STABILITY FUNCTIONS FOR THREE-DIMENSIONAL

BEAM-COLUMNS
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By S h a n t a r a m G. E k h a n d e , 1 M o h a n Selvappalam, 2
and M u r t y K. S. M a d u g u l a 3

ABSTRACT: Members carrying both axial force and bending moment are subjected
to an interaction between these effects. The analysis of a beam-column using sta-
bility functions as an alternative to the stress stiffness matrix is discussed. Explicit
expressions for stability functions for three-dimensional beam-columns, in terms
of member length, cross-sectional properties, axial force, and the end moments,
are derived. The effect of flexure on axial stiffness and the effect of axial force
on flexural stiffness and stiffness against translation are considered in the derivation
of stability functions. The effect of axial force on torsional stiffness and the effect
of torsional moment on axial stiffness are neglected. The nonlinear stiffness matrix
of a three-dimensional beam-column using the stability functions is presented by
modifying the linear elastic stiffness matrix for a beam-column (which includes
the effect of shear deformations) available in the literature. A numerical example
showing the calculation of stability functions for a given beam-column is also pre-
sented.

INTRODUCTION

Members carrying both axial force and bending moments are subjected to
an interaction between these effects. The lateral deflection of a member causes
additional bending moment when subjected to a simultaneously applied axial
force. This alters the flexural stiffness of the member. In a like manner, the
presence of bending moments affects the axial stiffness of the member due
to an apparent shortening of the member caused by the bending deforma-
tions. If the deformations are small, the interaction between bending and
axial forces can be ignored, in which case the force-deformation relationship
for a beam-column is given by:
[F] = [K][U] (1)
in which [K] = a linear-elastic stiffness matrix for a beam-column, shown
in Fig. 1 (Przemieniecki 1968). (This stiffness matrix includes the effect of
shear deformations.) However, if the deformations are large, the stiffness
matrix [K] is affected by the interaction between bending and axial forces,
and the stiffness matrix [K] is no longer linear. The nonlinear behavior of
the beam-column can be analyzed by the geometric stiffness matrix (Yang
and McGuire 1986) or by introducing the concept of stability functions
(Fleming 1979; Harrison 1973; Home and Merchant 1965). Starting from
the principle of virtual displacements, a geometric stiffness matrix (including
2
'Sr. Res. Engr./Analyst, Engineering Mechanics Research Corp., Troy, MI 48084.
Doctoral Student, Dept. of Civ. Engrg., Univ. of Florida, Gainesville, FL 32611;
formerly: Res. Asst., Dept. of Civ. Engrg., Univ. of Windsor, Windsor, Ontario,
Canada,
3
N9B 3P4.
Prof., Dept. of Civ. and Envir. Engrg., Univ. of Windsor, Windsor, Ontario,
Canada, N9B 3P4.
Note. Discussion open until July 1, 1989. To extend the closing date one month,
a written request must be filed with the ASCE Manager of Journals. The manuscript
for this paper was submitted for review and possible publication on October 14,
1987. This paper is part of the Journal of Structural Engineering, Vol. 115, No.
2, February, 1989. ©ASCE, ISSN 0733-9445/89/0O02-0467/$1.00 + $.15 per page.
Paper No. 23230.

467

J. Struct. Eng. 1989.115:467-479.

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.o .n X >, N
.X
o
2
"E
I
0.

I
Si?" o

1
o o

o o

+ •o o o

o o

C3 « O o o «8

+ O O O

1
o o + © o o
I
SI* o o J c
<0 (0 (0 «J fO J3 -Q J3 J3 -O -Q I
> , N X > > N X > , N X >i N
(J. U_ •• E E E "- u . U- E E E .

468

J. Struct. Eng. 1989.115:467-479.

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3|*
>,
N
-
£*

UJ|«4

469
XI

O
-O

.a
XI

J3
JS

J=I

J. Struct. Eng. 1989.115:467-479.

tD|d
XI

~->
o

0
I
0

O
O

ffl

u,
6)
J
m
m

0)

