9.

1 GEOMETRIC STIFFNESS MATRICES FOR PLANAR ELEMENTS

9.1.1 Axial Force Member
Note: shortening / stretching + lateral displ. + Rigid translation
Without instability: shortening / stretching + Rigid translation
After rigi bo! rotatio" a" axial #trai"i"g$
To consider Geometric Nonlinear
ab a%b%
&i#'laceme"t a a%
u
v

' ;

( (
( (
( ( ( (
( (
) )
(
1 (
du dv
a b dx dx dx
dx dx
du du dv
dx dx dx dx
dx dx dx
du du dv
dx
dx dx dx
_ _
+ +

, ,
_
_ _
+ + +



, ,
,
_ _
+ + +

, ,
&e#ig"ati"g t*e i"creme"t$
( (
(
du du dv
dx dx dx
_ _
+ +

, ,
$ a#
ab
$ +e *a,e
[ ]
1 ( ) )
1
ab
a b
d
dx
+
Ex'a"i"g b! t*e bi"omial t*eorem a" "eglecti"g *ig*er-orer term# .#ee Note# belo+/0
[ ]
1 (
( (
( (
) )
1
1
1
(
1
1 (
(
1
1
(
ab
ab
a b
d
dx
d
du du dv
dx dx dx
du du dv
dx dx dx
+
+
_
_ _
+ + +



, ,
,
1
_ _
+ + +
1

, ,
1
]
NOTES 1 2INOMIAL SERIES .34IC4 COMES FROM TA5LOR SERIES/0
Fi"ite #trai"$
( (
) )
) )
1
(
fin
a b ab
dx
a b dx
dx dx
du du dv
dx dx dx

1
_ _
+ +
1

, ,
1
]
.9.1/
A''l!i"g t*e 'ri"ci'le of ,irt6al i#'laceme"t#0
( )
i"t x fin
vol
W e d vol

Or$ 6#i"g E7. 9.1 a" i"tegrati"g o,er t*e e't* of t*e member$ +e *a,e
( (
i"t
8
( (
8 8
( (
8 8
1
(
1
(
1
(

x

x x

x x
d u d u d v
W !dx
dx dx dx
d u d u d v
! dx ! dx
dx dx dx
d u du dv
! dx ! dx
dx dx dx
du
dx

1
_ _
+ +
1 ' ;

, ,
1
]

1
_ _ _
+ +
1

, , ,
1
]
1
_ _ _
+ +
1

, , ,
1
]

8 8
1
(

x
d u du du dv dv
" ! dx ! dx
dx dx dx dx dx

1 1 _ _ _ _
+ +
1 1
, , , , ] ]

Let
du d u
dx dx

,
$ +*ic* i# ,ali for i"fi"ite#imal i#'laceme"t$ a"
( x x
# !
$ t*e"$
i"t (
8 8
1
(

x
du d u d u du d v dv
W "! dx # dx
dx dx dx dx dx dx

1
_ _ _ _
+ +
1
, , , , ]

Pro6ce Li"ear ela#tic 'ro6ce geometric #tiff"e## matrix
#tiff"e## matrix 9k
g
:
.#ee e7. ;.(<a$ <.1=c/
Let
i"t (
8

g x
d u du d v dv
W # dx
dx dx dx dx

1
_ _
+
1
, , ]

2! referri"g to Sectio" >.($ it follo+# t*at

{ }
( )
{ }
( )
{ }
( )
{ }
( )
{ } ( )
{ }
( ) { } ( )
{ }
( )
{ } { } { } { }
) ) ) )
i"t (
8
) ) ) )
(
8
) ) ) )
( (
8 8

g x u u u u v v v v

x u u u u v v v v

u x u u u v x v v v
W # N N N N dx
# N N N N dx
# N N dx # N N dx



1
1 1 1 1 +
] ] ] ]
]
1
1 1 + 1 1
] ]
] ]
]
1 1 + 1 1
] ]
] ]

26t$ from Sectio" >.($ { }
ext
W # 1
]
T*6# t*e term#
{ }
) )
(
8

x u u
# N N dx 1
]
a"
{ }
) )
(
8

x v v
# N N dx 1
]
are t*e com'o"e"t# of geometric
#tiff"e## matrix$ 9k
g
:
Let
{ }
1
(
1
u u
u
x x
u N
u
1
_

