StiffnessCoefficients PDF

September 18, 2002 Ahmed Elgamal
Stiffness Coefficients for a Flexural

Element
Ahmed Elgamal
1
Stiffness coefficients for a flexural element (neglecting

axial deformations), Appendix 1, Ch. 1 Dynamics of
Structures by Chopra.
u2 u u1
4 u3
Positive directions
k21 k11
k41 k31
4 degrees of freedom
2
To obtain k coefficients in 1st column of stiffness matrix,

move u1 = 1, u2 = u3 = u4 = 0, and find forces and
moments needed to maintain this shape.
u1 1.0
3
September 18, 2002 12EI Ahmed Elgamal
L3
These are (see structures textbook)
6EI
6EI
L2
L2
12EI
L3 Note that Σ Forces = 0
Σ Moments = 0
12EI 12EI
ΣM= - = 0
L3 L3
12EI
i.e. remember 3
, and you Positive directions
L k21 k11
can find other forces & moments
k41 k31
4
⎡ k 11 k 12 k 13 k 14 ⎤
⎢k k 22 k 23 k 24 ⎥⎥ k ij = k , where i is row number
k = ⎢ 21 and j is column number
⎢k 31 k 32 k 33 k 34 ⎥
⎢ ⎥
⎣k 41 k 42 k 43 k 44 ⎦
⎡ 12 ⎤
⎢ ⎥
EI ⎢ − 12 ⎥
k= 3
L ⎢− 6L ⎥
⎢ ⎥
⎣− 6L ⎦
5
u2 = 1, u1 = u3 = u4 = 0
1.0 u2
6
12EI
L3
6EI
L2
u2 = 1 6EI
L2
12EI
Σ M = 0, Σ F = 0 L3
⎡ - 12 ⎤ Positive directions
⎢ 12 ⎥
EI ⎢ ⎥ k22 k12
k= 3
L ⎢ 6L ⎥
⎢ ⎥
⎣ 6L ⎦ k42 k32
7
u3 = 1, u1 = u2 = u4 = 0
u3 = 1
1.0
8
2EI 4EI
L L
6EI 6EI
L2 L2
Σ M = 0, Σ F = 0
⎡ - 6EI ⎤
⎢ L2 ⎥
⎢ 6EI ⎥
⎢ ⎥ Positive directions
k=⎢ L2 ⎥ k23 k13
⎢ 4EI ⎥
⎢ L ⎥
⎢ 2EI ⎥ k43 k33
⎢ ⎥
⎣ L ⎦ 9
u4 = 1, u1 = u2 = u3 = 0
u4 = 1 1.0
10
4EI
2EI
L
L
6EI 6EI
L2 L2
Σ M = 0, Σ F = 0
⎡ - 6EI ⎤
⎢ L2 ⎥
⎢ 6EI ⎥
⎢ 2
⎥ Positive directions
k=⎢ L ⎥
2EI ⎥ k24 k14
⎢
⎢ L ⎥
⎢ 4EI ⎥ k44 k34
⎢ ⎥
⎣ L ⎦
11
Example: Water Tank
u1 m m is lumped at a point & does

u2 not contribute in rotation
ug
u2 above was u3 in the earlier section of these notes

12
Example: Water Tank (continued)
u1 m k11 k12
u2 k21 k22
ug
⎡ 12EI − 6EI ⎤
⎡m ⎤ ⎡ &u&1 ⎤ ⎢ L3 L2 ⎥ ⎡ u1 ⎤ = − ⎡m ⎤ &u&
+⎢
⎢
⎣
⎥ ⎢ ⎥
0⎦ ⎣&u& 2 ⎦ ⎢ − 6EI 4EI ⎥ ⎢⎣u 2 ⎥⎦ ⎢0⎥ g
⎣ ⎦
⎥
⎣ L2 L ⎦
Rotational
“Note Symmetry” (used to be u3)
13

Static Condensation:
Way to solve a smaller system of equations by eliminating degrees
of freedom with zero mass.
e.g., in the above, the 2nd equation gives
− 6EI 4EI
2
u 1 + u2 = 0
L L
or
6EI L 6 3
u2 = 2 u1 = u1 = u 1 ----- *
L 4EI 4L 2L
14

