Introduction to Stiffness Analysis

The stiffness method of analysis is the basis of all commercial structural analysis programs. The focus of this chapter will be development of these equations that only take into account bending deformations, i.e., ignore axial member deformations. In the stiffness method of analysis, we write equilibrium equations in terms of unknown joint (node) displacements. The number of unknowns in the stiffness method of analysis is known as the degree of kinematic indeterminacy, which refers to the number of node/joint displacements that are unknown and are needed to describe the displaced shape of the structure. One major advantage of the stiffness method of analysis is that the kinematic degrees of freedom are welldefined.

Definitions and Terminology Positive Sign Convention: Counterclockwise moments and rotations along with transverse forces and displacements in the positive y-axis direction. Fixed-End Forces: Forces at the fixed supports of the kinematically determinate structure. Member-End Forces: Calculated forces at the end of each element/member resulting from the applied loading and deformation of the structure.

Stiffness Analysis Procedure

The steps to be followed in performing a stiffness analysis can be summarized as: 1. Determine the needed displacement unknowns at the nodes/joints and label them d1, d2, , dn in sequence where n = the number of displacement unknowns or degrees of freedom. 2. Modify the structure such that it is kinematically determinate or restrained, i.e., the identified displacements in step 1 all equal zero. 3. Calculate the member fixed-end forces in this kinematically restrained state at the nodes/ joints of the restrained structure due to the member applied loads. Tables of member fixed-end forces due to member loads for the kinematically restrained members are available later in these notes. The member fixed-end forces are vectorially added at the nodes/joints to pro-

duce the equivalent fixed-end structure forces, which are labeled Pfi for i = 1, 2, , n later in the notes. 4. Introduce a unit displacement at each displacement degree of freedom identified in step 1 one at a time with all others equal to zero and without any loading on the structure, i.e., di = 1 with d1, , di-1, di+1, , dn = 0 for i = 1, 2, , n. Sketch the displaced structure for each of these cases. Determine the member-end forces introduced as result of each unit displacement for the kinematically restrained structure. These member-end forces define the member-end stiffness coefficients, i.e., forces per unit displacement. The member-end stiffness coefficients are vectorially added at the nodes/joints to produce the structure stiffness coefficients, which are labeled Sij for i = 1, 2, , n and j = 1, 2, , n. 5. Eliminate the error introduced in step 3 to permit the displacement at the nodes/joints. This is accom-

plished by applying the negative of the forces calculated in step 3 and defines the kinematically released structure. 6. Calculate the unknown node/ joint displacements. 7. Calculate the member-end forces.

Illustration
To illustrate the stiffness method of analysis, we will first consider continuous beam structures. Start off by considering the two-span beam shown in Figure 1.
EI = constant A B q C

Figure 1 Two-Span Continuous Beam

1: Determine the degree of kinematic indeterminacy. The only unknown node/joint displacement occurs at node B and it is a rotational displacement. Thus, the rotation at node B is labeled d1. 2: Kinematically restrain the structure such that the displacements identified in step 1 equal zero. See Figure 2.
q A B C

Figure 2 Kinematically Restrained Two-Span Beam of Figure 1

The heavy vertical line drawn through the horizontal roller support at B signifies that node B is fixed against displacement. Thus, the rotational displacement d1 = 0 for the kinematically restrained structure of Figure 2.

3: Calculate the element/member fixed-end forces for the kinematically restrained structure and vectorially add to obtain the fixed-end forces for the structure.
q B

qL 12

qL2 12

qL 2

qL 2

Figure 3 Fixed-End Forces for the Kinematically Restrained Two-Span Beam of Figure 1

Since span element (member) A-B is not loaded, it will not produce any fixed-end forces. However, element (member) B-C is loaded and the fixed-end forces are labeled in Figure 3. They are simply the support reactions for the fixed-fixed beam. Calculate the fixed-end forces for the structure by vectorially adding the member-end fixed-end forces.
Pf1
B

qL 12

Figure 4 Joint Equilibrium at the Kinematic Degree of Freedom for the Restrained Two-Span Beam of Figure 1

Figure 4 shows that

qL2 M = 0 Pf1 = 12 B
Pf1 is drawn counterclockwise in Figure 4 since our sign convention is counterclockwise moments are positive.
4: Impose a unit displacement at each kinematic degree

of freedom (DOF) to establish the structure stiffness equations.