1
' ;
] 1
,
]
a"
{ }
1
(
1
v v
v
x x
v N
v
1
_

1
' ;
] 1
,
]
T*e"
)
1 1
u
N

1
1
] 1
]
?
)
1 1
v
N

1
1
] 1
]
T*6#$
1 1 ( (
(
1 8 1 8
8 1 8 1
1 8 1 8
8 1 8 1
x
g
u v u v
#
$

1
1

1
1
]
1
1

]
.9.9/
9.1.( Combi"e 2e"i"g a" Axial Force
E7. 9.1 re're#e"t t*e #trai" 6e to 6"iaxial loai"g. If t*e t*e be"i"g mome"t 're#e"t$ t*e"
t*e fi"ite #trai" become#
( (
(
(
1
(
fin
du d v du dv
y
dx dx dx dx

1
_
_ _
+ +
1

, ,
1 ,
]
A''l!i"g t*e 'ri"ci'le of ,irt6al i#'laceme"t#0
( )
i"t x fin
vol
W e d vol

$ t*e"
( (
(
i"t (
8 8
1
(

x x
!
d u d u d v d v
W !dx y d!dx
dx dx dx dx


_
1 _ _
_ _
+ +
1 ' ;

, ,
1 ,
, ] ,

Fir#t I"tegral i"ter"al ,irt6al +or@ 6e to 6"iaxial loai"g$
x
du
"
dx

Seco" I"tegral i"ter"al ,irt6al +or@ 6e to be"i"g mome"t$
%
x
%
&
y
'

( (
(
i"t (
8 8 8
( (
(
(
(
8 8
1
(
1
(

%
x x
!
%

%
x x
%
& d u d u d v d v
W ! dx ! dx y y d!dx
dx dx dx ' dx
& d u du dv d v
! dx ! dx y d!
dx dx dx ' dx




_ 1
_ _
_ _ _
+ + +
1


, , ,
1 , ,
] ,
_
1
_ _ _
+ + +
1


, , ,
1
] ,


( )
( )
8
(
(
8 8 8
(
8 8
1
(
1
(

!

%
x %
%

x
dx
& du d u du du dv dv d v
" ! dx ! dx ' dx
dx dx dx dx dx dx ' dx
du d u d u du d v dv
"! dx # dx &
dx dx dx dx dx dx



_ 1 1
_ _ _ _
+ + +
1 1
, , , , ] ] ,
_
1 _ _ _ _
+ + +
1
, , , , ]
,



(
(
8
( (
( ( (
8 8 8
1
(

%

% x
d v
dx
dx
du d u d v d v d u du d v dv
"! dx "' dx # dx
dx dx dx dx dx dx dx dx

_ 1 _ _ _ _
+ + +
1
, , , , ] ,

Pro6ce Li"ear ela#tic 'ro6ce geometric #tiff"e##
#tiff"e## matrix matrix$ 9k
g
:
Note: The follo(ing steps belo( is the same as )ection *.+.+, only the difference is the shape
function for v:
Let
i"t (
8

g x
d u du d v dv
W # dx
dx dx dx dx

1
_ _
+
1
, , ]

2! referri"g to Sectio" >.($ it follo+# t*at

{ }
( )
{ }
( )
{ }
( )
{ }
( )
{ } ( )
{ }
( ) { } ( )
{ }
( )
{ } { } { } { }
) ) ) )
i"t (
8
) ) ) )
(
8
) ) ) )
( (
8 8

g x u u u u v v v v

x u u u u v v v v

u x u u u v x v v v
W # N N N N dx
# N N N N dx
# N N dx # N N dx



1
1 1 1 1 +
] ] ] ]
]
1
1 1 + 1 1
] ]
] ]
]
1 1 + 1 1
] ]
] ]

26t$ from Sectio" >.($ { }
ext
W # 1
]
T*6# t*e term#
{ }
) )
(
8

x u u
# N N dx 1
]
a"
{ }
) )
(
8

x v v
# N N dx 1
]
are t*e com'o"e"t# of geometric
#tiff"e## matrix$ 9k
g
:
Let
{ }
1
(
1
u u
u
x x
u N
u
1 _
1
' ;
] 1
,
]
a"
{ }
1
( A ( ( A (
1
(
(
1 A ( 1 A (
%
%
v v
v
x x x x x x x
v x x
v
N

1 _
_ _ _ 1
_ _ _ _ _ _
1 + 1 ' ;


, , , , , , 1 1
, , , ]
, ]



1
]
-refer e.. /.*0
T*e"
)
1 1
u
N

1
1
] 1
]
?
)
BB BB BB BB
v
N 1 1
]
]
-your tas$0
T*6#$
1 1 1 ( ( (
( (
(
( (
1 8 8 1 8 8
< <
8 8
= 18 = 18
(
8 8
18 1= 18 A8
1 8 8 1 8 8
< <
8 8
= 18 = 18
(
8 8
18 A8 18 1=
% %
x
g
u v u v


