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Ultimate Strength Principles
Ultimate Strength Principles
Buckling Yeilding
Achieving Ultimate Strength Bending beyond Elastic Limit
Local and Global Buckling Plastic Analysis Theorems
Elastic Beams Equilibrium Method
Elastic Beam Columns Mechanism Method
Column Buckling Yield Method
Column with initial imperfection Plastic Hinge Concept
Beam Column example Ultimate Capacity of sections
Moment – Curvature – Thrust Relationship Axial and Bending interaction
Perfectly Elastic Collapse capacities of beams
Elastic – Plastic Collapse capacities of frames
Perfectly Plastic Limiting strain and rotation
Kinematic limitation
Strain Limitation
System Analysis
If the anyone of the above is not satisfied, the member or the structure
may fail without achieving its full capacity possible.
Local Global
16 Dec 2014 4 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
ELASTIC BEAMS
σ x = By (1)
σ dA = 0 B ydA = 0 ydA = 0
A
x
A A
ydA = yA, ∴ y = 0
A
The above indicates that the neutral
axis passes through centroid.
M z = 0 M + (σ x dA) y = 0 M = − B y 2 dA = − BI
σ x = By
A A
My Mc
∴σ x = By = − σ max = (2)
I I
Moment (about z) equilibrium leads to flexure formula.
Elongation of small
Δu Δθ
segment of the beam Δu = − y Δθ lim = − y lim (3)
using small angle principle Δs →0 Δs Δs →0 Δs
dv d d 2v
tan θ =
dx
( tan θ ) = 2
dx dx
1 d v 2
dθ d v 2 d 2v 1
dθ = 2 dx = 2 cos 2 θ = 2
cos θ
2
dx dx dx (
dx 1 + tan 2 θ )
16 Dec 2014 8 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
dθ d 2 v 1 1
= 2 ds dv
2 2
dx dx dv 2 and = 1 +
1 + dx dx
dx
1 dθ dθ dx dθ d 2 v 1 1
= = = 2
R ds dx ds ds dx dv 2 1
1 + 1 +
2 2
dv
dx dx
1 dθ d 2 v 1 d 2v
= 2 3 = 2
R ds dx dx
dv 2 2
1 + For small
dx deflections
Based on definition of σx 1 My
ε = =-y and σ x = −
strain and stress E R I
d 2v
Based on calculus of geometry, 1 dx 2 d 2v
curvature can be written as = 3/2
≈ 2
R dv
2 dx
assuming small slope
1 +
dx
wdx − V + (V + dV ) = 0
dx
M − Pdv − Vdx + pdx − ( M + dM ) = 0
2
From the above equations, following
relationship can be derived ignoring higher
order terms
dV
= −w (1)
dx
dM dv
V =− −P (2)
dx dx
16 Dec 2014 11 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
2
d v
Substituting in (1) in (2) and using moment curvature relationship M = EI 2
d 2 d 2v d dv dx
2
EI 2 + P = w
dx dx dx dx
Elastic columns may have imperfection and if subjected to pure axial loading
may bend as shown in figure above.
M − Pv = 0
d 2v
Using moment curvature relationship M = EI 2
dx
d 2v d 2v P
EI 2 = Pv + v = 0
dx dx EI
2
The above is a second order differential equation in v and can be solved using
kinematic boundary conditions of the column. The proposed solution is of the form
P P
v = A cos x + B sin x
EI EI
P
0 = sin x
EI
This is possible only when
P
L = nπ
EI
∂x 2
L
The complementary and particular solution can
be taken as
w c = A sin K x + B c o s K x
δo πx
wP = sin
(π / KL ) − 12
L
Substituting EI P we get,
π 2
2
= PE and K 2
= ,
L EI
P
WP =
δo
sin
πx P δo π x
PE L = E S in
−1 1− P L
P
PE
Using the boundary conditions of a simply supported column with A=0, and
B=0. at supports, at x=0, & x=L
P
P πx
w = E
δ o S in
1− P L
P E
P
P πx
w= E sin
1− P o L
PE
P is called Amplification factor
In which 1 −
PE
1 − P
E
Further, if the moment varies between supports and double curvature moments
are applied, Meq can be used
P Cm M o
+ = 1.0
Finally, Pu P where M eq = C m M o
M u 1 −
PE
wL4
2
2 ux 2 ux wL
y= tan u sin + cos − 1 − x( L − x )
16 EIu 4 8 EIu
2
L L
L wL 4
1 − cos u wL 4
ymax = y = cos u − 32 EIu 2
2 16 EIu
4
=
5wL 4
12 (
2sec u − u 2
−2 )
384 EI 5u 4
12 ( 2sec u − u 2 − 2 )
= y0 4
P kL 5u
k =
2
u=
EI 2
16 Dec 2014 26 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
1 2 5 4 61 6 277 8
sec u = 1 + u + u + u + u + ....
