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LlTY
THEORY AND IMPLEMENTATION
STRUCTURAL
THEORY AND IMPLEMENTKFION
W.F. Chen, Ph.D.
Professor and Head of Structural Engineering Scl~ool of Civil Engineering Purdue University West Lafayette, Indiana
z3:7
E.M. Lui, Ph.D.
Assistant Professor of Civil Engineering Department of Civil Engineering Syracuse University Syracuse, New York
ELSEVIER
New York
. Amsterdam . London
Elscvier Science Publishing Co., Inc. 52 Vanderbilt Avenue. New York, New Yark 10017 Distributors outside the United Slates and Canada: Elrevier Applied Science Publishers Ltd. Crown House, Linton Road, Barking, Esacx [GI1 BJU, England
Q 1987 by Elsevier Science Publishing Co.. Inc.
This book has been registered with the Copyright Clcarancc Center, Inc. For further information, please contact the Copyright Clearance Center, Salem. Massachusctlr. Library of Congress Calaloging in Publication Data Chen, WaiFah, 1936Structural stability. lncludcs bibliogrdphies and index. I. Slructurnl stability. I. Lui, E.M 11. Title. TA656.C44 1987 624.1'71 8619931 ISBN 0444011196 Current printing (lust digit): I098765432 Manufactured in the United Stales of America
CONTENTS
Preface ix Notation xiu
CHAPTER 1 GENERAL PRINCIPLES
1.1 1.2 1.3 1.4
1
Concepts of Stability 1 Types of Stability 4 Methods of Analyses in Stability 11 Illustrative ExamplesSmall Deflection Analysis 12 1.5 Illustrative ExampIesLarge Deflection Analysis 24 1.6 Illustrative Example+Imperfect Systems 1.7 Design Philosophies 37 1.8 Summary 42 Problems 42 References 43
31
CHAPTER 2 COLUMNS
45
2.1 Introduction 45 2.2 Classical Column Theory 48 2.3 EndRestrained Columns 61 2.4 FourthOrder Differential Equation 79 2.5 Special Members 85 2.6 Initially Crooked Columns 91 2.7 Inelastic Columns % 2.8 Design Curves for Aluminum Columns 108 2.9 Stub Column StressStrain Curve 111 2.10 Column Curves of Idealized Steel ISection 117
Contenls
2.11 Design Curves for Steel Columns 2.12 Summary l37 Problems 140 References 145
122
CHAPTER 3
BEAMCOLUMNS
147
3.1 Introduction 147 3.2 BeamColun~nwith a Uniiormly Distributed Lateral Load 149 3.3 BeamColumn with a Concentrated Lateral Load 156 3.4 BeamColumns Subjected to End Moments 3.5 Superposition of Solutions 170 3.6 Basic Differential Equations 175 3.7 SlopeDeflection Equations 182 3.8 Modified SlopeDeflection Equations 187 3.9 Inelastic BeamColumns 193 3.10 Design Interaction Equations 205 3.11 An Illustrative Example 219 3.12 Summary 228 Problems 231 References 234
161
CHAPTER 4
RIGID FRAMES
236
4.1 Introduction 236 4.2 Elastic Critical Loads by Differential Equation Method 239 4.3 Elastic Critical Loads by SlopeDeflection Equation Method 248 4.4 Elastic Critical Loads by Matrix Stiffness Method 253 4.5 SecondOrder Elastic Analysis 266 4.6 Plastic Collapse Loads 270 4.7 MerchantRankine Interaction Equation 280 4.8 Effective Length Factors of Framed Members 281 4.9 Illustrative Examples 291 4.10 Summary 302 Problems 303 References 305
CHAPTER 5
BEAMS
307
5.1 Introduction 307 5.2 Uniform Torsion of ThinWalled Open Sections 309
vii
5.3 NonUniform Torsion of ThinWalled Open CrossSections 311 5.4 Lateral Buckling of Beams 317 5.5 Beams with Other Loading Conditions 325 5.6 Beams with Other Support Conditions 333 5.7 Initially Crooked Beams 348 5.8 Inelastic Beams 351 5.9 Design Curves for Steel Beams 355 5.10 Other Design Approaches 370 5.11 Summary 373 Problems 375 References 378
CHAPTER 6
ENERGY A N D NUMERICAL METHODS 381 6.1 Introduction 381 6.2 Principle of Virtual Work 382
6.3 Principle of Stationary Total Potential Energy 388 6.4 Calculus of Variations 391 6.5 RayleighRitz Method 414 6.6 Galerkin's Method 438 6.7 Newmark's Method 443 6.8 Numerical Integration Procedure 460 6.9 Summary 4 6 4 Problems 466 References 470
ANSWERS TO SOME SELECTED PROBLEMS INDEX
471
485
PREFACE
This book presents a simple, concise, and reasonably comprehensive introduction to the principles and theory of structural stability that are the basis for structural steel design and shows how they may be used in the solution of practical building frame design problems. It provides the necessary background for the transition for students of structural engineering from fundamental theories of structural stability of members and frames to practical design rules in AISC Specifications. It was written for upper level undergraduate or beginning graduate students in colleges and universities on the one hand, and those in engineering practice on the other. The scope of the book is indicated by its contents. The concepts and principles of structural stability presented in Cliapter 1 form the basis for the elastic and plastic theories of stability of members and frames which are discussed separately in Chapter 2 (Columns), Chapter 3 (BeamColumns), Chapter 4 (Rigid Frames), and Chapter 5 (Beams). The energy and numerical methods of analyzing a structure for its stability limit load are described in Chapter 6. Each of these later chapters sets out initially to state the basic principles of structural stability, followed by the derivation of the necessary basic governing differential equations based on idealized conditions. These classical solutions and their physical significance are then examined. The chapter goes on to show how these solutions are affected by the inelasticity of the material and imperfection of the structural member and system associated with a real structure, using both hand techniques and modern computer capabilities. It finally outlines some of the popularly used techniques by u,liich this voluminous information may be utilized to provide design rules and calculation
ix
X
Preface
techniques suitable for design office use. In this way, the reader not only will obtain an understanding of the fundamental principles and theory of structural stability from an idealized elastic, perfect system, but also to an inelastic imperfect system that leads to the necessary links between the code rules, design office practice, and the actual structural system in the real world. The continued rapid development in computer hardware and software in recent years has made it possible for engineers and designers to predict structural behavior quite accurately. The advancement in structural analysis techniques coupled with the increased understanding of structural behavior has made it possible for engineers to adopt the Limit States Design philosophy. A limit state is defined as a condition at which a structural system or its component ceases to perform its intended function under normal conditions (Serviceability Limit State) or failure under severe conditions (Ultimate Limit State). The recently published Load and Resistance Factor Design (LRFD) Specification by the Amcrican Institute of Steel Construction (AISC) is based o n the limit states philosophy and thus represents a more rational approach to the design of steel structures. This book is not therefore just another book that presents Timoshcnko's basic elastic theory (S. P. Timoshenko and J. M. Gere, "Theory of Elastic Stability," McGrawHill, 1961), or Bleich's inelastic buckling theory (F. Bleich, "Buckling Strength of Metal Structures," McGrawHill, 1952), or Chen's numerical analysis (W. F. Chen and T. Atsuta, "Theory of BeamColumns," twovolume, McGrawHill, 1976, 1977) in a new style. Instead it presents theory and principles of structural stability in its most uptodate form. This volume includes not only the stateoftheart methods in the analysis and design o f columns as individual members and as members of a structure, but also an introduction to engineers as to how these new developments have been implemented as the stability design criteria for members and frames in AISCILRFD Specification. This book is based on a series of lcctures that Professor Chen gave at Purdue University and Lehigh University under the general heading of "Structural Stability." T h e preparation of the 1985 T. R. Higgins Lectureship Award paper entitled "Columns with End Restraint and Bending in Load and Resistance Factor Design" for AISC Engineering Journal (3rd Quarter, Vol. 22, No. 3, 1985) inspired us to attempt to create a useful textbook for the undergraduate and beginning graduate students in structural engineering as well as practicing structural engineers who are less familiar with the stability design criteria of members and frames in the newly published LRFD Specification. Professor Chen wishes to extend his thanks to AISC for the 1985 T. R . Higgins Lectureship Award, when the book began to take shage; to
Lui . and F. 1986 West Lafayette.Preface xi Professor H. IN W.F. L. C.M. Michael of Purdue University for continuing support over many years. for preparing the Answers to Some Selected Problems during their course work on Structural Stability in the spring semester of 1986 in the School of Civil Engineering at Purdue University. Cheng. Wu. L. H. Chen E. Duan. December. among others. and to the graduate students.
.
W. .. = = = = = = = I = = = cross sectional area flange width warping constant 1 .U = work done by the internal resisting forces V =work done by the external applied forces U V =total potential energy + GEOMETRY A N D DIMENSIONS 6. = potential energy . Y @= beam slenderness parameter P="$= P. = = = = W. Venant) constant " 1 bit: for a thinwalled open section . n r E co~umn s~enderness parameter = angle of twist MATERIAL PARAMETERS E = = Young's modulus 29. c.h' for I section 2 depth distance between centroid of flanges ~ r= ' moment of inertia moment of inertia of one flange uniform torsional (or St.. d h I 1. = = = = L plastic section modulus curvature A.. A. n A strain energy due to warping restraint torsion . .000 ksi for steel .I.=I L r = length =radius of gyration = = = = = 4 S t u u W elastic section modulus thickness displacement in the Xdirection displacement in the Ydirection Z d...Notation = V .
.75 + l . 334) equivalent moment factor for beamcolumns 0.4 (2) m LRFD for end moment case .equivalent moment factor for beams M O ..6 .3(5)'s M z 2.0 4 % ) 2 0.4 in ASD for end moment case M.200 ksi for steel 2 ( l + v) Poisson's ratio 0. M I .6 moment amplification factor for beamcolumns in LRFD B2 = P . 0 5 ( 5 ) 1L M +0.0. BI = = amplification factor P ..xvi EeB Ec Et F.6. G = = = = =  effective modulus reduced modulus tangent modulus yield stress shear modulus  v = = 11.3 in AlSC Specifications for end moment case  c. p. = = = for other loading conditions M2 MI M3 + 2 3+4+3M".A moment amplification factor for beamcolumns in LRFD cb = Mcr .3 for steel  STABILITY RELATED FACTORS A. a . 1. Mmm (see Table 5. .. 0.2b.
LOAD AND MOMENT P = = = PC PC..Euler buckling load L2 elastic buckling load % . = equivalent moment . = p r p~ pr f ' t p.M. where W' = elastic buckling moment under uniform moment C. M. Mcs = = = AF. elastic buckling load considering column end conditions = failure load by the elasticplastic analysis = plastic collapse load o r limit load by the simple plastic analysis E = PC = reduced modulus load E E =' CP E = tangent modulus load = ultimate strength considering geometric imperfections and material plasticity ' 4 Ma M... = yield load amplified (design) moment elastic buckling moment = = = 5 vm L ~T+w?. axial load n2El .
Venant torsion . Venant (or uniform) torsion dz EC. = plastic moment = for Hsection about strong axis.= d3y warping restraint (or nonuniform) torsion dz3 stress stress tensor strain strain tensor T.X/V Nolalion = M M i Mnl Mn MD = = = = moment at a section due to externally applied loads internal resisting moment of the section transition moment (in Plastic Design) nominal flexural strength ZF. = yield moment dy GI=St. plastic moment capacity about the strong axis considering the influence of axial load = Mu My = = for Hsection about weak axis. plastic moment capacity about the weak axis considering the influence of axial load ultimate moment capacity considering geometric imperfections and material plasticity SF." T. a OII = = = = E Eij = = ENERGY A N D WORK strain enerav of a Linear elastic system strain enerav due to axial shortening strain energy due to bending strain energy due to St.
90 = resistance factor for compression = 0.= P.r r K = = E= effective length fact01 effective length factor ri @ @b @C load factors resistance factor = resistance factor for flexure = 0.Notalion xvii = 1+ V .85 .
.
Seruiceabiliry limit states. among other types of failure. is dealt with explicitly in the present American Institute for Steel Construction (AISC) limit state specification.' Although the importance of considering stability in design is recognized by most practicing engineers. T o help engineers to d o this. drift. are concerned with the performance of structures under normal service conditions.1 CONCEPTS O F STABILITY When a change in the geometry of a structure or structural component under compression will result in the loss of its ability to resist loadings. Examples of strength limit states include structural failure due to either the formation of a plastic collapse mechanism or to member or frame instability. durability. this condition is called instabiliry. an important constituent of the strength limit states. Because instability can lead to a catastrophic failure of a structure. the subject still remains perplexing to some. In limit states design. is not permissible in a stability analysis. vibration. Strength limit states. they pertain to the appearance. deals with the performance of structures at their maximum loadcarrying capacities. it must be taken into account when one designs a structure. and maintainability of a structure. and corrosion. there are two types of limit states: The first type. on the other hand. Examples of serviceability limit states include deflections. the structure or structural component is designed against all pertinent limit states that may affect the safety or performance of the structure. a new generation of designing codes have been developed based on the concept of lirnit states. which is familiar to most engineers. the . Basically. In a true stabrliry analysis. The reason for this perplexity is that the use of firstorder str~tcturalanalysis. Stability. Hence.Chapter 1 GENERAL PRINCIPLES 1.
a mastery of differential calculus is a must before any attempt to solve these equations.1). The secondorder analysis is further complicated by the fact that the resulting equilibrium equations are differential equations instead of the usual algebraic equations. The concept of stability is best illustrated by the wellknown example of a ball on a curved surface (Fig.2 General Principles change in geometry of the structure must be taken into account. but the ball will return to its initial equilibrium position once it is no longer being disturbed. a slight disturbing force applied to the ball on a concave surface (Fig. unstable. Consequently. the ball will displace continuously from. 1. The ball in this case is said to be in an unstable equilibriurn. we will explain the nature of structural stability and ways to analyze it accurately.For a ball initially in equilibrium. l . its initial equilibrium position. If the disturbing force is applied to a ball on a convex surface (Fig. l. as a consequence. and never return to. equilibrium equations must be written based on the geometry of a structure that becomes deformed under load. and neutral equilibrium la1 STABLE EQUILIBRIUM lbl UNSTABLE EQUILIBRIUM Icl NEUTRAL EQUILIBRIUM .lb) and then removed. l a ) will displace the ball by a small amount. In what follows. even if the disturbance was infinitesimal. If the disturbing force is FIGURE 1. This is known as the secondorder analysis. In this case.1 Stable. the ball is said to be in a stable equilibriurn.
The concept of stability can also be explained by considering a system's stiffness. or vice versa (Fig.2b). This ball is said to be in a neutral equilibrium. to go from one equilibrium position to another. under certain conditions (Fig. the system is said to be stable. l . These will be our definitions of stabilify.1 Concepls of SlabiliIy FIGURE 1.2a). 1.2 Effect of finite disturbance applied to the ball on a flat surface (Fig. for example. keep in mind that it is possible for a hall. 1. However.2). the forces and displacements of the system are related by a stiffness matrix or function. Note that the definitions of stable and unstable equilibrium in the preceding paragraph apply only to cases in which the disturbing force is very small. For an ndegreesoffreedom system. If this stiffness matrix or function is positive definite. The transition of the system from a state of stable to neutral . 1. l c ) . a ball that is "stable" under a small disturbance may go to an unstable equilibrium under a large disturbance (Fig.1. the ball will attain a new equilibrium position to which the disturbance has moved it and will stay there when the disturbance is removed.
We shall use the principle of vanishing tangent stiffness to calculate the buckling load of a system in subsequent sections and chapters. the member or system that originally deflects in the direction of the applied loads suddenly deflects in a different direction. Examples of this type of instability include the buckling of geometrically perfect columns loaded axially. two types of bifurcation can be identified: symmetric bifurcation and asymmetric bifurcation (Fig. the energy concept can be used to find the buckling load of an elastic system. 2 TYPES O F STABILITY Stability of structures under compressive forces can be grouped into two categories: (1) instability that associates with a bifurcation of equilibrium (Fig. 1 .2. 1. 1.3a). 1.1 Bifurcation Instability This type of instability is characterized by the fact that as the compressive load increases. The elastic buckling analysis by energy method will be discussed in Chapter 6.4). buckling of thin plates subjected to inplane compressive forces and buckling of rings subjected to radial compressive forces. The point of transition from the usual deflection mode under loads to an alternative deflection mode is referred to as the point of bifurcation of equilibrium. In nature. The system is in a stable equilibrium if any deviation from its initial equilibrium state will result in an increase in the total potential energy of the system. The tangent stiffness of the system vanishes at just this point. Finally. . Depending on the nature of the postbuckling paths. 1.3a). The load at the point o f bifurcation of equilibrium is callcd the critical load. The system is in an unstable equilibrium if any deviation from its initial equilibrium state will result in a decrease in total potential energy. Stability of a n elastic systcm can also be interpreted by means of the concept of minimum total potential energy. 1. the system is in a neutral equilibrium if any deviation from its initial equilibrium state will produce neither an increase nor a decrease in its total potential energy. and (2) instability that associates with a liniil or moxbnum load (Fig. The deflection path that exists before bifurcation is known as the primary or fundamental path and the deflection path that exists subsequent to bifurcation is known as the secondary or postbucklirtg path (Fig. an elastic system always tends to go to a state in which the total potential energy is at a minimum.4 General Principles equilibrium or from a state of stable to unstable equilibrium is marked by the stabiliry liniit point. Because of this principle.3b).
.  B Deflection lbl LIMIT POINT BUCKLING FIGURE 1.Load secondary path Deflection la1 BIFURCATION BUCKLING \ .3 Bifurcation and limit point buckling ..
If the postbuckling paths drop below the critical load. the load that is required to maintain equilibrium subsequent to buckling increases with increasing deformation.4 Postbuckling behavior Symmelric Bifurcalion For symmetric bifurcation. If the postbuckling paths rise above the critical load. 1.5). 1. Examples of structures exhibiting stable postbuckling behavior include axially loaded elastic columns and inplane loading of the thin elastic plates (Fig.General Pdnciples Load Load ~eflectlon Deflection (a1 STABLE SYMMETRIC BIFURCATION Load i b l UNSTABLE SYMMETRIC BIFURCATION lcl ASYMMETRIC BIFURCATION FIGURE 1.4a. as shown in Fig. the system is said to . the system is said to exhibit a stable symmetric bifurcariott. For such a system. the postbuckling paths are symmetric about the load axis.
The guyed tower shown in Fig. The simple frame shown in Fig.6 is an example of a structure that exhibits an unstable postbuckling behavior. the shear force V induced in the beam will counteract the applied force P i n the column.4b. some of the cables are stretched. On the other hand. As a result. As the tower buckles and deflects. the load that is required to maintain equilibrium subsequent to buckling decreases with increasing deflection as shown in Fig.7 is an example of a structure that exhibits an asymmetric postbuckling behauior. 1.k shows schematically the asymmetric bifurcation behavior of a system. the shear force V induced in the beam will intensify the applied force P in the column.2 Types of Stability la1 COLUMN BUCKLING l b l PLATE BUCKLING EIGURE 1. For such a system.1.5 Examples of stable symmetric buckling exhibit an unstable symmetric bifurcatiorr. If the frame buckles according to Mode 1. resulting in a detrimental pulling force on the tower. the load that is required to maintain equilibrium subsequent to buckling may increase or decrease with increasing deflection depending on the direction in which the structure deflects after buckling. 1. the load required to maintain equilibrium after buckling will increase with increasing deflection. . 1. As a result. For such a system. Asymmetric Bifurcation Figure 1. if the frame buckles according to Mode 2. the load required to maintain equilibrium after buckling will decrease with increasing deflection.
but it does exist and can be obscrved under a displacement controlled testing condition. The slightest imperfections in such structures will reduce the critical load treme~~dously and so curve (ii) in the figure will be more representative of the actual buckling behavior of the real structure. For this type of buckling. I li!lllllil!!llllill.9b. once the limit load is reached (Point A on the curve of Fig. In fact. For this type of buckling the compressive force required to maintain equilibrium drops considerably as the structure buckles aAer reaching the critical load as shown in curvc (i) of Fig. 1. because the equilibriun~path AB is an unstable one.2. Another type of buckling that is unique to shells under compressive forces (Fig.#lI~! . Examples of this type of instability are buckling of shallow arches and spherical caps subjected to uniform external pressure (Fig. This unstable equilibrium path will never be encountered under a load controlled testing condition. in reality the theoretical critical load will never be reached because of imperfections.6 Example of un stable symmetric buckling 1. 1. 1.3b).9a) is referred to by Libove in reference 2 as fmitedisturbance bnckling.8). FIGURE 1. . 1.3b).General Principles ! ! I / .2 LimitLoad Instability G U Y E D TOWER This type of instability is characterized by the fact that there is only a single mode of deflection from the start of loading to the limit or maximum load (Fig. the system will "snap ihrouglz" from Point A to Point C. 1. The phenomenon in which a visible and sudden jump from one equilibrium configuration to another nonadjacent equilibrium configuration upon reaching the limit load is referred to as snapihrough bucklirt~.
1.2'Types of Stability P I FIGURE 1. .7 Example of asymmetric buckling Finite disturbance buckling has the features of both bifurcation buckling and snapthrough buckling. It resembles the latter in that a slight disturbance may trigger a jump from the original equilibrium configuration that exists before the critical load to a nonadjacent equilibrium configuration at finite deflections as indicated by the dotted line in the figure. but then deflects in a distinctly different mode after the critical load is reached. It resembles the former in that the shell deflects in one mode before the critical load is reached.
8 Examples of limit point buckling FIGURE 1.9 Shell buckling .la1 SHALLOW ARCH I b l SPHERICAL CAP FIGURE 1.
the bifurcation approach cannot be applied. the system is said to have 11 degrees of freedom. the state at which two o r more different but adjacent equilibrium configurations can exist is sought by an eigenvalue artalysis. which relates the generalized forces to the generalized displacements of the system. Bifurcation Approach The first approach is called the bifurcation approach. The .1. T o determine the critical load using the bifurcation approach.1 can he used to determine the critical conditions of an elastic system that is susceptible to instability. because the technique used is identical to that used in the linear algebra for finding eigenvalues of a matrix. the total potential energy of the system can be expressed as a function of a set of generalized displacements and the external applied forces. This can best be accomplished by speciFying a set of generalized displacements to describe all the possible displaced configurations of the system. the determinant of the n x 11systemstiffness matrix. For an elastic system subjected to conseruatiue forces. equilibrium can be maintained with alternative deflection modes that are infinitesimally close to one another. Energy Approach Another way to determine the critical conditions of a system is the energy approach. For a loaddeflection problem. If n parameters are required to describe the various modes of deflections. The problem then becomes a loaddeflectiott rather than a bifurcation problem. For an 11degreesoffreedom system.3 Methods of Analyses in Stability 11 1. If geometrical imperfections are present. deflection will commence at the beginning of loading. The bifurcation or eigenvalue approach is an idealized mathematical approach to determine the critical conditions of a geometrically perfect system. The lowest eigenvalue is the critical load of the system. In this approach. the system's critical conditions can be identified. At the critical load. The lowest load that corresponds to this state is the critical load of the system. it is necessary to identify all possible equilibrium configurations the system can assume at the bifurcation load. the tangent s t i b e s s of the system vanishes. by setting the determinant of the system'stangentstiffness matrix equal to zero. The critical conditions are represented by the eigenvalues of the system's stiffness matrix and the displaced configurations are represented by the eigenvectors. Thus.3 M E T H O D S O F ANALYSES IN STABILITY The concept of stability as described in Section 1. A t the critical load. The bifurcation approach is also known as the eige~lualueapproach. is a measure of the stiffness of the system.
T o determine whether the equilibrium is stable or unstable. Dynamic Approach The critical load of an elastic system can also be obtained by the dynamic approach.1 Rigid Bar Supported by a Rotational Spring Consider the simple springbar system shown in Fig.4. we can only identify the equilibrium conditions of the system. This is beyond the scope of this book. If the system is in equilibrium. a system of equations of motion governing the small free vibration of the system is written as a function of the generalized displacements and the external applied force. the stability behavior of some simple structural models will be investigated in the context of a small deflection analysis by using both the bifurcation and energy approaches. not the specific paths to reach these final values. 1. The use of the dynamic approach requires a prerequisite of structural dynamics. and the only possible mode of displacement for the system ia the rigid body rotation of the bar about the pinned end as shown in Fig. The equilibrium is stable if a slight disturbance causes only a slight deviation of the system from its original equilibrium position and if the magnitude of the deviation decreases when the magnitude of the disturbance decreases.10b. 1. the use of the other two approaches to determine the critical Loads will be illustrated in the following sections. Please note that by setting the first derivative of the total potentialenergy function equal to zero. The critical load is obtained as the level of external force when the motion ceases to be bounded. However. we must investigate higher order derivatives of the total potential energy function. The bar is assumed to be rigid. both the small and large deflection analyses will be used to demonstrate the significance and physical implications of each analysis. The pinned end is supported by a linear rotational . Thus. we can identify the equilibrium conditions of the system. 1.12 General Principles term "conservative forces" used here are those forces whose potential energy is dependent only on the final values of deflection. In the following examples.4 ILLUSTRATIVE EXAMPLESSMALL DEFLECTION ANALYSIS In this section. Here. 1. by setting the first derivative of the total potential energy £unction with respect to each generalized displacement equal to zero. The equilibrium is unstable if the magnitude of motion increases without bound when subjected to a slight disturbance. its total potential energy must be stationary.10a. The critical load can then be calculated from the equilibrium equations.
2) indicates that when the applied force P reaches the .. and we shall denote any rotational displacement of the bar from this horizontal position by the angle 0..4. T h e horizontal position o r 0 = 0 is therefore a trivial solution. Bifurcation Approach Assuming the rotational displacement 0 is small. When the rigid bar is perfectly horizontal. we must have Equation (1.1. For a nontrivial solution. then the equilibrium condition of the bar at its displaced configuration can be written in the simple form as This equation is always satisfied for 8 = 0. The system will become unstable and buckle when Preaches its critical value. the spring is in an unstrained state.10 Rotational springsupported rigid bar system (small deflection analysis) spring of stiffness k. PC.We shall use the two methods already discussed to determine this initial value.4 Illustrative OlnrnplerSrnall Deflection Analysis FIGURE 1.
(1.14 General Principles value of k .~~PL(~coso) (1. Note that in the energy approach we can .7) is thus the critical load of the system.cos 8 ) represents the horizontal distance traveled by P as the bar rotates. / L . the system will buckle.1)] has been obtained by considering equilibrium of a free body of the bar.5) For equilibrium.cos 8 ) (1. therefore. The nontrivial solution for Eq. we must have For small 8.4. the total potential energy must assume a stationary value.4.. we have Equation (1. At this critical load.4.4) The term L ( 1 . one must write an expression for the total potential energy comprising the strain energy and the potential energy of the system. sin 8 = 8 .7) is the equilibrium equation of the barspring system. (1. Thus.4. The total potential energy is the sum of the strain energy and the potential energy of the system: ~=u+v=:~.4. This value of the critical load is the same as that determined earlier by the bifurcation approach. Energy Approach In using the energy approach to determine PC. equilibrium for the bar is possible in both the original horizontal and slightly deflected positions. The strain energy stored in the system as the bar assumes its slightly deflected configuration is equal to the strain energy of the spring: The potential energy of the system is the potential energy of the external force and it is equal to the negative of the work done by the external force on the systcm: V = PL(l . The same equilibrium equation [Eq.
we have Thus... The bar is in a stable equilibrium in the horizontal ( 0 = 0 ) position when P < PC. PC. 1. in which the applied force P is plotted as a function of 0 for small values of 0 .. d 2 n / d R 2is negative. For P >PC.4.4 lllustralive Exampledmail Deflection Analysis 15 determine not only the critical load. and the equilibrium condition is therefore unstable. but becomes unstable in that position when P > PC.. This behavior is illustrated in Fig. d 2 n / d R 2= 0 in a FlGURE 1 . for P <PC. (1. 1 1 Stability behavior of springbar system (small deflection analysis) stable 0 .1..d2nld0' is positive. but also the nature of the equilibrium of this system. we can further determine whether the equilibrium of the system is stable or unstable at various stages of loading. That is. The solid line represents a stable equilibrium loading path and the dotted line represents an unstable equilibrium path.5)..11. we need to investigate the positiveness or negativeness of higher derivatives of the total potential energy function. For P = P. For this problem. To determine whether the equilibrium is stable or unstable for the system in its original ( 0 = 0 ) position.. This indicates that the equilibrium is stable. if we take the second derivative of the total potential energy function given in Eq.
12b we see a slightly deflected position of the bar.2 Rigid Bar Supported by a Translational Spring Figure 1.U Translational springsupported rigid bar system (small deflection analysis) . at the free end. Bifurcation Approach In Fig. Consideration of equilibrium of the bar gives This condition is always satisfied by the trivial solution 8 =O. The spring is assumed to be able to move freely in the horizontal direction but retains its vertical orientation as the bar deflects.4.) can be investigated using the energy approach with a large 8 analysis. 1. The bar is subjected to a concentrated force P at the free end. However. 1. we shall determine the critical load of the system. Assuming the system is geometrically perfect.16 General Principles small 8 analysis and so no conclusion can be drawn. For a FIGURE l.12a shows a rigid bar hinged at one end and supported by a linear translational spring of stiffness k. as will be demonstrated in the next section. the stability condition at the critical load (P = PC.
the first derivative of II with respect to 8 must vanish. The two bars are linked together by a frictionless pin at C and the entire system is supported at three locations. Eq.PL8 = O (1. The bars are subjected to .13a.L28 .4.15) can be written as k. Therefore.4.14) n = u + v = t k . (1. dZII/d02is negative.4.. so the system is unstable in its original ( 8 = 0 ) position.PL cos 8 .4.17) To investigate the nature of equilibrium of the system in its original ( 8 = 0 ) position. The support at C i s a spring with spring stiffness k.L (1. V = . we need to perform higher order derivatives of the total potential energy function.cos 8 ) The total potential energy is (1..=k. we have 7 = k. we must have P=P.PL ~ ~ (1.k d2n do . the nontrivial solution is P = PC. 1. By taking the second derivative of the total potential energy function given in Eq.. (1. .13) (1.L2 ..4. 1.4. The supports at B and D are hinged.P L ( 1 .14). (1. d2nldtI2 is positive.3 TwoBar System Consider the twobar system shown in Fig.L Energy Approach The strain energy of the system at its deflected state is equal to the strain energy stored in the structural spring.4 illustrative ExampleMmall Defleclion Analysis 17 nontrivial solution. SO the system is stable. but for P > PC.4.16) This equilibrium equation is identical to that of Eq.4.4..4.18) Thus. For small 8 . for P<P. ( ~ e) P ~L ( I . U = !ks(L8)2 (1.1.=k.12) The potential energy of the system is equal to the negative of the work done by the applied force.cos 8 ) For equilibrium.10).
1.18 General Principles FIGURE 1. As P increases. 1.. we solve for R.13b. Bifurcation Approach Summing moments about B for the free body shown in Fig.U Twobar system a compressive force P at the ends.P O d . a condition will be reached at which the bars will assume a slightly deflected position.L@ . This deflected position can be defined uniquely by a single parameter 8 as shown in Fig. = 2k.13b gives from which.
cbs 8 ) cos 8)] cos 8 ) ] P [ f L ( 1 .4. SO the system is stable. we have = d2n k.cos 8 ) ] (1. .4.1.20) The strain energy of the system is U = %k. For P > P.27) (1.L28 .4.(LO)'For equilibrium.4. (1. we obtain :ksL8$P8=O (1.25) +I.={k.cos 8 ) + L ( l .3PLO = k .4.PLB=O Upon substitution of Eq. (1. dZnldO2 is positive.L ..4.3 P L do2 (1.29) For P I PC.L2 . (1.20). By taking the second derivative of the total potential energy function.4.(L8)' The potential energy of the system is V = P[L(1 ..4.4.L(l = P[$L(l The total potential energy of the system is II = U + V =tk. 1 . 1 3 gives ~ R D L . we must have = dn d8 ~ .28) The critical load is obtained as the nontrivial solution of Eq.$PO = 0 (1. so the system is unstable in its original undeflected position.I P L cos 8 = k. The nature of equilibrium of the system in its original ( 8 = 0 ) position can be studied by observing higher derivatives of the total potential energy function.L (1.19) into Eq. L 8 P=P.24) (1..4.4.4 llluslrative ExarnplesSrnall Deflection Analysis 19 Summing moment about C for the free body in Fig.27).4.21) The nontrivial solution for the equilibrium equation (1.L2 .21) gives the critical load of the system as p e p cr = :k. we have k.~ P sin L 8 =o and for small 8 . L ' o. d 2 n l d 0 2 is negative.22) Energy Approach (1.
the system is said to have two degrees of freedom. A klnernahc admissible dkplacernent is a displacement that does not violate the constraints of the system.20 General Principles 1. we are investigating the equilibrium conditions of the system in a slightly deflected configuration. and B2) are necessary to describe fully the displaced configurat~on of the bars. Bifurcation Approach In using the bifurcation approach.4. Notc that the two parameters ( 0 .14 Threebar system . A configuration of the system d~splacedby an arbitrary kinematic admissible displacement is shown in Fig 1 14b. their horizontal orientation We shall now determine the critical load P of the system. Thus..4 ThreeBar System F~gure 1.14a shows a threebar system supported at the ends A and D by frictionless hinges and connected to one another at B and C by linear rotational springs of spring stiffness k. It is cleat from equilibrium consideration that the support reactions at FIGURE 1. The system is assumed eeometrically perfect in that the springs are unstrained when all the bars are in .
respectively (Fig.4. we therefore have and the symmetric mode (Fig. we must have the determinant of the coefficient matrix equal to zero Equation (1. (1. 1. b) are sketched in Fig.4 lllustralive ExarnplesSrnall Deflection Analysis 21 A and D are zeros. Since the lowest value of the eigenvalue is the critical load of the system.4. .1. 1. we have For a nontrivial solution.32) is the characteristic equation of the system. The two eigenvalues are The corresponding eigenvectors are and The two deflected configurations of the system that correspond to the eigenvectors Eqs.14c). By using the free body diagrams of the left and right bars.15. 1. we can write the following equilibrium equations: In matrix form.34a.15aj is the buckling mode of the system.
.O x ) ] (1.(28.cOS ( 0 .)' (1. .37) The total potential energy of the systcm is equal to the sum of the stram energy and the potential energy.cos 0 .el).cos 0 .(2B1. .8 . .(2R2 .38) For equilibrium.cOS 6 .)'+ 4k. ) + (1 .PL[3 . .22 General Principles FIGURE 1 .02). . n=u+v = tk.O x ) ] (1. the total potential energy of the system must be stationary.cos ( 8 .14. . 1. the strain energy is equal to the strain energy stored in the two springs.4.4. U = !k.4.(20. .36) The potential energy is equal to the negative of the work done by the external forces.cOS 6 . In mathematical terms. this requires .+ $k.0.cos 0. .cos ( 0 . 1 5 Buckling modes of the threebar system Energy Approach For the system shown in Fig.cos 0 .) + 1 . . V = .P L [ ( l .6. ) ) = PL[3 .
(1.1.02)] as. 5k. . + cos ( 8 .8.) = 4k. . we must have det 1 5 k . 5k.39a and b) in matrix form as For nontrivial solution. P L + 4k. we have = a2n as: 5k. . .4.2PL 4k. as.2PL' from which the two eigenvalues are The smallest eigenvalue is the critical load of the system.)] = = a2n a2n as. + P L cos (8.8.PL[cos 8 .2PL 4k. = 02= 0) position.4 llluslralive Exarnple4mall Oefledian Analysis 23 Upon simplification and using small angle approximation. we need to investigate higher order derivatives of the total potential energy function.PL[cos 0. . + PL .+ PL 5k. therefore To study the nature of equilibrium for the system in its undeflected ( 8 . + cos ( 8 . . . . we can write Eqs. By taking the second derivative of thc total potential energy function.
lL. 1.lL. 1. all the inequalities expressed in Eqs.4.4. .45ac) become (k. Such an analysis is known as a liriear eigerrualue armlysis. it is possible for us to investigate the nature of the equilibrium conditions of the systems in their ur~defiectedconfigurations by studying the second derivatives of the total potential energy functions.4.1 Rigid Bar Supported by a Rotational Spring Consider the simple one degree of freedom springbar system shown in Fig.3PL) > 0 For P C k.46ac) will be satisfied. = 0 is stable. we must use large displacement analysis. Although. it is not possible to study the postbucklirig behnuior of the system.lL it is unstable. the assumption of small deflection has been used because in these examples we are only interested in identifying the critical conditions and finding the critical loads of the system. = 8. This is illustrated in the following examples. in addition to determining the critical loads. In other words. whereas for P > k. a linear eigenvalue analysis can provide us with no information about the behavior of the systems after the critical loads have been reached.Uac). Equations (1. if the analysis is performed using the small displacement assumption.L and .5. This simple model has been analyzed earlier using the small displacementassumption. 1. . (1.16. = k.5 ILLUSTRATIVE EXAMPL&LARGE DEFLECTION ANALYSIS In the foregoing analyses of the simple barspring models. as: In view of Eqs.24 General Principles The equilibrium is stable if all of the following conditions are satisfied: a2n>. The critical load was found to be PC. To study the postbuckling behavior of a system. Therefore for P < k. the equilibrium position 8. (1.PL)(Yk.
we concluded that the equilibrium position that corresponds to the initial (straight) configuration of the bar wns stable if P<P. no information about the nature of equilibrium can be obtained when P = PC... (Fig. it is necessary to perform a large displacement analysis as shown in the following. but it became unstable if P>P. we will use the energy approach instead because.nor do we have any knowledge about the postbuckling behavior of the system. However. Energy Approach Although we could readily use the bifurcation approach to determine both the equilibrium paths of a system in a large displacement analysis and the critical loud obtained at the point of intersection of the fundamentnl and postbuckling path(s).. in addition to obtaining the critical load. To obtain such information.1. .16 Rotational springsupported rigid bar system (large deflection analysis) by studying the nature of the second derivative of the total potential energy function. with this second approach we can also investigate the stability of the postbuckling equilibrium paths of the system by examining the characteristic of the higher order derivatives of the total potential energy Wnction. 1.5 Illustrative Example4rge Deflection Analysis FIGURE 1.11).
26 General Principles The strain energy of the system is equal to the strain energy of the spring U = ik.STABLE . Note that this path is coincident with the load axis.5.l12PL(1cosb') For equilibrium.cos 8 ) The total potential energy of the system is then (1. 1.P L sin O = 0 dB (1..16 P  .UNSTABLE  I~ndarnental path .3) dn k. we must have = (1.2) n=U+V=ik. This trivial equilibrium path is the fundamental equilibrium path. It is plotted in Fig.5.02 (1. 1.17.P L ( l .17 Equilibrium paths of the springbar system shown in Fig.5.4) This equilibrium equation is satisfied for all values of P if 6 =a.B .1) The potential energy of the system is the potential energy of the external force V = .5. The FIGURE 1.
= k. indicat~ng that the postbuckling path is always stable..= k .x / 2 s i3 s .212. indicating that the initial horizontal position of the bar is stable if P < PC. we obtain It can easily be shown that the first four terms in Eq. (1.6) becomes : The quantity dZnldOZis always positive since the quantity in parenthesis is always greater than zero. ) At the critical point ( P = PC. To study the stability of the equilibrium paths. dznldi3' is zero according to Eq.1. (1. (1..7).5 illurlralive Exarnpleslarge Deflerlion Analysis 27 postbuckling path is given by p = L sin 0 This path is also plotted in Fig.5. B / L sin 8. P = k . To investigate the stability of this critical equilibrium state.9) are zeros.6) becomes The quantity d ' n l d e z changes from positive to negative at P = P.17 for the range . we need to examine the first nonzero term in a Taylor series expansion for n. . By taking the second derivative of n. For the postbuckling path. therefore Eq.5. B = 0. (1.lL. Using a Taylor series expansion for the total potential energy function about 0 =0.5. 1.5.but unstable if P > PC. we need to examine the higher order derivatives of the total potential energy function. / L ) . It intersects the fundamental path at PC. we have For the fundamental path. so no informatinn concerning the stability of the system can be obtained./ L . = k. therefore Eq.
PL) sin 9 = 0 (1.. This model has been analyzed earlier using the small displacement assumption.5. The critical load was found to be P. .L2sin9cos9PLsin9 d9 = (k. Energy Approach Here. we must have dII =k. indicating that II is a local minimum and so the equilibrium state at the critical point is stable.(L sin 9)' . To study the postbuckling behavior.5.2 Rigid Bar Supported by a Translational Spring Consider now the one degree of freedom barspring system shown in Fig.PL(1. The stable postbuckling equilibrium path is symmetric about the load axis.cos 9) The total potential energy of the system is (1.. the energy approach is used. which is positive.the stable fundamental equilibrium path bifurcates into an unstable equilibrium path corresponding to the original horizontal position of the bar and a stable postbuckling equilibrium path corresponding to the deflected configuration of the bar. 1. From the above discussion it can be seen that as P increases gradually to PC. The equilibrium state at the critical point is stable. we have At P = PC./L.L2 cos 9 . as in the previous example.=k.cos 9 ) For equilibrium.(L sin 8)' The potential energy of the system is V = PL(l .14) (1.13) (1. we must use the large deflection analysis. The strain energy of the system is U = !k.26 General Principles thus the first nonzero term of the series is the fifth term = k.5.18.15) This equilibrium equation is satisfied for all values of P when 9 = 0.5.5. 1.12) II = U + V = fk.L. indicating that the bar can deflect either upward or downward with no particular preference.
5 Illustrative ExarnplerCargeDeflection Analysis k s L sin B I I FIGURE 1. L .18 Translational springsupported rigid bar system (large deflection analysis) which is the fundamental equilibrium path (Fig. T o study the stability of the equilibrium paths. 8 = 0.5. Eq. (1.19 for the range . 1.19). which indicates that the initial horizontal position of the bar is stable if P < PC.17) thus becomes The quantity d211/dB2changes from positive to negative at P = PC.5.1. L cos 8 (1. .L. They intersect at P = PC..= k . we form For the fundamental path.= k.n / Z s B s n / Z .but unstable if P > PC. 1.16) The fundamental and postbuckling paths are plotted in Fig. The postbuckling path is given by P = k .
5.Liunslablel .L cos 8)L cos 8 dB2 = k. 1 . I I .sin2 8 ) . (1. 'postbu~kling path \ I I I .9).5.5. 5 I I I ! I \ fundamental \ \ \ path \ \ \ I I I 1 \ I I \ I 2 I . Eq. I I .L2(cos2 8 .5. At the cntsal point ( P =PC.17) thus becomes = d2n k. d 2 n l d e 2 is zero according to Eq.k.19 Equilibrium paths of the springbar system shown in Fig. we need to expand the total potential energy function in a Taylor series and examine the first nonzero term in the series. (1.18). As a result. . _V 4 0 d 4 4 8 FIGURE 1.18 For the postbuckling path. (1. indicating that the postbuckling path is unstable.(k.L2 sin' 8 (1. If we substitute the expression for I I and its derivatives into the Taylor series.19) The quantity d2n/dO2 is always negative. PC.L). 1. = k.L cos 8. it can be shown that the first nonzero term is . Eq.General P~inciples STABLE UNSTABLE . P = k.
6 ILLUSTRATIVE EXAMPLESIMPERFECI SYSTEMS Note that for all the examples presented in thc preceding sections it has been assumed that the systems are geometrically perfect.. The equilibrium state at the critical point is also unstable.)? (1.= k. We shall now study the behavior of the system using the energy approach.6. and at this tilted position the spring is unstretched. the stable fundamental equilibrium path bifurcates into an unstable equilibrium path corresponding to the original horizontal position of the bar and an unstable equilibrium path corresponding to the deflected configuration of the bar.1 Rigid Bar Supported by a Rotational Spring Consider the onedegreeoffreedomimperfectbarspring system shown in Fig.6. From the above discussion.(B . we have which is negative. The systems will therefore remain undeflected until the values of P reach their critical values.. the springs are unstrained at the commencement of the loadings..20.B. .6. The problem then becomes a loaddeflection problem. 1.L. 1. The system is imperfect in that the bar is tilted slightly by an angle B. Suppose now that the systems are imperfect in the sense that the bars are slightly tilted when the springs are unstrained. it can be seen that as P increases gradually to PC.cos 0) (1. When the bars are in their horizontal positions. PC. indicating that II is a local maximum and so the equilibrium state at the critical point is unstable. Energy Approach The strain energy of the system is equal to the strain energy stored in the spring U = $k. 1. The following examples will illustrate the effect of this imperfection on the response of the systems.At P = PC. The bar will deflect as soon as the load is applied.1) The potential energy of the system is equal to the potential energy of the external force V = PL(cos 8.2) .
