Elastic Buckling Behavior of Beams

CE579 - Structural Stability and Design

ELASTIC BUCKLING OF BEAMS
Going back to the original three second-order differential
equations:
( ) ( )
( ) ( )
0
0
0
0
,
( ) ( ( ) )
( ( ) ) ( ) ( ) 0
x BY TY BY BX TX BX
y BX TY BY BY TX BX
w T BX BX TX
BY BY TY TY BY TX BX
Therefore
z z
E I v P v P x M M M M M M
L L
z z
E I u P u P y M M M M M M
L L
z
E I G K K u M M M P y
L
z v u
v M M M P x M M M M
L L L
|
|
| |
| |
'' + + + = +
|
\ .
| |
'' + + + = + +
|
\ .
''' ' ' + + + +
' + + + + + =
1
2
3
(M
TX
+M
BX
)
(M
TY
+M
BY
)
ELASTIC BUCKLING OF BEAMS
Consider the case of a beam subjected to uniaxial bending only:
because most steel structures have beams in uniaxial bending
Beams under biaxial bending do not undergo elastic buckling
P=0; M
TY
=M
BY
=0
The three equations simplify to:







Equation (1) is an uncoupled differential equation describing in-plane
bending behavior caused by M
TX
and M
BX

( )
( )
( ) ( ) ( ) 0
x BX TX BX
y BX TX BX
w T BX BX TX TX BX
z
E I v M M M
L
z
E I u M M M
L
z u
E I G K K u M M M M M
L L
|
| |
''
= +
''
= +
| |
''' ' '
+ + + + =
|
\ .
1
2
3
(|)
ELASTIC BUCKLING OF BEAMS
Equations (2) and (3) are coupled equations in u and | that
describe the lateral bending and torsional behavior of the beam. In
fact they define the lateral torsional buckling of the beam.
The beam must satisfy all three equations (1, 2, and 3). Hence,
beam in-plane bending will occur UNTIL the lateral torsional
buckling moment is reached, when it will take over.
Consider the case of uniform moment (M
o
) causing compression in
the top flange. This will mean that
-M
BX
= M
TX
= M
o

Uniform Moment Case
For this case, the differential equations (2 and 3) will become:

( )
2
2 2
2 2 2 2
0 0
0
( ) 0
:
'
,
( ) ( )
2 2
y o
w T o
A
o
x
o
o o
x A
o
o o
x
E I u M
E I G K K u M
where
K Wagner s effect due to warping caused by torsion
K a dA
M
But y neglecting higher order terms
I
M
K y x x y y dA
I
M
K y x x xx y y yy dA
I
|
| |
o
o
'' + =
''' ' ' + + =
=
=
=
( = +

( = + + +

}
}
2 2 2 2 2
0
2 2
A
o
o o o
x A A A A A
M
K x y dA y x y dA x xy dA y y dA y y dA
I
(
( = + + +
(


}
} } } } }
ELASTIC BUCKLING OF BEAMS
2 2
2 2
2 2
2
2
, 2
sec
o
o x
x A
A
o o
x
A
o x x o
x
x
M
K y x y dA y I
I
y x y dA
K M y
I
y x y dA
K M where y
I
is a new tional property
| |
|
(
( = +
(


(
( +

(
=
(
(

( +

= =
}
}
}
( )
:
(2) 0
(3) ( ) 0
y o
w T o x o
The beambuckling differential equations become
E I u M
E I G K M u M
|
| | |
''
+ =
''' ' '
+ + =
ELASTIC BUCKLING OF BEAMS
2
2
2
2
1 2
2
1 2
(2)
(2) (3) :
( ) 0
sec : 0
0
,
0
o
y
iv
o
w T o x
y
x
iv
o T
w y w
o T
w y w
iv
M
Equation gives u
E I
Substituting u from Equation in gives
M
E I G K M
E I
For doubly symmetric tion
M G K
E I E I I
M G K
Let and
E I E I I
|
| | | |
|
| | |