I
£

E
_3

?
UJ

w
E
41

I
 the effects of nonuniform torsion) has been developed by Yang and McGuire
(1986) for use in an updated Lagrangian nonlinear elastic analysis. The sta-
bility functions for a two-dimensional beam-column are given by Fleming
(1979) and Harrison (1973). However, the stability functions for a three-
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dimensional beam-column are not readily available in the literature. The pur-
pose of the present paper is to present explicit expressions for the stability
functions for three-dimensional beam-columns. The modified beam stiffness
matrix, in a local coordinate system, is shown in Fig. 2. The modification
factors s, (i = 1 to 9) are called stability functions and can be expressed in
terms of member length, cross-sectional properties, axial force, and the end
moments.
The following sections outline the theoretical considerations for the de-
rivation of stability functions sl to s9, where st = stability function for the
effect of flexure on axial stiffness; s2 = stability function for the effect of
axial force on flexural stiffness against rotation of near end about z-axis; s3
= stability function for the effect of axial force on flexural stiffness against
rotation of far end about z-axis; s4 = stability function for the effect of axial
force on flexural stiffness against rotation of near end about y-axis; ss =
stability function for the effect of axial force on flexural stiffness against
rotation of far end about y-axis; s6 = stability function for the effect of axial
force on flexural stiffness (about z-axis) against translation in y-direction; s1
= stability function for the effect of axial force on shear stiffness in y-di-
rection against translation in y-direction; *8 = stability function for the effect
of axial force on flexural stiffness (about y-axis) against translation in z-
direction; and s9 - stability function for the effect of axial force on shear
stiffness in z-direction against translation in z-direction. The effect of axial
force on torsional stiffness and the effect of torsional moment on axial stiff-
ness are neglected in the theoretical formulation.

EFFECT OF FLEXURE ON AXIAL STIFFNESS

The axial stiffness of the beam in the absence of end moments is given
by EA/l, and the axial deformation due to axial load P is given by Pl/EA.
However, the end moments produce an additional axial deformation in the
beam. In order to include the effect of flexure on axial deformation, the
axial stiffness of the beam-column must be modified. Let the modified axial
stiffness be s^EA/l) where s, is the modification factor or the stability func-
tion for the effect of flexure on axial stiffness. An expression for s, is derived
as follows.
Referring to Fig. 3(a) and (b),
ds2 = dx2 + dy2 + dz2 (2a)
which can be rearranged as

(i)'.1 + (*y+/*y (2b)

\dxj \dx) \dx)
Shortening due to bending is dhb = ds - dx (approx.):
dhb ds (3a)
dx dx
4/U

J. Struct. Eng. 1989.115:467-479.

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(a) YA FyB
i5»

FIG. 3. Effect of Flexure on Axial Stiffness: (a) Bending in X-Y plane; (b) Bending
in X-Z plane

Neglecting higher order terms, we get

dbb 1
(3b)
dx 2 dx) \dx,
Therefore, the shortening of the beam-column due to bending is

(4a)

2
+ (dz^dx.
2
' (4b)
~2j0 L w \dx,
Total shortening of the beam-column, 8, = shortening due to axial load (8„)
+ shortening due to bending (8fc):
PI 1 f'ffdyV /dzVl

8
'=£{ i+ 27j 0 '[(!) + (!) 2 W ™
or 8, = (5c)
EA

where s, = 2 (6)
'dz^
1 +—
2Pl [' 17*! dx
i[\dx, +;
dx,
Referring to Fig. 3(a), the curvature (d2y/dx2) is given by:
471

J. Struct. Eng. 1989.115:467-479.

 A = _Lf_M ta + - (Mza + Mzfr) - Py (la)
dx1 EI2 I
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Let a 2 = — (lb)
EIZ
Substituting Eq. lb in Eq. la and rearranging the terms, we get
d2y , a2 a2 (7c)
— + c?y = — (AfM + Mzb)x -—M„
cbr solution PI
The for Eq. 1c is givenP by the summation of complementary func-
tion and particular integral:

y = {A sin ax + B cos ax) + < — (Mm + Mzb) ) (8a)

Substituting the boundary conditions y = 0 at x = 0 and x = I, we get

1
A = — (cosec «0[M2a cos al + Mzb]

and (8ft)
M.
B =

The slope of beam in the X-Y plane is given by

dy\ 1
— I = Aa cos our - Ba sin ax H (Afzo + Afz(>). (8c)

Similarly, the equation of the beam-column for bending in the X-Z plane is
given by

z = {C sin p* + D cos £*} + | — (Mya + Myb) [ (9a)

where S2 = — (9b)
EL
Substituting the boundary conditions z = 0 at x = 0 and x = I, we get
1
C = — (cosec p/)[M}.0 cos 0/ + Myb]

and (9c)
Afv,
D =

The slope of the beam in the X-Z plane is given by

dz\ 1
Cp cos (Jx - Dp sin $x + — (Mya + Myb) ... (9d)
dx, PI
472

J. Struct. Eng. 1989.115:467-479.

 Now the integrals in Eq. 6 can be evaluated. The final result of the inte-
gration is

i 'dy\ 1 , , ,
— \dx = — j - [al(M2a + M;b)(cot al + ul cose<rot/)
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Q \dX/ 2*i I
Jo
2(Mza + Mzb)2 + 2alMmMzb (cosec aZ)(l + al cot al)] (10a)
1
—r-H t (lOfo)
2P2l '
and