(B .1 and 0. (1.21. =0.6.20 Rotational springsupported imperfect rigid bar system The total potential energy of the system is For equilibrium. deflection commences as soon as the load is . For the imperfect system. 1. we obtain P = k. the total potential energy of the system must be stationary from which. 1.8 0 ) L sin B The equilibrium paths given in Eq.3 are plotted in Fig.General Principles Ib I FIGURE 1.17).5) for 6 . The figure also shows the equilibrium paths for the corresponding perfect system that was discussed earlier (Fig.
20 applied. The smaller the imperfection.UNSTABLE FIGURE 1. the equilibrium paths are stable if P< . 1. In fact.ks L cos e ..PL cos 0 dB2 Therefore. if the imperfection vanishes. To study the stability of the equilibrium paths of the imperfect system.1.6 llluslralive Drample4mpedect Syrlemr STABLE I . the equilibrium paths of the imperfect system will collapse onto the equilibrium paths of the perfect system. .k. we need to examine the second derivative of the total potential energy function d2n . the closer the equilibrium paths of the imperfect system is to that of the perfect system.21 Equilibrium paths of the imperfect springbar system shown in Fig...
Therefore. 1.ks L cos a It is qulte obvious that Eq..34 General Principles and they are unstable if P>. 0. when the spring is unstretched. indicating that as P increases the deflections increase. The maximum load that the system can carry is greater than the critical load. We shall now use the energy approach to study the response of this imperfect system. as shown by the curves with the initial angle B.22.6.3. (1.= 0.7) always controls for nlZ < B < nI2. 1.6. PC.6.5) are always stable. (1.2 Rigid Bar Supported by a Translation Spring Consider now the imperfect system shown in Fig. The system is imperfect. the equilibrium paths described by Eq. being tilted by an angle 8.1 and 0. and no instability will occur. FIGURE 1.22 Translational springsupported imperfect rigid bar system L cos 8" lbl I .
we obtain sin 8 ~ = k .6.k...s i n 0+)=o an2 0 sin 0. except at 9 = 0.. is always less than PC.6...P L sin 0 = 0 (1. 1. .15) into Eq. we must have dn..PL(cos 0.6.L2(sin 0 sin 0. Again.3 are plotted in Fig.~ ~ ) The equilibrium paths described by Eq. ~ ~ o ~ 0 ( 1 .1 and 0.. = 0. k . becomes PC.)' (1. as in the preceding example.cos 0 ) For equilibrium. .. 1.cos 0 ) (1.6. (the peak points of the loaddeflection curves) that the imperfect system can carry are less than the critical load PC.. The equilibrium paths for the corresponding perfect system are also shown in the figure.Energy Approach The strain energy of the system is equal to the strain energy stored in the spring U = !k. (1.of the corresponding perfect system.sin 0.23.) cos 0 . the equilibrium paths of the imperfect system collapse onto the equilibrium paths of the perfect system. The maximum loads P. as the imperfection Oo approaches zero. (1.L2(sin 0 (1.6.6. Note that P. = sin3 8 from which we obtain the condition Substitution of Eq. when P. (1..9) The potential energy of the system is equal to the potential energy of the external force V = PL(cos 0.10) The total potential energy of the system is Il= U + V = :kSL2(sin 0 sin 0")' .13) for 9.12) from which. The larger the imperfection the smaller P. These maximum loads can be evaluated by setting = dP dB sin 8. ~ ( .6.6. .23 as a dashanddotted line. will be.16) is plotted in Fig.13) gives The locus of the maximum loads as described by Eq. (1.11) dB .
13) for P into the above equation and simplifying.6.General Principles FIGURE 1. = d'n dB' k. (1.6.6.sinZ8 +sin 8. we need to examine the second derivative of the total potential energy function.s1n3 8 d e2 .13). (1. (1. we obtain d211  sin 8.~ . ) (1. 8. for the range n/2 S B S xI2.19) Thus.23 Equilibrium paths of the imperfect springbar system shown in Fig. L z ( sin .22 To study the stability of the equilibrium paths described by Eq. 1.6. .13) will be stable if sin 80> sin3 8 . sin 8 ) Upon substitution of Eq.LZ(cosZ8 . the equilibrium paths given by Eq.
1 Allowable Stress Design The purpose of allowable stress design (ASD) is to ensure that the stresses computed under the action of the working.7. a small imperfection may have a noticeable effect on the system's behavior. design practice is based on one of these three design philosophies: Allowable Stress Design. service loads. the loaddeflection behavior of the imperfect system will follow the stable rising equilibrium paths as shown in Fig. and the magnitude of this maximum load decreases with increasing imperfection. i.7 DESIGN PHlLOSOPHlES T o implement the mathematical theory of stability into engineering practice. it can be seen that the rising equilibrium paths are stable and the falling equilibrium paths are unstable.20) So. O n the other hand. The maximum load the imperfect system can carry is larger than the critical load of the perfect system. and Load and Resistance Factor Design. A brief discussion of these design philosophies will be given in the following sections. The allowable stresses are usually expressed as a function of the yield stress or ultimate stress of the material. it is necessary to review the various design philosophies and safety concepts upon which current design practice is based. "' . A s the load P is increased from zero. a small imperfection will not significantly affect the system's behavior.. we can conclude that for a system with stable postbuckling equilibrium paths. i=l C Qi. 1.6.23. Details of this implementation on various specific subjects will be given in the chapters that follow. of a structure do not exceed some predesignated a[lowable values. is reached. Plastic Design. until P . A t present. for a system with unstable postbuckling equilibrium paths.e.S.Design Philosophies 37 and they will be unstable if . From the foregoing examples of imperfect systems. The general format for an allowable stress design is thus 3 R" F.i sin3 0 sin 8 (1. 1. after which the system will become unstable. The maximum load that the imperfect system can carry is then smaller than the critical load of the perfect system. 1.
bending moment. or as 1.g. and safety is evaluated in the service load range. wind load. The right hand side of the equation represents the combined stress produced by various load combinations (for example. etc. = nominal working. One should realize that in allowable stress design. etc.) y = load lactor i = type of load m =number of load types In steel design.). live load.2 Plastic Design The purpose of plastic design (PD) is to ensure that the maximum plastic strength of the structural member or component does not exceed that of the factored load combinations.7 if Q . etc. tension. Formulas for the allowable stresses for varlous types of structural members under various types of loadings are specified in the AISC Specification. 1. compression. shear force.S. .3 if Q . consists of only dead and live gravity loads. shear. or service stresses computed under working load conditions F. = nominal plastic strength of the member Q. live load. The use of a smaller load factor for the latter case is justified by the fact that the simultaneous occurrence of all these load effects is not very likely. etc.. dead load. I t has the format where R.).= nominal load effect (e. (1..e.=factor of safety i = type of load (i. = nominal resistance of the structural member expressed in unit of stress Q. bending.7.7. the load factor is designated by the AlSC Specifications as 1.3 A satisfactory design is when the stresses in the member computed using a firstorder analysis under working load conditions d o not exceed their allowable values.1) represents the allowable stress of the structural member or component under various loading conditions (for example. wind load. dead load.) rn =number of load type The left hand side of Eq. axial force. consists of dead and live gravity loads plus wind or earthquake loads. the factor of safety ib applied to the resistance term.38 General Principles where R .
etc. . safety is incorporated in the load term and is evaluated at the ultimate (plastic strength) limit state.Design Philosophies 39 Note that in plastic design. The load and resistance factors for various types of loadings and various load combinations are summarized in Tables 1. etc. and the other to the resistance of the materials. Two safety factors are used. = load effect (e." whereas the load factors were developed based on statistical In particular. i = type of load m = number of load types In the 1986 LRFD Specification.' the resistance factors were developed mainly through calibration. = load factor (usually >1.) is minimal.g. the load and resistance factor design has the format where R.1and 1.0) corresponding to Q. shear force. Based on the firstorder secondmoment probabilistic a n a l y ~ i s . one applied to the loads. axial force. 1. = nominal resistance of the structural member Q .2.. Thus.. yielding. bending moment.the ~ safety of the structural member is measured by a reliubili~ or safely index" defined as where R =mean resistance Q =mean load effect VR = coefficient of variation of resistance VQ= coefficient of variation of load effect ~ in which o equals the standard deviation.) @ = resistance factor ( 4 . the firstorder probability theory is used. respectively. A satisfactory design is the one in which the probability of the structural member exceeding a limit state (for example.3 Load and Resistance Factor Design The purpose of load and resistance factor design (LRFIJ) is to ensure that the nominal resistance of the structural member or component exceeds that of the load effects.7. 0 ) y . fracture. buckling.
I t i s the multiplier o f t h e s t a n d a r d d e v i a t i o n V k + Vb b e t w e e n t h e m e a n of t h e in (RlQ)d i s t r i b u t i o n a n d t h e o r d i n a t e . or S or R)+ (0.= roof live load W = wind load S =snow load E = earthquake load R =nominal load due to initial rainwater or ice exclusive of the ponding contribution v 'Thc load Oclor on L in thc Ulird. or S or R ) . limit statc: bearing Columns.. limir state: shear A307 bolts Others P .1. i.5 L + 0.5 ( L .1 Load Factors a n d Load Combinations" 1. S E + ( 0 .24. Iourth and 61th load combinations shown above shall cqunl 1. T h e physical i n t e r p r e t a t i o n o f t h e reliability i n d e x IS s h o w n i n Fig. limit state: yielding Tension member. 1.8 W ) 1.5( L .2 D + l . 2 s ) where D = dead load L = live load L. t h e p r o b a b i l i t y t h a t t h e r e s i s t a n c e will b e s m a l l e r t h a n Table 1.wherc the live load is greater fl~an1 W psi.3 W or 1. N o t e that b o t h t h e resistance R a n d t h e load Q a r e treated as r a n d o m parameters i n LWD.gcs.2 Resistance Factors \rP M e m b e r type a n d limit state Trnsion member. or S or R ) + 1. urea.4 D 1. limit state: tension Highstrength bolts.e.3 W + 0.6 ( L . limit state: tension Pinconnected member.9 D + 1.2 D 1.2 D + 1.6 L + 0. 5 L or 0 . and so i n (RlQ)does n o t h a v e a single v a l u e b u t follows a distribution. all limit stater Beams. The s h a d e d a r e a in the figure represcnts t h e probability i n w h i c h In (RlQ) < 1. limit stnte: shear Pinconnected member.occupied ar places of public srrcrnbly and all arc. all limit states Highstrength bolts.5E 1.0 tor btr.5 L or 0.2 D 0.General Principles Table 1. limit state: fracture Pinconnected member.
75 for members under dead plus live load acting in conjunction with earthquake loading. live. 3. Thus. A higher value of p for connectors ensures that the connections designed are stronger than their adjoining members. p = 3. the magnitude of P reflects the safety of the member. and.0 for members and p = 4. p = 2. In the development of the present LRFD Specification.' the following target values for p were selected: 1.5 for members under dead plus live load acting in conjunction with wind loading. A lower value of P for members under the action of a combination of dead. and so it becomes more improbable that a limit state may be exceeded. safety is evaluated on the basis of the ultimate or limit load conditions. 2.Design Philosophies PROBABILITY DENSITY 1 FIGURE 1. wind. From the above discussion. indicating that a limit state has been exceeded.24 Reliability index the load effect. the designer must also pay attention . the safety of the structural member is evaluated on the basis of service load conditions. The larger the value of p. whereas in plastic or load and resistance factor design. p = 1. In addition to strength. or earthquake loading reflects the improbability that these loadings will act simultaneously.5 for connectors under dead plus live and/or snow loading. the smaller the area of the shaded area. it can be seen that in allowable stress design.
1.42 General Principles to stiffness of the structure.'. the stability of plates and shells will not be discussed. Hence.8 SCOPE In this book. . Thus. A cotrseruaiive system is a system that is subjected only to conservative forces. Assume that all the bars are rigid. In addition. regardless of the design method. One important criterion related to stiffness is that the structure or structural component must not deflect excessively under service load conditions. Only the stability behavior of structural members and frames will be presented. the critical load but not the postbuckling behavior of the member or structure will be studied. most of the material presented in this book's later chapters will be based on what is called srnull displucernerrt theory. For a discussion of the stability behavior of elastic systems under nonconservative and dynamic forces.~ and shells. one should always investigate such seruiceobility requirernerrts as deflection and vibration at service load conditions. 1 Find the critical load \ 1 I PC. Pl." PROBLEMS 1 . interested readers should refer to For a discussion of the buckling behavior of plates books by B~lotin.lac using the bifurcation approach.of the barspring systems shown in Fig. to forces whose potential energy is dependent only on the final values of deflection. please refer to books by Timoshenko and GereLoand Brush and Almroth. that is. the discussion of stubility theory will be limited to conservative systems under static or quasistatic loads.
Chicago. REFERENCES 1. Load and Resistance Factor Design for Steel. M. 2 Repeat Prob. Chapters 44 and 45. September 1978.. November 1978. ASCE. 104.1. 9. AISC. W. ST. No. 1. 1962. T. 1986.3 Investigate the stability behavior of the asymmetric springbar model shown in Fig. . Load and Resistance Factor Design Specification for Structural Steel Buildings. using the energy approach 1. and Galambos. November. 4. 13371354. AISC. Vol. McGrawHill. pp. 2. V. 3.l 1 .References IcJ FIGURE P1. Specification for the Design. New York. Handbook of Engineering Mechanics. Chicago.1. P1. P. 4 Investigate the stability behavior of the snapthrough springbar model shown in Fig. Fliigge.  p FIGURE P1.4. K. Ravindra.3 1 . IL. Journal of the Structural Division. IL.3. Fabrication and Erection of Structural Steel for Buildings.
No. 1968. September 1974. J. Building Code Requirements for Minimum Design Loads in Buildings and Other Structures. General References Simitses. John Wiley & Sons.. Journal of the Structural Division. Theory of Elastic Stability. 1964. M. HoldenDay. G. No. New York..K. T. .T. J. New York. Timosbenko.. G. and Comell. 1963 (translated from Russian).S. O. 1973. American National Standards Institute. Ellingwood. 1976. 2nd Edition. Thompson. New York. 978997. 100. 8. Waltham. 17551769. H.. Principles of Structural Stability.. and Cornell. C. G. ASCE. PrenticcHall. V.. and Hunt. ST5. D. A. ProbabilityBased Load Critena Load Factors and Load Combinations. 7. A. Bolotin. J.11982. Brush. McGrawHill. Ang. ANSI.. Vol. May 1982. ASCE. Galambos.M.. S. The Dynamic Stability of Elastic Systems. Blaisdell Publishing Co. 9. McGrawHill. Macmillan. and Almroth. San Francisco. London. B. ST3. MacGregor. 1961. V. 11. U. and Gere. pp. V. A. pp. B. P. New York. ANSI A58. An Introduction to the Elastic Stability of Structures. C. A General Theory of Elastic Stability.. Bolotin. 10. 0. NJ. MA. Buckling of Bars. Ziegler. H. J.44 General Principles 5. Herrmann Ed. Plates and Shells. 108. Nonconservative Problems of the Tlleory of Elastic Stability. Vol. Journal of the Structural Division. V. 1975. Reliability Bases of Structural Safety and Design.W. V. G.. 6.
1 INTRODUCTION In the preceding chapter. we will use the bifurcation approach to stability analysis in this chapter. the equations of equilibrium were algebraic rather than differential in form. We shall begin our discussion of a deformable system by studying the buckling behavior of columns. a condition is reached in which equilibrium in a straight position of the column ceases to be stable. In partsular. we investigated the critical conditions of several simple barspring models. The energy approach for the stability analysis of elastic columns will be deferred until Chapter 6. In this and subsequent chapters. the column will remain in a straight position and undergoes only axial deformation. If P is small. we shall study the buckling behavior of deformable systems. As a result. Since internal forces are usually expressed as a function of the derivatives of the generalized coordinates. it follows that the resulting equilibrium equations that relate the external and internal forces will be differential in form. a knowledge of differential calculus is indispensable. 2. For such systems. As P is increased. Under this condition. they did not deform as the system reached its critical state. The column at this state is said to be in stable equilibrium since any lateral displacement produced by a slight disturbing lateral force will doappear when the lateral force is removed.la is a perfectly straight elastic column loaded concentrically by an axial force P.Chapter 2 COLUMNS 2. to proceed with the calculation. Since the bars were assumed to be rigid. internal forces will develop as the system deforms under the action of the applied external forces. Shown in Fig. Therefore. a very small lateral force will produce a very large lateral deflection that does not disappear when the lateral force is 45 .
2.P I Pc r = P" LOAD POINT OF BlFURCATlON OF DEFLECTION FIGURE 2. The axial load that demarcates the stable and rrristuble eqrrilibriurn of the straight column is referred to as the critical loud (PC.1 Euler load removed. The bifurcation point exists only for a perfectly straight column. 2. In reality. The critical load also marks the point of bifirrcatiorl of equilibrium of the perfectly straight elastic column.lb).) or Euier load (PC) (Fig. respectively [Fig. there also exists another equilibrium position in a slightly deflected configuration. In the following section. The transition from the (unstable) straight configuration to the (stable) deflected configuration corresponds to a state of neutral equilibrium of the column. will cause the column to deflect laterally at the onset of loading. which are unavoidably present in an actual column. This deflected position is favored when the straight column is disturbed by a small lateral force. This technique for determining the critical load of a column is known as the method of rreutrul eqirilibrium. . At the critical load. curve (i)]. This slightly displaced configuration is a stable equilibrium position. we shall evaluate the critical load of this perfectly straight column by reference to this neutral equilibrium position. Geometrical imperfection and/or load eccentricity. It is at this point when the theoretical loaddeflection curve of the column bifurcates into stable and unstable equilibrium branches that correspond to the deflected and straight configurations of the column. columns are rarely perfectly straight. 2. and the column will not return to its straight position when the disturbing lateral force is removed.
2..1 lnlroduclion FIGURE 2. for a stocky column. (iib) a column with large initial crookedness. large geometric imperfection. 2. respectively.2 Loaddeflection curves of (i) a perfectly straight column. will govern the limit state of the colun~n.. For this case. P.2 show schematically the loaddeflection behavior of a column with small geometric imperfection.. can be represented by the tallgent modulus load (P. the limit load is the ultimate strength of the column. For a long or slender colurnr~. and load eccentricity. (iii) a column with eccentrically applied load Consequently. straight column. and (iii) of Fig. (iib). It should be mentioned that the behavior of a long column is quite different from that of a short column. (iia) a column wit11 small initial crookedness. the yield load P . buckling may occur when all fibers of the cross section are still elastic and so the Euler load (PC)will govern the limit state of a slender column. For a short or stocky column. For a perfectly denoted by P. For a medium length column. yielding of fibers over the entire cross section usually occurs when the yield stress of the material is reached before buckling can occur. Curves (iia). some of the fibers of the cross section may yield under the action of the applied force while some fibers still remain elastic. Initially crooked and eccentrically loaded columns will be discussed in subsequent sections of this chapter.) . and so. the loaddeflection curve of a n imperfect column is a smooth curve.
2. 4. Two commonly used numerical procedures to determine P will be discussed in Sections 6. These two inelastic column theories will be discussed in Section 2. If the column is not perfectly straight. T o calculate the critical load of this column. the following assumptions regarding the geometry.3a a column. For such members. The material obeys Hooke's Law (i. The axial load is applied along the centroidal axis of the column. At the critical load. the member is referred to as a beamcobmtt and will be treated separately in Chapter 3. 6.2 CLASSICAL COLUMN THEORY A columrt is defined here as a member that sustains only axial load. 2. kinematics. The column is perfectly straight. 3. 2. Deflection of the member is due only to bending (i. the tangent or reduced modulus theory is not applicable anymore. must be determined .48 Columns or the reduced modulus load (P. pinned at both ends with the upper end free to move vertically. and material of the column are used: 1. As a result. one uses the method of neutrnl eqlrilibriirm. numerically. or if bending exists at the onset of loading.. The critical load can .1 PinnedEnded Column In deriving the basic difIerential equation of a pinnedended column. the curvature can be approximated by the second derivative of the lateral displacement.e. 2.). These loads can be obtained by making certain assumptions regarding the strain and stress distributions in the cross section of the column. Although a column can be considered as a limiting case of a beamcolumn when the lateral loads in a beamcolumn vanish.e. Plane sections before deformation remain plane after deformation. 5. the governing differential equation of the column is derived as follows: In Fig. shear deformation is ignored).7.2. is loaded by an axial force P applied along its centroidal axis. If lateral loads are present in addition to the axial load.7 and 6.. the stress and strain are related linearly). the column can be in equfibrium in both a straight and a slightly bent configuration. The effect of this inelasticity can b e taken into account by modifying the elastic modulus according to the two inelastic column theories: the tangent modulus and the reduced modulus tl~eoriesfor a perfectly straight column. The deflection of the member is small.8 of Chapter 6. With the above assumptions in mind. in this chapter we will trrllt the column problem independently. the ultimate load P .
.M.5. The internal moment Mi.3 Pinnedended colun~n be obtained from the governing differential equation written for the slightly bent configuration of the column using an eigenualue analysis. 4. .3b shows a free body diagram of a column segment of the column shown in Fig. is the internal resisting moment and y is the lateral displacement of the cut section. The critical load is the eigenvalue and the deflected shape is the eigenvector of the problem.1) where M . 2..2 Classical Column Theory FIGURE 2... Figure 2. induced by the bending curvature @ of the cross section is given by M .2. The value El here can be considered as the and curvature @ = 1IR (Fig. . . only the deflected shape and not the magnitude of deflection of the buckled column can be determined. . and 5 given above in the following manner: In Fig.4).3a. an infinitesimal segment of a column of length dr is shown .2. In an eigenvalue analysis.2. This linear momentcurvature relation can be derived directly from the kinematic and material assumptions 3.2) where E is Young's modulus of the material and I is the moment of inertia of the cross section. + Py = 0 (2.= E l @ (2.. Equilibrium of this free body requires that . 2. slope of the relation between moment M. 2.
with its undeformed and deformed positions. can be obtained by the FIGURE 2 . E. the axial stress a. we can write the kinematic relation as where E. From statics. = axial strain R = radius of curvature From Hooke's Law. . From similar triangles. . the internal moment M . is related to the axial strain by the linear relation. 5 Kincrnalics of a colurlln segmen1 deformed .
2.13) Note that there are three unknowns.into Eq.2.10) can be written in the simple form (2. 2.2.15) . Y (0) = 0 Y(L)=O (2. A.14) (2. .3b decreases with increasing . The negative sign in Eq.2. and B.r. (2.2. (2.6) gives .12) is a secondorder linear differential equation with constant coefficients.5) into the equilibrium equation (2. Using this approximation for curvature. If a small deflection is assumed. in the above equation.7) can easily be reduced to Eq.10) Equation (2.2. k.2) can be related to lateral displacement y by Substitution of this expression for M r .2. over the cross section.2.2. the internal moment of Eq.2. Eq.2). (2. (2. The general solution is y=Asinkx+Bcoskx (2.8) indicates that the curvature @ or the rate of change of the slope dyldx of the deflected shape as sketched in Fig. the curvature @ can he approximated by the second derivative of the lateral displacement in which a prime indicates the derivative of y with respect to x.2.2. y: dA is the moment of inertia I of the cross ' By recognizing that j section and 1/R is the curvature @. (2.2.2 Classical Column Theory 51 integration of the moment induced by the stress a .1) gives Ely " + Py = 0 Introducing the notation P k2 = El y"+k2y=0 (2. Substitution of the kinematic relation (2.4) and the stressstrain relation (2.2.12) Equation (2.2.2. but we have only two independent boundary conditions.
11) The value of P that corresponds to the smallest value of n (i.2.Therefore.19) with k L = nn. we can only determine two unknowns.).18) (2.16) and (2. we have AsinkL=O Equation (2. Substituting the first boundary condition (2.2.2.20) from which we can solve for P f r o m Eq. ri = 1 ) is the critical load (PC.2. .14) into Eq. This load is also referred to as the Euler load (P.15).2.24) Note that the constant A is still indeterminate.21) with I I = 1 into the deflection function (2.2.. (2. (2.13). as Euler is the pioneer of this columnbuckling problem..2.2.2.18) is a trivial solution that states that the straight configuration of the column is an equilibrium position.2. only the deflected .17) (2.' It will he seen in later sections and chapters that the Euler load constitutes an important reference load in the buckling and stability analysis of members and frames.e. we have B =0 Using the second boundary condition (2.. (2.2.)of the column.17) is satisfied if A =0 (2. we must satisfy Eq.16) (2. or 11 = 1.13). (2.2.2. (2.2.2. This gives y = A sin nx L (2. The deflected shape of the column a t buckling can be found by substituting the constants B and k i n Eqs.2. T o obtain a nontrivial solution that describes the equilibrium position of the column in a slightly bent configuration.19) and/or sin k L = O Equation (2.2. Thus.
the resulting differential equation will be nonlinear.25) Substituting the internal moment from Eq. + P(e + y ) = 0 (2. This is because we approximate the curvature Q to the lateral displacement y of the column by the linear relation Q = y" using the small displacement assumption. (2. If the small displacement assumption is obliterated. i M .6a shows the loading condition and the deflected shape of an eccentrically loaded column. (2.2 Eccentrically Loaded Column Figure 2.2.9) into the above equation gives FIGURE 2.2 .. 2. The use of formal mathematics for the solution to this nonlinear equation will result in not only the deflected shape but also the amplitude of the deflected column. 2 Classical Column Theory 53 shape and not the amplitude of the deflection can be determined..2. 2. Equilibrium of the free body of a column segment shown in Fig. The axial force P is loaded eccentrically at a distance e from the centroidal axis of the column. This approximation leads to the linear differential equation [Eq..2.12)l.I I EIy" X e P P .6 Eccentrically loaded column ORIGINAL SHAPE . The discussion of the large displacement behavior of an axially located column will be given in the later part of this section.6b requires that M.2.
~ s ~ coskx n k x (2.cos k L = sln ( k~ )e Substituting these constants into the deflection equation (2. y"+ k2y = 0) y.2.~ ~ k ~ slnek L ( .34) A 1 . we obtain the deflected shape of the eccentrically loaded column as The corresponding moment is given by M = Ely" or cos kL .27) The homogeneous solution is given by The particular solution yp can be obtained by either the mettrod of undetertnined coeficient or the metirod of variation of pornmeters. The general solution to this equation is where y.2. For this simple case.31).2. (2. it can easily be shown that Thus.. M= .54 Columns using k 2 = P I E I .e.2.37) .2. wc obtain Equation (2.27) is the governing differential equation of an eccentrically loaded column.=complementary solution to the corresponding homogeneous differential equalion (i. = particular solution satisfying Eq. the general solution is The constants A and B can be determined by the two houndary conditions The first boundary condition leads to B=e and the second boundary condition together with B = e leads to (2.1 .
we can write =AFe (2.... and similarly..2.2.46) (2.39) can be simplified by using the trigonometric identities and the resulting deflection and moment at the midheight are y.2. and M.2 Classical Column Thcory 55 The maximum deflection and moment occur at midheight of the column.. are given respectively as Equations (2. = A . (2..2.2.. respectively. by setting x = L / 2 .44)can be written as as the un~plificarion . The total maximum deflection measured from the line of application of P is therefore Defining fucror.2..47) (2.. since k 2 = PIEI.2.2.38) and (2.43) kL M. the end eccentricity and end .a .42) is measured from the original undeformed centroidal axis of the column.. E q . we have = AF(Elk2e) M.2... y. = (set k L .48) M.2..(Pe) Since e and Pe are. = EIkZesec 2 The maximum deflection (2.. Therefore.42) (2...l)e (2..
48) indicate that the maximum displacement and maximum moment in the column can be obtained by simply multiplying the end eccentricity and end moment by the amplification factor A. is shown in Fig. For an eccentrically loaded column.46) and (2. [Eq.45)l.2.2 0.. (2.44)] for two end ecccntricity ratios e l L = 0. (2. deflection begins as soon as the load is applied. Thus.2.2.001 and 0. but increases progressively and rapidly as the load increases. 2.7 Amplification factors moment of the eccentrically loaded column. as a function of PIP.Columns L 0 0. Pa.4 0. Deflection is relatively small at the commencement of loading.O FIGURE 2. . the more the column will deflect at the same load level. The larger the end eccentricity.2.lL plotted as a function of PIP. Note that this amplification factor depends on the axial force P. I I .7. 2.005 is shown in Fig.8 P P /. The normalized midheight deflection 6. At or near the Euler load. deflection increases drastically and the loaddeflection curves approach asymptotically to the Euler load. the maximum load that a perfectly elastic eccentrically loaded column can carry is the Euler load. (2.6 0. [Eq. A plot of A.8. Eqs.
2 .51) where r is the radius of gyration of the cross section. we can write Eq. 3 Secant Formula The maximum stress in an eccentrically loaded elastic column is the sum of the axial stress and the maximum bending stress urnax  +5 P A M c 1 where c is the distance from the neutral axis to extreme fiber of the cross section. (2. from Eq.8 Loaddeflection behavior of eccentrically loaded columns In reality. 2 Classical Column Theory 57 & L FIGURE 2. .2. (2. 2 .48) into E q . . Substitution of M .2. .2.49) gives Since 1 =Ar2 (2. however. .2 . the Euler load is seldom reached and the maximumloadcarrying capacity of an eccentrically loaded column will fall far below the Euler load. because of material yielding.
e. As a result. The eccerltricily factor eclr' is treated as an imperfection factor for an axially loaded column and is determined by calibration so that the formula will best fit the given experimental data.2. the governing differential equation (2. Nonlinear Theory In the preceding sections. i. 2.58 Columns This secant formula enables us to calculate in a direct manner the maximum stress in an eccentrically loaded column.9b.. in which the secondorder tenn (y')2 in the denominator can not be neglected in the curvaturedisplacement relation.10) derived previously for a pinnedpinned column on the basis of small displacement assumption must be modified to include this term (Fig. For the column segment shown in Fig.. In actual design implementation. a more exact expression for the curvature must be used.4 Linear vs.the corresponding critical load (PC.54) into thc . 2. the equilibrium equation is Upon substitution of the exact curvature expression (2. the curvature Q is approximated by the second derivative of the lateral displacement with respect to x . = a . 2..2. If the first yield of the material is used as the criterion for failure. the assumption of small displacement is used..8) If the small displacement assumption is obliterated.2.2. It will be used in what follows to develop a column strength equation for the design of axially loaded columns with imperfections. i.2.9a).) can be calculated from Eq. (2. .52) by setting a. Q = y" (same as 2.e.. if the limit state of the column is defined as the state at which the maximum fiber stress just reaches the yield stress ay. As a result. the secant formula is developed in conjunction with reference to experimental data.
9a) by and.55). hence.2 Classical Column Theory ORIGINAL SHAPE L FIGURE 2.2.55) becomes dB El+ ds Py = O (2.23a+Py = O [ I + (Y ) I This is a nonlinear differential equation. 2.sin 0 .2.5. we express the curvature Q in terms of the rate of change in slope along the deflected coordinates of the member (Fig. the governing differential equation (2.9 Large deflection a~lalysis of a pionedeoded colum~~ equilibrium equation (2. To simplify the equation. we have Ely " .2.58) Taking derivatives wlth respect to s and realizing that dy ds .
is given as (see reference 2) 2 sin 2 6 =a' (2.10 shows a plot of Eq. The original straight configuration of the column will become unstable. Details of these calculations are given in reference 2. In the following we shall discuss the result of these calculations.61). For PIP. bifurcation of equilibrium takes place. = 1. in Fig.10. When PIP.7A 1 _r w6 0 ' \.1. The expression for the midheight deflection of this column as a function of PIP. 2.60 we have Columns Equation (2. this unstable cquilibrium is represented by the line AB.61) where a' is the end slope of the column (Fig. the straight configuration is the stable equilibrium position of the column. 2.60) can be solved by using elliptical integrals. 3  2  . (2.< 1. 2 0 ~ . Figure 2.2.2.9a). A bent configuration FIGURE 2.2. .10 Large displacement loaddellection bel~aviorof a pinnedended column B 4 PIP.
3. When PIP. in Fig. we investigate the behavior of columns with other end conditions. 5. Unlike the linear theory in which only the deflected shape. This is beyond the scope of this book. The postbuckling behavior of the column is stable because the buckled column can carry additional axial load beyond the Euler load (PC). the secondorder differential equation becomes highly nonlinear and is often intractable.7 to 2. can be determined. The midheight displacement is the greatest when PIP. the nonlinear theory gives both the shape and amplitude of the buckled column. Recourse must then be had to numerical methods to obtain solutions. this stable equilibrium position is represented by curve AC. 2. inelastic behavior of material must be considered in the analysis. 19771.7. In this section. is about 1. At such a large deflection. The increase in load above the Euler load can only be achieved at a very large lateral deflection.> 1. and the applied force P will now act as a tensile rather than a compressive force to close the loop.9 of this chapter. After that. 2.) The consideration of material nonlinearity and yielding in the behavior of columns under the small displacement assumption will be given in Sections 2. Both the linear and nonlinear theories give the same prediction of the critical load (PC. Some observations and conclusions can be made from the present large displacement analysis: 1..10. In the plastic or nonlinear range. The effectiue length of an endrestrained column is defined as the length of an equiualerrt pinnedended column that will give the same critical load as the endrestrained column. the effective length can be visualized as the distance between the two inflection points (real or imaginary) of . by Chen and Atsuta [1976. (Interested readers are referred to the two volume. a slight increase in P will result in a large increase in displacement.)= P.3 ENDRESTRAINED COLUMNS So far. further increase on load will result in a decrease in midheight deflection due to the fact that the column has now turned inside out.2. Both the end slope n and the midheight deflection 6 increase rapidly as PIP. 4. 2. The deflection modes at various stages of loading on the curve are represented by the inset diagrams. Theory of BeamColumns. Physically. comprehensive book. not the amplitude of deflection. we have considered the behavior of columns whose ends are pinned.3 EndRestrained Columns 61 will be favored. and then compare them to the pinnedended case in order to introduce the concept of effective length. rises slightly above unity.
the general solution is The boundary conditions are y (0) = 0. y'(L)=O Using the conditions at + = U.3. This will be illustrated in the following examples. 2.V x / P + M A / P . y '(0) = 0 y(L)=O. (2. we have Substitution of Eq. 2 .13).6) Using y (L) = 0. Thus. (2.3.7) into Eq.11a shows a column built in at both ends.4) gives (2.3. 1 Both Ends Fixed Figure 2.3. 3 . The complementary solution is given by Eq.5) (2.2. it can be seen that equilibrium requires that Since the internal resisting moment is The differential equation for equilibrium of this column can be written The general solution consists of a complemenlary solution satisfying the homogeneous equatlon and a particular solution satisfying the entire equation. we have Using y '(L) = 0. we have .11b. From Fig.62 Columns the buckled shape of the endrestrained member. and the particular solution can he obtained by inspection as . (2. The forces acting on the column os it buckles are also shown in the figure.
1 1 (continued) Symmetric and antisymmetric buckling modes of a Fuedfixed column .FIGURE 2 . 1 1 Fixedfixed column (c) SYMMETRIC (d) ANTISYMMETRIC liIGURE 2 .
.2 sin2 (kL/2). the lowest value that satisfies the ..17) .11~)that will carry the same critical load as the fixedfixed column with length L can be obtained by solving the following equation which givcs KL=:L (2.2 ( T c o s . equatlon cOsor tan=n k L = 8.e. we can write Eq.) = ~ 2 Equation (2.14) correspond to the critical loads of the symmetric (Fig. .3.3. (2. 3.3. . we must have By using the trigonometrical identity sin kL = 2 sin (kL12) cos (kLl2) and cos kL = 1.. i. 2.3. .2s n .From Eqs. Sincc the critical load of the symmetric buckling mode is less than that of the antisymmetric buckling mode.14) will have little significance to us.9) and (2. 2. for a nontrivial solution of V and M.11~)and antisymmetric (Fig.11) as kL kL kL . n = 1.. kL sin. (2. j If the terms in the parenthesis vanish. the solution is kL = 2r1nwhere. Eq.3.3. Unless the midheight of the column is braced against lateral movement. 2.987 from which 2 2 2 2 2 The values of Eqs. (2. (2. respectively. The column will buckle in the symmetric mode.8): If we define KL as the effective length of this fixedfixed column.10).12) can be satisfied if either the fint term sin (kLl2) or the terms in the parenthesis vanish.3. The deflected shape of the symmetric buckling mode can be obtained by substituting V = 0 (because of symmetry) and k = 2 n l L into Eq. If the first term vanishes. the equivalent pinnedpinned column with length KL (Fig. from which the critical load is obtained by setting n = 1.11d) buckling modes of the column. (2.13) and (2. kL kL sin=O kL kL k L .3. 2.3.
Hence.16). 2. The equilibrium equation for the free body is .2 One End Fixed and One End Free Figure 2. give x = L / 4 and 3L/4. inflection points are located a t x = L / 4 and 3L/4 and so the distance between them is 3L14 . (2. 2. 2. T o verify that the inflection points are indeed as shown in Fig. 2. By differentiating Eq. the inflection points of the fixedfuted column are at a distance of L / 2 apart (Fig. the effective length factor K can be evaluated directly by the following equation (2. = critical load of the endrestrained column PC= Euler load of the pinnedpinned column having the same length as the endrestrained column Equation (2. as shown in Fig. 3 EndReslrained Columns i 65 In other words.3.20) can easily be derived from the definition of effective length factor similar to that of Eq. we can write the moment expression as from which Using n = 1 and 3. for a centrally loaded. In general.f e d column. Equivalently.12a shows a column built in at one end and free at the other end. the length of the equivalent pinnedpinned column is half that of the fixedfixed column.3. and endrestrained column.The factor K is called the effecfiue length factor of the f i x e d .11~.15) twice.2 .3.3.12b. we first write the moment expression along the length of the column and set it equal to zero to calculate the distances x that give the locations of the inflection points. The corresponding freebody diagram of a short segment of the column is shown in Fig.11~).11c. (2.3.L / 4 = L/2.20) where PC. 2.
of the deflected curve as sketched in Fig.22) The internal moment is related to the second derivative of the deflection d2yldx2 positively because the curvature Q (or the rate of change of the slope dy'ldr. The internal moment is Mi.where A is the lateral deflection at the free end of the column. y" where k 2 = PIEI.3. = Ely" (2. 2... The general solution is Using the boundary conditions + k2y = k 2 A (2..) increases with increasing x.12b. that corresponds to the positive moment Mi.23) Y (0) = 0 y'(0) = u we obtain B=A .3.
3 EndReslrained Columns 67 which. The equilibrium equation for the column segment shown in Fig.3.29) will give coskL=O from which (2. 2. a shear force of M F / L must be present at both ends of the column to balance the fixed end moment M F .12(c)..13a.3. =EI~'~ (2.29) The critical load is the load corresponding to n = 1 or is The deflected shape corresponding to PC.24). 2. (2. 2.b are the diagrams of a hingedfixed column and the free body of a short segment of the same column cut at a distance x from the hinged support.13b is and since M.2. Note that for moment equilibrium.. I. upon substitution into Eq.3 One End Hinged and One End Fixed Shown in Fig.3. gives y =A(1 coskr) Using the condition Y(L) = A in Eq. which is induced in the builtin end as the column buckles.37) . (2. The effective length factor is L The deflected shape of the equivalent pinnedpinned column with length K L = 2L is shown in Fig.3.3. 2.
Columns 1 I . 1 FIGURE 2.3. we obtain A= M~ P sin kL . The general solution is The boundary conditions are Using the first two boundary conditions.36) as MF y"+k2yx=0 EIL where k2 = PIEI.13 Hingedfixed column we can write the equilibrium equation (2.
14b) . 2. Note that the term M.2 L of the buckled member.3. 2.47) The deflected shape of the column at buckling is and the effective length factor is The effective length KL = 0. 2.46) from which kL can be solved by trial and error o r by graphical means.46) is kL = 4. it follows that the end moment from equilibrium consideration will be PA/2.3. (2. (2. the moment at the fixed end has the same direction and magnitude as the moment at the guided end. The lowest value of kL that satisfies Eq.39) becomes Using the third boundary condition in Eq.2.3. A s a result.49) represents the displacement at x = 0. (2.4 One End Fixed and One End Guided A column with one end fixed and the other end guided is shown in Fig. T h e equilibrium equation for a segment of this column is (Fig.3 EndReslrained Columns and the deflection function (2./P in Eq. This displacement is indeterminate as for the other cases of endrestrained columns shown in this section because of the use of the linear theory based on the small displacement assumption.3.45) gives tan k L = kL (2. 2.3.13a.3.4934 which gives (2. if we denote A the relative horizontal displacement of the two ends of the column.3.7L is shown in Fig. Because of antisymmetry.14a. Note that the shear force is zero but the moment is not zero at the guided end.
y'(O)=O respectively in the general solution (2.3. Thus A 2 and A=O .. = Ely" we obtain the differential equilibrium equation as (2.52) where k2 = PIEI.54) gives B=.Columns (a) FIGURE 2.2.14 Fixedguided column and upon substitution of the expression for the internal moment Mi. The general solution is Using the boundary conditions of y(O)=O.
3.3.158.64) (2.3.2.3.. = 1. The critical load is given by letting n hence The deflected shape at P. = Ely " the differential equation governing the behavior of this column is EIy1'+Py = 0 or The general solution is y=Asinkx+Bcoskr The boundary conditions are ~ ( 0= )0 yl(L) = 0 y" + k2y = 0 (2.14a.3.65) (2. 2. the equilibrium equation for a segment of this column (Fig. .5 One End Hinged and One End Guided If a column is hinged at one end and guided at the other..3. 2.3. 2. Since the internal moment is + Py = 0 (2. n =l.67) . 2.3 EndRestrained Columns Using the boundary condition y (L) = A gives coskL= 1 or kL = nx.63) (2. as shown in Fig.66) Mi.15b) can be written as Mi. is and the effective length factor is The effective length KL of the equivalent pinnedpinned column is also shown in Fig.
. we have B=O Therefore.3.75) nx (2.5.3.67)becomes y=Asinkx Using the second boundary condition.(a) FIGURE 2. we obtain cos kL = 0 from which kL=.15 Hingedguided column Using the first boundary condition. 2 (2.72) (2. =4L2 The deflected shape at buckling is y =Asin2L (2.76) .3..73) nn n=1. (2. Eq.3.3. (2.3. .3.74) The lowest value of n gives the critical load of the column x2EI PC.3.71) (2.
81) is only valid for perfectly elastic columns. 2.5 rather than 0.1.16. The demarcation point ( P = 0.3. The recommended Kvalues involving cases with fixed support are higher than their theoretical counterparts because full join fixity is seldom realized in actual columns.7) is used for practical design. .5Py or A.3. < ~ ) .78) in graphical form. it is more convenient to express Eq.81) is plotted in Fig.3 is for conservative purposes.78) can be written as Equation (2. Eq.5Py. (2. 3 ~ The ~ . Realizing that I = Ar2 and defining as the yield load and as the slenderrress parameter.3. because Eq. = ~) for elastic and inelastic column behavior is based on experimental observations that the maximum compressive residual stress of a hotrolledcolumn section is approximately 0 . a different column curve by AISC based on the tangent modulus concept (to be discussed in Section 2.3 EndRestrained Columns The effective length factor is 2. the critical load can be expressed in the general form as where K is the effective length factor that is dependent on the boundary conditions of the column. use of the number 0. regardless of its end conditions. (2. On the same table. The theoretical values of K for various boundary conditions have been derived in the preceding sections and are summarized in Table 2. it can be seen that for an isolated column.6 AlSC Effective Length Factor and Column Curve From the above discussion.3.3. the Kvalues recommended by the AISC3 are also shown.2.5Py or A . For columns in the inelastic range ( P >0. (2. For design purpose. Note that the curve terminates at P =0.
0 End condition cudc P I Rotation hxcd and translation rued Rotation tree and translation fixcd Rotvtion fixed and translation free Rotation frcc and translation frcc 2.0 1.0 0. the equilibrium equation for the column segment is expressed as .0 1. it is pertinent to investigate the behavior of columns with elastically restrained ends.7 Elastically Restrained Ends The discussion so far has been focused on axially loaded columns with rotational restraint at their ends that are either fully rigid (fixedended case) or nonexistent (pinnedended case).65 1.0 2.17b. Consequently. In actual structures.5 Rcromrnendcd dcsign value when ideal conditions arc approximated 0.7 0.3. it is convenient to represent the effect of end restraint by a spring with rotational stiffnesses RkAand Rk.2 2. Here.74 Columns Table 2. 2.1 Theoretical and Recommended K Values for Idealized Columns (a) (b) (4 (dl ' 1 1 (el (0 1 1 Buckled shape of column is shown by dashed line I 0. Referring to Fig. respectively.0 2. The rotational stiffness is defined as the moment the spring can sustain for a unit rotation.10 2. at the A and B ends of the column.80 1. Figure 2. columns usually do not exist alone but connected to other structural members that will provide accountable rotational restraint to the columns.17a shows an endrestrained column acted on by an axial force P.
