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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
M. 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. 1986 West Lafayette. Wu. and F. Cheng. L. Chen E. Duan.Preface xi Professor H. among others. December. Michael of Purdue University for continuing support over many years. C.F. and to the graduate students. Lui . H. L. IN W.
.
d h I 1. n r E co~umn s~enderness parameter = angle of twist MATERIAL PARAMETERS E = = Young's modulus 29. n A strain energy due to warping restraint torsion ..Notation = V .W.=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. = potential energy . = = = = = = = I = = = cross sectional area flange width warping constant 1 .000 ksi for steel .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. = = = = W.. ..I. = = = = L plastic section modulus curvature A. A. Y @= beam slenderness parameter P="$= P. Venant) constant " 1 bit: for a thinwalled open section .. .. 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.
6.6 . p.0 4 % ) 2 0.. 334) equivalent moment factor for beamcolumns 0.A moment amplification factor for beamcolumns in LRFD cb = Mcr .4 (2) m LRFD for end moment case . 1. . G = = = = =  effective modulus reduced modulus tangent modulus yield stress shear modulus  v = = 11.75 + l .6 moment amplification factor for beamcolumns in LRFD B2 = P . 0.2b.3 in AlSC Specifications for end moment case  c.4 in ASD for end moment case M.. BI = = amplification factor P . 0 5 ( 5 ) 1L M +0.0. Mmm (see Table 5. = = = for other loading conditions M2 MI M3 + 2 3+4+3M".equivalent moment factor for beams M O ..3 for steel  STABILITY RELATED FACTORS A.xvi EeB Ec Et F..3(5)'s M z 2. a .200 ksi for steel 2 ( l + v) Poisson's ratio 0. M I .
M..LOAD AND MOMENT P = = = PC PC. axial load n2El . M. where W' = elastic buckling moment under uniform moment C. = equivalent moment . Mcs = = = AF.. = yield load amplified (design) moment elastic buckling moment = = = 5 vm L ~T+w?. = p r p~ pr f ' t p. 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.Euler buckling load L2 elastic buckling load % ..
= d3y warping restraint (or nonuniform) torsion dz3 stress stress tensor strain strain tensor T. Venant (or uniform) torsion dz EC. plastic moment capacity about the weak axis considering the influence of axial load ultimate moment capacity considering geometric imperfections and material plasticity SF. 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. = yield moment dy GI=St. = plastic moment = for Hsection about strong axis.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. Venant torsion ." T. plastic moment capacity about the strong axis considering the influence of axial load = Mu My = = for Hsection about weak axis.
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 .= P.85 .90 = resistance factor for compression = 0.
.
durability. drift. Stability. The reason for this perplexity is that the use of firstorder str~tcturalanalysis.Chapter 1 GENERAL PRINCIPLES 1.' Although the importance of considering stability in design is recognized by most practicing engineers. on the other hand. the subject still remains perplexing to some. Strength limit states.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. which is familiar to most engineers. is not permissible in a stability analysis. a new generation of designing codes have been developed based on the concept of lirnit states. Basically. the . Because instability can lead to a catastrophic failure of a structure. and corrosion. the structure or structural component is designed against all pertinent limit states that may affect the safety or performance of the structure. this condition is called instabiliry. In limit states design. there are two types of limit states: The first type. is dealt with explicitly in the present American Institute for Steel Construction (AISC) limit state specification. Hence. vibration. Examples of strength limit states include structural failure due to either the formation of a plastic collapse mechanism or to member or frame instability. deals with the performance of structures at their maximum loadcarrying capacities. they pertain to the appearance. Examples of serviceability limit states include deflections. Seruiceabiliry limit states. are concerned with the performance of structures under normal service conditions. In a true stabrliry analysis. and maintainability of a structure. it must be taken into account when one designs a structure. an important constituent of the strength limit states. T o help engineers to d o this. among other types of failure.
as a consequence. 1. even if the disturbance was infinitesimal. a slight disturbing force applied to the ball on a concave surface (Fig.lb) and then removed.1). l . the ball is said to be in a stable equilibriurn. the ball will displace continuously from. equilibrium equations must be written based on the geometry of a structure that becomes deformed under load. This is known as the secondorder analysis. If the disturbing force is applied to a ball on a convex surface (Fig. Consequently. l a ) will displace the ball by a small amount. l.For a ball initially in equilibrium. unstable. In what follows. we will explain the nature of structural stability and ways to analyze it accurately. In this case. and neutral equilibrium la1 STABLE EQUILIBRIUM lbl UNSTABLE EQUILIBRIUM Icl NEUTRAL EQUILIBRIUM . and never return to. but the ball will return to its initial equilibrium position once it is no longer being disturbed. 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.1 Stable. If the disturbing force is FIGURE 1. a mastery of differential calculus is a must before any attempt to solve these equations.2 General Principles change in geometry of the structure must be taken into account. its initial equilibrium position. The ball in this case is said to be in an unstable equilibriurn.
l .1. under certain conditions (Fig.2). The concept of stability can also be explained by considering a system's stiffness. l c ) .2 Effect of finite disturbance applied to the ball on a flat surface (Fig. However. 1. the system is said to be stable. the ball will attain a new equilibrium position to which the disturbance has moved it and will stay there when the disturbance is removed. If this stiffness matrix or function is positive definite. The transition of the system from a state of stable to neutral . a ball that is "stable" under a small disturbance may go to an unstable equilibrium under a large disturbance (Fig. to go from one equilibrium position to another. the forces and displacements of the system are related by a stiffness matrix or function. or vice versa (Fig. for example.2a). 1. 1.1 Concepls of SlabiliIy FIGURE 1. These will be our definitions of stabilify. This ball is said to be in a neutral equilibrium.2b). keep in mind that it is possible for a hall. 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.
2. 1. In nature. the energy concept can be used to find the buckling load of an elastic system.4 General Principles equilibrium or from a state of stable to unstable equilibrium is marked by the stabiliry liniit point. Because of this principle.3a). .1 Bifurcation Instability This type of instability is characterized by the fact that as the compressive load increases. We shall use the principle of vanishing tangent stiffness to calculate the buckling load of a system in subsequent sections and chapters. an elastic system always tends to go to a state in which the total potential energy is at a minimum. Depending on the nature of the postbuckling paths. 1. Finally. The tangent stiffness of the system vanishes at just this point. 1.4). The elastic buckling analysis by energy method will be discussed in Chapter 6. Stability of a n elastic systcm can also be interpreted by means of the concept of minimum total potential energy. 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. The system is in an unstable equilibrium if any deviation from its initial equilibrium state will result in a decrease in total potential energy. 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. 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. 1 .3b). 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. 1. and (2) instability that associates with a liniil or moxbnum load (Fig. buckling of thin plates subjected to inplane compressive forces and buckling of rings subjected to radial compressive forces. 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. 1. The load at the point o f bifurcation of equilibrium is callcd the critical load.3a). the member or system that originally deflects in the direction of the applied loads suddenly deflects in a different direction. two types of bifurcation can be identified: symmetric bifurcation and asymmetric bifurcation (Fig. Examples of this type of instability include the buckling of geometrically perfect columns loaded axially.
.Load secondary path Deflection la1 BIFURCATION BUCKLING \ .  B Deflection lbl LIMIT POINT BUCKLING FIGURE 1.3 Bifurcation and limit point buckling ..
4 Postbuckling behavior Symmelric Bifurcalion For symmetric bifurcation. as shown in Fig.4a. For such a system. If the postbuckling paths drop below the critical load.5). the postbuckling paths are symmetric about the load axis. the system is said to . If the postbuckling paths rise above the critical load. 1. the load that is required to maintain equilibrium subsequent to buckling increases with increasing deformation. the system is said to exhibit a stable symmetric bifurcariott. 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. 1.
7 is an example of a structure that exhibits an asymmetric postbuckling behauior. the load that is required to maintain equilibrium subsequent to buckling decreases with increasing deflection as shown in Fig.2 Types of Stability la1 COLUMN BUCKLING l b l PLATE BUCKLING EIGURE 1. . The guyed tower shown in Fig. As the tower buckles and deflects. Asymmetric Bifurcation Figure 1. the shear force V induced in the beam will counteract the applied force P i n the column. the load required to maintain equilibrium after buckling will increase with increasing deflection. The simple frame shown in Fig. As a result. 1. As a result. For such a system. 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. some of the cables are stretched. If the frame buckles according to Mode 1.5 Examples of stable symmetric buckling exhibit an unstable symmetric bifurcatiorr.4b. the load required to maintain equilibrium after buckling will decrease with increasing deflection. resulting in a detrimental pulling force on the tower. the shear force V induced in the beam will intensify the applied force P in the column. On the other hand.6 is an example of a structure that exhibits an unstable postbuckling behavior. if the frame buckles according to Mode 2. 1. For such a system.k shows schematically the asymmetric bifurcation behavior of a system.1.
I li!lllllil!!llllill.3b).9b. . Another type of buckling that is unique to shells under compressive forces (Fig.3b). In fact. Examples of this type of instability are buckling of shallow arches and spherical caps subjected to uniform external pressure (Fig. 1. 1. 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.9a) is referred to by Libove in reference 2 as fmitedisturbance bnckling. 1. 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.2. FIGURE 1.8).6 Example of un stable symmetric buckling 1. the system will "snap ihrouglz" from Point A to Point C. because the equilibriun~path AB is an unstable one. 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. For this type of buckling. once the limit load is reached (Point A on the curve of Fig. but it does exist and can be obscrved under a displacement controlled testing condition.#lI~! . 1.General Principles ! ! I / . 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~.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. 1.
1.7 Example of asymmetric buckling Finite disturbance buckling has the features of both bifurcation buckling and snapthrough buckling. It resembles the former in that the shell deflects in one mode before the critical load is reached.2'Types of Stability P I FIGURE 1. but then deflects in a distinctly different mode after the critical load is reached. 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. .
8 Examples of limit point buckling FIGURE 1.la1 SHALLOW ARCH I b l SPHERICAL CAP FIGURE 1.9 Shell buckling .
For a loaddeflection problem. Bifurcation Approach The first approach is called the bifurcation approach. The lowest eigenvalue is the critical load of the system. The bifurcation approach is also known as the eige~lualueapproach. deflection will commence at the beginning of loading. For an 11degreesoffreedom system. it is necessary to identify all possible equilibrium configurations the system can assume at the bifurcation load. the state at which two o r more different but adjacent equilibrium configurations can exist is sought by an eigenvalue artalysis. because the technique used is identical to that used in the linear algebra for finding eigenvalues of a matrix. If n parameters are required to describe the various modes of deflections. A t the critical load. Energy Approach Another way to determine the critical conditions of a system is the energy approach. is a measure of the stiffness of the system.3 Methods of Analyses in Stability 11 1. the determinant of the n x 11systemstiffness matrix. The lowest load that corresponds to this state is the critical load of the system.1 can he used to determine the critical conditions of an elastic system that is susceptible to instability. which relates the generalized forces to the generalized displacements of the system. by setting the determinant of the system'stangentstiffness matrix equal to zero. equilibrium can be maintained with alternative deflection modes that are infinitesimally close to one another. At the critical load. The critical conditions are represented by the eigenvalues of the system's stiffness matrix and the displaced configurations are represented by the eigenvectors. The problem then becomes a loaddeflectiott rather than a bifurcation problem. the system is said to have 11 degrees of freedom. Thus.3 M E T H O D S O F ANALYSES IN STABILITY The concept of stability as described in Section 1. T o determine the critical load using the bifurcation approach. the system's critical conditions can be identified. The bifurcation or eigenvalue approach is an idealized mathematical approach to determine the critical conditions of a geometrically perfect system. For an elastic system subjected to conseruatiue forces. the tangent s t i b e s s of the system vanishes. In this approach. the bifurcation approach cannot be applied. the total potential energy of the system can be expressed as a function of a set of generalized displacements and the external applied forces.1. The . If geometrical imperfections are present. This can best be accomplished by speciFying a set of generalized displacements to describe all the possible displaced configurations of the system.
The critical load is obtained as the level of external force when the motion ceases to be bounded. The use of the dynamic approach requires a prerequisite of structural dynamics.4 ILLUSTRATIVE EXAMPLESSMALL DEFLECTION ANALYSIS In this section. 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.12 General Principles term "conservative forces" used here are those forces whose potential energy is dependent only on the final values of deflection. T o determine whether the equilibrium is stable or unstable. 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. we can only identify the equilibrium conditions of the system. Thus. 1. The pinned end is supported by a linear rotational . we can identify the equilibrium conditions of the system. In the following examples.1 Rigid Bar Supported by a Rotational Spring Consider the simple springbar system shown in Fig. Dynamic Approach The critical load of an elastic system can also be obtained by the dynamic approach. 1.10a. 1. we must investigate higher order derivatives of the total potential energy function. However.10b. Here. not the specific paths to reach these final values. If the system is in equilibrium.4. The equilibrium is unstable if the magnitude of motion increases without bound when subjected to a slight disturbance. Please note that by setting the first derivative of the total potentialenergy function equal to zero. 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. The critical load can then be calculated from the equilibrium equations. the use of the other two approaches to determine the critical Loads will be illustrated in the following sections. by setting the first derivative of the total potential energy £unction with respect to each generalized displacement equal to zero. its total potential energy must be stationary. both the small and large deflection analyses will be used to demonstrate the significance and physical implications of each analysis. The bar is assumed to be rigid. This is beyond the scope of this book. 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. 1.
.We shall use the two methods already discussed to determine this initial value.4. 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. For a nontrivial solution. T h e horizontal position o r 0 = 0 is therefore a trivial solution.2) indicates that when the applied force P reaches the .4 Illustrative OlnrnplerSrnall Deflection Analysis FIGURE 1.10 Rotational springsupported rigid bar system (small deflection analysis) spring of stiffness k..1. PC. and we shall denote any rotational displacement of the bar from this horizontal position by the angle 0. the spring is in an unstrained state. When the rigid bar is perfectly horizontal. The system will become unstable and buckle when Preaches its critical value. Bifurcation Approach Assuming the rotational displacement 0 is small. we must have Equation (1.
Thus.4. the total potential energy must assume a stationary value. sin 8 = 8 . we have Equation (1.4. the system will buckle. / L .4. At this critical load.14 General Principles value of k . equilibrium for the bar is possible in both the original horizontal and slightly deflected positions. one must write an expression for the total potential energy comprising the strain energy and the potential energy of the system. 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 .~~PL(~coso) (1. The same equilibrium equation [Eq. This value of the critical load is the same as that determined earlier by the bifurcation approach..4.7) is the equilibrium equation of the barspring system. The total potential energy is the sum of the strain energy and the potential energy of the system: ~=u+v=:~.1)] has been obtained by considering equilibrium of a free body of the bar.4.4) The term L ( 1 .7) is thus the critical load of the system. (1. we must have For small 8. The nontrivial solution for Eq.5) For equilibrium. Note that in the energy approach we can .cos 8 ) (1. (1. therefore.cos 8 ) represents the horizontal distance traveled by P as the bar rotates. Energy Approach In using the energy approach to determine PC.
d 2 n / d R 2is negative. but becomes unstable in that position when P > PC. That is. if we take the second derivative of the total potential energy function given in Eq.. This indicates that the equilibrium is stable. we need to investigate the positiveness or negativeness of higher derivatives of the total potential energy function... For this problem.d2nld0' is positive. for P <PC. in which the applied force P is plotted as a function of 0 for small values of 0 .. 1 1 Stability behavior of springbar system (small deflection analysis) stable 0 ..4. (1. For P >PC.11..1. and the equilibrium condition is therefore unstable. This behavior is illustrated in Fig. The bar is in a stable equilibrium in the horizontal ( 0 = 0 ) position when P < PC. PC. d 2 n / d R 2= 0 in a FlGURE 1 . The solid line represents a stable equilibrium loading path and the dotted line represents an unstable equilibrium path. To determine whether the equilibrium is stable or unstable for the system in its original ( 0 = 0 ) position. 1.5).. 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. we have Thus.4 lllustralive Exampledmail Deflection Analysis 15 determine not only the critical load. For P = P.
U Translational springsupported rigid bar system (small deflection analysis) . the stability condition at the critical load (P = PC. Bifurcation Approach In Fig. we shall determine the critical load of the system.12b we see a slightly deflected position of the bar. Assuming the system is geometrically perfect. 1. For a FIGURE l.12a shows a rigid bar hinged at one end and supported by a linear translational spring of stiffness k. at the free end. 1.) can be investigated using the energy approach with a large 8 analysis.2 Rigid Bar Supported by a Translational Spring Figure 1. Consideration of equilibrium of the bar gives This condition is always satisfied by the trivial solution 8 =O. However. The bar is subjected to a concentrated force P at the free end.16 General Principles small 8 analysis and so no conclusion can be drawn.4. The spring is assumed to be able to move freely in the horizontal direction but retains its vertical orientation as the bar deflects. as will be demonstrated in the next section.
10). 1.4.3 TwoBar System Consider the twobar system shown in Fig.=k.17) To investigate the nature of equilibrium of the system in its original ( 8 = 0 ) position. The supports at B and D are hinged.4.PL cos 8 .L (1..16) This equilibrium equation is identical to that of Eq. (1.. 1..13a. the first derivative of II with respect to 8 must vanish.4.4.P L ( 1 . For small 8 .4. Eq. we have 7 = k.cos 8 ) The total potential energy is (1. SO the system is stable.12) The potential energy of the system is equal to the negative of the work done by the applied force.L2 . The two bars are linked together by a frictionless pin at C and the entire system is supported at three locations. The bars are subjected to .4 illustrative ExampleMmall Defleclion Analysis 17 nontrivial solution.L28 .18) Thus.4. the nontrivial solution is P = PC.=k.4. so the system is unstable in its original ( 8 = 0 ) position.1.4. d2nldtI2 is positive.14) n = u + v = t k .4.15) can be written as k. U = !ks(L8)2 (1.PL ~ ~ (1. .cos 8 ) For equilibrium.14).. Therefore. but for P > PC. dZII/d02is negative.4. V = .PL8 = O (1. for P<P.. ( ~ e) P ~L ( I . (1. we need to perform higher order derivatives of the total potential energy function.13) (1. The support at C i s a spring with spring stiffness k. we must have P=P.L Energy Approach The strain energy of the system at its deflected state is equal to the strain energy stored in the structural spring.k d2n do . By taking the second derivative of the total potential energy function given in Eq. (1.
13b gives from which. = 2k. 1. 1. Bifurcation Approach Summing moments about B for the free body shown in Fig. we solve for R.13b. a condition will be reached at which the bars will assume a slightly deflected position. This deflected position can be defined uniquely by a single parameter 8 as shown in Fig..18 General Principles FIGURE 1. As P increases.U Twobar system a compressive force P at the ends.L@ .P O d .
L(l = P[$L(l The total potential energy of the system is II = U + V =tk.L (1.21) gives the critical load of the system as p e p cr = :k.4.L2 . 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.4 llluslrative ExarnplesSrnall Deflection Analysis 19 Summing moment about C for the free body in Fig. we have k.cos 8 ) ] (1.3PLO = k .cos 8 ) + L ( l .4.4.I P L cos 8 = k.4.4. we have = d2n k.4. L ' o.~ P sin L 8 =o and for small 8 .27).4.4.(L8)' The potential energy of the system is V = P[L(1 .L28 . (1. (1. d 2 n l d 0 2 is negative.4.22) Energy Approach (1.={k.4.4.24) (1.cbs 8 ) cos 8)] cos 8 ) ] P [ f L ( 1 . By taking the second derivative of the total potential energy function. (1. For P > P. we obtain :ksL8$P8=O (1.28) The critical load is obtained as the nontrivial solution of Eq.19) into Eq..25) +I.21) The nontrivial solution for the equilibrium equation (1.20) The strain energy of the system is U = %k. 1 . . 1 3 gives ~ R D L . we must have = dn d8 ~ . so the system is unstable in its original undeflected position.3 P L do2 (1.L2 .PLB=O Upon substitution of Eq.1. L 8 P=P.(LO)'For equilibrium.. SO the system is stable.29) For P I PC..27) (1.4.L .$PO = 0 (1. dZnldO2 is positive.20).
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.20 General Principles 1. A klnernahc admissible dkplacernent is a displacement that does not violate the constraints of the system. The system is assumed eeometrically perfect in that the springs are unstrained when all the bars are in .14 Threebar system .4 ThreeBar System F~gure 1. we are investigating the equilibrium conditions of the system in a slightly deflected configuration. Notc that the two parameters ( 0 . Thus.. It is cleat from equilibrium consideration that the support reactions at FIGURE 1.4. their horizontal orientation We shall now determine the critical load P of the system. the system is said to have two degrees of freedom. Bifurcation Approach In using the bifurcation approach. A configuration of the system d~splacedby an arbitrary kinematic admissible displacement is shown in Fig 1 14b. and B2) are necessary to describe fully the displaced configurat~on of the bars.
1. (1. we must have the determinant of the coefficient matrix equal to zero Equation (1.15. 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.4.34a. we therefore have and the symmetric mode (Fig. we have For a nontrivial solution. 1. By using the free body diagrams of the left and right bars.4.32) is the characteristic equation of the system. respectively (Fig.14c). The two eigenvalues are The corresponding eigenvectors are and The two deflected configurations of the system that correspond to the eigenvectors Eqs. we can write the following equilibrium equations: In matrix form.15aj is the buckling mode of the system. 1. 1.
this requires . the strain energy is equal to the strain energy stored in the two springs. ) ) = PL[3 . . n=u+v = tk.36) The potential energy is equal to the negative of the work done by the external forces. V = . ) + (1 .O x ) ] (1. U = !k.+ $k. .cos 0 . .4.) + 1 .P L [ ( l .cos 0 .0.cos ( 0 . 1.38) For equilibrium. . In mathematical terms.cOS 6 .el).(20.6.02). .8 . . .cos 0.O x ) ] (1.(28.14. .(2R2 .(2B1. the total potential energy of the system must be stationary.)'+ 4k.4.37) The total potential energy of the systcm is equal to the sum of the stram energy and the potential energy.22 General Principles FIGURE 1 . . .cos 0 .cos ( 8 .cOS ( 0 .4.)' (1.cOS 6 .PL[3 . 1 5 Buckling modes of the threebar system Energy Approach For the system shown in Fig.
2PL 4k. . By taking the second derivative of thc total potential energy function. we have = a2n as: 5k. .4 llluslralive Exarnple4mall Oefledian Analysis 23 Upon simplification and using small angle approximation. .8.2PL 4k.8. + P L cos (8. we can write Eqs. 5k.1. 5k. therefore To study the nature of equilibrium for the system in its undeflected ( 8 . (1.+ PL 5k.PL[cos 8 . . we must have det 1 5 k .) = 4k. + cos ( 8 . + cos ( 8 . . = 02= 0) position.02)] as.4. we need to investigate higher order derivatives of the total potential energy function.39a and b) in matrix form as For nontrivial solution. .)] = = a2n a2n as. P L + 4k. + PL . .2PL' from which the two eigenvalues are The smallest eigenvalue is the critical load of the system. . as.PL[cos 0.
we must use large displacement analysis. = 0 is stable.4. in addition to determining the critical loads. 1.5 ILLUSTRATIVE EXAMPL&LARGE DEFLECTION ANALYSIS In the foregoing analyses of the simple barspring models.5. if the analysis is performed using the small displacement assumption.PL)(Yk.Uac). = 8.lL it is unstable.45ac) become (k. 1. Equations (1.46ac) will be satisfied.L and . whereas for P > k.3PL) > 0 For P C k. it is not possible to study the postbucklirig behnuior of the system. 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. all the inequalities expressed in Eqs. a linear eigenvalue analysis can provide us with no information about the behavior of the systems after the critical loads have been reached.4. This simple model has been analyzed earlier using the small displacementassumption. the equilibrium position 8. Such an analysis is known as a liriear eigerrualue armlysis. = k.4.lL. This is illustrated in the following examples. In other words. (1. The critical load was found to be PC. (1. Although. To study the postbuckling behavior of a system.1 Rigid Bar Supported by a Rotational Spring Consider the simple one degree of freedom springbar system shown in Fig. .24 General Principles The equilibrium is stable if all of the following conditions are satisfied: a2n>. as: In view of Eqs. Therefore for P < k. 1. 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.16. .lL.
. (Fig.16 Rotational springsupported rigid bar system (large deflection analysis) by studying the nature of the second derivative of the total potential energy function. 1..nor do we have any knowledge about the postbuckling behavior of the system.11)...5 Illustrative Example4rge Deflection Analysis FIGURE 1. but it became unstable if P>P.1. However. 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. it is necessary to perform a large displacement analysis as shown in the following. 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. in addition to obtaining the critical load. 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). To obtain such information. we will use the energy approach instead because.
we must have = (1.26 General Principles The strain energy of the system is equal to the strain energy of the spring U = ik.UNSTABLE  I~ndarnental path . 1. The FIGURE 1.1) The potential energy of the system is the potential energy of the external force V = . This trivial equilibrium path is the fundamental equilibrium path..5.P L ( l .5.3) dn k. 1. It is plotted in Fig.2) n=U+V=ik.5.l12PL(1cosb') For equilibrium.B . Note that this path is coincident with the load axis.17 Equilibrium paths of the springbar system shown in Fig.STABLE .17.P L sin O = 0 dB (1.16 P  .4) This equilibrium equation is satisfied for all values of P if 6 =a.02 (1.cos 8 ) The total potential energy of the system is then (1.5.
1. (1. / L ) .x / 2 s i3 s . To study the stability of the equilibrium paths.= k.212.7). Using a Taylor series expansion for the total potential energy function about 0 =0. we obtain It can easily be shown that the first four terms in Eq. = k. we need to examine the higher order derivatives of the total potential energy function. indicating that the initial horizontal position of the bar is stable if P < PC. so no informatinn concerning the stability of the system can be obtained. It intersects the fundamental path at PC..5. .1. we have For the fundamental path. therefore Eq.17 for the range . P = k . we need to examine the first nonzero term in a Taylor series expansion for n. indicat~ng that the postbuckling path is always stable.5. ) At the critical point ( P = PC.= k . dznldi3' is zero according to Eq.5. To investigate the stability of this critical equilibrium state. (1.lL. B = 0./ L . therefore Eq.9) are zeros.5. For the postbuckling path.5 illurlralive Exarnpleslarge Deflerlion Analysis 27 postbuckling path is given by p = L sin 0 This path is also plotted in Fig.6) becomes The quantity d ' n l d e z changes from positive to negative at P = P. (1.but unstable if P > PC. By taking the second derivative of n. (1.. B / L sin 8.6) becomes : The quantity dZnldOZis always positive since the quantity in parenthesis is always greater than zero.
13) (1. 1.5.5. The critical load was found to be P.18.PL) sin 9 = 0 (1. indicating that II is a local minimum and so the equilibrium state at the critical point is stable.(L sin 8)' The potential energy of the system is V = PL(l ./L. we must use the large deflection analysis. The stable postbuckling equilibrium path is symmetric about the load axis.15) This equilibrium equation is satisfied for all values of P when 9 = 0..14) (1. To study the postbuckling behavior.26 General Principles thus the first nonzero term of the series is the fifth term = k.L2 cos 9 .cos 9) The total potential energy of the system is (1. the energy approach is used. .L.5. From the above discussion it can be seen that as P increases gradually to PC.2 Rigid Bar Supported by a Translational Spring Consider now the one degree of freedom barspring system shown in Fig. which is positive. This model has been analyzed earlier using the small displacement assumption.(L sin 9)' . 1.. as in the previous example.PL(1. Energy Approach Here. we have At P = PC. The equilibrium state at the critical point is stable.5.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. The strain energy of the system is U = !k.L2sin9cos9PLsin9 d9 = (k.12) II = U + V = fk. indicating that the bar can deflect either upward or downward with no particular preference.5.=k. we must have dII =k.cos 9 ) For equilibrium.
which indicates that the initial horizontal position of the bar is stable if P < PC.19).5. They intersect at P = PC.19 for the range .5 Illustrative ExarnplerCargeDeflection Analysis k s L sin B I I FIGURE 1. (1. L . The postbuckling path is given by P = k .L.5. T o study the stability of the equilibrium paths. 8 = 0. Eq. 1.1.but unstable if P > PC.18 Translational springsupported rigid bar system (large deflection analysis) which is the fundamental equilibrium path (Fig. we form For the fundamental path.16) The fundamental and postbuckling paths are plotted in Fig.n / Z s B s n / Z .17) thus becomes The quantity d211/dB2changes from positive to negative at P = PC. . 1. L cos 8 (1.= k.= k ..
