Chapter Four

Chapter Four
Introduction to Matrix Method of

Analysis
Chapter 4 Introduction to Matrix Method of Analysis
4.1 Introduction
• Although the classical methods are essential for
understanding of structural behavior and the principles of
structural analysis, the analysis of large structures by
using these hand calculation methods can be quite time
consuming.
• With the availability of inexpensive, yet powerful,
microcomputers, the analysis of structures in most design
offices is performed today on computers using software
based on matrix methods of structural analysis.
• In contrast to classical methods, matrix methods were

specifically developed for computer implementation;
• they are systematic (so that they can be conveniently
programmed), and general (in the sense that the same
overall format of the analytical procedure can be
applied to the various types of framed structures).
• A set of simultaneous equations that describe the
force–displacement characteristics of the structure are
developed and can be programmed easily on a
computer.
• The force-displacement relations are based on exact

solutions of the underlying differential equation.
• However, classical methods are still preferred by many
engineers for analyzing smaller structures, because they
provide a better insight into the behavior of structures.
• Classical methods may also be used for
preliminary designs, for checking the results of
computerized analyses, and
for deriving the member force–displacement
relations needed in the matrix analysis.
• Matrix methods do not involve any new fundamental

principles.
• But the fundamental relationships of equilibrium,
compatibility, and member force-displacement
relations are now expressed in the form of matrix
equations, so that the numerical computations can be
efficiently performed on a computer.
• Therefore, familiarity with the basic operations of
matrix algebra is a prerequisite to understanding
matrix structural analysis.
• Although both the flexibility (force) and the stiffness

(displacement) methods can be expressed in matrix
form, the stiffness method is more systematic and can
be more easily implemented on computers.
• Thus, most of the commercially available computer
programs for structural analysis are based on the
stiffness method.
• This method can be used to analyze statically
determinate as well as indeterminate structures.
• In the matrix stiffness method of analysis, the structure

is considered to be an assemblage of straight members
connected at their ends to joints.
• A member is defined as parts of the structure for
which the member force displacement relations to be
used in the analysis are valid.
• A joint is defined as a structural part of infinitesimal
size to which the member ends are connected.
• The members and joints of structures are also referred
to as elements and nodes, respectively.
Degrees of Freedom
• The degrees of freedom of a structure are the
independent joint displacements (translations and
rotations) that are necessary to specify the deformed
shape of the structure when subjected to an arbitrary
loading.
• Matrix structural analysis methods can be grouped into
 stiffness (displacement) or
 flexibility (force) methods.
4.2 Stiffness Methods - Beams

• In the stiffness method, the primary unknowns are
displacements (translation/rotation).
• The unknown displacements are solved first by
equilibrium equations.
• Then the unknown forces/moments are evaluated using
compatibility equations and member force-
displacement relations.
• Most commercially available structural analysis
software is based on the stiffness method.
• When using the stiffness method to solve continuous

beam problems, the nodes of each element can be
located:
At the supports
At points where the members are connected
together
At points where external loads/moments are
applied
At points where cross-sectional properties change
suddenly
• Each node has two degrees of freedom: a vertical

displacement and a rotation
• Axial deformations are usually neglected
• Transformation matrices are not needed because
global and local coordinates are parallel to each other
• The process for using the stiffness method to analyze

beams is:
 Establish the stiffness matrix for each element
 Assemble the element matrices to form the
structure stiffness matrix
 Use the force-displacement relations to solve
unknown vertical displacements and rotations
 Finalize external reactions and internal
shear/moment
Local and global stiffness matrix for a beam