0.0 2.16 Column design curve f o r elastic column FIGURE 2.40.0.5 3. 0 0:5 I :O '1:5 2.17 Column with elastically restrained ends 0.0 I FIGURE 2. AlSC Elastle Limit  0.60. LORIGINAL SHAPE I I DEFLECTED SHAPE I Y P la1 P lbl .20 R .50 . '. 0.
86) (2.18a will be determined. Since the applied force P is generally much greater than the shear forces VA and V.3. 2. The general solution is Using the boundary condition Y (0) = 0 we obtain . (2. At buckling. with the column shear force V equal to zero. the forces that act on the column are shown in the freebody diagram of Fig. the differential equation of the column can be written as (Fig.88) is a special form of Eq.3. the differential equation of equilibrium can be written as The general solution of the differential equation is Using the displacement and slope boundary conditions for the specific problem and recognizing that MA=R~A~A M B = R ~ ~ B (2.76 Columns The internal resisting moment is Mi. that are induced as the beams bend during column buckling.. As an illustrative example. 2.87) the critical load of the endrestrained column can be obtained as shown in the forthcoming example.18d) where MA is the end moment induced at joint A as a result of buckling of the column.84). (2. Note that Eq.83) Therefore.Because of symmetry there is no shear force acting on the column. 2.3. = Ely" (2.18~.3. the buckling load of the column in the simple frame shown in Fig.3.
we have Hence and .3 EndRestrained Columns P I B I VB FLEXURAL I A .18 Buckling of an endrestmined column Using the symmetry condition. .10 I C Mc I' i FIGURE 2.2.
3. it can be shown that the smallest value of kL satisfying Eq.3.78 Columns By referring to the freebody diagram of the lower beam (Fig. we obtain Equation (2.101) is the transcendental equation whose solution will give the value of the buckling load.101) is Note that this critical load for the column restrained by the two beams . Using graphical method or by trial and error. (2. (2. Thus.98) to Eq. =M . 2.e. (2. i. by equating Eq. .18b) and setting 0.95) evaluated at x = 0 . = M .3. = 0 in the following slopedeflection equations we can obtain from which we have If rigid connection is assumed.3. . the beam end rotation will be exactly equal to the columnend rotation..
a fourthorder differential equation (2.4 FourthOrder Difierential Equalion 79 falls between PC. the critical load can be obtained as the eigenvalue of the characteristic or transcendental equation of the differential equation. 1 9 Freebody diagram of an infinitesimal segment of a column . By enforcing proper geometric (or kinematic) boundary conditions. In this section. Figure 2. The resulting equilibrium equation is second order.6). Depending on the end conditions.19 shows the freebody diagram of an infinitesimal segment of FIGURE 2 .4 FOURTHORDER DIFFERENTIAL EQUATION In the previous section. this secondorder differential equation may or may not be homogeneous. which is applicable to all columns with any boundary condition. will be developed. The effective Length factor for this elastically endrestrained column in the simple frame is 2.2. of a pinnedpinned column and that of a fixedfixed column.4. the governing differential equation describing the behavior of the column has been developed by consideration of equilibrium for a column segment of finite size.
E ld2y 2 Eq. and a fixedfree column. mixedi. .4) can be written as Equation (2.. upon simplification Differentiating Eq. when compared with Eq.4.4. By summing the moment about point b.7) T o determine the critical load.2). we can write or. we will solve the cases of a pinnedpinned.6) is the general fourthorder differential equation that is valid for all support conditions.80 the column. (2. (2.4. upon simplification Summing force horizontally.4. T o show how to obtain critical loads using the fourthorder differential equation. we obtain which. a fixedfmed.4. In most cases. we need to specify four boundary conditions: two at each end of the column. (2. both geometric and forceboundary conditions are needed to be specified.1) with respect to x. we obtain Columns or. The general solution to this equation is y=Asinkx+Bcoskr+Cx+D (2. gives Since M = .e.
15) (2.4.11) Since M = EIyr'.4. y (L) = 0.2. Eq.20).Order Differential Equalion 81 PinnedPinned Column For a pinnedpinned column (Fig.4.4.4. (2.4. the four boundary conditions are: y(O)=O.9) (2.13) gives AsinkL+CL=O and AkZsin kL = 0 (2.7) reduces to y=Asinkr+Cx Using the conditions y(L) = y"(L) = 0. M(O)=O M(L) = 0 (2.4.4.4.14) (2. 2.4 Fourth.8) (2.4.20 Pinnedpinned column ORIGINAL SHAPE DEFLECTEDSHAPE Y M=O . the moment conditions can be written as y "(0) = 0 y"(L) = 0 Using the conditions y (0) = yr'(0) = 0.10) (2. we obtain B=D=O The deflection function (2.13) (2.12) FIGURE 2.
n = l .22) (2..82 Columns In matrix form If A = C =0.4. y = A(sin kx C=Ak The deflection function (2..4.4..4.21) (2..24) D=B.1 . to obtain a nontrivial solution.26) .kx) + B(cos kx .16) must vanish.sin k L (2. we must have det or.4.18) FixedFixed Column The four houndary conditions for this case are (Fig.4. 2 .4. i. the determinant of the coefficient matrix of Eq.23) (2.7) becomes . the solution is trivial.4.27) 1 sin kL . Therefore. (2. 2.e. after expanding kLsinkL+2coskL2=0 (2. we must have sinkL=O o r k L = n n . we ohtain (2.1) Using the last two boundary conditions..21) y(0) = y'(0) = 0 y(L) = y'(L) = 0 Using the first two houndary conditions.4.4. 3 .19) (2. The critical load can be obtained by setting n = 1 to give (2.kL cos kL . sin k L or kZLsin kL = 0 Since k Z # 0. we have For a nontrivial solution.
Ak+C=O (2.d M l d x = EIy"' is equal to the transverse component of P acting at the free end of the column cross section Py' (Fig.21 Symmetric buckling mode of a fixedfixed column Note that Eq.4.31) B+D=O. at the free end.32) .766EIIL2.2.4. FixedFree Column The boundary conditions for a fixedfree column are (Fig.4 FourthOrder Difierential Equation ORIGINAL SHAPE L DEFLECTED SHAPE v=o Y FIGURE 2. = 4n'EIIL2 and that for the antisymmetric buckling mode it is PC.= 80.11) and thus the critical load for the symmetric buckling mode is P. 2. we have (2. (2. (2.3.4.22). the moment M = EIy" is equal to zero and the shear force V = . It follows that the shear force condition a t the free end has the form y't'+k2y'=0 Using the boundary conditions at the fixed end. 2.27) is identical to Eq.22). At the fixed end and.
4. .36) + 0.4.1 FIGURE 2.22 Pixedfree column P The boundary conditions at the free end gives AsinkL+BcoskL=O. we must havc cos kL = 0 or kL=nn 2 11=1.5.4. Eqs. .34) 1 1 k 0 0 =O sin kL cos kL 0 0 (2. C=O (2. (2.33) In matrix form.33) can be written as [ ' : "[ a]=[!] sin kL cos kL 0 For a nontrivial solution. we must have det or.35) (2. (2. .4.37) The smallest root (n = 1)gives the critical load of the column .4.4.4.32) and (2. after expanding k cos kL = 0 Since k (2.3.
or with intermediate support (Fig. y"'=o 0. . but it is equal to P for the upper portion of the column from B to C (segment 2).y2 for column segment 2. two sets of coordinates are established: x .5 SPECIAL MEMBERS The discussion so far has been restricted to columns for which the axial force P and flexural rigidity El are constant along the length of the member. y'=O ~'0.2 Boundary Conditions for Various End Conditions End conditions Pinned Boundary conditions y=O.24a. the solutions of the fourthorder differential equation are seen to lead to the same critical loads as the secondorder equation. so that restraint is provided only at the ends of the column under investigation. 2. In this section. the axial force along the entire length of the column is not a constant. .1 TwoAxialForce Column As an illustration. . The boundary conditions for various support cases are summarized in Table 2. . The axial force is equal to 2 P for the lower portion of the column from A to B (segment I). 2.5 Special Members Table 2.5. no intermediate support is present. 2. Note that the secondorder equations for these cases studied previously are different because of different boundary conditions. y"'+k2y' = 0 Fixed Guided Free For the three cases studied. y"=O y=O. .23). For convenience. four boundary conditions must be specified. In determining the critical load using the fourthorder equation. one for each segment of the column for which the axial force is a constant. The column is subjected to two axial forces P: one applied at the free end and the other at midheight. As a result. consider the cantilever column shown in Fig. it is therefore necessary to write two differential equations. To determine the critical load of this column.yl for column segment 1 and x.2. Furthermore.2. 2. a change in flexural rigidity. but the fourthorder equation is the same for all cases. we shall extend the solution for evaluating critical loads of prismatic isolated columns with constant axial force to columns with a change in axial force.
24 Cantilever column subjected to two axial forces r.23 Special members FIGURE 2.FIGURE 2. .
5.) (2. differential equation for segment 2 is where Mn = P ( A c The general solution of E q .2.11) (2. B. 2 4 ~ the . The general solution of Eq.5. respectively.5. ( O ) = o .24b. (2.L/ Y. (2. (2. and A .5) and (2.5.(O)=O (2.12) (2. 2. and D in Eqs.2) is y.7) is .y .A. .5.) in which A. axes for points B and C. are the lateral deflections with respect to the x .x + Elk? + With reference to Fig. x MA + B cos k. the differential equation for segment 1 is or where MA = P ( A B A.5.5 Special Members 87 With reference to Fig.5. = A sin k .10) MB y2 = C sin kzx2 + D cos k2x2+ EIkI The four constants A. 2 .10) can be evaluated using the following boundary and continuity conditions Y .13) I / YI(:) = ~ 2 ( 0+ ) AB . C.5.
88
Columns
The first two boundary conditions give
B=
Elk: A=O
MA 
(2.5.16)
and the continuity conditions (2.5.13) and (2.5.14), give
MB MA C O S k l L + D = Elk: 2 Elk:
MB
Elk:
(2.5.17) (2.5.18)
c= M A
k,L sin Elklk2 2
Substitution of these expressions into the deflection functions (2.5.5) and (2.5.10) gives MA (2.5.19) yl = 7 ( 1  cos k l x l ) Elk, and MA klL . sln k2x2 y2=Elk,kZ sin 2 cosFinally, using the conditions
cos kZx2+ MB (2.5.20) EI~Z,
and realizing that M A = P ( A ,
+ A,)
and M B= P ( A c  A,), we obtain
where
2.5 Special Members
89
For a nontrivial solution, we must have det
i
1;::
;::I
=0
By trial and error, and by recognizing that k, = lowest value of k2 satisfying Eq. (2.5.25) is
~k Z , we find that the
Using the definition of k , [Eq. (2.5.8)], we obtain
2.5.2 Continuous Member
In the preceding example, the secondorder differential equation has been used in the solution procedure. The fourthorder differential equation is equally applicable, of course. To illustrate this, consider the two span continuous column shown in Fig. 2.25a. The column is subjected to an axial force P. It is desired to determine the critical load of this column. Here, as in the preceding example, the column is divided
FIGURE 2.25 Continuous member
DEFLECTED SHAPE
x~
P
EL
2
& \
1
EL
1.5L L
90
Columns
into two segments, 1 and 2, and a differential equation is written for each segment. For convenience, two sets of coordinate axes are again established: xl  y, for segment 1 and x ,  y2 for segment 2. The fourthorder differential equation for segment 1 is
where k 2 = PIEI and the general solution is
y, = A sin !al + B ash, + ~ x , p ~ (2.5.29) .~~~.r 5 ;, ; I r . . Similarly, the fourthorder dlffere$iq:l'equation for segment 2 is
i '
$ 
/
.2
~
~
IV y2 +k2y;=0
(2.5.30) (2.5.31)
and the general solution is
y,= E s i n k r , + Fcoskx,+ Gx2f/f?
By using the boundary conditions
YI(O)=O, Y;(O)=O .y,&L)zO
(2.5.32) (2.5.33) (2.5.34) (2.5.35)
Y2(0)= 0,
and the continuity conditions
YXO) =0
Y Z ( L= ) 0, 
_ i
Y ; ( $ L *yk(L) ) i:(i~j= YXL)
it can be shown that

.
B=D=F=H=O
and
The minus sign in Cq. (2.5.36) indicates that a posltlve slope at the intemediate support with respect to the x ,  yl axes corresponds to a negative slope with respect to the X Z  M axes (Fig. 2.25b) For a nontrivial solution, the determinant of the coefficient matrix of Eq.
2.6 lnilially Crooked Columns
(2.5.39) must vanish
det
1
I
0 k cosi,kL sin$kL
1 ksinkL cos kL 1 0 sin kL 0
LI=OI
(2.5.41)
or, after simplification, we obtain the characteristic equation as 5 sin t k L sin kL  3kL sin 4kL = 0 By trial and error, the smallest value of k that satisfies the characteristic equation is
using k2 = PIEI, we have
2.6 INITIALLY CROOKED COLUMNS
In reality, all columns are imperfect. There are two types of imperfections: geometrical imperfection and material imperfection. In this section, we investigate the behavior of geometrical imperfect column. The behavior of column with material imperfection will be discussed in the next section.
2.6.1 PinnedEnded Column
Figure 2.26a shows a geometrical imperfect column. To begin with, let us assume that the initial outofstraightness is in the form of a half sine curve described by
Jcx yo = 6, sin 
L
where 6, is the amplitude of the crookedness at midheight of the column. If we consider equilibrium of a segment of column (Fig. 2.26b), the equilibrium equation is
P
(a)
P
(b)
FIGURE 2.26 Initially crooked column
noting that y is the deflection of the column from its original crooked position. The internal resisting moment is This internal bending moment results from a change in curvature y" and not from the total curvature y " + y;, since it is tacitly assumed that the column is stressfree in itsinitially crooked position before the application of the load P. Substituting thc expression for the internal moment (2.6.3) into the equilibrium equation (2.6.2), the differential equation that describes the behavior of an initially crooked pinnedended column takes the form Ely" or using Eq. (2.6.1), we have y" + kZy = k26, sin L
ZX
+ P(y +yo) = 0
where k 2 = PIE1 and the complementary solution is y , = A s i n k r + Bcoskx
2.6 Initially Crooked Columns
93
The particular solution can be obtained by using the method of undetermined coefficient. Since the righthand side of the equation consists of a sine and/or cosine term, the particular solution is of the
£0 I m
in which C and D are the undetermined coefficients. To determine C and D, we substitute Eq. (2.6.6) into the differential equation (2.6.4), and, after combining terms, we obtain
This equation must be satisfied for all values of x. Thus, the terms in both square brackets must vanish. The vanishing of the first square brackets leads to
in which PC is the Euler load. The vanishing of the second square brackets gives either
I
If we use Eq. (2.6.10), we obtain P,=x'EI/L2, which is the Euler load. This is not the solution we are interested in here. Therefore, we must have D = 0. As a result, the general solution is
To determine the two constants A and B, we use the boundary conditions
Y (0) = 0
Y(L) = o Using the first boundary condition, we have B =0 and the second boundary condition leads to
A sin kL = 0
(2.6.12) (2.6.13) (2.6.14) (2.6.15)
94
Columns
from which either A =0 sin k L = 0 If we let sin kL = 0, we again limit the solution to P = PC. Therefore, we must have A = 0. With A = B = 0, Eq. (2.6.11) becomes
Equation (2.6.18) expresses the deflection from the initial crooked position of the column. To obtain the total deflection (i.e., deflection from the xaxis), we need to add Eq. (2.6.1) to Eq. (2.6.18).
Equation (2.6.19) states that the total deflection (induced as a result of the applied compressive force) can be obtained simply by multiplying the initial deflection by a factor 1/(1 PIP,). The term in parenthesis in Eq. (2.6.19) is called the amplification factor (AF)
The moment in the column is
M = P(.Y + Y O = ) PY,,,,~
or
If we denote M, as the firstorder moment, or the moment evaluated by considering equilibrium with respect to the initial geometry of the geometrical imperfect column, then we can write Eq. (2.6.21) as
Equation (2.6.22) states that the moment evaluated based on the deformed geometry of the column (secondorder moment) can be obtained from the moment evaluated based on the initial geometry of the column (firstorder moment) simply by multiplying the latter by the amplification factor. The variation of this moment amplification (or magnification) factor as a function of PIP. is shown in Fig. 2.7. If the initial crookedness of the column is not a half sine wave but
2.6 Initially Crooked Columns
95
some general shape, it is advantageous to express this general shape in a Fourier sine series nx 2nx yo=6,sin+&sin+ L L
.. .
(2.6.23)
If we proceed as before with each term of the series, and then sum the results together, we have
2.6.2 PerryRobertson Formula
For an eccentrically loaded column, it has been shown that a formula (the Secant Formula) can be developed that relates the stress in the column to its slenderness ratio. For an initially crooked column, a similar approach can be taken to develop an equation called the PerryRobertson f o r m ~ l a , which ~ . ~ also relates the stress in the column to its slenderness ratio. The maximum stress in an initially crooked column can be expressed as the sum of axial and bending stress.
where A = crosssection area c = distancc from neutral axis to extreme fiber I = moment of inertia The maximum moment for an initially crookcd column occurs at midheight and is given by setting x = L/2 in Eq. (2.6.21)
I
1
Substitution of the M , gives
into the expression for , a
and using I = A r 2
This is called the PerryRobertson formula. Agaln, using the first yielding of the material as the criterion of failure for the column, the ultimate or critical load can be determined from Eq. (2.6.27) by setting
Columns
The Secant and PerryRobertson formulas are, strictly speaking, valid only for very long or slender columns for which their slenderness ratios Llr are large, so that the stress in the column will remain in the elastic range at the buckling load. For shorter columns, material yielding is more important than geometrical imperfection. As a result, it is essential to consider the material imperfection in describing the behavior of shorter or stocky columns. The behavior of inelastic columns will be discussed in the next section.
2.7 INELASTIC COLUMNS
The discussion so far pertains to columns for which the material remains fully elastic and obeys Hooke's Law. This assumption is valid as long as the column is slender enough so that buckling occurs only at a stress level below the proportional limit of the stressstrain relationship of the material. For shorter columns, buckling will occur at a stress level above the proportional limit (Fig. 2.27). This type of buckling is referred to as the irrelastic bucklirrg. For columns that buckle inelastically, some of the fibers in the cross section have been yielded before buckling occurs. As a result, only the fibers that remain elastic are effective in resisting the
FIGURE 2.27 Critical stress above proportional limit
L___
STRAIN
2.7 Inelastic Columns
97
additional applied force. Since only a portion of the cross section is effective in resisting the axial force at buckling, the elastic modulus E must be replaced by an effective modulus E., to describe the behavior of an inelastic column. In this section, we will discuss the buckling behavior of a perfectly straight column buckled in the inelastic range; in particular, we will discuss the tangerlt modulus d ~ e o r yand the reduced modulus theory proposed by Engesser7 and the inelastic column theory of Shanley.'
2.7.1 Tangent Modulus Theory
The tangent modulus theory was proposed by Engesser7 in 1889 to describe the buckling behavior of columns whose buckling stress is above the proportional limit of the material. The following assumptions are made in the tangent modulus theory: 1. The column is perfectly straight. 2. The ends of the column are pinned and the load is applied along the centroidal axis of the column. 3. The bending deformation of the column is small. 4. Plane sections before bending remain plane after bending. 5. During bending, no strain reversal (i.e., unloading of fibers) occurs across the cross section of the column. For inelastic buckling, the stress in the fibers is above the proportional limit of the material (Fig. 2.27). In what follows we shall show that the fangent modulus E, governs the behavior of the fibers during buckling of the column. Figure 2.28a shows a pinnedpinned column buckling at the tangent modulus load P,. The distributions of strain and stress across the cross section are shown in Fig. 2.28b. In the figure, o,and E , are, respectively, the stress and strain at the tangent modulus load before buckling. When the column buckles at the tangent modulus load, it is assumed that there is an increase in the axial force AP together with the bending moment AM. This increase in axial force AP combined with the incresing bending moment AM is such that it will cause an overall increase in axial strain across the section, so that no strain reversal will take place anywhere in the cross section. As a result, the tangent modulus E, will govern the stressstrain behavior of all fibers of the cross section as shown in Fig. 2.28~. The differential equation governing the behavior of this column can now be derived as follows: For a column segment of length x from the support, the equation of equilibrium can be written as
Mi.,+ P y
=0
(2.7.1)
The internal moment at the section due to bending has the general form .Columns i Pt SECTION AA {PC [a) y DEFLECTED SHAPE STRAIN Q STRESS [b) P I FIGURE 2.28 Tangent modulus theory where P is the applied centroidal axial force and y is the distance from the line of action of the axial force to the centroidal axis of the cross section as the column bends.
7 Inelastic Columns 99 where a is the longitudinal stress of a fiber in the cross section and z is the distance from that fiber to the centroidal axis of the cross section. i.2) gives or.8) becomes Assuming a small deflection.2.7. we can write Eq.7. Eq. we have Equation (2.e.5) as By substituting AD. (2. (2.7.7) is the moment of inertia I of the cross section.Ae. Eq.. 2.lh is the curvature @ of the cross section (Fig.7.28b).7. (2.3) into Eq.9) can be written in the usual form Substituting the internal moment (2. (2..7..7.11) is the governing differential equation for an inelastic column developed on the basis of the tangent modulus theory. the curvature @ can be approximated by the second derivatives of the deflection or @ = y". From the stress diagram in Fig.7. As a result. kdA0 and realizing that JAid~ =I (2. in Eq. expanding Since the first moment of area about the centroidal axis is zero. ..10) into the equilibrium equation (2. (2.7. 2. it can easily be seen that a can be expressed as Substituting Eq..= E.8) and recognizing that A&. (2..28b.1)..7.
12) depends only on the material property (i.11) and Eq.11). . the name double rnodulus was used.' The first four assumptions used for the development of tangent modulus theory are also used in the reduced modulus theory. The corresponding strain and stress distributions are shown in Fig. The relationship between the increments of stress and strain as a result of bending deformation is shown in Fig. the axial force is assumed to remain constant during buckling. . (2. Figure 2. the doublemodulus load will be less than that of the Euler buckling load.7. 2. 2.10) is replaced by E. are necessary to describe the momentcurvature relationship of the cross section. 2. the fifth assumption is different.e. As a result.29~.12) is called the tangent modulus load. on the other hand. The effecrive modulus in the tangent modulus theory is therefore the tangent modulus. Because the double modulus is less than that of the elastic modulus that appcarcd in the Euler buckling formula. However. (2.10). P .7. E.100 Columns The only difference between Eq.2. (2.2 Double Modulus Theory The double rnodul~stheory.29b. (2. E and E. (2.29a shows the buckled shape of a centrally loaded pinnedended inelastic column at the reduced modulus load... in Eq. by following the same procedure as in Section 2. (2.7. The tangent niodulus used in Eq. In the reduced modulus theory. This will b e dernonstratcd in what follows. Thus. Since two moduli. stressstrain relationship of the material). the bending deformation at buckling will cause strain reversal on the convex side of the column.2. was proposed by Engcsser7 in 1895. We will show later that this load is the smallest load at which bifurcation of equilibrium of a perfectly straight column can take place in the inelastic range. As a result.7. consequently..The governing differential equation describing the behavior of this column can be derived as follows. continues to increase. the critical load of this inelastic column based on the tangent modulus theory is The load expressed in Eq.2. also referred to as the reduced rnodrrlus theory. but the increments of stress and strain on the concave side of the column are related by the tangent modulus. the increments of stress and strain induced as a result of the bending of the column at the buckling load will be related by the elastic modulus on the convex side of the column. the doublemodulus load is also called the reduced rnodulus load. The strain on the concave side of the column. is that E in Eq. based on the concept given by Considere.7.
2.7 Inelastic Columns
nI
A
DEFLEIJED SHAPE
A€
NA.
L
FlGURE 2.29 Double (reduced) modulus theory
For a column segment of length x from the support, the equation of equilibrium can be written as where P is the applied centroidal axial force and y is the distance from the line of action of the axial force to the centroidal axis of the cross section as the column bends. The internal moment<urvature (Mi.,  @) relationship for the cross section will be derived i~i the following. Because the axial force remains constant as the column buckles at the reduced (or double) modulus load,
Columns
NEUTRAL AX15
FIGURE 2.30 Forces due to bending according to
the double modulus theory
A P .bP
the additional compressive force induced as a result of bending of the column must be equal to the additional tensile force such that the net increase in axial force A P is zero (Fig. 2.30), i.e., This pair of forces A P and AP,,,, constitutes a couple and the internal resisting moment of the column is equal to this couple where c is the distance between this pair of forces. Since the moment arm or the locations at which AP,.mp,.,,i,, and AP,,,,,. act depends on the geometry of the cross section, we must specify the geometry of the cross section before we can proceed to evaluate the internal resisting moment.
,,.,,
Rectangular Cross Section
Considering a rectangular cross section with dimensions b and h as shown in Fig. 2.31, we can write
Equating these two forces, we obtain
CI Au2max =CL
A0lmlT
(2.7.18)
EENDING AXIS NEUTRAL A X I S
1
GCENTROIDAL AXIS
FIGURE 2.31 Inelastic buckling of a column with rectangular cross section
Since
AuImm =EtA~lm= r rEtclQ Au,,,, = E A E~~~ = Ec2Q
(2.7.19) (2.7.20)
where Q is the curvature, we can write Eq. (2.7.18) as
Realizing that
cl+c2=h
(2.7.22)
104
Columns
we can solve for c , and c, from Eqs. (2.7.21) and (2.7.22)
Using Eqs. (2.7.23) and (2.7.19), Eq. (2.7.16a) can be written as
Similarly, using Eq. (2.7.24) and (2.7.20), Eq. (2.7.16b) can be written as
Since the distance, c, between this pair of forces AP , , , for a rectangular section is
c=fh
.,
and AP
,,., ,.
(2.7.27)
the internal resistance moment, Eq. (2.7.15). has the value
or where
cross sectior~,and is the reduced modulus for the recta~~gular is the moment of inertia of the rectangular cross section. Again, for a small deflection analysis, we can write Eq. (2.7.29) as
Mi", = E,Iy"
(2.7.32)
Substitution of the above equation into the equilibrium equation (2.7.13)
Equation (2.7.33) is the governing differential equation for the inelastic column derived on the basis of the reduced modulus theory. Again, comparing Eq. (2.7.33) with Eq. (2.2.10), the only difference is that E in Eq. (2.2.11) is replaced by E, in Eq. (2.7.33). Therefore, by
2.7 lnelaslic Columnr
105
following the same procedure as in Section 2.2, the critical load of the inelastic column is
The load expressed in Eq. (2.7.34) is called the reduced modulus load. It is the largest load under which a real column can remain straight. This will be described further in the next section. In the reduced modulus theory, the effective modulus of the column is of course the reduced modulus, 4. Unlike the tangent modulus, the reduced modulus is a function of both material property and geometry of the cross section of a column. In other words, given the same material property, the reduced modulus will be different for different crosssectional shapes. Thus, the expression for E, given in Eq. (2.7.30) is only valid for rectangular cross sections.
Idealized I Section
For idealized symmetric Isections (i.e., Isections of equal flange areas connected by a web of negligible thickness), it can be shown that the reduces modulus is (see Problem 2.12)
The reduced modulus, E,, is always smaller than the elastic modulus, E, but larger than the tangent modulus, E,, i.e., hence
2.7.3 Shanley's Inelastic Column Theory
Shanley's inelastic column theorye uses a simplified column model to explain the postbuckling behavior of an inelastic column. Recall in the tangent modulus theory, a slight increase in axial force is assumed at the onset of buckling, so that no strain reuersal occurs in any cross section as the column bends at the tangent modulus load. On the other hand, in the reduced modulus theory, the axial force is assumed to remain constant at buckling, so that a complete strain reversal occurs at the convex side of the column as the column bends at the reduced modulus load. In Shanley's inelastic column theory, it is assumed that buckling is accompanied simultaneously by an increase in the axial force. Thus, at any instant as the column buckles, the net increase in axial force is not zero as postulated in the reduced modulus theory, but equal to a finite value
Columnr
NEUTRAL AXIS
I
STRAIN DIAGRAM
A
P
~
A
P
C
~
~
~ SO ~
~
~
~
~
~
~

A
P
F'IGURE 2.32 Shanley's inelastic column theory
i , , and APt,.,ilC (Fig. 2.32). The given by the diflerence of AP magnitude of this increase in axial force AP is such that strain reversal may occur at the convex side of the column as shown in the stress diagram uf Fig. 2.32. BY using a simule column model (Fig. 2.33) in which the column is represented by two rigid bars connected by a deformable cell consisting of two small longitudinal links, Shanley shows that the relationship between the applied load P and the midheight deflection d can be expressed as
,.,,,

where
P, = tangent modulus load of the column b =width of the column cross section r= EJE, in which E, is the tangent modulus
In deriving Eq. (2.7.38), Shanley assumes that the column begins to
2.7 Inelastic Columns
CELL
FIGURE 2.33 Shanley's inelastic
column model
bend as soon as P, is reached. Thus, Eq. (2.7.38) gives the postbuckling behavior of the column, i.e., the behavior of the column when P>P,. Figure 2.34 shows a plot of Eq. (2.7.38). It can be seen that as P increases above P,, there is an increase in midheight deflection d. As d becomes large, P approaches P,, the reduced modulus load. It should be remembered that Eq. (2.7.38) was developed on the basis of the simple column model (Fig. 2.33). For a real column in which ELvaries across the cross section and along the length of the column, the loaddeflection behavior of the column will follow the dashed lines in Fig. 2.34. An important observation is that the maximum load of a really perfectly straight inelastic column lies somewhere between the tangent modulus load and the reduced modulus load. Hence, the tangent modulm load represents a lower bourtd and the reduced modulus load represents an upper bound to the strength of a concentrically loaded, perfectly straight inelastic column. Experiments on real columns show that their maximum strengths usually fall closer to the tangent modulus load than to the reduced modulus load. This is because unavoidable imperfections always exist in real columns along with accidental load eccentricities during the testings. Both of these effects tend to lower the strength of real columns.
Columns
IDEALIZED COLUMN
f , (REAL

COLUMN
FIGURE 2.34 Postbuckling behavior of column according to Shanley's inelastic column theory
d
Because of this, and because of the ease with which the tangent modulus load can be obtained when compared to the reduced modulus load, the tangent modulus is usually adopted in practice to represent the ultimate strength of a centrally loaded real column. In deriving the inelastic buckling loads of the column (PC and P,), the ends of the column are assumed to be pinned. If the end conditions of the column are not pinned, the concept of effective length should be applied with the term L on Eqs. (2.7.12) and (2.7.34) replaced by KL, the effective length of the column.
2.8 DESIGN CURVES FOR ALUMINUM COLUMNS
The tangent modulus concept discussed in thc preceding section can be used directly to construct column curves for the design of aluminum columns. A coltcrnn crlrue is a curve that gives the critical buckling load or critical buckling stress (a,,) of a column as a function of its slenderness ratio (KLlr). If we divide both sides of the tangent modulus load equation by A, the crosssection area of the column, we obtain
Denoting
2.8 Design Curves for Aluminum Columns
109
and recognizing that I =Ar2, where r is the radius of gyration of the cross section, Eq. (2.8.1) can be written as
To plot a=,versus KLIr using Eq. (2.8.3), we have to know E,, which, in turn, is a function of a,,. Thus, to obtain a proper value of E,, we must first know the stressstrain relationship of the material. The stressstrain relationship of aluminum alloys as obtained from experiments (coupon tests) can best be fitted by the RambergOsgood equation.'" The RambergOsgood equation has the form
where
E = elastic Young modulus aD., = 0.2% offset yield stress rr = hardening parameter
Since E, is the slope of the a  E curve, we can therefore determine E, from Eq. (2.8.4) by a direct differentiation
Figure 2.35 shows the nondimensional stressstrain curve of the aluminum alloy 6061T6 (described in reference 11) with E = 10,100 ksi (69,640 MPa), a0., = 40.15 ksi (277 MPa), and rr = 18.55. Using Eq. (2.8.5), the values of E, for any given stress a can be determined. A plot of E,/E versus a/aQ,, is shown in Fig. 2.36. Using this figure, the column curve for this aluminum alloy can be obtained as follows:
1. Pick a value of a, called a=,. 2. Obtain E, from Eq. (2.8.5) or from Fig. 2.36. 3. Calculate the slenderness ratio from the equation
which is simply a rearrangement of Eq. (2.8.3) Following the procedures outlined above, for any given a=,, a corresponding value of KLIr can be obtained. The variation of a,, with KLIr is shown in Fig. 2.37.
Columns
FIGURE 2.35 Stressstrain curve of aluminum alloy 6061T6
This curve can be used directly for column design. To select a section to carry a specific load, the designer first picks a trial section, calculates the value KLIr, and reads the corresponding a,, from Fig. 2.37. If this ac, is greater than the actual stress o = P / A acting on the column, the section is considered satisfactory. Usually in design, a safety margin is established by either lowering the value of critical stress a,, and/or by increasing the value of applied stress a so that a,, is guaranteed to exceed a. Note that the column curve in Fig. 2.37 is applicable only to columns of aluminum alloy 6061T6. For other types of aluminum alloys, the stressstrain curve will be different and hence the column curve will be different. In fact, the column curve is extremely sensitive to the shape of the stressstrain curve. For instance, if we approximate the stressstrain curve of Fig. 2.35 (solid line) by two straight lines (dotted lines in figure), the corresponding column curve will be like the dotted lines in Fig. 2.37. As can be seen, there is a large discrepancy between the actual (solid line) and approximate (dotted lines) column eurves. The apparent discontinuity of the approximate column curves in Fig. 2.37 is due to the sudden change in the value of E, as the initial slope of the approximate stressstrain curve in Fig. 2.35 is replaced by a very much shallower slope.
Numerical .7.36 Variation of tangent modulus with stress for aluminum alloy 6461T6 2.2. in the formula is evaluated from the slope of the stub column stressstrain crtrue. This curve can be obtained by one of the following two methods 1.9 Stub Column StressSlrain Curve 111 FIGURE 2.9 STUB COLUMN STRESSSTRAIN CURVE The stub (or short) column stressstrain curve for a steel member is generally used to determine the critical load of the steel column directly from the tangent modulus equation (2.12). The value of E. Experimental 2.
the stressstrain relationship of the stub column follows the curve ABC instead of AEC. This phenomenon is attributed to the presence of "lockin" or residual SheSSeS in the steel column.38 (dashed lines). if the samc test is performed on a short length of column (stub column test) and the average stress a . . 2. the part of the cross section for which the surface area to volume ratio is the largest will lose heat more rapidly than the part for which the ratio of surface area to volume is small. the toes of the flanges have a larger surface area to volume ratio than the regions where the web joins the flanges. These are what is called the residual stresses.9. Residual stresses are created in the column in the following way: Steel members are usually heated at some stage during thcfabrication process. = P / A is plotted against the axial strain E. This uneven cooling creates a set of selfequilibrating StreSSeS in the cross section.1 Experimental StubColumn StressStrain Curve If a simple compression test is performed on a coupon cut from a steel member. which are used extensively in building construction. hence the . 2.37 Column curve for aluminum alloy 6061T6 2. For hotrolled wideflange shapes. after a certain average stress a . the a .38 (solid line)(In particular. However.E relationship of the stubcolumn test will deviate from that of the coupon as shown in Fig. As they cool down.Columns FlGURE 2. has been reached. the stressstrain relationship of the coupon will exhibit a linear elasticperfectly plastic behavior as shown in Fig.
The fibers that have the highest value of compressive residual stresses will yield the soonest. As the stress in any fiber equals or exceeds the yield stress.9 Stub Column StressStrain Curve STRAIN E FIGURE 2. it is clear that yielding over the cross section is a gradual process. if the height to thickness ratio is large. that particular fiber will yield. with the result that the junctions of the web and flanges will be left in tension while the toes of the flanges will be left in compression. the toes of the flanges. As for the web. as shown in Fig.2. and so a compressive residual stress will be induced at the central portion. will prevent the junctions from shrinking. From the figure.38 Stressstrain relationship for steel toes of the flanges will cool faster. On the other hand. so that the whole web will be in a state of tension." As an axial force P is applied to the sections. As the junctions of the web and flanges begin to cool and shrink. then cooling will be more uniform. 2.40. if the height to thickness ratio is small. and any additional load will be carried by the fibers that are still elastic. which have been cooled and hardened already. followed by the fibers that have a lower value of . then the central portion will cool much faster than the portion where the web joins the flanges.39 shows schematically the residual stress distributions on the flanges and web of a W8 x 31 hotrolled section. Figure 2. the stress distribution over the cross section will change in several stages.
2. The main difference between the aluminum and steel members is that for aluminum members the effect of residual stress is negligible and the nonlinear stressstrain behavior is due primarily to the material behavior.12) with a simple modification for the value of E.Columns FIGURE 2. then the critical load of the steel column can be determined directly from the tangent modulus formula Eq. as the remaining area of the cross section that is still elastic. the cross section is first divided into a number of small elements as shown in Fig. (2.7.39 Residual stress distribution of a W8 X 31 section compressive residual stresses. coupon tests show an elasticperfectly plastic behavior.9. For steel members. but the stubcolumn tests show a gradual yielding because of the presence of residual stresses. 2. If a stub column stressstrain curve (obtained either experimentally or numerically) is available. This nonlinearity shows up in a coupon test.41. the stub column stressstrain . 2. Because of this gradual yielding process (plastification) over the cross section. Denote A: as the area of the j element and A". the stressstrain curve of a stub column follows the rather smooth curve ABC in Fig.38. the fibers that have tensile residual stresses will yield as the applied load further increases. Finally. that is evaluated from the slope of the stub column stressstrain curue.2 Numerical Stub Column StressStrain Curve To generate the stub column stressstrain curve numerically.
The stress a. is the value of residual stress for that particular element and is taken as positive if the . Calculate the stress increment Aoi from AU' = E (2.1) for every element that is still elastic.2) for every element that is still elastic.9.9. Calculate the current state of stress oi from oi= a. 3.40 Change in stress distributions on the flanges and web as P increases curve can be traced numerically as follows: 1.+ X Aoi (2.9 Stub Column SlrerrStrain Curve FLANGE WEB FIGURE 2.2. Specify a strain increment AE' (a negative quantity) at the i cycle. 2.
4..Columns FIGURE 2.3) where A:. c. If ioil> cry. If Id(= oy. a. Subtract the area A: of this j element from the area of the cross section that is still elastic. = area of the cross section that is still elastic at the i cycle A:. = ~ . 5. (2. Proceed to the next element.. Go back to Step 2 with A&'replaced by r A&'. = A P I A (2.e. the element is still elastic.the element has yielded. at the end of the i cycle by AD:.5) 6.m. We need to scale down the strain increment A&'by a factor r given by in which a'' is the state of stress of the element at the end of the previous cycle. = E A ~A&' . I f 10'1 <a.9.9.. i.' = area of the cross section that is still elastic at the end of the previous cycle Proceed to the next element.6) . b. y l . A:.41 Discretization of cross section residual stress is tensile and negative if the residual stress is compressive. Calculate the load increment AP' corresponding to the strain increment A&'from AP' = AU'A. (2. Check whether a particular element has been yielded. Calculate the average stress increment Ao:.9. the state of stress of the element is larger than the yield stress.
Ei A " +A d v & i (2. there is a corresponding value of average stress calculated in Step 7.. the nonlinear stressstrain behavior is due primarily to material nonlinearity. it follows that Note that the ratio A.7.10) where E is the elastic modulus and A. 2.10)..7) (2.9.9.. evaluate the current state of strain of the cross section from = Eil + ~ Thus.9.9. for each value of strain calculated in Step 8.E curve can be used in conjunction with Eq. is the average stress increment of the cross section.9. A& (2.. This numerically generated o . can also be represented by the expression EA.8) 8.9) and (2. By repeating the process. (2.8.IA at the end of Step 4. is the slope of the average stressstrain curve. Finally. This is demonstrated as follows: For a given load increment AP.IA. For aluminum columns. for the column. ... O n the other hand. is the area of the elastic cross section.9..= EA.10 Column Curves of Idealized Steel ISedion 117 7. AP is related to A& by AP = EA..9) where A is the area of the cross section and A q . E. (2. (2. .12) to obtain P. A & (2.11) and Since E. we have A do.10 COLUMN CURVES OF IDEALIZED S T E E L ISECTION In Section 2.2. Evaluate the current state of average stress of the cross section . an average stress versus strain curve can be plotted. E.. we can write A P = A Ao.IA can easily be calculated in the numerical procedure described above at any stress level oi. by forming the ratio A'. Equating Eqs. This nonlinear stressstrain relationship can be approximated closely by the RambergOsgood equation [Eq.. we discussed the column curves for aluminum columns.9. is obtained as the slope of this stressstrain curve.
an idealized Isection with linear. 2. = art = a. For steel columns.7. the tangent modulus can not be obtained directly from this curve. denotes the value of compressive residual stress at the toe of the flanges and a . for a given value of KLIr in the inelastic range (for K L I r in the elastic range. an idealized Isection is used.38. the critical load of the column can be written as where I. If the flanges of the idealized Isection are identical and are of uniform thickness.42. (2. an expression for E. then the critical load of the steel column can be determined directly from the tangent modulus formula [Eq. PC).4)]. An idealized Isection is an Isection with negligible web thickness.38). an aluminumcolumn curve can be constructed by the procedure outlined in that section. it should be obtained from the slope of a stubcolumn stressstrain curve (Fig. with L?. if an external force is applied concentrically to this column. In this approach.. With the tangent modulus known. stressstrain relationship. If a stubcolumn stressstrain curve (obtained either experimentally or numerically) is available. section elastic. Instead. Based on this argument.8.118 Columns (2. portions of the cross section will yield. leaving only part of the cross .is the Euler load. 2. = moment of inertia of the elastic core of the column cross section PC = Euler buckling load . varying residual stress is shown in Fig. the stressstrain behavior of a coupon is elasticperfectly plastic as shown in Fig. As a result.5)]. can be obtained [Eq. only the elastic part of the cross section will provide the flexural rigidity to the column as it buckles. For illustration purposes. In other words. However.8. Upon differentiation of this equation. 2. if a stubcolumn stressstrain curve is not available. the tensile and compression forces resulting from the tensile and compressive residual stresses must be in selfbalance. an analytical approach can be used to find PC. determined from the slope of the stubcolumn stressstrain curve. a . only the elastic core (the elastic portion of the cross section) will be effective in resisting the applied load. we must have a.12)]. The yielded portion cannot carry any adstir X5iselasticperfectly plastic.10. As a result. In the figure. the critical load PC. the value of tensile residual stress at the flangeweb junctions. In addition. . (2. (2.1) 37 Now. an assumed residual stress distribution is also used. To maintain selfequilibrium in the absence of an externally applied force.
4). and h are as shown in Fig.10 Column Curves of Idealized Steel ISedion FIGURE 2.42 Assumed residunlstress distribution of m idealized Isection The ratio I.2): . 2.2.. and (iii) the distribution of residual stresses over the cross section.x ) axis can be written as The quantities b. For an idealized Isection with a linear variation of residual stresses (Fig. (2./I can be established as follows: Strong Axis Bending If the moment of inertia about the centroidal axes of the flanges are ignored.2) depends on ( i ) the axis of bending of the column. (2. r. (2..3) and (2. (ii) the shape of the cross section.10. 2.10.y ) axis is Using Eqs.10. the ratio I c / I about the strong ( x . we obtain from Eq./I in Eq.10.42). Weak Axis Bending The ratio I J I for the column bend about the weak ( y .43. the ratio I.
nor b.5) and (2. we need another equation to relate PC.FIGURE 2.7).43 Partially plastified cross section For strong axis bending For weak axis bending It is obvious from Eqs.on)bcd (2. (2.43). 2. From ..6) that the critical loads are different for the same column bent about different axes. This equation can be obtained by writing the expression for the axial force acting on the column that corresponds to a partially plastified cross section (Fig.! ( a y . is the stress at the middle of the flange..10.10.10.10.and b. (2.7) In Eq.. is known. P = 2[aybftt. Since neither PC. a.
Note the difference in . and.7) gives where A = 2bftfis the area of the cross section of the idealized Isection.). we have On substituting Eq.12) into Eqs.(= a. can be determined.30. a column curve for o./oy versus & can be plotted. (2. we have for strong axis bending or divide both sides by A o .10. ( K L I r ) is the slenderness parameter.10.10.10. By repeating this process. For hotrolled. wideflange sections 0.9) into Eq. a corresponding value for A. Rearranging and realizing that o.10 Column Curves of Idealized Steel ISedion 121 similar triangles.5) and (2. = P I A is the average stress over the cross section. (2... (2. it can be shown then Substituting Eq.44 shows such a plot. (2..6). Figure 2. for weak axis bending.2. Using this value for or and specifying a value of a.=0.10..
