SF 2
 
1269.63 Nm  Moment 2

28
For member 2:

 131637 .0 
 − 129463 .7 
 
 546714 .9 
D 23 = /E
 0 
 0 
 
 0 

4  Dx 2   131637 .0 
5  D y 2  =  − 129463 .7  / E
   
6 Θ   546714 .9 
 2 29
f2 = k2T2D23=

 131637 .0 
 − 129463 .7 
 
 546714 .9 
D 23 = /E
=E  0 
 0 
 
 0 

 3510.76 N  AF1 3.511 kN

 178.77 N  SF1 0.178 kN
 
 730.38 Nm  M1 7.3 kNm
=  
− 3510.76 N  AF2
 − 178.77 N  SF2 Type text here
 
 342.32 Nm  M2

30
Example 2 Determine the unknown nodal displacements and the member
end forces for the frame shown below. Take E = 30GPa, A = 0.16m2 and I =
0.00213m4
5kN
②
4kN
2kNm

① 4m

6m

36
 Example 2. Determine the unknown nodal displacements and the member
end forces for the frame shown below. Take E = 30GPa, A = 0.16m2 and I =
0.00213m4
  3
5kN   4
Du =  
Y 5 y 8   5
 
6 x 9   6
4 ②
4kN 7

2kNm 2 3
0  1
0  2
x

 
① 4m D k = 0  7
 
0  8
0 9
y

2
3
1  0kNm  3
1 6m  4kN 
4
Fk =  
 − 5kN  5 cw moment
 
X − 2kNm  6
SOLUTION:
1) Local and global coordinate systems
2) Assign nodal and member numbers
37
 • K will be the same.
• K11, K12, K21, K22, will be different.

From Example 1
4 5 6 1 2 3 7 8 9
4
5
6
1
old matrix 2
3
7
8
9

3 4 5 6
 0.00213 0.0007986 0 0.001065  3
0.0007986 0.02707 0 0.0007986 4
New k11 K 11 = E  
 0 0 0.04012 0.0003550 5
 
 0 . 001065 0 . 0007986 0 . 0003550 0 . 003550  6

38
Solve unknown degrees of freedom

Fk = K11Du

 0   0.00213 0.0007986 0 0.001065   Θ1 

 4000  0.0007986 0.02707 0 0.0007986  Dx 2 
  = E  
 − 5000  0 0 0.04012 0.0003550  Dy 2 
    
 − 2000   0 . 001065 0 .0007986 0 . 0003550 0 .003550   Θ2 

We can obtain

 Θ1   0.9173 × 10−5 rad  3

 D   0.5315 × 10−5 m 
 x2  =   4
 Dy 2  − 0.3957 × 10 m  −5
5
   
Θ
 2  − 2 . 233 × 10 −5
rad  6

39
8) Find member end forces f = kTD

For member 1:
k the same, T the same

 0 
   4.748 kN 

0
  − 0.252 kN 
3  Θ1   0.9173 × 10−5 rad   
 D   0.5315 × 10−5 m   0.9173 × 10 rad 
−5
4
 x2  =   D12 =   f1 = k1T1D12=  0 kNm 
 Dy 2  − 0.3957 × 10 m  0 . 5315 × 10 −5
m
   − 4.748 kN 
5 −5

   
6  Θ 2   − 2.233 × 10 rad 
−5
− 0.3957 × 10 m  −5
 0.252 kN 
   
 − 2.233 × 10 rad  −
−5
 1 . 0 07 kNm 

40
 8) Find member end forces f = kTD

For member 2: k the same, T the same

 0.5315 × 10 −5 m   4.252 kN 
   − 0.252 kN 
 − 0 . 3957 × 10 −5
m   
3  Θ1   0.9173 × 10−5 rad   − 2.233 × 10 rad 
−5
 − 0.993 kNm 
4  D   0.5315 × 10−5 m  D 23 =   f2 = k2T2D23=  
 x2  =    0   − 4.252 kN 
5  Dy 2  − 0.3957 × 10 m 
−5

     0   0.252 kN 
6  Θ 2   − 2.233 × 10 rad     
−5

 0   − 0 .518 kNm 

41
 Summary • Procedure for analysis of a frame
F = KD partition stiffness matrix based
• Member stiffness matrix on known and unknown DOF.
D u 
D= 
 EA EA  D k 
 L 0 0 − 0 0 
L
 12 EI 6 EI 12 EI 6 EI 
 0 0 − 3 
 L3 L2 L L2  Fk  K11 K12  D u 
 6 EI 4 EI 6 EI 2 EI   =  
 0 2 L
0 − 2
L  Fu  K 21 K 22  D k 
k= L L 
EA EA stiffness matrix under local
− 0 0 0 0  coordinate system
 L L 
 12 EI 6 EI 12 EI 6 EI 
 0 − 3 − 2 0 − 2 
 L L L3 L Fk = K11D u + K12 D k
6 EI 2 EI 6 EI 4 EI  K11
 0 0 − 2 
 L2 L L L  Fu = K 21D u + K 22 D k k21

 cos α sin α 0 0 0 0
− sin α cos α 0 0 0 0 Dk = 0
 
 0 0 1 0 0 0
T=  Fk = K 11D u Use k11 to find the unknown DOF's
 0 0 0 cosα sin α 0
 0 0 0 − sin α cos α 0
 
 0 0 0 0 0 1
D u = K11 −1Fk Fu = K 21D u
Use k21 to find the forces
k g = T T kT Use transformation matrix to convert local to global stiffness matrix
f=kTD Use Du to find member
42 forces