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511 06 PDF
511 06 PDF
1
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Identify
M M(x)
M oment at any section in the beam due to external loads
m m(x)
M oment at any section in the beam due to a unit action
my
~
I
Stress acting on dA due to a unit action
2
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
dx
dx
E
M y
dx
E I
3
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The work done by the force acting on the differential area dA due to a unit action as the
differential segment of the beam (dA by dx) displaces along the length of the beam by an
amount is ~
dW f
m y M y
dA dx
I E I
M m y2
2
dA dx
E I
The work done within a differential segment (now A by dx) due to a unit action applied to
the beam is the integration of the expression above with respect to dA, i.e.,
M m y2
cT
dW
2
dA dx
A cB E I
cT
Mm 2
Wdiffernetial segment 2 y dA dx
EI c B
Mm Mm
2 I dx dx
EI EI 4
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The internal work done along the entire length of the beam due to a unit action applied to
the beam is the integration of the last expression with respect to x, i.e.,
M x mx
L
WInternal 0 EI dx
The external work done along the entire length of the beam due to a unit action applied to
the beam is
WExternal 1D
With
WExternal WInternal
M x m x
L
1 D 0 EI dx
M x m x
L
D 0 EI dx
or the deformation (D) of the a beam at the point of application of a unit action (force or
moment) is given by the integral on the right. 5
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Example 6.1
6
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Example 6.2
7
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
In 1864 James Clerk Maxwell published the first consistent treatment of the flexibility
method for indeterminate structures. His method was based on considering deflections, but
the presentation was rather brief and attracted little attention. Ten years later Otto Mohr
independently extended Maxwell’s theory to the present day treatment. The flexibility
method will sometimes be referred to in the literature as Maxwell-Mohr method.
8
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The fundamental concepts that underpin the flexibility method will be illustrated by the
study of a two span beam. The procedure is as follows
9
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Example 6.3
The beam to the left is statically
indeterminate to the first degree.
The reaction at the middle support
RB is chosen as the redundant.
The released beam is also shown.
Under the external loads the
released beam deflects an amount
DB.
A second beam is considered
where the released redundant is
treated as an external load and the
corresponding deflection at the
redundant is set equal to DB.
5
RB wL
8
10
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
A more general approach consists in finding the displacement at B caused by a unit load in
the direction of RB. Then this displacement can be multiplied by RB to determine the total
displacement
Also in a more general approach a consistent sign convention for actions and displacements
must be adopted. The displacements in the released structure at B are positive when they are
in the direction of the action released, i.e., upwards is positive here.
The displacement at B caused by RB is δB RB. The displacement caused by the uniform load
w acting on the released structure is
5 w L4
DB
384 EI
Thus by the compatibility equation
DB 5
DB B RB 0 RB w L
B 8 11
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Example 6.4
12
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
13
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
We can now write the compatibility equations for this structure. The displacements
corresponding to Q1 and Q2 will be zero. These are labeled DQ1 and DQ2 respectively
In some cases DQ1 and DQ2 would be nonzero then we would write
14
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The equations from the previous page can be written in matrix format as
D
Q D QL F Q
where:
F F12
11
F22
F
F21
15
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The vector {Q} of redundants can be found by solving for them from the matrix equation
on the previous overhead.
F Q D
Q D
QL
Q F 1 DQ D
QL
To see how this works consider the previous beam with a constant flexural rigidity EI. If
we identify actions on the beam as
P1 2P M PL P2 P P3 P
Since there are no displacements imposed on the structure corresponding to Q1 and Q2,
then
0
DQ
0
16
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The vector [DQL] represents the displacements in the released structure corresponding to
the redundant loads. These displacements are
13PL3 97 PL3
DQL1 DQL 2
24 EI 48EI
The positive signs indicate that both displacements are upward. In a matrix format
26
D QL
PL3
48EI 97
17
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The flexibility matrix [F ] is obtained by subjecting the beam to unit load corresponding
to Q1 and computing the following displacements
L3 5L3
F11 F21
3EI 6 EI
Similarly subjecting the beam to unit load corresponding to Q2 and computing the
following displacements
5L3 8L3
F12 F22
6 EI 3EI
18
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Q
Q 1 F 1 DQ D
QL
Q2
16 5 0
6 EI PL3 26
3
7L 5 2 0 48 EI 97
P 69
56 64 19
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The redundants have been obtained. The other unknown reactions can be found from
the released structure. Displacements can be computed from the known reactions on
the released structure and imposing the compatibility equations.