This is because the detrimental effect of compressive residual stress at the tips of the Ranges is more pronounced for weak axis bending than that of strong axis bending. Also shown in the figure are the column curves for Isections with parabolic residualstress distributions. As a result.LIP4iiiii J IYEII<. ' . Extensive research at Lehighl>" has shown that the distributions of residual stresses for hotrolled Isections usually fall between that of the linear and parabolic types.80 TEST DATA (A7.122 Columns > . CRC. 2.11 DESIGN CURVES FOR STEEL COLUMNS 2.and AISC) loadcarrying capacity of the column for bending about different axes.1 Column Design Curves Column Research Council Curve On the basis of both column curves developed previously for the idealized Ishaped columns with linear and parabolic residual stress distributions as well as test results of a number of small and mediumsize .PAIIIIOMIC FIGURE 2 .u. > ' 3 0. for hotrolled. A361 . the loadcarrying capacity of the column is larger for strong axis bending than that for weak axis bending. it is obvious from the figure that the distributions of residual stresses in a cross section have an influence on column strength.11. they represent upper and lower bounds to the strength of hotrolled Hcolumns. wideflange sections. ? SiRm. In general. 4 4 Column curves (theoretical. Again.
50.3 8 C 8 C .. (2. = 0. wideflange shapes of mild structural steel. The number 0.45 in its nondimensional form [Eq. For comparison purposes. AlSC Allowable Stress Design Curve The CRC curve divided by a variable factor of safety of KLIr ' . The column strength in the elastic range.e.11 Design Curves for Sleel Columns 123 hotrolled.5 5 3 KLIr 1 A. The slenderness ratio that corresponds to 0..30... 3 8 . the CRC curve takes the shape of a hyperbola. is the slenderness parameter given by A. (2. Eq. however. = ( K L I r ) u.3) is rewritten in its load form in terms of the nondimensional quantities PIPv and A. 2.11..2.11. ( ) ( ) )  :($)1 2 (2'11'5) . the Column Research Council (CRC) recommended in the first and second editions of the GuideI6 a parabola of the form to represent the column strength in the inelastic range. in which P . the CRC curve assumes the shape of a parabola and for slenderness ratio exceeding C.. i.=0. is designated as C.50. where : I Thus. (2. which is about 0. is the yield load g ? i = AoY aid 1 .ln E The CRC curve is plotted in Fig. To obtain a smooth transition from the parabola to the Euler curve as well as to maintain a compromise between the strength of columns bent about the strong and weak axes. + 3 +. wideflange shapes.5 is chosen as a conservative measure of the maximum value of compressive residual stress present in hotrolled. The point of demarcation between inelastic and elastic behavlor is chosen to he a.4)].11. for columns w ~ t h slenderness ratios less than or equal to C. is represented by the Euler formula.. the constant B in Eq.1) 1s chosen to be 4 / 4 n 2 E ..
C F.saa D ~ a i p n curve1 \3: FIGURE 2.124 Columns A I S C Allo. =service loads. (For column design.7 forms the AISC Plastic Design (PD) curve (Fig. The factors of safety are employed to account for geometrical imperfections and load eccentricities that are unavoidable in real columns.45.i R.45 Columndesign curves in the inelastic range and a constant factor of safety of 23/12 in the elastic range gives the AISC Allowable Stress Design (ASD) curve.1F. The design . R.abl~ St. The ASD column curve is used in conjunction with the ASD format given by R" " a.=. In plastic design. where Q.S. AlSC Plastic Design Curve is represented The ASD curve multiplied by a factor of 1.45). . 2. by the ASD column curve) Q .S. The AISCASD curve is also plotted in Fig. 2. = nominal resistance. only the inelastic regime of the curve is used because of the slenderness requirement.
and different axes of bending. which was developed on the basis of the bifurcation concept that assumes the column to he perfectly straight. . The expressions for the three SSRC curves are the following: Cume 1 (O< AcS0. and y = 1. which are the result of different manufacturing and fabrication processes. S 2. may vary considerably.11. wideflange and box shapes.8) (Ac > 2.a.=I where y is the load factor used in the present AISCPD Specification.11 Design Curves for Steel Columns 125 format for plastic design of columns is thus r. The Structural Stability Research Council (SSRC). Realizing that perfectly straight columns are rarely encountered in real life. so that multipledesign curves may be desirable.7 for live and dead loads only.3 for live and dead loads acting in conjunction with wind or earthquake loads.'' presents these three column curves along with the former one (CRC curve).8) (2. The values for y are y = 1.15 s A C < 1.'^ investigated theoretically and experimentnlly the strength and stability of initially crooked imperfect columns. the effect of geometricnl imperfections is only accounted for implicitly by applying a variable factor of safety to the basic strength curve. different sizes and steel grades. Structural Stability Research Council Curves Both the ASD curve and PD curve are originated horn the CRC curve. It is evident from the results of these studies that the strengths of different types of steel columns.17 Each of these curves is representative of the strength of a related category of columns.8 < A. a set of three multiplecolumn strength curves from a total of 112 columns being investigated was developed. In the categories covered by these column curves we find hotrolled and coldstraightened members. Although the effect of residual stress is explicitly accounted for.8a) .2) ( 1 2A 18) (1. in its third edition of the Guide. as well as round bars and members composed of welded plates.001L. and with actual measured values of residual stresses.l5) (0.2. researcher^'^. On the basis of a computer model developed for a geometrically imperfect column with an initial outofstraightness at midheight equal to 0.
' 0. the complete loaddeflection behavior of the column is traced from the start of loading to the ultimate state. These column curves are used in conjunction with the Columrz Selection Table shown in Table 2.OSAcS3.093 . (Euler buckling) + Curue 3 1 (yield level) 1.0) 0. In the bifurcation analysis. for columns that are initially crooked. a 5.75 < A. the load that corresponds to the state of bifurcation of equilibrium is calculated using an eigenvalue analysis.2O2Ac .8 ~ 1 ~ ~ 2 . Usually. ASD.11.8b) (2.877A. For comparisons. However. 2 3.45.15) (0.25) because of the combined maximum detrimental effects of both residual stresses and initial crookedness on the column strength as predicted by the computer model.0872. Tests of real columns have shown that the detrimental effects of residual stresses and initial crookedness are not always synergistic and so the SSRC curves with "belly down" in the intermediate slenderness range will be too conservative for most columns in building frames.035 . a stability analysis is also known as a loaddeflection analysis. The peak point of this loaddeflection curve is the maximum load the column can carry.0. (Euler buckling) 0.15) (0.3.6) (A.792A. and PD curves in Fig.' + + ( 0 s Acs0. the three SSRC curves are also plotted with the CRC.0) ( 1 . (2.8~) 2 ) (2. recourse must be had to numerical method for solutions.0.In the stability analysis. 2. Stability analysis of columns will be discussed in Chapter 6.' A '.128 +0.15~2~~1.11. the stability analysis is quite different from that of the bifurcation analysis.0) (A.0. 0 ) (2.6) (0<AcS0.0.636A. < 1. lateral deflection begins as soon as theload is applied and so there is no distinct point of bifurcation.009 0.8) (0.008 0.102A.'0.2 s Ac s 5.7072. 0 ~ A ~ s 2 .2222: 0.15s ACs0. As mentioned previously. I[ .' + These equations were obtained by curvefitting a parabola or hyperbola to the designated characteristic column curves that are the arithmetic mean curves of the three divided categories.111 0.' A '.6222.Curve 2 =I ps P Y Columns 1 (yield level) 1. The curves in each category as developed based on the stability a~lalysis. . It can be seen that these curves belly down in the intermediate slenderness range (0. Hence.
the column curve immcdi~lcly above the curve lor thc corresponding unstraiphlcncd .3 SSRC Multiple C o l u m n C u r v e s Selection Table ( N u m b e r s in p a r e n l h e s e s may b e s u b j e c t e d t o later c h a n g e ) Steel grade (ASTM) Hybrid Bending Fabrication delails Light Rolled wide8aogc Heavy Ramccut Light Welded builtup H Universal mill Ramscut Universal mill nxrs A7 A36 2 2 A 242 1 2 A572 50 65 A 441 A 514 1 1 1 1 1 ~51n 4 A441 WEB ~ 5 1 FL 4 A36 WEB ~ 4 4 FL 1 A36 WEB Major Minor Major Minor Major Minor ti] 12) (2) (2) (1) (1) (1) 2 3 1 2 2 (2) (2) 11) (1) (1) (2) (zj (2) (2) (1) (1)  I 1  1  2 7 2 2 Maior 2 ~ i k r 2 Major 3 Minor 3 bj 2 2 2 2 (1) (1) (1) (1) i2j (I) (2) (1) (1) (1) (1) (2) (2) (2) (I) (2) izj (2) (2) izj (2) (3) I Circular Mnssivc solid Extruded rolled Welded Major Miuor Major (2) (1) (2)    Tubes (1)  Box 1 Extruded rolled Flamecut universal mill I:{ 1 2 1 1 to If/ I:{ 1 1  I I E$: i Minor 2 Major Minor 1 1 Stressrelieved shapes (all types) 1 1 [I 1 1 1 1 1 A 1 1 I 1 N V Coldstrdghtcned (gil~~ctl or rollcr.arc dcrigncd amording shape.Table 2.rtraightcncd) . This is no1 valid for rhdpcs slresdy assigned to curve 1.
i i= 1 m (2.6 for live load.5 LC> 1.1) i ..g. Furthermore.). therefore. The column has small end restraints corresponding to an endrestraint parameter G = 10 (see Chapter 4) or an effective length factor K =0.4191:] 1 . the AISC Load and Resistance Factor Design (LRFD) SpecificationZo adopts the following curve exp [0.. Note that the LRFD format has the features of both the ASD and PD formats in that factors of safety are applied to both the load and resistance terms to account for the variabilities and uncertainties in predicting these values. .5 to represent column strength. PD. = nominal load effects $ I = resistance factor (see Table 1.2) y = load factor (see Table 1.5. 1. A The expressions for various column curves described above together with the three stateoftheart design formats (ASD. 1.  .0. . the LRFD format represents a more rational design approach.2 for dead load. different load factors are used for different types of loads (e.11. Note that only one curve is recommended for the whole range of possible column strengths. and LRFD) are summarized in Tables 2.11. The LRFD format is W. The column has a 1 1 initial crookedness sinusoidal in shape and has an amplitude of (1/1500)L at midheight. the following assumptions were made: 1. y) are evaluated based on firstorder probabilistic approach. This LRFD curve is plotted in Fig. especially in the range 0 s 1< 1.9) is comparable to SSRC Curve 2.>C riQ. (2. . 2. The axial force is applied at the centroid of the column end cross sections. 2.128 AISC Load and Resistance Factor Design C u w e Columns As a result. Since different types of loads have different degrees of uncertainties. = nominal resistance Q.96. . 3. Note that the LRFD column curve as represented by Eq. ! . etc.4 and 2._ cy. these load and resistance factors (@.s 1.45 together with all other curves described above. . In the development of this curve.10) where R.
In the present section. " 22 e.S.i F. LRFD $R. the use of these curves in design is rather cumbersome. For example. jm. for the SSRC multiplecolumn curves. we will discuss two mathematical equations that can be Table 2. It is therefore desirable to have a single equation that can be used to represent all these curves.7(15) s 1.0 .AcSV5 2.11..11 Design Curves for Steel Columns 129 Table 2. each curve is represented by nine or ten coefficients. 3 2 fie.2.4 Summary of Column Curves Column curves CRC curve P A2 Column equations c ' l 5 AZ AlSCPDcurve = P 1.5 Summary of Design Formats ASD R. 11 "7 .2 Single Equation for MultipleColumn Curves Although multiplecolumn curves give a more realistic representation of column strengths.
6 effect [Eqs. Both are developed based on the postulation that an initially crooked column with the initial crookedness at the midheight of the column equal to (Fig.6.6. 2.20) and (2.= ultimate axial capacity of the member in the absence of M Mu= ultimate moment capacity of the member in the absence of P RondalMaquoi Mathematical Form2' The RondalMaquoi mathematical expression can be developed by assuming that the ultimate strength of a column is reached when yielding . P.Columns FIGURE 2. (2..46 Physical model of imperfccl column P I used to represent these multiplecolumn curves.6 effect) according to the criterion in which P = aoolied axial force M = bending moment arising from thc P .22)] .46) will fail under the combined action of axial force and (secondary) bending moment (arising from the P .
622 (SSRC Curve 3) (2.11.293 (SSRC Curve 2) 0. 2. we have Substituting My = Soy and P.15) where LY = P .IP.47). = flow moment (Fig.(1  +q +A ) : d(1+ q +A : ) ' 2~f .103 (SSRC Curve 1) 0.19) The LuiChen equation can be developed by setting where P.11 Design Curves for Steel Columns occurs at the most severely stressed fiber.11. i. 2.X2.17) is the RondalMaquoi equation. when Using Eq. (2.12).15) and defining P Solving for PIP.11.17) P Y Equation (2.11.. By setting q=cu(A0.4Af (2. .11.11. q = a i A I S gives = A: into Eq.18) the three SSRC curves can all he closely approximated (Fig. yields (2. = tangent modulus load of the column M..e.48).2. LuiChen Mathematical Formp 1 0..
25 1.CC.A.00 1.T CURVATURE Q .Ch..48 Schematic representation of average flaw moment M.50 1.75 1.50 0. O' *eTE L I K MOMENT ~~.".0 0.75 2....n>t.25 0.00 Ac FIGURE 2.47 SSRC multiplecolumn curves and RondalMaquoi equation FIGURE 2.C c .
=1 (1 ... (2.24). the criterion of failure for the column is Substituting Eq.2.< a. (2.11 Design Cuwer for Steel Columns 133 Thus.)zoo where S =elastic section modulus.22) yields The flow moment can be expressed as the product of the plastic section modulus Z and an averageflow stress oo The flow stress is such that oylf S a.11. + P.11. in which f is the shape factor of the cross section. (2.12) into Eq. In view of Eq.11. (2. Eq.11. Defining and realizing that .23) can be written as P Pd. The shape factor is defined as the ratio of the plastic section modulus Z to the elastic section modulus 3.
33) can be written as . Any column curve can be generated using this equation provided that the parameters i j .34) is the LuiChen equation for all column strength curves.11. KL &(T).n 1 a . E.11.32) for PIP. E. (2. gives Equation (2. Now. The maximum load a column can carry is a function of i j .11. expressing the initial crookedness d i of a column as a fraction of the column length L and realizing that S==C I Ar' C where c =distance from neutral axis to extreme fiber of the cross section r = radius of gyration Equation (2. and I.26) can be written as in which i j = fays is the itnperfection parameter..11. Solving Eq.Columns where A c = . are known. Eq. and I. (2.
will govern the ultimate state. will approach a. By substituting Eq. On the other hand. PIP. will govern the ultimate state.. On the basis of this argument. the value of P for strong axis bending can be taken as 0. Since for a column the degree of plastification depends on the load level and the load level is a function of the slenderness ratio of the column. PIP. in terms of A. if A. geometric imperfection (y). will approach unity. is very small.. r). wideflange shapes.378 and for weak axis bending as 0. is .11. is very large.. and slenderness ratio (A. If A.38). the problem resembles an axially loaded shortcolumn problem and the yield moment My. the problem resembles a beam problem and the plastic limit momerzt M.308. (2.40) are known. so a. so a.11. axis of bending (f). (with K = 1 for pinnedended column) Note that this imperfection parameter reflects the effects of yield stress (my). this flow stress can be thought of as a function of the slenderness parameter A. will approach oylfwhere f is the shape factor. we can write For a given column.39) into Eq. For small and mediumsize hotrolled.11 Design Curves for Sleel Columns 1% or. (2.2. The average flow stress a.11.) on the loadcarrying capacity of columns. the terms inside the brackets of Eq. so it can be written in the general form as where The modulus ratio E can be evaluated if the tangent modulus E. is very small. (2. crosssectional shape ( c . the following expression for the flow stress is proposed: The constant P can be determined from experiments or from calibration against existing column curves. depends on the degree of plastification of the cross section and is a function of the load level and column types.
Calumns p = 0. 1982 .SupimoCo and 0. Recall that the tangent modulus is the slope of the nonlinear stressstrain curve.Suslnoto and Chon.LulChsn Equntlon .40 . Thus. 1982 FIGURE 2. This nonlinearity is due to material for aluminum columns but for steel columns. this modulus ratio will reflect material nonlinearity and imperfecFIGURE 2.50 Comparison of LuiChen equation with computer model by Sugimoto and Chen 0"=36 hml .20 Chen. it is due to residual stresses existing in the steel cross sections.378 0.49 Comparison of LuiChen equation with computer model by Sugirnoto and Chen known either from an experimental or a theoretical approach.80P  5 0.50 0.
the differential equation of equilibrium can be written as Ely" where + Py = 5 V$ 5M o (2. i.1) E = elastic modulus I = moment of inertia of the cross section P = axial force V.49 shows two column curves.453 0.34) can also be used to approximate the SSRC multiplecolumn curves.11. By using the values of li and 6 shown in Table 2.0m 0. = end shear M. this modulus ratio can be conveniently taken as the ratio of the Euler curve to the CRC curve.W1 0. wideflange shapes. It can be seen that good agreement is generally observed between the numerically generated curves and the curves predicted using the mathematical equation. generated numerically by Sugimoto and ChenZ3 for a W12 x 65 section.159 0.Table 2. For small and mediumsize hotrolled.092 tions. A similar comparison for the same column bent about its weak axis is shown in Fig..e. bent about the section's strong axis with initial imperfection 6. at midheight equals to 0.6. good agreement is generally observed. Also shown in the figure are the two curves generated using the LuiChen equation.12.6 Values of B and 6 for SSRC MultipleColumn Curves SSRC curve 1 2 3 a 6 0. 2.51). Again. 2.036 0.001L and O. = end moment .50. the SSRC column curves can be closely approximated (Fig. Figure 2.OO2L.12 SUMMARY For a perfectly straight column that buckles in the elastic range. Equation (2. 2.
1) is where k = and A and B are unknown coefficients. (2. The lowest value of k gives the critical load of the column. nontrivial solutions for the dependent variable exist only for certain values called eigenvalues. This class of problem is known as the eigenvalue problem. the column ceases to be stable in its initial straight position. only the shape and not the amplitude of the eigenvector can be determined. A small lateral disturbance that occurs at the critical load will cause a lateral deflection that will not disappear as the disturbance is removed.12.Columns FIGURE 2. there is no unique solution for this equation. Since there are more unknowns in Eq. A . The nontrivial solutions that correspond to these eigenvalues are called eigenvectors.12. since Vu and Mu are different for different end conditions. Because there are more unknowns than boundary conditions.1) is a secondorder linear differential equation with constant coefficients. (2. For the case of a column. In an eigenvalue problem. This equation depends on the end conditions of the column. A t the critical load.12. Equation (2. the eigenvectors are the buckling modes of the column and the eigenvalues are the values of k.51 Comparison of SSRC curves wit11 LuiChen equation T h e general solution to Eq.2) than geometrical boundary conditions available in the problem.
12. (2.12..3) I i I i 1 K= v%% (2. This can be achieved by multiplying the actual length of the endrestrained column by an effecfiue length factor defined as (2. that is associated with a column instability.12.1) twice to give Ely '" + Py" = 0 whose general solution is Alternatively. (2.6) (for initially crooked columns) L l . From an elastic analysis. (according to the reduced modulus theory) The use of this effective modulus can.12.4) will thus give the critical load of the column.6 effect. This P . (according to the tangent modulus theory) I E.2. The lowest eigenvalue to Eq. take into account the material inelasticity. the critical load can be obtained by simply replacing the elastic modulus E by an effective modulus E.12. For endrestrained columns. it can be shown that the moment in these columns can be obtained by simply multiplying the firstorder moment by the anrplfication factor sec i AF= (tm) (for eccentrically loaded columns) (2. B.12 Summary 139 more convenient form that is independent of end conditions can be obtained by differentiating Eq. this is an eigenvalue problem. Again. C. In the tangent modulus theory. approximately.PC) For perfectly straight columns that buckle in the inelastic range.4) and there are only four boundary conditions (geometrical and natural).. This effect arises as the axial force P i s acting through the displacement 6 of the member relative to its chord. is known as the P .6 effect can be studied conveniently by analyzing an eccentrically loaded or initially crooked column.3) can be obtained by considering equilibrium of an infinitesimal segment of a column. no strain reversal i . where E. (2. Eq..5) The key phenomenon. it is convenient to modify the unbraced length of the column to an equivalent length of a pinnedended column so that the column curves prepared for pinnedended columns can be used directly for the restrained case.12.12. A . and D ) in Eq. Note that there are five unknowns (k. The result of this effect is an increase in lateral deflection and moment in the column. (2.
the loaddeflection analysis permits us to trace the complete load deflection response of the column from the start of loading to failure. in which only the load that corresponds to the point of bifurcation can be obtained. In using the eigenvalue analysis one must assume that the column is geometrically perfect. whereas in the reduced rnodulur theory. a complete strain reversal is allowed.~ The tangent modulus concept is based o n the eigenvalue o r bifurcation analysis. . This approach is known as the stability or loaddeflection analysis. the validity of the tangent modulus theory for predicting the buckling strength of real columns is demonstrated and explained by the St~anley's inelnstic column tl~eory.1. As a result. P2. Sketch the deflected shapes of the columns. an alternate and more elaborate approach that explicitly takes ' into account the effect of geometrical imperfections in the columns may be desirable. Columns in reality are never perfect.is allowed. This curve forms the basis of the new AISCLRFD column curve. the C R C column curve was developed on the basis of the tangent modulus concept. and since it is easier to evaluate than the reduced modulus load. the tangent modulus theory is used extensively to develop column strength curves for the purpose of design. Because of the complexity in calculation inherent in the loaddeflection analysis. By introducing a safety factor to the CRC curve to account for imperfections of the columns and load eccentricities. which is contained in the present LRFD Specification. wideflange shapes frequently used in building construction. The SSRC curve 2 represents the column strength of mediumsized hotrolled. one can develop the AISCASD curve. The SSRC multiplecolumn curves have been developed on the basis of an extensive loaddeflection analysis.1 Find the ratio of the critical loads that curresponds to the first two buckling modes of the hvo columns shown in Fig. and where a complete strain reversal is assumed to occur on the convex side of the column as it buckles. recourse to numerical techniques is inevitable.w PROBLEMS i I I II 2. In contrast to the eigenvalue analysis. For instance. Although the reduced modulus theory is theoretically correct. which is contained in the present ASD Spe~ification. Since the tangent modulus load represents a lower bound to the buckling strength of real columns.
3). '. FIGURE P2.4 Find the buckling loads of the columns shown in Fig.3 3 FIGURE P2. P2.3 2.3 Find the buckling load of the fixedfree stepped column shown below (Fig.2). P2.2 Find the buckling load of thc rectangular section pinned at both ends (Fig.1 EIconstant P 2.4 lhIo ei L I LL r P i . FIGURE P2. FIGURE P2.2 P I 2.4ac. P2.
b. = sec [(XI 2 ) m l . at A.  T . at A. = 1.78 ksi (157 MPa).6 X 106MPa). = 0.PIP.2 where A. = 22. SSRC multiplecolumn curves 2.Columns tL . the PerryRobertson formula 2.9 State the basic assumptions made in the development of the a. Approximate the stressstrain behavior of the aluminum alloy by two straight lines and reevaluate the ratio KIP. AISCLRFD column curve How is the concept of "safety factor" incorporated in these design formats? .181 ksi (1.2.0.4 and A. 5 m 2.4 and A.) where a =f(PIP. the Secant formula b. * FIGURE P 2 . Find the ratio PJP.10 Describe the interrelationship and design format of a.5 For the eccentrically loaded column shown in Fig. P2.= 1.7 Plot the tangent modulus column curve for an aluminum alloy column with 11 = 8. AISCPD column curve c. a. = ol(1. % .6 Discuss the assumptions used and the limitations of a. find an approximate expression for the amplification factor A. CRC eolumn curve b. AISCASD column curve b. 1 2L   1 & A n FIGURE P2.8 Plot the reduced modulus column curve for the aluminum column in the above problem with the following cross section (Fig.4 .. Compare it with the exact expression A. E = 10. I Elcanstant 2.= l l n m (Ll r ). P2.8).=0.5. 2.). What conclusions can you draw upon comparison with the values obtained in part (a)? 2. in the form A.
FIGURE PZ.11 .8 FIGURE P2.
14 I *I 4h I . a roof live load (L.11) with an occupancy live load (L. In which it is assumed that onehalf of the crosssection are. the LRFD format 2. P2. f o ~ an idealized [section shown in Fir. P : 1 m I . P2. P2.12 Denvc the reduced modulus of el. P FIGURE P2. the ASD format b. and a dead load (D.13 Find the buckling load of the column shown in Fig.~st~city E.) of 60 kips (267 kN).12.13.) of 60 kips (267 kN) based on a.11 D e s i p a Wsection pinned at both ends and braced at midheight in the weak direction (Fig.! is u concentrated'in each Aange and the area of the web is disregarded 2.13 I ~ I 2. PZ. FIGURE P2. the PD format c.14 Find the critical load P for the structure shown in Fig.) of 40 kips (178 kN).14.144 Columns 2.
1953. Fritz Engineering Laboratory Report No.34. 1744. 18. 220A. Zeitschrift fiir Architektur und Ingenieurwesen. 15. Deterministic and Probabilistic Approaches to the Strength of Steel Columns. Memoires de I'Academie Royale des Sciences et Belles Lettres.. W. De curvis elasticis. B. Column Research Council. 93.References 145 REFERENCES 1. G. Vol. M. Sfintesco. Huber. New York. The strength of struts. ed. 1895. 11. New York. A. 1961. 9. Description of stressstrain curves by three parameters. p . Vol. A. and Gere. and Johnston. and Tall.. Paris. ASCE. ~ 8. Behavior and maximum strength of metal columns. April 1967.'68. 1973. 1972. Second edition. 12. 28. 86. 35:455. Lehigh University. ST2.. L. 16. Chicago. and Osgood. No. Residual Stresses in Wide Flange Beams and Columns.. 3. 7. 13. B. W. Ayrton. John Wiley & Sons.) 2. Bjorhovde. L. Wang. 1925. Proceedings of the ASCE. Ph. November 1958.. 14. Structural Stability Research Council Guide to Stability Design Criteria for Metal Structures. A. J. G. No. Lehigh University. F. New York. F. Fritz Engineering Laboratory Report No. N. 1973. 17.D. 1976. H. 1960. Also. Journal of the Aeronautical Sciences. L. Ramberg. L. Vol. 139173. National Advisory Committee on Aeronautics. Illinois. 1976.1891. R. Johnston. pp. Journal of the Structural Division. 267. W. November 1978. Vol. G. July 1960. . Robertson. 902. 3:371. Resistance des PiBces ComprimCes. 13.Research Council Bulletin No.. 44. B. Johnston. Technical Note No. W. 26:24. Second edition. McGrawHill. 1759.. Bethlehem. New York. Engineering Societies Monographs. R. 19.. Department of Civil Engineering. Welding . John Wiley &Sons. Residual Stresses in Structural Steel S h a p e j A Summary of Measured Values. Inelastic column theory. P. R. July 1956. 5. Bethlehem. 205231. Batterman. Engesser. S. 14 (May): 261264. J. and Tall.ECCS. and Perry. 337. C. 1947. 1889. Paris. 10. ed. Guide to Design Criteria for Metal Compression Members. D. Beedle. Theory of Elastic Stability. Specification for the Design. 6. 62: 464 1886. 1943. R. Considere. L. Fabrication and Erection of Structural Steel for Buildings. European Convention of Constructional Steelworks Manual on the Stability of Steel Structures. The Engineer. CongrBs International de Procedes de Construction. 4. STI. dissertation. Lehigh University. S. The influence of residual stresses on the strength of structural members.. McGrawHill. Lausanne and Geneva. Shanley. Schweizerische Bauzeituna. ed. AISC. Tebedge. On struts. Applied Elasticity. Euler. T. Timoshenko. Bethlehem. PA. Basic column strength. PA. Berlin. R. E. Ketter. ICE Selected Engineering Paper. PA. (The Euier formula was derived in a later paper: Sur le Force de Colonnes.25. Second edit~on. pp. Third edition.
PrenticeHall. 1956. New York. M. 99117. W. Chen. Engineering Journal. 1986. 21. and Chen. 22. 1976. Lui. 1979. Sugimoto. McGrawHill. 23. Buckling Strength of Metal Structures Engineering Societies Monographs. W.es. Englewood Cliffs. AISC. F. Journal of the Structural Division. Small end restraint effects on strength of Hcolumns. T. and Atsuta. Simplified approach to the analysis and design of columns with imperfections. 2: Space Behavior and Design. . and Chen. AISC. 21.. 1982. Journal of the Structural Division. November.146 Columns 20. Load and Resistance Factor Design Specification for Structural Steel Buildings. 1: InPlane Behavior and Design. W. New York. John Wiley & Sons. Single equation for SSRC column strength cur . pp. 1974. lOB(ST3): 661681. Hoff. J.. Chicago. F. 1984. 105(STl): 247250. J. 1977. McGrawHill. F. N.. H. Vol. New York. F. ASCE. Principles of Structural Stability Theory. E. The Analysis of Structures. Chajes. Theory of BeamColumns. and Maquoi. R. Vol.. A. NJ. and Vol. ASCE. second quarter. 1952. Rordal. Further Reading Bleich.
Chapter 3 BEAMCOLUMNS 3. Because for a beamcolumn both the bending and axial effects are significant. if the axial force effect in a member is negligible compared to the bending effect. beams and columns are regarded as special cases of beamcolumns. will cause lateral deflections. or by a combination of both. all members in a frame are beamcolumns. the bending moments induced in the member by the application of end moments. Thus. the axial force will act through the lateral deflection caused by the bending effect to produce additional lateral deflection and moment in the member. or by inspan transverse loadings. the analysis of this type of member involves the features of both the deflection problem as a beam and the stability problem as a column. These bending moments and lateral deflections are called primary bending moments and depectioru. it is customary to refer to the deflection (and moment) caused by the primarybending effect as primary deflection (and moment). As a beam problem.1 INTRODUCTION A beamcolumn is a structural member that is subjected to both bending and compression. In reality. the axial force at certain critical values will cause instability of the member. and to refer to the additional . On the other hand. As a column problem. it is more convenient to treat such a member as a column and analyze and design it accordingly. if the bending effect in a member is secondary compared to the axial force effect. it is more convenient to analyze and design that member as a beam. To distinguish between the deflections (and moments) induced by the bending and axialforce effects. However. In the case of beamcolumns.
In addition. The AISC effective length alignment charts for nonsway and sway cases will be discussed on the basis of certain simple assumptions. closedform solutions of most beamcolumns are available so long as they stay within the realm of purely elastic behavior in which the moment can be related to the curvature by a linear relationship.') If yielding or inelasticity occurs in the member. the secondary deAection (and moment) of a beamcolumn caused by the axialforce effect is sometimes more significant than that caused by the primacy bending effect. we will develop the general governing differential equation of a beamcolumn under general loading conditions. Note that the words primary and secondary are used solely for the purpose of convenience and not for the purpose of representing the relative importance of the two effects. To take into account the effects of other members on the beamcolumn under consideration in a frame.deflection (and moment) caused by the axialforce effect as secor~dary deAection (and moment). and deAection shape of the member. in turn. This. crosssectional geometry. (See. only numerical solutions with recourse to computer routines are possible. Since the behavior of a beamcolumn is different depending on whether there is a relative translation between the member ends. we will show in detail the elastic solutions of a simply supported beamcolumn under three types of loadingsthat of (1) uniformly distributed. will be followed by the solution of an elasticplastic beamcolumn under equal and opposite end moments. however. we will distinguish between cases in which the beamcolumn is treated as an individual member or as a member in a frarrre. Afterward. which will be based on the approaches used by the AISC for beamcolumns. and (3) end m o m e n t s i n order to demonstrate the solution procedures and general behavior of a typical beamcolumn problem.~) In this chapter. We will then conclude the chapter with a discussion of design equations. the twovolume work by Chen and At~uta?. For more general cases. the concept of effective length factor will be used again. however. our discussions of beamcolumns will address separately the norrsway versus the sway case. In fact. (See. the momentcurvature relationship becomes nonlinear. (2) concentrated. closedform solutions are still possible if one makes drastically simplified assumptions regarding the stressstrain behavior of the material. Theory of Elanic Stability by Timoshenko and Gere. Although the analysis of a beamcolumn is more complicated than that of a beam or a column. for example. In some cases. . In such cases the use of formal mathematics for the solution of the governing differential equations become intractable and recourse must be had to numerical methods to obtain solutions. for example.
upon rearranging.2 BEAMCOLUMN WITH UNIFORMLY DISTRIBUTED LATERAL LOAD 3. the internal moment M.lb. 3.1 The ClosedForm Solulion (Fig.1 Beamcolumn with uniformly distributed lateral load (3. For equilibrium. by equating Eqs.2. 3.3) . the external moment must be balanced by the internal moment. w wL EIY"+ PY =x2x 2 2 FIGURE 3.la.3.1) T o begin our discussion of the elastic behavior of a beamcolumn. let us consider a simply supported beamcolumn subjected to an axial force P and uniformly distributed lateral load of intensity w as shown in Fig.2.2. is related to the bending curvature y" by the linear relationship where the negative sign indicates that the curvature or the rate of change of slope y" = d y ' l d r is decreasing with increasing x as shown in Fig.1) and (3. we have.. Therefore.2 BeamColumn with Uniform Distribulion Lateral Load 3. 3. is If elastic behavior is assumed and if the material obeys Hooke's Law. The external moment acting on the cut section. (3.2)..lb. A freebody diagram of a segment of the beamcolumn of length x from the left support is shown in Fig.2. 3.
4).2.2...12) (3.2.6) The complementary solution that satisfies the homogeneous differential equation y" + k2y = 0 (3.x y.2. i.2.4) is a polynomial. + C. + k'y.11) (3. (3. we have + kZyp= (Clk2)x'+ (C. since the righthand side of Eq. (3.7) has the general form The particular solution that satisfies Eq.13) = 2C1 and so y.2.2.2.10) (3. (3. and a particular solution y.2. we obtain yb = 2C.k2)x + (2C1+ C3k2) Upon comparison with Eq. C. Taking derivatives of Eq. = 2C1 k2(C1x2 + GX+ C3) + Rearranging..4) in which C l . we assume the particular solution to be a polynomial with the highest order equal to that of the polynomial in the righthand side of Eq.4) consists of a complementary solution y. We shall use the method of undetermined coefficients for this example.4) can be obtained by either the method of undetermined coeficienu or by the method of uarintion of parameters. y.where The general solution to Eq. (3. and C3 are the undetermined coefficients. (3. (3.2.e. Y =Yc+Yp (3.2. (3.2. In the method of undetermined coefficients. we can write .9).
8) and the particular solution Eq.2.3.6) gives the general solution to Eq. (3.2. we find and using the second boundary condition.20) into Eq.2.2.2 BeamColumn wilh Uniform Distribution Laleral Load 151 from which Hence. the particular solution is w "=2ElkZ x WL  W 1  2EIk 7 Elk 7 Substituting the complementary solution Eq. (3.4) as from which The constants A and B can be obtained by considering the boundary conditions Using the first boundary' condition. we have . (3. (3.
e.. P increases) the value of this term increases. the bending stiffness of the member vanishes as P approaches the Euler load. The effect of the axial force on the maximum deflection is manifested in the term in the square bracket in Eq. the Euler buckling load) the value of the term approaches infinity. (3..=5wL4/384EI is the maximum lateral deflection that would exist if the uniform lateral load w were acting alone (i.30). for an elastic .e. as P approaches the Euler load. at u = n12 (i.2.2) 5u4 1 where y. if u = O (i. Eq.u2.2. (3. (3. Thus. As seen from Fig. The maximum deflection of the member occurs at midspan and is expressed by L wLJ 1cosu y m n x = y ( 2 ) = 1 6 T i 7 [ cosu I wL4 'YO[ 12(2 sec u . P = n2EI/LZ. tanu sin+cos1 L '" L I from which the moment distribution along the length of the member is 3. the lateral deflection of the member increases without bound or. 3.2 The Calculation of y. In other words.26) can be written as wL4 21~1.e.2.. and as ir increases ( e .2.. to put it in still another way. if P were absent). P = 0 ) the term in the brackets reduces to unity. Finally.21) can be written as Introducing the notation Eq.2.Thus.
which amplifies the deflection of the member when an axial force is acting in conjunction with the lateral force. (3. This concept will be used in the next chapter to determine the critical loads of elastic frameworks.30) can be regarded as an amplification factor.30).2. the lateral deflection y is directly proportional to the applied lateral load w. if P remains unchanged). (3.3. Thus. In other words. The larger the value of the axial force. 3. The term in the brackets in Eq. the greater will be the amplification. For a constant u (i. Let us now return to the beamcolumn problem. the critical load can be obtained by reference to the state at which the tangent stiffness of the system vanishes.2 that the effect of axial force on the lateral deflection of the member depends on the magnitude of the axial force.e.2 BeamColumn with Uniform Distribution Laleral Load FIGURE 3. the total lateral deflection resulting from . the deflections (and bending moments) are linear functions with respect to the lateral applied loads. It can clearly be seen in Fig.. Another useful observation can be made from Eq.2 Deflection amplification factor system.2.
and (2) the same axial force i s applied to each of the componerir cares.32) Since Equation (3. .154 tiearnColumns different load combinations can be obtained simply as the sum of the deflections resulting from each individual load application with the same axial load. it shows that this principle holds also for beamcolumn problems for which P +Oprovided that ( I ) the axial force in the general case of the member remairls constant. We shall use this principle later in the chapter to evaluate the fixedend moments of beamcolumns (Section 3. As can be seen.4067uZ 0.30). for small values of PIP.5). For the purpose of design application. The principle of superposition has been used extensively for the special case of beam problems for which P = 0 . This is true even if the lateral load remains unchanged. (3. = yo[l 0.1 shows a comparison of the theoretical amplification factor [the term in brackets in Eq. (3. (3. approximately in which the term in the square brackets is the design amplification factor for the lateral deflection.2. Also.2. This is known as the principle of superpositio~iorl. .2.. we obtain y. and substituting this series into Eq.30).2. Here. which is generally the case for the .32) can be written as or. (3. it is more convenient to simplify the expression of Eq.2.] + + (3. 1649u4 + .35)]. Expanding sec u in a power series.30)] and the design amplification factor [the term in brackets in Eq. Table 3.. the proportionality between lateral deflection and lateral load will be destroyed if the axial force varies during the application of the lateral load.2. this deflection varies nonlinearly with the axial force. Although the lateral deflection is directly proportional to the applied lateral load for a constant axial force.
1 Theoretical and Design Deflection Amplification Factors for a Uniformly Loaded BearnColumn kL P Theoretical Eq.. (3. caused by the lateral load w and the secondary moment caused by the axial load P acting through the maximum lateral deflection y. . The term in the square brackets thus represents the rnonren! anrplificarionfactor. (3. consists of two components: the primary moment M.. Therefore.2.e. which magnifies the primary moment in the member due to the presence of an axial force.2 BeamColumn wilh Unilorm Dislribulion Lateral Load Table 3. (3. i. it is also important for an engineer or designer to know the maximum moment in the beamcolumn.3. if P were absent). Note that another way the maximum moment can be obtained is by realizing that M. from the moment expression Eq.. For a uniformly loaded beamcolumn.2.e.2. the maximum moment occurs at midspan..29). the two expressions give very comparable results..3 The Calculation of M..35) axialload conditions in most beamcolumns in real structures. 3. In addition to knowing the maximum deflection. the maximum moment is where Mu = wL2/8 is the maximum moment that would exist if the lateral load w were acting alone (i.2.30) Design Eq.
For the purpose of design application. approximately 1 = + O.2. 3. 1694u4 + 0.31)] in Eq.30)] in Eq.2.(PIP.4167u2 + 0.1 The ClosedForm Solution (Fig.2 shows a comparison of the theoretical moment amplification factor [the term in brackets in E q .2.36) is obtainable.3) Figure 3.36).) I where the term in the square brackets is the design moment amplification factor. .3. (3.2.O28(P/P. .2. (3. (3. = M.37). we shall again simplify Eq. (3. (3.156 ~eamColumns Using the expression for y.36)] with the design moment amplification factor [the term in brackets in Eq.06870u6 + .41)].2.38) Using the expression for u in Eq.3 BEAMCOLUMN WITH A CONCENTRATED LATERAL LOAD 3. (3. It can be seen that the two expressions give very comparable results. Table 3. M .2.3a shows a simply supported beamcolumn acted on by a concentrated lateral load Q at a distance a from the left end and an axial .] (3.2. 3.2.. it can easily be shown that Eq. (3. (3.[1 + 0. it can be shown that or. [Eq. (3.36) by using the power series expansion for sec u [Eq..2.) 1.33).
36) 1.60 0.40 0.3.071 1. the differential equations for this beamcolumn can be written as for O s x s a I I Lx .20 0.(3.017 1. Referring to the freebody diagram in Fig.171 1. Theoretical Eq.41) 1.W 1.863 0 0.40 r/2 = 1 force P. 3.176 1.360 1.3b.2.OUO 1.lb) a P Px EICONSTANT Y .016 1.402 4.983 @ Design Eq.80 l.m 1.(3.069 1.3.2.2 Theoretical and Design Moment Amplification Factors for a Uniformly Loaded BeamColumn kL = n =2 2 & P P .350 1.702 2.3 BeamColumn with a Concenlrated Lateral Load Table 3.E I ~ " = Q R ( ~ ) + for P ~a s x s L FIGURE 3.20 1.681 2.3 Beamcolumn with a concentrated lateral load (3.444 4.
158
BeamColumnr
Rearranging and using the expression k 2 = PIEI, we obtain y" + k2y = Q(La)x LEI for O s x s a (3.3.2a) (3.3.2b)
Y" + kZy =  Qa(L  X) for a S x s L LEI
The general solutions are y = A s i n k x + B c o s h  Q(L:)~ LEIk y=Csinkr+Dcoskrfrom which y'=AkcoskrBksinkryl=CkcoskrDksinkr+QcLf) LEIkQa QaVx) LEIP for 0 s x s a
(3.3.3a)
for a s x s L (3.3.3b)
h r 0 s x S a (3.3.4,) for a s x s L (3.3.4b)
LEI^^
Using the boundary conditions that there are no lateral displacements at the supports y (0) in Eq. (3.3.3a) = 0 y(L) in Eq. (3.3.3b) = 0 (3.3.5) (3.3.6)
and the continuity conditions that displacement y and slope y ' must be continuous at the point of load application Q y(a) in Eq. (3.3.3a) =y(a) in Eq. (3.3.3b) yr(a) in Eq. (3.3.4a) =y'(a) in Eq. (3.3.4b) the four constants A, B, C, and D can be determined as A= Q sin k(L a) Elk3 sin kL Q sin ka EIk3 tan kL Q sin ka Elk3 (3.3.7) (3.3.8)

C= D=
Substituting these constants into the deflection functions Eqs. (3.3.3a)
3.3 BeamColumn wilh a Concentrated Laleral Load
and (3.3.3b) gives Q sink(La) . '=Elk' sin kL sin kx
 Q(La)x
LEI^'
for 0 6 x s a sin kx
Q sin ka +cos kx ~1k3
Q sin ka
=  Elk3 tan kL
 Qa(L x) LEI^^
from which
for a S x S L
y ' =  Q sin k(L  a) cos kx  Q ( L  a ) Elk2 sin kL LEI^^
Q sin ka Q sin ka . coskxsin kx = E I ~ Z tan k~ EI~' Qa +LEI~' and for a e x S L
for O S x s a (3.3.14a)
. Y" = Q sin k ( L  a) stnkx for O s x e a E l k sin kL
Q sin ka Q sin ka sin kx coskr for a s x S L ' " = E l k tan kL Elk (3.3.15b)
3 . 3 . 2 The Calculation of M,, and y,, Consider now the special case in which the concentrated lateral load Q acts at midspan. By setting a = L/2 and x = L/2 in Eq. (3.3.13a or b) and Eq. (3.3.15a or b), we obtain the maximum deflection and maximum moment, respectively, as
tan u in which u = kL/2, yo and Mo are, respectively, the maximum deflection and moment that would exist if the axial force P were absent. The terms
in brackets in Eqs. (3.3.16) and (3.3.17) are thus the theoretical deflection and moment a~tiplification factors. To simplify the expressions for the maximum deflection equation (3.3.16) and the maximum moment equation (3.3.17), we use the power series expansion for tan u
Upon substituting Eq. (3.3.18) into Eqs. (3.3.16) and (3.3.17) and simplifying, it can be shown that these equations can be written approximately as
(3.3.19)
M

1  O.l8(PIP.)j [ I  0.2(PIPc)] =Mo 1 (PIP", 1  (PIPc)
(l.3,20)
in which the terms in brackets in the above equations are the design deflection and moment amplification factors, respectively. Tables 3.3 and 3.4 show a numerical comparison of the theoretical and design deflection and moment amplification factors, respectively. Good correlation between the theoretical and design amplification factors are observed. At this point, the reader should recognize the similarity in form of the deflection amplification factors in Eqs. (3.2.35) and (3.3.19) and the
Table 3.3 Theoretical and Design Deflection Amplification Factor for a BeamColumn with a Concentrated Lateral Load at Midspan
kL = , =2 2
Theoretical
Design
Eq.(3.3.19)
P .
