CVL312: Computer Aided Structural

Analysis
Dr. Haitham Aboshosha, PEng
Email: [email protected]
MON213 (during office hours)
 Introduction to matrix stiffness (displacement) method
Fundamentals of the Stiffness Method
• Application of the stiffness method requires subdividing the structure into a series of
discrete finite elements and identifying their end points as nodes.
• The force-displacement properties of each element are determined and then related to
one another using the force equilibrium equations written at the nodes.
• These relationships, for the entire structure, are then grouped together into what is
called the structure stiffness matrix K.
• Once it is established, the unknown displacements of the nodes can then be determined
for any given loading on the structure.
• When these displacements are known, the external and internal forces in the structure
can be calculated using the force-displacement relations for each member.
 Matrix Stiffness Method
Basic Concepts
• Member and Node Identification
• Specify each member by a number enclosed
within a square.
• Use a number enclosed within a circle to identify
the nodes.
• The “beginning” b and “end” e of the member
must be identified using an arrow written along
the member.
• The head of the arrow directed toward the far
end.
• Examples of member, node, and “direction”
identification for a truss are shown in Fig. (a)
Fig. (a)
 Matrix Stiffness Method
Basic Concepts
• Global and Local Coordinates.
• Two different types of coordinate systems.
• A global or structure coordinate system, X, Y, will
be used to specify the sense of each of the
external force and displacement components at
the nodes, Fig. (b).
• A local or member coordinate system, x, y, will
be used for each member to specify the sense of
direction of its displacements and internal
loadings.
Fig. (b)
 Matrix Stiffness Method

Basic Concepts
• Degrees of Freedom
• The degrees of freedom of a structure, are defined as the independent joint
displacements (translations and rotations) that are necessary to specify the
deformed shape of the structure when subjected to an arbitrary loading.
• Plane Truss: has 2 degrees of freedom at each node (translations in the x and y
directions.
• Beam not subjected to horizontal loads: has 2 degrees of freedom at each node (vertical
translation and rotation)
• Plane Frame or (beams with horizontal and vertical loads): has 3 degrees of freedom
at each node (translations in the x and y directions and rotation)
 Matrix Stiffness Method
Example: Determine the degrees of freedom for the following beams
(i) Considering axil deformations, (ii) neglecting axial deformations
 Matrix Stiffness Method
Example: Determine the degrees of freedom for the following structures
 Matrix Stiffness Method
Example: Determine the degrees of freedom for the following truss struc.
 Matrix Stiffness Method
Example: Determine the degrees of freedom for the following structures
 Derivation of the Stiffness Matrix for a Spring Element

• Spring Element
Derivation of the Stiffness Matrix for a truss element
Derivation of the Stiffness Matrix for a truss element
Derivation of the Stiffness Matrix for a fixed-hinged beam
Derivation of the Stiffness Matrix for a fixed-hinged beam
Derivation of the Stiffness Matrix for a fixed-hinged beam
Derivation of the Stiffness Matrix for a fixed-hinged beam
 Table 1: Stiffness Matrices

𝛿𝑦1 𝛿𝑦2 𝛿𝑦1 𝛿𝑦2 𝛿𝑦1 𝛿𝑦2

𝛿𝑥1 𝛿𝑥2 𝛿𝑥1 𝛿𝑥2 𝛿𝑥1 𝛿𝑥2
𝜃1
𝜃1 𝜃2 𝜃2 𝜃2
𝜃1
Beam with Rotation DOF Only
 M 1  EI  3 0   1   M 1  EI 0 0   1 
 M 1  EI  4 2   1   =     =   
 =     M 2  L  0 0   2   M 2  L  0 3   2 
 M 2  L  2 4   2 

Frame Element
 EA − EA 0   EA 0 0 − EA 0 0 0 − EA
0 0 0  EA 0 0 0 
  
 0 12 EI 6 EI −12 EI 6 EI   Fx1   0 3EI 3EI −3EI
0   x1 
 3EI −3EI 3EI   x 
 Fx1  x 0  Fx1   0
L2   1 
0
  Fy   L3 L2 L3  xy   Fy 
0 0 1
 Fy  L3 L2 L3
 1  L3 L3 L2  xy 
 2 EI   y1   −3EI    1
 1  0
6 EI 4 EI −6 EI
   M 1  1  0
3EI 3EI
0   1 
 0 0 0 0 0 0  
 M 1  1 
0
L   1 
0  M 1  1    1 
L2 L L2  =  L2 L L2   x   =  − EA
 =     Fx2  L  − EA
 0 0 EA 0 0  
Fx − EA 0 0 EA 0 0   x2  0  2   Fx  L   x2 
−3EI   
  L 0 0 EA 0 2
   Fy2   x y  −
2
 Fy2    Fy2  3 EI 3EI
 0 −12 EI −6 EI −6 EI  x y    −3EI −3EI  0 x y
0    
12 EI  0 3EI 0 0
  0   0    L3 L3 L2   
 M 2   L3 L2 L3 L2   2   M 2    2   M 2  
3EI   2 
  L3 L2 L3 
−6 EI   3EI −3EI
 0 6 EI 2 EI
0
4 EI 
 0 0 0 0 0 0  0 0 0 
 L2 L L2 L   L2 L2 L 

