CE3155-1-Introduction 2011

CE 3155 Lecture Notes
CE 3155 Structural Analysis: Pt 2
Lecture Notes 1
Introduction & Review of Concepts
Kevin Kuang Sze Chiang

Assistant Professor
Department of Civil and Environmental Engineering
Room E2-04-11, Tel: 6516 4683, Email: cveksck@nus.edu.sg
Notes by A/P M Maalej, modified by Prof S T Quek

2
CE 3155 Structural Analysis Part 2 Semester 2 AY2010/11

EXPECTATIONS 3
WHAT YOU WILL LEARN IN THIS COURSE

1 A stiffness method to analyze truss
1. truss, beam and frame
structures
2 IIntroduce
2. t d an approximate
i t methodth d to
t analyze
l frames
f
under vertical and lateral loads
3. Concept of influence lines and its use in load
combinations for design purpose
BUT FIRST SOME PRELIMINARIES.

PRELIMINARIES

PRELIMINARIES 4
A. LECTURES—3 HOURS PER WEEK

1. Introduction Dr Kuang KSC
2. Basic matrix analysis Dr Kuang KSC
3
3. Matrix stiffness method Dr Kuang KSC
4. Direct stiffness method Dr Kuang KSC
5. Approximate methods for lateral load analysis Dr Kuang KSC
6. Influence lines Dr Kuang KSC
B. COMPULSORY TUTORIALS—1 HOUR PER WEEK
C. LABORATORY—2 x 3-hour sessions

 Briefing Wk 11
11,
 LabWork Wk 12 & Wk 13 : (5,12 Apr)Tue, (7,14 Apr) Thu, (8, 15 Apr) Fri
 9-12 noon
D. CONTINUOUS ASSESSMENT
D
• HOMEWORK ASSIGNMENTS (7.5%),
• COMPUTER PROJECT (5%),
• 1 QUIZ @ 31 March 2011 (Wk 11) (10%)
D. CONTINUOUS ASSESSMENT
• MAIN EXAMS (60%) -3 May 2011
• 2 Hours, 4 Questions. (2 questions from Part 2)
• Open sheet (A4 both sides can be written)

Syllabus (1) 5
1. Introduction (KSC Kuang) – 2 hours

Structural analysis; 3 basic conditions; force vs displacement methods;
types of framed structures; linear structures; instability; statically
determinate and indeterminate structures; degree of indeterminancy;
slope-deflection
p equations
q for a beam.
2. Basic Matrix Analysis (KSC Kuang) – 1 hour
3. Matrix stiffness method (KSC Kuang) – 5 hours

Basic idea of stiffness method; equivalent joint loads; element stiffness
matrix for two-dimensional frame/truss members; structure stiffness matrix;
solving for displacement, reactions and member forces.
4. Direct stiffness method (KSC Kuang) – 6 hours

4
Element stiffness matrix for two-dimensional frame/truss members in local
and global coordinates; rotation transformation concepts and applications;
assembly of structure stiffness matrix and structure load vector.

Syllabus (2) 6
4. Approximate methods for lateral load analysis (3 hours)

Need for approximate methods of analysis; portal method of analysis;
cantilever method of analysis;
y ; estimating g lateral displacements
p due to
lateral loads; approximate analysis of indeterminate trusses
5. Influence lines (3 hours)

What is influence line? Müller-Breslau Principle; beam influence lines;
truss influence lines
~20
2 Hours Lecture,, 1 hour Quiz:
Q 21
2 Hours (7
( weeks))

Reading 7
1. Hibbeler, R C. Structural Analysis, 6th ed., Prentice Hall, S’pore, 2006.

2. Horne, M R and L J Morris. Plastic Design of Low Rise Frames,
Granada, U.K., 1981.
3. Gutkowski, R M. Structures: Fundamental Theory and Behavior, 2nd ed,
Van Nostrand Reinhold,
Reinhold NN. Y
Y., 1990
1990.
4. Hsieh, Y Y. Elementary Theory of Structures, 4th ed., Prentice Hall, N.J.,
1995.
5. Jirasek, M and Z P Bazant. Inelastic Analysis of Structures, Wiley, N.Y.,
2002.
6. Moy, S S J. Plastic Methods for Steel and Concrete Structures,
Macmillan, U.K., 1981.
7
7. Neal,
N l BGG. The
Th Pl
Plastic
ti MMethods
th d off St
Structural
t lA Analysis,
l i Ch Chapman & H
Hall,
ll
U.K., 1985.
8. Utku,, S,, C H Norris and J B Wilbur. Elementaryy Structural Analysis.
y 4th
ed., McGraw-Hill, N.Y., 1991.

