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    Theory and Analysis of Nonlinear Framed Structures (Yang)

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    Theory and Analysis of Nonlinear Framed Structures (Yang)

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    Theory and Analysis of Nonlinear Framed Structures (Yang)

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    Theory and Analysis of Nonlinear Framed Structures (Yang)

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    Luis Marcos
    Theory and Analysis of Nonlinear Framed Structures (Yang)

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    it HO SISATVYNV % ANOSHL STUALONALS GaWVud YVANTINON YEONG-BIN YANG Dugan Gil Engiawor ‘atonal Taihan Universty SHYH-RONG KUO Pepaninantiof Hamtor and River Engineering National Taiwan Ocean University THEORY & ANALYSIS OF NONLINEAR FRAMED NIGHT YEONG-BIN YANG eering National Taiwan University SHYH-RONG KUO Department of Harbor and River Engineering ‘National Taiwan Ocean University WK PRENTICE HALL New York London Toronto Sydney Tokyo Singapore ZEEE © 1094 Sinon& Senstr (Asn Pe Lid Ee i iin of Simon & SchinterIntesatenl Crovy All rights reserved. No part of this publication may be ‘reprosiced, stored in retrieval system or transmited in any form, ‘or by any meahs, electronic, mechanical, photocopying. recording or ‘iherwise, without prior permission in writing from the publisher. Printed in Singapore 123.45 98 97 96 95 98 ISBN 0-13-100224.3 Prentice Hall International (UK) Limited, London Contents Foreword Preface Acknowledgments List of Symbols 1. Introduetion 1.1 Background 1.2. Notation and nomenclature 1.3. Definition of strains 13.1 Green-Lagrange strain tensor 132 Green strain increment tensor 1.33 Updated Green strain increment tensor 1.4 Definition of stresses 1.4.1 Second Piola-Kirchhoff stress tensor 1.42 Cauchy stress tensor 1.43 Updated Kirchhoff stress tensor vi 1.6 Principle of virtual displacements 1.7. Incremental Lagrangian formulations 1.7.1 Total Lagrangian formulat 1.7.2 Updated Lagrangian formulation References Linear Analysis and Element Quality Test ion of structures ion of element stiffness matrices 221 Planar frame element 2.22 Space frame element 223 One-dimensional truss element 224 Planar and space truss elements 2.3. Formation of structure equations 2.4 Solution of simultaneous equations 2.5. Quality tests for linear elements 25.1 Convergence criteria 252 The patch test 253 Eigenvalue test 2.6 Rigid body test for nonlinear elements 2.6.1 Incremental stiffness equations 2.6.2 Rigid body rule for initially stressed elements 263. Rigid body test 2.7 Generalized eigenvalue test for nonlinear elements References Nonlinear Trusses and Incremental Constitutive Laws 3.1. Introduction 3.2 Formulation of nonlinear planar truss clement 3.3 Physical interpretation of element matrices 3.3.1 Member forces due to stretching 3.3.2 Member forces due to rigid body rotation 3.6 Force recovery procedures based on matrix equations Contents 25 30 30 35 30 41 4a 43 44 s4 62 64 65 B 8 9 80 81 83 83 86 87 a1 04 96 96 99, 105 106 109 cH 113 118 Contents 3.7. Case studies by finite element approach Linearly elastic material (material A) Nonlinearly elastic material (material B) 3.11 Incremental-form vs. total-form solutions References Es Nonlinear Analysis of Planar Frames 4.1 Introduction 4.2. Principle of viral displacements 4.2.1 ‘Two-dimensional beam 4.2.2 Statics and kinematics 4.2.3 General vs. simplified theory 4.3 Differential equations and boundary conditions 4.3.1 General theory of two-dimensional beams 4.3.2 Rigid body test 4.33 Simplified theory of two-dimensional beams, 4.4 Incremental element stiffness equations 4.4.1 Element matrices based on general theory 4.4.2. Element matrices based on simplified theory 44.3 Other element matrices 4.5 Rigid body test for linearized element 4.6 Element force recovery procedures 4.6.1 Natural deformation approach 4.6.2 External stiffness approach 4.7 Higher order planar frame element a7 128 131 131 137 140 144 146 146 148 150 152 155 157 157 160 163 164 166 170 172 173 178 182 184 187 192 o element formulation for higher order element ind other deformation effects ly-compressed cantilever 4.10.3 Cantilever under shear load 4.10.4. Pinned-fixed square diamond frame 4.10.5 Rigid-jointed square frame References Fundamentals of Nonlinear Theory of Space Frames ‘5. Introduction 5.2 Statics and kinematics 521 . 