• Local member stiffness matrix
• The stiffness matrix for a beam element or member
having a constant cross-sectional area is given for
the local x′, y′, z′ coordinate system.
• The origin of the coordinates is placed at the “near”
end N, and the positive x′ axis extends toward the
“far” end F.
• There are two reactions at each end of the element,

consisting of shear forces qNy′ and qFy′ and bending
moments qNz′ and qFz′.
• Notice that these loadings all act in the positive
coordinate directions, where the moments qNz′ and qFz′
are positive counterclockwise
Y’ Displacements.
• When a positive displacement dNy′ is imposed on the
element, while other possible displacements are prevented,
the required shear forces and bending moments that have
to occur are shown, Likewise, when dFy′ is imposed, the
necessary shear forces and bending moments are shown
z' Rotations.
• In order to impose a positive rotation dNz′ while all other
displacements are prevented, the required shear forces
and bending moments are shown.
• Likewise, when dFz′ is imposed, the resultant loadings are
shown
• If the above results are added, the resulting four load-

displacement relations for the member can then be
expressed in matrix form as
• These equations can also be written in abbreviated form

as
• The symmetric matrix k in the previous slide is referred

to as the member stiffness matrix.
• The 16 influence coefficients k ij that comprise it
account for the load on the member when the member
undergoes a specified unit displacement.
• In a similar manner, the other columns are the member
loadings for unit displacements identified by code
numbers listed above the columns.
Beam structural stiffness matrix

• Once all the member stiffness matrices have been found, we
can then assemble them into the structure stiffness matrix K.
• Since the rows and columns of each k matrix are identified by
the two code numbers at the near end of the member (Ny′, Nz
′) followed by those at the far end (Fy′, Fz′), when assembling
the matrices, each matrix element must be placed in the same
location of the K matrix.
• In this way, K will have an order that will be equal to the
highest code number assigned to the beam, since this
represents the total number of degrees of freedom.
• After the structure stiffness matrix is determined, the

loads Q at the nodes of the beam can then be related to
the displacements D using the structure stiffness
equation
• Partitioning the matrices into the known and unknown

elements of load and displacement, we have
• which when expanded yields the two equations
• The unknown displacements Du are determined from

the first of these equations.
• Then using these values, the support reactions Qu are
calculated from the second equation.
Intermediate Loadings.
• For application, it is important that all the finite
elements of the beam be free of loading along their
length.
• This is necessary since the stiffness matrix for each
element was developed for loadings applied only at its
ends.
• Oftentimes, however, beams will support a distributed
loading, and this condition will require modification in
order to perform the matrix analysis.
• To this case, we will use the principle of superposition

• In general, this superposition can be expressed as
where
q represents the reversed fixed-end loadings,
0
PROCEDURE FOR ANALYSIS

• The following method provides a means of
determining the displacements, support reactions, and
internal loadings for the members of a statically
determinate or statically indeterminate beam.
Notation
• Divide the beam into finite elements and arbitrarily
identify each element and its nodes.
• Use a number written in a circle for a node and a
number written in a square for each element.
• Specify the near and far ends of each element
symbolically by directing an arrow along the element,
with the head directed toward the far end.
• At each node specify numerically the y and z code

numbers.
• In all cases use the lowest code numbers to identify
all the unconstrained degrees of freedom, followed
by the remaining or highest numbers to identify the
degrees of freedom that are constrained.
• Establish the known displacements Dk and known
external loads Qk.
• Include any reversed fixed-end loadings if an element
supports an intermediate load.
Structure Stiffness Matrix

• Apply the equation for k to determine the stiffness
matrix for each element expressed in global
coordinates.
• After each member stiffness matrix is determined, and
the rows and columns are identified with the
appropriate code numbers, assemble the matrices to
determine the structure stiffness matrix K.
• As a partial check, the structure stiffness matrix should
be symmetric.
Displacements and Loads

• Partition the structure stiffness equation and carry out
the matrix multiplication in order to first determine the
unknown displacements Du, and then the unknown
support reactions Qu.
• The internal shear and moment q at the ends of each
element can also be determined, accounting for any
intermediate fixed-end loadings.
Example
• Determine the reactions at the supports of the beam
shown. EI is constant.
Solution
Notation.
• The beam has two elements and three nodes, which
are identified below. The code numbers 1 through 6
are indicated such that the lowest numbers 1–4 identify
the unconstrained degrees of freedom.
• The known load and displacement matrices are
Member Stiffness Matrices.