Eq(3.3.16)
3.4
Beam.Columns Subjected lo End Moments Table 3.4 Theoretical and Design Moment Amplification Factors for a BeamColumn with a Concentrated Lateral Load at Midspan
Design
similarity in form of the moment amplification factors in Eqs. (3.2.41) and (3.3.20) for the simply supported beamcolumn under uniformly distributed and midspan concentrated lateral loads. We shall take advantage of these similarities in developing design formulas for beamcolumns. This will be discussed later.
3.4 BEAMCOLUMNS SUBJECTED TO END MOMENTS 3.4.1 The ClosedForm Solution (Fig. 3.4)
So far, we have considered only the cases in which the primary bending moments in the beamcolumns are caused by inspan lateral loads. In this section, we shall consider the case in which the primary bending moment is caused by end moments in the beamcolumn. Shown in Fig. 3.4a is a beamcolumn acted on by end couples MA and MB at the left and right ends of the member, respectively, and acted on by an axial force P. Using the freebody diagram of a segment of beamcolumn of length x from the left end (Fig. 3.4b), the external moment acting on the cut section is
Equating this to the internal moment of Ely" and rearranging, we have
Ely "
+ M Bx  M A + Py = MA L
BeamColumns
EICONSTANT
Y
Ibl
FIGURE 3.4 Beamcolumn with end couples (doublecurvature bending)
or, using k2 = PIEI, we can write
The general solution is
The constants A and B can be evaluated by using the boundary conditions
y(O)=O,
y(L)=O
(3.4.5)
From the first boundary condition, we obtain
and from the second boundary condition, we obtain A=
Elk2 sin k L
(MAcos k L
+ MB)
3.4 tJeam.Columns Subjected to End Momenls
Therefore, Eq. (3.4.4) can now be written as
= (MA cOs kL + M ~ . )
Elk2 sin kL A+% MA +M L E I ~ ~ EIP
X
MA sinkx+coskx E I ~ ~ (3.4.8)
from which '' and
=
(MAcos kL +ME) MA . coskxsinkx+ Elk sin kL Elk
LEIk
(3.4.9)
. MA y" = (MAcos kL ME)s~nkrcoskx E I sin kL El
and k(MAcos kL ME) kMA . coskx +slnkx '"'= E I sin kL El
+
(3.4.10)
+
(3.4.11)
To determine the location of the maximum moment, we set the shear force (Ely"'), or Eq. (3.4.11), equal to zero. In doing so, we obtain the location f tan k.t = (MA cos kL ME) MAsin kL
+
(3.4.12)
From Fig. 3.5, it can be seen that sin k.i
=
(MAcos kL
+ M,)
(3.4.13) (3.4.14)
cos k.i =
MA sin kL
l ' 
FIGURE 3.5 Trigonometric relationship
164
. ,
BeamColumns
(Note: For 0 s W s k~ = n m s n, we have sin W 3 0 and cos W s 0) The maximum moment is obtained by using the above expressions for sin W and cos W in the expression M = Ely" where y" is given in Eq. (3.4.10). Thus  ( M A cos k L M,)' M,u = sin k L v M ; + 2MAMBcos k L + M i M', sin k L v M i + 2MAMBcos k L + M i

+
 VM:
= MB[
+ 2MAM, cos k L + M t
sin k L
JL
+ 2(MAlMB)cos k L + 1]
sinZk L
(3.4.15)
i
The minus sign that appears in Eq. (3.4.15) simply indicates that M,, causes tension on the top fiber of the cross section. If MB is the larger of the two end moments, then the terms in the brackets in Eq. (3.4.15) represent the moment amplification factor for the beamcolumn subjected to end moments MA, M, and an axial force P. Note that this amplification factor depends not only on the magnitude of the axial force, but also on the magnitude of the ratio of the end moments. For members bent in double curvature, sometimes the maximum moment occurs at the end and is therefore equal to MB, as shown in Fig. 3.6. If this is the case, the amplification factor in Eq. (3.4.15) becomes meaningless because this theoretical maximum moment occurs outside the length of the beamcolumn. To check whether Eq. (3.4.15) is applicable then for a given value of MA, MB, and P, one should also evaluate . t from Eq. (3.4.12). If the calculated value o f f does not fall within the range O s f s L , Eq. (3.4.15) is not applicable and the maximum moment occurs at the end and is equal to the larger of the two end moments (see Problem 3.6). It should also be mentioned that in the development of Eq. (3.4.15) only member overall stability is considered. Failure due to lateral torsional buckling or buckling due to unwinding from double to single curvature is not considered. The phenomenon of lateral torsional buckling is the subject of discussion in Chapter 5 . The phenomenon of buckling due to unwinding from double to single curvature is beyond the scope of this hook, but is discussed in detail by Ketter.4 Generally speaking, this type of buckling will occur if the ratio MAIM, lies in the range 0.5 to 1.0. As a result, Eq. (3.4.15) is not applicable if MAIMB is between 0.5 and 1.0.
! 1
!
II
3.4 BeamColumns Subjecled lo End Momenls
PRIMARY MOMENT DIAGRAM
I
SECONDARY MOMENT DIAGRAM



Mmax
' M~
TOTAL MOMENT DIAGRAM
HGURE 3.6 M , . , equals M, at member end
Although Eq. (3.4.15) has been developed for a member bent in double curvature, the same expression can also be used for a member bent in single curvature (Fig. 3.7) simply by replacing MB by M,. Thus, for members bent in single curvature, the expression for maximum moment is
M"=
~ ~ [ d
 2(MAIMB)cos kL
sin2 kL
+ 1]
(3.4.16)
Here, just as in the case of members bent in double curvature, the maximum moment for a certain combination of MA, M E , and P, of a beamcolumn bent in single curvature may occur at the member end rather than within the members (Fig. 3.8). Thus, to check the validity of Eq. (3.4.16), one should evaluate .f from the equation tan k i =
 ( M A cos kL  M,) M A sin kL
If the calculated value of .f falls outside the range O < . f s L , the maximum moment occurs a t the member end. Note that Eq. (3.4.17) is the same as Eq. (3.4.12), except that ME has been replaced by  M E .
FIGURE 3.7 Beamcolumn with end couples (singlecurvature bendinp) FIGURE 3.8 M , , . .equals M, at member end
P
:
ME
,
PRIMARY MOMENT DIAGRAM MA
I
SECONDARY MOMENT
ME
3.4 BeamColumns Subjected to End Momenls
167
Equations (3.4.15) and (3.4.16) can be written in a combined form as
where MAIMB is positiue if the member is bent on double curvature and is negative if it is bent in single curvature. The absolute value for M, is used in the coefficient of Eq. (3.4.18) because we are interested only in the magnitude, not the direction of M,,. A special case for a beam column bent in single curvature is the case in which the end moments are equal and opposite, i.e., if MA = MB = M, as shown in Fig. 3.9. For this case the maximum moment is given by substituting MAIMB= 1 in Eq. (3.4.18)
and its location is always at midspan as depicted in the figure.
FIGURE 3.9 Beamcolumn with equal and opposite end couples
PRIMARY BENDING MOMENT
rn
EICONSTANT M
SECONDARY BENDING MOMENT
+
I
TOTAL BENDING
10 Schematic representation of the concept of equivalent moment . For the purpose of design. one needs to know whether the maximum moment occurs at the end or away from the ends. the concept of equiualerzt momerlt is introduced in design practice. in Eq.21) in which C. To eliminate these calculations. The end moments MA and MB that act on the member are replaced by a pair of equal and opposite equivalent moment Me. (3..4.3..19) and equate this to the M. in Eq.18) is the expression for the maximum moment for the general case of a beamcolumn subjected to unequal end moments. The magnitude of the equivalent moment is such that the maximum moment produced by it will be equal to that produced by the actual end moments MA and MB.4. and be equal to the larger of the two end moments. FIGURE 3. (3.12) or Eq.4. (3.. Mathematically.2 Concept of Equivalent Moment Equation (3.. or it may occur somewhere within the member whose magnitude is given by Eq. is the equiualent moment factor.4.cos k L ) = c. The maximum moment may occur at a member's end.18) and whose location is determined by Eq. The concept of equivalent moment is shown schematically in Fig.18).17). one can obtain the equivalent moment by setting M = Me.4.4.4. (3. IMBI + 2(MAIMB)cos k L + 1] (3. (3. (MAIMB)* + 2(MAlMB)cos k L sinZk L +1 I IMBI from which we solve for 2 ( 1 .4. 3.10. and also the location of the maximum moment if it should occur away from the ends.
50 0.2 . For a beamcolumn subjected to end moments only. ME) represents the maximum moment of the member.3. 4 .25 0. 3 The Calculation of M.4.e. Simplified expressions for C.23) As can be seen from Eq. Evaluate C. .4 BeamColumns Subjected lo End Momenlr 169 T H E O R E T I C A L . is a function of the moment ratio MAIMBand the axial force P. that eliminate its dependency on the axial force have been proposed by Massonnet5 and A u s t h 6 The Massonnet expression is C.4 The various expressions for C... Note that in Fig.. 3 . the following steps are thus taken to evaluate M. = 0..23).21). from Eq. are plotted in Fig. Because of its simplicity.4.22) (3. each for a given value of p = PIP.4(MAIMB) 0. (3.75 0. 3.11.00 I 7 I SINGLE CURVATURE 1 I OOUBLE CURVATURE I I 1 1I E N 0 M O M E N T RATIO. I + (3.4.4. the simplified expressions give a rather good approximation to the theoretical one.3(MAlMB)2. As can be seen.11 the curves for the theoretical C.7 and LRFD8 Specifications for the design of steel structures. 1..6 .11 Comparison of various expressions for C . the Austin expression was adopted in the AISC/ASD.P 0. PA& IMO i i FTGURJ3 3. terminates when the larger of the two end moments (i.0.00 0..75 1.~ MASSONNET AUSTIN 0 1 1.3 and the Austin expression is C.0..0 0. 3.. = V0. the equivalent moment factor C.50 0. for design. (3.4(MAlMB) 0.25 0.
Using the trigonometric identities and kL kL sinZkL = 4 sinZ..4. to obtain the maximum moment for a nonsway beamcolumn subjected to end moments only.12a.' 3. the larger end moment MB will be taken as M. the moment magnification factor must be greater than or equal to unity.)]. otherwise. we will analyze the beamcolumn shown in Fig. For Eq.19) can be written as (3.cos22 2 Eq.170 BeamColumns 2.21). Calculate the equivalent moment by multiplying the C. The .19) can be further simplified as follows.. 3. Calculate the maximum moment from Eq.. = C. This fact is observed in the LRFD Specification.[(PIP. 3.25) and since Me. (3. the principle of superpositioti holds for beamcolumns so long as the axial force remains constant and the same axial force is applied to each component of the solution.4. one need only multiply the larger of the two end moments by a factor A . (3.' but not in the A S D Specification.5. = C. T o demonstrate the use of this principle.1 Simply Supported BeamColumn (Fig.4. (3.4.MB.4./[l. 3. A constant axial force P is also applied to the member.19) with M = M. 3..27) to have physical meaning.5 SUPERPOSITION OF SOLUTIONS 3.4. This simply supported beamcolumn is subjected to a uniformly distributed lateral load of w and a concentrated lateral load of Q at midspan. Equation (3.. factor by the larger of the two end moments (Eq.12) As mentioned previously.. the maximum moment can now be computed by the simple formula In summary.
5 Superposition of Solutions FIGURE 3.3.  "1 (3.2.)2s i nsk~. 1 I   W 1 2EIk2 X ( L .U Beamcolumn loaded by uniformly distributed and concentrated lateral loads deflected shape of this beamcolumn can be obtained by superposing the deflected shapes of Fig. y = Eq.k n 1L .13a) / .=.5. i.12b and c. However. 3...r Q 2EIk 1 1 +wcoskr+wk2x'2 ("f"+ 4 k2). (3. for this .x ) + " EIk3.1) T o obtain the maximum moment..26) + Eq.3. s i n S ( .e. W (3. we set the shear force (or ElyV') equal to zero (where a prime denotes derivative with respect to x ) to obtain the location i and then backsubstitute the value 1 that we obtained this way into the expression M = EIy".
Thus M. 3.2 FixedEnded BeamColumns Another application of the principle of superposition is to determine the fixedend moments of a beamcolumn. We FIGURE 3. 3 .12a).5.= Eq.2) 3.13a). 1 2 ~ ) we .l)] 8 u2 + [ta. (3..12b) and the concentrated loaded case (Fig. 3. U] (3.36)+ Eq. 3. (3. Uniform Load Case (Fig.13 Fixedend moments of a uniformly loaded beamcolumn .5.172 BeamColumns example there is a simpler approach.3.17) u .2. Knowing that the maximum moment occurs at midspan for both the uniformly loaded case (Fig.13) We will now consider a beamcolumn fixed at both ends and loaded by a uniformly distributed lateral load w and an axial force P (Fig. can just add the maximum moment for these two cases together to obtain the maximum moment of the combined loading case (Fig. 3.
13. The beamcolumn in Fig. 3.6) gives the fixedend moment The minus sign in Eq. the algebraic sum of the rotation at the ends produced by the uniform load wJ (Fig. 3 . by setting MA= MFA.28) and evaluating the resulting equation at x = 0. we need only consider half of the member. By taking the derivative of Eq.cos k L = 2 sin2kL/2.13~) must be zero. (3.5.9).13b and Fig. Note that the term wL2/12 is the fixedend moment for a member subjected to uniformly distributed load only. 3.4.5. 3.5. Because of symmetry.5 Superposition of Solutions 173 will determine the fixedend moments (MFA.M.5.7) indicates that the direction of MFA is opposite to that shown in Fig. as MFAL 1.5) into Eq. Thus.4) with Y L(O) = MmL tan [+ ir Since the continuity condition at the fixedend requires that the substitution of Eqs.3.13b) and that produced by the end moments (Fig.cos kL Y'(O) = kL sin k L 7 [ I Using the trigonometric identities of 1. we obtain the A end rotation produced by the end moments MFA and M .3) and (3.5.) of this member using the principle of superposition. 3. .To satisfy the continuity condition of zero slopes at the builtin ends. (3. (3. (3.13a can be decomposed into that of Fig. 1 3 ~ .2. (3. we obtain the A end rotation produced by the uniform load was and from Eq. we can write Eq. MB= M F = ~ MFA and x = 0. 3. the terms in the brackets represent the effect of axial force on the fixedend moment of the member. (3.
14 Fixedend moments of a beamcolumn with a concentrated transverse load at midspan t L 7 I EICONSTANT . Again. 3. by setting a = L/2.174 Concentrated Load Case (Fig. (3. I FIGURE 3.14) BeamColumns The same procedure can be used to evaluate the fixedend moment of a beamcolumn subjected to a concentrated lateral load Q acting at midspan of the member (Fig.3.14a). we obtain the A end rotation due to the lateral load Q as kL sin 2 Q yb(O)=.14a). The end rotation at the A end due to the end moments M. because of symmetry. 3..Q EIkZsink L 2EIkZ where u = kL/2. we only need consider half of the member. From Eq.
5) into (3. we will develop the basic differential equations of a beamcolumn subjected to general lateral loadings. 3. Figure 3.5.5.15a. we can determine the fixedend moment as .10) The minus sign indicates that the direction of M .5.3.10) represents the fixedend moment of the memher when P is absent. In this section. Summing forces horizontally. The longitudinal force P and transverse force V are shown with their directions parallel and normal to the undeflected axis of the memher. we must satisfy the condition (3.9) yb(O) + Y L(O) = 0 Upon substituting Eqs.[ MmL tan u u Since the slope at the fixedend must be zero.1) ] (3. we have derived the differential equation of the beamcolumn by considering moment equilibrium of a segment of the memher cut at a distance x from the left support for a given beamcolumn problem. we have . we have Summing forces vertically. = MFA is obtained from Eq. The resulting linear differential equation has been secondorder. 3. F A =  QL 8 [2(sectan u u . To examine the stability of the memher.5.6 BASIC DIFFERENTIAL EQUATIONS Up to this point. . The term QL/8 that appeared in Eq.5.14.5.9).6 Basic Differential Equations 175 and M .5. an initially straight beamcolumn is subjected to an axial force P and a lateral load w(x) along its entire span. is opposite to that shown in Fig. we have to consider the equilibrium state in the deflected configuration. As seen in Fig.5) Y L(0) = I. The terms in the brackets thus represent the effect of axial force on the fixedend moment of the memher. (3. 3. respectively. (3.15b shows an infinitesimal element of the deflected memher of projected length dx.8) and (3. (3.
r)'Pdr d P dy dx d x dV dx d~ dx =0 .r dx .BeamColumns Y INITIAL CONFIGURATION DEFLECTED CONFIGURATION lbl FIGURE 3.15 General differential equation of a beamcolumn Summing moments about point 0.V d x (d.w(x) (h)' . we have dM d.
2) into the resulting equation.3) and rearranging.6.6. The general solution to this equation is where f ( x ) is the particular solution of the differential equation. the force P remains constant in the element.4) with respect to x and substitute Eq. we obtain or using k2 = PIE1 d3y + k . and the transverse force V. which is assumed to be constant along the infinitesimal length ak. 6 . Upon substitution into Eq. 6 . Equation (3. Equation ( 3 . we can write M = . (3.6.6 Basic Differential Equations 177 or. . The following examples will be used to demonstrate the use of Eqs.1) states that there is no change in longitudinal force in the segment.6.7) is the basic differential equation of a beamcolumn relating the lateral deflection y. Equation (3. For small deflection. (3. we obtain Equation (3.6.6.V ak3 ak EI If we differentiate Eq.3. The general solution to this equation is where f ( x ) is the particular solution of the differential equation. 7 ) .2) states that the rate of change in transverse force across the segment is equal numerically to the magnitude of the applied transverse load w ( x ) . 5 ) is the basic differential equation of a beamcolumn relating the lateral deflection y. the axial thrust P.E I d Z y / d r 2 . 6 .dy =. 3 ) states that the rate of change in moment across the segment is equal numerically to the transverse force V plus the longitudinal force P times the change in slope dylak of the infinitesimal element. (3. neglecting the higher order terms involving (dr)'.6. we have or with k 2 = PIE1 Equation ( 3 . and the transverse loading rv(x). (3.5) and ( 3 . the axial thrust P. That is to say.
B. Since the transverse force acting on any cut section is constant and is equal to Q/2.8). the general solution is The constants A. 3. (3. .5).6. (3. ( g ) =O (3. Because of symmetry.1 FixedFixed BeamColumn with Concentrated Load at Midspan BeamColumns The beamcolumn under investigation is shown in Fig. we have.6.6.16 M . . only half of the member is considered in the analysis. yf(0) 0. from Eq. y .178 3. and C are determined from the boundary conditions y(0) =O.6. From Eq. ot a beamcolumn with a concentrated transverse load at midspan MOMENT DIAGRAM 8 SECONDARY MOMENT DIAGRAM .16.12) FlGURE 3.
16) I (3. which appeared in Eq. we find B= ? .5.3. The maximum moment for this beamcolumn occurs at midspan and at the ends (see Fig. sin+ kL (cosT~) ) %+. Thus. For the purpose of design. (3.6.6. in which Mu= maximum primary moment (maximum moment when the axial force is absent) PC. i.6.11) is fully determined =2Elk' The deflection at midspan is QL3 12(2 ..3.u sin u) u3 sin u ! M . (3.18) with Eq.6 Basic Differenlial Equalions 179 Using these boundary conditions. represents the midspan deflection when the axial force is not present. the terms in the brackets represent the effect of axial force on the primary deflection of the member.6. (3.18) in the format of Eqs.18) Note the correspondence of Eq.17). (3. 3.= critical load of the beamcolumn considering the end conditions when the lateral force is absent Y =constant . (3.e.41) and (3.6. E l k 3 C= kL 2Elk3 sin 2 " " kL kL (cosil) sin 2 (1  cosF) (1 kL sin 2 (3.2. it is more convenient to approximate Eq.2 cos u .6.10).16b) and is equal to = Ely"(O) =  8 u sin u 1 (3. the deflection function (3.6.6.17) where rc = kL/2 The term QL3/192EI.Cosy sin 2 I (3.20).15) With these constants.
2 FixedFixed BeamColumn with Uniformly Distributed Loads The differential equation for this case is from Eq. and D are determined from the boundary .6. (3. (3.6. the general solution is The constants A. 6 . C. (3.6. B.5.. P.BeamColumns Table 3. Mo= QL18. (3.18).5 Theoretical and Design Moment Amplification Factors for a FixedEnded BeamColumn Loaded by a Concentrated Lateral Load at Midspan kL = =2 2K Theoretical Eq. for Y = 0. (3.19). As shown in Table 3.2. = n2EII(KL)' in which K = 0. and solving for Y in which It can be shown that the value of Y does not vary too much for "arious values of PIPrk.6.19) For the present case.18) Design Eq.6. Eq.6.9).6. (3. w drZ E l From E q .19) gives a good approximation to Eq.5.18) to (3. 3 .7) d2y d'y +k=dr4 .6. The value of Y can be determined by equating Eq. (3.
6.5. y(L)=O.6.31) in the format of Eq. we find B = WL kL 2EIk3 tan 2 (3.With reference to . (3. 1 tan 2 (3.u sin u ) u3 sin u ] (3. and the terms in square brackets represent the effect of axial thrust on the lateral deflection.6. The maximum moment for this beamcolumn occurs at the fixedend and is equal to The reader should note the correspondence of Eq.3. (3. by making use of the condition of symmetry. the term wL4/384EI represents the lateral deflection when the axial force P is absent. y'(0) = 0 .6.26) With these constants. Eq.7). for the purpose of design.6. (3.= O . Again. it is more convenient to approximate Eq.29) wL4 =GZ [ 12(2 . y'(L)=O (3.31) with Eq.22) can be written as cos kx tan 2 The deflection at midspan is I%+. alternatively.19).6.6.6. the four boundary conditions are y(0) = 0 .6. (3.30) Again. y' . (f) Y"'(i) =0 (3. (3.23) or. y1(0)=O.6 Basic Difierenlial Equalions 181 conditions y(O)=O.2 cos u .24) Using either set of these four conditions.
19) (Table 3.6.6)... (3. value of Y is Y ={I 1 (PIP.4.17 Beamcolumn subjected to end moments (without relative joint translation) .BeamColumns Table 3. we will develop the slopedeflection equations for a beamcolumn. Consider the beamcolumn shown in Fig.). we will observe a good correlation between the theoretical M . is now wL2112.8).5. the deflection function for this beamcolumn has the FIGURE 3.l} (3. M. (3. PC. (3. as expressed in Eq. . as expressed in Eq.~)]. 3. . 8.6 Theoretical and Design Moment Amplification Factors for a FixedEnded BeamColumn Loaded by a Uniformly Distributed Lateral Load Design = n2EII(KL)' where K = 0.Ma) and the end rotations (8.7 SLOPEDEFLECTION EQUATIONS In this section..19). From Eq.) 3(tan u .31) and the approximate M .u ) u2 tan u 1 [I .17.6. the value of Y does not vary too much for various values of PIP.32) Again. (3.(Plp.. The Eq.6.4. By choosing a Yvalue equal to 0. we now want to establish a relationship between the end moments (MA.6. 3.
I cos k L sln k L 1 k L MA L .7 SlopeDeflection Equations form .3). and 8 .(MAcos k~ MB)slnkr+Elk2 sin k L + 'OS kr Rearranging. the end rotations 0 .k L cos k L E. can be obtained as 1 o A = ( )= Elk  [. (3. we have y from which [I.3.[EI sin k L . MA y = . 1 cosk Elk sinkL 1 kL Using Eq.7.k L cos k L (kL)' sin k L L sinkL .k L +E[(kL)'sin kL1" + L sin k L . (kL)'sin k L [ .
184 . BeamColumns Equations (3.6). Equations (3. we can write where kL sin kL .7. (3.5) can bewritten in matrix form as where I h ?= L .7.7.7.14) are the slopedeflection equations for a .10) can be written in its expanded form as where are referred to as the stabilig functions.7.7.7.(kL)2coskL 22coskLkLsinkL C " ] (3.4) and (3.7.kL cos kL [ sin kL (*~)2 sin kL 1 From Eq.12) E l [ (kL)'kLsinkL = c L 22coskLkLsinkL " I Equation (3.11) (3.13) and (3.
05GO .Table 3.7 Stability Functions (kL= J Z ~ ) compression tension Sii kL PIP. sii Sij Sii 1. 9500 2. OOGO 2.
8201 1. 8142 1.9845 5.8374 1.8024 1.0162 1.8020 4.7785 . 7905 1. 7845 1.6886 4.8314 4.8915 4.186 Table 3.9531 4.7444 4. 7965 1.7163 4.2213 4.9221 4.7730 4. 8317 1 . 8431 1 .8612 4.7 Stability Functions ( k L = n m )(continued) compression Sii Sii tension Sii Sij 3.8259 1.2032 2. 8083 1.
it can be shown that sii reduces to 4 and sij reduces to 2 (see Problem 3.7.7 (continued) compression tension s i i Sij kL PIP.18.3). 3. 3. .8 MODIFIED SLOPEDEFLECTION EQUATIONS Equations (3.8 Modified SlopeDeflection Equalions 187 Table 3.14) are valid provided that the following conditions are observed. we see that kL = ( ~ I approaches L zero.7. Values for sii and sii for various values of kL are shown in Table 3. S. Note that when P approaches zero.13) and (3.i sij beamcolumn that is not subjected to transverse loadings and relative joint translation (or sidesway).3.7 and plotted in Fig. and by using the L'Hospital's rule.
e. 3 11 LL t 4 > 0 : + U1 4 3  0  12  FIGURE 3. designated as A in Fig. the member does not sway. 2.. 1 2 . 4. 3. i. The axial force in the member is compressive. 5.e.5. there is no internal hinge or discontinuity in the member.18 Plot of stability functions 1.. 3.1 Member with Sway If there is a relative joint translation between the member ends..T E N S I L E AXIAL FORCE 0  . i. There is no relative joint displacement between the two ends of the member.8. 3. the slopedeflection equations are modified . The member is continuous.19. If these conditions are not satisfied. There is no inspan transverse loadings on the member. modifications to the slopedeflection equations are necessary.BeamColumns 12  COMPRESSIVE AXIAL FORCE . _4 z 2. Some of these modifications to special cases of beamcolumns are described below. 0 . The beam is prismatic.
3.8.13).2 Member with a Hinge at One End If a hinge is present at one end of the memberas in Fig. has been condensed out of Eq. (3. we have Note that 0. Thus.8 Modified Slope. by using Eq.5).19 Beamcolumn subjected to end moments (with relative joint translation) 3.Deflection Equalionr FIGURE 3. (3.. 3.5). the degrees of freedom used for the analysis can be reduced if the member is hinged at one end. If the member is hinged at the A rather than the B end.7.e. i. from which I Upon substituting Eq.8.7. (3.8.8.13) in Eq.4) into Eq.20% in which the B end is hingedthe moment there is zero. as shown in . (3. (3.
21. 3.21 Beamcolumn subjected to end moments (with elastically restrained ends) . The additional end rotations introduced as the result of the linear spring are MJR. and MB/RkB.3 Member with Elastically Restrained Ends A member may not be connected rigidly to other members at its ends. Eq. as in Fig.5) is still valid..If we denote the total end FIGURE 3. (3.8.20 Beamcolumn subjected to end moments (with one end hinged) Fig. respectively.lbl FIGURE 3. provided that the subscript A is changed to B. with spring constants R. and RkB at the A and B ends. 3.8. 3..20b. but may be connected instead to such members by a linear elastic spring..
7. (3.10).7. then the member end rotations.10).8.5. the modified slopedeflection equations are modified to Solving Eqs.13) and ( 3 .7) simultaneously for MA and MD gives I where I In writing Eqs. and M . Eqs.8) and (3.7. (3.M D R ) As a result. . the equality sij=siihas been used. respectively.8.8 gives the expressions for the fixedend moments of three commonly encountered cases of transverse loadings.8 Modified Slope.. can be obtained by a procedure outlined in Section 3. (3.13) and (3.5. .M A R ) and ( 0 .8. The last case is left as an exercise for the reader (see Problem 3. (3.8) to (3.8.8. and RkD approach infinity. Table 3. 3. as in the preceding cases.Deflection Equalions 191 rotations at joints A and B by 8 . 1 4 ) .8.14) must be modified by adding an extra term for the fixedend moment of the member The fixedend moments M F . and OD. 7 . respectively. with respect to its chord. will be ( 0 . the slopedeflection equations (3.4 M e m b e r with Transverse L o a d i n g s For members subjected to transverse loadings. The solutions for the first two cases have been derived in Section 3.8.6) and (3.3.9) reduce to Eqs. Note that as R.
(kL)' 2 .192 Table 3. (3..8.8.14) are still valid provided that the stability functions defined in Eqs.8 Expressions for FixedEnd Moments BeamColumns 3.5 Member with Tensile Axial Force For members subjected to an axial force that is tensile rather than compressive.7.14) y.. = s . = S. (3.8. = " " + 3. the slopedeflection equations reduce to .7.13) (3..13) and (3. 3.kL sinh kL 2 .2 cosh k L k L sinh kL (3. .7.16) are redefined as S. For the member shown in Fig.6 Member Bent in Single Curvature with O n = . = " " (kL)' cosh k L .15) and (3. Eqs.7.0 .2 cosh k L + k L sinh kL k L sinh kL .8.22a.
^^. However. The inclusion of inelasticity in an analysis makes the problem much more complex because the governing differential equations become highly nonlinear. we shall show that if certain simplifying assumptions are . For the member shown in Fig.8. for failure behavior.22 Benmcolumn subjected to end moments (singlecurvature nnd doublecurvature bending) 3. 3. we must include irrelasticity in the analysis. the slopedeflection equations reduce to 3.3. no yielding of material has taken place in any part of the member.9 inelastic BeamColumns L d la1 SINGLE C U R V A T U R E Ibl DOUBLE C U R V A T U R E FIGURE 3.9 INELASTIC BEAMCOLUMNS Our discussion so far has been limited to the case in which the member remains fully elastic. The assumption of a fully elastic behavior is justified to some extent for the member under service loading conditions. In many instances.7 Member Bent in Double Curvature with & = 0. closedform solutions are intractable and recourse must be had to numerical techniques to obtain solution^.' In the following. In other words.22b.
The stressstrain relationship is assumed to be elasticperfectly plastic (Fig.made. The derivation follows closely to that given in reference 11. 3. The equilibrium condition is established only at midspan of the member. In the process of analysis. The three basic assumptions used in the following derivation are the following: 1. we will need to use the nonlinear relationship between the internal moment (M) and the curvature FIGURE 3.23a). 3. The deflected shape of the member follows a halfsine wave (Fig.23 Elasticplastic analysis of an eccentrically loaded rectangular member l a ) ECCENTRICALLY LOADED R E C T A N G U L A R MEMBER lbl ELASTICPERFECTLY PLASTIC STRESSSTRAIN RELATlDNSHlP . 3. the behavior and failure load of an eccentrically loaded beamcolumn of rectangular cross section will be investigated. approximate solutions to some specific cases of inelastic beamcolumns can be obtained analytically. 2.lO~ll In this section.2%).
= ' = " CENTROIDAL A X l S N E U T R A L AX1 "1 < " " lbl CASE 2 CENTROIDAL AXlS +P u. and the secondary plastic (yielding in both compression and tension zones).1 M8P Relationship Figure 3.= . 9 inehslic BeamColumns 195 (@= y") with the presence of an axial force (P). shows a series of strain and stress diagrams that correspond to three stages of loading sequences: the elastic (no yielding).9.24. FIGURE 3. the primary plastic (yielding in compression zone only).my lcl CASE 3 .24 Strain and stress diagrams STRAIN STRESS CENTROIDAL AXIS NEUTRAL AXlS = C" la1 CASE 1 m. ac. It is therefore necessary to develop this relationship before proceeding to the analysis.3 . 3.
23a).4).24a) KINEMATICS From the kinematic assumption that plane sections remain plane after bending. Case 2. b is the width and h is the height of the cross section (Fig. In Eqs. the stress is related to the strain by h h u = E s for = 6(3. For convenience. we obtain P = EAs. By performing the necessary integrations. we write ~ = s ~ + O for y GYG h 2 h 2 (3. The MaP relationship for each case will be developed separately as follows: Case 1: Elastic (Fig.9.6) Equation (3.9. (3. respectively.5) (3.9. and M =E I a (3.9.9.1) where sois the axial strain at the centroid of the cross section. they are designated in the following as Case 1. RELATION STRESSSTRAIN Since the entire cross section is elastic.5) indicates that the axial force P is equal to the axial stiffness EA times the axial strain soat the centroid of the cross section.196 BeamColumns respectively. 3.9. .3) and (3.9. 3.2) zNY 2 EQUILIBRIUM The axial force P and the internal moment M are related to the stress u by = I hR E ( s O @y)bdy + hP. and Case 3.
9 lnelaslic BeamColumns 197 Equation (3.9. E = E O + @ y for h h Sys2 2 Since at y = f?.9. have Ey = E" +a t 5 . 3.9.14) is for Case 2: Primary Plastic (Fig.6) can be written in a nondimensional form as P =E E o I ~ ~ and (3. (3.9.14) n r =$ r The range of applicability of Eq.9. Introducing the notations Py=Aay=bhay (3. from which we obtain E0=Ey@h and substituting this into E q .9.1) leads to .13) (3.9.246) KINEMATICS + s ( l p).9.6) is the familiar elastic beam momentcurvature relationship of M = EIy".3 .5) and (3. (3.7) Equations (3. E = E ~ we .
20) and (3.9.p).9.9.17) as e=ey(hy)@ for sys2 2 h h (3. (3.9.9. and (3.17) In addition. respectively.21). This can be achieved by using similar triangles in the strain diagram: . we obtain where rn.p ) 4 @ 6 1 / ( 1 .22) is for (1 .12).10).9. 3 . to facilitate the integration.9. (3. 2 4 ~ ) KINEMATICS The strain at any point y from the centroidal axis is expressed by Eq. we need to establish a relationship between the elasticplastic boundaries g and h.9.BeamColumns o=Ee h for . @. (3. (3. The range of applicability of Eq.11).S y S h 2 hsys2 o = o y for h By performing the necessary integrations and eliminating fi from the resulting expressions (3.. Case 3: Secondary Plastic (Fig. and p are as defined in Eqs.
27) and (3. we obtain The range of applicability of Eq.9. (3. and eliminating h from the resulting expressions (3.9.9 Inelastic BeamColumns o = ay for  h 2<ysg h 2 o=E& o=oy for for g<ysh Asy< P= J oda A By performing the necessary integrations. for Case 2: @s(lp) (3. To sum up. (3.23).3. with g given in Eq.28).9. the nondimensional momentcurvaturethrust (m .9.29) is for @ 3 1/(1 p).30a) .p ) relationships for a rectangular section can be written as the following: Case 1: m = @ .@ .9.
25 shows some plots of the momentcurvature (nr .2 0 .0 1. For general cross sections with general stressstrain behavior. It should be remembered that the momentcurvaturethrust relationships developed above are valid only for rectangular cross sections with idealized elasticplastic. as soon as yielding commences (Case 2 and Case 3). 3 0.9.0 + =@.9. the axial force has no effect on the momentcurvature relationship.2MD BeamColumns 0 0.7 0.i 0. the momentcurvature relationships will be affected by the axial force. 3.0 5.2 Approximate Solution With the momentcurvaturethrust relationships developed. it is often necessary to evaluate the integrals for the axial force P and internal bending moment M numerically. we now proceed with the investigation of the inelastic behavior of an eccentrically . Numerical and approximate momentcurvaturethrust expressions for various crosssectional shapes have been developed and are discussed in detail in reference 2. However.5 0.by FlGURE 3.25 Momentcurvaturethrust relationships Case 3: rn=!(lp2)1 for @ z= l / ( l .p ) 2qJ2' (3. This explains why the analysis of an irtelastic beamcolumn is much more complex than an elastic beamcolumn: because the momentcurvature relationships become nonlinear as yielding starts to occur in the member.@) relationship for various values of p .1  0.0 3. Figure 3.30~) Note that if the member is fully elastic (Case I). stressstrain behavior.
.3.23a) by using the analysis method presented in reference 11.35) (3. we write from which we obtain and y"=6 The curvature at midspan is (I2  sin " .9.26 Freebody diagram of the eccentrically loaded member cut at midspan ..38) Mu = Pe e = load eccentricity M.26) is Mu P 6 where + = M. The equilibrium condition at midspan (Fig.37) (3.9.. (3.. 3.9. where 6 is the deflection at midspan.9 Inelastic BeamColumns 201 loaded beamcolumn (Fig. = moment at midspan Denoting FIGURE 3. 3.9. By assuming that the deflected shape of the member resembles a halfsine wave.36) (3.
The degradation of stiffness continues until at approximately the peak moment m0=0. (3. from Eq. = z 1/(1 . we have the following: Case 1: @.43). E = 30. (normalized moment and curvature at midspan) into Eq. curve for a simplysupported. eccentrically loaded member with the following dimensions and properties: e = 1..@ .47 yielding starts at the compression side of the cross section. and rearrange.41) as If we substitute the momentcurvaturethrust (nr .9.9.p ) Figure 3.35) can be written as Since.OO ksi Notice that at approximately ma = 0.53. As a result.Equation (3. @ = @ .p ) relationships [Eq.S 1p Case 2: (1 .27 shows a plot of the mo.p ) =z @ .34) We can write Eq. a 1/(1 .9. (3.@ .30)] with m = m.15 in. the member is no longer able to resist an increase in load. Therefore.9. (3. the .9. (3. a noticeable decrease in stiffness of the member is observed. oy= 34 ksi.p ) Case 3: @ .
53 0.40 0. the maximum load occurs in the primary plastic range [ e .3 kips 6(1.47 0. 1 p ) S ..15) For this case..00 1.10 0 FIGURE 3. versus @ .30  0.60  CASE 1 CONTROLS CASE 2 CONTROLS  ~molmaI =0.. .20  0.3. However. this is not always the case.9 Inelastic BeamColumns 203 0.20 maximum load the member can resist is .27 Plot of m.20 0.50   I 1 0.(0.60 0. 5 ( 1 p ) ] .40  21xh 0. Depending on the slenderness ratio and the magnitude of eccentricity. 00.80 1.53)(1)(2fi)~(34) = 31.
for a given value of P) can he developed. and p (i.46b). that corresponds to (m. in many cases. Two such numerical techniques (Newmark's method. However.).. versus @ .). the same procedure can be extended to obtain ultimate strength interaction diagrams for Ishaped sections with or without residual stress. depending on the range of applicability of the equations..e. the value of @ . Figure 3. Although a rectangular section with idealized stressstrain relationship has been used here to obtain the interaction diagrams shown in the figure. Various numerical techniques to obtain ultimate strength interaction diagrams are summarized and presented in detail in references 2 and 3. if (1 ..44b. curve.c) with respect to @ equal to zero. and p can he established as the following: s 1 If Case 2 controls..28 shows three such ultimate strength interaction curves for slenderness ratios Llr = 20. i. i.)..e. by using Eq.. (3.9.e.. the determination of ultimate loads for these sections involves considerably more effort and.. has been obtained graphically as the point of the m.9.204 BeamColumns the failure load may occur in the secondary plastic range [i. Backsubstituting the value of @.46a) or Eq. In doing so.. by setting the derivative of Eq. From the above example. and 120. 60.  If Case 3 controls. (3. In this example. one can see that although several simplifying assumptions concerning the member and material behavior have been used. obtained into the corresponding equation will give the value of (m. the determination of the maximum load that a member can resist is .e.. ) . (3. a relation between (m. if 0 s Ps (1 P)' PC Thus...P ) 3 <P P..). resort to numerical solution techniques is inevitable. @ . The same maximum moment can be obtained more conveniently by realizing that the peak point of the curve corresponds to the condition . curves giving the value of ( M . stepbystep numerical integration) will he presented in Chapter 6.. for each so relevant case can he calculated. the maximum end moment (m. > 11 (1 p)]. . Thus.9. ultimate strength interaction curves for m.
design interaction formulas provide just such a quick and easy way for estimating the maximum loadcarrying capacity of a beamcolumn. From a practical standpoint. Design interaction equations are the equations that relate the ratio of axial stress (force) in the member to the ultimate axial capacity of the member and the ratio of bending stress (moment) in the member to the ultimate bending stress (moment) of the member. (3.9.28 Ultimate interaction curves still cumbersome. 3. Various forms of design interaction equations used for design purposes will be discussed in the following section.10 Design Interaction Equalionr 205 FIGURE 3. 3.3.28 for rectangular cross sections based on Eq. These design interaction equations provide a convenient and direct means for designers to estimate the adequacy of members subjected to combined stresses (forces). T o this end.46b) can be approximated by a simple .9. (3.10 DESIGN INTERACTION EQUATIONS The interaction curves shown in Fig.46a) or Eq. it is more convenient if the maximum load can be determined approximately in a direct manner by simpler formulas.
= c.10. For an eccentrically loaded member. the ultimate axial capacity of the member P.28. is the moment amplificalion factor discussed earlier in the chapter.23) with M.10. Mu = Mp the plastic moment capacity of the cross section.. = ultimate axial capacity of the member in the absence of primary bending moment M.. the plastic moment M.9.IM.4. and the yield moment My are related by Mp= 1. to obtain a direct comparison.10. (3.. which is equivalent to a member subjected to equal end moments and an axial force.= 1 [Eq. 3.206 BeamColumns linear interaction equation of the form where P = axial force in the member P. rather than MoIMy. is (from Eq. = LRFD curve (Eq. The theoretical ultimate strength interaction curves are given by Eq.29 using an abscissa of M d M . (3. the expression for A . and C. is given by Eq.29 by using P .. (3..1).= 11. except for low slenderness ratios the interaction equation (3. However.2) and then into Eq. Upon substituting Eq.. The quantity M.30~with p = 0 and @ =a).. As can be seen..27) A.4) is plotted as dotted lines in Fig.b) and are plotted in Fig. (3. For rectangular cross sections.46a.9). (3.  (&I (3. 3.9.3) where C.11..4. however. is the amplified moment in the member and can be represented by where A . (3. we obtain Equation (3. 3.10. 3.10.4. 2.10. can be represented by the CRC curve and SSRC curves or the LRFD curve (Chapter 2).23).3) into Eq. these curves are replotted as solid lines in Fig. 3. = maximum moment in the member Mu = ultimate moment capacity of the member in the absence of axial force Depending on the design philosophy.5 My (Eq.4) gives a good ap .
For low slenderness ratios.. a = 2. This is because the P .DESIGN 0 0. and Eq. (3. (3.60 0. 3.10.6 effect (i. For rectangular sections.10 Design Interaction Equations 207 THEORETICAL .)] which reflects the P . the presence of the term 1/[1.10. and Eq.80 1.29 Comparison of theoretical and dcsign ultimate strength interaction curves proximation to the theoretical solution. For .40 0. For Isection bent about the strong axis.6 effect will render Eq. if the slenderness ratio of the member approaches zero.10.4) becomes too conservative. In fact. Consequently.20 0.5) is an approximate ultimate strength interaction equation (Fig.1) too conservative. no instability will occur and a nonlinear interaction equation of the form will give a much better approximation to the theoretical ultimate strength interaction curve.18. 3.5) represents the exact ultimate strength interaction curve (Fig.(PIP..e. The constants a and b define the shape of the interaction curve. (3. Eq..10.31).3. the additional moment induced in the member as a result of the axial force acting through the lateral deflection) is not significant... b = 1. b = 1.30). (3. a = 1.00 FIGURE 3.
of the member will be less than M.30 Ultimate strength interaction curve for rectangular cross sections with Llr = 0 Isection bent about the weak axis.10. it should be noted that Eq.6) .10.4) implies that lateral torsional instability will not occur in the member. in these cases where the primary moment results from transverse loading.5) represents an approximate interaction equation (Fig. (3. the C. Nevertheless. If lateral torsional instability occurs in the member. Lateral torsional instability is a phenomenon in which the member bends out of its plane of loading in addition to inplane deflection as a result of insufficient lateral stiffness or bracing.10. Furthermore.4) can also be used for members whose primary bending moment results from transverse loading rather than from end moments. It should be mentioned here that the use of M u = M. and Eq. (3. (3. 3.. b = 1.32).10. (3.BeamColumns FIGURE 3. the ultimate moment capacity M. in Eq. a = 2.= 1 + YPlP. value is defined as C. as the member will fail by lateral torsional buckling before the plastic moment capacity of the member can be attained. The subject of lateral instability of beams will be discussed in Chapter 5.19.