(1. .18).sin2 8 ) .5. PC. it can be shown that the first nonzero term is . _V 4 0 d 4 4 8 FIGURE 1. 'postbu~kling path \ I I I . d 2 n l d e 2 is zero according to Eq.5.5. If we substitute the expression for I I and its derivatives into the Taylor series. 1.18 For the postbuckling path. 5 I I I ! I \ fundamental \ \ \ path \ \ \ I I I 1 \ I I \ I 2 I . indicating that the postbuckling path is unstable.k.19 Equilibrium paths of the springbar system shown in Fig. P = k.L).17) thus becomes = d2n k. As a result. I I . 1 . I I .L cos 8.General P~inciples STABLE UNSTABLE . (1. = k. (1.Liunslablel .(k. Eq. Eq.L2 sin' 8 (1.L2(cos2 8 . At the cntsal point ( P =PC. we need to expand the total potential energy function in a Taylor series and examine the first nonzero term in the series.L cos 8)L cos 8 dB2 = k.9).19) The quantity d2n/dO2 is always negative.5.
(B . indicating that II is a local maximum and so the equilibrium state at the critical point is unstable.6. 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. From the above discussion.20. We shall now study the behavior of the system using the energy approach. Suppose now that the systems are imperfect in the sense that the bars are slightly tilted when the springs are unstrained. we have which is negative. When the bars are in their horizontal positions. and at this tilted position the spring is unstretched.1) The potential energy of the system is equal to the potential energy of the external force V = PL(cos 8.1 Rigid Bar Supported by a Rotational Spring Consider the onedegreeoffreedomimperfectbarspring system shown in Fig.. The bar will deflect as soon as the load is applied. 1.= k. 1.cos 0) (1. Energy Approach The strain energy of the system is equal to the strain energy stored in the spring U = $k. .B.. The following examples will illustrate the effect of this imperfection on the response of the systems.2) .6. it can be seen that as P increases gradually to PC. The problem then becomes a loaddeflection problem. The equilibrium state at the critical point is also unstable.L.6. PC.At P = PC..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 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.)? (1. The system is imperfect in that the bar is tilted slightly by an angle B.
1.17).General Principles Ib I FIGURE 1.21.5) for 6 .8 0 ) L sin B The equilibrium paths given in Eq. deflection commences as soon as the load is .3 are plotted in Fig.6. 1.20 Rotational springsupported imperfect rigid bar system The total potential energy of the system is For equilibrium. (1.(B . the total potential energy of the system must be stationary from which. =0. For the imperfect system. The figure also shows the equilibrium paths for the corresponding perfect system that was discussed earlier (Fig. we obtain P = k.1 and 0.
In fact. 1. .6 llluslralive Drample4mpedect Syrlemr STABLE I .1. the closer the equilibrium paths of the imperfect system is to that of the perfect system. The smaller the imperfection.20 applied. the equilibrium paths are stable if P< . we need to examine the second derivative of the total potential energy function d2n ..21 Equilibrium paths of the imperfect springbar system shown in Fig. To study the stability of the equilibrium paths of the imperfect system.ks L cos e .PL cos 0 dB2 Therefore... the equilibrium paths of the imperfect system will collapse onto the equilibrium paths of the perfect system. if the imperfection vanishes.k.UNSTABLE FIGURE 1.
= 0.22 Translational springsupported imperfect rigid bar system L cos 8" lbl I . (1.1 and 0. and no instability will occur.. The maximum load that the system can carry is greater than the critical load. 0.3. Therefore. the equilibrium paths described by Eq. The system is imperfect.6. when the spring is unstretched. FIGURE 1.ks L cos a It is qulte obvious that Eq. We shall now use the energy approach to study the response of this imperfect system.2 Rigid Bar Supported by a Translation Spring Consider now the imperfect system shown in Fig. (1. as shown by the curves with the initial angle B.22. being tilted by an angle 8.6. 1.7) always controls for nlZ < B < nI2.6.34 General Principles and they are unstable if P>. PC.5) are always stable. indicating that as P increases the deflections increase. 1.
11) dB .13) for 9.6.. These maximum loads can be evaluated by setting = dP dB sin 8. 1. The equilibrium paths for the corresponding perfect system are also shown in the figure. will be.cos 0 ) (1.sin 0. as the imperfection Oo approaches zero.16) is plotted in Fig. 1. (1.k.. (the peak points of the loaddeflection curves) that the imperfect system can carry are less than the critical load PC.s i n 0+)=o an2 0 sin 0... = 0..cos 0 ) For equilibrium. as in the preceding example. Again. except at 9 = 0.3 are plotted in Fig. (1.13) gives The locus of the maximum loads as described by Eq.)' (1. ~ ( . the equilibrium paths of the imperfect system collapse onto the equilibrium paths of the perfect system.. we obtain sin 8 ~ = k . = sin3 8 from which we obtain the condition Substitution of Eq..12) from which.PL(cos 0. . . The larger the imperfection the smaller P. ~ ~ o ~ 0 ( 1 .of the corresponding perfect system.Energy Approach The strain energy of the system is equal to the strain energy stored in the spring U = !k. (1....6. we must have dn.6.6. k . becomes PC.1 and 0.6.10) The total potential energy of the system is Il= U + V = :kSL2(sin 0 sin 0")' . The maximum loads P.23 as a dashanddotted line. when P.) cos 0 .23. .15) into Eq.L2(sin 0 (1.L2(sin 0 sin 0. is always less than PC.P L sin 0 = 0 (1.~ ~ ) The equilibrium paths described by Eq. Note that P.6.9) The potential energy of the system is equal to the potential energy of the external force V = PL(cos 0. (1.6.6.
13) will be stable if sin 80> sin3 8 .LZ(cosZ8 . .22 To study the stability of the equilibrium paths described by Eq. (1.13).6. sin 8 ) Upon substitution of Eq.General Principles FIGURE 1.13) for P into the above equation and simplifying.6. (1. the equilibrium paths given by Eq.~ . (1.sinZ8 +sin 8. 8. we need to examine the second derivative of the total potential energy function. 1.19) Thus.s1n3 8 d e2 .6. = d'n dB' k. L z ( sin .6. we obtain d211  sin 8. for the range n/2 S B S xI2.23 Equilibrium paths of the imperfect springbar system shown in Fig. ) (1.
23.6. the loaddeflection behavior of the imperfect system will follow the stable rising equilibrium paths as shown in Fig.7 DESIGN PHlLOSOPHlES T o implement the mathematical theory of stability into engineering practice. From the foregoing examples of imperfect systems. it can be seen that the rising equilibrium paths are stable and the falling equilibrium paths are unstable. Details of this implementation on various specific subjects will be given in the chapters that follow. until P . The maximum load that the imperfect system can carry is then smaller than the critical load of the perfect system.e. for a system with unstable postbuckling equilibrium paths. i. "' . A t present. The allowable stresses are usually expressed as a function of the yield stress or ultimate stress of the material. and the magnitude of this maximum load decreases with increasing imperfection. Plastic Design.1 Allowable Stress Design The purpose of allowable stress design (ASD) is to ensure that the stresses computed under the action of the working. we can conclude that for a system with stable postbuckling equilibrium paths. a small imperfection may have a noticeable effect on the system's behavior. a small imperfection will not significantly affect the system's behavior.S. it is necessary to review the various design philosophies and safety concepts upon which current design practice is based. 1. The general format for an allowable stress design is thus 3 R" F. A s the load P is increased from zero. i=l C Qi. O n the other hand. of a structure do not exceed some predesignated a[lowable values.Design Philosophies 37 and they will be unstable if . The maximum load the imperfect system can carry is larger than the critical load of the perfect system. A brief discussion of these design philosophies will be given in the following sections. design practice is based on one of these three design philosophies: Allowable Stress Design. is reached. and Load and Resistance Factor Design. service loads.i sin3 0 sin 8 (1.7.. 1. after which the system will become unstable.20) So. 1.
. or service stresses computed under working load conditions F. 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. tension. 1.2 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.e. live load. I t has the format where R. . dead load. or as 1.. shear. the factor of safety ib applied to the resistance term. Formulas for the allowable stresses for varlous types of structural members under various types of loadings are specified in the AISC Specification.7 if Q . = nominal working. etc. the load factor is designated by the AlSC Specifications as 1.38 General Principles where R . consists of only dead and live gravity loads. (1. shear force. One should realize that in allowable stress design. The right hand side of the equation represents the combined stress produced by various load combinations (for example.1) represents the allowable stress of the structural member or component under various loading conditions (for example. consists of dead and live gravity loads plus wind or earthquake loads. etc.g. live load. = nominal resistance of the structural member expressed in unit of stress Q. etc.). axial force.3 if Q . bending. dead load.7.) y = load lactor i = type of load m =number of load types In steel design. etc. wind load.7.=factor of safety i = type of load (i.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. = nominal plastic strength of the member Q. bending moment. and safety is evaluated in the service load range.) rn =number of load type The left hand side of Eq.).= nominal load effect (e. wind load.S. compression.
etc. the load and resistance factor design has the format where R.. etc. bending moment." whereas the load factors were developed based on statistical In particular. = load factor (usually >1. 0 ) y .) @ = resistance factor ( 4 . fracture. = nominal resistance of the structural member Q . respectively. shear force. 1. Two safety factors are used. Based on the firstorder secondmoment probabilistic a n a l y ~ i s .0) corresponding to Q.Design Philosophies 39 Note that in plastic design. and the other to the resistance of the materials. The load and resistance factors for various types of loadings and various load combinations are summarized in Tables 1.1and 1. A satisfactory design is the one in which the probability of the structural member exceeding a limit state (for example. i = type of load m = number of load types In the 1986 LRFD Specification. buckling. Thus.. the firstorder probability theory is used.g.' the resistance factors were developed mainly through calibration. one applied to the loads.2. . = load effect (e.7.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. yielding. axial force.) is minimal.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. safety is incorporated in the load term and is evaluated at the ultimate (plastic strength) limit state.
2 D 1.5 L + 0. 2 s ) where D = dead load L = live load L.General Principles Table 1. S E + ( 0 .gcs.1 Load Factors a n d Load Combinations" 1.2 Resistance Factors \rP M e m b e r type a n d limit state Trnsion member.2 D + 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.6 ( L .8 W ) 1.3 W or 1.. or S or R ) + 1. limit state: tension Pinconnected member.4 D 1.5 L or 0. urea. all limit states Highstrength bolts.= 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. 5 L or 0 . or S or R)+ (0. limit state: fracture Pinconnected member. limit state: tension Highstrength bolts. 1.1.9 D + 1. limir state: shear A307 bolts Others P . 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. Iourth and 61th load combinations shown above shall cqunl 1.3 W + 0.0 tor btr.5E 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.2 D + l .6 L + 0.5 ( 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. limit state: yielding Tension member.occupied ar places of public srrcrnbly and all arc. 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.e. limit stnte: shear Pinconnected member.wherc the live load is greater fl~an1 W psi.5( L .24. 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 . all limit stater Beams. or S or R ) . limit statc: bearing Columns. i.2 D 0.
p = 3. the safety of the structural member is evaluated on the basis of service load conditions.0 for members and p = 4. The larger the value of p.75 for members under dead plus live load acting in conjunction with earthquake loading. A lower value of P for members under the action of a combination of dead.5 for connectors under dead plus live and/or snow loading. 3. the magnitude of P reflects the safety of the member. wind. A higher value of p for connectors ensures that the connections designed are stronger than their adjoining members. In the development of the present LRFD Specification. whereas in plastic or load and resistance factor design. live.Design Philosophies PROBABILITY DENSITY 1 FIGURE 1. p = 2. Thus. and so it becomes more improbable that a limit state may be exceeded. indicating that a limit state has been exceeded. it can be seen that in allowable stress design. In addition to strength.24 Reliability index the load effect.' the following target values for p were selected: 1.5 for members under dead plus live load acting in conjunction with wind loading. and. safety is evaluated on the basis of the ultimate or limit load conditions. From the above discussion. p = 1. 2. the designer must also pay attention . the smaller the area of the shaded area. or earthquake loading reflects the improbability that these loadings will act simultaneously.
1. 1 Find the critical load \ 1 I PC. most of the material presented in this book's later chapters will be based on what is called srnull displucernerrt theory. one should always investigate such seruiceobility requirernerrts as deflection and vibration at service load conditions.'. Only the stability behavior of structural members and frames will be presented. One important criterion related to stiffness is that the structure or structural component must not deflect excessively under service load conditions. Thus. the critical load but not the postbuckling behavior of the member or structure will be studied. interested readers should refer to For a discussion of the buckling behavior of plates books by B~lotin. Hence.of the barspring systems shown in Fig. For a discussion of the stability behavior of elastic systems under nonconservative and dynamic forces. A cotrseruaiive system is a system that is subjected only to conservative forces.~ and shells. the discussion of stubility theory will be limited to conservative systems under static or quasistatic loads. Assume that all the bars are rigid. Pl. In addition.8 SCOPE In this book. to forces whose potential energy is dependent only on the final values of deflection." PROBLEMS 1 . please refer to books by Timoshenko and GereLoand Brush and Almroth. that is. the stability of plates and shells will not be discussed. .42 General Principles to stiffness of the structure. regardless of the design method.lac using the bifurcation approach.
P1. 1. K. November 1978.  p FIGURE P1. 4 Investigate the stability behavior of the snapthrough springbar model shown in Fig. AISC. ST.References IcJ FIGURE P1.l 1 .3 Investigate the stability behavior of the asymmetric springbar model shown in Fig.3 1 . T. . New York. M. P. 1962. Chapters 44 and 45. 2.3. W. Ravindra. Chicago. 13371354. and Galambos. IL. ASCE.1. November. Load and Resistance Factor Design Specification for Structural Steel Buildings. 104. 4. Chicago. Handbook of Engineering Mechanics.. REFERENCES 1. 3. Vol. Journal of the Structural Division. IL. 1986. V. No. Fabrication and Erection of Structural Steel for Buildings. McGrawHill. using the energy approach 1.1. Load and Resistance Factor Design for Steel. 2 Repeat Prob. 9. AISC. September 1978. Fliigge.4. Specification for the Design. pp.
11982.. J. 11. No. 108. San Francisco. No. Ziegler. 8. A General Theory of Elastic Stability. . May 1982. PrenticcHall. 1963 (translated from Russian). G. ST5. 7. McGrawHill.. New York. New York. Timosbenko. ASCE. A. Reliability Bases of Structural Safety and Design. P.. ANSI. and Gere. 9.. 17551769. H. Nonconservative Problems of the Tlleory of Elastic Stability. Journal of the Structural Division. Ellingwood. and Hunt. B. ST3. H. September 1974. J. A.W.44 General Principles 5. C. Herrmann Ed. V. McGrawHill. M. Vol. An Introduction to the Elastic Stability of Structures. ProbabilityBased Load Critena Load Factors and Load Combinations. ASCE. pp. Vol. and Almroth. The Dynamic Stability of Elastic Systems. Theory of Elastic Stability. Bolotin. General References Simitses. A. V.T. Bolotin. 0. Building Code Requirements for Minimum Design Loads in Buildings and Other Structures. B.... J. Plates and Shells. Brush. 1964. G.M. G.. U. New York.K. 1961. American National Standards Institute. Blaisdell Publishing Co. 978997. MA. Journal of the Structural Division. G. T. 1968. 1975. Buckling of Bars. V. pp. 100.. Thompson. C. London. Galambos.. D. Ang. NJ. V. Principles of Structural Stability.S. 1973. Macmillan. 1976. O. MacGregor. S. Waltham. ANSI A58. 2nd Edition. V. and Cornell. and Comell. 10. HoldenDay. New York. John Wiley & Sons. J. 6.
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. As a result. they did not deform as the system reached its critical state. In partsular. Since the bars were assumed to be rigid. a knowledge of differential calculus is indispensable. If P is small. For such systems. a condition is reached in which equilibrium in a straight position of the column ceases to be stable. internal forces will develop as the system deforms under the action of the applied external forces. Under this condition. The energy approach for the stability analysis of elastic columns will be deferred until Chapter 6. it follows that the resulting equilibrium equations that relate the external and internal forces will be differential in form. Since internal forces are usually expressed as a function of the derivatives of the generalized coordinates. In this and subsequent chapters. we investigated the critical conditions of several simple barspring models. Shown in Fig. a very small lateral force will produce a very large lateral deflection that does not disappear when the lateral force is 45 . we shall study the buckling behavior of deformable systems.Chapter 2 COLUMNS 2.1 INTRODUCTION In the preceding chapter. to proceed with the calculation. the column will remain in a straight position and undergoes only axial deformation. the equations of equilibrium were algebraic rather than differential in form. As P is increased. We shall begin our discussion of a deformable system by studying the buckling behavior of columns. we will use the bifurcation approach to stability analysis in this chapter. Therefore. 2.la is a perfectly straight elastic column loaded concentrically by an axial force P.
.lb). which are unavoidably present in an actual column. The critical load also marks the point of bifirrcatiorl of equilibrium of the perfectly straight elastic column. curve (i)]. The bifurcation point exists only for a perfectly straight column. 2.) or Euier load (PC) (Fig. This slightly displaced configuration is a stable equilibrium position. In the following section. The axial load that demarcates the stable and rrristuble eqrrilibriurn of the straight column is referred to as the critical loud (PC. and the column will not return to its straight position when the disturbing lateral force is removed.2. This technique for determining the critical load of a column is known as the method of rreutrul eqirilibrium.P I Pc r = P" LOAD POINT OF BlFURCATlON OF DEFLECTION FIGURE 2. Geometrical imperfection and/or load eccentricity. there also exists another equilibrium position in a slightly deflected configuration. respectively [Fig. columns are rarely perfectly straight.1 Euler load removed. 2. In reality. 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. At the critical load. This deflected position is favored when the straight column is disturbed by a small lateral force. we shall evaluate the critical load of this perfectly straight column by reference to this neutral equilibrium position. 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.
(iib) a column with large initial crookedness. (iia) a column wit11 small initial crookedness. the limit load is the ultimate strength of the column. (iib). yielding of fibers over the entire cross section usually occurs when the yield stress of the material is reached before buckling can occur.2 show schematically the loaddeflection behavior of a column with small geometric imperfection. (iii) a column with eccentrically applied load Consequently. for a stocky column.. the loaddeflection curve of a n imperfect column is a smooth curve. can be represented by the tallgent modulus load (P.2. Curves (iia). For a long or slender colurnr~. straight column. will govern the limit state of the colun~n. the yield load P ..2 Loaddeflection curves of (i) a perfectly straight column. For a medium length column. For a perfectly denoted by P.) . some of the fibers of the cross section may yield under the action of the applied force while some fibers still remain elastic.. and load eccentricity. 2. Initially crooked and eccentrically loaded columns will be discussed in subsequent sections of this chapter. 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. and so. It should be mentioned that the behavior of a long column is quite different from that of a short column. respectively.1 lnlroduclion FIGURE 2. large geometric imperfection. For this case. and (iii) of Fig. P.
numerically. Plane sections before deformation remain plane after deformation. These two inelastic column theories will be discussed in Section 2.e. The column is perfectly straight. is loaded by an axial force P applied along its centroidal axis. shear deformation is ignored). the member is referred to as a beamcobmtt and will be treated separately in Chapter 3. 5. 2. in this chapter we will trrllt the column problem independently. one uses the method of neutrnl eqlrilibriirm. kinematics.2 CLASSICAL COLUMN THEORY A columrt is defined here as a member that sustains only axial load. If the column is not perfectly straight. 4. 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 ultimate load P . The material obeys Hooke's Law (i. 2. With the above assumptions in mind. pinned at both ends with the upper end free to move vertically. the stress and strain are related linearly).7 and 6. The critical load can . If lateral loads are present in addition to the axial load. the following assumptions regarding the geometry. and material of the column are used: 1. 2. Deflection of the member is due only to bending (i.1 PinnedEnded Column In deriving the basic difIerential equation of a pinnedended column. T o calculate the critical load of this column.2.3a a column. For such members. The axial load is applied along the centroidal axis of the column. 6. The deflection of the member is small. or if bending exists at the onset of loading. the column can be in equfibrium in both a straight and a slightly bent configuration.e.48 Columns or the reduced modulus load (P.).. Although a column can be considered as a limiting case of a beamcolumn when the lateral loads in a beamcolumn vanish. the governing differential equation of the column is derived as follows: In Fig. As a result. These loads can be obtained by making certain assumptions regarding the strain and stress distributions in the cross section of the column. must be determined . the curvature can be approximated by the second derivative of the lateral displacement. 2. Two commonly used numerical procedures to determine P will be discussed in Sections 6. 3. At the critical load.7.8 of Chapter 6.. the tangent or reduced modulus theory is not applicable anymore.
. is the internal resisting moment and y is the lateral displacement of the cut section. an infinitesimal segment of a column of length dr is shown . . Figure 2.= E l @ (2... induced by the bending curvature @ of the cross section is given by M . Equilibrium of this free body requires that .3b shows a free body diagram of a column segment of the column shown in Fig. The internal moment Mi. + Py = 0 (2. . 2.1) where M .5. 2. 2.3 Pinnedended colun~n be obtained from the governing differential equation written for the slightly bent configuration of the column using an eigenualue analysis.3a.2.2.2 Classical Column Theory FIGURE 2. .2.M. and 5 given above in the following manner: In Fig. . only the deflected shape and not the magnitude of deflection of the buckled column can be determined. This linear momentcurvature relation can be derived directly from the kinematic and material assumptions 3. The critical load is the eigenvalue and the deflected shape is the eigenvector of the problem.2) where E is Young's modulus of the material and I is the moment of inertia of the cross section.4). 4... In an eigenvalue analysis. The value El here can be considered as the and curvature @ = 1IR (Fig. slope of the relation between moment M.
. 5 Kincrnalics of a colurlln segmen1 deformed . From statics. the axial stress a. E.with its undeformed and deformed positions. is related to the axial strain by the linear relation. the internal moment M . can be obtained by the FIGURE 2 . = axial strain R = radius of curvature From Hooke's Law. we can write the kinematic relation as where E. . From similar triangles.
The negative sign in Eq. Using this approximation for curvature.12) is a secondorder linear differential equation with constant coefficients.14) (2.2).2. (2. the internal moment of Eq. but we have only two independent boundary conditions. .8) indicates that the curvature @ or the rate of change of the slope dyldx of the deflected shape as sketched in Fig.1) gives Ely " + Py = 0 Introducing the notation P k2 = El y"+k2y=0 (2.6) gives .2.13) Note that there are three unknowns.2. The general solution is y=Asinkx+Bcoskx (2. Y (0) = 0 Y(L)=O (2.2.4) and the stressstrain relation (2. Substitution of the kinematic relation (2.2. and B. If a small deflection is assumed.2 Classical Column Theory 51 integration of the moment induced by the stress a . 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. A.2.2.2.2.into Eq.2. 2. in the above equation.2. (2. over the cross section. (2.10) Equation (2.5) into the equilibrium equation (2.2.2. y: dA is the moment of inertia I of the cross ' By recognizing that j section and 1/R is the curvature @.12) Equation (2.3b decreases with increasing .10) can be written in the simple form (2.15) .2.7) can easily be reduced to Eq. (2.2.r. Eq. k. (2.2) can be related to lateral displacement y by Substitution of this expression for M r .
2. (2. Thus.18) is a trivial solution that states that the straight configuration of the column is an equilibrium position.21) with I I = 1 into the deflection function (2.2.. or 11 = 1.2.18) (2. This load is also referred to as the Euler load (P.13). The deflected shape of the column a t buckling can be found by substituting the constants B and k i n Eqs.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.).)of the column.2. (2.11) The value of P that corresponds to the smallest value of n (i. Substituting the first boundary condition (2. only the deflected .2.Therefore.19) with k L = nn. (2.2. .14) into Eq. (2.. we have AsinkL=O Equation (2.17) (2.15).e.2. T o obtain a nontrivial solution that describes the equilibrium position of the column in a slightly bent configuration.13).19) and/or sin k L = O Equation (2.20) from which we can solve for P f r o m Eq.2. we can only determine two unknowns. we have B =0 Using the second boundary condition (2.2.17) is satisfied if A =0 (2.24) Note that the constant A is still indeterminate. we must satisfy Eq. (2.16) (2.2. This gives y = A sin nx L (2.2.2. as Euler is the pioneer of this columnbuckling problem.2. ri = 1 ) is the critical load (PC..2.2.16) and (2.2.
+ P(e + y ) = 0 (2.6a shows the loading condition and the deflected shape of an eccentrically loaded column.2.I I EIy" X e P P . If the small displacement assumption is obliterated. 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..6 Eccentrically loaded column ORIGINAL SHAPE . (2.2..25) Substituting the internal moment from Eq. Equilibrium of the free body of a column segment shown in Fig.12)l. 2 Classical Column Theory 53 shape and not the amplitude of the deflection can be determined. i M . 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. This approximation leads to the linear differential equation [Eq.2. 2. (2..2. 2. The axial force P is loaded eccentrically at a distance e from the centroidal axis of the column.2 . the resulting differential equation will be nonlinear.9) into the above equation gives FIGURE 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 Eccentrically Loaded Column Figure 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. y"+ k2y = 0) y. (2.1 . M= ..~ ~ k ~ slnek L ( .37) .cos k L = sln ( k~ )e Substituting these constants into the deflection equation (2.27) 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.~ s ~ coskx n k x (2.2.31).2.54 Columns using k 2 = P I E I .e. For this simple case.2. it can easily be shown that Thus.34) A 1 . 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 (2.2. = particular solution satisfying Eq. we obtain the deflected shape of the eccentrically loaded column as The corresponding moment is given by M = Ely" or cos kL .2.
. The total maximum deflection measured from the line of application of P is therefore Defining fucror.39) can be simplified by using the trigonometric identities and the resulting deflection and moment at the midheight are y..2.. by setting x = L / 2 .2. the end eccentricity and end ...43) kL M.48) M.2. and similarly. y.2. and M. (2. = (set k L .38) and (2.2.2..2.42) is measured from the original undeformed centroidal axis of the column.2.. = EIkZesec 2 The maximum deflection (2. since k 2 = PIEI.. are given respectively as Equations (2....(Pe) Since e and Pe are.2.2 Classical Column Thcory 55 The maximum deflection and moment occur at midheight of the column.. respectively. we can write =AFe (2. Therefore.a .2.. we have = AF(Elk2e) M.44)can be written as as the un~plificarion .46) (2..l)e (2. = A ... E q .42) (2.47) (2..
Thus. .2.2 0.8 P P /.8.7. For an eccentrically loaded column. (2. (2. (2. but increases progressively and rapidly as the load increases. deflection begins as soon as the load is applied.Columns L 0 0.005 is shown in Fig.46) and (2. is shown in Fig. the more the column will deflect at the same load level.4 0. At or near the Euler load. 2. Pa. The normalized midheight deflection 6.. Eqs.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.7 Amplification factors moment of the eccentrically loaded column. as a function of PIP. The larger the end eccentricity.2.6 0. Note that this amplification factor depends on the axial force P.O FIGURE 2. I I .44)] for two end ecccntricity ratios e l L = 0.001 and 0.2. A plot of A. 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.2.45)l. Deflection is relatively small at the commencement of loading. [Eq. [Eq. 2.lL plotted as a function of PIP.
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.8 Loaddeflection behavior of eccentrically loaded columns In reality. because of material yielding. Substitution of M . 2 .49) gives Since 1 =Ar2 (2.2.2 .51) where r is the radius of gyration of the cross section. we can write Eq.48) into E q . from Eq. . . (2. the Euler load is seldom reached and the maximumloadcarrying capacity of an eccentrically loaded column will fall far below the Euler load. 2 Classical Column Theory 57 & L FIGURE 2. .2. . 2 .2. (2. however.
2.8) If the small displacement assumption is obliterated.2.e. In actual design implementation. Nonlinear Theory In the preceding sections.) can be calculated from Eq. It will be used in what follows to develop a column strength equation for the design of axially loaded columns with imperfections.4 Linear vs.. For the column segment shown in Fig. the curvature Q is approximated by the second derivative of the lateral displacement with respect to x .2.the corresponding critical load (PC. a more exact expression for the curvature must be used..52) by setting a.54) into thc . i.. (2. If the first yield of the material is used as the criterion for failure.2. i. As a result. the equilibrium equation is Upon substitution of the exact curvature expression (2..58 Columns This secant formula enables us to calculate in a direct manner the maximum stress in an eccentrically loaded column. in which the secondorder tenn (y')2 in the denominator can not be neglected in the curvaturedisplacement relation. 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. As a result.9b. Q = y" (same as 2.10) derived previously for a pinnedpinned column on the basis of small displacement assumption must be modified to include this term (Fig. = a .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. 2.2. . 2. the assumption of small displacement is used. the secant formula is developed in conjunction with reference to experimental data.9a). 2. the governing differential equation (2.
sin 0 .55) becomes dB El+ ds Py = O (2.2.9a) by and.2.5. we express the curvature Q in terms of the rate of change in slope along the deflected coordinates of the member (Fig.9 Large deflection a~lalysis of a pionedeoded colum~~ equilibrium equation (2.2. the governing differential equation (2. hence.55).2 Classical Column Theory ORIGINAL SHAPE L FIGURE 2. 2. we have Ely " .58) Taking derivatives wlth respect to s and realizing that dy ds .23a+Py = O [ I + (Y ) I This is a nonlinear differential equation. To simplify the equation.