• Each of the two member stiffness matrices is determined.
Note carefully how the code numbers for each column
and row are established.
Displacements and Loads.

• We can now assemble these elements into the structure
stiffness matrix. For example, element
• K11 = 0 + 2 = 2, K55 = 1.5 + 1.5 = 3, etc.
• Thus,
• The matrices are partitioned as shown. Dividing by EI

and carrying out the multiplication for the first four
rows, we have
Solving,
• Using these results, and multiplying the last two rows,

gives
Example 2
• Determine the moment developed at support A of the
beam shown.
Solution
Notation.
• Here the beam has two unconstrained degrees of freedom,
identified by the code numbers 1 and 2.
• The matrix analysis requires that the external loading be
applied at the nodes, and therefore the distributed and
concentrated loads are replaced by their equivalent fixed-
end moments.
• Note that no external loads are placed at ① and no external
vertical forces are placed at ② since the reactions at code
numbers 3, 4 and 5 are to be unknowns in the load matrix.
The known displacement and

load matrices are
Member Stiffness Matrices.

• Each of the two member stiffness matrices is determined
• Member 1:
• Member 2:

• We require
• Solving in the usual manner,
• Thus,
• The actual moment at A must include the fixed-

supported reaction of +96k.ft, along with the
calculated result for Thus,
• Although not required here, we can determine the

internal moment and shear at B by considering, for
example, member 1, node 2. The result requires
expanding
Truss analysis using stiffness method
Member and Node Identification.
• One of the first steps when applying the stiffness method is to
identify the elements or members of the structure and their nodes.
Global and Member Coordinates.
• Since loads and displacements are vector quantities, it is necessary to
establish a coordinate system in order to specify their correct sense
of direction. Here we will use two different types of coordinate
systems.
• A single global or structure coordinate system, x, y, will be used to
specify the sense of each of the external force and displacement
components at the nodes, Fig. 14–1a.
• A local or member coordinate system will be used for
each member to specify the sense of direction of its
displacements and internal loadings.
• This system will be identified using x’, y’ axes with the
origin at the “near” node and the x’ axis extending toward
the “far” node. An example for truss member 4 is shown
• Once the truss is labeled and the code numbers are
specified, the structure stiffness matrix K can then be
determined. To do this we must first establish a member
stiffness matrix k’ for each member of the truss
• Since all the members of the truss are not in the same
direction, we must develop a means for transforming
these quantities from each member’s local x’, y’ coordinate
system to the structure’s global x, y coordinate system.
• This can be done using force and displacement
transformation matrices.
• Once established, the elements of the member stiffness
matrix are transformed from local to global coordinates and
then assembled to create the structure stiffness matrix.
Member stiffness matrix
• A truss member can only be displaced along its axis (x
axis) since the loads are applied along this axis.
• Two independent displacements are therefore possible.
When a positive displacement dN is imposed on the
near end of the member while the far end is held
pinned
• the forces developed at the ends

of the members are
• Note that qF= is negative since for equilibrium it acts
in the negative x’ direction.
• Likewise, a positive displacement dF at the far end,
keeping the near end pinned, results in member forces
of
• By superposition, Fig. 14–2c, the resultant forces
caused by both displacements are
• These load-displacement equations may be written in

