18.

2 Structure Stiffness Matrix

In the analysis of a structure using the direct stiffness method, we start by introducing sufficient
restraints (i.e., clamps) to prevent movement of all unrestrained joints. We then calculate the forces in
the restraints as the sum of fixed-end forces for the members meeting at a joint. The internal forces at
other locations of interest along the elements are also deter- mined for the restrained condition.

In the next step of the analysis, we determine values of joint displacements for which the restraining
forces vanish. This is done by first applying the joint restraining forces, but with the sign reversed, and
then solving a set of equilibrium equations that relate forces and displacements at the joints. In matrix
form we have

K∆ = F

where F is the column matrix or vector of forces (including moments) the fictitious restraints but with
the sign reversed, ∆ is the column vector of joint displacements selected as degrees of freedom, and K is
the structure stiffness matrix.

The term degree of freedom (DOF) refers to the independent joint displacement components that are
used in the solution of a particular problem by the direct stiffness method. The number of degrees of
freedom may equal the number of all possible joint displacement components (for example, 3 times the
number of free joints in planar frames) or may be smaller if simplifying assumptions (such as neglecting
axial deformations of members) are introduced. In all cases, the number of degrees of freedom and the
degree of kinematic indeterminacy are identical.

Once the joint displacements ∆ are calculated, the member actions (i.e., the moments, shears, and axial
loads produced by these displacements) can be readily calculated. The final solution follows by adding
these results to those from the restrained case.

The individual elements of the structure stiffness matrix K can be computed by introducing successively
unit displacements that correspond to one of the degrees of freedom while all other degrees of freedom
are restrained, the external forces at the location of the degrees of freedom required to satisfy
equilibrium of the deformed configuration are the ele ments of the matrix K. More explicitly, a typical
element kij of the structure stiffness matrix K is defined as follows: kij = force at degree of freedom i due
to a unit displacement of degree of freedom j; when degree of freedom j is given a unit displacement, all
others are restrained.
The 2 x 2 Rotational Stiffness Matrix for a Flexural Member
In this section we derive the member stiffness matrix for an individual flexural element using only joint
rotations as degrees of freedom. The 2 X 2 matrix that relates moments and rotations at the ends of the
member is important because it can be. used directly in the solution of many practical problems, such as
continuous beams and braced frames where joint translations are prevented. Furthermore, it is a basic
item in the derivation of the more general 4 X 4-member stiffness matrix to be presented in Section 18,4.

Figure 18.2 shows a beam of length L with and moments Mi and Mj. As a sign convention the end
rotations θi and θj are positive when clockwise and negative when counterclockwise. Similarly, clockwise
end moments are also positive, and counterclockwise moments are negative. To highlight the fact that
the derivation to follow is independent of the member orientation, the axis of the element is drawn with
an arbitrary inclination a.

In matrix notation, the relationship between the end moments and the resulting end rotations can be
written as

where is ꝁ the 2 X 2-member rotational stiffness matrix.

To determine the elements of this matrix, we use the slope-deflection equation to relate end moments
and rotations (see Eqs. 12.14 and 12.15). The sign convention and the notation in this formulation are
identical to those used in the original derivation of the slope-deflection equation in Chapter 12. Since no
loads are applied along the member's axis and no chord rotation Ψ occurs (both Ψ and the FEM equal
zero), the end moments can be expressed as

2E I
Mi = (2θi + θj) (18.3)
L
and

2E I
Mj= (2θi + θj) (18.4)
L
Equations 18.3 and 18.4 can be written in matrix notation as

M i 2E I 2 1 θi
Mj
= ¿
L 1 2 θj
] (18.5)

Equations 18.2 and 18.5 it follows that the member rotational stiffness matrix ꝁ is

ꝁ=
2E I 2 1
¿
L 1 2
] (18.6)

We will now illustrate the use of the preceding equations by solving a number of examples. To analyze a
structure, it is necessary to identify the degree of freedom first. After the degree of freedom has been
identified, the solution process can be conveniently broken down into the following five steps:

1. Analyze the restrained structure and calculate the clamping forces at the joints. Fixed end
moments

2. Assemble the structure stiffness matrix.

3. Apply the joint clamping forces but with. the sign reversed to the original structure, and then
calculate the unknown joint displacements using Equation 18.1. K∆ = F

4. Evaluate the effects of joint displacements (for example, deflections, moments, shears).
5. Sum the results of steps 1 and 4 to obtain the final solution.
EXAMPLE 18 . 1