1. Introduction 8
• Structural Engineer must be able to analyze the behaviour of a

proposed structure for specified design conditions.
• Structural Analysis leads to obtaining the solution and understanding

of structural behaviour.
• 3 aspects of structural behaviour

- stress,, strain and deflection characteristics under static or q
quasi-
static loading or deformation.
- response and vibration characteristics under dynamic loading
- buckling
b kli characteristics
h t i ti resulting
lti ffrom instability
i t bilit
• This course is a follow-on of the earlier courses on structural analysis

co ered in EG1109 Statics and Mechanics of Materials and CE2155
covered
Structural Analysis I. The course after this is CE4258 Structural
Stability and Dynamics as well as CE4257 Finite Element Method
• Recollection of what has been studied is given next.

9
EG1109 Statics and Mechanics
1st year mechanics
Statics of Particles and Equilibrium of Rigid Bodies
- Equilibrium equations, idealization of support, free body diagram
Analysis of Trusses
- Method of joints,
joints method of sections.
sections
Analysis of Pin-Connected Frames/Machines
- Structures containing multi-force members
Stress and strain
- Statically indeterminate problems; Hooke’s law; pin connections
Flexural Members
- internal forces in beams; shear force and bending moment diagrams.
Stresses in Beams
- longitudinal
l it di l strains;
t i normall stresses,
t neutral
t l axis;
i moment-curvature
t t
relationship; shear stresses; moment of area; moment of inertia.
Deflection of Beams
Differential equation; direct integration method; method of superposition;
3 governing conditions - important 10
• A complete structural analysis entails determining the unknown

stresses and displacements throughout the entire structure.
• All methods of structural analysis must satisfy 3 relations or conditions

which g
govern the behaviour of the structure
- Equilibrium of the internal and external forces (and couples) acting
on the structure
- Constitutive Law between the stress and strain of the material
involved
- C
Compatibility
tibilit or geometrical
t i l relations
l ti b
between
t th
the strains
t i andd
displacements of points on the structure
• Methods of structural analysis can be classified as either a force

method or a displacement method. The corresponding names in
matrix structural analysis
y are respectively
p y flexibility
y or stiffness
method.

Force vs Displacement Methods 11
• Force Method: (covered in CE3155 Pt 1)

- forces are treated as basic (primary) unknowns.
unknowns Ff = d
- displacements are expressed in terms of forces.
- equations of compatibility are written to solve for the primary (force)
unknowns.
• Displacement Method: (covered in CE3155 Pt 1 & Pt 2)

- displacements are treated as basic (primary) unknowns. Kd = f
- forces are expressed in terms of displacements
displacements.
- equations of equilibrium are written to solve for the primary
((displacement)
p ) unknowns.
• CE 3155 Pt 2 Stiffness method of Structural Analysis will confine to

under static loads using the displacement method
method.

Examples of real structures requiring analysis - Buildings 12
UOB Tower in Capital Tower 254m

The Esplanade, Singapore
Singapore is about 280
g
m in height

Examples of real structures requiring analysis - Bridges 13
Sunshine Skyway Bridge over Dame Point Bridge in Jacksonville,

Tampa Bay is 366 m longone Floridahas a 397 m main span
of the longest spans in the U
U.S.
S

WHAT NEXT? 14
WHAT WE HAVE COVERED SO FAR

Expectations → Preliminaries → Introduction & relation to
earlier courses
WHAT NEXT? We need to know:

- Types
yp of structural components
p
- Types of loads
- Idealization of structures for analysis
- What is meant by linear structural analysis
- S bl and
Stable d unstable
bl structures
- Determinate & indeterminate structures
- Determining degree of indeterminancy
Classification of Structures 15
• Structural Member- Common elements

to build a structure
• Examples: Tie rod (axial
( members),
)
beams (shear and bending
members),columns (combined axial
anddbbending
di members)b )
• Types of Structures -
• Plane trusses, plane frames (pin
(
or fixed connected)
• Cables and arches
• Space trusses, space frames,
shells (3D structures).