52.2 Buckling 5.3 Equations of equ 5.4 Rotational properties of moments 5.4.1 Moments generated as stress resultants Moments generated by external devices le of virtual displacements Strain energy due Potential energy due & External virtual work 554 General vs, simplified theory 5.6 Differential equations and boundary conditions theory of solid beams fied theory of solid beams $1 ories by rigid body rule 58 f incremental theories ly loaded columns 5.9 Lateral buckling of angled frames with in-plane loadings Contents 196 200 203, 206 207 207 209 210 21 214 216 216 219, 219 224 234 236 240 242 246 246 251 254 257 257 260 263 269 270 272 278 Contents 5.9.1 Symmettic frame 1-Simply supported out of plane 5.9.2 Symmetric frame 2-Fixed out of plane 5.9.3 Angled frame with fixed base 5.10 Buckling of angled frames under torsional loadings 5.10.1, Fundamental equations and conditions 5.10.2 Rotational properties of applied torques 5.10.3 Solutions for various torsional loads 5.10.4 Numerical examples References. Stiffness Matrices for Nonlinear Analysis of Space Frames 66 67 68 ‘Structural joints with two connected members ‘Structural joints with three connected members Elemenis with moment applied at fiee end ement formulation-Reduced case ic and geometric stiffness matrices ‘moment matrix Applied moment matrix General case 65.2 Geometric stiftness matrix based on general theory 6.5.3 Geometric stiffness matrix based on sim theory 6.54. External virtual work increment 6.5.5 Element stiffness equation Rigid body test Joint equilibrium conditions for space frames Effects of externally applied moments Procedure for recovery of element forces 279 286 288 300 302 306 316 321 323 323 325 330 331 335, 338 339) 341 343 345 347 352 6.10.3 Symmetric frame 1 wi 6.10.4 Fixed angled frame with moment load 6.105 Fixed angled frame with in-plane shear 6.10.6 Fixed angled frame with lateral shear 6.10.7 Fixed angled frame with torsional load 6.108 Single beam 6.10.9 Angled frame in bending 7. Theory and Analysis on Buckling of Curved Beams 7 Introduction 7.2 Statics and kinematics of curved solid beams 7.2.1 Displacements and strains 73 74 7.4.1 Strain energy due to linear axial strain 7.4.2 Strain energy cue to linear shear strains | energy due 10 axial stress snergy due 10 transverse shear stresses nergy due to normal stress "x, | energy due to distortional shear stress | energy due to radial stress 7.4.8 External virtual works 7.4.9 Incremental virtual work equation 7.5 Differential equations and boundary conditions 7.6 Rigid body 7.7 Buckling analysis by at 7.7.1 Curved beam under 7.7.2 Curved beam under radial loads 718 Finite element formulation Convents 375 376 377 378 379 380 381 382 385 386 339 391 391 395 396 402 414 420 421 421 424 78.1. Interpol 7.82 Flement 7.9 Buckling analysis by curved-beam element approach 7.91 Curved beam under uniform bending 7.92 Curved beam under radial loads 7.93 Curved beam with thrust or pull loads 7.10 Buckling analysis by st 7.10.1 Curved beam under 7.10.2 Curved beam under radi 7.10.3. Curved beam with one end clamped 7.11 Theory derived from straight-beam equations 1. Curved beam under 2 Curved beam under radi References Procedures for Geometric Nonlinear Analysis 8.1 Introduction 8.2 Updating of element geometry 82.1 Reference axes of element nodes 822 Element axes and nodal section axes ion of procedures to two-dimensional case 8.6 Incremer 86.1 Notation for incremental-iterative analysis 86.2 Pure incremental method 86.3 Statement of problem for incremer terative 864 Newion-Raphson method 86.5 Displacement control method 86.6 Are length method 86.7 Work control method 87 Theory in N+ 1 88 88.1. Newton-Raphson method 448 454 455 455 458 459, 461 462 464 465 468 468 432 439 491 491 497 498, 501 506 512 513 317 518 519 sal 524 525 27 $29 532 337 $37 88.2 Displacement control method 88.3 Arc length method for geometric nonlinear analysis examples 8.12.1 Two-member truss 8.12.2. Shallow arch 8.12.3. Circular arch with central load 8.12.4 Circular arch under uniform bending References