2. The expression for the midheight deflection of this column as a function of PIP. . Figure 2.61).61) where a' is the end slope of the column (Fig. When PIP. Details of these calculations are given in reference 2.< 1.60) can be solved by using elliptical integrals.7A 1 _r w6 0 ' \. The original straight configuration of the column will become unstable. 3  2  . (2.60 we have Columns Equation (2.10 Large displacement loaddellection bel~aviorof a pinnedended column B 4 PIP.10.2. this unstable cquilibrium is represented by the line AB. 2.9a).1. the straight configuration is the stable equilibrium position of the column. 2 0 ~ . = 1. bifurcation of equilibrium takes place.2.10 shows a plot of Eq. in Fig. In the following we shall discuss the result of these calculations. 2. is given as (see reference 2) 2 sin 2 6 =a' (2. A bent configuration FIGURE 2. For PIP.
In this section.)= P. When PIP. this stable equilibrium position is represented by curve AC. and then compare them to the pinnedended case in order to introduce the concept of effective length. we have considered the behavior of columns whose ends are pinned. inelastic behavior of material must be considered in the analysis.) The consideration of material nonlinearity and yielding in the behavior of columns under the small displacement assumption will be given in Sections 2. in Fig. we investigate the behavior of columns with other end conditions. The increase in load above the Euler load can only be achieved at a very large lateral deflection. At such a large deflection.> 1. 5. Physically. the nonlinear theory gives both the shape and amplitude of the buckled column. can be determined. the secondorder differential equation becomes highly nonlinear and is often intractable..2.9 of this chapter. Recourse must then be had to numerical methods to obtain solutions. 2. Both the linear and nonlinear theories give the same prediction of the critical load (PC. 4. In the plastic or nonlinear range.3 EndRestrained Columns 61 will be favored.3 ENDRESTRAINED COLUMNS So far.7. not the amplitude of deflection. The deflection modes at various stages of loading on the curve are represented by the inset diagrams. by Chen and Atsuta [1976.10. comprehensive book. Both the end slope n and the midheight deflection 6 increase rapidly as PIP. This is beyond the scope of this book. 2. The postbuckling behavior of the column is stable because the buckled column can carry additional axial load beyond the Euler load (PC). 2. 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 midheight displacement is the greatest when PIP. the effective length can be visualized as the distance between the two inflection points (real or imaginary) of .7 to 2. a slight increase in P will result in a large increase in displacement. is about 1. (Interested readers are referred to the two volume. 19771. 3. rises slightly above unity. Unlike the linear theory in which only the deflected shape. After that. Some observations and conclusions can be made from the present large displacement analysis: 1. and the applied force P will now act as a tensile rather than a compressive force to close the loop. further increase on load will result in a decrease in midheight deflection due to the fact that the column has now turned inside out. Theory of BeamColumns.
we have . The complementary solution is given by Eq. This will be illustrated in the following examples. 2 .62 Columns the buckled shape of the endrestrained member. The forces acting on the column os it buckles are also shown in the figure. y '(0) = 0 y(L)=O. we have Substitution of Eq. y'(L)=O Using the conditions at + = U. From Fig. we have Using y '(L) = 0.3.11b.2.3. the general solution is The boundary conditions are y (0) = 0.3. and the particular solution can he obtained by inspection as . 2. 1 Both Ends Fixed Figure 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. Thus. (2.3.7) into Eq. (2.4) gives (2.5) (2. 3 .6) Using y (L) = 0.11a shows a column built in at both ends.13).V x / P + M A / P .
FIGURE 2 . 1 1 Fixedfixed column (c) SYMMETRIC (d) ANTISYMMETRIC liIGURE 2 . 1 1 (continued) Symmetric and antisymmetric buckling modes of a Fuedfixed column .
2.11d) buckling modes of the column. j If the terms in the parenthesis vanish.3.3.3. 2.8): If we define KL as the effective length of this fixedfixed column. Eq.12) can be satisfied if either the fint term sin (kLl2) or the terms in the parenthesis vanish. 2.10). kL sin.987 from which 2 2 2 2 2 The values of Eqs.17) .2 ( T c o s . 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.11~)and antisymmetric (Fig. respectively.3.14) correspond to the critical loads of the symmetric (Fig. we must have By using the trigonometrical identity sin kL = 2 sin (kL12) cos (kLl2) and cos kL = 1. (2. Unless the midheight of the column is braced against lateral movement. equatlon cOsor tan=n k L = 8.3.2 sin2 (kL/2).9) and (2. the solution is kL = 2r1nwhere. we can write Eq. If the first term vanishes. 3. (2.14) will have little significance to us.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. . from which the critical load is obtained by setting n = 1. . The column will buckle in the symmetric mode.. . .13) and (2. the lowest value that satisfies the . kL kL sin=O kL kL k L . i. the equivalent pinnedpinned column with length KL (Fig.From Eqs.) = ~ 2 Equation (2.3.3.. (2. 2. (2.3. for a nontrivial solution of V and M. (2.11) as kL kL kL . Sincc the critical load of the symmetric buckling mode is less than that of the antisymmetric buckling mode.3.2s n .. n = 1.e.
2 . In general.2 One End Fixed and One End Free Figure 2. give x = L / 4 and 3L/4.20) can easily be derived from the definition of effective length factor similar to that of Eq.L / 4 = L/2.3. 2.f e d column. The corresponding freebody diagram of a short segment of the column is shown in Fig.The factor K is called the effecfiue length factor of the f i x e d .16).3. = critical load of the endrestrained column PC= Euler load of the pinnedpinned column having the same length as the endrestrained column Equation (2.3. The equilibrium equation for the free body is . Hence.11c. (2.20) where PC. and endrestrained column. the inflection points of the fixedfuted column are at a distance of L / 2 apart (Fig. 2. (2. we can write the moment expression as from which Using n = 1 and 3. 2. for a centrally loaded. 2. 3 EndReslrained Columns i 65 In other words. inflection points are located a t x = L / 4 and 3L/4 and so the distance between them is 3L14 .15) twice.12b. 2.3.12a shows a column built in at one end and free at the other end. as shown in Fig. 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 length of the equivalent pinnedpinned column is half that of the fixedfixed column.3.11~). By differentiating Eq. Equivalently. T o verify that the inflection points are indeed as shown in Fig.11~. the effective length factor K can be evaluated directly by the following equation (2.
of the deflected curve as sketched in Fig. The general solution is Using the boundary conditions + k2y = k 2 A (2.12b.where A is the lateral deflection at the free end of the column. that corresponds to the positive moment Mi..3.23) Y (0) = 0 y'(0) = u we obtain B=A ..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. 2. = Ely" (2. The internal moment is Mi..) increases with increasing x.3. y" where k 2 = PIEI.
=EI~'~ (2.29) The critical load is the load corresponding to n = 1 or is The deflected shape corresponding to PC.3.13b is and since M.24).29) will give coskL=O from which (2. I.3.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.3 EndReslrained Columns 67 which.3..37) .3. (2.12(c).13a. The equilibrium equation for the column segment shown in Fig. gives y =A(1 coskr) Using the condition Y(L) = A in Eq. 2. 2.. upon substitution into Eq.3. (2. which is induced in the builtin end as the column buckles. Note that for moment equilibrium.3 One End Hinged and One End Fixed Shown in Fig. a shear force of M F / L must be present at both ends of the column to balance the fixed end moment M F .2. The effective length factor is L The deflected shape of the equivalent pinnedpinned column with length K L = 2L is shown in Fig. 2. 2.
1 FIGURE 2.36) as MF y"+k2yx=0 EIL where k2 = PIEI.Columns 1 I .3. we obtain A= M~ P sin kL .13 Hingedfixed column we can write the equilibrium equation (2. The general solution is The boundary conditions are Using the first two boundary conditions.
if we denote A the relative horizontal displacement of the two ends of the column.4 One End Fixed and One End Guided A column with one end fixed and the other end guided is shown in Fig. 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 EndReslrained Columns and the deflection function (2.3.3.46) from which kL can be solved by trial and error o r by graphical means.3. (2. it follows that the end moment from equilibrium consideration will be PA/2.4934 which gives (2. the moment at the fixed end has the same direction and magnitude as the moment at the guided end./P in Eq.49) represents the displacement at x = 0. The lowest value of kL that satisfies Eq.45) gives tan k L = kL (2.13a.3. Note that the term M. (2. Because of antisymmetry. 2.2 L of the buckled member.7L is shown in Fig. 2. 2.46) is kL = 4.14b) .3.2. A s a result.3.47) The deflected shape of the column at buckling is and the effective length factor is The effective length KL = 0.39) becomes Using the third boundary condition in Eq. Note that the shear force is zero but the moment is not zero at the guided end. T h e equilibrium equation for a segment of this column is (Fig.3. (2.14a. 2.
54) gives B=.Columns (a) FIGURE 2.14 Fixedguided column and upon substitution of the expression for the internal moment Mi.2. y'(O)=O respectively in the general solution (2. The general solution is Using the boundary conditions of y(O)=O. = Ely" we obtain the differential equilibrium equation as (2. Thus A 2 and A=O .3.52) where k2 = PIEI..
67) .5 One End Hinged and One End Guided If a column is hinged at one end and guided at the other. 2. is and the effective length factor is The effective length KL of the equivalent pinnedpinned column is also shown in Fig.3.63) (2.65) (2.2.66) Mi. as shown in Fig.64) (2.14a. 2.. n =l. = 1. the equilibrium equation for a segment of this column (Fig.3.158. The critical load is given by letting n hence The deflected shape at P. 2.15b) can be written as Mi.3 EndRestrained Columns Using the boundary condition y (L) = A gives coskL= 1 or kL = nx.3. Since the internal moment is + Py = 0 (2..3. = 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 (2.3.3. . 2.3.
(2.3.5.71) (2.76) ..(a) FIGURE 2.67)becomes y=Asinkx Using the second boundary condition. Eq. =4L2 The deflected shape at buckling is y =Asin2L (2.74) The lowest value of n gives the critical load of the column x2EI PC. (2. 2 (2.3. we have B=O Therefore.3.3. .75) nx (2.73) nn n=1. we obtain cos kL = 0 from which kL=. .3.3.3.3.15 Hingedguided column Using the first boundary condition.72) (2.
3.5Py or A . it can be seen that for an isolated column. 3 ~ The ~ . = ~) 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. because Eq.3.16.7) is used for practical design.5Py or A.2. The recommended Kvalues involving cases with fixed support are higher than their theoretical counterparts because full join fixity is seldom realized in actual columns. For columns in the inelastic range ( P >0.3 is for conservative purposes.81) is plotted in Fig.78) can be written as Equation (2.3 EndRestrained Columns The effective length factor is 2. 2. The demarcation point ( P = 0.5Py. For design purpose. the Kvalues recommended by the AISC3 are also shown. it is more convenient to express Eq.6 AlSC Effective Length Factor and Column Curve From the above discussion.5 rather than 0. < ~ ) . 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.81) is only valid for perfectly elastic columns. use of the number 0. regardless of its end conditions. . Note that the curve terminates at P =0. (2. Realizing that I = Ar2 and defining as the yield load and as the slenderrress parameter. (2. Eq.3. On the same table.3.78) in graphical form. (2.3.1. The theoretical values of K for various boundary conditions have been derived in the preceding sections and are summarized in Table 2.
Here. it is pertinent to investigate the behavior of columns with elastically restrained ends. at the A and B ends of the column. In actual structures.0 2. Consequently.65 1.10 2. Figure 2.0 1.0 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 2.17b.5 Rcromrnendcd dcsign value when ideal conditions arc approximated 0.2 2.80 1.3. 2. Referring to Fig.7 0.1 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 0.0 1.0 0. the equilibrium equation for the column segment is expressed as .0 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.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).74 Columns Table 2. The rotational stiffness is defined as the moment the spring can sustain for a unit rotation. respectively. it is convenient to represent the effect of end restraint by a spring with rotational stiffnesses RkAand Rk.
 0.0 I FIGURE 2. AlSC Elastle Limit  0.16 Column design curve f o r elastic column FIGURE 2. LORIGINAL SHAPE I I DEFLECTED SHAPE I Y P la1 P lbl .20 R . 0 0:5 I :O '1:5 2.0 2. '.60.0.17 Column with elastically restrained ends 0.50 .5 3.0.40.
(2. The general solution is Using the boundary condition Y (0) = 0 we obtain . Since the applied force P is generally much greater than the shear forces VA and V. At buckling.3.3.18a will be determined. the forces that act on the column are shown in the freebody diagram of Fig. 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. that are induced as the beams bend during column buckling. Note that Eq. 2.Because of symmetry there is no shear force acting on the column.3.. with the column shear force V equal to zero. the buckling load of the column in the simple frame shown in Fig.18d) where MA is the end moment induced at joint A as a result of buckling of the column. As an illustrative example. the differential equation of the column can be written as (Fig. 2.86) (2.83) Therefore.88) is a special form of Eq.84). = Ely" (2.3.3.87) the critical load of the endrestrained column can be obtained as shown in the forthcoming example. 2. (2.18~.76 Columns The internal resisting moment is Mi.
2. we have Hence and . .18 Buckling of an endrestmined column Using the symmetry condition.3 EndRestrained Columns P I B I VB FLEXURAL I A .10 I C Mc I' i FIGURE 2.
= M . (2. 2.78 Columns By referring to the freebody diagram of the lower beam (Fig. the beam end rotation will be exactly equal to the columnend rotation.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 . it can be shown that the smallest value of kL satisfying Eq. (2.. Thus. = 0 in the following slopedeflection equations we can obtain from which we have If rigid connection is assumed. .3. we obtain Equation (2. (2.95) evaluated at x = 0 .18b) and setting 0. by equating Eq.3. =M . i.e.98) to Eq.3. Using graphical method or by trial and error.3. .
Figure 2. In this section.19 shows the freebody diagram of an infinitesimal segment of FIGURE 2 .2. 1 9 Freebody diagram of an infinitesimal segment of a column . The effective Length factor for this elastically endrestrained column in the simple frame is 2. a fourthorder differential equation (2.4. of a pinnedpinned column and that of a fixedfixed column.4 FOURTHORDER DIFFERENTIAL EQUATION In the previous section.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. By enforcing proper geometric (or kinematic) boundary conditions. Depending on the end conditions. the governing differential equation describing the behavior of the column has been developed by consideration of equilibrium for a column segment of finite size.6). this secondorder differential equation may or may not be homogeneous. which is applicable to all columns with any boundary condition. will be developed. The resulting equilibrium equation is second order.
4.e.E ld2y 2 Eq. when compared with Eq. (2.7) T o determine the critical load. (2. and a fixedfree column. upon simplification Differentiating Eq.6) is the general fourthorder differential equation that is valid for all support conditions. we will solve the cases of a pinnedpinned.2). both geometric and forceboundary conditions are needed to be specified. a fixedfmed. (2.80 the column.4) can be written as Equation (2. we need to specify four boundary conditions: two at each end of the column. The general solution to this equation is y=Asinkx+Bcoskr+Cx+D (2.4. we obtain which. mixedi. By summing the moment about point b. gives Since M = . upon simplification Summing force horizontally. we obtain Columns or. In most cases..4.4. we can write or. .1) with respect to x.4. T o show how to obtain critical loads using the fourthorder differential equation.
9) (2.4.20 Pinnedpinned column ORIGINAL SHAPE DEFLECTEDSHAPE Y M=O . (2. M(O)=O M(L) = 0 (2. the moment conditions can be written as y "(0) = 0 y"(L) = 0 Using the conditions y (0) = yr'(0) = 0.20). the four boundary conditions are: y(O)=O.4.13) (2.4.7) reduces to y=Asinkr+Cx Using the conditions y(L) = y"(L) = 0.4. 2.15) (2. we obtain B=D=O The deflection function (2. y (L) = 0.Order Differential Equalion 81 PinnedPinned Column For a pinnedpinned column (Fig.11) Since M = EIyr'.12) FIGURE 2.4.4.10) (2.4.4.13) gives AsinkL+CL=O and AkZsin kL = 0 (2.8) (2.4 Fourth.4.4.2. Eq.14) (2.
the determinant of the coefficient matrix of Eq..sin k L (2. after expanding kLsinkL+2coskL2=0 (2.4.e. we must have sinkL=O o r k L = n n . The critical load can be obtained by setting n = 1 to give (2.16) must vanish.26) .21) y(0) = y'(0) = 0 y(L) = y'(L) = 0 Using the first two houndary conditions..4.4..4. we must have det or.23) (2.kx) + B(cos kx ..4.4. Therefore. the solution is trivial.4.82 Columns In matrix form If A = C =0.4. 2 . 2.4.1 . y = A(sin kx C=Ak The deflection function (2. we ohtain (2.21) (2.kL cos kL . we have For a nontrivial solution..27) 1 sin kL .24) D=B. 3 .22) (2. n = l .1) Using the last two boundary conditions.7) becomes . (2. i.19) (2.18) FixedFixed Column The four houndary conditions for this case are (Fig. sin k L or kZLsin kL = 0 Since k Z # 0.4. to obtain a nontrivial solution.
= 80.3. 2. FixedFree Column The boundary conditions for a fixedfree column are (Fig.22). we have (2. At the fixed end and. (2.4.31) B+D=O.22).21 Symmetric buckling mode of a fixedfixed column Note that Eq.4. Ak+C=O (2.4.11) and thus the critical load for the symmetric buckling mode is P. (2. the moment M = EIy" is equal to zero and the shear force V = .2. 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.32) . 2. = 4n'EIIL2 and that for the antisymmetric buckling mode it is PC. at the free end.27) is identical to Eq.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.766EIIL2.4 FourthOrder Difierential Equation ORIGINAL SHAPE L DEFLECTED SHAPE v=o Y FIGURE 2.
37) The smallest root (n = 1)gives the critical load of the column .5.35) (2. C=O (2.22 Pixedfree column P The boundary conditions at the free end gives AsinkL+BcoskL=O.4.4. (2.1 FIGURE 2.4.4.32) and (2.33) can be written as [ ' : "[ a]=[!] sin kL cos kL 0 For a nontrivial solution.4. . . . Eqs.36) + 0.4.34) 1 1 k 0 0 =O sin kL cos kL 0 0 (2. we must havc cos kL = 0 or kL=nn 2 11=1. (2. we must have det or.33) In matrix form.3. after expanding k cos kL = 0 Since k (2.4.
yl for column segment 1 and x. 2.2. y"'=o 0. . In this section. 2. The axial force is equal to 2 P for the lower portion of the column from A to B (segment I). four boundary conditions must be specified.1 TwoAxialForce Column As an illustration. Furthermore. In determining the critical load using the fourthorder equation. y"=O y=O. . As a result.2. 2. For convenience. or with intermediate support (Fig.y2 for column segment 2.24a.2 Boundary Conditions for Various End Conditions End conditions Pinned Boundary conditions y=O. 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. To determine the critical load of this column. 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. it is therefore necessary to write two differential equations.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. consider the cantilever column shown in Fig. . a change in flexural rigidity. the solutions of the fourthorder differential equation are seen to lead to the same critical loads as the secondorder equation.23). two sets of coordinates are established: x . .5. y'=O ~'0. The boundary conditions for various support cases are summarized in Table 2. but it is equal to P for the upper portion of the column from B to C (segment 2). the axial force along the entire length of the column is not a constant. . 2. so that restraint is provided only at the ends of the column under investigation. one for each segment of the column for which the axial force is a constant. but the fourthorder equation is the same for all cases. no intermediate support is present.5 Special Members Table 2. The column is subjected to two axial forces P: one applied at the free end and the other at midheight.
23 Special members FIGURE 2. .FIGURE 2.24 Cantilever column subjected to two axial forces r.
5.5.A.5. and A .2) is y.y .5.2. differential equation for segment 2 is where Mn = P ( A c The general solution of E q . and D in Eqs.L/ Y. .5) and (2. (2. respectively.) (2.5.x + Elk? + With reference to Fig. = A sin k . are the lateral deflections with respect to the x .5.5.10) MB y2 = C sin kzx2 + D cos k2x2+ EIkI The four constants A. (2. 2.5 Special Members 87 With reference to Fig. B. 2 .11) (2. The general solution of Eq.) in which A. 2 4 ~ the .5. (2. axes for points B and C.24b.13) I / YI(:) = ~ 2 ( 0+ ) AB .12) (2. the differential equation for segment 1 is or where MA = P ( A B A.10) can be evaluated using the following boundary and continuity conditions Y . x MA + B cos k. ( O ) = o .7) is . C.(O)=O (2.
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 .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.Columns i Pt SECTION AA {PC [a) y DEFLECTED SHAPE STRAIN Q STRESS [b) P I FIGURE 2.
kdA0 and realizing that JAid~ =I (2. As a result. (2..7..28b. in Eq. (2.2. i. Eq.7.e. .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. (2.7) is the moment of inertia I of the cross section.7..5) as By substituting AD.7. we have Equation (2.8) becomes Assuming a small deflection.3) into Eq.7.1).10) into the equilibrium equation (2.Ae.7.9) can be written in the usual form Substituting the internal moment (2.lh is the curvature @ of the cross section (Fig.. the curvature @ can be approximated by the second derivatives of the deflection or @ = y".2) gives or.28b).= E.7.8) and recognizing that A&.. Eq.. (2.11) is the governing differential equation for an inelastic column developed on the basis of the tangent modulus theory. (2..7. From the stress diagram in Fig. 2. 2. (2.7. we can write Eq. it can easily be seen that a can be expressed as Substituting Eq.7. expanding Since the first moment of area about the centroidal axis is zero.
2.7. P . Since two moduli. the critical load of this inelastic column based on the tangent modulus theory is The load expressed in Eq.12) is called the tangent modulus load. E. was proposed by Engcsser7 in 1895.. is that E in Eq. but the increments of stress and strain on the concave side of the column are related by the tangent modulus. The corresponding strain and stress distributions are shown in Fig.11) and Eq. The effecrive modulus in the tangent modulus theory is therefore the tangent modulus.12) depends only on the material property (i. This will b e dernonstratcd in what follows.e.7.' The first four assumptions used for the development of tangent modulus theory are also used in the reduced modulus theory. consequently. by following the same procedure as in Section 2.. the name double rnodulus was used.29b. The strain on the concave side of the column.100 Columns The only difference between Eq.2. stressstrain relationship of the material). 2. In the reduced modulus theory.7. are necessary to describe the momentcurvature relationship of the cross section.29a shows the buckled shape of a centrally loaded pinnedended inelastic column at the reduced modulus load. . The tangent niodulus used in Eq.7.The governing differential equation describing the behavior of this column can be derived as follows. 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.10). the doublemodulus load will be less than that of the Euler buckling load. 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.2 Double Modulus Theory The double rnodul~stheory. However. the doublemodulus load is also called the reduced rnodulus load. (2.7. Figure 2. (2. (2. the axial force is assumed to remain constant during buckling. continues to increase. The relationship between the increments of stress and strain as a result of bending deformation is shown in Fig. Thus. . on the other hand.. Because the double modulus is less than that of the elastic modulus that appcarcd in the Euler buckling formula. As a result. (2. 2.29~. E and E. As a result. also referred to as the reduced rnodrrlus theory. based on the concept given by Considere. in Eq.10) is replaced by E. (2. 2. the bending deformation at buckling will cause strain reversal on the convex side of the column.11).2. the fifth assumption is different. (2.
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.
The value of E. This curve can be obtained by one of the following two methods 1.2.36 Variation of tangent modulus with stress for aluminum alloy 6461T6 2. Experimental 2.9 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. Numerical .7.12). in the formula is evaluated from the slope of the stub column stressstrain crtrue.
This uneven cooling creates a set of selfequilibrating StreSSeS in the cross section. the stressstrain relationship of the stub column follows the curve ABC instead of AEC. if the samc test is performed on a short length of column (stub column test) and the average stress a . which are used extensively in building construction. As they cool down. = P / A is plotted against the axial strain E. Residual stresses are created in the column in the following way: Steel members are usually heated at some stage during thcfabrication process.38 (solid line)(In particular. 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. This phenomenon is attributed to the presence of "lockin" or residual SheSSeS in the steel column.38 (dashed lines). after a certain average stress a . has been reached.1 Experimental StubColumn StressStrain Curve If a simple compression test is performed on a coupon cut from a steel member.E relationship of the stubcolumn test will deviate from that of the coupon as shown in Fig.Columns FlGURE 2. However. the stressstrain relationship of the coupon will exhibit a linear elasticperfectly plastic behavior as shown in Fig. the a . These are what is called the residual stresses.37 Column curve for aluminum alloy 6061T6 2. . 2.9. 2. For hotrolled wideflange shapes. hence the . the toes of the flanges have a larger surface area to volume ratio than the regions where the web joins the flanges.
and so a compressive residual stress will be induced at the central portion. as shown in Fig. which have been cooled and hardened already. then cooling will be more uniform. the toes of the flanges. it is clear that yielding over the cross section is a gradual process." As an axial force P is applied to the sections. From the figure. As the stress in any fiber equals or exceeds the yield stress. As for the web. so that the whole web will be in a state of tension. Figure 2. if the height to thickness ratio is small.2. the stress distribution over the cross section will change in several stages. and any additional load will be carried by the fibers that are still elastic. that particular fiber will yield. will prevent the junctions from shrinking.9 Stub Column StressStrain Curve STRAIN E FIGURE 2.38 Stressstrain relationship for steel toes of the flanges will cool faster. if the height to thickness ratio is large. The fibers that have the highest value of compressive residual stresses will yield the soonest. On the other hand. 2. followed by the fibers that have a lower value of .40. As the junctions of the web and flanges begin to cool and shrink. 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. 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.
but the stubcolumn tests show a gradual yielding because of the presence of residual stresses. For steel members. as the remaining area of the cross section that is still elastic. the fibers that have tensile residual stresses will yield as the applied load further increases.9.41. the stub column stressstrain . 2. 2.Columns FIGURE 2. 2. Denote A: as the area of the j element and A".7. the stressstrain curve of a stub column follows the rather smooth curve ABC in Fig. then the critical load of the steel column can be determined directly from the tangent modulus formula Eq.2 Numerical Stub Column StressStrain Curve To generate the stub column stressstrain curve numerically. coupon tests show an elasticperfectly plastic behavior.12) with a simple modification for the value of E. the cross section is first divided into a number of small elements as shown in Fig. This nonlinearity shows up in a coupon test. If a stub column stressstrain curve (obtained either experimentally or numerically) is available. that is evaluated from the slope of the stub column stressstrain curue. 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. Because of this gradual yielding process (plastification) over the cross section.39 Residual stress distribution of a W8 X 31 section compressive residual stresses.38. (2. Finally.
Specify a strain increment AE' (a negative quantity) at the i cycle. 3.9. 2. Calculate the current state of stress oi from oi= a. is the value of residual stress for that particular element and is taken as positive if the .2.+ X Aoi (2. The stress a.2) for every element that is still elastic.40 Change in stress distributions on the flanges and web as P increases curve can be traced numerically as follows: 1.1) for every element that is still elastic.9 Stub Column SlrerrStrain Curve FLANGE WEB FIGURE 2.9. Calculate the stress increment Aoi from AU' = E (2.
at the end of the i cycle by AD:.3) where A:. Subtract the area A: of this j element from the area of the cross section that is still elastic.9. = area of the cross section that is still elastic at the i cycle A:.9. 5.Columns FIGURE 2.9. Go back to Step 2 with A&'replaced by r A&'.the element has yielded.. (2.' = area of the cross section that is still elastic at the end of the previous cycle Proceed to the next element. b. Calculate the average stress increment Ao:.6) . = E A ~A&' . Calculate the load increment AP' corresponding to the strain increment A&'from AP' = AU'A. a. the element is still elastic.5) 6. If ioil> cry.. 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..m. the state of stress of the element is larger than the yield stress.41 Discretization of cross section residual stress is tensile and negative if the residual stress is compressive. 4. c.e. i. Proceed to the next element. = A P I A (2. Check whether a particular element has been yielded. If Id(= oy. A:. = ~ . (2. I f 10'1 <a. y l .
Equating Eqs..9..E curve can be used in conjunction with Eq.IA. is the slope of the average stressstrain curve. ..12) to obtain P.IA can easily be calculated in the numerical procedure described above at any stress level oi.9.9. (2. A & (2.= EA. (2. we discussed the column curves for aluminum columns.. an average stress versus strain curve can be plotted...2..10) where E is the elastic modulus and A. it follows that Note that the ratio A..9) where A is the area of the cross section and A q . E. AP is related to A& by AP = EA.. we can write A P = A Ao. can also be represented by the expression EA. This is demonstrated as follows: For a given load increment AP. the nonlinear stressstrain behavior is due primarily to material nonlinearity. For aluminum columns.11) and Since E. Finally. we have A do.9. (2.IA at the end of Step 4. for the column.7.8) 8. This numerically generated o .9. by forming the ratio A'. 2. . evaluate the current state of strain of the cross section from = Eil + ~ Thus. is obtained as the slope of this stressstrain curve. By repeating the process.9) and (2.10 COLUMN CURVES OF IDEALIZED S T E E L ISECTION In Section 2. Ei A " +A d v & i (2. is the area of the elastic cross section. This nonlinear stressstrain relationship can be approximated closely by the RambergOsgood equation [Eq.9. E. is the average stress increment of the cross section.8. there is a corresponding value of average stress calculated in Step 7. O n the other hand.10 Column Curves of Idealized Steel ISedion 117 7..7) (2. for each value of strain calculated in Step 8. A& (2.9. Evaluate the current state of average stress of the cross section .10).