Beams 16
Beams:
- Straight member having one or more points of support, carries vertical loads,
mainly to resist bending moment (but if very short
short, also resist large shear
stresses). Large beams are also known as girders.
- Deflection occurs in same plane as the applied load and member does not
ttwist
st (2-D)
( )
- Experience: axial stresses, shear stresses and bending moment
- For slender beam, bending effect is important ℓ
EI h
o o ta
Horizontal
member

Slenderness 
Flange
g h
-
N.A. Flange area most
Web important for bending
+

Columns 17
Columns – Vertical members, (b) Slender Columns – fail by

resist axial compressive loads. buckling, at much lower load
than expected
P P 2
EI
(K)2
cr
K  1 for pined ends

ℓ
EI
Pcr   2 2
(a) Short Columns – fail by 
crushing
P P
 Pin-Ended
Pin Ended Column
A A
exceeds yield or Buckling is a greater danger
ultimate
lti t strength
t th than crushing failure

Trusses 18
(a) Pin-jointed (frictionless, rotation allowed)

(b) Forces applied at joints
( )
(c) 2D or 3D
(d) Assembly of two-force members
P
2D TRUSSES (PLANE TRUSSES)
A
Simple Truss made of 3 members and 3 joints (minimum)
B C
Simple Truss  adding [2 members and 1 joint] to basic unit

A D
Number of members: n = 2j-3
B C
Trusses 19
Compound Truss: Complex Truss:

Made up of simple trusses e g 4 members (ABCD)
e.g.
Si l T
Simple Truss
B D

Rigid Frame 20
• Steel-reinforced concrete
• Joints are rigid–cast/weld hence, can resist moment.
• Internal stress resultants: axial force, shear and bending moment
• Unlike trusses, loading can be applied to members (not just joints)
• Beams are bent in double curvature due to shearing g action of horz. loads
• Overall deflection resembles a shear beam
• Rigid Frame, too tall ≈ bending effects
P P P
≈ Shear
Beam

Shear Wall 21
Shear walls are a type of structural system that provides lateral resistance to a
building or structure. They resist "in-plane" loads that are applied along its height.
A method
th d off b
bolstering
l t i llateral
t l stiffness
tiff off fframes
P P P
Empty Frame Shear Wall Diagonal Bracings

Shear Wall made of reinforced concrete act like very stiff beam
P
Bending (if tall) + Shear

Shear Wall Review 22
P P
X-Direction
X Direction Y-Direction
Y Direction Rigid Floor – Transfer
Strong Weak loads to shear wall
Rigid
P PLAN
P P
VIEW
P
Rigid Floor
Non-Rigid
Shear Wall
P
Types of Loads Review 23
(1) Dead Load

Weight of components/parts of the
b ildi
building. E.g.
E floor
fl slabs,
l b rooff
deck, fixed walls and partitions,
ceilings and flooring.
(2) Live Load

• People,
p furniture, …
• Moving loads on bridges
• Generally, loads effects that
are not permanent in position
or duration
(3) Environmental Load

• Wind load
[pressure: q = ½ V2]
• Earthquake
Earthq ake load
• Ground Settlement
Idealization for Analysis 24
Prior to analyzing a practical structures, we must make some form of

idealization (or model) to facilitate mathematical analysis, for
example
(1)Joints
Pinned
Fixed
(theory) (theory)
Bolted
Welded
(practice)
(practice))
(p
(2) Support Reactions

R Reality
Beam
Theory
Smooth Surface
Roller
R Reality
Beam
Theory Hardened
Rocker ball
e g Forces,
(3) Other idealizations – e.g. Forces materials,
materials geometry
geometry…, beam
beam, column
column,
shear effects…
EXAMPLES 25
A 200 kg platform is suspended off an oil rig. How do we determine

the force reactions at the joints and the forces in the cables?
How are the idealized model and the free body diagram used to do
this? If statically determinate, using equilibrium of statics, to compute
reactions and tension in cable.
EXAMPLES 26
A steel beam is used to

support roof joists. How can
A B we determine the support
reactions at A & B?
Again, how can we make use of an idealized model and a

free body diagram to answer this question?