I
2 2|
| — )| <6t
fa == ^ - [RKM22„ +
[pZ(M ->-M 2** ">'--* » ' J - » ' ——
6 )(cot (3/ + pZ cosec 0O
2

'„ W 2P2Z
- 2{Mya + Myby + 2 $lMyaMyb (cosec pZ)(l + pZ cot pZ)] (10c)
1
,2, »> <"W)
~2>Z
Therefore, Eq. 6 becomes

(11)
'" = ET

Note that when end moments are absent, st becomes unity.

A similar approach can be used to derive an expression for st for a beam-
column with axial tensile force P. The final expression is as follows:

(12fl)
*'- -ET

where
H; = pZ(M2„ + JW^Xcoth P* + PZ cosech2p/) - 2{Mya + Myb)2
+ 2$lMyaMyb (cosech p/)(l + pZ coth pZ) (12b)
and
H'z = aliMla + MftXcoth al + «Z cosech2aZ) - 2(M„ + Mzbf
+ 2 alMmMzb (cosech aZ)(l + aZ coth al) (12c)

EFFECT OF AXIAL FORCE ON FLEXURAL STIFFNESS

Bending in X-Y Plane

Referring to Fig. 3(a), the differential equation of the beam-column bend-
ing in the X-Y plane is given by Eq. 1c for which the solution is given by
Eq. 8a. The end slopes of the beam-column are obtained by substituting x
= 0 and x = I in Eq. 8c:
473

J. Struct. Eng. 1989.115:467-479.

 J) = Q„ = Aa + 1-[M„ + M*] (13a)

dy\ 1
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— = 6zb = Aa cos al - Ba sin al + — (M^ + Mzb) (13ft)

dx/x = , PI
Eqs. 13a and 13ft can be rearranged and rewritten in matrix form as
Mza s2(AEIz/l) s3(2EIz/l)
(14a)
Mzb s,(2EI z /l) s2(4EIz/l) {:;;}•
When P is compressive, the s2 and s3 functions take the following form
1 (sin al al cos al)
s2 -a/ (14ft)
4 ( 2 - 2 cos a/ al sin aZ)
1 (aZ — sin al)
•s 3 = - a Z — (14c)
2 ( 2 - 2 cos aZ — al sin aZ)
For members subject to axial tensile force P and bending in the X-Y plane,
P is replaced by -P in Eq. la. Solving the resulting differential equation,
we again get Eq. 14a, where
1 (al cosh al — sinh al)
s2 = - al (Ud)
4 ( 2 - 2 cosh al + al sinh al)
1 (sinh al — al)
(Ue)
2 ( 2 - 2 cosh al + al sinh al)

Bending in X-Z Plane

Referring to Fig. 3(b) and following the same procedure previously men-
tioned, the stability functions for bending in the X-Z plane can be derived.
The relationship between end moments and end slopes is given by
Mya sA(4EIy/l) s5(2EIy/l) e. (15a)
Myb s5(2EIy/l) Si(AEIy/l) Jyb

where
1 (sin (3Z - pz cos p/)
S4 -pz- for compressive P (15ft)
4 2 - 2 cos PZ - PZ sin pz
1 (PZ cosh pZ - sinh PZ)
-0Z — for tensile P (15c)
4 (2 - 2 cosh pZ + PZ sinh pZ)
and
(PZ - sin PZ)
*5 pz ( 2 - 2 cos PZ - pZ sin pZ) for compressive P (15a")

1 (sinh pZ - PZ)
pz-
pi for tensile P (15e)
2 ( 2 - 2 cosh PZ + pZ sinh pZ)
in which p 2 = P/Ely.
474

J. Struct. Eng. 1989.115:467-479.

 EFFECT OF AXIAL FORCE ON STIFFNESS AGAINST TRANSLATION

If both of the ends of a beam-column are restrained against rotation, but

one end is translated through a distance A relative to the other, the flexural
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and shear stiffnesses of the beam against this translation are affected by the
axial force P.

