CIV 5136

Structural Analysis
Types of structures – need the simplification

Eiffel Tower - truss

The difference between truss and frame?

New Horizon – frame and plate

Akashi Kaikyō Bridge Mega float for
floating airport –
plate structure

Eiffel Tower
 Durian structure in Singapore
Sydney opera house

Shell structure
Akashi Bridge

Truss and plate

Golden Gate
Bridge
Pyramid

3D solid

Footing
Two types of structures
•Skeletal structures – which might be analysed by “Matrix Analysis Method”
One dimensional elements including truss, beam, and rod;
•Continua – which might be analysed by “Finite Element Method” including
two and three dimensional elements including plate, shell and 3D solids

Matrix analysis and finite element method, are

the same from mechanics point of view, but
with different names due to historical reason
Structural analysis – Playing block
Discretize complex structures into simple elements
and then combine the solutions of elements – using
computer
Three types of analysis
•Quasi-static analysis: forces, moments and deformations in a
structure under static loads
•Dynamic analysis: frequencies of vibration of a structure - Dynamic
load including earthquake, wind load, impact
•Buckling analysis: Buckling loads at which a structure will buckle due
to compressive load

Scope of CIV5134 – To enable students to conduct structural

analysis for any type of structures as long as the information
on geometry, material properties, boundary conditions, and
loads are available.
 Structural analysis

Input the geometry and material

properties

Impose boundary conditions

Prescribe the load conditions

Perform structural analysis

Output displacement, stresses

and strains, etc.

Check whether the displacement, stresses and strains are OK

or too high
 Important points:

1. Connections are either pinned, roller, fixed or spring.

2. Deflections are small – geometry does not change

3. Structures carry loads by:

• axial force (truss)
• bending and shear (beam)
• twisting (grid)

4. Behaviour is LINEAR, P  

5. Sign convention
right hand screw rule force and
for moments and displacement positive
rotations as shown
 Topic 1 – Matrix analysis - member stiffness matrices

Start with a single member and describe the FORCES in terms of the
DISPLACEMENTS

The DISPLACEMENT of a member will be defined by the displacement of its

ends
axial 4 DISPLACEMENTS
rotation x
sway
twist (torsion) 2 ENDS
=
8 displacements (OR DEGREES OF FREEDOM) to be defined

Note: 8 displacements are the possible displacements to all skeletal structures (1D)
Summary of the member stiffness equations – AXIAL DISPLACEMENT

A

PA = AE/L A
B
PB = -AE/L A A

B

PA = -AE/L B

PB = AE/L B A B
 Summary of the member stiffness equations – SWAY
VA = 12EI/L3 A
Civ3221 notes
VB = -12EI/L3 A Matrix 1
MA = 6EI/L2 A
MB = 6EI/L2 A

A

A B

VA = -12EI/L3 B
VB = 12EI/L3 B
MA = -6EI/L2 B
6 ( L2 x ) 2 ( 2 L3 x) 6 ( L2 x) 2 ( L3 x) 
MB = -6EI/L2 B dg2:=   , , , 
 L3
L 3
L3
L3
 

12 6 12 6
dg3:= 3 , 3,  3 , 3 
B
L L L L 
 
A B
Summary of the member stiffness equations – ROTATION

VA = 6EI/L2 A
VB = -6EI/L2 A A

MA = 4EI/L A
A B
MB = 2EI/L A

VA = 6EI/L2 B
VB = -6EI/L2 B A B B

MA = 2EI/L B
MB = 4EI/L B
Summary of the member stiffness equations - TWIST

TA = GJ/L A
TB = -GJ/L A A A B

TA = -GJ/L B
TB = GJ/L B A B B
 Matrix form of the member stiffness equations

PA   AE / L  AE / L  A 
Axial:  P    AE / L AE / L    
 B   B 

M A   4EI / L 2EI / L 
 M   2EI / L  
Rotation:  B   4EI / L  A 
 VA   6EI / L2 6EI / L2    B 
   
 VB   6EI / L  6EI / L2 
2

M A   6EI / L2  6EI / L2 
M   
Sway:  B    6EI / L
2
 6EI / L2   A 
 VA   12EI / L3  
 12EI / L3    B 
   
 VB   12EI / L
3
12EI / L3 

TA   GJ / L  GJ / L  A 
Twist:  T    GJ / L GJ / L    
 B   B 
 Matrix form of the member stiffness equations

All of the displacements and actions can be combined into one matrix if required,

 PA    
 AE / L 0 0 0  AE / L 0 0 0   A 
 VA   0 12 EI / L
3
0 6 EI / L
2
0 12 EI / L
3
0
2
6 EI / L   A 
T   0 0 GJ / L 0 0 0  GJ / L 0   A 
 MA   0 2 EI / L   A 
2 2
6 EI / L 0 4 EI / L 0 6 EI / L 0
 A     
 PB   AE / L 0
3
0 0
2
AE / L 0
3
0 0
2  B 
 VB   0 12 EI / L 0 6 EI / L 0 12 EI / L 0 6 EI / L  
 B
T   0 0  GJ / L 0 0 0 GJ / L 0   
 MB   0 6 EI / L
2
0 2 EI / L 0 6 EI / L
2
0 4 EI / L 
B
  
 B  B
the full matrix is always
•square
•symmetrical
•diagonal elements +ve non zero
 Matrix form of the member stiffness equations

Forming the stiffness matrix by combining the

separate matrices for the relevant actions is known as the
DIRECT STIFFNESS METHOD – learn it!