2 24 720 8064
kL L P π P
u= = =
Since
2 2 EI 2 Pe
P P
2
ymax = y0 1 + 1.003 + 1.004 + ....
Pe Pe
P P 2
1
ymax ≈ y0 1 + + + .... =y0
Pe Pe P
1 −
Pe
16 Dec 2014 27 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
Maximum Bending Moment
L wL
2
M max = M = 2 [sec u − 1]
2 4u
P P
2
P 3
P P P
2
≈ M 0 1+ 1.028 1 + + +…
Pe Pe Pe
P 1
≈ M 0 1+ 1.028
Pe P
1 −
Pe
1 + 0.028 ( P Pe ) 1
≈ M0 ≈ M0
1 − ( P Pe ) 1 − ( P Pe )
Case 1: Elastic
Kinematics
From the kinematic assumption that plane sections remain plane after bending,
the strain can be expressed as
h h
ε = ε 0 + Φy for - ≤ y≤
2 2
Where ε0 is the axial strain at the centroid of the cross of the cross section
Φy is the strain due to bending.
The axial force P and the internal moment M are related to the stress σ by
h h
2 2
P = σ dA = Eε b dy = E (ε 0 + Φy ) b dy
A −h −h
2 2
h h
2 2
M = σ y dA =
A
−h
Eε yb dy = E (ε
−h
0 + Φy ) yb dy
2 2
Where, b is the width and h is the height of the cross section. By performing the
necessary integrations, we obtain
P = EAε 0 and M = EI Φ
16 Dec 2014 32 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
In which the axial force P is equal to the axial stiffness EA times the strain ε 0 at
the centroid of the cross section and the equation is the familiar elastic beam
moment-curvature relation ship of
d2y
EI 2 = M
Introducing the notations dx
P
Py = Aσ y = bhσ y ρ=
Py
bh 2
M y = Sσ y = σy m=
M
6 My
2ε y 2σ y
Φy = = Φ
h Eh φ=
Φy
The above equations can be written in a non-dimensional form as
M Φ
ρ = Eε 0 σ y m =φ =
My Φy
The range of applicability of above equation is for φ ≤ (1 − ρ )
16 Dec 2014 33 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
Case 2: Primary Plastic
Kinematics
h h
ε = ε 0 + Φy for - ≤ y≤
2 2
Since at y = h, ε = ε y , then ε y = ε 0 + Φh ε 0 = ε y − Φh
h h
ε = ε y − ( h − y )Φ for - ≤ y≤
2 2
Stress-strain relation
h h
σ = Eε for - ≤ y≤h σ =σy for h≤ y≤
2 2
16 Dec 2014 34 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
h
h 2
P = σ dA
E ε y − (h − y )Φ b dy + σ y b dy
Equilibrium
=
A −h 2 h
h
h 2
M = σ y dA =
A
−h 2
E ε y − (h − y )Φ yb dy + σ y by dy
h
2(1− P)3 2
m = 3(1− P) −
φ
Kinematics
2ε y
g= −h
Φ
A
=
−h 2
( −σ y )b dy E ε y − ( h − y )Φ b dy + σ y b dy
−g h
h
−g h 2
M = σ y dA
A
=
−h 2
( −σ y ) yb dy E ε y − ( h − y )Φ yb dy + σ y yb dy
−g h
m = (1 − p ) − 2
3 2 1
Finally φ ≥ 1 (1 − p )
2 2φ
16 Dec 2014 37 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
ULTIMATE STRENGTH
Limit state design of structures requires the prediction of the ultimate strength or
collapse load of a structure. Safe loads are then determined as a suitable
fraction of the collapse load.
Yield moment, My
When the stress at the extreme fibre most distant from the neutral axis
just reaches yield stress. This defines the maximum moment the beam
can resist whilst still fully elastic. It follows that
M Y = Z Eσ Y
M Y Ymax
σY = , or
I
I
Where Z E = Ymax
( the elastic section modules)
Under elastic conditions the neutral axis (zero strain locus) passes
through the centroid of the cross section. As parts of the cross-section
yield and the stress distribution becomes nonlinear, the need for the
tension and compression forces to remain equal causes the position of
the neutral axis to move away from the centroid (except in the case of a
doubly symmetric section).
Let the plastic neutral axis divide the section such that the areas
above and below are A1 and A2 respectively. For zero resultant axial
force:
A1σ Y = A2σ Y
∴ A1 = A2 = A / 2
Thus the plastic neutral axis divides the section into equal
areas.
