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Lec 7 PDF
Lec 7 PDF
4.2.2 DERIVATION
The load-stiffness-deformation relationship for this element is the same as
that for a truss element as expressed in equation 3.17.
[w]m = [k]m []m---------------------------------- (3.17)
As there are four forces and four corresponding deformations then the
equation 3.17 can be expanded in the following form:
w1 k11 k12 k13 k14 1
w k k 24 2 ---------------------------------- (4.1)
2 21 k 22 k 23
w3 k 31 k 32 k 33 k 34 3
w4 k 41 k 42 k 43 k 44 4
k11 k 21
A B
(a)
1
k 31
k11 k 41
(+) (b)
(-) (c)
k 21
k11 k 21
A B
(d)
k31 k41
Figure 4.2
As according to moment area theorem no.1 change in slope between two
points on an elastic curve is equal to area of the M/EI diagram between
these two points. Looking at figure 4.2’a’ change in slope between two
ends is equal to unity. Adding the areas of figure 4.2 (b) and figure 4.2
(c).
k11.L k 21.L
1.0 ------------------------------- (.4.2)
2 EI 2 EI
According to theorem no.2 of moment area method tangential deviation
of a certain point with respect to the tangent at another point is equal to
the moment of M/EI diagram between the two points calculated about
the point where the deviation is to be determined. From the above
definition the moment of M/EI diagram (figures 4.2 (b) and 4.2 (c) )
about the left of the member is equal to zero.
k11.L L k21.L 2 L
0 ----------------------- (4.3)
2 EI 3 2 EI 3
Following values of k11 and k21 are obtained by solving equations 4.2 and 4.3.
4 EI
k11 ,
L
2 EI ---------------------------------- (4.4)
k 21
L
Reaction k41 and k31 can be obtained using equation of equilibrium.
Summation of moments about the right end is equal to zero (see figure
4.2 (d).
SMB=0
k31 L - k11 - k22 = 0---------------------------------- (4.5)
k41 =
6 EI
----------------------------- (4.9)
L2
These are the forces and moments as shown in figure 4.2 a, b, c, d. On
comparison with figure 4.1 the correct signs are obtained and these are
defined by the following equations.
4 EI 2EI
k11 = k21 =
L L
------------(4.10)
6 EI 2EI
k31 = 2 k41 =
L L2
This gives the first column of the element stiffness matrix. As this
matrix is symmetric so it also provides the first row. To obtain 2nd
column of stiffness matrix deformation (rotation) 2 = 1 is imposed on
the far end equating all other deformations to zero 1 = 3 = 4 = 0.
The element would be deformed as shown in figure 4.3 (a). From the
definition of stiffness as mentioned in chapter 2, the forces induced at
both ends due to unit rotation at far end can be defined as
k32
w1 = k12 = Moment produced at k 42
2
‘1’ due to unit clockwise B
rotation at 2. k12 A
w2 = k22 = Moment produced at k22
‘2’ due to unit clockwise (a)
rotation at 2. L
Figure 4.3
Applying moment area theorem no. 1 and using bending moment diagram
of figure 4.3 (b,c). For this case change in slope between both ends is equal
to unity so
k 22 L k 12 L
1 ------------------------------ (4.11)
2 EI 2 EI
However according to moment area theorem no.2 the moment of M/EI
diagram about the right end of the member is equal to zero.
k 22 .L L k12 .L 2 L
0 ------------------------ (4.12)
2 EI 3 2 EI 3
k33 k23
(a)
A
B
k43
L
k23
k13 (c)
k13
k23
(d)
k43
k33 Figure 4.4
Applying equation of force equilibrium to figure 4.5(d)
Fy = 0
k24
A
k14 (a)
k44
B
k34
L
(b)
k24
BENDING MOMENT DIAGRAM FOR THE ELEMENT
k14
(c)
k14
k24
(d)
k34 k44
L
Figure 4.5
12 EI --------------------------- (4.34)
k 34
L3
Correct signs can be obtained by comparing these values with figure
4.1. These are defined as
6 EI 6 EI 12 EI 12 EI
k 14 2
k 24 2
k 34 3
k 44 3
--------- (4.35)
L L L L
On combining the calculation given in equation 4.10, 4.17, 4.27 and 4.35,
following element stiffness matrix is obtained.