Linear Structures and Determinancy 27
• Linear Structure: linear relation between applied loads and resulting

displacements in the structure. The following conditions are assumed:
- material of structure is elastic and obeys Hooke’s Law throughout
the range of loading considered
- changes in geometry of structure are small and can be neglected in
when computing the stresses and displacements
- no interaction between axial and flexural effects
• Statically Indeterminate vs Determinate Structure

- a statically determinate structure can be analyzed by statics alone
- a statically indeterminate structure must be solved considering
additionally
dditi ll the
th equations
ti off compatibility
tibilit
- hence, material properties (e.g. E, G) and geometric properties (e.g.
A, I) are involved in analyzing a statically indeterminate structure.

Stability and Determinacy 28
Determinacy – Degree of “redundancy” of the structure

i.e. Does the structure have just enough members and
constraints to carry load (statically determinate) or
more than enough members and constraints to carry
load (statically indeterminate).
What about less than that? - Unstable
St bilit – Tendency
Stability T d off the
th structure
t t NOT TO collapse
ll
Instability Pinned
• Static instability (insufficient supports;
mechanisms; etc…) statically unstable
• Elastic instability (buckling)-unstable with
load on slender beam
• A structure can be judged to be stable or Structure unstable
unstable
u stab e by formula
o uao or by inspection.
spect o under horizontal
Some causes of instability are given next. loads

Causes of Instability 29
(A) Insufficient Constraints

At least three elements of reactions are necessary to restrain a co-planar
structure in equilibrium
equilibrium. These are shown by example:
P P’ Unstable P’
No Horizontal Resistance Stable for P’ (3 reactions)

Stable for vertical load P
P, Unstable for P’
P
P’
P’
Stable for P’
P (3 reactions)
Stable, but statically
indeterminate (6 reactions)
(B) Geometric Instability

These are caused due to the improper geometry of the constraints
(a) Reactions are parallel to each other

Even if we have three reactions, if they are parallel to each other, they can
cause instability.
b) Reactions are coincident at a point

Sum Moments about O = P.d  the beam will rotate about “O”
P’ U t bl
Unstable O
R1 R3
No Horizontal Resistance dR
Unstable for P’ 2

(c) Instability due to collapsible internal mechanism

If there is a local instability by means of a hinge or pin forming a
“mechanism”, the structure will collapse. This can be found out by
inspection of the structure.
Mechanism can be caused by PLASTIC failure
P < Failure Load

P’ stable
P’ Pmax = Failure Load

Unstable
Hinge or Pin
Hi
Hinge
A mechanism is a group of P
members which do not resist
force. It transmits motion.

Determinacy 32
A structure is said to be statically determinate if all unknown reactions

and member internal forces can be calculated from the equations of static
equilibrium Generally for each member we can write only 3 equations:
equilibrium.
e Py P
Px ∑Fx = 0  Rx = Px (Horizontal Forces)
O
∑Fy = 0  Ry = Py (Vertical Forces)
Ry M
Rx ∑M = 0  M = Py .e (Moments about O)
For this structure, we have 3 equilibrium

e Py P
equations and 6 unknown support reactions
 INDETERMINATE Px
O
∑Fx = 0  Rx1 + Rx2 = Px (Horizontal Forces)
Ry1 M1 Ry2 M2
∑Fy = 0  Ry1 +Ry2= Py (Vertical Forces)
∑M = 0  M1+M2 = Py .e (Moments about O) Rx1 Rx2

Determinacy 33
For a co-planar structure, the degree of indeterminacy S can be written

as S = r – 3n, where n = number of members and r = number of (member
internal forces as individual FBDs + support reactions)
The conditions of determinacy are therefore:

S=0 Statically determinate
S>0 Statically indeterminate, S = degree of indeterminancy
S<0 Not enough members/supports  unstable.
In an indeterminate structure, the static equilibrium equations are insufficient to

solve for all the member forces. Here we have to use equations of elasticity to
calculate slopes or deflections at certain points and relate them to forces
forces, and
thereby obtain the extra equations.