| | |
''
=
''
''
+ =
=
''
=
= =
''
= . . becomes the combined d e of LTB
ELASTIC BUCKLING OF BEAMS
( )
1 1 2 2
4 2
1 2
4 2
1 2
2 2
1 1 2 1 2 1 2
2 2
1 1 2 1 1 2
1 2
1 2 3 4
0
0
4 4
,
2 2
4 4
,
2 2
, ,
z
z
z z i z i z
Assume solution is of the form e
e
i
Let and i
Above are the four roots for
C e C e C e C e
collect

o o o o
|

o o

|

=
=
=
+ + +
=
+ + + +
=
=
= + + +

1 1 2 1 3 2 4 2
cosh( ) sinh( ) sin( ) cos( )
ing real and imaginary terms
G z G z G z G z | o o o o = + + +

ELASTIC BUCKLING OF BEAMS
Assume simply supported boundary conditions for the beam:

1
2 2
1 2 2
1 1 2 2 3
2 2 2 2
4
1 1 1 1 2 2 2 2
(0) (0) ( ) ( ) 0
. .
1 0 0 1
0 0
0
cosh( ) sinh( ) sin( ) cos( )
cosh( ) sinh( ) sin( ) cos( )
L L
Solution for must satisfy all four b c
G
G
L L L L G
G
L L L L
For buckl
| | | |
|
o o
o o o o
o o o o o o o o
'' '' = = = =
(

(


( =
`
(

(

)

( )
2 2
1 2 1 2
2
2
sin :
det min 0
sinh( ) sinh( ) 0
:
sinh( ) 0
ing coefficient matrix must be gular
er ant of matrix
L L
Of these
only L
L n
o o o o
o
o t
=
+ =
=
=
ELASTIC BUCKLING OF BEAMS
( )
2
2
1 2 1
2
2
1 2 1
2
2
2 2 2
2
1 1 1 2 2 2
2
2 2
2 1
2 2
2 2 2
2
2 2 2
2 2
2
2 2
4
2
2
4
2 2 2
2
4 4
o T
y w w
T
o y w
w
n
L
L
L
L L L
L L
M GK
E I I L E I L
GK
M E I I
L E I L
t
o

t
t

t t t

t t

t t

t t
=
+
=
+ =
| | | || |
+ +
| | |
\ . \ .\ .
= =
| || |
= +
| |
\ .\ .
| || |
= = +
| |
\ . \ .
| || |
= +
| |
\ . \ .
2
2
2 2
y
w
o T
E I
E I
M GK
L L
t
t | |
= +
|
\ .
Uniform Moment Case
The critical moment for the uniform moment case is given by
the simple equations shown below.



The AISC code massages these equations into different
forms, which just look different. Fundamentally the equations
are the same.
The critical moment for a span with distance L
b
between lateral
- torsional braces.
P
y
is the column buckling load about the minor axis.
P
|
is the column buckling load about the torsional z- axis.

M
cr
o
=
t
2
EI
y
L
2

t
2
EI
w
L
2
+ GK
T
|
\

|
.
|
M
cr
o
= P
y
P
|
r
o
2
Non-uniform moment
The only case for which the differential equations can be
solved analytically is the uniform moment.
For almost all other cases, we will have to resort to numerical
methods to solve the differential equations.
Of course, you can also solve the uniform moment case
using numerical methods
( )
( )
( ) ( ) ( ) 0
x BX TX BX
y BX TX BX
w T BX BX TX TX BX
z
E I v M M M
L
z
E I u M M M
L
z u
E I G K K u M M M M M
L L
|
| |
''
= +
''
= +
| |
''' ' '
+ + + + =
|
\ .
|
What numerical method to use
What we have is a problem where the governing differential equations are
known.
The solution and some of its derivatives are known at the boundary.
This is an ordinary differential equation and a boundary value
problem.
We will solve it using the finite difference method.
The FDM converts the differential equation into algebraic equations.
Develop an FDM mesh or grid (as it is more correctly called) in the
structure.
Write the algebraic form of the d.e. at each point within the grid.
Write the algebraic form of the boundary conditions.
Solve all the algebraic equations simultaneously.