12)]. an aluminumcolumn curve can be constructed by the procedure outlined in that section. an analytical approach can be used to find PC.10. PC).4)].8. the critical load PC.is the Euler load. the stressstrain behavior of a coupon is elasticperfectly plastic as shown in Fig. with L?. As a result. an expression for E. varying residual stress is shown in Fig. (2. 2. the tensile and compression forces resulting from the tensile and compressive residual stresses must be in selfbalance.38. stressstrain relationship. If the flanges of the idealized Isection are identical and are of uniform thickness. Upon differentiation of this equation. To maintain selfequilibrium in the absence of an externally applied force. With the tangent modulus known. In addition. = art = a. the tangent modulus can not be obtained directly from this curve. we must have a. for a given value of KLIr in the inelastic range (for K L I r in the elastic range. then the critical load of the steel column can be determined directly from the tangent modulus formula [Eq. In this approach. Based on this argument. (2. an idealized Isection with linear. can be obtained [Eq. the value of tensile residual stress at the flangeweb junctions. (2. if a stubcolumn stressstrain curve is not available. In other words. .. an assumed residual stress distribution is also used. An idealized Isection is an Isection with negligible web thickness. = moment of inertia of the elastic core of the column cross section PC = Euler buckling load .118 Columns (2. The yielded portion cannot carry any adstir X5iselasticperfectly plastic.8. the critical load of the column can be written as where I. it should be obtained from the slope of a stubcolumn stressstrain curve (Fig. only the elastic core (the elastic portion of the cross section) will be effective in resisting the applied load. determined from the slope of the stubcolumn stressstrain curve. only the elastic part of the cross section will provide the flexural rigidity to the column as it buckles. As a result. portions of the cross section will yield. leaving only part of the cross .42. For illustration purposes. if an external force is applied concentrically to this column. However. a . an idealized Isection is used. denotes the value of compressive residual stress at the toe of the flanges and a . In the figure.38). For steel columns. 2. section elastic.5)]. 2. Instead.1) 37 Now. If a stubcolumn stressstrain curve (obtained either experimentally or numerically) is available.7.
2. r./I can be established as follows: Strong Axis Bending If the moment of inertia about the centroidal axes of the flanges are ignored.3) and (2.10. (ii) the shape of the cross section.10.43. and (iii) the distribution of residual stresses over the cross section. we obtain from Eq..4).y ) axis is Using Eqs. (2.x ) axis can be written as The quantities b. For an idealized Isection with a linear variation of residual stresses (Fig. the ratio I c / I about the strong ( x . (2.. 2.2): .42).10. Weak Axis Bending The ratio I J I for the column bend about the weak ( y ./I in Eq.42 Assumed residunlstress distribution of m idealized Isection The ratio I.10 Column Curves of Idealized Steel ISedion FIGURE 2. (2. the ratio I. and h are as shown in Fig.2) depends on ( i ) the axis of bending of the column.10. 2.
Since neither PC.10.10. we need another equation to relate PC..! ( a y . is known..5) and (2.43). is the stress at the middle of the flange.on)bcd (2. 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. 2.. (2. From .and b.FIGURE 2. nor b.7) In Eq.43 Partially plastified cross section For strong axis bending For weak axis bending It is obvious from Eqs. P = 2[aybftt.7). a.10. (2.6) that the critical loads are different for the same column bent about different axes.10.
7) gives where A = 2bftfis the area of the cross section of the idealized Isection. Rearranging and realizing that o. Using this value for or and specifying a value of a. for weak axis bending.10.10 Column Curves of Idealized Steel ISedion 121 similar triangles..30.6). For hotrolled. Figure 2.5) and (2. (2. wideflange sections 0.12) into Eqs.9) into Eq.10.(= a./oy versus & can be plotted.=0. (2. we have On substituting Eq. a column curve for o..2. (2.. By repeating this process.. and. Note the difference in .). it can be shown then Substituting Eq.10. a corresponding value for A. = P I A is the average stress over the cross section. can be determined.10. we have for strong axis bending or divide both sides by A o . ( K L I r ) is the slenderness parameter. (2.10.44 shows such a plot.
A361 . ' .and AISC) loadcarrying capacity of the column for bending about different axes. CRC.PAIIIIOMIC FIGURE 2 . Also shown in the figure are the column curves for Isections with parabolic residualstress distributions.80 TEST DATA (A7.11. 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. 4 4 Column curves (theoretical.LIP4iiiii J IYEII<. they represent upper and lower bounds to the strength of hotrolled Hcolumns. Again. 2. wideflange sections. for hotrolled.11 DESIGN CURVES FOR STEEL COLUMNS 2. it is obvious from the figure that the distributions of residual stresses in a cross section have an influence on column strength.u.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 . the loadcarrying capacity of the column is larger for strong axis bending than that for weak axis bending.122 Columns > . ? SiRm. > ' 3 0. In general. 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. As a result.
The point of demarcation between inelastic and elastic behavlor is chosen to he a..11. which is about 0.=0. is designated as C.e. + 3 +.50. 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.3) is rewritten in its load form in terms of the nondimensional quantities PIPv and A.2.5 is chosen as a conservative measure of the maximum value of compressive residual stress present in hotrolled.30.. however. for columns w ~ t h slenderness ratios less than or equal to C. The slenderness ratio that corresponds to 0. = ( K L I r ) u.ln E The CRC curve is plotted in Fig.11.11. the CRC curve takes the shape of a hyperbola..45 in its nondimensional form [Eq. in which P . (2.50. Eq. 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.. is represented by the Euler formula.11 Design Curves for Sleel Columns 123 hotrolled. wideflange shapes of mild structural steel.. For comparison purposes. the constant B in Eq. the CRC curve assumes the shape of a parabola and for slenderness ratio exceeding C. where : I Thus. (2. AlSC Allowable Stress Design Curve The CRC curve divided by a variable factor of safety of KLIr ' . ( ) ( ) )  :($)1 2 (2'11'5) . is the slenderness parameter given by A. The column strength in the elastic range. wideflange shapes...5 5 3 KLIr 1 A.1) 1s chosen to be 4 / 4 n 2 E . 3 8 . (2. i. The number 0. is the yield load g ? i = AoY aid 1 .3 8 C 8 C . 2.4)].. = 0.
124 Columns A I S C Allo.=. = nominal resistance. AlSC Plastic Design Curve is represented The ASD curve multiplied by a factor of 1.1F.abl~ St.7 forms the AISC Plastic Design (PD) curve (Fig. R.C F.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.S.S. 2. (For column design.45). 2.45. The factors of safety are employed to account for geometrical imperfections and load eccentricities that are unavoidable in real columns. =service loads. by the ASD column curve) Q .saa D ~ a i p n curve1 \3: FIGURE 2. The design . . only the inelastic regime of the curve is used because of the slenderness requirement.i R. The ASD column curve is used in conjunction with the ASD format given by R" " a. where Q. The AISCASD curve is also plotted in Fig. In plastic design.
On the basis of a computer model developed for a geometrically imperfect column with an initial outofstraightness at midheight equal to 0. It is evident from the results of these studies that the strengths of different types of steel columns. the effect of geometricnl imperfections is only accounted for implicitly by applying a variable factor of safety to the basic strength curve.'^ investigated theoretically and experimentnlly the strength and stability of initially crooked imperfect columns.8) (2. The Structural Stability Research Council (SSRC).8 < A. different sizes and steel grades. may vary considerably.8) (Ac > 2. as well as round bars and members composed of welded plates. Although the effect of residual stress is explicitly accounted for. which are the result of different manufacturing and fabrication processes. and with actual measured values of residual stresses. . Structural Stability Research Council Curves Both the ASD curve and PD curve are originated horn the CRC curve.'' presents these three column curves along with the former one (CRC curve). and y = 1. S 2.2. The values for y are y = 1. In the categories covered by these column curves we find hotrolled and coldstraightened members. in its third edition of the Guide.l5) (0. which was developed on the basis of the bifurcation concept that assumes the column to he perfectly straight. a set of three multiplecolumn strength curves from a total of 112 columns being investigated was developed. researcher^'^.=I where y is the load factor used in the present AISCPD Specification. wideflange and box shapes.11.11 Design Curves for Steel Columns 125 format for plastic design of columns is thus r.8a) .3 for live and dead loads acting in conjunction with wind or earthquake loads. The expressions for the three SSRC curves are the following: Cume 1 (O< AcS0.7 for live and dead loads only.15 s A C < 1.a. and different axes of bending. so that multipledesign curves may be desirable.17 Each of these curves is representative of the strength of a related category of columns.2) ( 1 2A 18) (1.001L. Realizing that perfectly straight columns are rarely encountered in real life.
OSAcS3. .8) (0. 0 ) (2.0.0. the complete loaddeflection behavior of the column is traced from the start of loading to the ultimate state.0) 0.008 0. These column curves are used in conjunction with the Columrz Selection Table shown in Table 2. In the bifurcation analysis.0872.75 < A. ASD.877A.In the stability analysis.3. (Euler buckling) + Curue 3 1 (yield level) 1. For comparisons.' A '.093 . < 1.0. Stability analysis of columns will be discussed in Chapter 6.2222: 0. However. The peak point of this loaddeflection curve is the maximum load the column can carry.0.' A '.11. 2 3. the three SSRC curves are also plotted with the CRC.8~) 2 ) (2. for columns that are initially crooked.792A.0) (A. and PD curves in Fig.' + 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. the stability analysis is quite different from that of the bifurcation analysis.111 0.15s ACs0.' + + ( 0 s Acs0.15) (0.8 ~ 1 ~ ~ 2 .15~2~~1. Hence. a 5. Usually.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. (2.6) (0<AcS0.035 . 0 ~ A ~ s 2 .7072. lateral deflection begins as soon as theload is applied and so there is no distinct point of bifurcation. a stability analysis is also known as a loaddeflection analysis.102A.15) (0.' 0.45.128 +0.2O2Ac .11. the load that corresponds to the state of bifurcation of equilibrium is calculated using an eigenvalue analysis.0) ( 1 . As mentioned previously. recourse must be had to numerical method for solutions.Curve 2 =I ps P Y Columns 1 (yield level) 1. (Euler buckling) 0.8b) (2.6222.6) (A. It can be seen that these curves belly down in the intermediate slenderness range (0. 2.2 s Ac s 5. 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. The curves in each category as developed based on the stability a~lalysis.'0. I[ .009 0.636A.
rtraightcncd) .Table 2.3 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. This is no1 valid for rhdpcs slresdy assigned to curve 1. the column curve immcdi~lcly above the curve lor thc corresponding unstraiphlcncd .arc dcrigncd amording shape.
especially in the range 0 s 1< 1.).0. In the development of this curve. Note that only one curve is recommended for the whole range of possible column strengths. the LRFD format represents a more rational design approach. This LRFD curve is plotted in Fig. and LRFD) are summarized in Tables 2.. the AISC Load and Resistance Factor Design (LRFD) SpecificationZo adopts the following curve exp [0. .5 LC> 1. The column has a 1 1 initial crookedness sinusoidal in shape and has an amplitude of (1/1500)L at midheight.  . The axial force is applied at the centroid of the column end cross sections.128 AISC Load and Resistance Factor Design C u w e Columns As a result. the following assumptions were made: 1. Since different types of loads have different degrees of uncertainties. . 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.i i= 1 m (2. 1. 2. therefore.s 1. The column has small end restraints corresponding to an endrestraint parameter G = 10 (see Chapter 4) or an effective length factor K =0. The LRFD format is W. Furthermore. different load factors are used for different types of loads (e.10) where R. ! .6 for live load.11. .5.2) y = load factor (see Table 1.4 and 2. etc. (2. 2. y) are evaluated based on firstorder probabilistic approach. . = nominal resistance Q.. Note that the LRFD column curve as represented by Eq.45 together with all other curves described above.g. these load and resistance factors (@.5 to represent column strength. A The expressions for various column curves described above together with the three stateoftheart design formats (ASD. PD.1) i . 1. = nominal load effects $ I = resistance factor (see Table 1.96.4191:] 1 .11.9) is comparable to SSRC Curve 2.2 for dead load. .>C riQ. 3._ cy.
the use of these curves in design is rather cumbersome.AcSV5 2.i F.. for the SSRC multiplecolumn curves.S. jm.4 Summary of Column Curves Column curves CRC curve P A2 Column equations c ' l 5 AZ AlSCPDcurve = P 1.2. we will discuss two mathematical equations that can be Table 2.11. each curve is represented by nine or ten coefficients.7(15) s 1.5 Summary of Design Formats ASD R.11 Design Curves for Steel Columns 129 Table 2. LRFD $R. " 22 e. It is therefore desirable to have a single equation that can be used to represent all these curves.0 . 3 2 fie. 11 "7 . For example. In the present section.2 Single Equation for MultipleColumn Curves Although multiplecolumn curves give a more realistic representation of column strengths.
6. 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.Columns FIGURE 2.46 Physical model of imperfccl column P I used to represent these multiplecolumn curves. P.6 effect) according to the criterion in which P = aoolied axial force M = bending moment arising from thc P .22)] .6..20) and (2.6 effect [Eqs.46) will fail under the combined action of axial force and (secondary) bending moment (arising from the P . 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 . (2.
622 (SSRC Curve 3) (2.11 Design Curves for Steel Columns occurs at the most severely stressed fiber. 2.48). (2.(1  +q +A ) : d(1+ q +A : ) ' 2~f . 2.103 (SSRC Curve 1) 0. yields (2.18) the three SSRC curves can all he closely approximated (Fig.293 (SSRC Curve 2) 0.2.19) The LuiChen equation can be developed by setting where P.. we have Substituting My = Soy and P.11..15) where LY = P . .11. when Using Eq.X2..15) and defining P Solving for PIP. = flow moment (Fig.17) P Y Equation (2.11.4Af (2.17) is the RondalMaquoi equation.47). i.e. q = a i A I S gives = A: into Eq.IP. = tangent modulus load of the column M.11. By setting q=cu(A0.12). LuiChen Mathematical Formp 1 0.11.11.
CC.50 0.T CURVATURE Q .n>t..25 1..Ch.00 1.".00 Ac FIGURE 2.75 2. O' *eTE L I K MOMENT ~~.50 1.C c ..0 0.A.47 SSRC multiplecolumn curves and RondalMaquoi equation FIGURE 2.75 1..48 Schematic representation of average flaw moment M.25 0.
The shape factor is defined as the ratio of the plastic section modulus Z to the elastic section modulus 3. (2..23) can be written as P Pd.. Eq. In view of Eq.11.11. the criterion of failure for the column is Substituting Eq.11.12) into Eq. (2.22) 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.2.< a. =1 (1 .11. + P. in which f is the shape factor of the cross section.)zoo where S =elastic section modulus.24). Defining and realizing that . (2. (2.11 Design Cuwer for Steel Columns 133 Thus.
E. Any column curve can be generated using this equation provided that the parameters i j .33) can be written as . The maximum load a column can carry is a function of i j . E. Solving Eq. (2. Eq. Now.n 1 a . KL &(T)..32) for PIP. and I. are known. gives Equation (2. (2.11.11.Columns where A c = .26) can be written as in which i j = fays is the itnperfection parameter.11.11.34) is the LuiChen equation for all column strength curves. and I. 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.
. in terms of A. (2. geometric imperfection (y). r). On the other hand. PIP. crosssectional shape ( c . By substituting Eq.40) are known. so it can be written in the general form as where The modulus ratio E can be evaluated if the tangent modulus E.) on the loadcarrying capacity of columns. if A. so a. (with K = 1 for pinnedended column) Note that this imperfection parameter reflects the effects of yield stress (my). the problem resembles an axially loaded shortcolumn problem and the yield moment My. is very small. On the basis of this argument. is very large. depends on the degree of plastification of the cross section and is a function of the load level and column types. will approach a. we can write For a given column. so a.. 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.39) into Eq. will govern the ultimate state.378 and for weak axis bending as 0. axis of bending (f).38). will approach unity.11. and slenderness ratio (A. the value of P for strong axis bending can be taken as 0.11. (2. is . will approach oylfwhere f is the shape factor. PIP.11 Design Curves for Sleel Columns 1% or. the terms inside the brackets of Eq. will govern the ultimate state.2. wideflange shapes. The average flow stress a. this flow stress can be thought of as a function of the slenderness parameter A. (2.. the problem resembles a beam problem and the plastic limit momerzt M.308. If A. the following expression for the flow stress is proposed: The constant P can be determined from experiments or from calibration against existing column curves. is very small.11. For small and mediumsize hotrolled.
20 Chen.Calumns p = 0.50 0.LulChsn Equntlon . This nonlinearity is due to material for aluminum columns but for steel columns. this modulus ratio will reflect material nonlinearity and imperfecFIGURE 2.80P  5 0.378 0. Recall that the tangent modulus is the slope of the nonlinear stressstrain curve.Suslnoto and Chon. 1982 FIGURE 2.SupimoCo and 0.49 Comparison of LuiChen equation with computer model by Sugirnoto and Chen known either from an experimental or a theoretical approach.50 Comparison of LuiChen equation with computer model by Sugimoto and Chen 0"=36 hml . 1982 .40 . it is due to residual stresses existing in the steel cross sections. Thus.
50. Figure 2. at midheight equals to 0. the SSRC column curves can be closely approximated (Fig. wideflange shapes. For small and mediumsize hotrolled.159 0. bent about the section's strong axis with initial imperfection 6.OO2L. It can be seen that good agreement is generally observed between the numerically generated curves and the curves predicted using the mathematical equation. = end shear M. this modulus ratio can be conveniently taken as the ratio of the Euler curve to the CRC curve. 2. = end moment . good agreement is generally observed.092 tions.34) can also be used to approximate the SSRC multiplecolumn curves. 2. generated numerically by Sugimoto and ChenZ3 for a W12 x 65 section. Also shown in the figure are the two curves generated using the LuiChen equation.6.0m 0.49 shows two column curves.12. A similar comparison for the same column bent about its weak axis is shown in Fig.W1 0. i.6 Values of B and 6 for SSRC MultipleColumn Curves SSRC curve 1 2 3 a 6 0.12 SUMMARY For a perfectly straight column that buckles in the elastic range.e.Table 2. By using the values of li and 6 shown in Table 2.001L and O.1) E = elastic modulus I = moment of inertia of the cross section P = axial force V..11.453 0.036 0. Again.51). the differential equation of equilibrium can be written as Ely" where + Py = 5 V$ 5M o (2. 2. Equation (2.
(2. (2. nontrivial solutions for the dependent variable exist only for certain values called eigenvalues. This class of problem is known as the eigenvalue problem. A . For the case of a column. there is no unique solution for this equation. Because there are more unknowns than boundary conditions. In an eigenvalue problem. only the shape and not the amplitude of the eigenvector can be determined.Columns FIGURE 2.51 Comparison of SSRC curves wit11 LuiChen equation T h e general solution to Eq.12. Since there are more unknowns in Eq. Equation (2.1) is where k = and A and B are unknown coefficients. the eigenvectors are the buckling modes of the column and the eigenvalues are the values of k. the column ceases to be stable in its initial straight position. A small lateral disturbance that occurs at the critical load will cause a lateral deflection that will not disappear as the disturbance is removed. A t the critical load.2) than geometrical boundary conditions available in the problem. This equation depends on the end conditions of the column. since Vu and Mu are different for different end conditions.1) is a secondorder linear differential equation with constant coefficients. The nontrivial solutions that correspond to these eigenvalues are called eigenvectors.12. The lowest value of k gives the critical load of the column.12.
3) can be obtained by considering equilibrium of an infinitesimal segment of a column. the critical load can be obtained by simply replacing the elastic modulus E by an effective modulus E.PC) For perfectly straight columns that buckle in the inelastic range. this is an eigenvalue problem. 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..12. no strain reversal i .4) will thus give the critical load of the column. that is associated with a column instability..5) The key phenomenon. Note that there are five unknowns (k. take into account the material inelasticity. The lowest eigenvalue to Eq. is known as the P . where E.1) twice to give Ely '" + Py" = 0 whose general solution is Alternatively.12.12.4) and there are only four boundary conditions (geometrical and natural).12.6 effect. This P . From an elastic analysis. (according to the reduced modulus theory) The use of this effective modulus can.6 effect can be studied conveniently by analyzing an eccentrically loaded or initially crooked column. The result of this effect is an increase in lateral deflection and moment in the column. C. (2. This effect arises as the axial force P i s acting through the displacement 6 of the member relative to its chord. approximately. 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. (2.12. (2. A . B. Eq.12 Summary 139 more convenient form that is independent of end conditions can be obtained by differentiating Eq. and D ) in Eq. For endrestrained columns.12. In the tangent modulus theory. Again..3) I i I i 1 K= v%% (2. (according to the tangent modulus theory) I E. This can be achieved by multiplying the actual length of the endrestrained column by an effecfiue length factor defined as (2.6) (for initially crooked columns) L l .2. (2.12.
. a complete strain reversal is allowed. which is contained in the present ASD Spe~ification. Columns in reality are never perfect.w PROBLEMS i I I II 2. recourse to numerical techniques is inevitable.1. 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. the tangent modulus theory is used extensively to develop column strength curves for the purpose of design. The SSRC curve 2 represents the column strength of mediumsized hotrolled. in which only the load that corresponds to the point of bifurcation can be obtained. For instance. an alternate and more elaborate approach that explicitly takes ' into account the effect of geometrical imperfections in the columns may be desirable. As a result. and since it is easier to evaluate than the reduced modulus load. Because of the complexity in calculation inherent in the loaddeflection analysis. In contrast to the eigenvalue analysis.~ The tangent modulus concept is based o n the eigenvalue o r bifurcation analysis. wideflange shapes frequently used in building construction. the loaddeflection analysis permits us to trace the complete load deflection response of the column from the start of loading to failure. This curve forms the basis of the new AISCLRFD column curve. which is contained in the present LRFD Specification. and where a complete strain reversal is assumed to occur on the convex side of the column as it buckles. Sketch the deflected shapes of the columns. P2. By introducing a safety factor to the CRC curve to account for imperfections of the columns and load eccentricities.1 Find the ratio of the critical loads that curresponds to the first two buckling modes of the hvo columns shown in Fig. Since the tangent modulus load represents a lower bound to the buckling strength of real columns. In using the eigenvalue analysis one must assume that the column is geometrically perfect.is allowed. whereas in the reduced rnodulur theory. The SSRC multiplecolumn curves have been developed on the basis of an extensive loaddeflection analysis. This approach is known as the stability or loaddeflection analysis. one can develop the AISCASD curve. the C R C column curve was developed on the basis of the tangent modulus concept. Although the reduced modulus theory is theoretically correct.
4 Find the buckling loads of the columns shown in Fig.2 Find the buckling load of thc rectangular section pinned at both ends (Fig.3 3 FIGURE P2.1 EIconstant P 2.3). FIGURE P2.4 lhIo ei L I LL r P i . '.3 2.3 Find the buckling load of the fixedfree stepped column shown below (Fig. FIGURE P2. FIGURE P2.2 P I 2. P2. P2. P2.2).4ac.
5 m 2.181 ksi (1.=0.9 State the basic assumptions made in the development of the a.= 1.PIP. % .6 X 106MPa).78 ksi (157 MPa). the Secant formula b. Find the ratio PJP.= l l n m (Ll r ).2. at A.. 1 2L   1 & A n FIGURE P2.8). the PerryRobertson formula 2.). P2.) where a =f(PIP. = sec [(XI 2 ) m l .6 Discuss the assumptions used and the limitations of a. find an approximate expression for the amplification factor A.8 Plot the reduced modulus column curve for the aluminum column in the above problem with the following cross section (Fig. Approximate the stressstrain behavior of the aluminum alloy by two straight lines and reevaluate the ratio KIP. = 1.  T . = 22. AISCPD column curve c. in the form A.4 and A. 2.7 Plot the tangent modulus column curve for an aluminum alloy column with 11 = 8.4 and A. = ol(1. at A.4 .5. What conclusions can you draw upon comparison with the values obtained in part (a)? 2.Columns tL . AISCASD column curve b.2 where A. = 0.5 For the eccentrically loaded column shown in Fig. b. P2. a. AISCLRFD column curve How is the concept of "safety factor" incorporated in these design formats? .0. Compare it with the exact expression A. I Elcanstant 2. E = 10. SSRC multiplecolumn curves 2.10 Describe the interrelationship and design format of a. * FIGURE P 2 . CRC eolumn curve b.
FIGURE PZ.11 .8 FIGURE P2.
144 Columns 2.~st~city E. P2.) 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.14 I *I 4h I .12. P2.14. FIGURE P2.13 Find the buckling load of the column shown in Fig. P2.13. the LRFD format 2.14 Find the critical load P for the structure shown in Fig. and a dead load (D. the PD format c. f o ~ an idealized [section shown in Fir.) of 60 kips (267 kN). P FIGURE P2. P : 1 m I .12 Denvc the reduced modulus of el.) of 40 kips (178 kN). the ASD format b. PZ. In which it is assumed that onehalf of the crosssection are.11) with an occupancy live load (L. a roof live load (L.! is u concentrated'in each Aange and the area of the web is disregarded 2.13 I ~ I 2.
Bethlehem. November 1958. Lausanne and Geneva. A. Proceedings of the ASCE. Schweizerische Bauzeituna. PA. Wang. W.. ASCE. F.'68. 1976. Description of stressstrain curves by three parameters. and Perry. Vol. 14. G. Second edit~on. Johnston. On struts.. 18. C. (The Euier formula was derived in a later paper: Sur le Force de Colonnes. Timoshenko. 205231. New York. G. 267. Beedle.. 220A. National Advisory Committee on Aeronautics. R. 14 (May): 261264. pp. Vol. McGrawHill. L. 1972. Residual Stresses in Wide Flange Beams and Columns.. Illinois. Inelastic column theory. Department of Civil Engineering. 16. W. Theory of Elastic Stability.) 2. ed. 10. Engineering Societies Monographs. 44. Fritz Engineering Laboratory Report No. Vol.D. Basic column strength. 1889. and Tall. L. Journal of the Structural Division. 13. 5.. Zeitschrift fiir Architektur und Ingenieurwesen. ~ 8. PA. B. Journal of the Aeronautical Sciences. 93. Ketter. W. Lehigh University. Behavior and maximum strength of metal columns. 139173. No. 1973. 86. Fabrication and Erection of Structural Steel for Buildings. 62: 464 1886. E. Resistance des PiBces ComprimCes. Euler. Vol. Robertson.. Fritz Engineering Laboratory Report No. November 1978. McGrawHill. W. Lehigh University. Shanley. 1925. R. 28. Welding . 1759. 1947. T. 4. Chicago. 1961. April 1967. 13. Engesser. pp. Tebedge. Lehigh University. Paris. and Johnston. L. 9. B. p . New York. Sfintesco. Memoires de I'Academie Royale des Sciences et Belles Lettres. Deterministic and Probabilistic Approaches to the Strength of Steel Columns. and Gere. July 1956. N. G. 1943. dissertation. 11. PA. Berlin. The Engineer. AISC. S. 17. 3:371. The influence of residual stresses on the strength of structural members. M. New York. B. 12. Second edition. Huber. ed. Column Research Council. 1744. A. New York.1891. Residual Stresses in Structural Steel S h a p e j A Summary of Measured Values. F. R. R. R. Third edition. 7. 15. 6.. and Osgood.References 145 REFERENCES 1. July 1960. Considere. John Wiley &Sons. J. 1960. Second edition. John Wiley & Sons. ed. European Convention of Constructional Steelworks Manual on the Stability of Steel Structures. 1976. L. Bethlehem. . A. and Tall.ECCS. Specification for the Design. L. D.25. No.. Structural Stability Research Council Guide to Stability Design Criteria for Metal Structures. Applied Elasticity. Johnston. STI. Bjorhovde. Bethlehem. 337. 3. 902. P.. H. S.34. 1973. De curvis elasticis. Ramberg. 1895. 35:455. Batterman. 26:24. Ph. 1953. Guide to Design Criteria for Metal Compression Members. Paris. Also. Technical Note No. ICE Selected Engineering Paper. J. Ayrton. The strength of struts. ST2.Research Council Bulletin No. CongrBs International de Procedes de Construction. 19.