4 EI 2 EI 6 EI 6 EI
L L L2 L2
2 EI 4 EI 6 EI 6 EI
k m L L2 L --------------------------- (4.36)
2
L
6 EI 6 EI 12 EI
3
12 EI
L2 L2 L3 L
6 EI 6 EI 12 EI 12 EI
2
L L2 L3 L
3
4 EI 2 EI 6 EI 6 EI
L2 L2
w1 L L 1
w 2 EI 4 EI 6 EI 6 EI
2 L L L2
L
2
2
w 6 EI 6 EI 12 EI 12 EI --------------------------- (4.37)
3 2 3
w4 6LEI L2 L3 L3 4
6 EI 12 EI 12 EI
2
L L2 L3
L
3
4.3 MEMBER OR ELEMENT STIFFNESS MATRIX FOR A BEAM /
FRAME ELEMENT SUBJECTED TO MOMENTS ONLY:
The element stiffness matrix for members whose ends cannot
translate but can rotate is obtained by removing third and fourth row
corresponding to 3, 4 and third and fourth columns corresponding
to w3 and w4 from the above mentioned element stiffness matrix of
equation 4.36 as shown below:-
1 2 3 4
4 EI 2 EI 6 EI 6 EI
L L L2 L2 1
2 EI 4 EI 6 EI 6 EI
k m L L L2 L2 2
6 EI 6 EI 12 EI
3 3
12 EI
L2 L2 L3 L
6 EI 4
6 EI 12 EI 12 EI
2
L L2 L3 L3
The resulting stiffness matrix for a beam element is as follows:
k m EI
4 2
L 2 4
----------------------------(4.38)
And the force stiffness deformation relationship for a beam element is as
fallows:-
w1 EI 4 2 1
w --------------------------- - (4.39)
2 L 2 4 2
, 2 w6
, 6
w2
y
, 4
w4
, 1 EI
,A
w 1
L
w5
, 5
, 3
w3
Figure 4.6
By superposition of equation 2.16 and 4.36.The following element
stiffness matrix for six element forces and deformations is obtained.
4 EI 2 EI 6 EI 6 EI
L 0 0
2 EI
L L2 L2
4 EI 6 EI 6 EI
0 0
L L L 2
L2
6 EI 6 EI 12 EI 12 EI
2 0 0
k m
2 3 3
L L L L
6 EI 6 EI 12 EI 12 EI
0 0 --------------- (4.40)
L2 L2
L3
L3
AE AE
0 0 0 0
L L
0 AE AE
0 0 0
L L
And the force, stiffness and deformation relationship is as under:
4 EI 2 EI 6 EI 6 EI
w1 0 0 1
L L L2 L2
2 EI 4 EI 6 EI 6 EI
w2 0 0 2
L L L2 L2
w3 6 EI 6 EI 12 EI 12 EI
0 0 3
L2 L2 L3 L3
-------- (4.41)
w 6 EI 6 EI 12 EI 12 EI
0 0
4 L2 L2 L3 L3 4
w 0 AE AE
0 0 0
5 L L 5
AE AE
w6 0 0 0 0 6
L L
4.5 DEFORMATION TRANSFORMATION MATRIX:
As discussed in the case of trusses, deformation transformation matrix
is used to transform the element deformations from local coordinates
to structure deformations in global co-ordinates. Using this
deformation transformation matrix structure stiffness matrix is
obtained as given in the following equation:
[K]m = [T]Tm [k]m [T]m --------------------- (3.3)
, 2 , 6
w2 w 6
, 4
w4
, 1
EI
,A
w1
L
,
, 5
w5 3
w3 Element forces and deformations
x
W4, 4
W2 , 2
y W6 , 6
W3 , 3
W5 ,
5
W1 , 1
Structure forces and deformations
Figure 4.7
Again consider the frame member shown in figure 4.7, 1 and 2 are the
element deformations (rotation) whereas 1 and 2 are the structure
deformations (rotations). As Z-axes for both element and structure
coincides, therefore both element and structure rotations will be the same
when structure deformation 1 = 1, then the element deformation
1 1
0
2
3 0
-------------------------------- (4.43)
4 0
5 0
6 0
and when structure deformation 2 = 1, then the element deformations
1 0
1
2
3 0 -------------------------------- (4.44)
4 0
5 0
6 0
Relationship between structure and element deformations can also be
obtained in the similar manner for a unit vertical translation of the left
end i.e. 3 = 1 (see figure 4.8)
3 = 3.Cos x, 5 = 3.Cos y
3 = 1. Cos x, 5 = 1. Cos y
3=1. = , 5=1.m=m
FIGURE 4.8
5=3Cosy=1.m=m
3=3Cosx=1.l=l y
cos
Y-axis
1=2=4=6=0 = 3
5
x
cos
x = 3
3
1 0
y
0
2
x
3
3 1.1 1 X-axis
4 0
5 1.m m
6 0 (.)