Equation (3.4) can also be extended to the case in which bending occurs in both axes.10. 3. and Eq. (3.3..20).3). (3. Note that the Y values for Cases 1.2.10. and 6 have already been developed in detail in previous sections [see Eq.6. whereas for the other cases the values of Y were determined by comparing Eq.32). (3. the interaction equation takes the form .A R E A OF WEB FIGURE 3. (3. for various transverse Eqs. can be induced by comparing Eq.20).9.19) with .2) and (3. The values of and C loading cases are shown in Table 3.6.19) with the corresponding theoretical solutions for M..4).10. The determination of the Y values for Cases 2 and 5 is left as an exercise for the reader (see Problem 3. Note that for the two simply supported cases (Cases 1 and 4).6. (3.41).31 Ultimate strength interaction C U N e for Isections bent about the strong axis with L l r = 0 This definition of C . Eq. Eq. (3.. (3. the values of Y were determined by expanding the theoretical beamcolumn solutions for M.3. respectively]. 4.10 Design Interaction Equations b r l f = A R E A OF ONE FLANGE AND I w d w .6. In such case.
Equation (3. For example. interaction equations for various design formats will be summarized and discussed. an extension of Eq. (3. respectively. . In the following sections.7) gives the general form of the biaxial bending interaction equation used in practical design when stability governs the limit state.10.32 Ultimate strength interaction curve for Isections bent about the weak axis with Llr = O in which the subscripts x and y refer to the action about the x and y axes of the member.'' For member with low slenderness ratios or at support locations. a conservative form by using a = 1 for both axes of bending can be written (see reference 12) as where M.BeamColumns bl 'lAREA OF O N E FLANGE A N 0 Ikdw =AREA OF WEB FIGURE 3..and weakaxis bending. respectively.10. yielding rather than instability may govern the limit state. for Isection. In this case.5) will be more appropriate. and Mpy are plastic moment capacities of the Isection with respect to strong.
However. For members not braced against joint translation.3. 0.A moment will be induced in the member.A moment occurs as a  + .6. allowable stresses and service loads rather than ultimate strengths and maximum loads are used as the basis for design.20).4. &. C . As a result. and (3.0 for members with unrestrained ends. where MAIMBis the ratio of the smaller to larger end moments.4 MAIMB 2 0. Equations (3.10. For members braced against joint translation with transverse loading between supports. C . a different type of secondary moment known as the P .19)].10 Design Interadion Equations 211 3.6) as C . It is negative if the member is bent in single curvature and is positive if the member is bent in reverse curvature. respectively F. = define as follows: 1. = axial stress at service load f.2.7) and (3.8) can be converted to unit of stresses and a factor of safety applies to them to bring them into the service load range.9 gives the C . If stability controls. 1.3. (3. Table 3. 2. C the equiualerlt rnonlent factor and is defined in Eq. For members braced against joint translation and without ..41). values for various transverse loading cases. This P .= allowable compressive stress if the member is under axial compression only [= AISCIASD column curve equation (2. (3. 3. is referred to as transverse loading between supports. is considered to be 0. = 1 YPIP. The number 0. the interaction equation is where h = PIA.85.4) divided by the area of the cross section] GX. and it is an integral part of the moment magnifier [see Eqs. is referred to as the rnonzent reduction factor.6 0. if the member is loaded in bending only (see Chapter 5) C . 3.23) as C . = allowable flexural stresses about the x and y axes. the AISC Specification suggests the use of C = . (3.33a.85 is derived based on the model structure shown in Fig.. For members in which sidesway is possible. respectively.10.1 AISCIASD Format The AISCIASD format is a stressbased design format. (3.85 for members with restrained ends and C = .4. = 0.fby = flexural stresses at service load due to primary bending moment about the x and y axes. It is defined in Eq.11.10.10.
and C . & j i 6 I LIZ 0.4 PIPek 1 0. If we consider the freebody diagram of Fig. 3. the value of C.212 BeamColumns Table 3.604.1.4 10. (3.3.=Critical elastic buckling stress about the x and y axis.3 10.2 10. Fb.4 PIPeX 4 0.2 PIPgk result of the axial force P acting through the sway A of the memher. respectively. is 1 .F:. it roughly resembles a simply supported member loaded by a transverse load at midspan. F:.2 10..85.20). due to the errors involved in the approximation. The effective lengths of members as parts of a frame will be discussed in the next chapter.18PIPC. (The effective lengths of isolated members with idealized end conditions have been shown in Table 2. . &.. ++L fbr fb 0.0 0. divided by a factor of safety of 23/12 and evaluated using the effective length of the member.) If the yielding of material controls. However.4 10.2 p l q X 5 .0. the AISC Specification recommends the use of 0.3 PIPoN  0. the interaction equation is f . iJ 0 =m 1. so from Eq.9 Values for 1C.33h.
3. is less than or equal to 0. (3.. The number 0.10) because this equation pertains to cases in which yielding rather than instability controls the design. both the stability [Eq. the value fJF.f.15. if the axial force in the member is small. (3. Eq.10)l interaction equations should be checked.. If f.15.60 (=1/1.lF.10 Design lnleradion Equalions FIGURE 3. is first evaluated.10.10.33 AISCIASD model for sway frames Note that the moment magnification factor C. (3.10.9)] and yield [Eq. However.10.10): Thus.9) and (3. . in the design.10. instead of Eqs.10.10.IFik) is absent in Eq. In actual design. (3. If fn/F. This happens at support locations in braced frames and for members with low slenderness ratios in unbraced frames. (3. then both Eqs.the AISC Specification allows the use of the following interaction equation.9) and (3.67) in the denominator of the first term that reflects the axial force effect is a safety factor applied to the C R C curve in order to obtain the AISCIASD curve at KLIr = 0. l F . (3.10. ~ 0 . is greater than 0.11) is used to check the adequacy of the section. say if i . 1 5 .10) are used to check the adequacy of the section.I(l .
.3 if wind or earthquake loads is acting in conjunction with gravity loads.7 times AISCIASD column curve using the effective length of the column M.5). = maximum resisting moment in the absence of axial force. (3.2 AISCIPD Format The AISCIPD format provides two interaction equations for the design of beamcolumns..13)] are used to check the adequacy of the section. = Full plastic moment capacity of the section where Z is plasticsection modulus P and M are the factored axial force and moment (service loads time load factor).10. where P.0 MP(1 . P. both the strength interaction equation [Eq.10.12)] and the stability interaction equation [Eq. (3. If stability controls.= same as in AISCIASD format Again. (3. is the area of the cross section M.10..) P.10. If yielding controls.= ultimate axial compressive strength of the axially loaded column taken as 1. = ZF. (3.214 BeamColumns 3.12) with Eq. taken as M. In Eq. if the member is braced against lateral torsional buckling and taken as if the member fails by lateral torsional buckling.7 if only gravity loads are acting and is 1. where P + CmMo s 1.. Note the correspondence of Eq..10. = A.F.PIP. (3. = yield load of the section where A. in actual design. The load factor is 1. .14) the units are inches and ksi pCk = JT'EII(KL)~ C.10.
6 moment amplification factor (designated as A..'~ecommends the following interaction equations for sway and nonsway beamcolumns. For P I @ .3.3 AISCILRFD Format The AISCILRFD format based on the exact inelastic solutions of 82 beamcolumns. =beam resistance factor (=0. = moment in member as a result of lateral translation of the frame only calculated by using firstorder elastic analysis (see Fig. (2.34a) M.P. < 0.90) P = design axial force Mu.11.34b) B.10 Design lnteraclion Equations 215 3. = ultimate moment resisting capacity of the laterally unsupported beam about the x and y axes. in the previous sections) . respectively (see Chapter 5) 4.. Mny= design moment for the member about the x and y axes.. = P .9) using the effective length of the column] Mu.=ultimate axial compression capacity of the axially loaded column [=AISC/LRFD Column Curve Eq. 3. calculated as follows in which M.10.= moment in member assuming there is no lateral translation in the frame calculated by using firstorder elastic analysis (see Fig. 3.85) 4.2 where P. Mu.2 For PI@. P u 30. respectively. =column resistance factor (= 0.
factor used in ASD with the exact elasticplastic computer solution^. L = story height C . = P .4 has been removed in LRFD. evaluated by or alternatively The terms in Eqs.10.4 M.0 when compared with the elastic C . = n 2 E 1 / ( K ~ ) ' C P = axial loads on all columns in a story A.A moment amplification factor B2 expressed in Eq./M2. (3.'^ P.0.34 AISCILRFD approach for calculating M.. (3. 0.5 to 1./M2 = 0.A moment amplification factor. This the limit condition C limit was found to be overly conservative for M.. same as defined previously in ASD.19) was developed based on the story stiffness concept.BeamColumns ORIGINAL F R A M E l a l F R A M E FOR M nt I b l F R A M E FOR MI.6 The P .=firstorder translational deflection of the story under consideration C H = sum of all story horizontal forces producing A.. except that a .'*" By assuming that .18) to (3.10.10. = 0. and M. B. FIGURE 3..20) are defined as follows: .
3. expressed in Eq. the sway moments are directly proportional to the lateral deflections of the story.3. As a result." By assuming that when instability is to occur in a story. = horizontal force lateral displacement Solving Eq. Therefore.A effect is equivalent to that caused by a lateral force of C P A I L .25) It should be mentioned that Eq.10. the sway stiffness of the story can he defined as s .10.21) for A gives If rigid connections and elastic behavior are assumed.19) is justified by replacing the term PIP.20) was developed based on the multiplecolumn buckling concept. (3.10. (3. all columns in that story will become unstable simultaneously. Thus Using the same argument. (3. by C PIC PC. we can now write the amplified sway moment as Malt=( I l:k)~lL (3. that if rigid joints and elastic behavior are assumed. where the summation is carried through all columns in a story. the moment induced in the member as a result of sway will be proportional to the lateral deflection.10 Design Interaction Equalions 217 (i) each story can behave independently of other stories.10. This is because the . a direct extension of Eq.17) is a rather conservative estimate of the maximum moment in the member. and (ii) the additional moments in the columns caused by the P .. we can write the amplified sway moment Malt as The alternate expression for B. (3.
e.6 effect (i. (3.. If P/@. Eq. the factor C.Pu<0.) and the amplified moment resulting from the P .Pua0. the P .16) is applicable.ld <0. in inches d = member depth.) do not necessarily coincide at the same location.. If stability controls where 5=1./d>0. if the member is subjected to sway. Nevertheless.10. is taken as 0.17) gives a justifiable estimation of the design moment for the member..P. the term B. These equations are given as follows: If yielding occurs.. The applicable equation is determined by the term PIq5.15) is applicable. (3.A effect (i. as is evident from Eq.A effect usually magnifies the end moments..6 and P .3 for b.A amplification factors.) and this moment magnification factor is applied to the total firstorder moment of the member regardless of whether it is caused by gravity load (M.10. (3.M. Eq.). and M.A moment magnification effect is treated independently. therefore the moment magnification factor is 0. because of the assumptions involved in developing the P . as well as the difficulties involved in locating the exact location of each of the magnified moments in the member. the term B2M.85.85/(1. only one interaction equation is needed if the LRFD approach is used.10. (3.2. the L R F D Specification also recommends a set of nonlinear interaction equations in its Appendix that are valid for nonsway members with end moments M.e. Recall that in the A S D or PD approach. (3.2.3 ' I= \I In = natural logarithm b.15) and (3.16).218 BeamColumns amplified moment resulting from the P .. In addition to Eqs.. For elastic behavior.0 for for b..6 2Iln ( p l p y ) l 1. in inches .17)..10. Another feature of the LRFD approach that is different from the ASD and P D approaches is that the P .... unlike the ASD and P D interaction equations in which both the yielding and stability interactions equations are needed in the design process.PIP.6 and P .10.= Range width.10. Note that. and if PI@. Eq.) or lateral loads (M.
(3. The behavior of the beam and the column will now be studied as P increases from zero to its ultimate value.(PIPcy)] The nonlinear interaction equations expressed in Eqs. it is instructive to consider the following example.(PIP.. the column is then loaded by a monotonically increasing concentric load of P until failure occurs.31) (3..(PIPcx)I MAy= Mu.(PI&PU)I[1 . To illustrate some aspects of this interaction between the beams and columns in a frame.)'] Mpx Mpy (3.35 is a simple braced frame consisting of a beam and a column. After the full value of w is reached." 3.27) were developed by Tebedge and Chent9 based on curvefitting to theoretical elasticplastic beamcolumn solutions.11 An Illustrative Example 219 =S M.10.10. 1 1 appllsd alcsr W hsr rsachsd 1 s . = 1.11 AN ILLUSTRATIVE EXAMPLE Our discussion of the behavior of beamcolumns in this chapter focuses primarily on isolated members.32) (3.[] . lull "duo I FIGURE 3.10.[] .(PI@cPu)I[l .33) =S M:.)] MLY= I.10.[1 .26) and (3.3. Shown in Fig.30) (3.(PIP. 3. = Mu.2MPY[I . most structural members exist as parts of a framework and their behavior is therefore influenced by the behavior of other members of the frame. In reality.10.35 Twomember frame .2MV. The beam is loaded by a uniformly distributed load of w.10.
36 Freebody diagrams In performing the analysis.36 in which the freebody diagrams of the beam and column are shown. The axial force in the column is represented by P. 3.P. induced in the column from the beam shear is negligible. the differential equation of equilibrium for the column can be written as . These assumptions are illustrated in Fig. Column Analysis As can be seen by referring to Fig. Assumption 1 implies that the axial force MBAIL induced in the beam by the column is negligible and assumption 2 implies that the additional axial force V. 2. The axial force in the beam is negligible.. I 1 p P ld l I8 FIGURE 3.V. the following assumptions are used: 1. 3.36d.
13) .11.11.11. we must have cos kx.2) is The constants A and B can he evaluated by using the boundary conditions ~ ~ (=0 0) Y ~ L=)0 (3. we obtain the equation for the deflected shape of the column as By successive differentiation.11.3).6) It can easily be shown that by using Eqs.1) becomes MBA (3. moment.11. = .2) y: + k2y.E l k .11..5) (3.11.11. = 0 v. and shear can be obtained as MBA~ vc= . (3.11 An llluslralive Example 221 Upon rearranging and using the notation k 2 = PIEI. the equations for the slope. sln k L The location of the inspan maximum moment in the column is obtained by setting the shear Vcequals zero.11. therefore.E X = The general solution of Eq.7 cos kr. = 0 (3. (3.3. M B .11.5) B=O A= MBA P sin XL Upon substituting the constants expressed in Eqs.= sin kL Since the term MBAklsink L is not zero. (3.4) and (3. Eq.7) into Eq. (3. (3..4) (3. ~cos kx.6) and (3.11.11.
18) into Eq. (3.15). The location of the inspan maximum moment in the beam is obtained .14) into the moment equation (3. and w L 2 / 1 2is the fixedend moment of a uniformly loaded beam.11. Beam Analysis By neglecting the axial force in the beam. Since the moment at C i s zero.10) gives the value of the inspan maximum moment as In Eq. is the column end moment at B whose value can be expressed as a function of the applied load w and P by consideration of joint equilibrium and compatibility at B as demonstrated in the following.11. (3.11.222 BeamColumns The lowest value of ! a . (3.16)gives and.11. upon rearranging. we have from which Substituting Eq. respectively. ME. the slopedeflection equation for the beam can be written as where 8. (3. satisfying the above equation is Substituting Eq. and Be are the beam end rotations at B and C.11.
27) The above expression for the joint moment can be used in Eqs. (3.36b).11.11.11. and MBc gives MBA = Muc =  k2L2 3 .11.11.24) takes account of the fact that the column slope is negative a t x. .3.15) and (3.11.3kL cot kL + k2L2 ] (3.9) and (3.11.11. (3. (3. given by Eq.11. whereas On is defined as positive when it rotates clockwise from the chord. Using Eqs. (3. (3.11.26) simultaneously for Mu. (3.= L .24) can be written as For joint equilibrium (Fig. we must have Solving Eqs.23) for the maximum inspan moment in the column and beam. 3.25) and (3.20).11 An Illustrative Example 223 by setting the shear in the beam equal to zero: which gives The value of the inspan maximum moment in the beam is then obtained by evaluating the moment at the distance x . respectively. Eq.22) joint Compatibility and joint Equilibrium The compatibility of joint B requires that Y: IL=L = OB (3.24) The minus sign in Eq.11.
224 BeamColumns In summary.27) or by a direct firstorder analysis that the column and beamend moments are given by The maximum inspan moment in the beam is given by The maximumcolumn moment occurs at the end and is therefore equal to wL2/16. the maximum inspan moment in the column is given by (MJmnx = MB sin kL A and the maximum inspan moment in the beam is given by where M. (3. and MBc are given by Eq. FIGURE 3. I f the applied column force P is zero..11. (3.11. it can easily b e shown by using the L'Hospital rule in Eq.37 Behavior of the twamember frame .27).
~.11.. (3. (3. the magnitude of the maximumcolumn moment and the maximumbeam moment both increase.839 (from alignment chart discussed in Chapter 4) in calculating PC. The location of the maximum inspan column moment is given by .22).n.3.x). The change is apparent when one refers to Eqs.). A number of observations regarding the behavior of the twomember frame can be made from the figure.. the maximumcolumn moment (M. The maximum beam moment is obtained as the larger value of the beamend moment MB.14) and (3... for the column while the upper dashed line is obtained by using K =0.). the columnend moment) nondimensionalized by the quantity wL2/8 as a function of the applied column force P nondimensionalized by the Euler load.11 An IllusIralive Example z!s Figure 3..11.).. that is (M. Also shown in the figure are the maximum moments in the column as predicted by the AISC approach [Eq. As the applied column force P increases. the locations of these maximum moments vary as a function of P. and the beamend moment MBC ( = M ... column moment is obtained as the larger value of the columnend The moment MBA and the maximum inspan column moment (M. the maximummaximum inspan beam moment (M. and the Similarly. sign convention used in the figure is that a positivebeam moment will cause tension on the bottom fiber of the beam and a positivecolumn moment will cause tension on the rightside fiber of the column.37 shows a plot of the maximumbeam moment (M.. = 0) The lower dashed line is obtained by using an effective length factor K = 1 in calculating P.. 1.27)]. .. Nevertheless.4.
27) with k L = n * E is used.38 shows a plot of the variation of x. the location of the maximum moment is at the end rather than within the span of the member.. If the calculated values fall outside this specific range. and xb are valid only if the calculated value falls within the range 0 to L.8[ 33 n nZPIP. the expression for M. PIP..226 BeamColumns The location of the maximum inspan beam moment is given by Xb =7 L ME. and xb nondimensionalized by the length of the member L as a function of PIP. (3.=+ x2 .11. given in Eq. .38 Variation of the location of the maximum beam and column moments with PIP. It should be noted that the above expressions for x. Figure 3. m cot ( n m )+ (nZPIPc) 1 In writing the above equation. For the column. the location of the maximum moment shifts from the upper end to the middle of the FIGURE 3.
.. when PIP. exceeds unity. .. 3.).. The change in values in (M.. as PIP.l(wL2/8) will exceed unity. .> 1. It is also worth noting that as PIP.. = 0. are shown.11 An lllurtrative Example ~MrnaAco. and M. Note that there is a reversal in moment at the joint as PIP. urn" wl l 16 \hy wf 6 IMm.. (Mm.. In other words. 3. . indicating that the beam is neither inducing moment to the column nor restraining it from buckling.. the beam end moment is zero.' This change in moment distribution is revealed in Fig.40a). 2. .562L at P = 0 to x.l"aarn 9 w12 IaIP0 FIGURE 3.For the beam. A t PIP.39 in which the bending moment diagrams for the frame at various values of PIP. however.39 Moment redistribution in the frame member as P increases from 0 to PC.< 1. implies that the moment in the structure is being redistributed as the applied column force P increases.) (M. the beam is restrnining the column against buckling (Fig.). the location of the maximum moment shifts from x. which implies that if the designer is to rely on the beam to restrain the . ..5L at P = PC.= 1.3. exceeds unity... the beam is inducing moment to the column (Fig. = 0.40b).. . 3.
the maximum moment of a simply supported beam).839 is used to compute the critical load in the magnification term (the upper dashed line in Fig. This example clearly shows that this is not true. If an effective length K = 1 is used. 3. and the transverse load w(x) in . 3.10. 3. which will require a larger beam cross section. (3. = 1. to design the column with a Kfactor less than unity). From observations 2 and 3. (3. it can be concluded that for braced frames it is advisable to use an effective length factor K = 1 in the first term of the interaction equation [Eq.BeamColumns FIGURE 3. This is in sharp contrast to the common notion that columnend moments do not change in a braced frame because the Pd moments are zero at the ends.37). 3. interaction column (that is. the beam must be designed to carry a maximum inspan moment that exceeds wL2/8 (that is. then the formula will underestimate the column moment (the lower dashed line in Fig.4.1.4)] but not in the second term where we should use an effective length factor K < 1. the beam moment is 1. secondorder effects will change beam moments as in unbraced frames. The AlSC formula for the maximum strength of a column [Eq.12 SUMMARY The general governing equation of an elastic prismatic beamcolumn is a fourthorder linear differential equation relating the derivatives of the lateral displcement y.40 Beamcolumn la I P EP. When PIP. the axial force P.27)] gives an excellent correlation to the exact result if an effective length K = 0.37). Consequently.12 x (wL2/8).
if may be more convenient to write the differential equation as v Yf. An exception to this is when the maximum moment occurs at the end(s) of a fixedended beamcolumn.1) y=Asinkr+Bcoskr+Cx+D+f(x) (3. (3.12. The maximum moment can be obtained by setting y'"= 0.12. ( 3 1 2 1 ) (3.12. f(x) is the particular solution to the differential equations Eqs. the fixedend moment(s) is (are) the maximum moment.12.12 Summary 229 the form tv (x) y1V + k*y" =  El where k'= P/EI. and then backsubstituting into the moment expression. and (3. (3.3. The maximum deflection can be obtained by setting y' = 0 to solve for x and then backsubstitute this into the displacement function. =  El (3. B.12.12.3). (3. it is often possible to approximate the value of the maximum moment by an expression in the simple form . C.. and (3. one can draw a freebody diagram of a segment of beamcolumn and equate the external moment to the internal moment to obtain a secondorder differential equation for a specific beamcolumn with lateral loads and end moments producing the primary bending moment M(x) at some general location distance x from the left support whose general solution is In Eqs. The general solution to Eq. In this case. and D ) can be obtained by enforcing boundary conditions of the member.12.+ kZy.12.2) If there are regions of constant transverse shear force V in the member. The arbitrary constants (A. respectively.6).5). solving for x.2).1) is (3. it is often necessary to determine the maximum deflection and maximum moment.12.3) whose general solution is Alternatively.4). For design purposes. For simplicity and uniformity in a nonsway beamcolumn.
12. and the sway component M.A effect for a member in a frame is not as straightforward as the P .. However. into a nonsway and sway component. 4 has been removed in the LFWD Specification.=P . + &MI. since the maximum secondary P .) 3 0. The nonsway component M... and M.e.A moment do not necessarily coincide at the same location.6 effect. Nevertheless.4(MAIM. designated as M .7) in design.6 . the AISCILRFD Specification accounts for these effects separately by first decomposing the firstorder moment M.6 moment amplification factor to reflect the effect of axial force on magnifying the primary moment in the member C. .10) This approach usually leads to conservative results.A effects indiscriminately by using C .A moment amplification factor B.) to account for the P .6 effect for an individual member (i.. to account for the P .0.A effect.e. there is a P . the effect of the axial force acting through the sway of the member). For members subjected to transverse loadings 2. The maximum moment is then obtained as an algebraic sum of the two amplified moments M .4 (3. . (3. is multiplied by a P . respectively.6 moment and the maximum secondary P ..A effect resulting from the frame sidesway action (i.85 in Eq. the effect of the axial force acting through the lateral displacement of the member relative to its chord).9) The limiting condition C m a 0 . is multiplied by P .. in addition to the P .6 and P .230 where BeamColumns M. = defined as follows: 1..6 moment amplification factor B.).(=A. = BIM. (3.= maximum moment that would exist if the axial force in the member were absent (also referred to as the firstorder moment) A. . =0. = 0.85/(1 . Pck = n2EIl(KL)' K = effective length factor For members subjected to sidesway in an unbraced frame.6 effect for an individual member only.. in which the total firstorder moment is magnified by the factor 0.12. Treatment of the P . For members subjected to end moments only without transverse loadings C.PIP. this is a more rational approach than the AISCIASD and IPD approaches. The AISCIASD and IPD Specifications account for both the P .12.
2 Use the four conditions (3.10.Problems 2 3 1 because.3.7. (3. Using a.3 Using L'Hospital's rule. in Eq.41). in many cases. interaction equations provide an attractive alternative for designers.3. Principle of Superposition Determine the value of Y. 3. 3 .3.2. . B . PROBLEMS 3 .8) to determine the four constants A. T h e design of the beamcolumns is facilitated by the use of interaction equations.3. 1 Use the design amplification factor for the lateral deflection y. P3..12).. in Eq. 3. These are equations that relate a combination of axial force and moments that will initiate the failure of a beamcolumn.. Since inelastic beamcolumn analysis is rather complicated. = 2 when P = 0. 4 Derive the expressions for the maximum deflection and maximum moments for the beamcolumns shown in Figs.. . (3.7. a larger percentage of the nonsway moment is not affected by the P . General Differential Equation b. The design of beamcolumns in various interaction formats as provided by the current AISC Specifications is discussed in Sec.16) reduce to s.4a.35) to derive the design moment amplification factor for the moment M . if the expression .2. show that the stability functions in Eqs.= 4 and s. 3 .15) and (3.A effect. (3.5) to (3.b.9) to (3. (3. and D as given in Eqs. C. They generally give good approximations to the more exact interaction curves developed on the basis of an inelastic analysis.
5bd by the principle of superposition. Q I P / m EIcanslant P X I W P / I 1 EI=conslanl A PX A I Y I FIGURE P 3 . formulate the expression for the deflection y for the beamcolumns shown in Fig.5 Using the deflection function given in Eq. b) for the beamcolumn shown in Fig. 3. (3. P3. P3. =fixedend moment that would exist in the member if P were absent (firstorder moment). = nZEI/(KL)' and M. 5 .3.5a.232 BeamColumns is used to approximate the fixedend moment where PC.13a.
Problems 233 3.8 3.9 Plot the factors 14. MAIMo= 0. and (c) LRFD approach.6. and M .4 b.. (b) PD approach. FIGURE ~ 3 .6 rnl 1 in ASD 1 .? FIGURE P3.4 if a.6 For the beamcolumn subjected to endmoments MA and M. find the elastic maximum moment for PIP.7 Find the fixedend forces M. P3. = 0. = 0. 7 " 'FB 3.4 Where is the location of M.8 Find the design moments for the columns of the frame shown in Fig.K/FLd . MAIMD =0 c.8 using the AISC's (a) ASD approach.. P3. P3. MAIM. as shown in Fig.7. + for the beamcolumn shown in Fig. FIGURE P3.6 3.
C. Journal of the Structural Division.10 Find the fixedended moments M . and MPOfor the unsymmetrically loaded beamcolumn shown as Case 3 in Table 3. Chen. Theory of Elastic Stability. 85 (September): 75111.33(b). Austin. Ketter. 3. 3. Theory of BeamColumns: Space Behavior and Design. R. New York. Vol. Fabrication and Erection of Structural Steel for Buildings. ASCE. 87(ST4):132. M. 3.1) and (3. where P is the axial force in the column and PC is the critical load of the column for column DE of the frame shown in Fig.14 For the design of a beamcolumn in a steel frame. Strength and design of metal beamcolumns. 87(ST6): 135152. 4.versus PIP.8. P. 2. 1. P3. 7. REFERENCES 1. 1976. T. S. McGrawHill. 3. New York. 6. 1961. 3. New York.13 using the LRFD method. factor for the beamcolumn shown in Fig. Theory of BeamColumns: InPlane Behavior and Design: Vol. determine the critical load of the frame shown in Fig. F. ASCE. W.13 Find the design moments for the structure shown in Fig. and Atsuta. 5.3. IL. ASCE. I. 1961. 1959. and Gere..U Determine the exact C. FIGURE P3. T.8. Chicago. Stability considerations in the design of steel columns.. F. (3. Journal of Structural Division..8. What observation do you draw? 3. Second edition. Massonnet. AISC. . L. Chen. list the important differences between LRFD and ASD Specifications. J.8. W. . 1961. P.33(a). . 3. 1977.. and Atsuta. McGrawHill. Journal of Structural Division. November 1978. Specification for the Design. Further studies of the strength of beamcolumns. W. Timoshenko. . 3. 2.U p21 LIZ . McGrawHill.U Using the slope deflection Eqs.2).
ASCE. 1971. Slenderness effects in buildings. 1965. Approximate Solution of BeamColumns. Journal of Structural Engineering. Vol. ASCE. F. Consideration of secondary eEec$ in frame design. Rosenblueth. IL. 1936. Galambos. E. Engineering Journal. and Chen. Der Stahlbau. A. F.. L. 11. Civil Engineering1 Structures Research Lab. Chicago. October 1986. J. 1935. ASCE. ASCE. T. 18. Tebedge. Report No. The Effective Length of Columns in Unbraced Frames. Journal of the Structural Division. Die Tragfahigkeit axial gedriickter und auf Biegung beanspruchter Stahlstabe. 16. 189. AISI Project No. Yura. London. R. Load and Resistance Factor Design Specification for Structural Steel Buildings. 1972. 85(2):130. October. Third edition. SSRC Guide to Stability Design Criteria ior Metal Structures. T. F. Kanchanalai. 19. The Design and Behavior of BeamColumns in Unbraced Steel Frames. 1976. 1977. England. 1959. P. Elastic stability of practical multistory frames. 1971. gl(ST1): 229252.. Columns under combined bending and thrust. CheongSiatMoy. 17. . 14. K. Jezek. 36. W. N. 15. L. S. 9. ASCE. and Ketter. 103(ST10): 20052019. AISC. ASCE. factor in LRFD. Zhou.References 235 8. Chen. 1978. Journal of Structural Division. 10. W. Journal of Engineering Mechanics Division. ed. 3742. Stevens. W. V. K. Johnson. 12. Proceedings of Civil Engineers. G. On C. Design criteria for HColumns under biaxial bending. John Wiley & Sons. B. Journal of the Structural Division. 8(2): pp. AISC. Der Stahlbau. 1967. 8:89. New York. F. and Chen. 9:12. Naherungsberechnung der Tragkraft exzentrisch gedriickter ' Stahlstabe.. In press. 2. Journal of Structural Division. 13. University of Texas at Austin.. 97(ST'): 743751. 104(ST9): 13551370..
and its critical load is designated as PC.lb).la. 4. disturbance will induce large lateral deflections of the members. the behavior of these members will be affected by their adjacent members in the structure. or guided). a slight members until PC. The elustic loaddeflection behavior. Note that there is no bending deformations and so no bending moments in the is reached. Such a frame is shown in Fig. its ends will rotate.lc). 4. most structural members are connected to other members to form a Framework. The loaddeflection behavior of the frame is shown in Fig. If the columns are geometrically imperfect (Fig. In reality. fixed. where the columns are perfectly straight and the loads are applied concentrically with the centroidal axes of the columns. as . or if the primary bending moments are present before buckling because of eccentricities of the applied loads (Fig. 4. lateral deflections will occur as soon as the loads are applied. Once the critical load PC. which in turn will cause deformations to other adjacent members. to determine the critical load of the column in a frame. If the frame is geometrically perfect and if the loadings are such that no primary bending moments are present in the members before buckling. in the figure. Thus. 4.Chapter 4 4. we have dealt only with irolated members with idealized end conditions (hinged.2 as curve 1. if a column in a framework buckles. For example.1 INTRODUCTION In the preceding chapters. then a frame's critical load can be obtained by an eigenvalue analysis done in a manner similar to that used for an individual member. A s a result. it is necessary to investigate the stability of the frame as a whole.is reached. This will cause rotations of adjacent members that are connected to the column.
failure of the frame will occur as a . and the curve will asymptotically. The elastic critical load PC. Under this condition.2. approach its maximum or critical value PC. if instability is excluded as a failure mode and material yielding or plasticity is the only factor accounted for in the failure analysis. On the other extreme.4.1 Simple braced portal frames represented by curve 2 in Fig. will be nonlinear because of the presence of secondary effects (P6 and PA effects).1 Introduction l a ) PERFECT SYSTEM f b l IMPERFECT SYSTEMINITIALLY CROOKED COLUMNS FIGURE 4. 4. failure of the frame is due solely to elmtic instability.can be reached only if the stresses in all members fall below the proportional or elastic limit of the stressstrain diagram of the material.
The rigorous analytical determination of the failure load Pr is generally very complex. are known. will govern the limit state of the frame. and (3) the matrix stitmess method. a complete elasticplastic analysis of the structure is often necessary. To determine this failure load. 4. The approximate determination of the failure load Pr is usually enough for design purposes. the stability and plastic mechanism behavior of the frame will interact with each other and the true failure load PI of the frame (Fig. the rigid plastic collapse load P .2 Loaddeflection behavior of frames result of the formation of a collapse rnechar~irrnwhen sufficient plastic hinges have developed in the structure. PI. and the amount of work involved does not justify its determination by the rigorous means for design applications.Rigid Frames FIGURE 4. and P .. P. (2) the slopedeflection equation method. nor the plastic mechanism load. once the extreme values of PC. In this case. curve 4) is neither controlled by the elastic critical load. (Fig.:(1) the differential equation method. All these methods employ the concept of neutral equilibrium in which the critical load of the frame is obtained as the . This approximate method will be presented in the later part of this chapter. In the first part of this chapter.. Fortunately. an approximate value of Pr can be obtained easily and directly. curve 3) rather than the elastic critical load PC.2.2. In many instances. PC. 4. we will present three methods for the determination of the elastic critical load PC.
4.4. respectively. 4. We will now evaluate the critical load of this frame. to estimate the true failure . Referring to Fig. of frames.3a shows a pinended portal frame braced against sidesway and loaded by two points loads P. one on each column.2 Elastic Crilical Loads by DiRerenlial Equalion Method 239 eigenvalue of the system of equations generated by enforcing equilibrium and compatibility conditions of all members and joints in the structural system. 4. Toward the end of this chapter. Because of symmetry. and P . we need only to consider half of the structure.(L.2 ELASTIC CRITICAL LOADS EQUATION METHOD BY DIFFERENTIAL This section deals with the determination of the elastic critical load PC.2. we will discuss these two cases separately. we will discuss tlre effective length factor K as recommended by the AISC Specification for the design of members in a framed structure (references 7 and 8 in Chapter 3). ) y...2. of the frame. we see that the differential equation for the column is where k: = PIEI.)= 0 (4. This will be followed by the presentation of a simple interaction equation making use of PC. The general solution is Using the boundary conditions of ~ ~ (= 00. we will give a simple method making use of the virtual work principle for the determination of the rigid plastic collapse load P. The subscripts b and c designate beam and column.1 SwayPrevented Case Figure 4. Since the critical load for a given frame is different depending on whether the frame is braced (sway prevented case) or unbraced (sway permitted case).4) .3b. load P T o conclude the chapter.
sin k. Therefore. (4.L.3).3 Nonsway buckling of a pinnedbased portal frame results in A=M~ P sin k. the deflection function for the column.L.2. can be written as M &='"('P x L.Rigid Frames FIGURII. 4. . sin k.x. Eq.
2.8) Y:(LJ= MB 1 P LC tan k.18) into the joint compatibility .2. Therefore.2. k. can be written as from which The joint compatibility requires Y:(L.LC sln .2.2. y:=P ( .2 Elastic Critical Loads by Dilierenlial Equalion Method 241 from which kc cos k. the effect of axial force on the behavior of the member is usually negligible (Fig.3b).L. ( (4.4.9) and (4. (4.9) For the beam. the differential equation has the simple form The general solution is Using the boundary conditions of results in D =0 (4.19) Upon substituting Eqs. the deflection function for the beam. Eq.2.L MB 1 and ) (4. (4..)= Y 8 9 (4.x. 4.15) Therefore.12).2.
2.2kL = 0 (4.2. 4. (4.87EI/L2 and the upper bound is 20. = PIEI. if the bending stiffness of the beam approaches zero (Fig. The actual value for PC. in the present case the lower bound for PC. we have or. The eigenvalue determined from this equation is the critical load of the frame. For simplicity. (4.28). the solution of Eq.. tan k.4a). if we take L.2.28) does.19).L.as expressed in Eq. rearranging and denoting k'. . = k. we can write the characteristic equation as (kL)' tan kL + 2 tan kL . Thus..1EIIL2.2. i.24) is found to be kL = 3.23) is the cl~oracteristicequatiorz of the frame buckled in the rlortsway mode. = LC= L and k. (4.2. the term in the parenthesis must be zero.1EI/L2.4b).is Y. the columns will behave like a hingedfixed member and the critical load is 20.2.e. On the other extreme. (4. = k. 4. MB increases without bound. For Eq. if the stiffness of the beam approaches infinity (Fig.87EIIL2). the two columns will behave like a hingedhinged member and the critical load is a2EIIL2(=Y. On one extreme.25) Since we have or Before we proceed to the swaypermitted case. Equation (4.21) to be valid. I= ) M ~ = o At bifurcation.2.2.for the frame with a finite beam stiffness should fall between these two extreme values as Eq.242 Rigid Frames equation (4. we shall examine the two extreme cases of PC. 1 +L.59 (4.24) By trial and error or by graphical means.
only half of the structure needs to be considered (Fig. 4. Note that the horizontal reaction H at the column base is zero.3a is not braced against sidesway.2 Elastic Crilical Loads by Differential Equalion Melhod PC. 4. since there is no external horizontal force acting on the frame.4 Extreme values of PC.4.5b). = 0 (4. Assuming that the applied load P is much greater than the beam shear force 2MB/Lb.2 SwayPermitted Case If the frame shown in Fig.2. A s a result. = 9 . 4. it follows that the axial force in the column can be approximately taken as P. Because of antisymmetry. it may buckle in a sway mode at a lower buckling load level.87EL/~ 2 I I FIGURE 4.29) . y : + Py. 8 7 0 / ' ~ 2 PCr=9. the differential equation for the column can be written as E 1 . as shown in Fig. 4.2.5a.
2. = A sin k&.Rigid Framer FIGURE 4.. (4.31) y.5 Sway buckling of a pinnedbased portal home Introducing the notation k: = PIEI. (4. we can write Eq.2.29) as ~ : + k 3 ~ = 0 The general solution is (4.2. y(LC)=A  yC(O)=O.32) the two constants can be evaluated as .2. Using the boundary conditions + B cos k&.30) (4.
sln k.2 Elaslic Crilical Loads by DiRerenlial Equalion Melhod 245 Therefore. =7 sin k.2. ~cos . (4.L.x. the column's lateral deflection can be expressed in terms of the sway deflection A of the frame as A Y. The differential equation for the beam is The general solution is Using the boundary conditions ~ b ( 0= ) 0. P sin k. (4.s.2.44) the two constants can be evaluated as . Yb(+) =0 (4.2.36) Upon substituting Eq.2. we obtain the deflection function of the column as Yc = MB sin k.x. and kcM~ y'(L') = P tan k.35). From equilibrium consideration of the column.L. from which k.4.37) into Eq. "= P sin k . we have MB= P A from which we obtain the sway deflection (4.L.
43) gives the deflection function of the beam as from which and Joint compatibility at B requires that YU. (4.54)reduces to from which kL can be evaluated as kL =( m r ) ~ = 1. = L and k .2. . (4. = k .we must have kc P tan k.56) Again. or Lb 0 6EIb (4.40) and Eq.2.54) 6k. Equation (4.49). = PIEIb.2. At the bifurcation load.35 and so (4.2. 6EI.46) into Eq. = L .50) P kc& tan k.2.2.L.as expressed in Eq.2.L.246 Rigid Frames Substituting Eqs.2. M. (4.52). For the special case for which L . (4.2. we obtain (4. = k .) = Y a) or. .54)is the characteristic equation of the frame buckled in the sway mode.2. Eq. using Eq. (4. increases without bound. T o ensure the validity of Eq. (4.2.45) and (4. we shall examine the two extreme cases of PC.L.k i L b L ctan kcLC= O where k'.
47EIILZ. for the swaypermitted case is much less than that of the swayprevented case. (4.6 Extreme values of P .2.57) does fall between these two extreme cases of 0 and 2. 4. the frame will undoubtedly buckle on the sway mode if no physical constraint is provided to prevent the frame from sidesway buckling. (4.6a). A differential equation is written for each and every member of the frame. If the bending stifmess of the beam approaches infinity. If the bending stiffness of the beam approaches zero (Fig. The differential equation method described above can be extended to a more complex frame. Note that PC. the two columns act like a hingedguided member and the critical load is 2.57). The critical load as expressed in Eq.4. The arbitrary constants of the general solution to each differential equation solution are then evaluated using .2 Elaslic Critical Loads by Differential Equation Melhod FIGURE 4. the two columns d o not possess any sway stiffness and the critical load is zero.2.47EIIL2.
(3.248 Rigid Frames the boundary conditions and joint compatibility conditions of each member and each joint from which the charactersitic equation of the frame can be obtained.7a) can be written as in which the subscript c denotes the column. there is a simpler method available.7.3 ELASTIC CRITICAL LOADS EQUATION METHOD BY SLOPEDEFLECTION In the slopedeflection equation method.8 are written for each and every member of the frame. there is no relative lateral translation between the ends of the column. only half of the structure needs to be considered in the analysis.8. which makes use of the slopedeflection equations1 developed in the previous chapter.15) for the beam in which the subscript b denotes the beam. 4.3. The eigenvalue of this characteristic equation will give the critical load of the frame. 4. These equations are then related to one another by enforcing moment equilibrium at the joints (for braced frames) or by enforcing moment equilibrium at the joints and story shear equilibrium for every story of the frame (for unbraced frames). (3.1 SwayPrevented Case For this case. Fortunately.16). and in which expressions for sii and siiare given in Eqs. To demonstrate the use of this approach. we will reanalyze the braced and unbraced frames shown in Figs. the slopedeflection equations developed in Sections 3.3a and 4. . This will be discussed in the following section.5). Note that because of symmetry and antisymmetry.for all types of frames.5a using the slopedeflection equation approach.8.15) and (3.7 and 3. 4. 4. the slopedeflection equation for the column (Fig. The characteristic equation is obtained by setting the determinant of the coefficient matrix of the resulting set of equilibrium equations equal to zero. The critical load is then obtained as the eigenvalue of the characteristic equation. be used to determine PC. by using Eq. Although the differential equation method can. especially when it is applied to frames of more than one story and one bay. therefore. Since the beam is bent in a single curvature. respectively.7. in theory. we use the slopedeflection equation (3. the actual implementation of the method for the solution of a given frame is rather complex.
8. (4. = I.3 Elastic Crilical Loads by SlopeDelleclion Equalion Melhod FIGURE 4.3.3.3.3.3.3). Eq. we can set sit. 4.2) becomes From joint equilibrium (Fig.7) becomes . (4.7) is the characteristic equation of the frame.7 Slopedeflection equation approach for P .3. = 1and Lb= LC= L. we must have MBA+MBC=O (4.4) Using Eqs. so that Eq. of nonsway buckling of simple portal frame Neglecting the effect of axial force on the bending stiffness of the beam. = 4 and s i j b= 2. we must have Equation (4. the joint equilibrium condition expressed in Eq. For the special case for which I.4) can be written as Since at bifurcation. (4.4. (4.3.1) and (4. + 0.7b).
1) and (3.7. 4.17) .3. the value of kL that satisfies Eq.8h).2) for the swayed column are Solving Eq.250 Rigid Frames By trial and error and using Table 3. 4.3.8.10) is obtained. 4.8.59 from which the critical load (4. we obtain Since the beam is bent in double curvature.3. This load is the same as before using the differential equation approach. we see that the slopedeflection equations (3. we set siib = 4 and siib = 2.2 SwayPermitted Case Referring to Fig. or From joint equilibrium (Fig.13). (4.8.3.9) is found to he k ~ ( =m r ) ~ =3. (4.8a. we know MBA + MBC = 0 (4.17) for the beam Because there is no axial force in the beam.12) for BA and substituting BA into Eq. we use the slopedeflection equation (3.3. (4.2.
18) ( s i i c ' ij c +68 . L C Siic 2  Siic '")3  6EIb B B = O +Lh c: (4. 0 . of sway buckling of simple portal frame Using Eqs. sic) Siic (4.3 Elastic Critical Loads by SlopeDefleclion Equation Melhod ICI FIGURE 4.... (4. (s.3.14) and (4.3.4.8 Slopedeflection equation approach for P . .16).17) becomes s.19) ..[(.. s.. ".(..3. the joint equilibrium condition (4..3. siic ICL. 9.3..