Discuss the following sign conventions and how they relate to one another:
1. Shear and bending moment diagrams
2. Global coordinate axes
3. Sign conventions for actions
- Translations are positive if the follow the direction of the applied force
- Rotations are positive if they follow the direction of the applied moment
20
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Example 6.5
A three span beam shown at the left is
acted upon by a uniform load w and
concentrated loads P as shown. The
beam has a constant flexural rigidity EI.
Treat the supports at B and C as
redundants and compute these
redundants.
In this problem the bending moments at B
and C are chosen as redundants to
indicate how unit rotations are applied to
released structures.
Each redundant consists of two moments,
one acting in each adjoining span.
21
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The displacements corresponding to the two redundants consist of two rotations – one for
each adjoining span. The displacement DQL1 and DQL2 corresponding to Q1 and Q2.
These displacements will be caused by the loads acting on the released structure.
The displacement DQL1 is composed of two parts, the rotation of end B of member AB
and the rotation of end B of member BC
wL3 PL2
DQL1
24 EI 16 EI
Similarly,
PL2 PL2 PL2
DQL 2
16 EI 16 EI 8EI
such that
L2 2wL 3P
DQL
48EI 6P
22
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The flexibility coefficients are determined next. The flexibility coefficient F11 is the sum
of two rotations at joint B. One in span AB and the other in span BC (not shown below)
L L 2L
F11
3EI 3EI 3EI
Similarly the coefficient F21 is equal to the sum of rotations at joint C. However, the
rotation in span CD is zero from a unit rotation at joint B. Thus
L
F21
6 EI 23
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Similarly
L L 2L
F22
3EI 3EI 3EI
L
F12
6 EI
The flexibility matrix is
L 4 1
F 1 4
6EI
1 2 EI 4 1
F 1 4
5L
24
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Q
Q 1 F 1 DQ D
QL
Q2
2 EI 4 1 0 L2 2wL 3P
1 4 0 48EI
5L 6 P
L 8wL 6 P
120 2wL 21P
and
wL2 PL wL2 7 PL
Q1 Q2
15 20 60 40
25
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Example 6.6
26
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
D
Q D
QL F Q
If the redundants specified are unknown reactions then after these redundants are found other
actions in the released structure could be found using equations of equilibrium.
When all actions in a structure have been determined it is possible to compute displacements
by isolating the individual subcomponents of a structure. Displacements in these
subcomponents can be calculated using concepts learned in Strength of Materials. These
concepts allow us to determine displacements anywhere in the structure but usually the
unknown displacements at the joints are of primary interest if they are non-zero.
.
27
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Instead of following the procedure just outlined we will now introduce a systematic
procedure for calculating non-zero joint displacements, reaction, and member end actions
directly using flexibility methods.
Consider the two span beam below where the redundants Q1 and Q2 have been computed
previously in Example 6.4. The non-zero joint displacements DJ1 and DJ2, both rotations, as
well as reactions AR1 and AR2. can be computed. We will focus on the joint displacements
DJ1 and DJ2 first. Keep in mind that when using flexibility methods translations are
associated with forces, and rotations are associated with moments.