AISC. Theory of BeamColumns. Simplified approach to the analysis and design of columns with imperfections. The Analysis of Structures. F. Chicago. AISC. 1976. Buckling Strength of Metal Structures Engineering Societies Monographs. 1986. Principles of Structural Stability Theory... Journal of the Structural Division. Chajes. NJ. and Maquoi. New York. 1982. F.es. N. 1977. H.. 1979. M. Lui. R. F. Engineering Journal. McGrawHill. New York. and Chen. T. and Chen. W. Vol. McGrawHill.146 Columns 20. ASCE. Vol. Further Reading Bleich. 21. and Atsuta. Rordal. A. and Vol. ASCE. Chen. 1952. John Wiley & Sons. 105(STl): 247250. Sugimoto. 2: Space Behavior and Design. second quarter. 23. Load and Resistance Factor Design Specification for Structural Steel Buildings. E. November. 1974. lOB(ST3): 661681. 1: InPlane Behavior and Design. Hoff. Journal of the Structural Division. W. 22. 1984. Englewood Cliffs. F. PrenticeHall. pp. 21. . Small end restraint effects on strength of Hcolumns. Single equation for SSRC column strength cur . W. J. New York. J. 99117.. 1956.
1 INTRODUCTION A beamcolumn is a structural member that is subjected to both bending and compression. if the axial force effect in a member is negligible compared to the bending effect. These bending moments and lateral deflections are called primary bending moments and depectioru. it is more convenient to analyze and design that member as a beam. the axial force will act through the lateral deflection caused by the bending effect to produce additional lateral deflection and moment in the member. will cause lateral deflections. However. if the bending effect in a member is secondary compared to the axial force effect. To distinguish between the deflections (and moments) induced by the bending and axialforce effects. the bending moments induced in the member by the application of end moments. In reality. or by a combination of both. As a column problem. and to refer to the additional . the axial force at certain critical values will cause instability of 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. it is customary to refer to the deflection (and moment) caused by the primarybending effect as primary deflection (and moment). On the other hand. Because for a beamcolumn both the bending and axial effects are significant. beams and columns are regarded as special cases of beamcolumns. Thus. As a beam problem. In the case of beamcolumns.Chapter 3 BEAMCOLUMNS 3. it is more convenient to treat such a member as a column and analyze and design it accordingly. all members in a frame are beamcolumns.
This. will be followed by the solution of an elasticplastic beamcolumn under equal and opposite end moments. the twovolume work by Chen and At~uta?. Although the analysis of a beamcolumn is more complicated than that of a beam or a column. 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. 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. only numerical solutions with recourse to computer routines are possible. Theory of Elanic Stability by Timoshenko and Gere.') If yielding or inelasticity occurs in the member. (2) concentrated. 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. the concept of effective length factor will be used again.~) In this chapter. To take into account the effects of other members on the beamcolumn under consideration in a frame. crosssectional geometry. . In fact. closedform solutions are still possible if one makes drastically simplified assumptions regarding the stressstrain behavior of the material. The AISC effective length alignment charts for nonsway and sway cases will be discussed on the basis of certain simple assumptions. which will be based on the approaches used by the AISC for beamcolumns. we will distinguish between cases in which the beamcolumn is treated as an individual member or as a member in a frarrre. for example. 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. the momentcurvature relationship becomes nonlinear. in turn. For more general cases. we will develop the general governing differential equation of a beamcolumn under general loading conditions. however. (See.deflection (and moment) caused by the axialforce effect as secor~dary deAection (and moment). (See. we will show in detail the elastic solutions of a simply supported beamcolumn under three types of loadingsthat of (1) uniformly distributed. We will then conclude the chapter with a discussion of design equations. our discussions of beamcolumns will address separately the norrsway versus the sway case. and deAection shape of the member. In some cases. In addition. Since the behavior of a beamcolumn is different depending on whether there is a relative translation between the member ends. 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. however. for example. Afterward.
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.1 Beamcolumn with uniformly distributed lateral load (3. 3.2. The external moment acting on the cut section.lb. A freebody diagram of a segment of the beamcolumn of length x from the left support is shown in Fig. we have. Therefore. For equilibrium.1 The ClosedForm Solulion (Fig. 3. w wL EIY"+ PY =x2x 2 2 FIGURE 3. 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.2 BeamColumn with Uniform Distribulion Lateral Load 3. by equating Eqs.3) .la. 3.2.2 BEAMCOLUMN WITH UNIFORMLY DISTRIBUTED LATERAL LOAD 3. 3. (3. is If elastic behavior is assumed and if the material obeys Hooke's Law. the external moment must be balanced by the internal moment..3.2.2).2. upon rearranging.1) and (3. the internal moment M.1) T o begin our discussion of the elastic behavior of a beamcolumn..lb.
2.11) (3.4) can be obtained by either the method of undetermined coeficienu or by the method of uarintion of parameters. + C. (3. and C3 are the undetermined coefficients.2.7) has the general form The particular solution that satisfies Eq.where The general solution to Eq.4) in which C l .2..x y.2. and a particular solution y. (3. Taking derivatives of Eq. since the righthand side of Eq. we have + kZyp= (Clk2)x'+ (C.4).12) (3.. = 2C1 k2(C1x2 + GX+ C3) + Rearranging. We shall use the method of undetermined coefficients for this example.2. (3.2. y. 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. + k'y.2. C.e. Y =Yc+Yp (3. (3..2. (3. we obtain yb = 2C.13) = 2C1 and so y. i.6) The complementary solution that satisfies the homogeneous differential equation y" + k2y = 0 (3.2. In the method of undetermined coefficients.10) (3.4) is a polynomial.2.2. we can write .9).2. (3. (3.k2)x + (2C1+ C3k2) Upon comparison with Eq.4) consists of a complementary solution y.
the particular solution is w "=2ElkZ x WL  W 1  2EIk 7 Elk 7 Substituting the complementary solution Eq.2.20) into Eq. (3. (3.2.2.8) and the particular solution Eq. we find and using the second boundary condition.2. (3. we have . (3.4) as from which The constants A and B can be obtained by considering the boundary conditions Using the first boundary' condition.3.2 BeamColumn wilh Uniform Distribution Laleral Load 151 from which Hence.6) gives the general solution to Eq.
2.2. to put it in still another way. P = n2EI/LZ. The effect of the axial force on the maximum deflection is manifested in the term in the square bracket in Eq.e.2. In other words. and as ir increases ( e . the bending stiffness of the member vanishes as P approaches the Euler load..2) 5u4 1 where y. 3.u2.e. tanu sin+cos1 L '" L I from which the moment distribution along the length of the member is 3..2.26) can be written as wL4 21~1. Eq.Thus..e. Thus. (3. As seen from Fig. Finally. for an elastic . P increases) the value of this term increases. 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 .=5wL4/384EI is the maximum lateral deflection that would exist if the uniform lateral load w were acting alone (i. if P were absent). the lateral deflection of the member increases without bound or. (3.30). P = 0 ) the term in the brackets reduces to unity. as P approaches the Euler load. (3.21) can be written as Introducing the notation Eq..2. the Euler buckling load) the value of the term approaches infinity. if u = O (i. at u = n12 (i.2 The Calculation of y.
Another useful observation can be made from Eq.2 that the effect of axial force on the lateral deflection of the member depends on the magnitude of the axial force.30). Thus..2 Deflection amplification factor system. if P remains unchanged). 3. the lateral deflection y is directly proportional to the applied lateral load w.2 BeamColumn with Uniform Distribution Laleral Load FIGURE 3. For a constant u (i. the greater will be the amplification.2. the total lateral deflection resulting from . the critical load can be obtained by reference to the state at which the tangent stiffness of the system vanishes. In other words. (3. the deflections (and bending moments) are linear functions with respect to the lateral applied loads. This concept will be used in the next chapter to determine the critical loads of elastic frameworks. The larger the value of the axial force.30) can be regarded as an amplification factor. The term in the brackets in Eq.e. which amplifies the deflection of the member when an axial force is acting in conjunction with the lateral force. It can clearly be seen in Fig. (3. Let us now return to the beamcolumn problem.2.3.
(3. (3. which is generally the case for the .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. and (2) the same axial force i s applied to each of the componerir cares.30). As can be seen.30).2. Table 3. This is true even if the lateral load remains unchanged.2.32) can be written as or. . The principle of superposition has been used extensively for the special case of beam problems for which P = 0 . Here. we obtain y. and substituting this series into Eq.. = yo[l 0. This is known as the principle of superpositio~iorl.35)].32) Since Equation (3. Also. this deflection varies nonlinearly with the axial force. We shall use this principle later in the chapter to evaluate the fixedend moments of beamcolumns (Section 3.30)] and the design amplification factor [the term in brackets in Eq. 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.2. the proportionality between lateral deflection and lateral load will be destroyed if the axial force varies during the application of the lateral load. it is more convenient to simplify the expression of Eq. (3.5). approximately in which the term in the square brackets is the design amplification factor for the lateral deflection. Expanding sec u in a power series. (3. .4067uZ 0.1 shows a comparison of the theoretical amplification factor [the term in brackets in Eq. for small values of PIP.2.] + + (3. 1649u4 + ..2. For the purpose of design application. Although the lateral deflection is directly proportional to the applied lateral load for a constant axial force.2.
3 The Calculation of M. 3. the maximum moment occurs at midspan.2. . (3.2 BeamColumn wilh Unilorm Dislribulion Lateral Load Table 3. the two expressions give very comparable results. In addition to knowing the maximum deflection. The term in the square brackets thus represents the rnonren! anrplificarionfactor.2.. consists of two components: the primary moment M..2. which magnifies the primary moment in the member due to the presence of an axial force. (3. Therefore..35) axialload conditions in most beamcolumns in real structures.e. caused by the lateral load w and the secondary moment caused by the axial load P acting through the maximum lateral deflection y. Note that another way the maximum moment can be obtained is by realizing that M.. it is also important for an engineer or designer to know the maximum moment in the beamcolumn. if P were absent).e. (3.2. i. the maximum moment is where Mu = wL2/8 is the maximum moment that would exist if the lateral load w were acting alone (i... For a uniformly loaded beamcolumn. from the moment expression Eq.30) Design Eq.3.29).1 Theoretical and Design Deflection Amplification Factors for a Uniformly Loaded BearnColumn kL P Theoretical Eq.
41)]. (3.] (3.O28(P/P.2.2 shows a comparison of the theoretical moment amplification factor [the term in brackets in E q .36) is obtainable.31)] in Eq.33). (3.2. 3.156 ~eamColumns Using the expression for y. (3. (3.) 1. M .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 .37).) I where the term in the square brackets is the design moment amplification factor. we shall again simplify Eq. = M.36)] with the design moment amplification factor [the term in brackets in Eq.1 The ClosedForm Solution (Fig.36). it can be shown that or. .4167u2 + 0.2.[1 + 0. (3. (3. 3.(PIP..3. (3. Table 3.2. [Eq.2.3) Figure 3. (3.06870u6 + . approximately 1 = + O. (3. It can be seen that the two expressions give very comparable results.2. For the purpose of design application.30)] in Eq. 1694u4 + 0.2.3 BEAMCOLUMN WITH A CONCENTRATED LATERAL LOAD 3..2.38) Using the expression for u in Eq. it can easily be shown that Eq.2.2. .36) by using the power series expansion for sec u [Eq.
(3.681 2.176 1.W 1.360 1.OUO 1.017 1. 3.3b.41) 1.3. Referring to the freebody diagram in Fig.80 l.069 1.350 1.20 0. the differential equations for this beamcolumn can be written as for O s x s a I I Lx .702 2.60 0.863 0 0.E I ~ " = Q R ( ~ ) + for P ~a s x s L FIGURE 3.2.3 Beamcolumn with a concentrated lateral load (3.171 1.3 BeamColumn with a Concenlrated Lateral Load Table 3.lb) a P Px EICONSTANT Y .444 4.016 1.2 Theoretical and Design Moment Amplification Factors for a Uniformly Loaded BeamColumn kL = n =2 2 & P P .2.983 @ Design Eq.(3.3.20 1.36) 1.40 0. Theoretical Eq.40 r/2 = 1 force P.402 4.m 1.071 1.
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
4.4.18).4. (3..10.2 Concept of Equivalent Moment Equation (3. For the purpose of design. (MAIMB)* + 2(MAlMB)cos k L sinZk L +1 I IMBI from which we solve for 2 ( 1 . (3. one can obtain the equivalent moment by setting M = Me. 3.18) and whose location is determined by Eq.18) is the expression for the maximum moment for the general case of a beamcolumn subjected to unequal end moments. the concept of equiualerzt momerlt is introduced in design practice. The concept of equivalent moment is shown schematically in Fig.4. To eliminate these calculations. in Eq.4. and also the location of the maximum moment if it should occur away from the ends. (3. 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. or it may occur somewhere within the member whose magnitude is given by Eq. and be equal to the larger of the two end moments.cos k L ) = c.17).21) in which C. Mathematically.4.12) or Eq. (3.4.. The end moments MA and MB that act on the member are replaced by a pair of equal and opposite equivalent moment Me...3.10 Schematic representation of the concept of equivalent moment .4. is the equiualent moment factor. The maximum moment may occur at a member's end.19) and equate this to the M. one needs to know whether the maximum moment occurs at the end or away from the ends. (3. IMBI + 2(MAIMB)cos k L + 1] (3. FIGURE 3. in Eq.
7 and LRFD8 Specifications for the design of steel structures. ME) represents the maximum moment of the member.3(MAlMB)2. 3. 4 .4(MAlMB) 0. I + (3.75 1. are plotted in Fig. For a beamcolumn subjected to end moments only...3 and the Austin expression is C. Because of its simplicity. 3 . Evaluate C. .4. 3.. (3. terminates when the larger of the two end moments (i. PA& IMO i i FTGURJ3 3.0 0.23) As can be seen from Eq.4.4 BeamColumns Subjected lo End Momenlr 169 T H E O R E T I C A L . from Eq.P 0.4(MAIMB) 0.11. 3 The Calculation of M.. = 0.21). the simplified expressions give a rather good approximation to the theoretical one..00 I 7 I SINGLE CURVATURE 1 I OOUBLE CURVATURE I I 1 1I E N 0 M O M E N T RATIO. the following steps are thus taken to evaluate M.e.6 .~ MASSONNET AUSTIN 0 1 1.2 .22) (3.. As can be seen. 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.23). Simplified expressions for C. the Austin expression was adopted in the AISC/ASD. is a function of the moment ratio MAIMBand the axial force P.0.11 Comparison of various expressions for C .75 0.4.0. the equivalent moment factor C.4 The various expressions for C..4.50 0.. 1.3.25 0. (3.00 0.50 0. each for a given value of p = PIP.11 the curves for the theoretical C.25 0. Note that in Fig. = V0. for design.
T o demonstrate the use of this principle..12) As mentioned previously. (3.19) can be further simplified as follows. otherwise. to obtain the maximum moment for a nonsway beamcolumn subjected to end moments only.[(PIP. This simply supported beamcolumn is subjected to a uniformly distributed lateral load of w and a concentrated lateral load of Q at midspan. we will analyze the beamcolumn shown in Fig. one need only multiply the larger of the two end moments by a factor A .19) can be written as (3.cos22 2 Eq. Using the trigonometric identities and kL kL sinZkL = 4 sinZ. the maximum moment can now be computed by the simple formula In summary.MB.' but not in the A S D Specification. 3..21). (3.170 BeamColumns 2.19) with M = M...12a. the moment magnification factor must be greater than or equal to unity..4. 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. Calculate the maximum moment from Eq. 3. factor by the larger of the two end moments (Eq.4. A constant axial force P is also applied to the member. (3.27) to have physical meaning.4.4.1 Simply Supported BeamColumn (Fig. = C. Equation (3.4. For Eq. the larger end moment MB will be taken as M. 3.)]. Calculate the equivalent moment by multiplying the C.5 SUPERPOSITION OF SOLUTIONS 3.25) and since Me. 3. = C.5../[l.' 3. The .4. This fact is observed in the LRFD Specification.
. 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". 3.12b and c.2.=.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.k n 1L .3.26) + Eq. (3.e.r Q 2EIk 1 1 +wcoskr+wk2x'2 ("f"+ 4 k2).5 Superposition of Solutions FIGURE 3.  "1 (3. s i n S ( . i.1) T o obtain the maximum moment. However.5. for this . W (3... y = Eq. 1 I   W 1 2EIk2 X ( L .13a) / .)2s i nsk~.x ) + " EIk3.3.
5.2. 3. (3.= Eq.2) 3.l)] 8 u2 + [ta.12b) and the concentrated loaded case (Fig. 3.172 BeamColumns example there is a simpler approach. 3.12a). can just add the maximum moment for these two cases together to obtain the maximum moment of the combined loading case (Fig.13 Fixedend moments of a uniformly loaded beamcolumn .2 FixedEnded BeamColumns Another application of the principle of superposition is to determine the fixedend moments of a beamcolumn.36)+ Eq. Thus M. (3. 3 .17) u . Uniform Load Case (Fig. 3. Knowing that the maximum moment occurs at midspan for both the uniformly loaded case (Fig.5. U] (3..13a). 1 2 ~ ) we .3.13) 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. We FIGURE 3.
13. the algebraic sum of the rotation at the ends produced by the uniform load wJ (Fig.5.4. 3.2. (3. as MFAL 1.5.cos k L = 2 sin2kL/2.13b) and that produced by the end moments (Fig. we obtain the A end rotation produced by the uniform load was and from Eq.3) and (3. by setting MA= MFA. (3.) of this member using the principle of superposition.5.To satisfy the continuity condition of zero slopes at the builtin ends. 1 3 ~ . 3 . Thus.5) into Eq. (3. The beamcolumn in Fig.5 Superposition of Solutions 173 will determine the fixedend moments (MFA. 3.13a can be decomposed into that of Fig. 3. (3.5. (3. we can write Eq.28) and evaluating the resulting equation at x = 0. Note that the term wL2/12 is the fixedend moment for a member subjected to uniformly distributed load only.13~) must be zero. Because of symmetry.6) gives the fixedend moment The minus sign in Eq.5. the terms in the brackets represent the effect of axial force on the fixedend moment of the member.3.9).M. 3. MB= M F = ~ MFA and x = 0. 3.13b and Fig.4) with Y L(O) = MmL tan [+ ir Since the continuity condition at the fixedend requires that the substitution of Eqs. we need only consider half of the member. By taking the derivative of Eq.7) indicates that the direction of MFA is opposite to that shown in Fig. (3. .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. we only need consider half of the member. 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.14 Fixedend moments of a beamcolumn with a concentrated transverse load at midspan t L 7 I EICONSTANT . (3. we obtain the A end rotation due to the lateral load Q as kL sin 2 Q yb(O)=. 3.174 Concentrated Load Case (Fig.14a). I FIGURE 3.14a).. Again. From Eq. by setting a = L/2. The end rotation at the A end due to the end moments M. because of symmetry.Q EIkZsink L 2EIkZ where u = kL/2.
F A =  QL 8 [2(sectan u u . In this section.3. (3. = MFA is obtained from Eq.10) represents the fixedend moment of the memher when P is absent.5. we have Summing forces vertically.5) into (3. The terms in the brackets thus represent the effect of axial force on the fixedend moment of the memher. 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.6 Basic Differential Equations 175 and M . (3. The longitudinal force P and transverse force V are shown with their directions parallel and normal to the undeflected axis of the memher.5. Summing forces horizontally.9) yb(O) + Y L(O) = 0 Upon substituting Eqs.5. we will develop the basic differential equations of a beamcolumn subjected to general lateral loadings.8) and (3.[ MmL tan u u Since the slope at the fixedend must be zero. .5.9).6 BASIC DIFFERENTIAL EQUATIONS Up to this point.5) Y L(0) = I.5. 3. 3. an initially straight beamcolumn is subjected to an axial force P and a lateral load w(x) along its entire span.5. we can determine the fixedend moment as .5. To examine the stability of the memher.1) ] (3.14. we have .15b shows an infinitesimal element of the deflected memher of projected length dx. The resulting linear differential equation has been secondorder. (3. 3. As seen in Fig.15a. The term QL/8 that appeared in Eq. we must satisfy the condition (3. is opposite to that shown in Fig. Figure 3. we have to consider the equilibrium state in the deflected configuration.10) The minus sign indicates that the direction of M . respectively.
r)'Pdr d P dy dx d x dV dx d~ dx =0 . we have dM d.BeamColumns Y INITIAL CONFIGURATION DEFLECTED CONFIGURATION lbl FIGURE 3.15 General differential equation of a beamcolumn Summing moments about point 0.r dx .w(x) (h)' .V d x (d.
Equation ( 3 . the force P remains constant in the element.3) and rearranging. the axial thrust P. 6 . That is to say.6. (3. (3.6. Equation (3. 5 ) is the basic differential equation of a beamcolumn relating the lateral deflection y.4) with respect to x and substitute Eq. For small deflection. which is assumed to be constant along the infinitesimal length ak. 7 ) .dy =. 6 . (3. and the transverse force V. and the transverse loading rv(x). The general solution to this equation is where f ( x ) is the particular solution of the differential equation. neglecting the higher order terms involving (dr)'.6.6.E I d Z y / d r 2 .V ak3 ak EI If we differentiate Eq. 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. the axial thrust P.6 Basic Differential Equations 177 or. The following examples will be used to demonstrate the use of Eqs. . (3.2) 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 ) . The general solution to this equation is where f ( x ) is the particular solution of the differential equation.2) into the resulting equation.6.6. we obtain or using k2 = PIE1 d3y + k . Upon substitution into Eq.1) states that there is no change in longitudinal force in the segment. we can write M = .6.3. 6 . we have or with k 2 = PIE1 Equation ( 3 . Equation (3.7) is the basic differential equation of a beamcolumn relating the lateral deflection y.5) and ( 3 . we obtain Equation (3.
(3. . 3.16 M . B. only half of the member is considered in the analysis. . From Eq.178 3.6. y . and C are determined from the boundary conditions y(0) =O. Since the transverse force acting on any cut section is constant and is equal to Q/2. Because of symmetry.8).6. ( g ) =O (3. we have.12) FlGURE 3. ot a beamcolumn with a concentrated transverse load at midspan MOMENT DIAGRAM 8 SECONDARY MOMENT DIAGRAM . yf(0) 0. the general solution is The constants A.6. (3.6.16.5).1 FixedFixed BeamColumn with Concentrated Load at Midspan BeamColumns The beamcolumn under investigation is shown in Fig. from Eq.
10).6.6. (3.18) in the format of Eqs. (3.41) and (3.6. The maximum moment for this beamcolumn occurs at midspan and at the ends (see Fig.2 cos u .11) is fully determined =2Elk' The deflection at midspan is QL3 12(2 .3.= critical load of the beamcolumn considering the end conditions when the lateral force is absent Y =constant .6. it is more convenient to approximate Eq.18) with Eq.6.16) I (3. in which Mu= maximum primary moment (maximum moment when the axial force is absent) PC.6.17). (3.16b) and is equal to = Ely"(O) =  8 u sin u 1 (3.18) Note the correspondence of Eq. the terms in the brackets represent the effect of axial force on the primary deflection of the member. Thus.6..2. For the purpose of design.20).17) where rc = kL/2 The term QL3/192EI.6 Basic Differenlial Equalions 179 Using these boundary conditions. (3. E l k 3 C= kL 2Elk3 sin 2 " " kL kL (cosil) sin 2 (1  cosF) (1 kL sin 2 (3.15) With these constants. represents the midspan deflection when the axial force is not present.6. we find B= ? .5. the deflection function (3. sin+ kL (cosT~) ) %+.3.Cosy sin 2 I (3. which appeared in Eq. i. (3. 3.e.u sin u) u3 sin u ! M .
6. Mo= QL18. for Y = 0. = n2EII(KL)' in which K = 0.6. Eq. 6 . the general solution is The constants A.5.19) For the present case.BeamColumns Table 3. 2 FixedFixed BeamColumn with Uniformly Distributed Loads The differential equation for this case is from Eq. (3. (3.18) Design Eq.5 Theoretical and Design Moment Amplification Factors for a FixedEnded BeamColumn Loaded by a Concentrated Lateral Load at Midspan kL = =2 2K Theoretical Eq. w drZ E l From E q .6.19) gives a good approximation to Eq.19).6.9). 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. (3. P.6. B. The value of Y can be determined by equating Eq. 3 .18) to (3..5. (3. (3. and D are determined from the boundary .18). As shown in Table 3. C.6.6.7) d2y d'y +k=dr4 . (3. (3.2.6.
26) With these constants.23) or.5. y'(0) = 0 .2 cos u .With reference to . the term wL4/384EI represents the lateral deflection when the axial force P is absent.30) Again. Eq.7).29) wL4 =GZ [ 12(2 . y'(L)=O (3. (f) Y"'(i) =0 (3.19). y(L)=O.6. alternatively. it is more convenient to approximate Eq.22) can be written as cos kx tan 2 The deflection at midspan is I%+. and the terms in square brackets represent the effect of axial thrust on the lateral deflection. the four boundary conditions are y(0) = 0 . we find B = WL kL 2EIk3 tan 2 (3.6 Basic Difierenlial Equalions 181 conditions y(O)=O. by making use of the condition of symmetry. (3.24) Using either set of these four conditions. Again. 1 tan 2 (3.= O . y' .u sin u ) u3 sin u ] (3.31) with Eq.6. (3. The maximum moment for this beamcolumn occurs at the fixedend and is equal to The reader should note the correspondence of Eq.6.6.6. y1(0)=O. (3.3. (3.6. (3.6. for the purpose of design.6.6.31) in the format of Eq.
.Ma) and the end rotations (8.(Plp.6.. 8. PC.17 Beamcolumn subjected to end moments (without relative joint translation) . as expressed in Eq. we will develop the slopedeflection equations for a beamcolumn. . 3.32) Again.4.l} (3.19) (Table 3. The Eq.31) and the approximate M . is now wL2112.) 3(tan u .4.).8).6. we now want to establish a relationship between the end moments (MA. the deflection function for this beamcolumn has the FIGURE 3. (3. M.19)..6). From Eq. as expressed in Eq. we will observe a good correlation between the theoretical M .. the value of Y does not vary too much for various values of PIP. Consider the beamcolumn shown in Fig.6 Theoretical and Design Moment Amplification Factors for a FixedEnded BeamColumn Loaded by a Uniformly Distributed Lateral Load Design = n2EII(KL)' where K = 0.17.~)].5. (3. By choosing a Yvalue equal to 0. value of Y is Y ={I 1 (PIP. (3.6.BeamColumns Table 3.u ) u2 tan u 1 [I . .6. (3.7 SLOPEDEFLECTION EQUATIONS In this section. 3.
can be obtained as 1 o A = ( )= Elk  [.k L +E[(kL)'sin kL1" + L sin k L .3). (kL)'sin k L [ .k L cos k L E. 1 cosk Elk sinkL 1 kL Using Eq.3.7.[EI sin k L . we have y from which [I. MA y = . the end rotations 0 .I cos k L sln k L 1 k L MA L . (3.(MAcos k~ MB)slnkr+Elk2 sin k L + 'OS kr Rearranging. and 8 .k L cos k L (kL)' sin k L L sinkL .7 SlopeDeflection Equations form .
7. we can write where kL sin kL .7. Equations (3.(kL)2coskL 22coskLkLsinkL C " ] (3.6).7.7.184 .kL cos kL [ sin kL (*~)2 sin kL 1 From Eq. (3.11) (3. BeamColumns Equations (3.4) and (3.7.7.14) are the slopedeflection equations for a .10) can be written in its expanded form as where are referred to as the stabilig functions.13) and (3.7.7.5) can bewritten in matrix form as where I h ?= L .12) E l [ (kL)'kLsinkL = c L 22coskLkLsinkL " I Equation (3.
Table 3. sii Sij Sii 1.7 Stability Functions (kL= J Z ~ ) compression tension Sii kL PIP. 05GO . OOGO 2. 9500 2.
7730 4.8314 4.8020 4.8374 1. 7845 1. 8083 1. 8142 1.2213 4.7444 4.0162 1. 8201 1.186 Table 3.8259 1.7785 .9221 4. 8317 1 .7163 4.2032 2.6886 4. 8431 1 .9531 4. 7905 1.9845 5.8915 4.7 Stability Functions ( k L = n m )(continued) compression Sii Sii tension Sii Sij 3. 7965 1.8024 1.8612 4.
Note that when P approaches zero. and by using the L'Hospital's rule. it can be shown that sii reduces to 4 and sij reduces to 2 (see Problem 3.8 MODIFIED SLOPEDEFLECTION EQUATIONS Equations (3.i sij beamcolumn that is not subjected to transverse loadings and relative joint translation (or sidesway). S.14) are valid provided that the following conditions are observed. we see that kL = ( ~ I approaches L zero.18.8 Modified SlopeDeflection Equalions 187 Table 3.3. 3.7. Values for sii and sii for various values of kL are shown in Table 3. .7 (continued) compression tension s i i Sij kL PIP.7 and plotted in Fig. 3.7.13) and (3.3).