3. = LC= L. and A increase without bound. (4. both 8 . 4. (4.26) by minus one.8c). we can write or (4. they can be written in matrix form where Note that the coefficient matrix in Eq.24). in Eq.. Eq.3. For Eq. = MDc = 0 (hinged) (4. (4. and also let 1.3.14) for MB.252 Rigid Frames From story shear equilibrium (Fig.3.3. we have Realizing that MA.22) and McD = M.19) and (4.3.3.20) as Using Eq.27) can be made symmetric by multiplying Eq.21) (4. (4. = I .26) are the two equilibrium equations of the frame. If we do this. = I and L.3.27) becomes At bifurcation.26) S i i c S i i c Equations (4.3.3.3. (antisymmetry) we can write the storyshear equilibrium equation (4. . (4.
Figure 4. 4. In the next section.(kL)' 1 (4. by setting the determinant of the structure stiffness matrix to zero.31) obtained using the slopedeflection method with Eq. These element stiffness matrices are then assembled into the strueture stiffness matrix that relates the structure nodal force to the structure nodal displacements. 4.29) Equation (4.for all types of frames.29) is the characteristic equation of the frame.35 from wbich the critical load can be solved (4. the slopedeflection equation method will he generalized. the resulting formulation we will see is called the matrix stiffness m e t h ~ d . we must set det I S +' S S =O S .9a shows the sign convention for the positive directions of . if n is large. it is cumbersome to obtain a solution. can in theory.7. The slopedeflection equation method.3.3. This ~ .4.1 Element Stiffness Formulation We shall begin our discussion of the matrix stiffness method by developing the element stiffness matrix from the slopedeflection equation.4 ELASTIC CRITICAL LOADS BY MATRIX STIFFNESS METHOD In the matrix stiffness method. as in the differential equation method. the stiffness of the structure vanishes. (4.4. the value kL can be found to be kL = ( ~ I ) = L1.28) to be valid. However. By trial and error and by using Table 3. Therefore. the element stiffness matrix that relates the element end forces to end displacements is first formulated for each and every member of the frame.57) obtained previously using the differential equation method. The resulting coefficient matrix obtained by enforcing joint (and storyshear) equilibrium will be an n x n matrix in wbich n is the number of independent degrees of freedom of the frame. ~ procedure to obtain solutions for large frames can be greatly enhanced by the use of computers.3.4 Elaslic Critical Loads by Matrix Stiffness Melhod (4.2. (4. At bifureation.3.3. the critical load of the frame can be obtained.30) Note the correspondence of Eq. he extended to evaluate PC.
9 Element end forces and displacements notations element end forces and end displacements of a frame member.9b.2) Kinematic .4.4. The end forces and end displacements used in the slopedeflection equation are shown in Fig.Rigid Framer (bl FIGURE 4. we can easily express the following equilibrium and kinematic relationships. By comparing the two figures.1) L v = .MA+ MB (4. 4. = P r2= (4. Equilibrium r.
it is tacitly assumed that the effect of member shortening due to the bending curvature is negligible.14) are the slopedeflection equations of the member.12).12) to (4.11) can be related by recognizing that EA P=e L (4.6) can be written in matrix form as Similarly.4. In writing Eq.4.10) and Eq.9) can be written in matrix form as Equation (4.12) Equation (4.13) and (4.4. and s. (4.sii are the stability functions.4.4.4. Putting Eqs.4.4.14) in matrix form.4 Elastic Critical Loads by Matrix Stihess Method Equations (4.4. Eqs.1) to (4. we have .. (4. (4.4.4.12) relates the axial force P to the axial displacement e of the member. This assumption is satisfactory for most practical purposes.4. (4.7) to (4.. Eqs.4. (4.
16) can be written as  "S (4.) (xi! ze.4. an additional shear force equal to P A I L will be induced in the member due to the swaying of the member by an amount A given by We can relate this additional shear force due to member sway to the member end displacement as 0 0 0 0 P L 0 0 0 o 0 0 (4.) ( ~ i+ L A 0 z(s.4.) with the element end displacements ( d . and then substituting Eq..4.4.10).10. 4. + sii) L ' + sii) L Pii L2 0 A & L 0 0 (sii + 5. we can relate the element end forces (r. I + sii) L2 Symbolically.11) into the resulting equation.4.. (4. (4. Eq.d L s. to r. or symbolically 0 5 .15) into Eq.19) sym. (4.16) where the subscript ns is used here to indicate that there is no sidesway in the member.+ I 0 s. If the member is permitted to sway as shown in Fig.256 Rigid Framer Substituting Eq.i Sii sym. (4.4.. to d6) as A I 0 0 i ~i.
the functions @.. By combining Eq. @ . (4. (4.1. A I 0 0 Substituting the expressions for the stability functions (sii. we obtain the gcneral beamcolumn element forcedisplacement relationship as where k = k.17) and Eq. and @. @?. Note that as P approaches zero.23) and simplifying.4. become .4. we obtain The expressions for @. are given in Table 4.sii)in Eq.22b) sym.4.. and @. @Z. + k.. (4.20).4 Uaslic Critical Loads by Matrix Stiffness M e t h o d where the subscript s is used to indicate the quantities due to sidesway of the member.4.4. (4. G3.
Eq.4. (4.Rigid Frames FIGURE 4.4. In addition. it can be shown that the resulting stiffness . Also shown in Table 4.10 Additional shear due to swaying of the member indefinite. If the axial force in the member is small. For most cases.24) can be simplified by using a Taylor series expansion for the @!'s. (4. However. the series will converge to a high degree of accuracy if n = 10 is used. by using the L'Hospital's rule. it can be shown that these functions will approach unity and Eq. the expressions in the series are the same regardless of whether P i s tensile or compressive. If we retain only the first two terms in the Taylor series.1 are the @i functions expressed in the form of a power series by using the following series expansion for the trigonometric functions: For compression For tension It has been shown4 that these power series expressions are convenient and efficient to use in a computeraided analysis because no numerical difficulties will arise even if the axial force P is small.24) reduces to the firstorder (linear) element stiffness matrix for a frame member.
functionscan be expressed in the form of power series. the @.. and @.. Compressive (kL)I sin k L +I Zcra Tcnsile (kL)' sinh k L 12+.. .k L cos k L ) #3 w. Alternatively. ( k L ) ( k Lsin k L ) 1 ( k L ) ( k Lcosh k L . @ . +.Table 4. . . Use the plus sign if the axial foree is tensile. WC 1 (kL)(sink L . @ . .sinh k L ) 4m.4 where 2+= 1 (kL)(sinhk L .1 Expressions for @.k L ) w. as in reference 4: where Use the minus sign if the axial force is compressive.
. the change in length due to axial force is neglected).e. Because of symmetry.5a. is the firstorder (linear) elastic stiffness matrix and k. is the geometric stiffness matrix (sometimes referred to as the initial stress stiffness matrix).corresponds to a compressive axial force and the positive sign corresponds to a tensile axial force. ..4. and D. only four degrees of freedom.R. The corresponding structural nodal forces.4. 4. R.27) can be written as where k. As a result. D2. and one translational degree of freedom. D. for the frame shown in Fig. we consider only one half of the structure in the analysis. The following example will be used to demonstrate the procedure of using the stiffness matrix method to obtain the critical load of frames.11a.260 Rigid Framer matrix that is valid for small axial force is given by in which the negative sign preceding the second matrix.11a together with the structural nodal forces and displacements. .. .2 Sway Buckling of a PinnedBase Portal Frame The matrix stiffness method is applied here to determine the critical load PC. Symbolically. we assume that all members are inextensible (i. 4. This is shown in Fig. are labeled: three rotational degrees of freedom. (4. which accounts for the effect of the axial force P on the bending stiffness of the member. D.. The directions of these . Eq. 4. 4. .. are also shown in Fig.. T o reduce the number of degrees of freedom of the structure.
11 Structure and member forces and displacements notations rotations.d3 r\ 1 \ . the 6 X 6 element stiffness matrix relating the element end forces to the element end displacements will be reduced to a 4 x 4 matrix as i  12  6 L 2   1i i 6 5 L2 k= El L sym.d6 ! i I I b ! i . and forces are shown in their positive sense in the figure.4. As a consequence.12) is not valid anymore. Because of the assumption of inextensional behavior.4. P L    . i '6 I : r5.4 Elastic Critical Loads by Matrix Stiffness Method 1 :. (4.ds i 5'd3 I 2 re.ds ('dl FIGURE 4. translations. 6 L 4 Fsym. the axial forceaxial displacement relationship expressed in Eq.
11 that for element 1. d. (4.262 Rigid Frames This stiffness matrix relates the four end forces (r. d5.) associated with each member of the structure. Note that the element stiffness matrix for an inextensible member [Eq.) to the four end displacements (d2. and d. the element end displacements are first related to the structure nodal displacements by consideration of joint compatibility..11b shows the four degrees of freedom (d.4.) and the corresponding end forces (r. By using Eq. this kinematic . The process of assemblage is described in detail in most matrix structural analysis textbook^. It can easily be seen from Fig. r.4. and d. the directions are shown in their positive sense in the figure.. d.29)] is obtained simply by deleting the first and fourth rows and the first and fourth columns from the element stiffness matrix for an extensible member [Eq... (4.. For each element.^' So we will discuss it only very briefly here.29). P . r. the element stiffness matrix for the column (element 1) can be written as . r.   and the element stiffness matrix for beam with P=O and L / 2 for L (element 2) can be written as The structure stiffness matrix can be obtained by assembling these element stiffness matrices..4. (4. and r. and r. Figure 4.. d. 4. Again.) of an inextensible member. r.12 L ' 6 5  El k'=L sym..27)]...L sym.
4. (4.36) with Eq.4.4. it can be seen that the matrix relating the structure nodal forces R ' s to the element end forces r's is the transposition of the matrix relating the element end displacements d's to the structure nodal displacements D's. (4. (4.4. but represents a theory in structural analysis known as the conrragradier~rlaw.32) and (4.4. the kinematic relationship is Symbolically.37) with Eq. (4. Eqs.4 Elastic Critical Loads by Matrix Stiffness Method relationship is For element 2. This observation is not a coincidence.33) can be written respectively as On the other hand. (4. the portion of the structure nodal forces resisted by element 1 is and the portion of the structural nodal force resisted by element 2 is By comparing E q .4.32) and Eq.' .33).4.
(4.41) as R = T:k.4. kz into the structure stiffness matrix Eq.T. (4.34) and (4.46) (4. if these are rr elements in the structure. we see that the structure stiffness matrix .37) can be written symbolically as R.45) (4.39) Substituting the member equilibrium relationships Eqs.D = (T:~. k.41) Since. (4.4.T.4. (4.39) into Eq. (4. From consideration of joint equilibrium. using the member kinematic relationships. + T:~. (4.4. referring back to the example problem.)D or (4.T.4.4.40) gives R = TTr.4.4. we can write (4.4. = TTr.4.4.T.dl + T:k2d2 Now. In general.dl and (4. upon substituting the matrices TI. T.4.4. Eqs.36) and (4. from E q .21) the element forcedisplacement relationship for elements 1 and 2 can be written. (4. = TTr.4.4. respectively.d2 we can write E q .38) (4.4.264 Rigid Frames In view of the above observation.4. (4. as rl = k. (4.4.39. Eqs.43) (4. = k. + Tzr. the structure stiffness matrix can be obtained as Now.47) and carrying out the matrix products.38) and (4..44) as R = T:~.4.44) r.42) (4. is the structure stiffness matrix.47) R = KD where K = T:~. we can write Eq. R. + T:~=T..D + T:~=T.4. The process shown above is referred to as assemblage and it involves the process of transforming and putting together element stiffness matrices to form the structure stiffness matrix.
4. and from Eq.15 30 2LZ 15 8 K = El L sym.50) The slight discrepancy of Eq.4.4.4. The smallest root satisfying this equation is A = 0.52) we obtain a polynomial in A.27). (4.4.061. Denoting (4.53) compared to the value obtained previously by the differential equation method or the slopedeflection equation method is due to the roundoff error.4.49) 0 0 0 sym. by setting det (KI =0 (4.41 4 8 sym. (4.49) can be written as 12. (4.24) to Eq. and this error was introduced earlier as a result of the approximation from Eq. (4. (4.4. Eq. the determinant of the stiffness matrix must vanish. At first glance. At bifurcation.4 Elastic Critical Loads by Matrix SliRness Melhod can be written as 2L2 L2 .4. Thus. it seems that there is much more work involved in the stiffness matrix approach than that of the differential equation or the .
6 and P. which we discussed previously in Chapter 3. At a particular cycle of calculation. For an elastic frame. the iteration process is . the lateral deflections of the members begin to increase without bound as indicated by curve 1 in Fig. Because for a secondorder analysis the equilibrium equations are formulated with respect to the deformed geometry of the structure. In this approach. if the system is not perfect. the applied load is divided into increments and applied incrementally to the structure.6 and P . the use of P . In an eigenvalue analysis. There will be no lateral deflections in the members until the load reaches the critical load PC. However. In effect. the original configuration of the frame ceases to be stable and with a slight disturbance. which is not known in advance and is constantly changing with the applied loads. one of the most popular solution techniques is the incremental load approach. For a secondorder elastic frame analysis. the system is assumed to be perfect. it should be noted that the steps shown above can easily be programmed in a digital computer. can be incorporated directly into the analysis procedure. As a result. A secondorder elastic analysis will generate just such loaddeflection response of the frame. can be obtained quite conveniently for any type of frame.O R D E R ELASTIC ANALYSIS In the preceding sections. In a numerical implementation. Because of the linearization process. In a secondorder analysis. the nonlinear response of the structure as a result of geometric changes is approximated by a series of linear analyses. lateral deflections will occur as soon as the load is applied.2.2. and so PC.A effects. To trace this curve. the geometry of the structure used in the analysis for a specific cycle is the deformed geometry of the structure corresponding to the previous cycle of calculation. 4. 4..5 S E C O N D . such secondary effects as the P .266 Rigid Frames slopedeflection equation approaches. we determined the load that corresponds to a state of bifurcation of equilibrium of a perfect frame by an eigenvalue analysis. At the critical load P . equilibrium may be violated and the external force may not always balance the internal force. in Chapter 3) are not necessary. a complete loaddeflection analysis of the frame is necessary. However. 4. as shown by curve 2 in Fig. and B. it is necessary to employ an iterative technique to obtain solutions. curve 2 will approach curve 1 asymptoticauy. .A moment magnification factors (denoted as B. The deformed configurations of the structure at the end of each cycle of calculation is used as the basis for the formulation of equilibrium equations for the next cycle. the structure is assumed to behave linearly. This unbalanced force must be reapplied to the structure and the process repeated until equilibrium is satisfied.
7) to (4. For each element.3) D: =structure nodal displacement vector at the end of the fust cycle of calculation at the i load step Di = structure nodal displacement vector at the beginning of the i load step AD: = incremental structure nodal displacement vector evaluated at Step 4. a subscript refers to the load step and a superscript refers to the cycle of calculation within each load step): 1.4. Solve for the incremental displacement vector using AR~ = ~f AD: from which (4. formulate the element stiffness matrix k for each and every element. 2.. 5.5. 7.4.) 3.4. First.12) to (4.4.2) AD: = (K:)I A R ~ where ARi = prescribed incremental load vector of the i load step K: = structure secant stiffness matrix at the beginning of i load step AD. 10.14. Eq.4.5 SecondOrder Elastic Analysis 267 summarized in the following steps (in the following discussion. Extract the element end displacement vector di from Df for each and every element in the structure. The element stiffness matrix is given in Eq.5. Update the structure nodal displacement vector from D! = D~+ AD! where (4. Form the structure internal force vector R: at the end of the first cycle of calculation by assembling the element end forces evaluated in Step 9 for all the elements.9).MBfrom Eqs. = incremental structure nodal displacement vector at i load step. ( P can be set equal to zero in these equations for the first cycle of calculations.1. evaluate element end forces from Eq. (4. For each element. (4. (4.24). Next. BB from Eqs. (4.1) (4. evaluate element axial force P and element end moments MA.5.4. 9.10). 4.14). Assemble all these element stiffness matrices to form the structure stiffness matrix K. or in its approximate form. discretize the frame into a number of beamcolumn elements. evaluate the element axial displacement e and element end rotations B. For each element. (4. 8. . 6.27).
Using the current value of axial force P. and. 16. (4. After convergence the structure nodal displacement at the end of the i load step is obtained by " (4. Evaluate the incremental displacement vector AD2 from AD: = (K:)' AQI (4. P.5. and 8.and M B as done in Steps 7 and 8 for all elements in the frame. at the end of the cycle from 13. 8 .268 Rigid Framer 11. = D: = oi C AD: + k=l 20. 4.9) oi+. from D: calculated in Eq.5. Calculate the external force vector from 12. Update the structure nodal displacement vector from 15. Convergence is said to have been attained if the unbalanced force AQ!. Extract the element end displacement vector d. the complete loaddeflection response of the frame can be traced. Assemble k for all the elements to form an updated secant structure stiffness matrix K:. hence. M A . convergence . Evaluate the new unbalanced force AQ: from 18. Prescribe another load increment and repeat Step 2 to 19. Update the element end forces for all the elements and form the new : . update the element stiffness matrix k for each and every element. Update e. 19.6) where AQ: is the unbalanced force vector calculated in the previous cycle of calculation. Repeat Steps 13 through 17 as many times as possible until convergence. 14.7) for each and every element. In performing the above procedure. structure internal force vector R 17.12a. and the stability limit point is obtained as the peak point of this loaddeflection curve. Evaluate the unbalanced force AQ. .b for a one degree of freedom structure.5. falls within a prescribed tolerance. A s the stability limit point is approached in the analysis. A schematic representation of the above procedure is shown in Fig. where the superscript j refers to the j cycle of calculation.
B. moment amplification factors described on Chapter 3 have been made. a smaller load increment should be used..1 FIRST CYCLE OF CALCULATION lbl SUBSEQUENT CYCLES OF CALCULATION FIGURE 4.U Iteration technique for secondorder elastic frame snalysis of the solution may be slow.4s8 It was demonstrated that for rigidly .Order Elastic Analysis FORCE f D~ D : DISPLACEMENT 1218. the design moments for the members can be obtained directly. Comparative studies using secondorder elastic analysis and firstorder elastic analysis in conjunction with B. The numerical procedure described above can be programmed in a computer.5 Second. T o facilitate convergence. By using the computer to perform a secondorder analysis.4.
270 Rigid Frames connected rectangular frameworks of usual proportion. 4..A plastic collapse mechanism will form when there are sufficient number of plastic hinges developed in the structure to render it statically unstable. the elastic critical load PC. if we exclude the instability effect but consider only the plastic yielding of the material.. it would be pertinent here to briefly explain the basic concept of plastic hinge and plastic collapse mechanism in a simple plastic theory.13: there a definitive knee FIGURE 4. Before we proceed to the discussion of the method of determining the collapse load P. The plastic collapse mechanism load P. its stressstrain diagram will be as seen in Fig.6.U Uniaxial stressstrain behavior of structural steel . is the maximum loadcarrying capacity of the frame. the two approaches would give satisfactory results. The failure of the frame is a result of instability when the stiffness of the frame vanishes. the frame is assumed to behave elastically throughout the entire stage of loading up to failure. 4. is the maximum load for an elastic frame. Consequently. 4. failure of the frame will be controlled by the formation of a plastic collapse mechanism. On the other extreme.6 PLASTIC COLLAPSE LOADS In the preceding discussions.1 Plastic Hinge If a simple tension test is performed on a structural steel specimen.
14d). The stress level that corresponds to point A is the yield stress of the material. 4. as we do in Fig. It is this unique property of structural steel that makes plastic design possible. the corresponding moment is referred to as the yield moment My and is denoted by point A in Fig.4. the strain can increase greatly without any further increase in stress as indicated by line AB. 4.This process of successive yielding of fibers towards the neutral axis of the cross section is referred to as plastificah'on.15. When material can sustain a large deformation without fracture. The exact shape of the MQ curve from My to M. as well as their relative magnitudes. c..6 Plastic Collapse Loads 271 at A marks the yield poitrt of the material. the maximum moment capacity is the plastic moment M. When a member is subjected to pure bending. and if the usual assumption of plane sections before bending remain plane after bending is made. are different for different crosssectional shapes. the effect of strainhardening is usually not considered in a simple plast~cdesign analysis. the material behaves elastically as shown by line OA. As the load continues to increase. The points a.5 if bent about the weak axis. and d on the figure correspond to the various stages shown in Fig.15 that the yield moment My is not the maximum moment capacity of the cross section. 4. it is MplMy= 1. the cross section cannot carry any additional moment. 4. wideflange sections. When the extreme fibers of the cross section just reach oy(Fig. 4. Note that because of the stressstrain behavior of steel..When plastification of the fibers across the cross section is completed (Fig. b.14~). The corresponding momentcurvature relationship is shown in Fig. 4. If the stress is below the yield stress oy. and MpIMy= 1. 4. After the yield stress has been reached.14ad. Before the stress in any fiber in the cross section reaches the yield stress uy (Fig.12 if bent about the strong axis. 4.14. this is known as duch'liQ. (curve AB in Fig. and for hotrolled.14b). For simplicity.. a series of stress and strain distributions across the section corresponding to an increasing bending moment can he sketched. = l?l~. For example. When the strain has reached E. It is clear from Fig. further increase in strain will bring about a further increase in stress as a result of strainhardening. MplMy=1.14a). yielding of fibers will spread and penetrate toward those fibers located closer to the neutral axis of the cross section (Fig.5. the section behaves elastically (line O A in Fig. 4. as indicated by line BC. 4. for a rectangular cross section. 4. Figure 4. the stresses of the yielded fibers remain at oy. 4. Rather.15.15).15. Further increase in moment above the yield moment will increase the curvature of the cross section at a faster rate.15). The moment that corresponds to the full plastification is referred to as the plastic moment Mp denoted by point B in Fig. Neglecting this effect will obviously lead to a conservative design.15 shows also that the cross section can sustain a constant Mp .
precisely because of the large ductility of steel. In other words. u= u I b l INITIAL YlElD E > €" u=u I c l ELASTICPLASTIC u =u I d 1 FULLY PLASTIC FTGURE 4.. U C u.Rigid Frames STRAIN STRESS ECE. the cross section behaves like a real hinge. 4.16a).14 Strain and stress diagrams through a large rotation capacity. as indicated by the horizontal line BC. by HingebyHinge Method Consider a propped cantilever of length & subjected to a concentrated load P acting at midspan (Fig. The structure is statically . Hence the word plastic hinge is used to indicate such a property for a steel cross section. 4..2 Plastic Collapse Load P. but carrying a constant moment capacity M.6.
Load Stage 1 Before the formation of the first plastic hinge. 4 .16b). the beam behaves elastically. the beam will become statically determinate. 4. the elastic moment diagram under the applied load P. Thus. In the following. T h e load that corresponds to the formation of the first plastic hinge can be found by equating 3P. the beam will become statically unstable and a collapse mechanism will dcvelop for the beam. we obtain the first plastic hinge load . we shall denote the stage of loading from beginning to the formation of the first plastic hinge as load stage 1 (Fig. We use the subscripts 1 and 2 to distinguish these two load stages.6 Plastic Collapse Loads 273 indeterminate to the first degree.4. a second plastic hinge is developed at a subsequent critical location. if a plastic hinge is developed in the beam at the maximum moment location. the first plastic hinge will form at the h c d cnd (point A). 4..16e). from which. in addition.Since the moment at the fixed end is larger than the moment at midspan. If. is shown in Fig.L/16 to M. and the additiotlal loading beyond load stage 1 as load stage 2 (Fig. 1 6 ~ .
.
the beam behaves as a simply supported member (Fig. when the first hinge is just formed. 4. the structure becomes statically unstable and a plastic collapse mechanism. It is essentially a sequence of elastic analyses with additional plastic hinges introduced during the course of loading. The load P. is now added to the first plastic hinge load P: and the resulting maximum moment at midspan under the combined load P: P.16f shows the corresponding moment diagram due to P. 4.. emerges. when + from which we obtain the second plastic hinge load At the formation of second plastic hinge. that is. and the moment diagram at the collapse state is shown in Fig. 4. When the additional load P.16h.6 Plastic Collapse Loads 275 The moment at midspan (point B).16i obtained by superposing the moment diagrams of Fig. 4. The procedure described above is called the hingebyhinge analysis. Figure 4. is applied. is Figure 4.16e).. The collapse load P. is 5Mp/6 + P2L/4. is the sum of P: and P. the propped cantilever becomes a simply supported beam with a constant moment Mp at A to carry the load P:. when this moment reaches the plastic moment capacity Mp. such as shown in Fig. that brings the beam to its collapse state.16d shows the moment diagram at the end of load stage 1 Load Stage 2 After the formation of the first plastic hinge at A .16d and g..4. The method can be programmed in a computer and thus extended to cases in which the structure and loadings are more complicated.' In the hingebyhinge analysis. The second plastic hinge will form at midspan. the .
This method is based on the upper bound theorem of plastic analysis.17a. Thus. known as the mechanism method. will be presented here. The collapse FIGURE 4. For an assumed mechanism that is not the true collapse mechanism. The application of the mechanism method to obtain P .6. then the formation of ( i ~ 1) plastic hinges will be necessary for the structure to reach its collapse state.17 Collapse mechanism of a propped cantilever A . will be the collapse mechanism.16a as reproduced in Fig. to ascertain the mechanism so chosen will give the lowest value of P. a simpler method. for a Propped Cantilever To demonstrate the use of the virtual work equations in the mechanism method to obtain P .276 Rigid Frames sequence of formation of plastic hinges is traced.3 Plastic Collapse Load by Mechanism Method To determine the plastic collapse P . The mechanism that gives the lowest value of P . The theorem states that a load computed on the basis of an assumed failure or collapse mechanism will always be greater than or at most equal to the true collapse load. is greatly facilitated by the use of the virtual work equations. in a direct manner.. + 4. if the structure is statically indeterminate to the nth degree. in using this theorem. a moment check is often necessary to ensure that the moment everywhere in the structure is less than or at most equal to M. all possible collapse mechanisms of the structure are identified and the load corresponding to each of these mechanisms is evaluated. in a more direct manner. P. this moment check cannot generally be made. consider the same propped cantilever shown in Fig. 4. 4. In general. Strictly speaking..
it is readily seen from the geometry of the collapse mechanism that the plastic hinge at B will undergo a virtual rotation of 26. 4. P. for a PinnedBased Portal Frame Figure 4. Note that small displacement assumption is used in evaluating this vertical drop. 4. The mechanism method can be extended to obtain Pp for a framed structure. Note. no virtual strain energy is stored anywhere else but in locations of plastic hinges during the virtual displacements. 4. (4. This is described in the following example. ..e. and the virtual strain energy stored in the structure during this virtual displacement is equal to the sum of the plastic moment times the hinge rotation at points A and B.18b is called the beam mechanism.912.6 Plarlic Collapse Loads 277 load Pp can be determined directly from the assumed collapse mechanism as shown in Fig. in Fig.18d.8) it is tacitly assumed that ail deformations are concentrated in the plastic hinges. (4.7) to Eq..18bd.6).6. i. Unlike the previous example of the propped cantilever in which only one collapse mechanism was identified.8). and the vertical drop of point B from its original position is L6. They are shown in Fig.18c. when writing Eq.. it is called t h e 3 mechanism. which was obtained previously by the hingebyhinge analysis.e. The external virtual work done during this virtual displacement is equal to the applied load P times the distance it travels.. we have the cornbined mechanism. three possible collapse mechanisms for the portal frame can be identified. The calculations can be made in the following manner: Assuming the plastic hinge at A undergoes a virtual rotation of 6 8 .4.6. As a result.6. . 4. and in Fig.17b. (4.5P at midspan of the beam and a horizontal force of P at point R.6. The mechanism shown in Fig. 4. (4. Equating Eq. we have from which we obtain the collapse load which is the same as Eq.9. i. We will now calculate the collapse load of the frame using the mechanism method. which contains the features of  ~  .18a shows a pinnedbased portal frame loaded by a vertical force of 1.
The corresponding virtual displacements are also indicated in the figures. we write the virtual work equations for all these mechanisms.6.. 6Wc.. To calculate P.Rigid Frames . Beam Mechanism (1.6.A.11) .18 Collapse mechanisms of a simple portal frame both the beam and sway mechanisms.(60) from which we obtain (4.t = a&Q. A.5P)(L60/2= ) M. I b l B E A M MECHANISM C S0 m .12) (4. 1 lcl S W A Y MECHANISM (dl COMBINED M E C H A N I S M FIGURE 4.(60) + Mp(260)+ M.
4. from the upper bound theorem.17) p 3 = 16 .19 Moment check . 4. to ensure that P3 is the true collapse load.5P)(L69/2) P(L6012)= Mp(269) Mp(269) from which we obtain + + (4.19a).14) Combi~red Mechanism (1. However. it is FIGURE 4. By drawing freebody diagrams of the frame (Fig.Mp 5 L Since the lowest value is P3.6 Plaslic Collapse Loads 279 Sway Mechanism P ( L 6 9 l 2 ) = M p ( 6 0 )+ M p ( 6 0 ) from which we obtain (4. we need to perform a moment check on the structure.16) (4.6. we therefore choose P3 as the collapse load.6.6.
nor P. of most frameworks. singlestory frames that consist of stocky members. namely the beam and the sway mechanisms." It has the simple form . a number of possible collapse mechanisms will exist.. the plastic collapse load Pp will give a reasonable estimate of the failure load P. = 16Mp/5L is the collapse load and the combined mechanism is the collapse mechanism of the frame. This method is described in detail in reference 10 and will not be presented here. for example. for design purposes it is more desirable if PI can be obtained by a simpler means. nor the rigidplastic collapse load P.. For multistory frames in which stability is important. by a process known as cornbirration of mecl~otlism." Generally speaking. is discussed. For multistory multibay frames.. evaluated by considering elastic instability effect only. In reality. as in. will represent the failure load PI of the frame. such as a complete elastoplastic analysis of the structure. of the frame only if the effect of instability is small and can be ignored. Alternatively. However. 4. a simple method to estimate P. Thus.19b).. However. It may be d~fficultfor the analyst to envision all these possible mechanisms.7 MERCHANTRANKINE INTERACTION EQUATION We have pointed out in the previous sections that neither P. one can obtain Pp for such frames by the hingebyhinge method with the aid of a computer. we can conclude from the lower bound theorem of plastic analy~is'~ that P. neither the critical load PC. will represent P. various mechanisms can be constructed systematically from the two basic mechanisms. may be necessary. One such interaction equation has been proposed by Horne and Merchant..280 Rigid Frames readily seen that the condition M s Mp is satisfied everywhere in the frame (Fig. and so approximate interaction equations involving relatively simple calculations are desirable. the effects of instability and plasticity interact with each other. This type of analysis is rather complex and costly and inevitably required the use of a computer. 4. the rigidplastic collapse load will not be representative of the failure load P. In the following section. evaluated by considering plasticity effect only. failure of frames is a result of both instability and plasticity effects. In reality. a rigorous analysis. = P . Therefore. They represent only two extreme cases in which only the instability effect or only the plasticity effect is considered in the analysis. To obtain a precise value of P. The exact interaction is rather complex.
7. PC. But.20 MerchantRankine equation where PC.1) is called the MerchantRonkine equation. and Pp represent end points of a straight line interaction equation for the failure load P.8 EFFECTIVE LENGTH FACTORS OF FRAMED MEMBERS In the design of rigid frames. using the beamcolumn interaction equations discussed in the previous chapter.It has been demonstrated" that the failure load P. (4.7. As a result..1) is usually conservative and reasonably accurate for design purposes. the influence of other members on the particular member in question must be . 4. This equation is plotted in Fig.20.4. A s can be seen. the behavior of a framed member is affected by all its adjacent members in the frame. as mentioned previously. obtained from Eq. it is common practice to isolate each member from the frame and design it as an individual beamcolumn.8 Effective Length Factors of Framed Members FIGURE 4. = elastic critical load of the frame Pp= plastic collapse load of the frame PF=failure load of the frame Equation (4. 4.
] Cl (4. The column in question is denoted by c2 in the figure. A t a joint. the effective length factor K for a framed column should be determined from a stability analysis of the entire structure. Using the slopedeflection equations (3. One such procedure was proposed by Julian and Lawrence. The axial forces in the beams are negligible. We discussed the concept of effective length factor for isolated column with idealized end conditions thoroughly in Chapter 2. The assumptions used for the model are: 1. the restraining moment provided by the beams is distributed among the columns in proportion to their stiffnesses. we have For Column 1 El cM~)cl = (L)[s.8.7. However. must be included in estimating the rotational restraint a t the ends of the member in question. In theory.2.7. and we will therefore discuss it in what follows.15) and (3.1 Braced Frame The model used for the determination of K for a framed column braced against sidesway is shown in Fig. 3. for design purposes this procedure is impractical and the use of a simpler procedure is much more desirable. Since the behavior of a framed column will be different.8. All members are prismatic and behave elastically. All columns in a story buckle simultaneously.16) for the beams. Here we will discuss the effective length factor for a framed member.13) and (3.12 Their procedure was recommended by the AISC.8.21a. depending on whether the frame is braced (sidesway prevented) or unbraced (sidesway permitted). 5. 4. 4..14) for the columns and (3. the girders are bent in single curvature).0 u A +sijS.1) For Column 2 .282 Rigid Framer taken into account in a design. One convenient way to include this interaction effect is to use the concept of effectiue lerlgth factor K . because the stiffness of all adjacent members.e. the rotations at the near and far ends of the girders are equal and opposite (i. as well as the rigidities of the connections. we will discuss each case separately. 4. A t buckling. 2. The determination of the effective length factor K for a framed member is more involved than that for an isolated member.
4.8 Eflective Lenglh Factors of Framed Members P la1 ibl FIGURE 4.21 Subassemblage model and alignment chart for braced frame F o r Column 3 For Beam 1 For Beam 2 For Beam 3 .
.8..8. we can write Finally. (4.1) for (MA). (4.6). we can use sii = 4 and sii= 2 for the beams... (4..8. we have and From Eq.8. (4. .284 Rigid Frames For Beam 4 Note that because of Assumption 2 .10).12) into Eq. by substituting Eq.. (4.11). and rearranging. into Eq..8.(MA)..8. respectively. (MA)~I (4. we obtain where we have used the notation Following the same procedure by considering equilibrium at joint B . the moment at the B end of column 2 can be written as .8. and (4. we must have from which we obtain ( M A ) c= ~ (MA). (MA). (MA).8. (4. For joint equilibrium at A.5).2).10) Substituting Eqs.
sum of column stianesses meeting at j o i d sum of beam stiffnesses meeting at joint A (4.19) and (4.8. from Eqs..).24) .3) and (4.20) can be written in matrix form as 2 (4. + L det " c* Sij sij si. from Eqs.8. F (?I =.. (4.16).8.8.8.+ 2 CB =0 (4.21) CB= z($1. E _ sum of column stiffness meeting at joint B sum of beam stiffness meeting at joint B (4.8. s.8.8 Effective Lenglh Factors of Framed Members 285 where we use the same notation Eliminating (MA). and (M.2) and (4. we must have the determinant of the coefficient matrix vanished. we can obtain the following equations Denoting CA= and .4.F. (El. (4.13).23) Sii sii+ At bifurcation..8.22) The equilibrium equations (4.8.8.
7.286 Rigid Frames Using the expressions for sii and sij [(Eqs. except that for this model assumption 5 is modified to the following: at buckling. making use of the slopedeflection equations (3.15) and (3. one needs only to evaluate the relative stiffness factors G.8. and GB expressed in Eqs. we can write For Column I For Column 2 For Column 3 . The assumptions used for this model are the same as that used for the model of the braced frame.8.22a.8. G.18) for the beams. = 0.6.21b (see reference 12). To obtain the effective length factor K of column AB.8.2) for the columns and (3. For example. 4. Note that the range of K is from 0.8.. the girders are bent in double curvature).25) l ~ Equation (4. The column in question is denoted by c2 in the figure. (3. 4.e.2. at its hvo ends.8. respectively. (4.26) can be expressed in a nomograph form as shown in Fig. 4.2 Unbraced Frame The model for the determination of K for a framed column subjected to sidesway is shown in Fig.8. (4.17) and (3.24) and realizing that k ~ = ( ~ r ) ~ = n ~ = n (4.21) and (4.16)] in Eq.24) can be simplified to give Equation (4.8.8.5 to 1 for a braced frame. A straight line joining the two G values will cut the middle line which gives the value of K.8. the K value for the column is 0. if GA= 0. Again. the rotations at the near and far ends of the girders are equal in magnitude and direction (i.65 (see dotted line).8.7.22).1) and (3.
4.05. we must have (MA)~ +I( M A ) ~+ z(MA)~ + I( M A ) ~ = z0 .8 Effeclive Lenglh Fadors of Framed Members rn 1000  500r 300LOO  1009.0. 4.0 88: 6.0 0 FIGURE 4.02.22 Subassemblage model and alignment chart for unbraced hame For Beam 1 For Beam 2 For Beam 3 For Beam 4 For joint equilibrium at A.0 3.0 1.
8. result is Eq.= L. (4.8.8. we have From Eq. (4. (4.8.36).8.. (4. (4.38) can be substituted into Eq. we see that by considering equilibrium at joint B.28).8.(MA)LQ.37).27) for (MA)... and (MA).( M A ) = . The where we have used the notation Following the same procedure. into Eq. (4.8.288 Rigid Frames from which ( M A L= . (MA)bz.8. (4.36) Substituting Eqs. and (4. we can write If LC.31).32).. the moment at the B end of column 2 can be written as where we use the same notations .
(4.8.8. V = 0 and Eq. (4. (4. Since there is no external horizontal force acting.48) and realizing A we can write Eq.39).49) can be put into matrix form as where G .28) and (4.8.8.46). (4.39) and (4.29) and (4.47) becomes (MA)~z + (MB)=z + P A =0 (4.8. respectively.8.8 Effective Length Faclors of Framed Members 289 Eliminating (M& from Eqs. .8. and (MD)=? from Eqs.46) are obtained by considering joint equilibrium at A and B.8.8.21) and (4.42). (4. (4.8.22).8. are defined in Eqs.45) and (4. A third equation can be obtained by considering member equilibrium of column 2. respectively.45). and (4.8.8. we can obtain the following equations Equations (4.8.48) as The equilibrium equations (4. (4. .8. (4.8.48) Substituting Eqs. and G .4.8.42) into Eq.
= end restraint parameter accounting for inelasticity in the column The Kfactor evaluated using Gin.16)] in Eq..... T o account for inelasticity in the column. (4...8. Yura (see reference 13) suggested that the end restraint parameters be modified to (4.7.Rigid Frames At bifurcation.52) express length factor K of a framed column as a function of the end restraint factors GA and G.53) where E..52) Equation (4. The reason for this is that the apparent end restraint from the beams will be greater for an inelastic than an elastic column because of a reduction in bending stiffness of an inelastic column... An alternative approach to determine the effective length factor K for framed columns based on the stiffness distribution approach was proposed by Wood...14 . (4.8.8.8. (4.8. we must have sii+6 sij sii (sjj 6 (sf.51) 6 GA 6 GB (kL)X Using the expressions for sii and s i j [Eqs.52) is expressed in a nomograph form as shown in Fig.G..)  (nlK) tan ( n l K ) = (4.(n/K)'36 6(GA + G.ic = end restraint parameter assuming all members are elastic Gin.i. will be smaller than that evaluated using G. all members are assumed to behave elastically.8.7..22b (see reference 12).l.51) can be simplified to G.8.8..15) and (3.. In the present development...26) and (4.. Equations (4. (3.51) and realizing that k L = n l K . However. Note that K is always greater than or equal to unity. 4. = tangent modulus of the material G... GA + sij) + sij) =0 det sii  +G. in many cases the magnitude of axial load in the column is such that inelasticity may set in when buckling occurs. Eq.
3) . TwoMember Frame For the structure shown in Fig.2) 2E10 (siibeB + sijbeC) =L (498 + 2ec) (4.23.9 lllurtrative Examples 4.eA +si. 4.eB) L Beam B C MBC= 2E1.) EIo L (4. 4. we see that we have Column A B EIo MDA= (sij.9. determine the effective length factor K for column A B using (a) the slopedeaection equation (b) the nomograph tSOLUTION L FIGURE 4. = (s:.@.23 Twomember frame (a) SlopeDeflection Equation Referring to Fig.9 ILLUSTRATIVE EXAMPLES Example 4.1.4.24 and using the slopedeflection equations.9.
we obtain (4.9.9.9. reduces to (4.24 Beam and column moments The equation McB = 0 leads to ec= :e.6) MBA+MBC=O Therefore (4.BB) +2E10 ( 3 0 B )= 0 L L (4.8) s.= Using Table 3.9.7) EIo (sii.9.5) 2.9. = 6 I.11) kL = ( ~ O = 5. the end moment ME. MBC= ( 3 e ~ ) L Joint Equilibrium (4. therefore.5405 L .10) (4.51.Rigid Frames FIGURE 4.7..
12) (fixedend) The Go value calculated above is valid only if 8.5 times greater. 4.9. (3. .20)]. = @. = 0 (4. The corresponding nonsway and sway moments are shown in Fig.. These factors are designated as B.2. we obtain =0 and (GB). respectively.10.333. SOLUTION: FirstOrder Analysis Figure 4.18) K = 0.10.21). (3.6) and frame stability ( P . respectively. and so G.19) or (3. 0.7 0 . [Eqs. a firstorder analysis is performed on the structure. must he adjusted. Simple Portal Frame T e f e i m i n e the design moments for the simple frame shown in Fig. The adjustment can be made by realizing that for 8. we need only to divide it by the factor 1. 4.djuaed= (4. and for our case Thus.. 4.# 8. (see Fig.LZ er and K = pPC. In our case 8.21 with G .4. = F =30. The secondary effects are taken care of by the use of the member stability ( P . In the L R F D method. to adjust G. 4.10.26b and c. [Eq.7EI p=p =.18)] and B. the apparent stiffness of the beam with its far end hinged is 6 / 4 = 1.26a shows the decomposition of the frame into a nonsway and sway component. 5 7 (h) Nomograph G.A) moment magnification factors.25 using the L R F D method.= 8.57 Example 4.9.5 Using the nomograph shown in Fig.9 IllusIralive Examples 293 from which 30. Consequently.
25 Simple frame under vertical and lateral loads FIGURE 4.P ~ FIGURE 4.26 Nonsway and sway moments .
can easily be determined from Fig.. all the resistance to frame instability effect comes from the left column. factors.. However. Since not all of the columns are effective in resisting sidesway. To determine the B. From the nomograph in Fig. 4. the column that does not provide any sidesway resistance is said to lean on the column. the effective length of the column providing the sidesway resistance must be modified. (3. the modified effective length for column AB is Thus. For this situation..10.18) .9 llluslnlive Examples 295 Column AB The design moment for column A B is determined from Eq.22. K was found to be 2. 4. and M. As a consequence. since the right column is pinned at both ends.17). Le M e s s u ~ i e r 'suggested ~ a formula for this modification where K i =modified effective length of the column providing the sidesway resistance force in the column providing the sidesway resistance C P = axial loads on all columns in a story C PC. respectively. any sidesway motion.26b as 0 and PL.4. it cannot resist. and B. we need to evaluate the effective length K for the column.10. The magnitudes for M. from Eq. = Euler loads of all columns in a story providing sidesway resistance for the frame evaluating using the effective length obtained from the nomograph. which provides the sidesway resistance. = axial For our case. (3.
The frame is braced against outofplane bending at story height of every column and at midheight of the exterior columns.. it can be seen from Table 1. TwoBay Frame Check the adequacy of column C D of the frame shown in Fig.Rigid Frames and.8 kipslft and column C D can develop its full plastic moment capacity. Example 4. and M. therefore.10.1 that the pertinent load combinations are ..t + B2M1.17) M. are zero.20) The design moment is.3. and so both M.. from Eq.6 kipslft W = 0.27 using the LRFD approach. Column C D This column is pinned at both ends. SOLUTION: For the given loadings. (3.= 4M. from Eq.9 kipslft L = 1.10. (3. Assume the loadings to be D = 0. 4. As a consequence. the design moment is zero and.. this column is designed as a centrally loaded member.
16)] vanish.4. the second and third terms of the interaction equations [Eqs. we need only to check the frame for load combinations (2) and (4).28 shows the result of a firstorder analysis of the frame. Loud Cornbittation (2): 1.6L Figure 4. we have + G.15) and (3. therefore. We need only to check the first term. The firstorder moment in column CD is zero.27 Twobay frame For gravity loadings. Strong uxis bending Under the section properties given in Fig. As a result. it is obvious that load combination (2) is the most severe load case and for combined gravity and lateral loadings.9 IllusIralive Examples 297 FIGURE 4. 4.10.10. it can be seen that load combination (4) is the most severe load case. (3. = m (pinnedend) .27.2D 1.
for design purposes it is customary to use G = 10 to account for the fact that an ideal pinnedended condition does not exist.28 Firstorder analysis for load combination 1.09 (4. we have (GD)udjm. Therefore ( G ~ ) ~ d= ~ 10 ~n~d Also.9. G. Since the frame does not sway under the present load combination. n(2. since the far end of the beams are hinged.GD 1.Rigid Frames FIGURE 4. K y = 1 and so Acy = nr.6L Although the theoretical G value for pinnedend is infinity. 4.26) .21 with the adjusted values for the G's.46) = 1. needs to be modified.5 Using the nomograph in Fig.2D+ 1. the effective length of column CD was found to be and the slenderness parameter can be calculated from Weak ark ber~dirlg For weak axis bending.cd .