Y-axis
y
4
x
X-axis
4
Figure 4.9
4=4Cosx=1.l=l
6=4Cosy=1.m=m
For a unit vertical translation of the right end i.e. 4 = 1 (Fig.4.9) element
deformations are as under:
1 0
0
2
3 0
4 4 Cos x1.l l -------------------------------- (4.46)
5 0
6 4 Cosy 1.m m
1 0
0
2
3 0
-------------------------------- (4.48)
4 m
5 0
6 l
Y-axis
Figure 4.10
y
cosx= 3
x
sinx=-m
X-axis
5
Y-axis
y
Figure 4.11
sinx -m
6
x
cosx
X-axis
6=1
Writing the above six equations in matrix form.
1 1 0 0 0 0 0 1
0 1 0 0 0 0 2
2
3 0 0 l 0 m 0 3 -------------------------------- (4.49)
4 0 0 0 l 0 m 4
5 0 0 m 0 l 0 5
6 0 0 0 m 0 l 6
= T ---------------------------------- (3.2)
Comparing equation (4.49) with equation (3.2) deformation
transformation matrix (T) is obtained which is as follows:
1 0 0 0 00
0 1 0 0 00
0 0 lm 0
0
T -------------------- (4.50)
0 0 0 0 m
l
0 0 m 0 l 0
0 0 0 m 0 l
This is the deformation transformation matrix of a frame element subjected
to shear force, bending moment and axial forces.
To obtain the deformation transformation matrix of a beam/frame element
subjected only to shear force and bending moment, the axial deformations are
ignored. Therefore by deleting last two rows and last two columns of the
matrix in equation (4.50) following deformation transformation matrix is
obtained:
1 0 0 0
0 1 0 0
T
0 0 l 0 -------------------------------- (4.51)
0 0 0 l
1 0
and
T m
T
0 1
Substituting these values in equation (4.53) and solving, following structure
stiffness matrix is obtained:
EI 4 2
Km 2 4
-------------------------------- (4.54)
L
4.6.2 Beam/Frame element subjected to Shear Force and Bending Moment only:
In this case:
1 0 0 0
0 1 0 0
T -------------------------------- (4.51)
0 0 l 0
0 0 0 l
4 EI 2 EI 6 EI 6 EI
L L L2 L2
2 EI 4 EI 6 EI 6 EI
k m L L L2 L2
-------------------------------- (4.36)
6 EI 6 EI 12 EI 12 EI
L2 L2 L3 L3
6 EI 6 EI 12 EI 12 EI
2
L L2 L3 L3
1 0 0 0
0 1 0 0
T Tm
0 0 l 0
0 0 0 l
4 EI 2 EI 6 EI 6 EI
L . l . l
L L2 L2
2 EI 4 EI 6 EI 6 EI
L . l . l
L L2 L2
K m (.)
6 EI . l 6 EI . l 12 EI 2 12 EI 2
.l .l
L2 L2 L3 L3
6 EI 12 EI 2 12 EI 2
2 . l 6 EI 2 .l .l 3 .l
L L L3
L
4.6.3 Frame element subjected to Shear Force/ Bending Moment/Axial
Forces:
Here
1 0 0 0 0 0
0 1 0 0 0 0
0 0 l 0 m 0
T m
0 m
-------------------------------- (4.50)
0 0 0 l
0 0 m 0 l 0
0 0 0 m 0 l
4 EI 2 EI 6 EI 6 EI
L 0 0
L L2 L2
2 EI 4 EI 6 EI 6 EI
0 0
L L L2 L2
6 EI 6 EI 12 EI 12 EI
2 0 0
k m L L2 L3 L3
6 EI 12 EI 12 EI
0
6 EI
L2 L2 L3 L3
0
-------------------------------- (4.40)
AE AE
0 0 0 0
L L
AE AE
0 0 0 0
L L
and
1 0 0 0 0 0
0 1 0 0 0 0
0 0 l 0 m 0
T mT
0 m
0 0 0 l
0 0 m 0 l 0
0 0 0 m 0 l
2 l
6 EI 12 EI 2 AE 2 12 EI 2 AE 2 12 EI AE 12 EI AE
l l
L L
2
l
L
3
L
m
L
3
L
m
L3 L lm L3 L lm
6 EI 6 EI 12 EI AE 12 EI AE 12 EI 2 AE 2 12 EI 2 AE 2
L2 m 2
m
L3 L lm L3 L lm 3
m l
3
m l
L L L L L
6 EI m 6 EI 12 EI AE 12 EI AE 12 EI 2 AE 2
l
12 EI 2 AE 2
L2 L
2
m
L3 L lm L3 L lm L
3
m
L
l
L
3
m
L