Substitute * into Equation 1
⎛ 12EI 6EI 3 ⎞
m&u&1 + ⎜ 3 − 2 ⎟u 1 = − m&u& g
⎝ L L 2L ⎠
or,
⎛ 24EI − 18EI ⎞
mu 1 + ⎜
&& 3 ⎟u 1 = − m&u& g
⎝ 2L ⎠
or,
⎛ 3EI ⎞
mu 1 + ⎜ 3 ⎟u 1 = −m&u& g
&&
⎝ L ⎠
Now, solve for u1 and u2 can be evaluated from Equation * above.
Static condensation can be applied to large MDOF systems of
15
equations, the same way as shown above.
⎛ 3EI ⎞
mu 1 + ⎜ 3 ⎟u 1 = −m&u& g
&&
⎝ L ⎠
k of water tank as we were given earlier.
or of column
if EIb = 0
Ib
16
Mandatory Reading
bending
Example 9.4 page 362-364
beam
Example 9.8 page 368-369
Sample Exercises: 9.5, 9.8, & 9.9
17
Example
(a)
(b)
Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2 18
(c)
(d)
(e)
(f)
(g)
(h)
(i)
(j)
therefore,
⎡ 12 − 12 − 6L − 6L ⎤ ⎡ m1 ⎤
⎢ 0 ⎥⎥ ⎢ ⎥
EI ⎢ − 12 24 6L m2
k= 3 , M=⎢ ⎥
L ⎢− 6L 6L 4L2 2L2 ⎥ ⎢ 0 ⎥
⎢ 2 ⎥ ⎢ ⎥
⎣ − 6L 0 2L 2
8L ⎦ ⎣ 0⎦
Sample Exercise: For the above cantilever system, write equation of

motion and perform static condensation to obtain a 2 DOF system.
Column Stiffness (lateral vibration)

m
bending
beam
3EI k
L k= 3 , ω=
L m
beam with EIbeam = 0
⎛ 3EI ⎞
⇒ k = 2⎜ 3 ⎟
⎝ L ⎠
24
Case of
u EIb = ∞
(rigid roof)
12EI ⎛ 12EI ⎞
L k= k = 2⎜ 3 ⎟
L3 ⎝ L ⎠
12E 1 I1 12E 2 I 2
k= 3
+
h1 h1 h 32
h2
25
(See example 1.1 in

h
Dynamics of Structures
by Chopra)
L = 2h
96EI c
k= if EI b = EI c
7h 3
column
beam
24EIc 12ρ + 1 , Ib
k= ρ= & Ec = Eb = E
h 3 12ρ + 4 4I c
26
Obtained by “static condensation” of 3x3 system

u1 force
fs
θ1
θ2
call it u2
call it u3
⎡ ⎤ ⎡ u 1 ⎤ ⎡f S ⎤
⎢ ⎥ ⎢u ⎥ = ⎢ 0 ⎥ Use to represent u2 and u3 in terms of
⎢ ⎥⎢ 2 ⎥ ⎢ ⎥
⎢⎣ ⎥⎦ ⎢⎣ u 3 ⎥⎦ ⎢⎣ 0 ⎥⎦ u1 & plug back into
Technique can also be used

and get fs = ku1 for large systems of equations
(See example 1.1 in Dynamics of Structures by Chopra) 27
Draft Example
Neglect axial deformation
u3 u2
u1
Ib
Ic Ic
28
u1 = 1
u2 = u3 = 0
6EI c 6EI c
L2 L2
(2)⎛⎜ 12EI3 c ⎞⎟
⎝ L ⎠
29
u2 = 1
u1 = u3 = 0
2EI b 4EI b 4EI c

L L L
6EI c
L2
30
u3 = 1
u1 = u2 = 0
4EI b
L 2EI b
6EI c L
L2
4EI c
⎡ 24I c 6I c L 6I c L ⎤
E
k = 3 ⎢⎢6I c L 4(I b + I c )L2 ⎥
L
2I b L2 ⎥
L
⎢⎣6I c L 2I b L2 4(I b + I c )L ⎥⎦
2
31
If frame is subjected to lateral force fs

Then (for simplicity, let Ic = Ib = I)
⎡ 24 6L 6L ⎤ ⎡ u 1 ⎤ ⎡f s ⎤
EI ⎢
6L 8L2
2L2 ⎥⎥ ⎢⎢u 2 ⎥⎥ = ⎢⎢ 0 ⎥⎥
L3 ⎢
⎢⎣6L 2L2 8L2 ⎥⎦ ⎢⎣ u 3 ⎥⎦ ⎢⎣ 0 ⎥⎦
32
Static condensation:
From 2nd and 3rd equations,
−1
⎡u 2 ⎤ ⎡8L 2
2L ⎤ ⎡6L⎤
2
Note matrix inverse:
⎢u ⎥ = − ⎢ 2 2⎥ ⎢ ⎥ u1
⎣ 3⎦ ⎣2L 8L ⎦ ⎣6L⎦ ⎡a b ⎤
−1
1 ⎡ d − b⎤
⎢c d ⎥ =
⎣ ⎦ ad − cb ⎢⎣− c a ⎥⎦
2 −1
−1 ⎡ 8L 2
- 2L ⎤ ⎡6L⎤
= ⎢ 2 ⎥ ⎢ ⎥ u1
64L4 − 4L4 ⎣ - 2L2
8L ⎦ ⎣6L⎦
− 6 ⎡1⎤
= ⎢ ⎥ u1
10L ⎣1⎦
33
Substitute into 1st equation
EI ⎡ 36 36 ⎤ 168EI
3 ⎢
24 − − ⎥ u 1 = f s = 3
u1
L ⎣ 10 10 ⎦ 10L
or
168EI
k= (check this result)
10L3
34
Draft Example 2
u3 u2
u1
2L
35
u1 = 1
u2 = u3 = 0
6EI c 6EI c
L2 L2
(2)⎛⎜ 12EI3 c ⎞⎟
⎝ L ⎠
36
u2 = 1
u1 = u3 = 0
2EI b 4EI b 4EI c