16 Dec 2014 47 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
PLASTIC HINGE CONCEPT
a. Moment
b. Curvature
c. Deflection
Fixed beam with concentrated load Fixed beam with distributed load
Simply supported beam with concentrated load Simply supported beam with distributed load
Fy
-Fy
b. My<M<Mp
Fy
-Fy
c. =Mp
Fy
16 Dec 2014 52 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
h Fy y h 2h
F bh 2
P= b M = b = Fy
2 2 2 2 3 6
16 Dec 2014 53 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
h h 2
h bh
Pp = Fy b M p = Fy b 2 = Fy
2 2 4 4
16 Dec 2014 54 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
4D
3π π D3
M z = Fy
32
πD 2 π D2 4D D3
Pp = Fy M p = Pa = Fy = Fy
8 8 3π 6
16 Dec 2014 55 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
a = tds
D
ds = rd φ = dφ
2
π
2
D
MP = 4 AFy cos φ
0
2
π
D D
2
M P = 4 Fy t dφ cos φ
0 2
2
π
2
M P = Fy D 2t cos φ dφ
0
Pp = Fyπ dt M P =Fy D 2t
ELASTIC MOMENT M Z = FY Z
CAPACITY
π
ELASTIC MOMENT
OF INERTIA
I=
64
( D 4
− ( D − 2t ) 4
)
π π
Expand and ignore t2
terms since t << D
I=
64
( D 4 − ( D 2 + 4t 2 − 4dt )2 ) = 64
( D 4
− ( D 2 + 4dt ) 2 )
π π D 3t
I=
64
( D 4
− ( D 4
+ 16 D 2 2
t − 8 D 3
t)) =
8
π
( t)
D 3
π D 2t
Z= 8 =
D/2 4
16 Dec 2014 58 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
SHAPE FACTOR
π D3
Fy
S= 8 = 1.70
CICULAR SECTION π D3
Fy
32
bh 2
RECTANGULAR
Fy
S= 4 = 1.5
SECTION
bh 2
Fy
6
HOLLOW Fy D 2t
CIRCULAR S= = 1.27
πD t 2
SECTION Fy
4
16 Dec 2014 59 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
SHAPE FACTORS FOR VARIOUS SECTIONS
RECTANGULAR SECTION
RECTANGULAR SECTION
bh 2 be 2
Plastic Moment in the M P,P = Fy - Fy
presence of axial load
4 4
bh 2 e 2
M P,P = Fy 1 − 2
4 h
Plastic Moment capacity of bh 2
rectangular section (with MP = Fy
4
no axial load)
2
M P ,P PP , M
+ =1
MP PP
Mr i
Ml i
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1
Nr i
P/Pp
Pp = Fyπ Dt
M p = Fy D 2t
D
ds = rdφ = dφ
2
16 Dec 2014 66 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
π /2 π /2
D
P = 4 AFy can be written as P = 4 Fy φ tdφ
φO O
2
π /2
π
P = 2 Fy Dt φ dφ and we get P =2Fy Dt − φo
2
O
M π P 2 M π P
= sin − and = cos
Mp 2 P π Mp
p 2 Pp
16 Dec 2014 68 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
Mr i
Ml i
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1
Nr i
P/Pp
This implies that simplified equations for the cross sectional area
(A), the elastic section modulus (ZE), the plastic section modulus
(ZP) and the moment of inertia (I) can be used. These are:
π
A = π .D.t I= .D 3 .t
8
π 2
ZE = .D .t Z P = D 2 .t
4
Using the yield stress (σy) the maximum elastic bending moment
and the ultimate, plastic moment of the tubular cross section are:
Elastic
PL
MC =
4
PL3
δ=
48 EI
Plastic
4M p
PC =
L
L
δ= θ
2
16 Dec 2014 72 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
PLASTIC COLLAPSE LOAD
L
Central displacement δ= θ
2
External work done We = PCδ
Internal work done
Wi = 2M pθ
Elastic
PL
MC =
8
PL3
δ=
192 EI
Plastic
8M p
PC =
L
L
δ= θ
2
16 Dec 2014 74 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
PLASTIC COLLAPSE LOAD
L
Central displacement δ= θ
2
External work done We = PCδ
Internal work done Wi = M pθ + 2M pθ + M pθ
Equating and external and internal work done
θ
PC L = 4M pθ
2
8M p
Collapse Load PC =
L
16 Dec 2014 75 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
Fixed supported beam with non-central concentrated load
Elastic
8 PL
MC =
27
PL3
δ = 0.00366
EI
Plastic
9M p
PC =
L
L
δ = θ1
2
16 Dec 2014 76 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
PLASTIC COLLAPSE LOAD
Central displacement L
δ = θ1
3
External work done
We = PCδ
Internal work done
Wi = M pθ1 + M p (θ1 + θ2 ) + M pθ2
Equating and external and internal work done
θ1
PC L = 2M p (θ1 + θ2 )
3
θ1
Since θ2 =
2
9M p
Collapse Load PC =
L
16 Dec 2014 77 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
Fixed supported beam with non-central concentrated load
Elastic
9 PL
MC =