A 1

d1 = 1 2EI L
1

4EI L 6EI L2

4EI L 6EI L2

2EI L
1

6EI L2

6EI L2

Figure 5 Kinematically Restrained Two-Span Beam of Figure 1 Subjected to a Unit Displacement d1 = 1

Figure 5 shows the displaced shape of the two-span beam for d1 = 1 as well as the displaced shapes and member-end stiffness coefficients for the two elements comprising the two-span beam of Figure 1. Memberend stiffness coefficients are defined as the memberend forces resulting from the imposition of the single unit displacement for the structure as shown in Figure 5. Derivation of the member-end stiffness coefficients (forces) shown in Figure 5 and others will be covered later in the notes. The structure stiffness equations are expressed as [S] {d} = {P} {Pf} where [S] is the structure stiffness matrix; {d} is the structure displacement vector; {P} is the applied structure concentrated force vector; and {Pf} is the structure fixed-end force vector calculated in step 3. The applied structure concentrated force vector {P} lists the point forces for each structure displacement DOF. It contains nonzero entries only at the dis-

placement DOF where a point force or moment is applied at the corresponding displacement DOF. The structure stiffness matrix coefficients are obtained by performing equilibrium at the nodes for each structure DOF using the member-end stiffness coefficients. These structure stiffness matrix coefficients are designated as Sij and i = 1, 2, , n and j = 1, 2, , n.

Sij force at displacement DOF i due to

a unit displacement at DOF j (i.e., dj = 1) with all other displacement DOF equal to zero (i.e., di = 0 for i = 1, , j-1, j+1, , n). Stiffness coefficients have units of force/displacement (or moment/ rotation).
The structure stiffness coefficients are obtained by performing equilibrium calculations at the structure displacement degrees of freedom. For example structure:

{d} = {d1} = d1 unknown {P} = {0} = 0 {Pf} = {Pf1} = qL2/12

S11
4EI L B 4EI L

Figure 6 Equilibrium at Kinematic DOF 1 for the Two-Span Beam of Figure 1

Performing node equilibrium at displacement DOF 1 gives (see Figure 6) gives S11 = (4EI/L)AB + (4EI/L)BC = 8EI/L
5: Eliminate the error introduced in the kinematically

restrained structure: [S] {d} = {P} {Pf}

6: Calculate the unknown structure displacements

{d} = [S]-1 ({P} {Pf}) For the example structure: d1 = L/8EI (-qL2/12) = -qL3/96EI

7: Calculate the member-end forces. b = beginning node e = end node

b e
E, I

e, Me

b, Mb
vb, Vb

L
ve, Ve

Figure 7 Beam Member Displacement and Force Degrees of Freedom

The beam member stiffness equations can be written as

{Qb }4x1 = [k bb ]4x4 {u b }4x1 + {Qfb }4x1

Vb M {Qb } = b = Ve Me

Member-End Force Vector

 Vfb M Member Fixed-End fb {Qfb } = = Force Vector V fe M fe

The member fixed-end forces are defined as

Qfi = Qi
in the kinematically determinate state due to member loading.

vb b {u b } = = ve e

Member-End Displacement Vector

6L 12 12 2 6L 6L 4L EI [k bb ] = 3 L 12 6L 12 2 6L 2L 6L = member stiffness matrix

6L 2 2L 6L 4L2

The ij member stiffness coefficient can be expressed mathematically as

k ij = Qi u =1 all other u k = 0 (k j) j

Simplified Member-End Force Calculations

6EI ( + ) + V Vb = 12EI (v v ) + b e b e fb L3 L2 (internal shear at beginning node b) 2EI (2 + ) + M M b = 6EI (v v ) + b e b e fb L L2 (internal moment at beginning node b) 6EI ( + ) + V Ve = 12EI (v v ) b e b e fe L3 L2 (internal shear at end node e) 2EI ( + 2 ) + M M e = 6EI (v v ) + b e b e fe L L2 (internal moment at end node e)

Figure 5.6 Stiffness Analysis Superposition

(McGuire, Gallagher and Ziemien 1999)

Mathematical Expression of Stiffness Superposition

The structure stiffness equations are expressed as [S] {d} + {Pf} = {P} [S] structure stiffness matrix {d} structure displacement vector {Pf} structure fixed-end force vector {P} structure node/joint force vector
Kinematically Determinate State (first column in Figure 5.6):
{d} = 0 {Pf } = {P}

Kinematically Released State (second column in Figure 5.6):

[S] {d} = {P} - {Pf} Solve for displacement vector {d}: -1 {d} = [S] ({P} - {Pf})

Example Continuous Beam: 2 DOF (EI = constant)

Calculate the unknown displacements and member-end forces for the given continuous beam structure.
q C A L B L d1 = 1 d2 = 1

Step 1: Determine the degree of kinematic indeterminacy. Step 3: Calculate the fixed-end forces for the kinemati-

cally determinate structure.

Pf1 = Pf 2 =

qL2 12 qL2 12

Establish the structure stiffness equations:

[S] {d} = {P} {Pf}

For the example structure:

d1 {d} = d 2
Step 4: Impose a unit displacement at each kinematic de-

gree of freedom in sequence to determine the structure stiffness matrix coefficients.