2L 2L L
6EI c
L2
37
u3 = 1
u1 = u2 = 0
4EI b 2EI b
6EI c 2L 2L
L2
4EI c
L
38
⎡ ⎤
⎢ 24I 6I c L 6I c L ⎥
⎢ c ⎥
E ⎛I ⎞
k = 3 ⎢6I c L 4⎜ b + I c ⎟L2 I b L2 ⎥
L ⎢ ⎝2 ⎠ ⎥
⎢ ⎥
⎢6I c L ⎛ Ib ⎞ 2⎥
I b L2 4⎜ + I c ⎟L
⎢⎣ ⎝2 ⎠ ⎥⎦
For simplicity, let Ib = Ic
⎡ 24 6L 6L ⎤ ⎡ u 1 ⎤ ⎡f s ⎤
EI ⎢
6L 6L2
L2 ⎥⎥ ⎢⎢u 2 ⎥⎥ = ⎢⎢ 0 ⎥⎥
L3 ⎢
⎢⎣6L L2 6L2 ⎥⎦ ⎢⎣ u 3 ⎥⎦ ⎢⎣ 0 ⎥⎦
39
Static condensation:
−1
⎡u 2 ⎤ ⎡6L2
L ⎤ ⎡6L⎤
2
⎢u ⎥ = −⎢ 2 2⎥ ⎢ ⎥ u1
⎣ 3⎦ ⎣L 6L ⎦ ⎣6L⎦
−1
− 1 ⎡6L2 - L ⎤ ⎡6L⎤
2
= ⎢ 2⎥ ⎢ ⎥ u1
36L4 − L4 ⎣- L2 6L ⎦ ⎣6L⎦
− 30 ⎡1⎤ − 6 ⎡1⎤
= ⎢ ⎥ u1 = ⎢ ⎥ u1
35L ⎣1⎦ 7L ⎣1⎦
40
Substitute in 1st Equation
EI ⎡ 36 36 ⎤
3 ⎢
24 − − ⎥ u1 = f s
L ⎣ 7 7⎦
96 EI
or, fs = u
3 1
7 L
96EI Same as in Example 1.1,

or, k=
7L3 Dynamics of Structures by Chopra
41
Sample Exercise
1) 1.1 Derive stiffness matrix k for
EIb
h1 EIc1
EIc2 h2
1.2 For the special case of Ic1 = Ic2 = Ib, h1 = h2 = h and L = 2h,
find lateral stiffness k of the frame.
42
Sample Exercise
2) Derive equation of motion for:

m
2
EIb
Flexural rigidity of beams and columns
h EIc EIc
m E = 29,000 ksi,
EIb
Columns W8x24 sections
use 600 lb/ft
with Ic = 82.4 in4
h EIc EIc
h = 12 ft
2h Ib = ½ Ic
43
Sample Exercise (Optional)
3) Derive lateral k of system (need to use computer to invert

3x3 matrix)
Ib Ib
h = 12 ft Ic Ic Ic
24 ft 24 ft
E = 29,000 ksi,
Ic = 82.4 in4 W8x24 sections
Ib = ½ Ic
44

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September 18, 2002 Ahmed Elgamal

Stiffness Coefficients for a Flexural

Stiffness coefficients for a flexural element (neglecting

To obtain k coefficients in 1st column of stiffness matrix,

Example: Water Tank

u1 m m is lumped at a point & does

u2 above was u3 in the earlier section of these notes

Example: Water Tank (continued)

Example: Water Tank (continued)

e.g., in the above, the 2nd equation gives

Example: Water Tank (continued)

Example: Water Tank (continued)

Sample Exercises: 9.5, 9.8, & 9.9

Sample Exercise: For the above cantilever system, write equation of

Column Stiffness (lateral vibration)

beam with EIbeam = 0

(See example 1.1 in

Obtained by “static condensation” of 3x3 system

Technique can also be used

2EI b 4EI b 4EI c

If frame is subjected to lateral force fs

Substitute into 1st equation

2EI b 4EI b 4EI c

For simplicity, let Ib = Ic

Substitute in 1st Equation

96EI Same as in Example 1.1,

2) Derive equation of motion for:

Sample Exercise (Optional)

3) Derive lateral k of system (need to use computer to invert

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