Finite Difference Method

f ( x + h) = f ( x) +h ' f ( x) +
h
2
2!
' ' f ( x) +
h
3
3!
' ' ' f ( x) +
h
4
4!
f
iv
( x)+
' f ( x) =
f ( x + h) f ( x)
h
+
h
2!
' ' f ( x) +
h
2
3!
' ' ' f ( x) +
h
3
4!
f
iv
( x)+
' f ( x) =
f ( x + h) f ( x)
h
+ O(h) Forward dif f erenceequation
h h
f(x)
f(x-h)
f
x
f(x)
Forward difference
Backward difference
Central difference
f(x+h)
Finite Difference Method

f ( x + h) = f ( x) +h ' f ( x) +
h
2
2!
' ' f ( x) +
h
3
3!
' ' ' f ( x) +
h
4
4!
f
iv
( x)+
f ( x h) = f ( x) h ' f ( x) +
h
2
2!
' ' f ( x)
h
3
3!
' ' ' f ( x) +
h
4
4!
f
iv
( x)+
' f ( x) =
f ( x + h) f ( x h)
2h
+
2h
2
3!
' ' ' f ( x)+
' f ( x) =
f ( x + h) f ( x h)
2h
+ O(h
2
) Central diff erenceequation

f ( x h) = f ( x) h ' f ( x) +
h
2
2!
' ' f ( x)
h
3
3!
' ' ' f ( x) +
h
4
4!
f
iv
( x)+
' f ( x) =
f ( x) f ( x h)
h
+
h
2!
' ' f ( x)
h
2
3!
' ' ' f ( x) +
h
3
4!
f
iv
( x)+
' f ( x) =
f ( x) f ( x h)
h
+ O(h) Backwarddif f erenceequation
Finite Difference Method
The central difference equations are better than the forward
or backward difference because the error will be of the order
of h-square rather than h.
Similar equations can be derived for higher order derivatives
of the function f(x).
If the domain x is divided into several equal parts, each of
length h.




At each of the nodes or section points or domain points
the differential equations are still valid.

1 2 3 i-2 i-1 i i+1 i+2 n
h
Finite Difference Method
Central difference approximations for higher order
derivatives:


Notation
y = f ( x)
y
i
= f ( x = i)
y
i
'
= ' f ( x = i)
y
i
''
= ' ' f ( x = i) and so on

y
i
'
=
1
2h
y
i+1
y
i1
( )
y
i
''
=
1
h
2
y
i+1
2y
i
+ y
i1
( )
y
i
'''
=
1
2h
3
y
i+2
2y
i+1
+ 2y
i1
y
i2
( )
y
i
iv
=
1
h
4
y
i+2
4y
i+1
+ 6y
i
4y
i1
+ y
i2
( )
FDM - Beam on Elastic Foundation
Consider an interesting problemn --> beam on elastic
foundation





Convert the problem into a finite difference problem.
Fixed end Pin support
x
L
w(x)=w
K=elastic fdn.

EI y
iv
+ k y( x) = w(x)
1 2 3 4 5 6
h =0.2 l

EI y
i
iv
+ k y
i
= w
Discrete form of differential equation
FDM - Beam on Elastic Foundation

EI y
i
iv
+ k y
i
= w

EI
h
4
y
i2
4y
i1
+ 6y
i
4y
i+1
+ y
i+2
( )
+ ky
i
= w
write 4 equations for i = 2, 3, 4, 5
1 2 3 4 5 6
h =0.2 l
7
0
Need two imaginary nodes that lie within the boundary
Hmm. These are needed to only solve the problem
They dont mean anything.
FDM - Beam on Elastic Foundation