Appendix A-List of Integral Matrices Appendix B- Procedure for Linearized Buckling Analysis Appendix C Effect of Truncated Higher Order Terms Author Index ‘Subject Index Contems 337 538 539 543 sas 547 550, 552 595 559 562 569 573 Foreword ‘The search for ways to represent the true nonlinearity of structures goes back to Renaissance times, and present theories of nonlinear elastic and inelastic behavior are the result of approximately two hundred years of steady development. But only recently has the computer made it possible to put much of 1970s, a group and to advance, if we co behavior. By that time, smi design engineers to use hitherto impracticable methods of analysis were (on the horizon and, just 2s important, interactive computer graphics that ‘enable them 10 maintain control of the analysis and aid them in in 1984, His research was mn of its effects in a larger sar analysis of three-dimensional stecl frames. He returned to Taiwan in the same year and has continued to develop the line of research started in Ithaca. But in doing so, he has gone far beyond the original theme. In a short time, he has become a ecognized authority in research directed towards reducing basic xiv principles of structural mechanics to practic dures. The work done by Professor Yan, ‘Shyh-Rong Kuo, has been widely published journal knowa for its pre underlying principles and other contemporary research, from which the student can obt of framed structures. And researcher. should prove to be a major ag the time when realistic treatment of structural nonlinearity becomes routine practice. W. McGuire Ithaca, NY . and beauty of structural nonlinear Preface been developed as a result of the research works conducted by the authors and co-workers, part of which has appeared in a series of technical papers, aimed at the application of the finite element method to nonlinear analysis of framed structures. However, this book is not {intended merely as 2 collection or repetition of any previous works. To meet the pedagogical needs, the materials acquired from different Sources have been updated and reorganized in a unified manner, while ‘ew constituents have been added to reflect the current trend toward rationalization of nonlinear analysis procedures. We believe that with the present methodology, readers should be able to discover the mystery Over the past three decades, th element method, stimulated by the rapidly growing power of electronic digital computers, has strengthened its position in computational mechanics from its early ‘stage of performing linear analyses for simple problems into an era of conducting the more challenging tasks, such as nonlincar, inelastic, éynamic analyses and so on, for problems that are ten, hundred, of thousand times more complicated than those ever attempted before. xvi Preface Nowadays, many people tend to view the finite element method as a applied to the solation of shown us that this can be phases involved in a ‘can be very confusing to graduate students and researchers this area of research. Just as the mechanics of materials lay the groundwork for linear analysis of structures, the principles of continuum mechanics provide vent analysis program can be put to work. ‘These lying element theory, nonlinear element qu: jot be directly extended from their counterparts in Ttis not always obvious to numerical analysts how all these factors can be considered following the guidelines of the princi- ples of continuum mechanics ic framed structures. Particalar emphasis will of physically meaningful theories and the establishment ofa direct link between the finite element procedures and their und beam theory, i for ‘sce the for calculating the element forces, for performing the iterative solution search, for debugging the hidden coding errors, and th. By so doing, we hope that the gap between the theoretical principles and computational procedures can at least be narrowed down {a minimum, if not closed. It should be added that all the formula- tions presented based on the stiffness or displacement method, for its relative ease in implementation in comparison with the flexl presented here can be selected as the subject mat semester course on advanced structural ana graduate or graduate students who hi For