Translation in X-Y Plane

Stability Function for Effect of Axial Force on Flexural Stiffness about

Z-Axis against Translation Ay
Referring to Fig. 4 and using the slope-deflection equation:
(4EI\ Ay (2EI\ Ay.

6E1Z [2 1 1
= — A >{i* + i*j ^
6EI,
= s6 — Ay (16c)

2 1
where s6 = - s2 + - s3 (16rf)

is the stability function for the effect of axial force on flexural stiffness (about
the Z-axis) against translation Ay.
Substituting the values of s2 and s3 from Eqs. 146 and 14c when the axial
force is compressive, and from Eqs. 14d and 14e when the axial force is
tensile, we get the following expressions for s6.
When P is compressive:
1 a ¥ ( l - cos a/)
s6 = i (16e)
6 (2 — 2 cos <xl — al sin a/)
When P is tensile:

-Hs-X

YB

FIG. 4. Effect of Axial Force on Stiffness against Translation

475

J. Struct. Eng. 1989.115:467-479.

 1 a 2 / 2 (cosh al - 1)
*e = 67"(2 — 2 cosh al + al sinh aO (16/)
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Stability Function for Effect of Axial Force on Shear Stiffness against

Translation Ay
Referring once again to Fig. 4,

F = (17a)
L
ya I
where 1M = Mm + Mzb - PAV (176)
4EL /A, + 2EL /A,
and Mza = s2 •
I f --r(1 (17c)

2EL /A, 4EIZ /A.

Mzb = s3 • +
/ 7 "-, (XI d)
Thus

F =
H—]+H~] - 7. (17e)
Letting a 2 = P/EIZ,
(8EIZ\ (4EIZ\ a2EIz
F = s2
* ya
2/21
12£7Z 2 1 a2/; fl2EIz
= *? (17/)
12 I \ /J
2 1 a2/2
where s-, = - s2 + ~ *3 • (17g)
3 3 12
is the stability function for the effect of axial force on shear stiffness against
translation A r
Substituting for s2 and s3 from Eqs. 146 and 14c when the axial force is
compressive,
1 a 2 / 2 (l - cos al) a2/2
*7 = (17A)
6 (2 — 2 cos al — al sin al) 12
When the axial force P is tensile, P is replaced by — P in Eq. lib and values
of s2 and s3 are obtained from Eqs. 14d and 14e; we then get
1 a 2 / 2 (cosh al — 1) a2;2
*7
+ • (170
6 (2 - 2 cosh al + al sinh al) 12

Translation in X-Z Plane

Stability Function for Effect of Axial Force on Flexural Stiffness against

Translation Az
Proceeding as in the previous section, the stability function for the effect
of axial force on flexural stiffness against translation Az is given by
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J. Struct. Eng. 1989.115:467-479.

 7. i
Ss = U +
3' 3 S5 (18a)

Substituting the values of s4 and s5 from Eqs. 15b and 15d when the axial
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force is compressive, and from Eqs. 15c and 15e when the axial force is
tensile, we get the following expressions for sa.
When P is compressive:
1
02,2 (1 ~ cos pZ)
58 = - S 2 r (18W
6 P (2 - 2 cos pZ - pZ sin 0/) *• ;
When P is tensile:
1
D2,2 ( c o s h W- 1)
2 2
S8 = ~ P / (18c)
v y
6 ( 2 - 2 cosh pZ + p/ sinh p/)
Stability Function for Effect of Axial Force on Shear Stiffness against
Translation Az
Proceeding as in the previous section, the stability function s9 for the effect
of axial force on shear stiffness against translation A2 is given by
2 1 p2/2
s9 = - s4 + - s5 when the axial force is compressive (19a)
3 3 12
2 1 p2/2
s9 = - tf4 + - s5 H when the axial force is tensile (19b)
3 3 12
Substituting the values of s4 and ss from Eqs. 15b and 15d when the axial
force is compressive, and from Eqs. 15c and 15e when the axial force is
tensile, we get the following expressions for *9.
When P is compressive:
1 p2/2(l - cos p/) p2/2
I
s9 = — (19c)
6 (2 - 2 cos p/ - p/ sin pZ) 12
When P is tensile:
1 .. (cosh p/ - 1) p¥
*9 = " P ' " " ' +— (19d)
6 ( 2 - 2 cosh p/ + p/ sinh pZ) 12
The modified beam-column stiffness matrix (also called the nonlinear tan-
gent stiffness matrix) using the stability functions s1 through *9 is shown in
Fig. 2. The application of stability functions for nonlinear analysis of a three-
dimensional guyed tower is demonstrated by Selvappalam (1987).
NUMERICAL EXAMPLE

Properties of Beam-Column
• Modulus of elasticity = 70 GPa.
• Cross-sectional area = 2,900 mm2.
• Iy = 15.2 x 106 mm4.
477

J. Struct. Eng. 1989.115:467-479.

 • Iz = 5.12 x 106 mm4.
• / = 8,500 mm.