Reactions other than redundants will be denoted {AR} and these quantities can be
determined as well. The objective here is the extension of the flexibility (force) method so
that it is more generally applied. 28
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The principle of superposition is used to obtain the joint displacement vector {DJ}, which is
a vector of displacements that occur in the actual structure. For the structure depicted on
the previous page the rotations in the actual structure at joints B ( = DJ1) and C ( = DJ2) are
required. When the redundants Q1 and Q2 were found superposition was imposed on the
released structure requiring the displacement associated with the unknown redundants to be
equal to zero. In finding joint displacements in the actual structure superposition is used
again and displacements in the released structure are equated to the displacement in the
actual structure. Focusing on joint B, superposition requires
Thus displacements in the released structure must be further evaluated for information
beyond that required to find the redundants Q1 and Q2 . In the released structure the
displacements associated with the applied loads are designated {DJL} and are depicted
below. The displacements associated with the redundants are designated [DJQ ] and are
similarly depicted.
30
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Here
31
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The expressions DJ1 and DJ2 can be expressed in a matrix format as follows
where
D
DJ J1
DJ 2
D
DJL JL1
DJL 2
D
JQ
DJQ11
DJQ 21
DJQ12
DJQ 22
and
Q
Q 1
Q2
which were determined previously 32
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
where
A
A
ARL RL1 A
ARQ11 ARQ12
AR
RQ
R1 ARL 2 ARQ 21 ARQ 22
AR 2
Q
Q 1
Q2
34
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The expressions on the previous slide can be expressed in a matrix format as follows
Q
Q 1
Q2
Example 6.7
Consider the two span beam to the left
where it is assumed that the objective is
to calculate the various joint
displacements DJ , member end actions
AM , and end reactions AR. The beam has
a constant flexural rigidity EI and is acted
upon by the following loads
P1 2P
M PL
P2 P
P3 P
37
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
38
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
1 2 PL 1 3PL 3L
DJL 2 2 L
2 EI 2 2 EI 2
PL 1 PL L
L
EI 2 EI 2
13PL2
8 EI
PL2 10
DJL 13
8EI 39
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
1 L
DJQ11
1 L
L DJQ 21 L
2 EI 2 EI
L2 L2
2 EI 2 EI
40
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
2L
DJQ12
1 L
2 1 L DJQ 22
1 2L
2L
2 EI 2 EI
3L2 2 L2
2 EI EI
leading to
L2 1 3
DJQ 1
2 EI 4
41
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
PL2 10 L2 1 3 P 69
DJ 13 1
8 EI 2 EI 4 56 64
PL2 17
112 EI 5
42
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
M A 0
L 3L
ARL 2 2P PL P P2L
2 2
PL
ARL 2
2
F Y 0
ARL1 2P P P
ARL1 2P
43
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Using a free body diagram from segment AB of the entire beam, i.e.,
F Y 0
AML1 2P 2P
AML1 0
M B 0
L PL
AML 2 2P 2 PL
2 2
3PL
AML 2 44
2
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Using a free body diagram from segment BC of the entire beam, i.e.,
F Y 0
AML3 P P
AML3 0
M 0
B
PL
A PL
ML 4 2
PL
A 45
ML 4 2
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
0
3 PL 2P
2
AML ARL
0 PL
2
PL
2
Reactions in the released structure.
46
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Finally with
2P
P 1 1 69
AR PL L 64
56 2 L
2
P 107
56 31L
47
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
In a similar fashion, applying a unit load associated with Q1 and Q2 in the previous
cantilever beam, we obtain the following matrices
1 1
0 L
A
MQ
1
0
0 L
1 1
ARQ L
2 L
48
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
Similarly, with
0
3PL 1 1
69
2 P 0 L
AM
0 56 0 1 64
PL
0 L
2
5
P 20 L
56 64
36 L
49
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
The analysis of a structure by the flexibility method may be described by the following steps:
1. Problem statement
2. Selection of released structure
3. Analysis of released structure under loads
4. Analysis of released structure for other causes
5. Analysis of released structure for unit values of redundant
6. Determination of redundants through the superposition equations, i.e.,
D
Q D
QS F Q
D
QS D QL D
QT D
QP D
QR
7. Determine the other displacements and actions. The following are the four flexibility
matrix equations for calculating redundants member end actions, reactions and joint
displacements
DJ DJS D Q
JQ
51
Section 6: The Flexibility Method - Beams
Washkewicz College of Engineering
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