Lets consider the boundary conditions:

At i = 2 :
625EI
L
4
y
0
4y
1
+ 6y
2
4y
3
+ y
4
( )
+ ky
2
= w
At i = 3:
625EI
L
4
y
1
4y
2
+ 6y
3
4y
4
+ y
5
( )
+ ky
3
= w
At i = 4 :
625EI
L
4
y
2
4y
3
+ 6y
4
4y
5
+ y
6
( )
+ ky
4
= w
At i = 5 :
625EI
L
4
y
3
4y4
1
+ 6y
5
4y
6
+ y
7
( )
+ ky
5
= w
1
6
(0) 0 0 (1)
( ) 0 0 (2)
( ) 0 (3)
(0) 0 (0) 0 (4)
y y
y L y
M L
y u
= =
= =
=
' = =
FDM - Beam on Elastic Foundation
( )
( )
1
6
6
6 5 6 7
2
7 5
1 2 0
2 0
(0) 0 0 (1)
( ) 0 0 (2)
( ) 0 (3)
( ) 0 0
1
2 0
(3 )
(0) 0 (0) 0 (4)
1
0
2
(4 )
y y
y L y
M L
EI y L y
y y y y
h
y y
y
y y y
h
y y
u
= =
= =
=
'' '' = =
'' = + =
= +
' = =
' = =
= +
FDM - Beam on Elastic Foundation
Substituting the boundary conditions:






Let a = kl
4
/625EI

At i = 2 : 7y
2
4y
3
+ y
4
( )
+
kL
4
625EI
y
2
=
wL
4
625EI
At i = 3: 4y
2
+ 6y
3
4y
4
+ y
5
( )
+
kL
4
625EI
y
3
=
wL
4
625EI
At i = 4 : y
2
4y
3
+ 6y
4
4y
5
( )
+
kL
4
625EI
y
4
=
wL
4
625EI
At i = 5 : y
3
4y
1
+ 5y
5
( )
+
kL
4
625EI
y
5
=
wL
4
625EI

7 + a 4 1 0
4 6 + a 4 1
1 4 6 + a 4
0 1 4 5 + a






(

(
(
(
(
y
2
y
3
y
4
y
5








`


)


=
1
1
1
1








`


)


wL
4
625EI
FDM - Column Euler Buckling
P
w
x
L
Buckling problem: Find axial load
P for which the nontrivial
Solution exists.

Ordinary Dif ferentialEquation
y
iv
( x) +
P
EI
' ' y ( x) =
w
EI
Finite difference solution. Consider case
Where w=0, and there are 5 stations
P
x
0 1 2 3 4
5
6
h=0.25L
FDM - Euler Column Buckling
( ) ( )
( )
2 1 1 2 1 1
4 2
1
5
1
2 0
0 2
5
5
6 5 4
6 4
0
2, 3, 4
1 1
4 6 4 2 0
0 (1)
0 (2)
0
1
0
2
(3)
0
0
( 2 ) 0
(4)
iv
i i
i i i i i i i i
Finite difference method
P
y y
EI
At stations i
P
y y y y y y y y
h EI h
Boundary conditions
y
y
y
y y
h
y y
M
EI y
y y y
y y
+ + +
''
+ =
=
+ + + - + =
=
=
' =
=
=
=
'' - =
+ =
=
FDM - Column Euler Buckling
Final Equations


1
h
4
7y
2
4y
3
+ y
4
( )
+
P
EI
-
1
h
2
(2y
2
+ y
3
) = 0
1
h
4
4y
2
+ 6y
3
4y
4
( )
+
P
EI
-
1
h
2
( y
2
2y
3
+ y
4
) = 0
1
h
4
( y
2
4y
3
+ 5y
4
) +
P
EI
-
1
h
2
( y
3
2y
4
) = 0
Matrix Form
7 4 1
4 6 4
1 4 5