#
$

1
1
1

1
1
1
1
1
]
1

1
1

1
1
1

1
]
C.( A MATRIX APPROACH
Ela#tic A''roac* .t*e matrix 9D
e
: i# i"e'e"e"t to Loa$ EPF/0
[ ] { } { }
e
1 2
.C.1/
No"li"ear A"al!#i#0
{ } { } 9 :
t
1 d d2
.C.(/
3*ere 9D
t
: i# a tangent stiffness matrix$ EGF i# ,ector of i"creme"tal "oal 'oi"t
i#'laceme"t#$ EPF i# ,ector of i"creme"tal "oal 'oi"t loa# a" reactio"#. T!'icall!$ 9D
t
:
*a# a li"ear ela#tic com'o"e"t a" o"e or more aitio"al com'o"e"t# t*at are f6"ctio"# of
t*e loa# a"Hor t*e i#'laceme"t# i" exi#te"ce at t*e #tart of t*e i"creme"t.
Seco"-orer ela#tic a"al!#i# .geometric I material "o"li"earit!$ b6t for t*i# ca#e$ o"l!
geometric "o"li"earit! i# co"#iere/0
{ } { } 9 :
e g
1 1 d d2 +
.C.A/
I" +*ic* 9D
g
:$ t*e geometric stiffness matrix$ re're#e"t# t*e c*a"ge i" #tiff"e## t*at re#6lt#
from fi"ite eformatio"#.
For t*e calc6latio" of ela#tic critical loa#$ t*e global #tiff"e## e76atio" i# ca#t i" t*e form of a
ge"eraliJe eigenvalue problem i" +*ic* t*e e76atio" of e76ilibri6m at t*e critical #tate i#
{ } { } 8
e g
1 1 d 1 +
]
)
It i# a##6me t*at t*e member i# i"itiall! #traig*t ."o eformatio"#$ GK8/ 6' to critical loa$
after t*at t*e "o"li"ear eformatio"# .G K G/ ta@e 'lace after critical loa i# ac*ie,e.
T*erefore
{ } { }
L
8
e g
1 1
1
+
]
.C.</
3*ere
L
g
1
1
]
i# t*e geometric #tiff"e## matrix com'6te for a refere"ce loa EP
ref
F$ M .a"
eigenvalue/ i# a loa factor +it* re#'ect to EP
ref
F$ a" EF .a" eigenvector/ i# t*e b6c@le
#*a'e. T*e lo+e#t ,al6e of M t*at #ati#fie# t*e e76atio" for EF N 0 !iel# t*e ela#tic critical
loa ,ector MEP
ref
F$ a" t*e corre#'o"i"g EF efi"e# t*e b6c@le co"fig6ratio". Met*o#
commo"l! 6#e for t*e calc6latio" of bot* eige",al6e# a" eige",ector# are ba#e o" t*e
follo+i"g re6ce a" ma"i'6late form of E7. C.<.
{ } { }
1
1
L
f ef gf f
1 1

1
1
]
]
.C.>/
I" +*ic* t*e #6b#cri't f #!mboliJe# t*at t*e re#'ecti,e matrice# a" ,ector# relate to t*e free
egree# of freeom o"l!$ a" it i# recog"iJe t*at 9K
ef
: m6#t t*6# be "o"#i"g6lar.
Exam'le 9.1
2ot* member# are axial force member#
A
ab
K ( mm
(
$ A
bc
K =x18
A
mm
(
$ E K (88$888 M'a
A"al!#e t*e re#'o"#e of t*e #!#tem for
1. O K 8
(. O K 8.8=
1. O K 8
T*e #tr6ct6re i# loae at Poi"t$ a##6me "o be"i"g a" #*ear$ o"l! axial force i" t*e member
're#e"t.
[ ]
1 1
1 1
e
"!
$

]
Member ab0
1 1
.(88/.(/
$
1 1 ;888
( (
;888 ;888
(88
( (
;888 ;888
a b
ab
e
a b
u u
$ $N mm
u u

1
1
1
]

]
1

1
1
1

1
]
Member bc0
A
A A
A A
1 1
.(88/.= 18 /
$
1 1 ;888
= 18 = 18
;888 ;888
(88
= 18 = 18
;888 ;888
b c
bc
e
b c
v v
$ $N mm
v v
1
1
1
]