0 . Some of these modifications to special cases of beamcolumns are described below.1 Member with Sway If there is a relative joint translation between the member ends.8.BeamColumns 12  COMPRESSIVE AXIAL FORCE . The beam is prismatic. If these conditions are not satisfied. The member is continuous. 3. designated as A in Fig. the slopedeflection equations are modified . _4 z 2. i.18 Plot of stability functions 1. 3 11 LL t 4 > 0 : + U1 4 3  0  12  FIGURE 3. There is no inspan transverse loadings on the member..e. 3. 2..e. there is no internal hinge or discontinuity in the member.19. The axial force in the member is compressive. 1 2 . There is no relative joint displacement between the two ends of the member. modifications to the slopedeflection equations are necessary. 4.T E N S I L E AXIAL FORCE 0  . the member does not sway. i. 3. 5..5.
2 Member with a Hinge at One End If a hinge is present at one end of the memberas in Fig.13). i. (3. has been condensed out of Eq.8 Modified Slope. Thus. 3.8.3.. from which I Upon substituting Eq. as shown in . by using Eq.8. (3.8.13) in Eq. If the member is hinged at the A rather than the B end. the degrees of freedom used for the analysis can be reduced if the member is hinged at one end. (3.5).Deflection Equalionr FIGURE 3.19 Beamcolumn subjected to end moments (with relative joint translation) 3.5).4) into Eq.7.20% in which the B end is hingedthe moment there is zero. we have Note that 0. (3. (3.7.e.8.
3. and RkB at the A and B ends.3 Member with Elastically Restrained Ends A member may not be connected rigidly to other members at its ends.. provided that the subscript A is changed to B..5) is still valid.21.8.If we denote the total end FIGURE 3..20 Beamcolumn subjected to end moments (with one end hinged) Fig. (3. 3. with spring constants R. and MB/RkB.lbl FIGURE 3. but may be connected instead to such members by a linear elastic spring.20b.21 Beamcolumn subjected to end moments (with elastically restrained ends) . The additional end rotations introduced as the result of the linear spring are MJR.8. Eq. as in Fig. respectively. 3.
10). .9) reduce to Eqs. Eqs. Note that as R.8. 1 4 ) .5.8) to (3.M D R ) As a result. the slopedeflection equations (3. Table 3.5. can be obtained by a procedure outlined in Section 3.14) must be modified by adding an extra term for the fixedend moment of the member The fixedend moments M F . then the member end rotations. The last case is left as an exercise for the reader (see Problem 3. (3. and M .8.M A R ) and ( 0 .13) and (3. The solutions for the first two cases have been derived in Section 3. the equality sij=siihas been used. (3. respectively.13) and ( 3 . respectively.8) and (3. with respect to its chord.8.10).3. (3. the modified slopedeflection equations are modified to Solving Eqs.8.4 M e m b e r with Transverse L o a d i n g s For members subjected to transverse loadings. (3.8. as in the preceding cases. 7 .8.8 Modified Slope. and OD. will be ( 0 .Deflection Equalions 191 rotations at joints A and B by 8 .. 3.7. .8 gives the expressions for the fixedend moments of three commonly encountered cases of transverse loadings.7. and RkD approach infinity.8.7) simultaneously for MA and MD gives I where I In writing Eqs.7.6) and (3.
8. = " " + 3.7.13) (3.192 Table 3.0 .7.. = s .8.16) are redefined as S.(kL)' 2 .14) are still valid provided that the stability functions defined in Eqs..22a.7.8. = S. Eqs.15) and (3. (3.2 cosh k L + k L sinh kL k L sinh kL .. = " " (kL)' cosh k L . (3.7.8.14) y.13) and (3. 3.6 Member Bent in Single Curvature with O n = .8 Expressions for FixedEnd Moments BeamColumns 3. For the member shown in Fig. the slopedeflection equations reduce to . .2 cosh k L k L sinh kL (3.5 Member with Tensile Axial Force For members subjected to an axial force that is tensile rather than compressive.kL sinh kL 2 .
^^. 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 .7 Member Bent in Double Curvature with & = 0.3. no yielding of material has taken place in any part of the member. 3. However.22b. For the member shown in Fig.9 INELASTIC BEAMCOLUMNS Our discussion so far has been limited to the case in which the member remains fully elastic.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. In many instances.' In the following. for failure behavior. closedform solutions are intractable and recourse must be had to numerical techniques to obtain solution^.22 Benmcolumn subjected to end moments (singlecurvature nnd doublecurvature bending) 3. we must include irrelasticity in the analysis. In other words. The assumption of a fully elastic behavior is justified to some extent for the member under service loading conditions.8. the slopedeflection equations reduce to 3.
lO~ll In this section. The equilibrium condition is established only at midspan of the member. In the process of analysis. 3.23a). approximate solutions to some specific cases of inelastic beamcolumns can be obtained analytically. we will need to use the nonlinear relationship between the internal moment (M) and the curvature FIGURE 3. The deflected shape of the member follows a halfsine wave (Fig. The three basic assumptions used in the following derivation are the following: 1.23 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 .2%). 3. the behavior and failure load of an eccentrically loaded beamcolumn of rectangular cross section will be investigated.made. The stressstrain relationship is assumed to be elasticperfectly plastic (Fig. The derivation follows closely to that given in reference 11. 2. 3.
FIGURE 3. It is therefore necessary to develop this relationship before proceeding to the analysis.24.9.3 .24 Strain and stress diagrams STRAIN STRESS CENTROIDAL AXIS NEUTRAL AXlS = C" la1 CASE 1 m.my lcl CASE 3 . and the secondary plastic (yielding in both compression and tension zones). ac.= .1 M8P Relationship Figure 3. 3. the primary plastic (yielding in compression zone only). 9 inehslic BeamColumns 195 (@= y") with the presence of an axial force (P).= ' = " CENTROIDAL A X l S N E U T R A L AX1 "1 < " " lbl CASE 2 CENTROIDAL AXlS +P u. shows a series of strain and stress diagrams that correspond to three stages of loading sequences: the elastic (no yielding).
3.1) where sois the axial strain at the centroid of the cross section.9. .23a). b is the width and h is the height of the cross section (Fig. Case 2.9. we write ~ = s ~ + O for y GYG h 2 h 2 (3.9.9. the stress is related to the strain by h h u = E s for = 6(3.196 BeamColumns respectively.9.5) indicates that the axial force P is equal to the axial stiffness EA times the axial strain soat the centroid of the cross section.9.6) Equation (3. 3. respectively. By performing the necessary integrations.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 M =E I a (3. In Eqs. we obtain P = EAs.9. For convenience. The MaP relationship for each case will be developed separately as follows: Case 1: Elastic (Fig.24a) KINEMATICS From the kinematic assumption that plane sections remain plane after bending.3) and (3.4). RELATION STRESSSTRAIN Since the entire cross section is elastic.5) (3. (3. they are designated in the following as Case 1. and Case 3.
9.9.9.246) KINEMATICS + s ( l p). (3.9.3 . E = E ~ we .9. from which we obtain E0=Ey@h and substituting this into E q .6) is the familiar elastic beam momentcurvature relationship of M = EIy".7) Equations (3.6) can be written in a nondimensional form as P =E E o I ~ ~ and (3.5) and (3. (3. E = E O + @ y for h h Sys2 2 Since at y = f?.9. Introducing the notations Py=Aay=bhay (3.9.14) is for Case 2: Primary Plastic (Fig. have Ey = E" +a t 5 .13) (3.9. 9 lnelaslic BeamColumns 197 Equation (3.14) n r =$ r The range of applicability of Eq.1) leads to . 3.
9.9.9. respectively. we obtain where rn.17) as e=ey(hy)@ for sys2 2 h h (3.12).9.BeamColumns o=Ee h for .p ) 4 @ 6 1 / ( 1 . and p are as defined in Eqs.20) and (3.22) is for (1 .9.. (3. 2 4 ~ ) KINEMATICS The strain at any point y from the centroidal axis is expressed by Eq.9. @.9. (3. and (3. (3.21). Case 3: Secondary Plastic (Fig.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. 3 . we need to establish a relationship between the elasticplastic boundaries g and h.9.17) In addition.p). to facilitate the integration. The range of applicability of Eq.10). This can be achieved by using similar triangles in the strain diagram: . (3.
3.9 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.p ) relationships for a rectangular section can be written as the following: Case 1: m = @ . and eliminating h from the resulting expressions (3.9.9.30a) .9. To sum up. the nondimensional momentcurvaturethrust (m .29) is for @ 3 1/(1 p).27) and (3. for Case 2: @s(lp) (3.9. (3.9.@ . we obtain The range of applicability of Eq.28). with g given in Eq. (3.23).
it is often necessary to evaluate the integrals for the axial force P and internal bending moment M numerically.@) relationship for various values of p . 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. However.p ) 2qJ2' (3.25 Momentcurvaturethrust relationships Case 3: rn=!(lp2)1 for @ z= l / ( l . the axial force has no effect on the momentcurvature relationship. as soon as yielding commences (Case 2 and Case 3). 3 0.9.7 0. stressstrain behavior.0 1.2MD BeamColumns 0 0.i 0.by FlGURE 3.0 3.5 0.30~) Note that if the member is fully elastic (Case I). the momentcurvature relationships will be affected by the axial force.9. For general cross sections with general stressstrain behavior.2 0 . Numerical and approximate momentcurvaturethrust expressions for various crosssectional shapes have been developed and are discussed in detail in reference 2. 3.0 + =@. Figure 3.25 shows some plots of the momentcurvature (nr . we now proceed with the investigation of the inelastic behavior of an eccentrically . It should be remembered that the momentcurvaturethrust relationships developed above are valid only for rectangular cross sections with idealized elasticplastic.0 5.2 Approximate Solution With the momentcurvaturethrust relationships developed.1  0.
35) (3.9. By assuming that the deflected shape of the member resembles a halfsine wave..23a) by using the analysis method presented in reference 11.9.. we write from which we obtain and y"=6 The curvature at midspan is (I2  sin " . = moment at midspan Denoting FIGURE 3.9. where 6 is the deflection at midspan.26) is Mu P 6 where + = M..3.36) (3. 3. (3.9 Inelastic BeamColumns 201 loaded beamcolumn (Fig..37) (3. 3. The equilibrium condition at midspan (Fig.26 Freebody diagram of the eccentrically loaded member cut at midspan .38) Mu = Pe e = load eccentricity M.9.
a 1/(1 . curve for a simplysupported.. Therefore. (3. (normalized moment and curvature at midspan) into Eq. (3.15 in.@ . eccentrically loaded member with the following dimensions and properties: e = 1. we have the following: Case 1: @. from Eq. = z 1/(1 .OO ksi Notice that at approximately ma = 0. (3. the member is no longer able to resist an increase in load.9. the . (3.@ .9. and rearrange.47 yielding starts at the compression side of the cross section.43). @ = @ .53.p ) Figure 3. E = 30.35) can be written as Since. a noticeable decrease in stiffness of the member is observed.30)] with m = m.p ) =z @ .34) We can write Eq.9.Equation (3.9.27 shows a plot of the mo. oy= 34 ksi.p ) Case 3: @ .p ) relationships [Eq.9.41) as If we substitute the momentcurvaturethrust (nr .S 1p Case 2: (1 . As a result. The degradation of stiffness continues until at approximately the peak moment m0=0.
10 0 FIGURE 3..3.53)(1)(2fi)~(34) = 31.40  21xh 0.15) For this case.. 5 ( 1 p ) ] .20 0.20 maximum load the member can resist is .3 kips 6(1.30  0. However.00 1.47 0.(0.60 0. this is not always the case.40 0. 1 p ) S .53 0.20  0.60  CASE 1 CONTROLS CASE 2 CONTROLS  ~molmaI =0. 00. the maximum load occurs in the primary plastic range [ e .. Depending on the slenderness ratio and the magnitude of eccentricity.9 Inelastic BeamColumns 203 0. versus @ .50   I 1 0.27 Plot of m. .80 1.
28 shows three such ultimate strength interaction curves for slenderness ratios Llr = 20.c) with respect to @ equal to zero.. has been obtained graphically as the point of the m. 60. the determination of the maximum load that a member can resist is . Although a rectangular section with idealized stressstrain relationship has been used here to obtain the interaction diagrams shown in the figure.). versus @ . the same procedure can be extended to obtain ultimate strength interaction diagrams for Ishaped sections with or without residual stress. resort to numerical solution techniques is inevitable.204 BeamColumns the failure load may occur in the secondary plastic range [i. and p can he established as the following: s 1 If Case 2 controls. Various numerical techniques to obtain ultimate strength interaction diagrams are summarized and presented in detail in references 2 and 3.  If Case 3 controls..e.. by using Eq. curves giving the value of ( M ...9.. in many cases. In this example.e. The same maximum moment can be obtained more conveniently by realizing that the peak point of the curve corresponds to the condition . for a given value of P) can he developed. if (1 . Figure 3. stepbystep numerical integration) will he presented in Chapter 6.).). (3. one can see that although several simplifying assumptions concerning the member and material behavior have been used. . Thus. curve. i.P ) 3 <P P. Two such numerical techniques (Newmark's method. obtained into the corresponding equation will give the value of (m..)..46a) or Eq.44b. by setting the derivative of Eq.. the value of @ . the maximum end moment (m. a relation between (m. and p (i.9. ) . (3. However.. (3. From the above example.9. > 11 (1 p)]... depending on the range of applicability of the equations. for each so relevant case can he calculated. the determination of ultimate loads for these sections involves considerably more effort and.e..e.46b). Backsubstituting the value of @. @ .. if 0 s Ps (1 P)' PC Thus. ultimate strength interaction curves for m. and 120. In doing so. that corresponds to (m. i.
From a practical standpoint.46b) can be approximated by a simple .28 Ultimate interaction curves still cumbersome. it is more convenient if the maximum load can be determined approximately in a direct manner by simpler formulas.10 Design Interaction Equalionr 205 FIGURE 3. (3.9. T o this end.28 for rectangular cross sections based on Eq.10 DESIGN INTERACTION EQUATIONS The interaction curves shown in Fig.46a) or Eq. 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. 3.3.9. These design interaction equations provide a convenient and direct means for designers to estimate the adequacy of members subjected to combined stresses (forces). 3. design interaction formulas provide just such a quick and easy way for estimating the maximum loadcarrying capacity of a beamcolumn. Various forms of design interaction equations used for design purposes will be discussed in the following section. (3.
28. For rectangular cross sections. is (from Eq.. the ultimate axial capacity of the member P.29 using an abscissa of M d M . can be represented by the CRC curve and SSRC curves or the LRFD curve (Chapter 2)...11. we obtain Equation (3. As can be seen.= 11..9. (3.. these curves are replotted as solid lines in Fig. (3. to obtain a direct comparison. Mu = Mp the plastic moment capacity of the cross section.4) is plotted as dotted lines in Fig. (3. which is equivalent to a member subjected to equal end moments and an axial force. and the yield moment My are related by Mp= 1. 2.10. = ultimate axial capacity of the member in the absence of primary bending moment M.23). 3.10. the plastic moment M.2) and then into Eq. For an eccentrically loaded member.3) where C. = maximum moment in the member Mu = ultimate moment capacity of the member in the absence of axial force Depending on the design philosophy.10. and C.IM. is the amplified moment in the member and can be represented by where A .10. 3. The theoretical ultimate strength interaction curves are given by Eq.27) A.5 My (Eq. (3.1).3) into Eq.10. (3. The quantity M.206 BeamColumns linear interaction equation of the form where P = axial force in the member P..  (&I (3.4.b) and are plotted in Fig.46a.4.= 1 [Eq. (3. is the moment amplificalion factor discussed earlier in the chapter.9)...30~with p = 0 and @ =a). however. 3.. 3. except for low slenderness ratios the interaction equation (3. the expression for A . 3.9.10. rather than MoIMy. = c. = LRFD curve (Eq.4) gives a good ap . However.29 by using P . is given by Eq.23) with M. Upon substituting Eq.4.
.18. (3. a = 1.20 0. and Eq.(PIP. 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.5) represents the exact ultimate strength interaction curve (Fig. b = 1. the additional moment induced in the member as a result of the axial force acting through the lateral deflection) is not significant. The constants a and b define the shape of the interaction curve.)] which reflects the P .6 effect (i. the presence of the term 1/[1.. (3. 3. This is because the P . b = 1. and Eq.4) becomes too conservative.10.10 Design Interaction Equations 207 THEORETICAL . Eq.31).60 0.10.3. (3.10.e.80 1.29 Comparison of theoretical and dcsign ultimate strength interaction curves proximation to the theoretical solution.. Consequently.5) is an approximate ultimate strength interaction equation (Fig.30).1) too conservative. (3. In fact. a = 2.00 FIGURE 3. For low slenderness ratios. For Isection bent about the strong axis.6 effect will render Eq. if the slenderness ratio of the member approaches zero. For rectangular sections...40 0. 3. For .10.DESIGN 0 0.
(3.. the C.10.BeamColumns FIGURE 3. as the member will fail by lateral torsional buckling before the plastic moment capacity of the member can be attained.10.30 Ultimate strength interaction curve for rectangular cross sections with Llr = 0 Isection bent about the weak axis. 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.= 1 + YPlP. b = 1. it should be noted that Eq. Nevertheless. in these cases where the primary moment results from transverse loading.5) represents an approximate interaction equation (Fig. If lateral torsional instability occurs in the member.4) implies that lateral torsional instability will not occur in the member. It should be mentioned here that the use of M u = M. and Eq. 3. The subject of lateral instability of beams will be discussed in Chapter 5. (3.4) can also be used for members whose primary bending moment results from transverse loading rather than from end moments. of the member will be less than M.32). value is defined as C. (3. Furthermore.19. in Eq.10.10. the ultimate moment capacity M. a = 2. (3.6) .
.6.3. whereas for the other cases the values of Y were determined by comparing Eq.6. can be induced by comparing Eq..3).32). and Eq. 3.10.4) can also be extended to the case in which bending occurs in both axes. the values of Y were determined by expanding the theoretical beamcolumn solutions for M.20). Note that for the two simply supported cases (Cases 1 and 4).41).6. (3.6. (3. (3.9.20). and 6 have already been developed in detail in previous sections [see Eq.10 Design Interaction Equations b r l f = A R E A OF ONE FLANGE AND I w d w .2) and (3.31 Ultimate strength interaction C U N e for Isections bent about the strong axis with L l r = 0 This definition of C . (3. Equation (3.19) with .19) with the corresponding theoretical solutions for M. for various transverse Eqs. Eq. (3..10. Note that the Y values for Cases 1. The values of and C loading cases are shown in Table 3.A R E A OF WEB FIGURE 3.10. The determination of the Y values for Cases 2 and 5 is left as an exercise for the reader (see Problem 3. respectively]. 4. Eq. (3.3. In such case.2. the interaction equation takes the form . (3.4).
BeamColumns bl 'lAREA OF O N E FLANGE A N 0 Ikdw =AREA OF WEB FIGURE 3.5) will be more appropriate. . In the following sections.'' For member with low slenderness ratios or at support locations. In this case. respectively. interaction equations for various design formats will be summarized and discussed.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. (3. an extension of Eq.7) gives the general form of the biaxial bending interaction equation used in practical design when stability governs the limit state. and Mpy are plastic moment capacities of the Isection with respect to strong. For example. respectively. a conservative form by using a = 1 for both axes of bending can be written (see reference 12) as where M. yielding rather than instability may govern the limit state.10.and weakaxis bending. Equation (3.10. for Isection..
3.1 AISCIASD Format The AISCIASD format is a stressbased design format.fby = flexural stresses at service load due to primary bending moment about the x and y axes. This P . 2. It is defined in Eq. For members braced against joint translation with transverse loading between supports. the interaction equation is where h = PIA. and (3. and it is an integral part of the moment magnifier [see Eqs. 1.9 gives the C . allowable stresses and service loads rather than ultimate strengths and maximum loads are used as the basis for design. = 0.85.7) and (3. Equations (3.A moment occurs as a  + . (3. values for various transverse loading cases.10.41). if the member is loaded in bending only (see Chapter 5) C . C ..10. = axial stress at service load f.23) as C . respectively F. 3. a different type of secondary moment known as the P .85 is derived based on the model structure shown in Fig. C .3. However.4. (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. 0. (3.10 Design Interadion Equations 211 3. the AISC Specification suggests the use of C = . The number 0.85 for members with restrained ends and C = .19)].6) as C . is referred to as transverse loading between supports.10.A moment will be induced in the member. = 1 YPIP.4) divided by the area of the cross section] GX.= allowable compressive stress if the member is under axial compression only [= AISCIASD column curve equation (2. is referred to as the rnonzent reduction factor. = allowable flexural stresses about the x and y axes.11. is considered to be 0. (3.0 for members with unrestrained ends.3.2. C the equiualerlt rnonlent factor and is defined in Eq. Table 3. &. For members not braced against joint translation.20). = define as follows: 1.6. It is negative if the member is bent in single curvature and is positive if the member is bent in reverse curvature. respectively. As a result. If stability controls.4 MAIMB 2 0.10.6 0.. where MAIMBis the ratio of the smaller to larger end moments.33a. For members in which sidesway is possible. For members braced against joint translation and without .4.
divided by a factor of safety of 23/12 and evaluated using the effective length of the member.4 PIPek 1 0. Fb.20).2 10.3 10..212 BeamColumns Table 3.33h.4 10. ++L fbr fb 0.3. However.0 0.18PIPC.0. iJ 0 =m 1.F:. &. & j i 6 I LIZ 0. the interaction equation is f . F:. The effective lengths of members as parts of a frame will be discussed in the next chapter.. the value of C.1.2 p l q X 5 .85. is 1 .3 PIPoN  0. . it roughly resembles a simply supported member loaded by a transverse load at midspan. the AISC Specification recommends the use of 0. (3.) If the yielding of material controls. and C . respectively. If we consider the freebody diagram of Fig. (The effective lengths of isolated members with idealized end conditions have been shown in Table 2.4 PIPeX 4 0.4 10.2 10.2 PIPgk result of the axial force P acting through the sway A of the memher. due to the errors involved in the approximation. 3.604. so from Eq.9 Values for 1C.=Critical elastic buckling stress about the x and y axis.
lF..10): Thus. ~ 0 .10. However. . instead of Eqs. This happens at support locations in braced frames and for members with low slenderness ratios in unbraced frames.10.I(l .10) because this equation pertains to cases in which yielding rather than instability controls the design. is greater than 0. (3. In actual design. (3.33 AISCIASD model for sway frames Note that the moment magnification factor C. the value fJF.. (3.IFik) is absent in Eq.15.10 Design lnleradion Equalions FIGURE 3. 1 5 . (3. both the stability [Eq. Eq. (3.10) are used to check the adequacy of the section.f.9)] and yield [Eq. If f.60 (=1/1.11) is used to check the adequacy of the section. say if i . if the axial force in the member is small.10)l interaction equations should be checked.9) and (3. is less than or equal to 0.67) 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. is first evaluated.10.10.3. l F .10.the AISC Specification allows the use of the following interaction equation. in the design.15. The number 0. (3.9) and (3.10. then both Eqs.10.10. If fn/F.
.214 BeamColumns 3.= ultimate axial compressive strength of the axially loaded column taken as 1. both the strength interaction equation [Eq.7 times AISCIASD column curve using the effective length of the column M. (3. (3. where P + CmMo s 1.. = yield load of the section where A. In Eq.0 MP(1 . (3. = 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). = ZF.10. If stability controls. P.) P.= same as in AISCIASD format Again. if the member is braced against lateral torsional buckling and taken as if the member fails by lateral torsional buckling..10. (3.2 AISCIPD Format The AISCIPD format provides two interaction equations for the design of beamcolumns. taken as M.F.13)] are used to check the adequacy of the section.12)] and the stability interaction equation [Eq. Note the correspondence of Eq. where P. .10. If yielding controls.12) with Eq.7 if only gravity loads are acting and is 1. in actual design.10.10. = maximum resisting moment in the absence of axial force.PIP. = A.3 if wind or earthquake loads is acting in conjunction with gravity loads. is the area of the cross section M. (3. The load factor is 1..10.14) the units are inches and ksi pCk = JT'EII(KL)~ C..5).
= moment in member as a result of lateral translation of the frame only calculated by using firstorder elastic analysis (see Fig. =beam resistance factor (=0.P.34a) M.3 AISCILRFD Format The AISCILRFD format based on the exact inelastic solutions of 82 beamcolumns. < 0.90) P = design axial force Mu.2 where P.6 moment amplification factor (designated as A.10..= moment in member assuming there is no lateral translation in the frame calculated by using firstorder elastic analysis (see Fig. =column resistance factor (= 0..9) using the effective length of the column] Mu. calculated as follows in which M. respectively. 3.=ultimate axial compression capacity of the axially loaded column [=AISC/LRFD Column Curve Eq. respectively (see Chapter 5) 4.'~ecommends the following interaction equations for sway and nonsway beamcolumns. For P I @ .85) 4. Mu.10 Design lnteraclion Equations 215 3. = P . Mny= design moment for the member about the x and y axes. in the previous sections) . (2..11. P u 30. = ultimate moment resisting capacity of the laterally unsupported beam about the x and y axes.3. 3.2 For PI@.34b) B.
20) are defined as follows: ./M2 = 0. This the limit condition C limit was found to be overly conservative for M. factor used in ASD with the exact elasticplastic computer solution^.10. L = story height C . 0. FIGURE 3.19) was developed based on the story stiffness concept.6 The P .4 M.34 AISCILRFD approach for calculating M.. evaluated by or alternatively The terms in Eqs. except that a .5 to 1.10.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. = n 2 E 1 / ( K ~ ) ' C P = axial loads on all columns in a story A.0..0 when compared with the elastic C .A moment amplification factor. same as defined previously in ASD.A moment amplification factor B2 expressed in Eq..=firstorder translational deflection of the story under consideration C H = sum of all story horizontal forces producing A. = P .4 has been removed in LRFD. and M. = 0. (3./M2. B.10. (3.'*" By assuming that .'^ P..18) to (3.
(3. where the summation is carried through all columns in a story. we can now write the amplified sway moment as Malt=( I l:k)~lL (3. the sway stiffness of the story can he defined as s ." By assuming that when instability is to occur in a story.21) for A gives If rigid connections and elastic behavior are assumed.19) is justified by replacing the term PIP. that if rigid joints and elastic behavior are assumed.10 Design Interaction Equalions 217 (i) each story can behave independently of other stories.17) is a rather conservative estimate of the maximum moment in the member.3. all columns in that story will become unstable simultaneously.20) was developed based on the multiplecolumn buckling concept. and (ii) the additional moments in the columns caused by the P . As a result.25) It should be mentioned that Eq. This is because the ..10. (3. = horizontal force lateral displacement Solving Eq.A effect is equivalent to that caused by a lateral force of C P A I L .3. (3. by C PIC PC. we can write the amplified sway moment Malt as The alternate expression for B. a direct extension of Eq. Therefore. expressed in Eq. (3. the sway moments are directly proportional to the lateral deflections of the story. Thus Using the same argument.10.10.10. the moment induced in the member as a result of sway will be proportional to the lateral deflection.
) do not necessarily coincide at the same location. the factor C. the P .. Eq..ld <0. in inches d = member depth. the term B. These equations are given as follows: If yielding occurs. Recall that in the A S D or PD approach.. For elastic behavior. as well as the difficulties involved in locating the exact location of each of the magnified moments in the member.A effect (i. (3. If stability controls where 5=1.10.17).10.10. in inches .17) gives a justifiable estimation of the design moment for the member.6 2Iln ( p l p y ) l 1..6 effect (i.2..A moment magnification effect is treated independently.218 BeamColumns amplified moment resulting from the P .10..e. unlike the ASD and P D interaction equations in which both the yielding and stability interactions equations are needed in the design process. (3.PIP. and M. Another feature of the LRFD approach that is different from the ASD and P D approaches is that the P .A amplification factors.) and the amplified moment resulting from the P .2. Eq.= Range width.e. and if PI@.0 for for b.A effect usually magnifies the end moments...85. The applicable equation is determined by the term PIq5. therefore the moment magnification factor is 0. (3..16). because of the assumptions involved in developing the P . as is evident from Eq..16) is applicable.. (3. Note that.3 ' I= \I In = natural logarithm b.Pu<0. Nevertheless.) or lateral loads (M. the term B2M.) 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. if the member is subjected to sway. If P/@.6 and P . 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. (3.15) and (3. only one interaction equation is needed if the LRFD approach is used.15) is applicable.Pua0.85/(1..6 and P . is taken as 0.M.3 for b.).P.10. In addition to Eqs./d>0. Eq.