Stability Function st
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(For a given beam-column, this depends on the magnitude and direction

of the axial force and end moments.)
Case (i). P = 40 kN (comp), Mya = Mza = 400 N - m , Myb = Mzb =
- 4 0 0 N • m, si = 0.6392.
Case (ii). P = 40 kN (comp), Mya = Myb = Mza = Mzb = 400 N • m, sx
= 0.9979.
Case (iii). P = 40 kN (tension), Mya = Mza = 400 N • m, Myb = Mzb =
- 4 0 0 N - m , si = 1.0073.
Case (iv). P = 40 kN (tension), Mya = Myb = Mza = Mzb = 400 N • m,
a, = 1.0010.

Stability Functions s2 through s9

(For a given beam-column, these depend only on the magnitude and di-
rection of the axial force.)
Case (i). P = 40 kN (comp), s2 = 0.6968, s3 = 1.1776, s4 = 0.9060,
s5 = 1.0494, s6 = 0.8571, sn = 0.1851, sg = 0.9538, s9 = 0.7275.
Case (ii). P = 40 kN (tension), s2 = 1.2445, *3 = 0.8929, *4 = 1.0875,
j 5 = 0.9583, s6 = 1.1273, s7 = 1.7993, ss = 1.0444, s9 = 1.2708.

SUMMARY

Stability functions for three-dimensional beam-columns as an alternative

to the stress stiffness matrix are presented in their explicit form. These sta-
bility functions incorporate the effect of nonlinearities due to changes in the
structure geometry. The nonlinear stiffness matrix of a beam-column can be
directly calculated using the stability functions given in the paper.

ACKNOWLEDGMENTS

The work described herein was carried out with the financial support pro-
vided by the Natural Sciences and Engineering Research Council of Canada
under grant No. A1194 to the third writer and is gratefully acknowledged.

APPENDIX I. REFERENCES

Fleming, J. F. (1979). "Nonlinear static analysis of cable-stayed bridge structures."

Computers and structures, Vol. 10. Pergamon Press, Inc., New York, N.Y. and
London, England, 621-635.
Harrison, H. B. (1973). Computer methods in structural analysis. Prentice-Hall, Inc.,
Englewood Cliffs, N.J.
Home, M. R., and Merchant, W. (1965). The Stability of frames. Pergamon Press
Ltd., London, England.
Przemieniecki, J. S. (1968). Theory of matrix structural analysis. McGraw-Hill Book
Co., Inc., New York, N.Y., 70-79.
Selvappalam, M. (1987). "Three-dimensional non-linear analysis of guyed towers,"
thesis presented to the University of Windsor, Windsor, Ontario, Canada, in partial
fulfillment of the requirements for the degree of Master of Science.

478

J. Struct. Eng. 1989.115:467-479.

 Yaug, Y-B, and McGuire, W. (1986). "Stiffness matrix for geometric non-linear
analysis. : ./. Struct, Engrg., ASCh, 112(4), 833-877.

APPENDIX 1!. NOTATION

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The following symbols are used in this paper:

A = cross-sectional area;
ASy,Asz = cross-sectional area effective in shear in y- and z-directions;
E = modulus of elasticity of material;
[F] = force matrix;
G = shear modulus;
Iy,h = moments of inertia about y- and z-axes;
[K] = elastic stiffness matrix;
I = length of beam-column;
Mya,Myb = end moments in X-Z plane;
M2a,Mzb = end moments in X-Y plane;
P = axial load;
ry,rz = radii of gyration about y- and z-axes;
s
\> • • -s9 = stability functions;
[U] = displacement matrix;
a2 = P/EIZ;
P2 = P/EIy;
Aj,,Az = translation in y- and z-directions;
8a = shortening due to axial load;
8„ = shortening due to bending;
8, = total shortening;
V = Poisson's ratio;
Oya, Oyj, = end rotations in X-Z plane;
9zo>6zfc = end rotations in X-Y plane; and
(\>y,^>Z = shear-deformation parameters.

479

J. Struct. Eng. 1989.115:467-479.