Using the direct stiffness method, analyze the frame shown in Figure 18.3a. The change in length of the
members may be neglected. The frame consists of two members of constant flexural rigidity El
connected by a rigid joint at B. Member BC supports a concentrated load P acting downward at midspan.
Member AB carries a uniform load w acting to the right. The magnitude of w (in units of load per unit,
length) is equal to 3P/L.
 −PL
MFBC = = -0.125PL
8
PL
MFCB = = 0.125PL
8
−WL 2
MFAB= = -0.25PL
12
 WL
MFBA = = 0.25PL
12

Step 1: Analysis of the Restrained Structure With the rotation Figure 18.3: (a) Details of frame; at joint B
restrained by a temporary clamp, the structure is transformed into two fixed-end beams (Fig. 18.3c). The
fixed-end moments (see Fig.12.5d) for member AB are

( )
2 2
−W L −3 P L −PL
MIAB = = =
12 L 12 4
PL
MIBA = MIAB =
4

And for member BC

PL
-MIBC = MICB =
8

Figure 18.3c shows the fixed-end moments and the deflected shape of the restrained frame. To illustrate
the calculation of the restraining moment M1, a free-body diagram of joint B is also shown in the lower
right corner of Figure 18.3c. For clarity, shears acting on the joint are omitted. From the requirement of
rotational equilibrium of the joint (ΣMB = 0) we obtain

−PL PL
+ + M1 = 0
4 8
PL
¿ which we compute m 1=¿
8

In this I-degree of freedom problem, the value of Ml with its sign reversed is the only element in the
restraining force vector F (see Eq.18.1). Figure 18.3d shows the moment diagrams for the members in
the restrained structure.

Step 2: Assembly of the Structure Stiffness Matrix.

To assemble the stiffness matrix, we introduce a unit rotation at joint B and calculate the moment
required to maintain the deformed configuration. The deflected shape of the frame produced by a unit
rotation at joint B is shown in Figure 18.3e. Substituting θA = θC = 0 + θB = 1 into equation 18.5, we
compute the moments at the ends of members AB and BC as

These moments are shown on the sketch of the deformed structure in Figure 18.3e. The moment
4E1 2E1
required at joint B to satisfy equilibrium can be easily
determined from the free-body diagram shown in the
lower right corner of Figure 18.3e. Summing moments at
joint B, we compute the stiffness coefficient K11 as
 4 EI 4 EI 8 EI
K11 = + =
L L L

In this problem the value given by Equation 18.12 is the only element of the stiffness matrix K. The
moment diagrams for the members corresponding to the condition θB = 1 rad are shown in Figure 18.3f.

Step 3: of Equation 18.1 Because this problem has only 1 degree of freedom, Equation 18,1 is a simple
algebraic equation. Substituting the previously calculated values of F and K given by Equations 18.11 and
18.12, respectively, yields.

K∆ = F

8 EI PL
θB = -
L 8
Solving for θB yields
2
θB =
−P L
64 EI
The minus sign indicates that the rotation of joint B is counterclockwise, that is, opposite in sense to the direction
defined as positive in Figure 18.3b.

Step 4: Evaluation of the Effects of Joint Displacements: Since the moments produced by a unit
rotation of joint B are known from step 2 (see Fig. 18.3f), the moments produced by the actual joint
rotation are readily obtained by multiplying the forces in Figure 18.3f by θB given by Equation 18.14;
proceeding, we find

The double prime indicates that these moments are associated with the joint displacement condition.

Step 5: Calculation of Final Results. The final results are obtained by adding the values from the
restrained condition (step 1) with those produced by the joint displacements (step 4). Released structure.
The member moment diagrams can also be evaluated by combining the diagrams from the restrained case
with those corresponding to the joint displacements. Once the end moments are known, however, it is
much easier to construct the individual moment diagrams using basic principles of statics. The final
results are shown in Figure 18.3g

Example 18.2

EXA M P L E 1 8 . 2

Construct the bending moment diagram for the three-span continuous beam shown in Figure 18.4a. The
beam, which has a constant flexural rigidity El, supports a 20-kip concentrated load acting at the center of
b span BC. In addition, a uniformly distributed load of 4.5 kips/ft acts over the length of span CD.
Fixed end moments

−PL −20 x 40
MFBC = = = -100kpft
8 8
PL
MFCB = = 100 kpft
8
−WL 2 −4.5 x 20 2
MFCD= = = - 150kpft
12 8
WL
MFDC= = 150kpft
12

Solution

An inspection of the structure indicates that the degree of kinematic indeterminacy is 3. The positive
directions selected for the 3 degrees of freedom (rotations at joints B, C, and D) are shown with curved
arrows in Figure 18.4b.
Step 1: Analysis of the Restrained Structure. The fixed-end moments induced in the restrained
structure by the applied loads are calculated using the formulas in Figure 12.5. Figure 18s4c shows the
moment diagram for the restrained condition and the free-body diagrams of the joints that are used to
calculate the forces in the restraints. Considering moment equilibrium, we compute the restraining
moments as follows:

Joint B M1 + 100 = 0 M1 = -100 kip. Ft

Joint C -100 + M2 + 150 = 0 M2 = -50 kip. Ft

Joint D -150 + M3 = 0 M3 = 150 kip. Ft

Reversing the sign of these restraining moments, we construct the force vector F:

[ ]
100
F= 50 kip. ft
−150

Step 2: Assembly of the Structure Stiffness Matrix: The forces at the end of the members resulting from
the introduction of unit displacements at each one of the degrees of freedom are shown in Figure 18.4d to
f. The elements of the structure stiffness matrix are readily calculated from the free-body diagrams of the
joints. Summing moments, we calculate from Figure 18.4d:

−0.2 EI −0.1 EI + K 11 =0∧K 11=0.3 EI

−0.05 EI + K 21=0∧K 21=0.05 EI

K 31=0∧K 31=0

From Figure 18.4e,

 −0.05 EI + K 12=0∧K 12=0.05 EI

−0.1 EI −0.2 EI + K 22=0∧K 22=0.3 EI

−0.1 EI + K 32=0∧K 32=0.1 EI

From Figure 18.4f,

K 13=0∧K 13=0

−0.1 EI + K 23=0∧K 23=0

Arranging these stiffness coefficients in matrix form, we produce the following structure stiffness matrix
K:

[ ]
0.3 0.05 0
K=EI 0.05 0.3 0.1
0 0.1 0.2

As we would anticipate from Betti’s law, the structure stiffness matrix K is symmetric.

Figure 18.4: (f) Stiffness coefficients produced Figure by a unit rotation of joint D with joints B and C restrained;

Step 3: Solution of Equation 18.1 Substituting the previously calculated values of F and K (given by
Equations 18.19 and 18.20) into Equation 18.1 gives
Solving Equation 18.21, we compute

Step 4: Evaluation of the Effect of Joint Displacements: The moments produced by the actual joint
rotations are determined by multiplying the moments produced by the unit displacements (see Figure
18.4d to f) by the actual displacements and superimposing the results. For example, the end

The evaluation of the member and moments produced by the joint displacements using superposition
requires that for an n degree of freedom structure we add n appropriately scaled unit cases. This approach
becomes increasingly cumbersome as the value of n increases. Fortunately, we can evaluate these
moments in one step by using the individual member rotation stiffness matrices. For example, we
consider span BC, for which the end moments due to joint displacements were calculated preciously by
using superposition. If we substitute the end rotations
Step 5: Calculation of Final Results The complete solution is obtained by adding the results from the
restrained case in Figure 18.4c to those produced by the joint displacements in Figure 1 8.4g. The resulting
moment diagrams are plotted in Figure 18.4h.
8.25'

25.9

Figure 18.4: (h) Final moment diagrams (in units of kip s ft).

In Section 18.3 we derived a 2 X 2 member rotational stiffness matrix for the analysis of a structure in
which joints can only rotate, but not translate. We, now derive the member stiffness matrix for a
flexural element considering both joint rotations and transverse joint displacements as degrees of
freedom; the axial deformation of the member is still ignored. With the resulting 4 X 4 matrix we can
extend the application of the direct stiffness method to the solution of structures with joints that both
translate and rotate as a result of applied loading.

For educational purposes, the 4 X 4 member stiffness matrix in local coordinates will be derived in three
different ways.

Derivation 1: Using the Slope-Deflection Equation

Figure 18.5a shows a flexural element of length L with end moments and shears; Figure 18.5b illustrates
the corresponding joint displacements. The sign convention is as follows: Clockwise moments and
rotations are positive. Shears and transverse joint displacements are positive when in the direction of
the positive y axis.

The positive directions for local coordinates are as follows: The local x' axis runs along the member from
the near joint i to the far joint j. The positive z' axis is always directed into the paper, and y' is such that
the three axes form a right-handed coordinate system.
Setting the fixed-end moment (FEM) equal to zero in Equations 12.14 and 12.15 (assuming no load
between joints) yields

……………………………. (18.28)

………………………………(18.29)

where the chord rotation φ from equation 12.4c is

………………………………….(18.30)

Equilibrium (EMS = 0) requires that the end shears and moments in Figure 18.5a be related as follows:

Substituting Equation 18.30 into Equations 18.28 and 18.29 and then substituting these equations into
Equations 18.31, we produce the following four equations:

(18.32)

(18.33)