matrix form* as
This matrix, k’, is called the member stiffness matrix,

and it is of the same form for each member of the truss.
Displacement and forces transformation matrix
• The smallest angles between the positive x, y global axes
and the positive x’ local axis will be defined as x and y as
shown. The cosines of these angles will be used in the
matrix analysis that follows. These will be identified as
Displacement Transformation Matrix.
• In global coordinates each end of the member can have
two degrees of freedom or independent displacements;
namely, joint N has DNx and DNy,
• the corresponding displacement (deformation) along
the member is DNx cos ux.* Likewise, a displacement
DNy will cause the member to be displaced DNy cos
uy along the x’ axis.
• The effect of both global displacements causes the
member to be displaced
• In a similar manner, positive displacements DFx and
DFy successively applied at the far end F, while the
near end is held pinned, Figs. 14–5c and 14–5d, will
cause the member to be displaced
• Letting lx = cos x and ly = cos y represent the

direction cosines for the member, we have
• which can be written in matrix form as
• From the above derivation, T transforms the four
global x, y displacements D into the two local x’
displacements d. Hence, T is referred to as the
displacement transformation matrix.
Force Transformation Matrix.
• Consider now application of the force qN to the near
end of the member, the far end held pinned.
• Here the global force components of qN at N are
Likewise, if q is applied to the bar, Fig. 14–6b, the

F
global force components at F are

• Using the direction cosines lx = cos ux, ly = cos uy,
these equations become
• which can be written in matrix form as

In this case TT transforms the two

local (x) forces q acting at the
ends of the member into the four
global (x, y) force components Q.
By comparison,
this force transformation matrix
Member global stiffness matrix
• If we substitute Eq. 14–8 (d = TD) into Eq. 14–3 (q =
kd), we can determine the member’s forces q in terms
of the global displacements D at its end points,
namely,
• Substituting this equation into Eq. 14–11, Q = TTq,

yields the final result,
The matrix k is the member stiffness matrix in global

coordinates. Since TT, T, and k are known, we have
• Performing the matrix operations yields

Example
• Determine the structure stiffness matrix for the two-
member truss shown in Fig. 14–7a. AE is constant.
SOLUTION
• By inspection, 2 will have two unknown displacement
components, whereas joints 1 and 3 are constrained from
displacement.
• Consequently, the displacement components at joint 2 are code
numbered first, followed by those at joints 3 and 1.
• The origin of the global coordinate system can be located at any
point. For convenience, we will choose joint 2 as shown.
• The members are identified arbitrarily and arrows are written
along the two members to identify the near and far ends of each
member.
• The direction cosines and the stiffness matrix for each member
Member 1.
• Since 2 is the near end and 3 is the far end, then by
Eqs. 14–5 and 14–6, we have
• Using Eq. 14–16, dividing each element by L = 3 ft,

we have
• Member 2.
• Since 2 is the near end and 1 is the far end, we have
• with L = 5 ft becomes
Structure Stiffness Matrix.
• This matrix has an order of 6 * 6 since there are six
designated degrees of freedom for the truss
Quiz (5 %)
• Draw the qualitative and quantitative IL for shear at
C for the beam shown.
Frame member stiffness matrix

• Here the member is subjected to axial loads , , shear
loads , , and bending moments , at its near and far
ends , respectively.
• These loadings all act in the positive coordinate
directions along with their associated displacements.
• As in the case of beams, the moments and are
positive counterclockwise
• The axial load, the shear load and the bending moment in
reference are shown below.
• By superposition, if these results are added, the resulting
six load-displacement relations for the member can be
expressed in matrix form as
• The above equation can be abbreviated as
Displacement and Force transformation matrix

• As in the case for trusses, we must be able to
transform the internal member loads q and
deformations d from local x’, y’, z’ coordinates to
global x, y, z coordinates.
• For this reason transformation matrices are needed.
Displacement Transformation Matrix.
• Consider the frame member shown.
• Here it is seen that a global coordinate displacement
DNx creates local coordinate displacements
• Likewise, a global coordinate displacement DNy,
creates local coordinate displacements of
• Finally, since the z’ and z axes are coincident, that is,
directed out of the page, a rotation DNz about z’ causes a
corresponding rotation dNz about z. Thus,
• In a similar manner, if global displacements DFx in the x