It is a technique for forming the STIFFNESS MATRIX, S

[ACTIONS] = [S] X [DISPLACEMENTS]

 Matrix form of the member stiffness equations

1. Identify the displacements that are relevant

- AXIAL?
- ROTATION?
- SWAY?
- TWIST?

2. Apply each one separately and calculate the member actions

- this gives one column

3. When all relevant displacements have been considered, the

STIFFNESS MATRIX is complete
 Matrix form of the member stiffness equations

EXAMPLE
100 kNm

E = 200,000 MPa
410 UB 54
I = 186x106 mm4
8m
cross section

simplify to this:

What displacements are relevant?

AXIAL?
ROTATION?
SWAY?
TWIST?
 Matrix form of the member stiffness equations

SUMMARY

1. The idea of structural analysis – playing block

2. The Member STIFFNESS matrix is just a series of equations

relating ACTIONS to DISPLACEMENTS.

3. Use the DIRECT STIFFNESS METHOD to form the matrix

one column at a time.

4. Substitute for the known ACTIONS/DISPLACEMENTS and

solve for the unknown.

5. WRITE THE 4 SETS OF EQUATIONS FOR DIRECT

STIFFNESS ON ONE SHEET OF PAPER AND PUT IT AT
THE FRONT OF YOUR NOTES.
 REVIEW

To find the actions or displacements in a single member -

procedure:

1. Identify which of the 8 degrees of freedom are relevant.

2. Apply each degree of freedom in turn to give successive

columns in the member stiffness matrix,
[ACTIONS] = [STIFFNESS] X [DISPLACEMENTS]

3. Put in the boundary conditions – for each degree of freedom

either the ACTION or the DISPLACEMENT is known.

4. Solve for the unknowns.

 Matrix analysis - structures

The following cases will be covered in matrix analysis:

1. The direct stiffness matrix method solving ONE member

structure with NODAL actions
2. The direct stiffness method solving TWO members structure
(continuous beam) with NODAL actions
3. The direct stiffness method solving TWO members structure
(frame) with NODAL actions
4. The direct stiffness method solving structures with MEMBER
actions
5. The coordinate transformation method solving structures with
INCLINED member
1. The direct stiffness method solving TWO members structure (continuous
beam) with NODAL actions

500 kN central support

settles by
20mm
4m 6m

  
θ θ θ
  
  

1. Identify the relevant degrees of freedom.

2. Apply each in turn to get the STRUCTURE STIFFNESS
MATRIX column by column.
3. Put in the boundary conditions and solve.
4. Total 12 DoFs, no twisting, become 9 DoFs
5. Non-zero displacements in terms of global coordinate
 2
3
1

•local
•global
1. non-zero displacements displacements
displacements
are relative to
are relative to
5 2 8 the coordinate
the global 6 3 9 system of an
coordinate 4 1 7
individual
system
2. support actions member

2 5 8 11
3 6 9 12
1 4 7 10

3. member actions

LOCAL AND GLOBAL COORDINATE SYSTEMS

 A systematic approach to structural analysis using STRUCTURE
STIFFNESS MATRICES

1. Restrict the relevant DEGREES OF FREEDOM to the NON-

ZERO DISPLACEMENTS only.
2. Solve for the unknown displacements.
3. Find the SUPPORT ACTIONS from the displacements.
4. Find the MEMBER ACTIONS from the displacements.

FD = K x U
displacements
actions corresponding
to the displacements
stiffness
 FD = K x U
displacements
actions corresponding
to the displacements
stiffness

 F1   AE / L1  AE / L2 0 0  u1 
F    0 12 EI / L
3
 12 EI / L
3
 6 EI / L1  6 EI / L2  u2 
2 2
  
2 1 2

 F3   0
2
 6 EI / L1  6 EI / L2
2
4 EI / L1  4 EI / L2  u3 
 Support actions

 R4    AE/L1 0 0 
R   0  12 EI/L1
3
6 EI/L1 
2
 5  u1 
 R6   0  6 EI/L1
2

2 EI/L1  
   u2 
 R7   AE/L2 0 0  u 
2 
 R8   0  6 EI/L2   
3 3
 12 EI/L2
   2 
 R9   0 6 EI/L2 2 EI/L2 

[FS] = [FSD] x [U]

displacements
actions at the supports

actions at the supports

due to unit
displacements
Member  P1    AE / L1 0 0 
P   0  12 EI / L1
3
6 EI / L1
2 
actions  2  
 P3   0  6 EI / L1
2
2 EI / L1 
   
 P4   AE / L1 0 0 
 P5   0 12 EI / L1
3
 6 EI / L1 
2

   2  u1 
 P6   0  6 EI / L1 4 EI / L1   

 P   AE / L  u2 
0 0
 7  2
3 2
 u3 
 P8   0 12 EI / L2 6 EI / L2 
P   0 6 EI / L2
2
4 EI / L2 
 9  
 P10   AE / L2 0 0 
   3 2
 P11   0  12 EI / L2  6 EI / L2 
 P12   0 6 EI / L2
2
2 EI / L2 

[FM] = [FMD] x [U]

actions in the
members
actions in the displacements
members due to unit
displacements
 SUMMARY

1. Identify the relevant GLOBAL DEGREES OF FREEDOM as the

non-zero displacements.