BC 8EI 4EI S11 = + L = L BC 2EI S21 = S12 = L = 2EI L BC 4EI S22 = L = 4EI L

( )

4EI AB L

( ) ( )

( )
-1

Step 6: Calculate the unknown structure displacements

{d} = [S]

({P} {Pf})

For the example structure:

d1 1 S22 S12 Pf1 = d 2 S S21 S11 Pf 2 S = det([S]) = S11S22 S12S21 d1 L 4 2 qL2 1 = 2 8 12 1 d 28EI 2 d1 qL3 6 = d 2 336EI 10
Step 7: Calculate the member-end forces using displace-

ment compatibility between the structure and member displacements

{Qb} = [kbb] {ub} + {Qfb}

Compatibility relationships for the example beam:

AB BC e = d1 = BC ; b e = d2 and all others = 0

The member end forces are

6EI 2 AB L Vb 2EI M 3 6qL L AB b {Qb } = = 6EI V 336EI e L2 Me 4EI L = 28

3qL

28

qL

3qL 28

14

qL

 6EI (d1+ d 2 ) 2 BC L Vb 2EI (2d + d ) M 1 2 L BC b {Qb } = = 6EI Ve L2 (d1+ d 2 ) Me (d1+ 2d 2 ) 2EI 2 L 4qL 1 7 L / 6 qL2 qL 14 + = 2 1 3qL L / 6 7 0 {Qfb}AB = {0}; {Qfb}BC = qL/2 <1 L/6 1 L/6>T

Draw the shear force and bending moment diagrams:

4qL 7 3L/7

-3qL 28

Shear Force Diagram

qL2 28

-3qL 7 9qL2 98

-qL2 14

Bending Moment Diagram

Modified Stiffness Calculations Zero End Moment

A simplification of the stiffness analysis performed in the previous example is possible if we take into account the fact that the bending moment at an end simple support is zero (node C in the previous example). This leads to a reduction of one rotational degree of freedom, namely the rotation associated with the zero moment location. Inclusion of this modification results in a reduction of the number of member displacement and force degrees of freedom from 4 to 3. Commensurate with this reduction is a change in the member stiffness coefficients as well as the member fixed-end forces. These changes are given below.

b L vb, Vb

e, Me

ve, Ve

(a) Simple-Fixed (S-F) Beam (Mb = 0)

LM fb 1 b = [3(v b ve ) + Le ] 2L 4EI M fb = fixed-end moment at node b for a

fixed-fixed beam
b, Mb

b L vb, Vb

ve, Ve

(b) Fixed-Simple (F-S) Beam (Me = 0)

LM fe 1 e = [3(v b ve ) + Lb ] 2L 4EI M fe = fixed-end moment at node e for a

fixed-fixed beam

Modified Stiffness Matrices

For the propped cantilever beam of (a SimpleFixed (S-F) Beam):

1 1 L 3EI S-F [k bb ] = 3 1 1 L L 2 L L L For the propped cantilever beam of (b FixedSimple (F-S) Beam): 1 L 1 3EI F-S 2 [k bb ] = 3 L L L L 1 L 1
Modified Member-End Force Calculations
M M M M {Qb }3x1 = [k bb ]3x3 {u b }3x1 + {Qf b }3x1

M {Qb } = modified member-end force vector

M {Qf b } = modified member fixed-end force

vector Superscript M S-F for the simple-fixed beam

F-S for the fixed-simple beam
Simple-Fixed Beam

S F 3EI + VS F Vb = 3EI (v v ) + b e e fb L3 L2 S F 3EI + QS F Ve = 3EI (v v ) b e fe 3 2 e F MS = e L L 3EI (v v ) + 3EI + MS F b e fe L e L2

Fixed-Simple Beam

FS 3EI + V FS Vb = 3EI (v v ) + b e b fb L3 L2 F S 3EI + M FS Mb = 3EI (v v ) + b e fb L b L2 FS 3EI + V FS Ve = 3EI (v v ) b e fe 3 2 b L L

Example Continuous Beam Modified Equations

A L B q

EI = constant
C

d1 = 1

S11 = (4EI/L)AB + (3EI/L)BC = 7EI/L d1 = (S11)-1 (-Pf1) = L/(7EI) (-qL2/8) = -qL3/56EI Compatibility:

AB e = d1 = BC b

Member AB End Forces:

3qL Vb = 6EI d = 1 28 L2 qL2 Mb = = 28 3qL Ve = 6EI d = 1 28 L2 2EI d L 1

Me =

4EI d L 1

qL2 14

Member BC End Forces:

FS 4qL Vb = 3EI d + V fb = 7 2 1 L FS qL M b = 3EI d + M fb = 14 L 1 FS 3qL Ve = 3EI d + V = 7 fe 2 1 L

FS Vfb
2

5qL ; 8

F S M fb

qL2 ; 8

FS Vfe = 8

3qL

Stiffness Coefficient Summary

In stiffness analysis of structures that ignore axial deformation, there are only four sets of member displacement stiffness results that need to be applied. These four are summarized in the figures below.