10.P. the wind can simultaneously create a suction on the leeward wall.22b.. Strong axis bending Gc = m (pinnedend) Go = 0.5L Figure 4. Load Combblotion (4): 1.6).419(1.0)(36) = 438 kips (4. the apparent beam stiffness is only onehalf of the beam stiffness used in calculating G. Using Eq.419A~. was found to be P.221 T o account for the fact that the pinnedend is not ideal.]PY = exp [0. Notice that the wind load is assumed to distribute to the windward and leeward sides of the frame in a 7 : 3 ratio. (see Prob. In other words. (2.34) .4. Determine P.3W +0.31) T o account for the far end of the beam being hinged and for the fact that the frame sways under the present load combination. Therefore and.29 shows the results of a firstorder analysis of the nonsway and sway components of the frame. Moreover.9. However this uplift force is not considered in this example because it has a beneficial effect on the frame.9. an uplift force on the roof could be created. 4. This is because in addition to exerting a positive pressure on a windward wall..30) (4. the loadings to be considered here represent the most unfavorable condition for the frame.27) Check interaction equofiorl Use the Expression (3.9. from the nomograph shown in Fig.15) which is < l .9. = exp [0.9). it can be concluded that weak axis bending controls.= 1.9 llluslralive Examples 299 Upon comparing A.09)'](20. and A. therefore all right..2D + 1.11. 4. use (4. we have K.73 (4.
2 * Ibl + (0 I FIGURE 4. 3 W + 0.f 28.5L .29 Firstorder analysis for load combination 1.2D + 1 .
the modified effective length is given by and so Weak ark bending Ky=l Since A. buckling therefore P. K .L)'=6742 kips) . = exp [0. should be determined based on weak axis P. > A.. = 1 (Pck= n2EI.419A:. therefore we use B. Using the method proposed in reference 15 as cited in the commentary of LRFD. must be adjusted.I(K. B.]Py = 438 kips Determine M.9 lllustralive Examples 301 Since the exterior pinnedended columns lean on column CD.. factor which is < 1 .4.
25(208) (4. M.Mn.. only the effect of instability is considered. T h e elastic critical load can be obtained by using one of the following methods: (1) the differential equation method. In particular.9.. They are the elastic critical load PC. (2) the slopedeflection equation method.41) = 260 ft . (3.kip (4. two reference loads for frames were discussed. it follows that May= 0. we focussed on the study of the behavior of frameworks.F.kip = 3120 in kip Determine Mu. . therefore.302 Rigid Frames B2 factor B2 = 1 1  CP C pel. it is all right. = Z. one can obtain the plastic collapse load P.10 SUMMARY In this chapter. However. + 1. = B. 4. = (115)(36) = 4140 in . and (3) the matrix stiffness method. if only the effect of plasticity or yielding of the material is considered.and the plastic collapse load P. In obtaincng PC.10. = M.42) Check interaction equation Therefore. The first two terms have the value = 0. use E q .15) Since the frame is braced against outofplane bending. = (1)(0) + B2M.. by using either the hingebyhinge method or the mechanism method..9. M.997 which is < I .
. because collapse in most cases is a result of an interaction of the effects of instability and plasticity.1 using o.1 r 4 . PROBLEMS 4 . P4.Problems 303 In reality. slopedeflection approach c.nor P. for design purposes. for the frames in Fig. However. The exact interaction relation is rather complex. the MerchantRankine interaction equation provides a simple but reasonably accurate method to estimate P.2 . What conclusion can be drawn hom the results? flconslant for all members aconsiant l o r all members la1 FIGURE P4. matrix stiffness approach P FIGURE P4.. For the design of members in a frame. The two nomographs or alignment charts for braced and unbraced frames have been developed to aid designers to obtain Kfactors for columns that are component parts of a frame. of most frameworks are neither PC. differential equation approach b. the collapse loads P. for the frame in Fig. 1 Find PC.2ab for both swayprevented and swaypermitted cases. P4. the Kfactor approach provides a convenient means to account for the end restraint effects of other members on the behavior of the member in question. 2 Find PC.
Rigid Frames 4 . find the effective length factor K for the column BD using a. slopedeflection equation b.4 using the mechanism method. 3 For the Frame in Fig.5.4 4 . 4 Find Po for the frame in Fig. find the critical load for o = 1 FIGURE P4.3. a. establish upper and lower bounds for the critical load c. FIGURE P4. 5 For the structure in Fig. sketch the buckled shape of the frame b. P4. P4. P4. nomograph .3 4 .
N. 2nd edition. ST6. J. 1986. No. Chicago. Vol. 8. T. I: Fundamentals. McGrawHill. G. K. pinned b.. Vol. and Chen. Wang. fxed Elconstant lor all members FIGURE P 4 . ST6. H.. 1948.. 7. J. No. 6. M. No. ASCE. 141158. 1987. 5. Journal of the Structural Division. July 1968. Cornell University Engineering Experimental Station Bulletin. Przemieniecki. 1985. Journal of the Structural Division. Weaver. On the computerbased design analysis for the flexibly jointed frames.Y. 94. B. and Heyman. Winter. New York. Theory of Matrix Structural Analysis. W. ASCE. 17451760... C. pp. Hsu. Jr. .References 305 4. Ithaca. D. and McGuire. J. Journal of Constructional Steel Research. See also. V. Cambridge. 2. 101117. Koo. Baker. J. Van Nostrand. pp. B. Matrix formulation of structural stability problems. 9. 36. Meyers. Plastic Design of Frames. 4. P. F. M. 1980. No.. Session on Design of Columns in Frames. Buckling of Trusses and Rigid Frames. Y. September 1618. 7. Halldorsson. J. New York. W. Vol. Hartz. C.. 89. 3. December 1965. 10. Cambridge University Press. W. New Orleans. No. 1984. Structural Engineering Congress. 1968. Goto. White. New York. December 1963. Structural Engineering Congress. W. Vol. Journal of the Structural Division. Matrix Analysis of Framed Structures. Matrix Analysis of Structures. 1969.. September 1518.. Harper 8: Row. 2. ASCE. 5 REFERENCES 1. J. General computer program for limit analysis.. K. and Loh. O. Methods of Analysis in LRFD. On SecondOrder Elastic Analysis for Design. and Wang.6 Discuss how the G factors for the nomograph can be adjusted to acwunt for the cases where the far ends of the beams are all a. ASCE. STI. 91. and Gere. Stability analysis of frameworks by matrix methods. pp. S. Vol. ASCE.
2nd edition. H. Horne. 341346. Pergamon Press. 295302. Wood. Structural Engineers. The Stability of Frames. April. April. Prentice Hall. J. 1974. Principles of Structural Stability Theory. and Lawrence. September. New Jersey. 1977. 7. pp. 8. part 2rigid frames. AISC Engineering Journal. W. McCrawHill. Nos. pp. 8(2). . Vol. 52. L. August.. 13. M. Unpublished report. Timoshenko. July. A. 1971. A practical method of second order analysis. 14. P. New York.. 3742. W. AISC Engineering Journal. LeMessuier. 4967. 1961.306 Rigid Frames 11. 12. J . S. 0 . M. A. Theory of Elastic Stability. 15. New York. General References Bleich. and Merchant. Chajes. R. G. Buckling Strength of Metal Structures. Julian. 1974. S. 9. Effective lengths of columns m multistory buildings. Englewood Cliffs. pp. F. McCrawHill. R. Notes on 1 and L Nomograms for Determination of Effective Lengths. 235244. New York. 1952. 1965. 11(2). Yura. The effective length of columns in unbraced frames. J. and Gere..
When a slender beam is under the action of bending loads acting in the plane of the weak axis of the cross section (or in the plane of the web of a wideflange section). Among the important ones are the crosssectional shape.1 INTRODUCTION Beams are structural members that resist the applied loads primarily by bending and shearing actions. outofplane bending and twisting of the cross section will occur when the applied loads reach a certain limit. such as Isections.Chapter 5 BEAMS 5. This is because the torsional rigidities of such cross sections are very low and so their resistance to torsional instability is very limited. and Zsections. channel sections. The value of the lateral torsional buckling load is influenced by a number of factors. the type and position of the applied loads along the member axis. The longer the unbraced length and the less restraint the support can deliver to the beam. For a geometrically perfect elastic beam. T h e effects of unbraced length and end conditions on the lateral torsional buckling load of the beam are rather evident. It it wellknown that beams of thinwalled operz cross sections composed of slender component plates. and the location of the applied loads with respect to the centroidal axis of the cross section. Although it is quite obvious that different types of loads applied at different locations of the . However. the unbraced length and the support conditions of the beam. are particularly susceptible to lateral torsional buckling. inplane bending about the strong axis will occur at the commencement of the loadings. the limit of the applied loads at which lateral instability commences is called the elastic lateral torsiotzal buckling load. the lower the critical lateral buckling load will be. if sufficient lateral bracing is not provided to the compression flange.
FIGURE 5. since it reduces the rotation of the cross section. Consequently. the critical load corresponding to Fig.la will be lower than that corresponding to Fig. if the same load is applied at the bottom flange (Fig. the reason behind the importance of the position of the applied loads with respect to the centroidal axis of the cross section requires some explanation. l b . the cross section will rotate and deflect laterally from its original position. However.1 Effect of location of loading beam will give different values for the various critical lateral buckling loads. It can be seen from the figure that the applied force has a destabilizing effect.lb). The problem is further complicated because the lateral (outofplane) deflection and twisting are coupled. The analysis of lateral torsional buckling behavior of beams is considerably more complex than that of inplane buckling behavior of columns discussed in Chapter 2 because the lateral buckling problem is intrinsically threedimensional.la). it has a stabilizing effect. 5. 5. 5 . 5. For instance. As lateral torsional buckling occurs. . since it enhances the rotation of the cross section from its original undeflected position. so this coupling effect must be considered in the analysis. consider a concentrated force acting on the top flange of an Ibeam (Fig.
4.3. Under the action of the torque. open cross sections. then the warping deformation in the beam is the same for all cross sections and takes place freely without inducing any axial strain on the longitudinal fibers.2.2 UNIFORM TORSION OF THINWALLED OPEN SECTIONS When an equal and opposite torque T is applied to the ends of a simply supported beam with a thinwalled open section. 5. These shear stresses are called St.2). the applied torque (twisting moment) is resisted solely by shear stresses developed in the cross section. It shows how plane sections of the cross section no longer remain plane as a result of the uneven axial deformation that takes place over the entire cross section. in which warping of all the cross sections is unrestrained. 5. It is usually assumed that the shear stress at any point acts parallel to the tangent to the midline of the cross section. Venant shear stresses and the FIGURE 5.2 Simply supported Ibeam subjected to twisting moment 5. as shown in Fig. For the simply supported beam shown in Fig. The distribution of these shear stresses is the same for all thinwalled. If the applied torque is constant and all cross sections are free to warp. such as an Isection (Fig. warping of the cross section will occur. 5.5.3 Warping of Isection under uniform twisting moment . The magnitude of these shear stresses will be proportional to the distance from the midline of the component plate.2 Uniform Torsion of ThinWalled Open Sections FIGURE 5. These stresses act parallel to the edge of the component plates of the cross section. 5. This is illustrated in Fig. the twisting moment along the length of the members is constant and the beam is said to be under a uniform torsion.
.2..Beams FIGURE 5.4 St. the angle of twist y over a length L caused by the St.1 gives the expression of J for a doubly symmetric Isection.3). If the cross section is made up of 11 slender component plates. . =St. each with midline length b . open section of constant thickness t. Venarlt torsion T.=I z :b.  stress distribution in an Isection torsion that is associated with these shear stresses is referred to as St. a correction factor must be used in calculating J (see Problem 5.3) Table 5. Venant shear . Venant torsion G = shear modulus J = torsional constant of the cross section For a thinwalled. the torsional constant can be assumed to be J = .2) where b is the length of the midline of the cross section and r is the thickness of the cross section.2. If b l t is smaller than 10.. From mechanics of materials. the torsional constant can be expressed' by J = 4bt3 (5. (5. It should be mentioned that the above expressions for 3 are valid only if b l f is larger than 10.t.. Venant torsion is given by where y l L = angle of twist per unit length T. and thickness t i .
5.1) in the form of the rate of twist as in which z is the coordinate axis along the length of the beam. Eq. As a result. so the applied torque is resisted solely by St. (5. 5.5). Open Crorr Sections 311 Table 5. The resultant of these axial stresses in the two flanges constitutes a pair of equal moments called the bimornertt M.4) can be written as The St.3 NONUNIFORM TORSION OF THINWALLED.5) is also referred to as ur~iformor.pure torsion. Venant torsion expressed in Eq.2. If the cross section is prevented from warping. Note that the rate of twist will be constant for a prismatic member subjected to a uniform torque. At the fixed end. it is more convenient to express Eq. Venant torsion.3 NonUnilorm Torsion of ThinWalled. .2. 5. 5. These induced axial stresses are in selfbalance because no external axial force is applied to the beam. For an Isection. there exists another type of torsion known as warping restraint torsion in the cross section. (5. Venant torsion. Upon rearranging. At the free end the cross section is free to warp. (5.2. warping is prevented. OPEN CROSS SECTIONS Consider a cantilever beam subjected to a torque applied at the free end (Fig.5. axial strain and so axial stresses must be induced in the cross section in addition to the shear stresses. however.5. the axial stresses developed at the fixed end of the beam are illustrated in Fig.5).1 Torsional Constant and Warping Constant for a Doubly Symmetric ISection r v l 7  For the purpose of analysis. in addition to St. acting oppositely in each of these two planes of the flanges (Fig.
5 Cantilever beam subjected lo a twisting moment The development of these bending moments.. or bimoment. the two flanges of the beam must bend in opposite directions as the cross section rotates under the action of the applied torque.6. z ' in top flange F .. 5. ) bending slrsssss : L 1 \ bottom l l a n g s . The bending of the flanges will thus induce FIGURIi. Since warping is prevented at the fixed end. 5. in the flanges in the cross section becomes evident if one refers to Fig.Beams bendlng s t r e s s e s In f l a n g e s \ FIGURE 5.6 Bending of flanges due to warping restraint at tlie fixed end T . ~.
7. I. 5. given by the usual beam theory The shear forces Vr are present in both flanges of the Isection. the moment of inertia of one flange about the y axis of the cross section. The bending moment Mr in either the top or the bottom flange can be expressed in terms of lateral displacement ur by the usual beam momentcurvature relationship as where E is the modulus of elasticity.7). They are equal in magnitude but act in opposite directions. as shown in Fig. 5. as shown in Fig.7 Moment and shear developed at the fixedend eross section of an Isection bending moments Ml at the fixed end (Fig. 5. Open Cross Sedions FIGURE 5. the lateral displacement of the flange. Associated with the bending moment Mr in one flange is the shear force V. and u .3 NonUniform Torsion of ThinWalled. This pair of shear forces constitute a couple acting on the cross section.8. The resulting torsion.5. is given by where h is the distance between the lines of action of the shear forces . which is referred to as the warping restraint rorsiorr or nonuniform rorsion.
2).4).8 Rotational and translational relationship In view of Eq.3) can be written as From Fig.6) into Eq. Eq. we can obtain the warping restraint torsion as .3. it can be seen that the rotation y of the cross section is related to the lateral deflection u.3. by from which Upon substituting Eq. (5. 5.FIGURE 5.(5.8. (5. (5.3.3.
3 NonUniiarm Torsion of ThinWalled. the tee. It should be noted that the warping constant is different for different cross sections. it can be seen that the warping constant C.1).3. and the cruciform sections (see Fig.9 Cross sections with C. = 0 Angle Tee lai Crucilarm Solid Circular Tubular lbl . it is in which w.9). From Eq. Open Cross Sections 315 where is called the warping corzstant of the Isection (Table 5. will be zero for those thinwalled.9a). and s is the length of the midline of the entire cross section. r equals the distance from the shear center of the cross section to the tangent at any point around the cross section. over the entire cross section. such as the angle.5. (5. the equation equals the average value of tv. This is because FIGURE 5. r ds. t is the thickness of the thinwalled element. A general expression for the warping constant is found in reference 2. 5.= J'. open cross sections for which all component plates intersect at a common point.
the applied twisting moment is resisted solely by St. warping is totally restrained and the applied torque will be transmitted completely by the warping restraint torsion.3. O n the other hand. further away from the free end. warping restraint torsion will develop if a cross section is prevented from warping when it is being twisted. Venant torsion is always present when a member is subjected to twisting and rotates. this means that all these sections do not warp when subjected to twisting moments. so both St. The proportion of the applied twisting moment transmitted by these two forms of torsional resistance varies. the applied twisting moment will be resisted by both St. 5. The differential axial deformation between two adjacent cross sections will induce axial stresses.5.3.9b). For sections other than those shown in Fig. we have (5.5) and E q . However. and so Cw may be taken as zero for these sections. giving rise to a warping restraint torsion. So w. As we move toward the fxed end. 5. for the Isection shown in Fig.+T. From the above discussion. Here. Venant and warping restralnt torsion will be present. warping is partially restrained.. 5. This is because under a nonuniform torsion. it can be seen that St. different cross sections will warp by a different amount. Another type of cross sections for which no warping will occur is the axisymmetric sections. a greater and greater share of the applied torque will be resisted by the warping restraint torsion. . Thus.11) represents the internal twisting moment that will develop in the cross section when the member is twisted. A t the fxed end (z = 0). Venant torsion at the free end (z = L) where the cross section is free to warp.7).2. Warping restraint torsion will also develop in the cross sections if the twisting moment is not uniform along the length of the member. warping will generally occur when a twisting moment is applied.9.3. (5. (5. In view of Eq. Venant torsion and warping restraint torsion. T=T. Warping for narrow rectangular sections and box sections composed of narrow rectangular elements are usually negligible.31 6 Beams the shear centers 0 for these sections are located at the point of intersection of the component plates. The first term represents the resistance of the cross section to twist and the second term represents the resistance of the cross section to warp. Physically. and EJ~will be zero. those sections that are originally plane will remain plane after the twisting moment is applied. such as the solid or circular tubes (see Fig.10) Equation (5. If warping is restrained.
The beam is geometrically perfect. Referring to Fig. 3. 5. The deflection of the member is small.4 LATERAL BUCKLING OF BEAMS When a beam is bent about its axis of greatest flexural rigidity. 4. but rotation of the end cross section about the z axis is prevented. The assumptions used in the following examples are the following: 1. we note that for any cross section three different displacement components are needed to define the deflected position of the cross section. The applied loads act solely in the plane of the weak axis (or in the plane of the web in the case of an Ibeam). it is necessary to establish the equilibrium equations governing this slightly deformed stable configuration of the beam. The critical or lateral buckling load is then obtained as the lowest eigenvalue satisfying the characteristic equation of the differential equations. a stability condition will be reached at which the inplane deformation of the beam ceases to be stable and a slightly deflected form that corresponds to the outofplane bending and twisting of the beam becomes possible. the beam will bend in the yz plane. This type of bending is known as the iriplarie bending. The simple support condition used in the context of lateral instability of beams means that the ends of the beam are free to rotate about the two principal axes. The following examples will illustrate the procedure for determining this critical load.4 Lateral Buckling of Beams 317 5.10 shows a simply supported beam of narrow rectangular cross section subjected to a pair of equal and opposite end moments acting in the yz plane. 2. as in the case of a column. to find the critical load of the beam one must first establish the equilibrium conditions of the beam in a slightly deformed configuration. Under the action of the applied moment. The lowest load at which this condition occurs is the critical load for the beam. The geometry of the cross section does not change during buckling. this critical load corresponds to the point of bifurcation of equilibrium when inplane bending deformation of the member ceases to be stable and outofplane bending and twisting deformations become the stable configuration of the member. unless the beam is provided with a sufficient lateral support. Example 5.1. For a geometrically perfect beam. As the moments are increased. Simply Supported Rectangular Beam Under Pure Bending Figure 5. The beam is stable and favored with this new configuration. in which the slightly deformed configuration of the beam is shown. soLunoN: T o determine this critical load. They are the inplane displace . outofplane bending and twisting will occur when the applied load reaches its critical value. the x and y axes.10. Here.5.
The differential equations are then obtained by equating these external moments to the corresponding internal resisting moments of the cross section. in the earlier .Beams FIGURE 5. First. we establish the expressions for the moments induced by the external loads at an arbitrary section z. The only difference between the solution process presented in this chapter and that discussed in Chapter 2 is that. The x ' and y' axes coincide with the principal axes of the cross section. the x'y'z' axes are local coordinate axes that are h e d with the cross section that moves with the deflected position of the member. we establish two sets of coordinate axes. The z' axis is always tangent to the center lines of the deflected position of the member. To facilitate the analysis. and the rotation of the cross section y. The xyz axes are h e d coordinate axes that are fixed to the original or undeformed position of the member. These externally induced moments at section z are called external moments. The procedure to establish the governing differential equations is very similar to that presented in Chapter 2 for columns.10 Lateral buckling of a narrow rectangular strip under uniform moment ment u. the outofplane displacement 14.
we use a FIGURE 5.0 yz Plane . the lateral torsional buckling problem will be more complex than the inplane buckling problem. the components of external moments acting on a cross section with a distance r from the origin with respect to the xyz coordinates are. whereas the latter is a twodimensional problem. For the beam shown in Fig. as the former is a threedimensional problem. l e X l.5. for convenience.11ac shows the moments and moment components in the three mutually perpendicular planes. as well as twisting. 5.10. ( M y= )( M ) = 0 Figure 5. will be considered. only inplane bending of the member is considered. ( M ) =M . whereas here both inplane and outofplane bending. In this chapter.U Components of moments C Y' xy Plane Y' : I lMy~lext0 IMyJerl=O Y I M z . Thus.4 Lateral Buckling of Beams 31 9 chapter.
z ' and x'z' planes may be represented by their corresponding values in the yz and x .4) indicates that a negative curvature in t h e y ' . T h e minus sign in Eq. This sign convention for moment is called the righthanded screw rule..6) follows from E q .4.4. (5. For example. 5. 5. (5.righthanded screw rlcle to represent the moment vector. For a narrow rectangular section.10. it is tacitly assumed that the angle of rotation y is sufficiently small so that the curvatures and moment of inertia in the y ' .11.4. the moments acting on the cross section in the slightly deflected position with respect to the x'y'z' coordinate system can now be obtained directly from Fig.2 ' plane will give a position moment using the righthanded screw rule. the applied moment MDis positive and represented by the positive moment (M. warping of the cross section is negligible and so warping restraint torsion can be neglected. 4 3 . imagine now a righthand screw whose axis is colinear with the x axis. The corresponding internal resisting moments are = El 'd z 2 d'u In writing Eq.11 in the positive x direction.3. (5.4) and ( 5 .). Equating the corresponding external and internal moments. we have EIxy+MD=O d 2u dz . it would tend to advance in the direction of the positive x axis. Equation (5. in Fig. as shown in Fig. 5. Using this sign convention for moment.. If this screw were turned in the direction of MDat the positive face z = L.z planes. Because of this.=O.11) with C. respectively.
Eq. (5./EI. In fact. Thus. and denoting k 2 = M.4.GJ.9) once with respect to z and substitute the result into E q .5. we have B = 0.13) apply. which are coupled. (5. this equation describes the inplane bending behavior of the member that occurs before lateral instability. for a nontrivial solution.4. It can be obtained by setting n = 1 in Eq. we can obtain (5. G I .4. Using the first boundary condition in Eq. we have A sin k L = 0 If A = 0 . and using the second boundary condition.14) The critical moment is the lowest value of M.4 Lateral Buckling of Beams 321 An inspection of these equations shows that the first equation contains only the variable u and is independent of the other two equations.4.4.15).4. so It is important to note that the critical moment is a function of both the . It is not important for the outofplane lateral torsional buckling behavior in a small displacement buckling analysis. the boundary conditions y(0) = O and (5.12). If we differentiate Eq. (5. as they both contain u and y as variables. 8 ) . the two equations can be combined to give Upon rearranging. we must have sin k L = 0 or k L =rrn Since k Z = MSIEI. we have the differential equation which has the same form as Eq. The buckling behavior of the beam is described by the last two equations. (5. that will cause a lateral torsional buckling.12) becomes a trivial solution.12) Since rotations of the end cross sections are prevented.12) and hence the general solution is y = A sin k r + B cos k z y(L) = O (5. (2. 4 .2. ( 5 .4.
for box sections. Venant torsion.. (5.. is also valid for box sections composed of narrow rectangular shapes.2. in addition to St. (5. are used to facilitate the analysis. Eqs. can be set to zero. and J.4)] and outofplane [Eq. Thus.4. two sets of coordinate axes. although derived for a narrow rectangular section. Equation (5.E C .). As to the internal resisting moments.4.6). For an Isection.16). the two equations describing the inplane [Eq. Example 5. 5.4. the coupling effect of outofplane deformation and twisting is manifested in the result. Like narrow rectangular cross sections.5)] bending behavior of the member are also applicable here. However.1) to (5. (5. (5. there is a warping restraint torsion. xyz and x'y'z'. Simply Supported ISection Under Pure Bending A simply supported Ibeam subjected to a pair of equal and opposite end moments applied about the x axis is shown in Fig. M.U Lateral buckling of an Isection under uniform moment . Since no change has been made in the external loadings or support conditions. the total torsional resistant offered by the Isection is dy d3y (M.4..= GJ . somnorr: Here.3) are still applicable here. the only equation that needs to be modified is Eq. as in the preceding example. hence.12..4.4. In fact. warping for box sections are negligible and so warping constant C.lateral bending stiffness EI. will be much higher due to a significant increase in values of I. dz dz" FIGURE 5. and the torsional stiffness GJ.
B.4 Lateral Buckling of Beams 323 By equating the corresponding external and internal moments.4. the first equation is of no interest to us.4.21) can be written as and b =EI.5.19) and (5.23) is a fourthorder linear differential equation with constant coefficients. (5.24) (5.3. no moments will be developed in the flanges. Since rotation of the cross section at the supports is prevented.5) twice. it can easily be shown that the following .\la+ The arbitrary constants A . By setting M. as it describes the inplane behavior of the beam before the lateral buckling. real quantities defined by m= da + m .4.4. (5. we must have The other two boundary conditions can be obtained as follows: Since warping is unrestrained at the ends of the beam. EC.GJ 2E& Equation (5.20) Denoting a =.1) equal zero and by differentiating Eq. C .4. The differential equation describing the behavior of the beam at lateral torsion buckling is obtained by combining Eqs. Ma Equation (5.in Eq.4. (5.3. and D can be determined from the conditions at the ends of the beam. n =. the governing differential equations for the Isection under pure bending are obtained Again.25) in which m and n are positive. the general solution is y = A sin mz + B cos mz + Ce"' + De"' (5.
C=D (5. (5.22). it follows that for a nontrivial solution we must have sinmL=O The smallest value of m satisfying Eq. so the second square root becomes one and Eq.4. the determinant of the above equations must vanish (sin mL)(sinh nL)(2m2 + 2n2) = 0 (5. (5.4.29) For a nontrivial solution.26) and (5.26) and (5.4. In fact.4. and sinhnL is zero only at nL = 0 . For a rectangular or box section.31) Using Eq.25). the second square root in Eq. C.. (5. and GJ. (5.34) represents the contribution of warping to the torsional resistance of the beam. but also on EC. is negligible.27).4. (5.34) reduces to Eq. we have where It should be noted that the critical moment depends not only on the quantities El.30) Since m and n are both positive nonzero quantities. will increase if the distance between the two flanges increases.16). For an Isection.31) is (5. From the first conditions of Eqs.4.4. we obtain B=O.4.4. (5. (5. we have and in view of Eq.324 Beams conditions must be satisfied.4.4. M..4. This observation will become evident if one refers .4.28) and from the second conditions of Eqs. (5.4.27). we obtain the simultaneous equations AsinmL2DsinhnL=O Am2 sin m L 2Dn2sinh nL = 0 + (5.
H ~ ~ r n e and . Thus. 5. If I y > I x . the critical moment for a beam under equal and opposite end moments has been derived..3. (5. If the moment in the beam is not constant throughout. of course. Then. The moment is constant for the entire length of the beam. for the cases when I.' as well as in the papers by M a ~ s o n n e t . becomes imaginary. I. An approximate solution that includes the effect of inplane deflection is given by Kirby and Nethercot3 as where Ir = 1 .. it has been assumed that the inplane deflection has no effect on the lateral torsional buckling behavior of the beam. is much larger than the flexural rigidity El. closedform solutions are not available and recourse must be had to numerical and approximate procedures to obtain the critical loads.4. the resulting governing differential equation will have variable coefficients.5 BEAMS WITH OTHER LOADING CONDITIONS In the preceding section. . equals or exceeds I.4.among ~ others. i f I f retnab~s unchanged.5 Beams wilh Olher Loading Conditions 325 to Eq. and. no solution exists. becomes infinity.. and so the resulting differential equation describing the equilibrium conditions of the beam at its slightly deformed state is linear with constant coefficients.5. thus producing nonuniform moment along the length of the beam.. Thus. lateral torsional buckling will never occur in circular cross sections or square box sections in which all the component plates have the same thicknesses. I. one can conclude that the lateral torsional buckling of beams is possible only if the cross section possesses different bending stiffnesses in the two principal planes and the applied loads act in the plane of the weak axis.. the warping constant C. is proportional to the square of the depth h of the section.. the effect of bending in the vertical yz plane may be important and should be considered in calculating M. In developing Eq. so. an increase in h will increase C. Some classical numerical solutions for the critical loads of members with nonuniform moment have been presented in the book by T i o s h e n k o and Gere. M.. so that the inplane deflection will be negligible compared with that of the outofplane deflection.8). So. This assumption is justified when the flexural rigidity El. If both rigidities are of the same order of magnitude. ~ S a l ~ a d o r i . From Eq. Beams in practical situations will.(1.37) Note that if I. (5.34). becomes negative and M. be subjected to a wide variety of loadings. For such cases. As a result.4. =I. becomes zero.II~) (5.36) it can be seen that M. (5.
a numerical procedure.13). is necessary to obtain solutions.13 can be obtained from FIGURE 5. it has been demonstrated by Salvadori6 that the effect of moment gradient on the critical moment can easily be accounted for by the use of an equiualent rnornent factor Cb. evidently. Consequently. we will present a simple but effective method to take into account the effect of nonuniform moment on the critical lateral buckling loads of beams. p ~ ~ i l i ~ e Single Curvature Bending M A IMg . the approach is based on the equiualent rnonlent concept and the accuracy of the approach has been found to be quite sufficient for most practical cases. involving the use of series or special functions.1 Unequal End Moments If a beam is subjected to end moments that are unequal in magnitude (Fig.326 Beams In this section. 5. 5.5. The procedure is. the moment in the beam will be a function of r. Therefore. the resulting governing differential equation will have variable coefficients. as in the beamcolumn case. quite cumbersome. 5. Here.13 Beam subjected to unequal bending moments M Double Curvature Bending MAIMB. for the purpose of design. The critical moment for the beam in Fig.negative . Fortunately.
.4. = Eq..for unequal end moments will always be larger than the critical moments M.5.. . which causes lateral instability. for equal and opposite end moments. It should be noted that the concept of equivalent uniform moment used here for beams is very similar to that used earlier in Chapter 3 for beamcolumns. (5.. FlGURE 5. (5.with that evaluated from Eqs.5.One can see that Eq. Its value is positive when the beam bends in double curvature and is negative when the beam bends in single curvature..1) gives a conservative and quite accurate representation of the actual critical moment.14. This means that the critical moment M. Since the moment ratio MAIMBis always between 1 and 1. the equal and opposite end moments loading case represents the most severe loading condition for the beam. as would the given unequal end moments also cause such instability. . 5. here is that it represents the amount of increase in the critical uniform moment M . A comparison of the theoretical value of M. (5. it follows from Eq.34) in which (MAIMB) is the ratio of the numerically smaller to larger end moments. (5. The physical meaning of C.5.5.5. . is always greater than unity. . (5.1) .14 Comparison of theoretical results with Eq.2) that C. Thus.1) for various values of MAIMBis shown in Fig.5 Beams with Olher Loading Condilionr 327 where M .
By considering a cross section at a distance z from the origin. the moment diagram is bilinear.5. the differential equation will contain a variable coefficient. using the righthanded screw rule for the moment vector. 5.328 5. the various components of external moments acting on that cross section with respect to the xyz coordinate are. as in the case of unequal end moments. Here. 5. is the lateral outofplane displacement of the shear center of the middle cross section. As the beam buckles laterally. will develop at the supports./2. The procedure is facilitated by using the two coordinate systems: a fixed coordinate (syz) system and a local coordinate (x'y'z') system as shown in Fig. 5.17.16). where u . 5. we need to relate the externally induced moments acting on the beam at its slightly deformed (buckled) configuration to its internal resistance.16. vertical reactions P / 2 and torsional reactions Pu..2 Central Concentrated Load Beams If a simply supported beam is loaded at midspan by a concentrated force. consider a simply supported Ibeam subjected to a concentrated force P applied at the shear center of the middle cross section (Fig. as shown in Fig. T o derive the governing differential equation.15.15 Simply supported beam loaded at midspan Inplane Moment Diagram . we see that the components of external moments acting on the cross section of the deformed beam with respect FIGURE 5. Referring to Fig. A s an illustration.
The internal resisting moments are d2u (MX. 5.16).5.16 Lateral buckling of a simply supp~rtedIoeam loaded at midspan to the x'y'z' coordinate are The minus sign for the terms duldz and d u l d z in the figure accounts for the fact that the slopes duldz and duldz are negative with a positive z (see Fig.5.9) .= Elx dz2 (5.)!".5 Beams with Other Loading Conditions FTGURE 5.
=I dz ~ ~ IMXIBXI ~ .17 Components of moments The minus sign in Eq. produces a negative curvature d'uldz2. By equating the corresponding external and internal moments and neglecting the higher order terms. we obtain the following equilibrium eauations Elx+ dz' d2u p 2(L 2 z )=o ..9) indicates that the positive moment (M. x ..ry Plane I I' du ( M ~ . based on the righthanded screw rule for moment. ' ~ ~ ~ ~ ~ IMX'IBXI du dZ ( ' . (5.).5.z Plane = I ' .. ' ~ ) @ X I  FIGURE 5..2 (Mxlgxl(urnul z.
5. If the load acts on the upper flange. (5. will be smaller and vice versa.n ) are all small.. is uncoupled with the other two equations.5) will become where u . by Eq.5.5 Beams with Other Loading Conditions 331 Note that the second term in Eq. The curves correspond to the cases when the load acts on the upper flange. Eq. The results are plotted as solid lines in Fig. By eliminating u from Eqs.1). On the other hand. (5. it is not important in the present buckling analysis. (5. ( d u l d r ) . at the shear center.13) and (5. respectively.5.5. (5.5. 5..5.5. is larger.12) and (5.18. if (MJ. 5. .14) and noting that du.5.5) will become ( M )= .13) and Eq.5. . The reader should recognize that Eq. the least detrimental case is when the load acts on the lower flange. and on the lower flange of the cross section. Therefore. Eq.5.7) is neglected in writing Eq.. respectively. it is convenient to approximate the theoretical values of PC.6) and (5. These observations can be explained with reference to Fig. For the purpose of design. we can write a simple differential equation as This differential equation has a variable coefficient in its third term. (5.5. because the quantities ( d u l d r ) . The lateral torsional buckling behavior of the beam is described by Eq.ldz =0.5. because of the increase in the torque arm as the beam buckles laterally. which describes the inplane bending behavior of the beam..14).1.y m h / 2 ) represents the amount of increase (or decrease) in the torque arm of the applied load causing an increase (or decrease) in the external moment (MJ. Evidently.12). (5. this is because of the decrease in the torque arm as the beam buckles laterally. The solution for this differential equation can be obtained' by the method of infinite series.. The term y m h / 2 (or . PC.5. (5. The case where the load acts on the upper flange is the most detrimental. (5. are the outofplane lateral displacement and twist of the cross section at the beam's midspan. (5.2 P ( +u 2 whereas.13). and y. if the load acts on the lower flange. and ( u .
19) B = 1 + 0.18) to (5.649W .0.5.21) in which W = ( z I L ) ~ ~ .5. The approximate solutions for PC. = A AIB The values A and B are given by Nethercot and Rockey7 as i for load at bottom flange for load at shear center for load at top flange (5. (5..18 Comparison of theoretical and approximate solutions with AB C.180W2 (5.5.7 l h e o r e t i c a l I T l m a s h e n k o and I .approximate I N e t h e r c o t and R o c k e y ) FIGURE 5.using Eqs.21) are .5..
and M3 are the moments at the quarter point. Nethercot and Rockey7 and Nethercot16 have proposed expressions for C. If the location of the load is not at the shear center. Good agreement between the two solutions is observed. By using the expressions for M. .5.. midpoint. A change in support conditions will undoubtedly have a pronounced effect on the resistance of the beam to lateral torsional buckling. an empirical formula given by Kirby and Nethercot' for C. (5. can be used: where MI. Mz.1) are often used to obtain the critical loads.5.4. For the two load cases shown in Table 5.3). In this section we shall examine the effects of support .. (5. to be used in Eq. Figure 5.. is the maximum moment of the beam. 5. as shown in Table 5.6 Beams with Olher Support Condilions 333 plotted as dotted lines on the same figure.3 Other Loading Conditions The effect of the distribution of load along the unbraced length of a simply supported beam on its elastic lateral torsional buckling strength has been investigated numerically by a number of researchers.5. the values of the critical loads will be different.^ and papers. and M. (5.5.3. 5.2b (Problem 5.2a. The results are discussed in various book^.4). For loadings whose moment diagrams do not resemble any of those given in Table 5. the corresponding approximate together with M values for the critical loads can easily be computed from Eq.1) to give approximate values for the critical loads. but are restrained against rotation about the centroidal axis.19 shows a comparison of the theoretical critical load obtained by Timoshenko and GereZ for the case of uniformly distributed load with the approximate solutions proposed by Nethercot and Rockey7 (Table 5. . (5.34).1).2a.'&15 For simplicity. It can be seen that the approximate solutions give an excellent representation of the theoretical exact solutions.^.'. . approximate solutions in the form of Eq. The approximate solutions for some commonly encountered loading cases with the loads applied at the shear center of the cross section are summarized in Table 5.5. respectively.6 BEAMS WITH OTHER SUPPORT CONDITIONS The discussion heretofore pertains only to beams that are torsionally simply supported. the ends of the beams are free to rotate and warp about the weak axis. given in Eq. in the third column and the value of Cbin the fourth column. That is. and threequarter point of the beam.
2 Values of C.Table 5. for Different Loading Cases (All Loads are Applied at Shear Center of the Cross Section) .
m a a a . D m 0 ..
0 FIGURE 5. in particular. 5.5 0.6.19 Comparison of theoretical and approximate solutions conditions on the critical loads and lateral buckling behavior of beams.5 1.5 INelhercot end R o c k e y ) 2.0 2. applied at the free end can be obtained directly from the solution of the simply . the use of the effective length concept to account for the support conditions. The elastic buckling load for a cantilever under a uniform moment caused by an end moment M.1 Cantilever Beams The critical lateral buckling loads for cantilevers are different from that of simply supported beams because of the obvious difference in boundary conditions at the supports.Beams and Gere) 20 0 1 ! : approximate 1. and.
6 Beams with Other Supporl Conditions 337 supported beam by imagining the beam to he consisted of two cantilevers of equal length joined together at the fixed ends.20 and 5. the critical moment for the cantilever beam can be obtained from Eq. Thus. " ~Figures '~ 5. recourse must be made to numerical procedures to obtain s ~ l u t i o n s . the figures present the critical loads corresponding to FIGURE 5.34) by replacing L by 2L For other loading conditions.20 Critical loads of a cantilever subjected to a concentrated force at the free end . For both of these load cases. (5.5.21 show the results for two load cases: cantilever beam with a concentrated load at the free end and cantilever beam with a uniform distributed load.4.
For other support conditions.FIGURE 5. (5. at the shear center. Equation (5. The values of Kfor various restraint is the effective ler~grh conditions at the root and at the tip of the cantilever are given in Table 5. and on the top flange. ..4. as shown in the following sections. The table is applicable to both end load and uniformly distributed load cases. factor of the beam.6. K gives a conservative estimate of M. These plots are applicable to cantilever beams for which the root or the fixed end is completely fixed against lateral displacement and warping while the tip or the free end is completely free. In Eq. Nethercotl%as shown that the equation for most applications.1).6.21 Critical loads of a cantilever subjected to uniform distributed load loading on bottom flange.2) is also applicable to othersupport conditions so long as K is properly defined.
7L 2. (5.6L 0.0L 0. the differential equation [Eq.4.7L 0.24)] for the simply supported beam under a uniform moment. 16) Ellective Lenglh A1 r o o ! A i tip loading Restraint Condilions cases 1.23)] and the general solution [Eq.6.4L 5.5L 1.9L 0.6. which were presented in Section 5. are still applicable. By using the boundary conditions in Eq.4 Effective Length Factors for Cantilevers with Various End Conditions (Adapted from Ref.4).6L 2. it can he .4.5.4. the boundary conditions at the ends for lateral bending are and for twisting and warping If the beam is under a uniform moment.0L 2.22).8L 7. 5. (5.5L 3.4L 0.6 Beams with Other Support Conditions 339 Table 5. (5.BL 0.2 FixedEnded Beams If the ends of the beams are fixed against lateral displacement and warping but free to rotate about the strong axis (Fig.
However.23 shows a plot of Eq.4. (5.6.6).6.25). It can be seen that the critical moment for a fixedended beam is considerably higher than that of a simply supported beam. the critical value for the moment can be obtained by simply replacing L in Eq. 4 .other types of loadings that produce nonuniform distribution of moments along the length of the beam. (5. Also shown in the figure is the critical moment for the corresponding simply supported beam. an easier way to obtain the critical moment for this case is to realize that the inflection points occur at a distance L/4 from the ends. for which a solution is readily obtained [Eq.1 Warping and Lateral Bending ~n the XL Plane Prevented a t Bath Ends I Y Lateral Bending in the y .34) by L / 2 . (5. For.the solution for Eq.2) gives K = 112 for this fixedended beam case under a uniform moment. giving Comparing Eq.r Plane Perrnlttad at Bath Ends FIGURE 5. Unlike the characteristic equation for the simply supported beam.4. (5.6. Thus. Figure 5. (5.22 Fixedend beams shown that the characteristic equation is (c) sin m L sinh nL + cos mL cosh nL  where m. (5. the differential equations will .6.6) with E q . 3 1 ) ] . n are defined in E q .5) can only be obtained by trial and error. ( 5 .
where = Cb.5.6 Beams with Olher Suppoll Condilions Lateral T o r s i o n a l Simply S u p p o r l e d FIGURE 5.6.. (5.23 Comparison of critical moments for a lateral torsional s~rnply supported and lateral torsional fixed beam have variable coefficients and recourse to numerical procedures is inevitable.M. If the fixedended beam is subjected to a concentrated load at midspan or if it is subjected to a uniformly distributed load along the entire unhraced length.6.8) for the uniformly distributed load case . Nethercot and Rockey7 have presented the following equation for the critical moments M.7) for the concentrated load case (5..
6. These include the unbraced length L. accounts for both the effect of moment gradient and end conditions of the beam.5 Expressions of A and B for a FixedEnd Beam [ W = ( x I L ) ~ ] ] and AB A AIB for bottom flange loading for shear center loading for upper flange loading (5. It should be mentioned that Cbr used in Eq.6. and the location of the load with respect to the shear center of the cross section.6.4.1). (5.is given by Eq. whereas the term Cb. for beams under a uniform . the material properties E and G. In such cases.. it is common to use a Kfactor of unity in design.6.5 can be obtained by equating Eqs.2) and solve for the effective length factor K Note that the effective length factor depends on a number of parameters. the crosssection geometry C. The term C.342 Beams Table 5.10) is rather cumbersome to use for practical purpose. The effective length KL for the beams shown in Table 5. Since Eq. (5.34). used earlier in Eq. If the restraint conditions are different with respect to lateral bending and twisting.5. (5.7) is different from C.7) with (5. and J . only accounts for the effect of moment gradient on the critical lateral buckling loads. (5.. (5. the types of loadings. the effective length factor of the beam that corresponds to lateral bending Kb and the effective length factor that corresponds to twisting Kt will be different.5 and M.9) The expressions for A and B are given in Table 5.6.
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