= Mu.[] . In reality.31) (3.(PI@cPu)I[l .10.(PIPcx)I MAy= Mu.[] . the column is then loaded by a monotonically increasing concentric load of P until failure occurs. To illustrate some aspects of this interaction between the beams and columns in a frame.10.35 Twomember frame . The behavior of the beam and the column will now be studied as P increases from zero to its ultimate value. (3.10.35 is a simple braced frame consisting of a beam and a column. it is instructive to consider the following example.11 An Illustrative Example 219 =S M..26) and (3.10. The beam is loaded by a uniformly distributed load of w.(PIP.27) were developed by Tebedge and Chent9 based on curvefitting to theoretical elasticplastic beamcolumn solutions.10. lull "duo I FIGURE 3.(PIP.(PIPcy)] The nonlinear interaction equations expressed in Eqs.30) (3.10.11 AN ILLUSTRATIVE EXAMPLE Our discussion of the behavior of beamcolumns in this chapter focuses primarily on isolated members.. After the full value of w is reached.)'] Mpx Mpy (3.3.2MV.[1 .32) (3.(PI&PU)I[1 ." 3.33) =S M:. Shown in Fig. 3. most structural members exist as parts of a framework and their behavior is therefore influenced by the behavior of other members of the frame.2MPY[I . = 1. 1 1 appllsd alcsr W hsr rsachsd 1 s .)] MLY= I.
These assumptions are illustrated in Fig. induced in the column from the beam shear is negligible.V. The axial force in the column is represented by P. Column Analysis As can be seen by referring to Fig. 3. the following assumptions are used: 1. the differential equation of equilibrium for the column can be written as . I 1 p P ld l I8 FIGURE 3. 3. 2.P. The axial force in the beam is negligible.36 in which the freebody diagrams of the beam and column are shown..36d. 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.36 Freebody diagrams In performing the analysis.
11 An llluslralive Example 221 Upon rearranging and using the notation k 2 = PIEI.7) into Eq.4) and (3. sln k L The location of the inspan maximum moment in the column is obtained by setting the shear Vcequals zero.1) becomes MBA (3.4) (3.E l k . (3.. = 0 v.= sin kL Since the term MBAklsink L is not zero.11.3. and shear can be obtained as MBA~ vc= .11.7 cos kr. we obtain the equation for the deflected shape of the column as By successive differentiation. (3. (3. = .11.11. moment.11.5) B=O A= MBA P sin XL Upon substituting the constants expressed in Eqs. (3.11. the equations for the slope.11. Eq. therefore.2) is The constants A and B can he evaluated by using the boundary conditions ~ ~ (=0 0) Y ~ L=)0 (3.6) and (3. (3..E X = The general solution of Eq.3).5) (3.11.11.6) It can easily be shown that by using Eqs. ~cos kx.11.2) y: + k2y. = 0 (3.11. we must have cos kx.11.13) . M B .
Since the moment at C i s zero.11.11. Beam Analysis By neglecting the axial force in the beam. The location of the inspan maximum moment in the beam is obtained .11.222 BeamColumns The lowest value of ! a . the slopedeflection equation for the beam can be written as where 8. (3.14) into the moment equation (3.18) into Eq. respectively. 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. and Be are the beam end rotations at B and C. we have from which Substituting Eq. (3.15).11. and w L 2 / 1 2is the fixedend moment of a uniformly loaded beam. satisfying the above equation is Substituting Eq. ME. upon rearranging. (3.16)gives and.10) gives the value of the inspan maximum moment as In Eq. (3.
(3. respectively.24) can be written as For joint equilibrium (Fig. and MBc gives MBA = Muc =  k2L2 3 .25) and (3.27) The above expression for the joint moment can be used in Eqs.11.11.= L .11.11. Eq.20).9) and (3.11.24) The minus sign in Eq.3kL cot kL + k2L2 ] (3.24) takes account of the fact that the column slope is negative a t x. Using Eqs.3. (3.11.11. . (3.26) simultaneously for Mu.11.36b). (3.11. (3.11. 3.15) and (3.23) for the maximum inspan moment in the column and beam. we must have Solving Eqs.22) joint Compatibility and joint Equilibrium The compatibility of joint B requires that Y: IL=L = OB (3. given by Eq. (3.11 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 . whereas On is defined as positive when it rotates clockwise from the chord.11.
it can easily b e shown by using the L'Hospital rule in Eq. FIGURE 3.11. (3. (3.224 BeamColumns In summary.37 Behavior of the twamember frame .11.27) 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 wL2/16.27). 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.. I f the applied column force P is zero. and MBc are given by Eq.
). the maximummaximum inspan beam moment (M.14) and (3. Also shown in the figure are the maximum moments in the column as predicted by the AISC approach [Eq. and the Similarly. the magnitude of the maximumcolumn moment and the maximumbeam moment both increase.). The location of the maximum inspan column moment is given by ..11. (3. column moment is obtained as the larger value of the columnend The moment MBA and the maximum inspan column moment (M. The maximum beam moment is obtained as the larger value of the beamend moment MB.n.37 shows a plot of the maximumbeam moment (M. . 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.3. = 0) The lower dashed line is obtained by using an effective length factor K = 1 in calculating P.. the columnend moment) nondimensionalized by the quantity wL2/8 as a function of the applied column force P nondimensionalized by the Euler load.11. that is (M...22).4.x). for the column while the upper dashed line is obtained by using K =0.839 (from alignment chart discussed in Chapter 4) in calculating PC.. and the beamend moment MBC ( = M . the locations of these maximum moments vary as a function of P..~. Nevertheless.. (3. 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..). 1. the maximumcolumn moment (M.11 An IllusIralive Example z!s Figure 3.27)]... As the applied column force P increases.
It should be noted that the above expressions for x. and xb are valid only if the calculated value falls within the range 0 to L.. If the calculated values fall outside this specific range. . PIP. and xb nondimensionalized by the length of the member L as a function of PIP. the location of the maximum moment is at the end rather than within the span of the member. the expression for M. given in Eq.27) with k L = n * E is used. For the column..=+ x2 .38 shows a plot of the variation of x. (3.8[ 33 n nZPIP.226 BeamColumns The location of the maximum inspan beam moment is given by Xb =7 L ME.38 Variation of the location of the maximum beam and column moments with PIP. Figure 3.11. m cot ( n m )+ (nZPIPc) 1 In writing the above equation. the location of the maximum moment shifts from the upper end to the middle of the FIGURE 3.
. which implies that if the designer is to rely on the beam to restrain the . 3. .For the beam. the beam is restrnining the column against buckling (Fig.39 Moment redistribution in the frame member as P increases from 0 to PC..40a).. the beam end moment is zero.). and M. the location of the maximum moment shifts from x. = 0.11 An lllurtrative Example ~MrnaAco.562L at P = 0 to x.. . 2. = 0.l(wL2/8) will exceed unity.5L at P = PC.. when PIP.l"aarn 9 w12 IaIP0 FIGURE 3. .39 in which the bending moment diagrams for the frame at various values of PIP. . exceeds unity. however. 3.= 1. 3.) (M. urn" wl l 16 \hy wf 6 IMm. exceeds unity. are shown. as PIP. Note that there is a reversal in moment at the joint as PIP.)..40b).' This change in moment distribution is revealed in Fig. . . implies that the moment in the structure is being redistributed as the applied column force P increases. The change in values in (M. the beam is inducing moment to the column (Fig..3... In other words. indicating that the beam is neither inducing moment to the column nor restraining it from buckling. It is also worth noting that as PIP.> 1. (Mm. . A t PIP..< 1...
3. 3.37).10. 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. interaction column (that is. The AlSC formula for the maximum strength of a column [Eq. which will require a larger beam cross section.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. From observations 2 and 3. and the transverse load w(x) in . the maximum moment of a simply supported beam). This example clearly shows that this is not true. secondorder effects will change beam moments as in unbraced frames.27)] gives an excellent correlation to the exact result if an effective length K = 0. the axial force P. then the formula will underestimate the column moment (the lower dashed line in Fig. 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. If an effective length K = 1 is used. (3. to design the column with a Kfactor less than unity).37). the beam must be designed to carry a maximum inspan moment that exceeds wL2/8 (that is.4)] but not in the second term where we should use an effective length factor K < 1. When PIP. 3.4.1.12 x (wL2/8). the beam moment is 1. (3.40 Beamcolumn la I P EP. = 1. Consequently.839 is used to compute the critical load in the magnification term (the upper dashed line in Fig.
(3.12. 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. and then backsubstituting into the moment expression.4). ( 3 1 2 1 ) (3. it is often possible to approximate the value of the maximum moment by an expression in the simple form .12. (3..12.1) is (3.3) whose general solution is Alternatively.3.12. and (3.3). it is often necessary to determine the maximum deflection and maximum moment. f(x) is the particular solution to the differential equations Eqs. respectively. For design purposes.5).+ kZy. the fixedend moment(s) is (are) the maximum moment. if may be more convenient to write the differential equation as v Yf.12.1) y=Asinkr+Bcoskr+Cx+D+f(x) (3.12 Summary 229 the form tv (x) y1V + k*y" =  El where k'= P/EI.12. The maximum moment can be obtained by setting y'"= 0. solving for x.12. The general solution to Eq. The maximum deflection can be obtained by setting y' = 0 to solve for x and then backsubstitute this into the displacement function.2) If there are regions of constant transverse shear force V in the member. For simplicity and uniformity in a nonsway beamcolumn. The arbitrary constants (A.2). and D ) can be obtained by enforcing boundary conditions of the member. An exception to this is when the maximum moment occurs at the end(s) of a fixedended beamcolumn. C.12.12. (3.6). and (3. B. =  El (3. In this case.
this is a more rational approach than the AISCIASD and IPD approaches...6 moment amplification factor B.7) in design.10) This approach usually leads to conservative results.6 effect for an individual member (i.A moment amplification factor B.. However.0. (3. 4 has been removed in the LFWD Specification. . =0. respectively.=P .).85/(1 .) to account for the P . designated as M . in which the total firstorder moment is magnified by the factor 0..e.6 effect for an individual member only. + &MI. . and M.6 and P .6 moment amplification factor to reflect the effect of axial force on magnifying the primary moment in the member C.6 .6 moment and the maximum secondary P . is multiplied by a P .A effect for a member in a frame is not as straightforward as the P .A effect resulting from the frame sidesway action (i.A effects indiscriminately by using C .6 effect. = BIM. and the sway component M.A moment do not necessarily coincide at the same location. Treatment of the P .) 3 0.. Nevertheless. The maximum moment is then obtained as an algebraic sum of the two amplified moments M . For members subjected to transverse loadings 2.. to account for the P .85 in Eq.(=A.12.9) The limiting condition C m a 0 .12.4(MAIM.4 (3. there is a P . in addition to the P . is multiplied by P . the effect of the axial force acting through the sway of the member). The nonsway component M. the effect of the axial force acting through the lateral displacement of the member relative to its chord)..PIP.12. the AISCILRFD Specification accounts for these effects separately by first decomposing the firstorder moment M. since the maximum secondary P . into a nonsway and sway component.A effect. .230 where BeamColumns M. The AISCIASD and IPD Specifications account for both the P . For members subjected to end moments only without transverse loadings C. Pck = n2EIl(KL)' K = effective length factor For members subjected to sidesway in an unbraced frame. (3.. = defined as follows: 1. = 0.= maximum moment that would exist if the axial force in the member were absent (also referred to as the firstorder moment) A.e.
7. interaction equations provide an attractive alternative for designers. = 2 when P = 0. B . P3.A effect. (3. 4 Derive the expressions for the maximum deflection and maximum moments for the beamcolumns shown in Figs. General Differential Equation b.3 Using L'Hospital's rule.41).= 4 and s. (3. Since inelastic beamcolumn analysis is rather complicated. These are equations that relate a combination of axial force and moments that will initiate the failure of a beamcolumn.. .. 3.10. and D as given in Eqs. 1 Use the design amplification factor for the lateral deflection y.. (3. 2 Use the four conditions (3.7.16) reduce to s.3.3.5) to (3.3. C.12).b. The design of beamcolumns in various interaction formats as provided by the current AISC Specifications is discussed in Sec. 3. Principle of Superposition Determine the value of Y.8) to determine the four constants A. show that the stability functions in Eqs. T h e design of the beamcolumns is facilitated by the use of interaction equations. (3.2.9) to (3.2. PROBLEMS 3 ..3. in many cases.Problems 2 3 1 because. .35) to derive the design moment amplification factor for the moment M . They generally give good approximations to the more exact interaction curves developed on the basis of an inelastic analysis. in Eq. 3 . 3 . a larger percentage of the nonsway moment is not affected by the P . in Eq.4a. if the expression . Using a.15) and (3.
(3. =fixedend moment that would exist in the member if P were absent (firstorder moment).5 Using the deflection function given in Eq.13a. 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.5bd by the principle of superposition. b) for the beamcolumn shown in Fig. P3. 5 .5a. = nZEI/(KL)' and M.232 BeamColumns is used to approximate the fixedend moment where PC. 3. P3.3.
8 Find the design moments for the columns of the frame shown in Fig. FIGURE ~ 3 .Problems 233 3.8 3.6. MAIM.4 b. MAIMD =0 c.7. P3.6 For the beamcolumn subjected to endmoments MA and M.4 Where is the location of M.? FIGURE P3. and (c) LRFD approach. = 0.6 3.K/FLd . = 0. and M . + for the beamcolumn shown in Fig.9 Plot the factors 14.8 using the AISC's (a) ASD approach. FIGURE P3.4 if a. (b) PD approach..6 rnl 1 in ASD 1 . 7 " 'FB 3. find the elastic maximum moment for PIP.7 Find the fixedend forces M. MAIMo= 0. P3. as shown in Fig. P3..
versus PIP. ASCE. REFERENCES 1. Journal of Structural Division. (3. 3. New York. Fabrication and Erection of Structural Steel for Buildings. Theory of BeamColumns: Space Behavior and Design. Vol.. I. Ketter. 1961. 3. 6.. 2. McGrawHill. 1976. 4. 1961. Theory of Elastic Stability. Strength and design of metal beamcolumns.8. T. Chen. ASCE.. L. New York.10 Find the fixedended moments M . Chen. Specification for the Design. . . and MPOfor the unsymmetrically loaded beamcolumn shown as Case 3 in Table 3. Stability considerations in the design of steel columns. ASCE. and Atsuta. R. 7. W. Second edition. determine the critical load of the frame shown in Fig. P. 1961. 1977. Chicago.14 For the design of a beamcolumn in a steel frame. Journal of Structural Division. W. 3.2). Theory of BeamColumns: InPlane Behavior and Design: Vol. AISC. New York.U Determine the exact C. Further studies of the strength of beamcolumns. W.1) and (3. IL. 85 (September): 75111. McGrawHill. and Gere.3.13 Find the design moments for the structure shown in Fig.33(b). 87(ST4):132. 3. Austin. 3. 1959. S. factor for the beamcolumn shown in Fig. 2.8. FIGURE P3. 3. Timoshenko.U Using the slope deflection Eqs. 3. list the important differences between LRFD and ASD Specifications. P. . 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. P3. M.8. Journal of the Structural Division. T. 1. F. Massonnet. What observation do you draw? 3. and Atsuta.8. . J. McGrawHill. November 1978. 87(ST6): 135152.. C. F.13 using the LRFD method.33(a).U p21 LIZ . 5.
1936. Proceedings of Civil Engineers. Jezek. John Wiley & Sons. 17. 1959. 19. Report No. Naherungsberechnung der Tragkraft exzentrisch gedriickter ' Stahlstabe. 189. 2. and Ketter. Rosenblueth. 9. and Chen. SSRC Guide to Stability Design Criteria ior Metal Structures. Die Tragfahigkeit axial gedriickter und auf Biegung beanspruchter Stahlstabe.. F.. ASCE.References 235 8. London. ASCE. L. England. New York. 1935. W. Galambos. E. On C. ed. 1967. 10. Journal of Structural Division. S. F. V. 3742. W. AISI Project No. N. Approximate Solution of BeamColumns. The Effective Length of Columns in Unbraced Frames. AISC. 103(ST10): 20052019. 1978. Journal of Structural Division. 12. gl(ST1): 229252. P. G. 9:12. 8(2): pp. Columns under combined bending and thrust. Load and Resistance Factor Design Specification for Structural Steel Buildings. 1977. Design criteria for HColumns under biaxial bending. AISC. 16. Der Stahlbau. IL. CheongSiatMoy. T. ASCE. 1972. Chicago. ASCE.. Stevens. 13. B.. Johnson. 18. Journal of Engineering Mechanics Division. L. J. Tebedge. Journal of Structural Engineering. 1965. and Chen. K. In press. Chen. Vol. Kanchanalai. K. Zhou. Journal of the Structural Division. 85(2):130. ASCE. 11. Civil Engineering1 Structures Research Lab. . A. 104(ST9): 13551370. Third edition. Der Stahlbau. ASCE. University of Texas at Austin.. Slenderness effects in buildings. Consideration of secondary eEec$ in frame design. T. F. 1971. Yura. Elastic stability of practical multistory frames. W. factor in LRFD. Engineering Journal. The Design and Behavior of BeamColumns in Unbraced Steel Frames. F. 1976. R. October. 1971. 97(ST'): 743751. 15. 36. 8:89. 14. October 1986. Journal of the Structural Division.
If the frame is geometrically perfect and if the loadings are such that no primary bending moments are present in the members before buckling.Chapter 4 4. where the columns are perfectly straight and the loads are applied concentrically with the centroidal axes of the columns. 4. the behavior of these members will be affected by their adjacent members in the structure. 4. its ends will rotate. in the figure. lateral deflections will occur as soon as the loads are applied. which in turn will cause deformations to other adjacent members. fixed. disturbance will induce large lateral deflections of the members. it is necessary to investigate the stability of the frame as a whole.lb). Note that there is no bending deformations and so no bending moments in the is reached. In reality. as . If the columns are geometrically imperfect (Fig. 4. or guided). 4. if a column in a framework buckles. Once the critical load PC. most structural members are connected to other members to form a Framework. Thus.lc). 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.is reached.la.2 as curve 1. we have dealt only with irolated members with idealized end conditions (hinged. to determine the critical load of the column in a frame.1 INTRODUCTION In the preceding chapters. a slight members until PC. or if the primary bending moments are present before buckling because of eccentricities of the applied loads (Fig. and its critical load is designated as PC. The loaddeflection behavior of the frame is shown in Fig. This will cause rotations of adjacent members that are connected to the column. For example. A s a result. Such a frame is shown in Fig. The elustic loaddeflection behavior.
1 Introduction l a ) PERFECT SYSTEM f b l IMPERFECT SYSTEMINITIALLY CROOKED COLUMNS FIGURE 4. and the curve will asymptotically. if instability is excluded as a failure mode and material yielding or plasticity is the only factor accounted for in the failure analysis.2. 4.1 Simple braced portal frames represented by curve 2 in Fig. On the other extreme. failure of the frame will occur as a .can be reached only if the stresses in all members fall below the proportional or elastic limit of the stressstrain diagram of the material.4. failure of the frame is due solely to elmtic instability. will be nonlinear because of the presence of secondary effects (P6 and PA effects). Under this condition. The elastic critical load PC. approach its maximum or critical value PC.
2. All these methods employ the concept of neutral equilibrium in which the critical load of the frame is obtained as the . In this case. curve 4) is neither controlled by the elastic critical load. (Fig. (2) the slopedeflection equation method. 4.:(1) the differential equation method. In many instances. nor the plastic mechanism load. To determine this failure load. we will present three methods for the determination of the elastic critical load PC.Rigid Frames FIGURE 4. and P . an approximate value of Pr can be obtained easily and directly.. will govern the limit state of the frame. Fortunately. PC. and the amount of work involved does not justify its determination by the rigorous means for design applications. and (3) the matrix stitmess method.2 Loaddeflection behavior of frames result of the formation of a collapse rnechar~irrnwhen sufficient plastic hinges have developed in the structure. the rigid plastic collapse load P . In the first part of this chapter. The rigorous analytical determination of the failure load Pr is generally very complex. This approximate method will be presented in the later part of this chapter. curve 3) rather than the elastic critical load PC. PI. a complete elasticplastic analysis of the structure is often necessary. P.2. once the extreme values of PC. 4.. The approximate determination of the failure load Pr is usually enough for design purposes. are known. the stability and plastic mechanism behavior of the frame will interact with each other and the true failure load PI of the frame (Fig.
of frames. Because of symmetry.4) .4.2 ELASTIC CRITICAL LOADS EQUATION METHOD BY DIFFERENTIAL This section deals with the determination of the elastic critical load PC. we need only to consider half of the structure. load P T o conclude the chapter.2. we will discuss these two cases separately.3a shows a pinended portal frame braced against sidesway and loaded by two points loads P. 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).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. This will be followed by the presentation of a simple interaction equation making use of PC. Referring to Fig. The general solution is Using the boundary conditions of ~ ~ (= 00. of the frame. Toward the end of this chapter. 4. respectively. we will give a simple method making use of the virtual work principle for the determination of the rigid plastic collapse load P. 4. to estimate the true failure . 4..(L.2. one on each column. we see that the differential equation for the column is where k: = PIEI.)= 0 (4. and P . ) y. 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)..1 SwayPrevented Case Figure 4. The subscripts b and c designate beam and column.3b. We will now evaluate the critical load of this frame.
x. can be written as M &='"('P x L. . (4.2. sin k. Eq.Rigid Frames FIGURII. 4. Therefore.L.3). sin k. the deflection function for the column.3 Nonsway buckling of a pinnedbased portal frame results in A=M~ P sin k.L.
can be written as from which The joint compatibility requires Y:(L. the differential equation has the simple form The general solution is Using the boundary conditions of results in D =0 (4.2.12). Therefore. the deflection function for the beam. y:=P ( . ( (4.2.2.2.3b).2 Elastic Critical Loads by Dilierenlial Equalion Method 241 from which kc cos k.4.19) Upon substituting Eqs.18) into the joint compatibility .2.L. 4.. the effect of axial force on the behavior of the member is usually negligible (Fig. (4. k.LC sln .L MB 1 and ) (4.15) Therefore.8) Y:(LJ= MB 1 P LC tan k.9) For the beam.)= Y 8 9 (4.9) and (4.2.2. Eq.x. (4.
2.2. tan k. 4. MB increases without bound.59 (4. Thus. the term in the parenthesis must be zero. we can write the characteristic equation as (kL)' tan kL + 2 tan kL . in the present case the lower bound for PC.2.24) is found to be kL = 3.25) Since we have or Before we proceed to the swaypermitted case.4a). (4.28).2.2. 4.21) to be valid. 1 +L. = k.1EI/L2.1EIIL2..is Y. The actual value for PC.24) By trial and error or by graphical means. the solution of Eq. = PIEI. For Eq. (4.e. On the other extreme.87EI/L2 and the upper bound is 20.87EIIL2).L.28) does. if the bending stiffness of the beam approaches zero (Fig.as expressed in Eq. i.23) is the cl~oracteristicequatiorz of the frame buckled in the rlortsway mode. The eigenvalue determined from this equation is the critical load of the frame.for the frame with a finite beam stiffness should fall between these two extreme values as Eq. I= ) M ~ = o At bifurcation. For simplicity. Equation (4. the columns will behave like a hingedfixed member and the critical load is 20.2.242 Rigid Frames equation (4. the two columns will behave like a hingedhinged member and the critical load is a2EIIL2(=Y.2. On one extreme. if we take L. we shall examine the two extreme cases of PC. if the stiffness of the beam approaches infinity (Fig. = k. .2kL = 0 (4. (4. = LC= L and k. (4.. we have or.2.4b). rearranging and denoting k'.19).
since there is no external horizontal force acting on the frame. = 9 .2.5a. Note that the horizontal reaction H at the column base is zero. as shown in Fig.2 SwayPermitted Case If the frame shown in Fig. 4. it follows that the axial force in the column can be approximately taken as P.5b). only half of the structure needs to be considered (Fig. Assuming that the applied load P is much greater than the beam shear force 2MB/Lb. Because of antisymmetry.2. 4. it may buckle in a sway mode at a lower buckling load level.2 Elastic Crilical Loads by Differential Equalion Melhod PC. 8 7 0 / ' ~ 2 PCr=9. 4.4 Extreme values of PC. 4. y : + Py.3a is not braced against sidesway.4. = 0 (4.29) . A s a result. the differential equation for the column can be written as E 1 .87EL/~ 2 I I FIGURE 4.
. we can write Eq.5 Sway buckling of a pinnedbased portal home Introducing the notation k: = PIEI.2. (4. Using the boundary conditions + B cos k&.32) the two constants can be evaluated as .2. y(LC)=A  yC(O)=O.29) as ~ : + k 3 ~ = 0 The general solution is (4.2. (4.30) (4. = A sin k&.Rigid Framer FIGURE 4.2.31) y.
L. sln k. we obtain the deflection function of the column as Yc = MB sin k.s.x.35). from which k. the column's lateral deflection can be expressed in terms of the sway deflection A of the frame as A Y. Yb(+) =0 (4.2.2. (4. =7 sin k. ~cos .L. P sin k. (4.4. "= P sin k . we have MB= P A from which we obtain the sway deflection (4. The differential equation for the beam is The general solution is Using the boundary conditions ~ b ( 0= ) 0. From equilibrium consideration of the column.37) into Eq.x.44) the two constants can be evaluated as . and kcM~ y'(L') = P tan k.2.2.L.36) Upon substituting Eq.2 Elaslic Crilical Loads by DiRerenlial Equalion Melhod 245 Therefore.
2.35 and so (4. we obtain (4.as expressed in Eq. 6EI. = PIEIb. increases without bound.43) gives the deflection function of the beam as from which and Joint compatibility at B requires that YU. (4.) = Y a) or. M.54)reduces to from which kL can be evaluated as kL =( m r ) ~ = 1. (4.45) and (4.2.we must have kc P tan k.2.2.2.46) into Eq. At the bifurcation load. (4. .L. = L and k .54) 6k. (4. = L .2.k i L b L ctan kcLC= O where k'.2. Eq.50) P kc& tan k. we shall examine the two extreme cases of PC.40) and Eq. For the special case for which L . (4. = k .2.246 Rigid Frames Substituting Eqs.2.2. .L.56) Again.52).49). or Lb 0 6EIb (4.2. Equation (4. using Eq. = k . (4.54)is the characteristic equation of the frame buckled in the sway mode.L. T o ensure the validity of Eq.
the two columns act like a hingedguided member and the critical load is 2.6a).2 Elaslic Critical Loads by Differential Equation Melhod FIGURE 4. A differential equation is written for each and every member of the frame.57) does fall between these two extreme cases of 0 and 2. (4.57). (4.4. The critical load as expressed in Eq. If the bending stiffness of the beam approaches zero (Fig. If the bending stifmess of the beam approaches infinity. for the swaypermitted case is much less than that of the swayprevented case.47EIILZ. The arbitrary constants of the general solution to each differential equation solution are then evaluated using .2. The differential equation method described above can be extended to a more complex frame.6 Extreme values of P . the two columns d o not possess any sway stiffness and the critical load is zero.2. 4.47EIIL2. the frame will undoubtedly buckle on the sway mode if no physical constraint is provided to prevent the frame from sidesway buckling. Note that PC.
the slopedeflection equations developed in Sections 3. Fortunately.7. which makes use of the slopedeflection equations1 developed in the previous chapter. therefore.5a using the slopedeflection equation approach. .3 ELASTIC CRITICAL LOADS EQUATION METHOD BY SLOPEDEFLECTION In the slopedeflection equation method.for all types of frames.3. This will be discussed in the following section.3a and 4. 4. Note that because of symmetry and antisymmetry. (3. there is no relative lateral translation between the ends of the column. 4.16). the slopedeflection equation for the column (Fig. 4. the actual implementation of the method for the solution of a given frame is rather complex.5). respectively.15) for the beam in which the subscript b denotes the beam.8. 4. only half of the structure needs to be considered in the analysis. especially when it is applied to frames of more than one story and one bay.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. there is a simpler method available.1 SwayPrevented Case For this case. The critical load is then obtained as the eigenvalue of the characteristic equation. The eigenvalue of this characteristic equation will give the critical load of the frame. by using Eq. and in which expressions for sii and siiare given in Eqs.15) and (3. 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).7 and 3. in theory.8 are written for each and every member of the frame.8. To demonstrate the use of this approach. Although the differential equation method can. we will reanalyze the braced and unbraced frames shown in Figs. Since the beam is bent in a single curvature.7. The characteristic equation is obtained by setting the determinant of the coefficient matrix of the resulting set of equilibrium equations equal to zero.7a) can be written as in which the subscript c denotes the column. (3. we use the slopedeflection equation (3. be used to determine PC.