2. Form the stiffness matrix, such that

FU = K x U
3. Solve for the unknown displacements.

4. Identify the SUPPORT ACTIONS and form the matrix

FS = FSD X U
to find FS.

5. Identify the MEMBER ACTIONS and form the matrix,

FM = FMD x U
to find the member actions.
 2. The direct stiffness method solving structures with MEMBER actions

Consider the LOAD in 2 parts:

FD
actual shape actual load
=

Confined the dis. within the member

FDL

“fixed end” shape “fixed end” load +

Interaction between members
KxU

“released” shape “released” load

Deal the member and the interaction between members, separately, by fixed end load
The direct stiffness method solving structures with MEMBER actions

FD = FDL + K x U

FS = FSL + FSD x U

FM = FML + FMD x U

80 kN
20 kN/m

1m 1m 6m

The direct stiffness method solving structures with NODAL actions

FD = K x U [FS] = [FSD] x [U] [FM] = [FMD] x [U]

3. The coordinate transformation method solving structures with INCLINED
member
FyB
FyB FxB

GLOBAL B FxB LOCAL B

FyA  
FyA FxA
y
y’ x’
FxA
A x A
Always measure 
θ anticlockwise
with the direction 2 1
of the member
taken from node
1 to node 2


1 2
 FyB
Fy’B Fx’B

GLOBAL B FxB LOCAL B

FyA  
Fy’A Fx’A
y
y’ x’
FxA
A x A
 Fx' A   cos  sin  0 0   Fx A 
 Fy'   sin  cos  0 0   Fy 
 A   A 
 Fx' B   0 0 cos  sin    FxB 
    
Fy'
 B  0 0  sin  cos  Fy
 B 

[F’ ] = [T][F]
[U’ ] = [T][U]
where [T] is the coordinate transformation matrix
Matrix equations for structures with axial force (trusses)
 F' A   AE / L  AE / L  Δ A 
 F'    AE / L AE / L  Δ 
 B   B 
This can be expanded to

 Fx' A   AE / L 0  AE / L 0 Δx' A 
 Fy'   0 0 0 0 Δy' A 
 A  
 Fx'B   AE / L 0 AE / L 0  Δx'B 
    
Fy'
 B  0 0 0 0  Δy'B 
local local

Transforming the forces and displacements to global coordinates

 Fx A   AE / L 0  AE / L 0  Δx A 
 Fy   0 0 0 0  Δy A 
T  A    T 
 FxB   AE / L 0 AE / L 0   ΔxB 
     
Fy
 B  0 0 0 0  Δy B 
global global
 [T]-1 = [T]T. Pre-multiplying by [T]-1 gives

 Fx A   AE / L 0  AE / L 0  Δx A 
 Fy 
  T  
 0 0 0 0  Δy A 
 A T
T 
 FxB   AE / L 0 AE / L 0  ΔxB 
     
Fy
 B  0 0 0 0  Δy B 

[F] = [T]T[K][T] [U]

This is the matrix stiffness equation for the member, written in global
coordinates.

[K] is the member stiffness matrix in local coordinates.

[K]=[T]T[K][T] is the member stiffness matrix in global coordinates.

Matrix equations for structures with bending and shear

Member stiffness matrix in local coordinates:

 AE / L 0 0  AE / L 0 0   Δx A 
 Fx A  
 Fy A   0 12EI / L3 6EI / L2 0  12EI / L3 6EI / L2   Δy A 
M   0 6EI / L2 4EI / L 0  6EI / L2 2EI / L   θ A 
 A   
 Fx B   AE / L 0 0 AE / L 0 0  Δx B 
 Fy B  
M   0  12EI / L3  6EI / L2 0 12EI / L3  6EI / L2   Δy B 
 B  0  
 6EI / L2 2EI / L 0  6EI / L2 4EI / L   θ B 

 cos  sin  0 0 0 0
 sin  cos  0 0 0 0

 0 0 1 0 0 0
T   
 0 0 0 cos  sin  0
 0 0 0  sin  cos  0
 
 0 0 0 0 0 1

and the matrix stiffness equation for the member, written in global
coordinates is, as before,
[F] = [T]T[K][T] [U]
 SUMMARY

1. The direct stiffness method solving structures with NODAL actions

FD = K x U [FS] = [FSD] x [U] [FM] = [FMD] x [U]

2. The direct stiffness method solving structures with MEMBER actions

FD = FDL + K x U FS = FSL + FSD x U FM = FML + FMD x U

3. The coordinate transformation method solving structures with INCLINED member

FD = FDL + K x U FS = FSL + FSD x U FM = FML + FMD x U