Determinacy 34
FOR MORE THAN ONE MEMBER

1) Draw FBD for each member
2) Count unknown forces and reactions
3) Count number of equations (i.e. members x 3)
B
Fy
Fx Fx Ry2 M2
(2) Fy
(3) Rx2
A
Unknowns = 3+3+2 = 8
Equations = 2 x 3
Ry1 M1 Indeterminate to the

(3) (8-6)=2nd degree
Rx1
Determinacy 35
Example –1
Find whether determinate or indeterminate
R2 n = 1 (1 member)
R3 r = 3 (R1, R2 and R3)
R1 S = r - 3n = 0, hence determinate
R2 R3
R4 R5
R1
n = 1 (1 member)
r = 5 (R1, R2, R3, R4 and R5)
r > 3n,
3n hence statically indeterminate
Degree of indeterminacy S = r – 3n = 5-3 = 2
Determinacy 36
Example –2
R6
R3
Pinned
R5
R4 R6
R4
R5
R3
Structure with Pinned

Joints R2 R7
R1 R9 R8
n = 3 (3 members)
r = 9 (5 supportt reactions
ti R1-R
R2, R7-R
R9 and
d 4 member
b fforces R3-R
R6)
r = 3n is satisfied, hence determinate
Determinacy—Rigid Frame 37
Example 3 - another way to find whether structure is determinate or

indeterminate
For a frame, each member carries shear load,

A B axial load and bending moment
Rigid Frame
R4
Hence, for each member,
A R6 B
a set of 3 forces is R5
enough to define member
internal forces. n = 2 (members)
r = 7 (support reactions +
We can use the method member forces)
of sections to cut the R1 S = r - 3n = 7 - 6 = 1
loop, and divide it into R3 R2 Indeterminate to the 1st R7
two rigid structures. degree
Example –3 (cont…) – IF MORE THAN 1 CUT IS USED

Using the equation: S =r- 3n
R4
A B R9
R6 R8
R5
R7
n = 3 (members)
r = 10 (support reactions + member forces)
S = r - 3n = 10 - 9 = 1
Indeterminate to the 1st degree
R1
R3 R2 A B R10
Rigid Frame

Example –3 (cont…)…using joints

An alternative equation of determinacy for Frames: 3n + R = 3j
All support reactions F4

have to be determined A B F9
(R)
(R). F6 F8
F5
For each member, 3 n = 3 (members) F7
internal forces need to R = 4 (s(support
pport reactions )
be determined (3n). j = 4 (joints)
S = 3n+R-3j = 9+4-12 = 1
F1
Each joint is Indeterminate to the 1st degree
used to solve 3 F3
F2
equations
q ((3j):
j) A B
∑ Fx = 0
Rigid Frame
∑ Fy = 0
R1
∑M=0
R4
R3 R2
Example –4
Structure has:
• 10 members  n = 10
• 9 support reactions  R=9
•9 jjoints  j=9
S = 3n + R – 3j = 30 + 9 – 27 = 12
The Structure is indeterminate to the 12th degree

Determinacy—Trusses 41
Fx Fx
Fy Fy
In a truss:
• Each joint is acted on by two reactions forces
 Each joint can be used to solve 2 equations
• Each member carries an axial force
Equation of determinacy: n + R = 2j
n = number of truss members
R = number of support reactions
j = number of joints
Determinacy—Trusses 42
6 7 Example – 5
5 n = 8 members (unknowns)
j = 5 joints (gives 2 eqns. each)
R = 4 support reactions (unknowns)
1 3 4 8 n + R = 8 + 4 = 12 > 2j =10
2 S= n + R – 2j = 8 + 4 – 10 = 2
Indeterminate to the 2nd degree
Example – 5
Example – 6
4
n = 9 members (unknowns)
j = 6 joints (gives 2 eqns. each)
1 3 5 7 8 R = 3 support
pp reactions ((unknowns))
n + R = 9 + 3 = 12 = 2j
S= n + R – 2j = 9 + 3 – 12 = 0
2 6 9 Hence determinate.
Hence, determinate
Example – 6
Determinacy 43
Practical Considerations
Indeterminate structures have EXTRA members or supports, so …
1)) They
y are reliable
2) Stronger
3) Deflect less
but…
1) More joints
2) More weight
3) More difficult to analyze