128
PL3
δ = 0.0022
EI
Plastic
32 M p
PC =
3L
L
δ = θ1
16 Dec 2014 78 Dr. S. Nallayarasu
2
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
PLASTIC COLLAPSE LOAD
Central displacement L
δ = θ1
4
External work done
We = PCδ
Internal work done Wi = M pθ1 + M p (θ1 + θ2 ) + M pθ2
8M p
L/2 Fixed Support PC =
At Both Ends L
Fixed Support
9M p
L/3 PC =
At Both Ends L
Fixed Support 10.7 M p
L/4 PC =
At Both Ends L
16 Dec 2014 80 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
PLASTIC ANALYSIS THEOREMS
1. EQUILIBRIUM CONDITION
At collapse, the bending moments must correspond to a state of
equilibrium between the external loads and the internal actions.
2. MECHANISM CONDITION
At collapse there must be sufficient plastic hinges to create a
partial or complete collapse mechanism.
3. YIELD CONDITION
At collapse the bending moments must everywhere be ≤ MP.
If the bending moments are in equilibrium with the external load and M ≤
MP everywhere, the load is a lower bound (i.e. load is ≤ collapse load).
For an assumed mechanism in which the virtual work done in the plastic
hinges equals the virtual work done by the external loads, the load is an
upper bound (i.e. load is ≥ collapse load).
UNIQUENESS THEOREM
MECHANISM UPPERBOUND
load ≥ true collapse load
UNIQUENESS EQUILIBRIUM
load=true collapse load LOWERBOUND
YIELD load ≤ true collapse load
2. If the collapse loads are determined for all possible mechanisms, the
actual collapse load will be the smallest of these (corollary of upper
bound theorem).
16 Dec 2014 83 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
1. Identify the likely plastic hinge locations (under point loads, at supports,
at joints, at zero shear positions under spread loads).
3. For each mechanism use virtual work to calculate the collapse load
factor.
4. Select the mechanism which gives the lowest load.
5. For this chosen case check that M ≤ MP (this is just to check that the
selected mechanism is indeed the correct one). If this condition is not
satisfied the correct mechanism has been overlooked.
16 Dec 2014 85 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
Note
1. The uniqueness theorem does not assert that the BM distribution at
collapse is unique. The BM distribution at collapse may depend on
factors such as initial state of stress and loading history. Nor does it
assert that the collapse mechanism is unique. There may be
alternative mechanisms, but they will lead to the same collapse load.
VD = 224.35kN
M C + M P = VD ×1
3. Calculate collapse load factor (W) for each mechanism using virtual
work equation:
SWAY
W = 6.67
BEAM
M P ( column ) (2θ ) + M P (beam ) (2θ ) = 8W .6.θ
40 × 2 + 60 × 2
W=
8× 6
= 4.167
Combined
M P ( column ) (4θ ) + M P (beam ) (2θ ) = 6W .4.θ + 8W .6.θ
40 × 4 + 60 × 2
W=
24 + 48
=3.889
M 2 = 26.7kNm
During the transformation from elastic stresses to the plastic deformation, the
stress at the extreme fibre will reach yield. Since the stress strain relationship
is elastic – perfectly plastic, this point will undergo infinite strain while the
neighbouring section increases to higher stress or strain levels.
The plastic hinge shall have a finite strain and will extend over a length and it
is not be a point or plane. Hence, for formation of plastic hinge, stress-strain
relationship shall have a strain hardening or non-perfectly plastic.
In this model the elastic strain are disregarded. This seems acceptable,
because εel<< εall. More specifically, εel approximately 0.2% and εall is
approximately 10%.
16 Dec 2014 103 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
expanding, we get 4 2 4 2
16 Dec 2014 104 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36
Principles of Ultimate Strength
L2 L2 L2 2
+ Lδ L = + θ max
4 4 4
L
δ L = θ 2 max
4
δL
Strain can be defined as ε=
L/2
∴θ max = 2ε
16 Dec 2014 105 Dr. S. Nallayarasu
Department of Ocean Engineering
Indian Institute of Technology Madras-36