]
1

1
1
1

1
]
A##embl!0
A A
A A
( (
8 8 8 8
;888 ;888
8 8 8 8 8 8
( (
8 8 8 8
;888 ;888
(88
= 18 = 18
8 8 8 8
;888 ;888
8 8 8 8 8 8
= 18 = 18
8 8 8 8
;888 ;888
ax a
ay a
b
b
cx c
cy c
R u
R v
2 u
2 v
R u
R v

1
1

1

1

1


1

' ; ' ;
1

1

1

1


1

1

1
]
26t 6
a
K ,
a
K 6
c
K ,
c
K 8$ t*e" t*e matrix 9K
ef
: re6ce to
A
(
8
1 8
1 ;888
(88
8 (=88 18 = 18
8
;888
b b b b
ef
u v u v
1
1
1
1
1 1
1
]

1 ]
1
]
9k
g
: E76atio" 9.90
Member ab
1 8 1 8
8 1 8 1
1 8 1 8 ;888
8 1 8 1
a a b b
ab
g
u v u v
2
$

1
1

1
1
]
1
1

]
Or0
1 8 1 8
8 1 8 1
1 8 1 8 ;888
8 1 8 1
xa a
ya a
xb b
yb b
# u
# v
2
# u
# v

1
1

1

' ; ' ;
1

1

]
26t 6
a
K ,
a
K 8$ t*e"0
1 8
8 1 ;888
xb b
yb b
# u
2
# v

' ; ' ;
1
]
Member bc
1 8 1 8
8 1 8 1
1 8 1 8 ;888
8 1 8 1
b b c c
bc
g
v u v u
2
$
1
1

1
1
]
1
1

]
Or0
1 8 1 8
8 1 8 1
1 8 1 8 ;888
8 1 8 1
b yb
b xb
c yc
c xc
v #
u #
2
v #
u #
1
1

1

' ; ' ;
1

1

]
26t 6
c
K ,
c
K 8$ t*e"0
1 8
8 1 ;888
b yb
b xb
v #
2
u #
1

' ; ' ;
1
]
or0
1 8
8 1 ;888
xb b
yb b
# u
2
# v
1

' ; ' ;
1
]
A##embl!0
1 8 1 8
8 1 8 1 ;888 ;888
bc ab
xb xb b b
yb yb b b
# # u u 2
2 2
# # v v 2

1 1
+ +
' ; ' ; ' ; ' ; ' ;
1 1

] ]
26t OK8$ t*e"
1 8
L
8 1 ;888
ref
gf
2
1
1
1

1
]
]
A''l! E7. C.>0 { } { }
1
1
L
f ef gf f
1 1

1
1
]
]
1
1 8 1 8
1 1
8 (=88 8 1 18 ;888
ref b b
b b
2 u u
v v

1 1 1

' ; ' ; 1 1 1
] ] ]
Or0
;
1 8
1
8 ; 18 ;88
ref b b
b b
2 u u
v v

1

' ; ' ;
1

]
A##6mi"g ,
b
K 8 a" 6
b
N 8
1
;88
ref
b b
2
u u

or
;88
ref
2

T*erefore$ P
cre
K MP
ref
K ;88 @N
(. OK8.8=
E76atio" C.A0
{ } { } 9 :
ef gf
1 1 d d2 +
A
(
8
1 8 1 8
(88
8 1 8 1 = 18
8
ab b b b
bc ab
b b b bc ab
bc
du du du d2
# #
dv dv dv d2

1
1
1 1
1
+ +
' ; ' ; ' ; ' ;
1 1
1

] ]
1
]
Or0
A
(
8
1 8 1 8 8.8=
(88
8 1 8 1 1 = 18
8
ab b
bc ab
b bc ab
bc
du
# #
d2
dv

1
1
1
1
1 1
1
1
+ +
' ; ' ;
1 1
1
1

] ]
1
1
1
] ]
Sol,i"g iterati,el!0
INCREMENTAL ANALYSIS
I",ol,e #!#tem of "o"li"ear #tiff"e## e76atio"#
O"e met*o for #ol,i"g t*e#e e76atio"# i# to a''roximate t*eir "o"li"earit! +it*
'iece+i#e #egme"tal fit .#ee fig6re/
I" oi"g #o$ t*e total loa o" a #tr6ct6re$ EPF$ or it# e76i,ale"t$ t*e 'ro6ct of a total
loa ratio a" a gi,e" refere"ce loa EP
ref
F$ i# a''lie t*ro6g* a #erie# of
loa i"creme"t# EdP
i
F.
{ } { } { }
1
n
ref i
i
2 2 d2

3*ere n K total "6mber of loa i"creme"t# em'lo!e

Str6ct6re%# corre#'o"i"g i#'laceme"t re#'o"#e0
{ } { }
1
n
i
i
d