Tutorial Problems 44
Problem 1—Discuss the stability and determinancy of the following beam

structures.
( )
(a) ( )
(e)
(b)
(f)
A B C
(c)
( )
(g)
(d)

Problem 2—Discuss the stability and determinancy of the following truss

structures
( )
(a)
(c)
(d)
(b)
(e)

Problem 3—Discuss the stability and determinancy of the following

structures
((a)) ((c))
(d)
(b)

WHAT NEXT? 47
WHAT WE HAVE COVERED SO FAR

Expectations → Preliminaries → Introduction & relation to
earlier courses
Types of structural components & loads
Idealization of structures for analysis
What is meant by linear structural analysis
Stable and unstable structures
Determinate & indeterminate structures
Determining
g degree
g of indeterminancy
y
Next, we revise slope-deflection equations covered in

CE2155

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CE 3155 Lecture Notes

CE 3155 Structural Analysis: Pt 2

Kevin Kuang Sze Chiang

Notes by A/P M Maalej, modified by Prof S T Quek

Notes by A/P M Maalej, modified by Prof S T Quek

WHAT YOU WILL LEARN IN THIS COURSE

BUT FIRST SOME PRELIMINARIES.

Notes by A/P M Maalej, modified by Prof S T Quek

A. LECTURES—3 HOURS PER WEEK

B. COMPULSORY TUTORIALS—1 HOUR PER WEEK

C. LABORATORY—2 x 3-hour sessions

Notes by A/P M Maalej, modified by Prof S T Quek

1. Introduction (KSC Kuang) – 2 hours

2. Basic Matrix Analysis (KSC Kuang) – 1 hour

3. Matrix stiffness method (KSC Kuang) – 5 hours

4. Direct stiffness method (KSC Kuang) – 6 hours

Notes by A/P M Maalej, modified by Prof S T Quek

4. Approximate methods for lateral load analysis (3 hours)

5. Influence lines (3 hours)

Notes by A/P M Maalej, modified by Prof S T Quek

1. Hibbeler, R C. Structural Analysis, 6th ed., Prentice Hall, S’pore, 2006.

Notes by A/P M Maalej, modified by Prof S T Quek

• Structural Engineer must be able to analyze the behaviour of a

• Structural Analysis leads to obtaining the solution and understanding

• 3 aspects of structural behaviour

• This course is a follow-on of the earlier courses on structural analysis

• Recollection of what has been studied is given next.

• A complete structural analysis entails determining the unknown

• All methods of structural analysis must satisfy 3 relations or conditions

• Methods of structural analysis can be classified as either a force

Notes by A/P M Maalej, modified by Prof S T Quek

• Force Method: (covered in CE3155 Pt 1)

• Displacement Method: (covered in CE3155 Pt 1 & Pt 2)

• CE 3155 Pt 2 Stiffness method of Structural Analysis will confine to

Notes by A/P M Maalej, modified by Prof S T Quek

UOB Tower in Capital Tower 254m

Notes by A/P M Maalej, modified by Prof S T Quek

Sunshine Skyway Bridge over Dame Point Bridge in Jacksonville,

Notes by A/P M Maalej, modified by Prof S T Quek

WHAT WE HAVE COVERED SO FAR

WHAT NEXT? We need to know:

• Structural Member- Common elements

Notes by A/P M Maalej, modified by Prof S T Quek

Notes by A/P M Maalej, modified by Prof S T Quek

Columns – Vertical members, (b) Slender Columns – fail by

K  1 for pined ends

Notes by A/P M Maalej, modified by Prof S T Quek

(a) Pin-jointed (frictionless, rotation allowed)

Simple Truss  adding [2 members and 1 joint] to basic unit

Compound Truss: Complex Truss:

Notes by A/P M Maalej, modified by Prof S T Quek

Notes by A/P M Maalej, modified by Prof S T Quek

Empty Frame Shear Wall Diagonal Bracings

Notes by A/P M Maalej, modified by Prof S T Quek

(1) Dead Load

(2) Live Load

(3) Environmental Load

Prior to analyzing a practical structures, we must make some form of

(2) Support Reactions

A 200 kg platform is suspended off an oil rig. How do we determine

A steel beam is used to

Again, how can we make use of an idealized model and a

Notes by A/P M Maalej, modified by Prof S T Quek