researchers of structures, dures that are deeply rooted in continuum mechanics principles. The presented in the text can be employed to check what they have le the general framework can be relied upon to extend reas not covered by the text, such as nonuniform torsion, tensor notations adopted here should present no problems to first year graduate or senior undergraduate students, since in most cases, the prerequisite knowledge on tensors docs not go beyond their most fundamental definitions, with only a limited number of operations performed on them. Only structures that are of the frame type and composed of solid tions are considered in the text, which include in particular the lowing four categories of structures: trusses, chapters. The the simplest theory of trusses and ends with the most complicated theory of curved beams, followed by a chapter on nonlin- car solution procedures. In Chapter 1, the strains, stresses, and co: be used throughout the book are first introdi elements. Of these tests, the rigid appears to be of paramount importance since it provides the ines for calculating the element forces in a step-by-step non- linear analysis. The planar and space truss elements are derived in xvii Preface Chapter 3. OF pati the formulation of of any complexi- wuler hypothesis of plane gives us a very good example of how powerful the rigid be. It can be used not only in the test of a finite element and its underlying theory, but also for calculating the member forces in an incremental nonlinear analysis. One key step in the buckling analysis of space frames is that all physical relations should be established for the buckling configuration of a structure, based on the principles of continuum mechanics. By sticking firmly to this role, an analytical approach based on the com- monly used buckling equations is presented in Chapter 5 for the analysis of the lateral buckling load of some simple frames, which are then iranslated into the finite element equations in Chapter 6. The physical Tink between the two approaches helps in resolving some existing controversies on the buckling of space frames. Also presented in Chapter 6 is a general three-dimensional element suitable for the analysis of space frames. In Chapter 7, a comprehensive treatment of the buckling of curved beams is presented. One feature of the curved beam equations present- ed in this chapter is that they can be derived either from the principle of virtual displacements or from the straight beam equations. By sticking 10 the rule that all physical relations should be established for modeling the buckling of curved beams have been shown to be invalid. ‘The book concludes with Chapter 8 on the procedure of incremental nonlinear analysis for structures of the framed type, with sufficient details given, Particular emphases are placed on the updating of geometry of structures involving finitc rotations and the solution of nonlinear matrix equations by iterative procedures. In short, this book is intended to serve as a bridge that connects the traditional continuum mechanics with modern computational proce- dures, The endeavor to write this book is a result of the excitement reference to any name followed by are listed in alphab end of each chi not devoted the time requited to acknowledge the achievements of each individual researcher working in the same arca. We would like to ‘extend our sincere apologies to all those whose works have not been mentioned here but whose writings, lectures, or communications have the ne 1g behaviors of fram: beams. The senior author bas been the principal investigator of all of the manuscript, he has recei ritual support from his colleagues at the National Taiwan ‘and other institutes, which should include, in particular, :ngineering), Chin-Lien Yen (former Dean, College of Engineering), Chau-Shioung Yeh, Ching- Churn Chern, Chen-Chang Keo, I-Chau Tsai, Tsung-Wa Lin, Yung en, Pao-Hsii Wang, Hong-Ki Hong, R. Y. Tan, Jena-Chuan in-Hsiung Loh, Gwo-Fong Lin, K, C, Chang, Keh-Chyuan ing Mo, Lai-Yun Wu, and Chen-Cheng Chen. Many of his iduate students, including Liang-Jeng Lew, Ming-Shan Shieh, 1g and many of the Inc, should also f effort needed Special thanks are due to his wife Ru-Wong, two daughters Judy and Carol, and