direction, Dfy in the y direction, and a rotation DFz are
imposed on the far end of the member, the resulting
transformation equations are, respectively,
• Letting , represent the direction cosines of the member,

we can write the superposition of displacements in
matrix form as
• Or
• By inspection, T transforms the six global x, y, z

displacements D into the six local x’, y’, z’ displacements d.
• Hence T is referred to as the displacement transformation
matrix.
Force Transformation Matrix.
• If we now apply each component of load to the near end of
the member, we can determine how to transform the load
components from local to global coordinates.
• Applying qNx, it can be seen that
• If qNy is applied, then its

components are
• Finally, since qNz is collinear with QNz, we have

• In a similar manner, end loads of qFx, qFy, qFz will yield
the following respective components:
• These equations, assembled in matrix form with

,
• Here, as stated, transforms the six member loads
expressed in local coordinates into the six loadings
expressed in global coordinates.
Frame Member Global stiffness matrix
• The results of the previous section will now be combined
in order to determine the stiffness matrix for a member
that relates the global loadings Q to the global
displacements D.
• To do this, substitute d = TD into equation q = kd.
• We have
• Here the member forces q are related to the global

displacements D.
• Substituting this result into (Q = TTq) yields the final
result,
• Here k represents the global stiffness matrix for the
member. performing the matrix operations. This yields
the final result,
Procedure for Analysis
Notation
• Divide the structure into finite elements and arbitrarily identify
each element and its nodes.
• Elements usually extend between points of support, points of
concentrated loads, corners or joints, or to points where internal
loadings or displacements are to be determined.
• Establish the x, y, z, global coordinate system, usually for
convenience with the origin located at a nodal point on one of
the elements and the axes located such that all the nodes have
positive coordinates
• At each nodal point of the frame, specify numerically the
three x, y, z coding components.
• In all cases use the lowest code numbers to identify all the
unconstrained degrees of freedom, followed by the
remaining or highest code numbers to identify the
constrained degrees of freedom.
• From the problem, establish the known displacements Dk
and known external loads Qk.
• When establishing Qk be sure to include any reversed fixed-
end loadings if an element supports an intermediate load.
Structure Stiffness Matrix
• Apply the stiffness matrix equation and develop k for each
element expressed in global coordinates.
• In particular, the direction cosines lx and ly are determined
from the x, y coordinates of at the ends of the elements.
• After each member stiffness matrix is written, and the six
rows and columns are identified with the near and far code
numbers, merge the matrices to form the structure stiffness
matrix K.
• As a partial check, the element and structure stiffness
Displacements and Loads
• Partition the stiffness matrix as indicated below.
Expansion then leads to
• The unknown displacements Du are determined from the

first of these equations.
• Using these values, the support reactions Qu are
computed from the second equation.
• Finally, the internal loadings q at the ends of the members
can be computed, namely
• If the results of any of the unknowns are calculated as

negative quantities, it indicates they act in the negative
coordinate directions.
Example
• Determine the loadings at the ends of each member of the
frame shown in Fig. 16–5a. Take I = 600 in4, A = 12 in2,
and E = 29(103) ksi for each member.
Solution
Notation.
• To perform a matrix analysis, the distributed loading acting
on the horizontal member will be replaced by equivalent
end moments and shears (FEM)
• Note that no external force of 30 k or moment of 1200 kin.
is placed at ➂ since the reactions at code numbers 8 and 9
are to be unknowns in the load matrix.
• Then using superposition, the results obtained for the
frame will be modified for this member by the loads
shown
• the nodes and members are numbered and the origin of the
global coordinate system is placed at node ➀.
• As usual, the code numbers are specified with numbers
assigned first to the unconstrained degrees of freedom.
Thus,
• Structure Stiffness Matrix
• The structure stiffness matrix, included in Q = KD,
becomes
• Expanding to determine the displacements, and solving,
we have
• Using these results, the support reactions are determined
from Eq. (1) as follows:
• The internal loadings can be determined as follows. In the
case of member 1, q = k1=T1D, where k1= is determined,
and T1. Thus,
• Here the code numbers indicate the rows and columns for
the near and far ends of the member, respectively, that is,
4, 5, 6, then 1, 2, 3. Thus,
Flexibility Methods
• In the flexibility method, the primary unknowns are
forces/moments.
• The unknown forces/moments are solved first by
compatibility equations.
• Then the unknown displacements are evaluated using
equilibrium equations and member force-displacement
relations.
• Compatibility equation (e.g. deflection at B is zero).
• fBB is the deflection per unit force (flexibility coefficient)