(

(
(
(
y
2
y
3
y
4






`

)

+
PL
2
16EI
2 1 0
1 2 1
0 1 2





(

(
(
(
y
2
y
3
y
4






`

)

=
0
0
0






`

)

FDM - Euler Buckling Problem
[A]{y}+[B]{y}={0}
How to find P? Solve the eigenvalue problem.
Standard Eigenvalue Problem
[A]{y}={y}
Where, = eigenvalue and {y} = eigenvector
Can be simplified to [A-I]{y}={0}
Nontrivial solution for {y} exists if and only if
| A-I|=0
One way to solve the problem is to obtain the characteristic
polynomial from expanding | A-I|=0
Solving the polynomial will give the value of
Substitute the value of to get the eigenvector {y}
This is not the best way to solve the problem, and will not work
for more than 4or 5th order polynomial
FDM - Euler Buckling Problem
For solving Buckling Eigenvalue Problem
[A]{y} + [B]{y}={0}
[A+ B]{y}={0}
Therefore, det |A+ B|=0 can be used to solve for


A =
7 4 1
4 6 4
1 4 5





(

(
(
(
B =
2 1 0
1 2 1
0 1 2





(

(
(
(
and =
PL
2
16EI
7 2 4 + 1
4 + 6 2 4 +
1 4 + 5 2
= 0
=1.11075

PL
2
16EI
=1.11075
P
cr
=17.772
EI
L
2
Exact solution is 20.14
EI
L
2
FDM - Euler Buckling Problem
11% error in solution from FDM
{y}= {0.4184 1.0 0.8896}
T








P
x
0 1 2 3 4
5
6
FDM Euler Buckling Problem
Inverse Power Method: Numerical Technique to Find Least
Dominant Eigenvalue and its Eigenvector
Based on an initial guess for eigenvector and iterations
Algorithm
1) Compute [E]=-[A]
-1
[B]
2) Assume initial eigenvector guess {y}
0

3) Set iteration counter i=0
4) Solve for new eigenvector {y}
i+1
=[E]{y}
i
5) Normalize new eigenvector {y}
i+1
={y}
i+1
/max(y
j
i+1
)
6) Calculate eigenvalue = 1/max(y
j
i+1
)
7) Evaluate convergence:
i+1
-
i
< tol
8) If no convergence, then go to step 4
9) If yes convergence, then =
i+1
and {y}= {y}
i+1
Inverse Iteration Method




Different Boundary Conditions

Beams with Non-Uniform Loading
Let M
o
cr
be the lateral-torsional buckling moment for the case
of uniform moment.
If the applied moments are non-uniform (but varying linearly,
i.e., there are no loads along the length)
Numerically solve the differential equation using FDM and the
Inverse Iteration process for eigenvalues
Alternately, researchers have already done these numerical
solution for a variety of linear moment diagrams
The results from the numerical analyses were used to develop
a simple equation that was calibrated to give reasonable
results.
Beams with Non-uniform Loading
Salvadori in the 1970s developed the equation below based
on the regression analysis of numerical results with a simple
equation
M
cr
= C
b
M
o
cr

Critical moment for non-uniform loading = C
b
x critical moment
for uniform moment.
Beams with Non-uniform Loading

Beams with Non-uniform Loading

Beams with Non-Uniform Loading
In case that the moment diagram is not linear over the length
of the beam, i.e., there are transverse loads producing a non-
linear moment diagram
The value of C
b
is a little more involved
Beams with non-simple end conditions
M
o
cr
= (P
y
P
|
r
o
2
)
0.5
P
Y
with K
b

P
|
with K
t
Beam Inelastic Buckling Behavior
Uniform moment case
Beam Inelastic Buckling Behavior
Non-uniform moment
Beam In-plane Behavior
Section capacity M
p

Section M-| behavior
Beam Design Provisions
CHAPTER F in AISC Specifications