the litle son for their frequent sacrifice of weekends and xx Preface completion of the book nal support of his family lents, and the encourage- rent places. ‘ment of his colleagues and friends from The camera-teady copy of the manuscript was prepared by Miss Huey-Shu Ni of D&E Drawing and Editing Services Company. We appreciate very much her expertise in preparing the camera-ready copy and her patient response to all our demands. Fi {0 our production and acquisition editors at Prentice Hall, Dr. Lee Ming, ‘Ang and Ms. Jerene Tan, for their technical assistance. ¥.B. Yang SR. Kuo Taipei, Taiwan, Republic of China Acknowledgments Parts of the materials presented in this book have beon based on papers published by thors. and co-workers in a number of journals, especially those listed in the references below. Efforts have been undertaken ‘and rewrite the materials acquired from each and progressive presentation ean be achieved to thank the copyright holders for permission to use the said materials in the book; in particu- lar, the following: (1) The materials from Kuo and Yang (1991), Kuo et al. (1993), Leu and Yang (1990), and Yang and Kuo (19916, 19916, 1992) ate reproduced by permission of ASCE. (2) The material from ‘Yang and Leu (1991) is reproduced by permission of Elsevier Science Publishers BV. (3) Yang and Shieh (1990) was originally published in the AZAA Journal. (4) Yang and Kuo (1991), copyright 1991, reprint- ed with permission from Pergamon Press Ltd., Oxford, UK. References Kuo, S..R, and Yang, Y. B. (1991), "New theory on buckling of curved beams," J. Eng. Mech., ASCE, 117(8), 1698-717. Kuo, S. R., Yang, ¥. B., and Chou, J. H. (1993), "Nonlinear analysis xxi xiii Acknowledgment? of space frames with finite rotations,” J. Struct Eng., ASCE, 119(1). 1-15. Leu, L. J., and Yang, Y. B. (1990), "Effects of rigid body and stretch- ing on nonlinear analysis of trusses,” J. Struct. Eng., ASCE, 116(10), 2582-98, Yang, Y. B., and Kuo, S. frames," Int. J. Mech. Sci, Yang, Y. B., and Kuo, S. R "Consistent frame buckling analysis by finite clement method,” J. Struct. Eng., ASCE, 117(4), 1053-69. Yang, Y. B., and Kuo, S. R. (1991¢), "Buckling of frames under various torsional loadings," J. Eng. Mech., ASCE, 117(8), 1681-97. Yang, Y. B,, and Kuo, 8. R. full consideration of j 118(5), 871-89. Yang, Y. B., and Leu, L. J. (199 stitutive laws and force recovery procedures in nonlincar analysis of trusses," Comp. Meth. Appl. Mech. Eng., 92, 121-31. ‘Yang, Y. B., and Shieh, M. S. (1990), "Solution method for nonlinear problems with multiple critical points," AIAA J., 28(12), 2110-16. 19914), "Out-of plane buckling of angled 5-67. J. Eng. Mech., ASCE, List of Symbols (0 the notation used in the text is given in See- is a list of the symbols used throughout each chapter. All the symbols are defined when they first appear in the text. The left superscript of a symbol denote the configuration in which the quantity occurs, while the left subscript denotes the configuration to which the quantity is measured. ‘The left subscripts ‘may be dropped in those cases where the reference configuration can ‘be casily identified. Quantities thet are generated incremental step are denoted with no left superscripts. M: vectors are enclosed by brackets [ ] and braces { }, respectively. A area of member cross sections 12) antisymmetric part of (k] matrix (Ch. 6) L matrix [4] in global axes (Ch. 6) +, oa De integration constants (Ch. 7) centroid of cross section boundary curve of cross section (Chs. 5, 7) initial undeformed configuration last calculated configuration xxiii {ei {eb {4} {24 Fay 1B, hy 15h e Lis of Symbols ‘current deformed configuration current deformed configuration (Ch. 8) last calculated configuration (Ch. 8) constitutive coefficients referred to C. and C, curved-beam coefficient matrices at x = 0 and x=! (7) ‘constraint vector (Ch. 8) ‘current stiffness parameter (Ch. 8) 0s > (Ch. 7) entries in diagonal matrix [D] diagonal matrix differential operator ‘vector for higher order derivatives of displacements (ch. 7) length of infinitesimal line element (Ch. 1) modulus of elasticity infinitesimal strains (linear components of ,¢,) infinitesimal strains (linear components of ,¢,) infinitesimal strains (linear components