• Choice of redundant is arbitrary.
• The total number of compatibility equations is equal to
the number of redundant or DOTI.
Summary of Steps:
• Determine the degree of total indeterminacy
• Select redundant reaction force(s)/moment(s) and the primary structure
• Calculate deflection(s)/rotation(s) of the primary structure at the same
direction as selected redundant force(s)/moment(s) (e.g. using deflection
tables)
• Calculate the flexibility coefficient(s)
• Apply compatibility equation(s) to determine the redundant
force(s)/moment(s)
• Apply equilibrium equations to the real structure to determine the rest of
the reaction forces/moments
• If required, draw the AFD, SFD and BMD
Thank you!!

Chapter Four - Introduction To Matrix Method of Analysis

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter Four - Introduction To Matrix Method of Analysis

Uploaded by

Copyright:

Available Formats

Introduction to Matrix Method of

• In contrast to classical methods, matrix methods were

• The force-displacement relations are based on exact

• Matrix methods do not involve any new fundamental

• Although both the flexibility (force) and the stiffness

• In the matrix stiffness method of analysis, the structure

4.2 Stiffness Methods - Beams

• When using the stiffness method to solve continuous

• Each node has two degrees of freedom: a vertical

• The process for using the stiffness method to analyze

Local and global stiffness matrix for a beam

• There are two reactions at each end of the element,

• If the above results are added, the resulting four load-

• These equations can also be written in abbreviated form

• The symmetric matrix k in the previous slide is referred

Beam structural stiffness matrix

• After the structure stiffness matrix is determined, the

• Partitioning the matrices into the known and unknown

• which when expanded yields the two equations

• The unknown displacements Du are determined from

• To this case, we will use the principle of superposition

• In general, this superposition can be expressed as

PROCEDURE FOR ANALYSIS

• At each node specify numerically the y and z code

Structure Stiffness Matrix

Displacements and Loads

• The known load and displacement matrices are

Member Stiffness Matrices.

Displacements and Loads.

• The matrices are partitioned as shown. Dividing by EI

• Using these results, and multiplying the last two rows,

The known displacement and

Member Stiffness Matrices.

Displacements and Loads.

• Solving in the usual manner,

• The actual moment at A must include the fixed-

• Although not required here, we can determine the

• the forces developed at the ends

• These load-displacement equations may be written in

This matrix, k’, is called the member stiffness matrix,

• Letting lx = cos x and ly = cos y represent the

Likewise, if q is applied to the bar, Fig. 14–6b, the

global force components at F are

• which can be written in matrix form as

In this case TT transforms the two

• Substituting this equation into Eq. 14–11, Q = TTq,

The matrix k is the member stiffness matrix in global

• Performing the matrix operations yields

• Using Eq. 14–16, dividing each element by L = 3 ft,

Frame member stiffness matrix

Displacement and Force transformation matrix

• In a similar manner, if global displacements DFx in the x

• Letting , represent the direction cosines of the member,

• By inspection, T transforms the six global x, y, z

• If qNy is applied, then its

• Finally, since qNz is collinear with QNz, we have

• These equations, assembled in matrix form with

• Here the member forces q are related to the global

• The unknown displacements Du are determined from the

• If the results of any of the unknowns are calculated as

• fBB is the deflection per unit force (flexibility coefficient)