EI = constant 1 b e L

F4

F 1 = F 3=

12EI

F2 F1

F3

F2 = F4 = L2

L3 6EI

(a) Fixed-Fixed Beam Subjected to a Unit Translational Displacement

EI = constant b 1 L e

F4

F 1 = F3 =

6EI

F2 F1

F3

L2 4EI F2 = 2F4 = L

(b) Fixed-Fixed Beam Subjected to a Unit Rotational Displacement

Calculations for displacements at end e are similar to those shown for end b. Figures (a) and (b) simply show the forces required to cause the unit displacement and the corresponding reaction forces at the zero displacement degrees of freedom. Compare your displaced drawing with the forces shown. Force magnitudes will be the same. Whether the force is positive or negative depends on whether it is in the same direction as the corresponding displacement on the structure (positive) or in the opposite direction (negative).

EI = constant 1 b e L

F 1 = F3 = F2 =
F3

3EI L3

F2 F1

3EI L2

(c) Fixed-Simple (F-S) Beam Subjected to a Unit Translational Displacement

EI = constant b 1 L e

F 1 = F 3=
F3

3EI L2

F2 F1

3EI F2 = L

(d) Fixed-Simple (F-S) Beam Subjected to a Unit Rotational Displacement

Calculations for displacements at end e for a simplefixed (S-F) beam are similar to those shown for end b for the fixed-simple beam. Figures (c) and (d) simply show the forces required to cause the unit displacement and the corresponding reaction forces at the zero displacement degrees of freedom. Compare your displaced drawing with the forces shown. Force magnitudes will be the same. Whether the force is positive or negative depends on whether it is in the same direction as the corresponding displacement on the structure (positive) or in the opposite direction (negative).

Results of Figures (a) (d) can be applied directly to frames.

Unbraced Frame Example

40 kN 12 kN 3 kN/m 24 m-kN 24 m-kN 12 kN

LAB = LDC = 12 m LBC = 20 m IAB = IDC = I IBC = 2I

Equivalent Loaded Structure
d3 d1

d2

Kinematic DOF

40 kN 3 kN/m

10 m

10 m

L = 20 m

Fixed-End Forces

Pf1 = 0
qL PL Pf 2 = 12 + 8 = 200 m kN
2

Pf 3 = Pf 2 = 200 m kN

S11 = S21 = S31 =

3EIAB L3 AB 3EI AB L2 AB 3EIDC L2

DC

3EI DC L3 DC

d1 = 1

S12 =
d2 = 1

3EI AB L2 AB

3EIAB 4EIBC S22 = + L AB L BC 2EI BC S32 = L BC

S13 =
d3 = 1

3EI DC L2 DC

2EIBC S23 = L BC 4EI BC 3EIDC S33 = + L BC L DC

P1 = 0 P2 = 24 m kN P3 = 24 m kN
Stiffness Equations:

1 1 1 288 48 48 13 1 1 EI 48 20 5 1 13 1 48 5 20

d1 0 d 2 = 176 d 176 3

Solution:

d1 0 1 d 2 = 391.11 d EI 391.11 3
Compatibility:

d1 = 0 and d2 = -d3 due to symmetry of structure and loading

AB DC = ve = d1 = 0 ve 391.11 AB e = BC = = d b 2 EI 391.11 DC BC e = e = d3 = EI BC BC DC = = = v AB v v v b b e b =0

Member Forces AB:

AB = Vb

3EI AB L2 AB

d 2 = 8.15kN

3EI AB AB Ve = 2 d 2 = 8.15kN L AB
AB = Me
DC:
DC Vb =

3EI AB d 2 = 97.78m kN L AB
d3 = 8.15kN d3 = 8.15kN

3EIDC L2 DC L2 DC

DC Ve = DC Me =

3EIDC

3EIDC d3 = 97.78m kN L DC

BC:
BC Vb =

6EIBC L2 BC

BC (d 2 + d3 ) + Vfb

= 50.0 kN
BC = Mb

2EIBC BC (2d 2 + d3 ) + M fb L BC
= 121.8m kN

BC = Ve

6EIBC L2 BC

BC (d 2 + d3 ) + Vfe

= 50.0 kN
AB = Me

2EI BC BC (d 2 + 2d3 ) + M fe L BC
= 121.8m kN

Support Reactions

8.15 kN

8.15 kN

62 kN

62 kN 228.2 m - kN

50 kN 20 kN -20 kN -50 kN -97.8 m - kN 8.15 kN -8.15 kN -121.8 m - kN

SFD

BMD