of ,¢,) stretch of truss member ‘base vector (Ch. 6) average of {7} vectors at element nodes (Ch. 8) normalized vector of {e} (Ch. 8) veciors defined in Figure 8.5(b) (Ch. 8) normalized vectors for {e;} and {¢,} (Ch. 8) linear and nonlinear force increments of truss member memiber forces along the x-, y-, and z-axes at C, member forces along the x-, y-, and z-axes at C, axial force of truss member acting at C; and re- ferred to Cy force vector (Ch. 6) internal element forces summed at structural nodes (ch. 8) single-valued constitutive function (Ch. 1) sing + 2 cos -2 (Ch. 7) body forees at C, and C,, referred to Cy body forees st C, and C,, referred to C, force increments from C, to Cy List of Symbols {ih thd {hb thh (hd k (a, Ce force components generated by [#,] and [51] (ch. 4) element force vectors corresponding to {ii}, (7 (9) i element force vector corresponding to {8,} member actions correspondi {P} (Appen. B) clement forces at C, and C,, referred 10 C, element forces at C, and referred to C3 shear modulus heat modulus considering the Wagner effect (h.7), generalized stiffness parameter (Ch. 8) defined in (7.11.56) (Ch. 7) constant parameter (Ch. 8) height of beam (Ch. 4) or lever arm of moment an subrnatrix in [s3} (Ch. 3) ‘moments of inertia about y- and z-axes identity matrix dimensionless coordinate (= x/L) torsional constant Jacobians (Ch, 1) stiffness coefficients in [KX] matrix Wagner effect structure stiffness matrix ‘elastic, geometric, and joint moment matrix for structure ‘applied moment matrix for structure integral matrix stiffness matrix corresponding to {P} (Appen. B) [K<} [K,], and [Kj] evaluated at {P} (Appen. B) [K.] evaluated at {P} (Appen. B) generalized stiffness matrix defined in (8.7.7) (ch. 8) ‘gencralized stiffness matrix defined in (87.8) (Ch. 8) VE, JEL.) (Ch. 7) 0 constraint parameter (Ch. 8) clement stiffness matrix in local and global coordi- nates List of Symbols elastic stiffness matrix ‘geometric stiffness matrix extemal stiffness matrix submatrices in [&,] (Ch. 4) induced moment matrix applied moment matrix submatrices (Ch. 2) entties in (£) matrix Jength of structural member at Cy, C,, and C, lower triangular matr length of in direction cosines ‘moment moments about the 2-, y-, and z-axes at C, moments about the x-, y-, and z-axes at Cy ‘moment vector (Ch. 6) moment yecior (Ch. 6) 4M} vector transformed to global axes (Ch. 6) total number of degrees of freedom of structure ‘coefficient matrices (Ch. 7) total number of degrees of freedom of element (Ch. 2) ‘umber of infinitesimal elements (Ch. 7) mn cosines unit vector along OS axis (Ch. 8) linear and cubic interpolation functions axis of rotation (Ch. 8) appli load axial buckling loads in torsional and flexural modes (Ch. 5) force vector structure load vector concentrated loads at structural nodes (Ch. 2) reference load vector (Ch. 8) applied loads for structure at C, and C, forces in local and global coordinates, section axes for element nodes (Ch. 8) xxvii projections of {p} on *S plane (Ch. 8) normalized vector of {p"} (Ch. 8) coefficient matrices (Ch. 7) parameter for identifying QT-1, QT-2, and ST moments reference axes for node A (Ch. 8) virtual work (Ch. 2) f curved beam (Ch.7) ital work at C, and C;, referred to Cy external virtual work at C, and C,, referred to C, rotation matrix unbalanced forces resulting ftom preceding itera- tion (Ch. 8) radius of gyration position vector (Ch. 8) tion vector after rotation (Ch. 8) inear and nonlinear components of shear stress S,, (Ch. 4) surface area of body at Co, Cy, and Cy Kirchhoff stress increments referred to Cy and C, plane normal to '-axis (Ch. 8) 2nd Piola-Kirchhoff stresses at C, and C, surface with displacements prescribed (Ch. 1) surface with tractions prescribed (Ch. 1) updated Kirchhoff stresses symmetric part of [&,] matrix (= [&; transfer matrix for curved and st ayn {5}, matrix in Taylor's expansion (Appen. C) sin (Ch. 7) higher-order stiffness matrices equivalent stiffness matrices for [s,), [s,}, and [s,] (Ch) ight elements, of axes from C; to C, (Ch. 2) matrix for in- and out-of-plane displacements coefficient matrices (Ch. 7) xxvii (72), (TF) (Ry 4a), (9), 4 ( VW. Sy, tV.2¥ 1}, (yak ANZ ser

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