Truss Element  Fx1  EA  1 −1  x1 

 =   
 Fx2  L  −1 1  x2 

Table 2: Transformation
Transformation
Truss element Frame element 2
K glob = T T K locT Kiiglob = RT Kiiloc R
 c s 0
R
T =
0 R = [c s ] R =  − s c 0  1 
0 R   0 0 1 
c is cos(ϴ) and s is sin (ϴ)
Table 3: Fixed End Forces
Fixed - Fixed Frame Element

FEM BA FEM AB
FEM AB − FEM BA −
2 Fixed – Hinged / Hinged – Fixed Frame Element 2
Stiffness Method
A-Structures with Rotation DOF or (line structure subjected to longitudinal loading)

1- Formulate Stiffness equations in symbolic form

2- Identify effective DOF and apply the boundary conditions

3- Evaluate element stiffness matrix and substitute in reduced

stiffness equation(s)

4- Calculate the load vector

F  = Fj  Jo int − FF  Fixed
5- Calculate the DOFs

6- Evaluate member forces or (moments)

 F1   k11 k12   1   FF 1 
 =  + 
 F2   k21 k22  2   FF 2 
From Lecture 3
Lecture 4
 Matrix Stiffness Method
Example

Given:
For the spring system shown,

Find:
(a) the global stiffness matrix
(b) displacements of nodes 2 and 3
(c) the reaction forces at nodes 1 and 4
(d) the force in the spring 2
 Matrix Stiffness Method
Example
Stiffness Method (Beam with rotation only DOF)
Example
P
A B C

1 2 1 2
L 2L

3 Joints A,B, C

 FA   k11 0   A 
AB
k12 AB
   AB  
 FB  =  k21 k22 + − − − − − −   B 
AB

F   0 −−− − − −  C 
 C 
𝛿𝐴 =0.0 (Fixed Support), 𝛿𝐶 is not effective since MC (i.e. FC) is known
 FA   k11 0   A 
AB
k12 AB
   AB  
 FB  =  k21 k22 AB + k11BC k12 BC   B 
F   0 k21BC k22 BC  C 
Lecture 4  C 
Stiffness Method

FB  =  k22 AB + k11BC   B 

See Table 1 2
L
L
A 1 𝐸𝐼 2 B B 1 𝐸𝐼 2C
Fixed-Hinged
Fixed-Fixed
Since Mc (i.e. M2) is
known
Mem AB Mem BC
 k11 AB k12 AB  EI 4 2  k11BC k12 BC  EI  3 0  EI 1.5 0 
 AB = 2 4  BC =  =  
 k21 k22 AB  L    k21 k22 BC  2 L 0 0  L  0 0 

Lecture 4
Stiffness Method

P C
A B
1 2 1 2
2
L
L
3P.2 L 3PL
Fixed-Fixed − =−
16 8 Fixed-Hinged
P

𝐸𝐼 2 𝐸𝐼
L L
No load then FF from See Table 3
mem AB = 0

FB  = M BJo int  − M BFixed  = 0 − −

3PL  3PL
=

No joint load
8  8

Lecture 4
 Stiffness Method

5- DOF 3PL2
 B  = B  =
44 EI
6- Member Forces
0.136PL 0.272PL
0.272PL −−−−
A B P
B C
A 𝐸𝐼 B
L 2 𝐸𝐼
L
 0 
 M AB  EI  4 2    0  0.136 PL 
 =  3PL2  +   =    M  EI 1.5 0   3PL  −0.375 PL  −0.272 PL 
2
 
 M BA  L  2 4    0  0.272 PL   BC  =    + = 
 44 EI  44 EI
 M CB  L  0 0  0 or    0   0 
Note, this is equivalent to No mem. load  C

EI 3PL2
M AB = (4 x0 + 2 x ) + 0 = 0.136 PL
L 44 EI
EI 3PL2
M BA = (2 x0 + 4 x ) + 0 = 0.272 PL
L 44 EI
Lecture 4
Stiffness Method
0.136PL 0.272PL
0.272PL
A B P C
B
𝐸𝐼 𝐸𝐼
L 2
L
0.409P 0.409P 0.636P 0.364P

0.364PL
0.136PL
A A B
C
PL/4
0.272PL

Lecture 4
Stiffness Method
P C
A B
1 2 1 2
2
L
L

Assignment 4 Part (a) Solve using Stiffness method and SAP2000

P C
A B
1 2 1 2

Assignment 4 Part (b): at home Solve using Stiffness method and SAP2000
P

A B C D

Lecture 4
Stiffness Method
Discussion topic

New Champlain bridge, Montreal, QC During Construction Phase

C B A
2 1 2 1
Pin support for temporary piers Fixation to the pylon

Lecture 4