4) Using Eqs.3.3. = 4 and s i j b= 2.3. = I. we must have Equation (4. (4.7) becomes .3. (4. (4.4.3.7 Slopedeflection equation approach for P .7b). 4.4) can be written as Since at bifurcation. For the special case for which I.3). we must have MBA+MBC=O (4. of nonsway buckling of simple portal frame Neglecting the effect of axial force on the bending stiffness of the beam.3. Eq.2) becomes From joint equilibrium (Fig. = 1and Lb= LC= L. (4. the joint equilibrium condition expressed in Eq.3. + 0. we can set sit. so that Eq.3 Elastic Crilical Loads by SlopeDelleclion Equalion Melhod FIGURE 4. 8.1) and (4.7) is the characteristic equation of the frame.
we set siib = 4 and siib = 2.1) and (3.3.2 SwayPermitted Case Referring to Fig. 4. we see that the slopedeflection equations (3. (4. (4.10) is obtained.8a.250 Rigid Frames By trial and error and using Table 3. we obtain Since the beam is bent in double curvature.3. This load is the same as before using the differential equation approach. the value of kL that satisfies Eq.3.13).3.8h).8.59 from which the critical load (4. or From joint equilibrium (Fig.8. we know MBA + MBC = 0 (4.17) for the beam Because there is no axial force in the beam. 4.7.9) is found to he k ~ ( =m r ) ~ =3. we use the slopedeflection equation (3.2) for the swayed column are Solving Eq.8. (4.3.17) .2.12) for BA and substituting BA into Eq. 4.
.16). (4... of sway buckling of simple portal frame Using Eqs..(.. .17) becomes s. sic) Siic (4. the joint equilibrium condition (4..3.3. ".19) .3. 0 . (s.3.3 Elastic Critical Loads by SlopeDefleclion Equation Melhod ICI FIGURE 4.4.14) and (4. 9. siic ICL.[(.18) ( s i i c ' ij c +68 .. s. L C Siic 2  Siic '")3  6EIb B B = O +Lh c: (4...3.8 Slopedeflection equation approach for P .
For Eq.21) (4.3. and also let 1. we have Realizing that MA.8c).20) as Using Eq.3. (4. = I and L.3. (4.3. = I .24). (antisymmetry) we can write the storyshear equilibrium equation (4. (4.3.3..3. = MDc = 0 (hinged) (4. 4.3. (4.19) and (4. Eq.3. If we do this.22) and McD = M.27) can be made symmetric by multiplying Eq.26) by minus one.14) for MB.252 Rigid Frames From story shear equilibrium (Fig. and A increase without bound.26) S i i c S i i c Equations (4. they can be written in matrix form where Note that the coefficient matrix in Eq. we can write or (4.27) becomes At bifurcation. . both 8 .3. in Eq.26) are the two equilibrium equations of the frame.3. = LC= L. (4.
as in the differential equation method. it is cumbersome to obtain a solution. ~ procedure to obtain solutions for large frames can be greatly enhanced by the use of computers.4. the resulting formulation we will see is called the matrix stiffness m e t h ~ d . These element stiffness matrices are then assembled into the strueture stiffness matrix that relates the structure nodal force to the structure nodal displacements.29) is the characteristic equation of the frame. In the next section.9a shows the sign convention for the positive directions of .2. by setting the determinant of the structure stiffness matrix to zero. can in theory. the element stiffness matrix that relates the element end forces to end displacements is first formulated for each and every member of the frame. the value kL can be found to be kL = ( ~ I ) = L1. if n is large. 4.3. By trial and error and by using Table 3. Therefore.1 Element Stiffness Formulation We shall begin our discussion of the matrix stiffness method by developing the element stiffness matrix from the slopedeflection equation. However.31) obtained using the slopedeflection method with Eq. (4.for all types of frames.3.(kL)' 1 (4. (4. we must set det I S +' S S =O S . This ~ . the critical load of the frame can be obtained.3.4 Elaslic Critical Loads by Matrix Stiffness Melhod (4. the slopedeflection equation method will he generalized. 4. the stiffness of the structure vanishes. At bifureation. Figure 4.29) Equation (4.28) to be valid.35 from wbich the critical load can be solved (4.4 ELASTIC CRITICAL LOADS BY MATRIX STIFFNESS METHOD In the matrix stiffness method.30) Note the correspondence of Eq. 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.4.57) obtained previously using the differential equation method. The slopedeflection equation method.3.3.7. he extended to evaluate PC.
By comparing the two figures.Rigid Framer (bl FIGURE 4.9 Element end forces and displacements notations element end forces and end displacements of a frame member. Equilibrium r.9b.4. The end forces and end displacements used in the slopedeflection equation are shown in Fig.4.1) L v = . = P r2= (4. 4.2) Kinematic .MA+ MB (4. we can easily express the following equilibrium and kinematic relationships.
14) are the slopedeflection equations of the member.4.6) can be written in matrix form as Similarly. This assumption is satisfactory for most practical purposes.11) can be related by recognizing that EA P=e L (4. Putting Eqs.4.7) to (4.1) to (4.4.12) Equation (4.sii are the stability functions.4 Elastic Critical Loads by Matrix Stihess Method Equations (4. (4..12). we have ..12) to (4.13) and (4. (4.9) can be written in matrix form as Equation (4. it is tacitly assumed that the effect of member shortening due to the bending curvature is negligible.10) and Eq.4.4.4.4.4.12) relates the axial force P to the axial displacement e of the member.4.4.4. (4. Eqs.14) in matrix form. Eqs. (4. In writing Eq.4. and s. (4.4.
15) into Eq.19) sym.16) can be written as  "S (4. (4. If the member is permitted to sway as shown in Fig. 4.11) into the resulting equation. 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.. (4.4.) ( ~ i+ L A 0 z(s..4. Eq.16) where the subscript ns is used here to indicate that there is no sidesway in the member.4.4. and then substituting Eq.) (xi! ze. + sii) L ' + sii) L Pii L2 0 A & L 0 0 (sii + 5.4. I + sii) L2 Symbolically.4.. to d6) as A I 0 0 i ~i.10.256 Rigid Framer Substituting Eq.d L s.i Sii sym. (4.) with the element end displacements ( d . we can relate the element end forces (r.10).+ I 0 s. or symbolically 0 5 . to r. (4.
By combining Eq. are given in Table 4. and @. we obtain the gcneral beamcolumn element forcedisplacement relationship as where k = k.23) and simplifying. @Z.. Note that as P approaches zero.22b) sym.4.4. G3.. (4. (4. become .4.4. (4.4.1.. we obtain The expressions for @.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. + k.17) and Eq. A I 0 0 Substituting the expressions for the stability functions (sii. @ .20). and @. the functions @.sii)in Eq. (4. @?.
by using the L'Hospital's rule. In addition. (4. the series will converge to a high degree of accuracy if n = 10 is used. Eq. (4. Also shown in Table 4. However. the expressions in the series are the same regardless of whether P i s tensile or compressive. If the axial force in the member is small.24) can be simplified by using a Taylor series expansion for the @!'s. it can be shown that these functions will approach unity and Eq.Rigid Frames FIGURE 4.1 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.4. If we retain only the first two terms in the Taylor series.24) reduces to the firstorder (linear) element stiffness matrix for a frame member. For most cases. it can be shown that the resulting stiffness .10 Additional shear due to swaying of the member indefinite.4.
.functionscan be expressed in the form of power series.sinh k L ) 4m. and @. .1 Expressions for @.4 where 2+= 1 (kL)(sinhk L . @ .k L cos k L ) #3 w. . +. Alternatively. WC 1 (kL)(sink L ..Table 4. Use the plus sign if the axial foree is tensile.k L ) w.. Compressive (kL)I sin k L +I Zcra Tcnsile (kL)' sinh k L 12+. as in reference 4: where Use the minus sign if the axial force is compressive. . . ( k L ) ( k Lsin k L ) 1 ( k L ) ( k Lcosh k L . @ . the @.
The corresponding structural nodal forces. R.4.R.260 Rigid Framer matrix that is valid for small axial force is given by in which the negative sign preceding the second matrix. This is shown in Fig. we assume that all members are inextensible (i. we consider only one half of the structure in the analysis. only four degrees of freedom. and D.2 Sway Buckling of a PinnedBase Portal Frame The matrix stiffness method is applied here to determine the critical load PC. the change in length due to axial force is neglected).11a together with the structural nodal forces and displacements.. is the firstorder (linear) elastic stiffness matrix and k. 4. is the geometric stiffness matrix (sometimes referred to as the initial stress stiffness matrix). (4. are labeled: three rotational degrees of freedom. Because of symmetry.. for the frame shown in Fig. which accounts for the effect of the axial force P on the bending stiffness of the member. Eq. 4. The directions of these . D. .5a. 4. D.4. 4.e..27) can be written as where k.corresponds to a compressive axial force and the positive sign corresponds to a tensile axial force. and one translational degree of freedom. As a result. .. T o reduce the number of degrees of freedom of the structure. The following example will be used to demonstrate the procedure of using the stiffness matrix method to obtain the critical load of frames. D2. Symbolically. are also shown in Fig..11a. . ..
ds ('dl FIGURE 4.12) is not valid anymore.d6 ! i I I b ! i .d3 r\ 1 \ . translations. (4. 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.4 Elastic Critical Loads by Matrix Stiffness Method 1 :. i '6 I : r5. the axial forceaxial displacement relationship expressed in Eq.4. P L    . As a consequence. Because of the assumption of inextensional behavior.4.11 Structure and member forces and displacements notations rotations. 6 L 4 Fsym.ds i 5'd3 I 2 re. and forces are shown in their positive sense in the figure.
262 Rigid Frames This stiffness matrix relates the four end forces (r.. the element end displacements are first related to the structure nodal displacements by consideration of joint compatibility. (4.) and the corresponding end forces (r. (4.   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.L sym.) to the four end displacements (d2. Figure 4. (4. It can easily be seen from Fig. and r.. d.4.12 L ' 6 5  El k'=L sym. The process of assemblage is described in detail in most matrix structural analysis textbook^.11b shows the four degrees of freedom (d.^' So we will discuss it only very briefly here. d... r. Again.. this kinematic ..11 that for element 1. For each element. P .4. and d. 4.29)] 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. d5.) of an inextensible member. By using Eq. r. the element stiffness matrix for the column (element 1) can be written as .. d.27)].. r. the directions are shown in their positive sense in the figure...29).4. and r.) associated with each member of the structure. r. Note that the element stiffness matrix for an inextensible member [Eq. and d.
4. (4. This observation is not a coincidence. but represents a theory in structural analysis known as the conrragradier~rlaw. the kinematic relationship is Symbolically.4 Elastic Critical Loads by Matrix Stiffness Method relationship is For element 2.4.4.4.4. (4.' .4.36) with Eq.37) with Eq. 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.4.32) and (4. (4. (4. (4.33).33) can be written respectively as On the other hand. 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 .32) and Eq. Eqs.
4. R.dl and (4.4. (4.39. if these are rr elements in the structure.dl + T:k2d2 Now.41) as R = T:k.46) (4. the structure stiffness matrix can be obtained as Now. as rl = k.4.D = (T:~.43) (4.4.4.38) and (4. kz into the structure stiffness matrix Eq.37) can be written symbolically as R.T. using the member kinematic relationships. = TTr.d2 we can write E q . = TTr. is the structure stiffness matrix.4.4.44) r.44) as R = T:~.40) gives R = TTr.36) and (4. + Tzr. Eqs. from E q ..4. k.T.4.4.47) and carrying out the matrix products.T. we can write (4.)D or (4. referring back to the example problem. (4.4.4.264 Rigid Frames In view of the above observation.4. + T:~=T. upon substituting the matrices TI. (4.T.41) Since.39) Substituting the member equilibrium relationships Eqs.4. (4.21) the element forcedisplacement relationship for elements 1 and 2 can be written. (4. respectively. (4.. From consideration of joint equilibrium.47) R = KD where K = T:~.34) and (4. (4.42) (4. = k. we can write Eq.4.38) (4.39) into Eq. we see that the structure stiffness matrix . + T:~.4. T. Eqs. (4.4.4.45) (4.4. In general.D + T:~=T. (4.4. 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.
4.15 30 2LZ 15 8 K = El L sym.4.50) The slight discrepancy of Eq.41 4 8 sym.49) 0 0 0 sym. and from Eq.4. (4. and this error was introduced earlier as a result of the approximation from Eq.53) compared to the value obtained previously by the differential equation method or the slopedeflection equation method is due to the roundoff error.52) we obtain a polynomial in A.4. At first glance.24) to Eq. (4. by setting det (KI =0 (4.4. Denoting (4.49) can be written as 12.27).4. it seems that there is much more work involved in the stiffness matrix approach than that of the differential equation or the . (4. (4. the determinant of the stiffness matrix must vanish.4 Elastic Critical Loads by Matrix SliRness Melhod can be written as 2L2 L2 . (4. Eq.061. At bifurcation. The smallest root satisfying this equation is A = 0.4. Thus.4.
There will be no lateral deflections in the members until the load reaches the critical load PC. 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. and B. 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. in Chapter 3) are not necessary. the system is assumed to be perfect. In effect.A effects. In a secondorder analysis. In this approach.6 and P. if the system is not perfect. which is not known in advance and is constantly changing with the applied loads.5 S E C O N D .2. A secondorder elastic analysis will generate just such loaddeflection response of the frame. the original configuration of the frame ceases to be stable and with a slight disturbance. However. as shown by curve 2 in Fig. can be obtained quite conveniently for any type of frame. Because for a secondorder analysis the equilibrium equations are formulated with respect to the deformed geometry of the structure. the lateral deflections of the members begin to increase without bound as indicated by curve 1 in Fig. equilibrium may be violated and the external force may not always balance the internal force. Because of the linearization process. 4. a complete loaddeflection analysis of the frame is necessary. 4. For an elastic frame. . it should be noted that the steps shown above can easily be programmed in a digital computer. the nonlinear response of the structure as a result of geometric changes is approximated by a series of linear analyses. and so PC. At a particular cycle of calculation. one of the most popular solution techniques is the incremental load approach. which we discussed previously in Chapter 3.A moment magnification factors (denoted as B.2.. In an eigenvalue analysis. the use of P . the structure is assumed to behave linearly. the applied load is divided into increments and applied incrementally to the structure. curve 2 will approach curve 1 asymptoticauy. This unbalanced force must be reapplied to the structure and the process repeated until equilibrium is satisfied. such secondary effects as the P .266 Rigid Frames slopedeflection equation approaches. However. In a numerical implementation. For a secondorder elastic frame analysis. the iteration process is . To trace this curve.O R D E R ELASTIC ANALYSIS In the preceding sections. 4.6 and P . lateral deflections will occur as soon as the load is applied. can be incorporated directly into the analysis procedure. As a result. 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 . it is necessary to employ an iterative technique to obtain solutions.
2. 8. ( P can be set equal to zero in these equations for the first cycle of calculations.4.12) to (4. For each element.9).4.14). Assemble all these element stiffness matrices to form the structure stiffness matrix K. (4.10). 6. Update the structure nodal displacement vector from D! = D~+ AD! where (4. 10.5 SecondOrder Elastic Analysis 267 summarized in the following steps (in the following discussion.5. 7. discretize the frame into a number of beamcolumn elements. The element stiffness matrix is given in Eq. = incremental structure nodal displacement vector at i load step.1) (4. (4. formulate the element stiffness matrix k for each and every 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.. evaluate the element axial displacement e and element end rotations B.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. BB from Eqs. 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.) 3. First. Extract the element end displacement vector di from Df for each and every element in the structure. Next.1.MBfrom Eqs. For each element. Solve for the incremental displacement vector using AR~ = ~f AD: from which (4. 4.27). or in its approximate form.4.14.24).4. . 5.4. Eq. For each element. evaluate element end forces from Eq. (4. a subscript refers to the load step and a superscript refers to the cycle of calculation within each load step): 1. (4.7) to (4. (4.5.5. evaluate element axial force P and element end moments MA.
at the end of the cycle from 13. and. = D: = oi C AD: + k=l 20. Convergence is said to have been attained if the unbalanced force AQ!. 16. Extract the element end displacement vector d. Update the structure nodal displacement vector from 15. where the superscript j refers to the j cycle of calculation. and 8.5. 19. Evaluate the incremental displacement vector AD2 from AD: = (K:)' AQI (4.and M B as done in Steps 7 and 8 for all elements in the frame. Prescribe another load increment and repeat Step 2 to 19. 4. Using the current value of axial force P. and the stability limit point is obtained as the peak point of this loaddeflection curve. Evaluate the new unbalanced force AQ: from 18. falls within a prescribed tolerance. the complete loaddeflection response of the frame can be traced. 14. hence. structure internal force vector R 17. from D: calculated in Eq. A schematic representation of the above procedure is shown in Fig. (4.6) where AQ: is the unbalanced force vector calculated in the previous cycle of calculation. Assemble k for all the elements to form an updated secant structure stiffness matrix K:. convergence . In performing the above procedure.9) oi+. Repeat Steps 13 through 17 as many times as possible until convergence. Update e.5. After convergence the structure nodal displacement at the end of the i load step is obtained by " (4. A s the stability limit point is approached in the analysis. Calculate the external force vector from 12. 8 . P.12a. update the element stiffness matrix k for each and every element.268 Rigid Framer 11. Update the element end forces for all the elements and form the new : .5. Evaluate the unbalanced force AQ. .b for a one degree of freedom structure.7) for each and every element. M A .
T o facilitate convergence..Order Elastic Analysis FORCE f D~ D : DISPLACEMENT 1218.4s8 It was demonstrated that for rigidly . moment amplification factors described on Chapter 3 have been made. By using the computer to perform a secondorder analysis. The numerical procedure described above can be programmed in a computer.5 Second.U Iteration technique for secondorder elastic frame snalysis of the solution may be slow. B.4. Comparative studies using secondorder elastic analysis and firstorder elastic analysis in conjunction with B. a smaller load increment should be used. the design moments for the members can be obtained directly.1 FIRST CYCLE OF CALCULATION lbl SUBSEQUENT CYCLES OF CALCULATION FIGURE 4.
the elastic critical load PC.6. 4. its stressstrain diagram will be as seen in Fig. the two approaches would give satisfactory results. it would be pertinent here to briefly explain the basic concept of plastic hinge and plastic collapse mechanism in a simple plastic theory..U Uniaxial stressstrain behavior of structural steel . failure of the frame will be controlled by the formation of a plastic collapse mechanism.. the frame is assumed to behave elastically throughout the entire stage of loading up to failure.6 PLASTIC COLLAPSE LOADS In the preceding discussions. is the maximum load for an elastic frame. Before we proceed to the discussion of the method of determining the collapse load P. 4.A plastic collapse mechanism will form when there are sufficient number of plastic hinges developed in the structure to render it statically unstable. On the other extreme. The plastic collapse mechanism load P.13: there a definitive knee FIGURE 4.1 Plastic Hinge If a simple tension test is performed on a structural steel specimen. The failure of the frame is a result of instability when the stiffness of the frame vanishes.270 Rigid Frames connected rectangular frameworks of usual proportion. 4. is the maximum loadcarrying capacity of the frame. if we exclude the instability effect but consider only the plastic yielding of the material. Consequently.
15. After the yield stress has been reached.This process of successive yielding of fibers towards the neutral axis of the cross section is referred to as plastificah'on. the section behaves elastically (line O A in Fig. The moment that corresponds to the full plastification is referred to as the plastic moment Mp denoted by point B in Fig. as we do in Fig. and MpIMy= 1.14.12 if bent about the strong axis. When the extreme fibers of the cross section just reach oy(Fig. The points a. Note that because of the stressstrain behavior of steel. and d on the figure correspond to the various stages shown in Fig. wideflange sections. When the strain has reached E. b.4.14d).When plastification of the fibers across the cross section is completed (Fig.15. 4. 4.15). as indicated by line BC. It is clear from Fig.6 Plastic Collapse Loads 271 at A marks the yield poitrt of the material. as well as their relative magnitudes. 4. for a rectangular cross section. As the load continues to increase. and for hotrolled.15). The stress level that corresponds to point A is the yield stress of the material. If the stress is below the yield stress oy. (curve AB in Fig. 4. When a member is subjected to pure bending. the strain can increase greatly without any further increase in stress as indicated by line AB. are different for different crosssectional shapes. 4.15. the corresponding moment is referred to as the yield moment My and is denoted by point A in Fig. 4. 4. MplMy=1. and if the usual assumption of plane sections before bending remain plane after bending is made. further increase in strain will bring about a further increase in stress as a result of strainhardening. 4.14b).. Rather. The corresponding momentcurvature relationship is shown in Fig. Figure 4.15 that the yield moment My is not the maximum moment capacity of the cross section. 4.. 4. Further increase in moment above the yield moment will increase the curvature of the cross section at a faster rate. the material behaves elastically as shown by line OA.14ad. = l?l~.5. yielding of fibers will spread and penetrate toward those fibers located closer to the neutral axis of the cross section (Fig. For example. It is this unique property of structural steel that makes plastic design possible. this is known as duch'liQ. a series of stress and strain distributions across the section corresponding to an increasing bending moment can he sketched. the cross section cannot carry any additional moment. the effect of strainhardening is usually not considered in a simple plast~cdesign analysis. The exact shape of the MQ curve from My to M.15 shows also that the cross section can sustain a constant Mp . c. 4.14a).14~). 4. the stresses of the yielded fibers remain at oy. Neglecting this effect will obviously lead to a conservative design.. it is MplMy= 1. Before the stress in any fiber in the cross section reaches the yield stress uy (Fig.5 if bent about the weak axis. When material can sustain a large deformation without fracture. For simplicity. the maximum moment capacity is the plastic moment M.
by HingebyHinge Method Consider a propped cantilever of length & subjected to a concentrated load P acting at midspan (Fig.Rigid Frames STRAIN STRESS ECE. 4. U C u. 4.6.2 Plastic Collapse Load P. Hence the word plastic hinge is used to indicate such a property for a steel cross section.16a). precisely because of the large ductility of steel. the cross section behaves like a real hinge..14 Strain and stress diagrams through a large rotation capacity. u= u I b l INITIAL YlElD E > €" u=u I c l ELASTICPLASTIC u =u I d 1 FULLY PLASTIC FTGURE 4. The structure is statically .. but carrying a constant moment capacity M. In other words. as indicated by the horizontal line BC.
We use the subscripts 1 and 2 to distinguish these two load stages. Load Stage 1 Before the formation of the first plastic hinge. from which.Since the moment at the fixed end is larger than the moment at midspan.. In the following.16e). If. the first plastic hinge will form at the h c d cnd (point A). 1 6 ~ .L/16 to M. Thus. the beam behaves elastically. the beam will become statically unstable and a collapse mechanism will dcvelop for the beam. we shall denote the stage of loading from beginning to the formation of the first plastic hinge as load stage 1 (Fig.6 Plastic Collapse Loads 273 indeterminate to the first degree.16b). in addition. 4. if a plastic hinge is developed in the beam at the maximum moment location. 4 .4. and the additiotlal loading beyond load stage 1 as load stage 2 (Fig. is shown in Fig. the beam will become statically determinate. we obtain the first plastic hinge load . a second plastic hinge is developed at a subsequent critical location. 4. T h e load that corresponds to the formation of the first plastic hinge can be found by equating 3P. the elastic moment diagram under the applied load P.
.
16i obtained by superposing the moment diagrams of Fig. is applied. when this moment reaches the plastic moment capacity Mp. that brings the beam to its collapse state. that is. the beam behaves as a simply supported member (Fig.6 Plastic Collapse Loads 275 The moment at midspan (point B). is Figure 4. such as shown in Fig. the .16f shows the corresponding moment diagram due to P.. The collapse load P..4. is the sum of P: and P. 4. 4.' In the hingebyhinge analysis. 4. 4. the structure becomes statically unstable and a plastic collapse mechanism. is now added to the first plastic hinge load P: and the resulting maximum moment at midspan under the combined load P: P. The procedure described above is called the hingebyhinge analysis..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 . The load P. and the moment diagram at the collapse state is shown in Fig. The method can be programmed in a computer and thus extended to cases in which the structure and loadings are more complicated. When the additional load P. the propped cantilever becomes a simply supported beam with a constant moment Mp at A to carry the load P:.16h. emerges. Figure 4. is 5Mp/6 + P2L/4.16d and g. when the first hinge is just formed.16e). It is essentially a sequence of elastic analyses with additional plastic hinges introduced during the course of loading. The second plastic hinge will form at midspan. when + from which we obtain the second plastic hinge load At the formation of second plastic hinge.
all possible collapse mechanisms of the structure are identified and the load corresponding to each of these mechanisms is evaluated. 4. this moment check cannot generally be made. a moment check is often necessary to ensure that the moment everywhere in the structure is less than or at most equal to M. For an assumed mechanism that is not the true collapse mechanism. for a Propped Cantilever To demonstrate the use of the virtual work equations in the mechanism method to obtain P . in using this theorem. will be presented here. is greatly facilitated by the use of the virtual work equations. if the structure is statically indeterminate to the nth degree. The application of the mechanism method to obtain P . 4. The collapse FIGURE 4. in a direct manner..276 Rigid Frames sequence of formation of plastic hinges is traced. In general. known as the mechanism method. to ascertain the mechanism so chosen will give the lowest value of P. Strictly speaking. P. will be the collapse mechanism. then the formation of ( i ~ 1) plastic hinges will be necessary for the structure to reach its collapse state.16a as reproduced in Fig.17a. The mechanism that gives the lowest value of P . This method is based on the upper bound theorem of plastic analysis. consider the same propped cantilever shown in Fig.17 Collapse mechanism of a propped cantilever A .. Thus. a simpler method.6. 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.3 Plastic Collapse Load by Mechanism Method To determine the plastic collapse P . + 4. in a more direct manner.
. when writing Eq. The calculations can be made in the following manner: Assuming the plastic hinge at A undergoes a virtual rotation of 6 8 . 4.6 Plarlic Collapse Loads 277 load Pp can be determined directly from the assumed collapse mechanism as shown in Fig. The external virtual work done during this virtual displacement is equal to the applied load P times the distance it travels. The mechanism method can be extended to obtain Pp for a framed structure. As a result. This is described in the following example. 4.. we have the cornbined mechanism.6.6. Note that small displacement assumption is used in evaluating this vertical drop. (4.. P. i.6.e.5P at midspan of the beam and a horizontal force of P at point R.4.18c.8) it is tacitly assumed that ail deformations are concentrated in the plastic hinges. three possible collapse mechanisms for the portal frame can be identified. .18bd.18b is called the beam mechanism. we have from which we obtain the collapse load which is the same as Eq. Note.8). which contains the features of  ~  .18d. Unlike the previous example of the propped cantilever in which only one collapse mechanism was identified.6.. We will now calculate the collapse load of the frame using the mechanism method. 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.6). in Fig.9. The mechanism shown in Fig.7) to Eq. Equating Eq. it is called t h e 3 mechanism. i. 4. (4. which was obtained previously by the hingebyhinge analysis.912. for a PinnedBased Portal Frame Figure 4. . and the vertical drop of point B from its original position is L6.18a shows a pinnedbased portal frame loaded by a vertical force of 1.e. no virtual strain energy is stored anywhere else but in locations of plastic hinges during the virtual displacements. (4. and in Fig. (4. it is readily seen from the geometry of the collapse mechanism that the plastic hinge at B will undergo a virtual rotation of 26.17b. They are shown in Fig. 4. 4.
Rigid Frames . The corresponding virtual displacements are also indicated in the figures. I b l B E A M MECHANISM C S0 m . Beam Mechanism (1..(60) from which we obtain (4.12) (4.18 Collapse mechanisms of a simple portal frame both the beam and sway mechanisms.6..11) . 6Wc.t = a&Q. 1 lcl S W A Y MECHANISM (dl COMBINED M E C H A N I S M FIGURE 4.(60) + Mp(260)+ M. To calculate P.A.6. we write the virtual work equations for all these mechanisms.5P)(L60/2= ) M. A.
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. 4.5P)(L69/2) P(L6012)= Mp(269) Mp(269) from which we obtain + + (4.14) Combi~red Mechanism (1.6. from the upper bound theorem.Mp 5 L Since the lowest value is P3.19a). we need to perform a moment check on the structure. By drawing freebody diagrams of the frame (Fig. to ensure that P3 is the true collapse load.17) p 3 = 16 . it is FIGURE 4.4.6.6. we therefore choose P3 as the collapse load.19 Moment check . However.16) (4.
. of the frame only if the effect of instability is small and can be ignored.. To obtain a precise value of P. The exact interaction is rather complex. a number of possible collapse mechanisms will exist. Alternatively. by a process known as cornbirration of mecl~otlism. for example. such as a complete elastoplastic analysis of the structure. 4. neither the critical load PC. In reality. nor the rigidplastic collapse load P. namely the beam and the sway mechanisms. However.280 Rigid Frames readily seen that the condition M s Mp is satisfied everywhere in the frame (Fig. for design purposes it is more desirable if PI can be obtained by a simpler means. For multistory frames in which stability is important. 4. One such interaction equation has been proposed by Horne and Merchant. may be necessary. the effects of instability and plasticity interact with each other.." It has the simple form . will represent the failure load PI of the frame. Thus. Therefore. This type of analysis is rather complex and costly and inevitably required the use of a computer.19b). of most frameworks." Generally speaking. a simple method to estimate P. They represent only two extreme cases in which only the instability effect or only the plasticity effect is considered in the analysis. = P . evaluated by considering elastic instability effect only. as in. = 16Mp/5L is the collapse load and the combined mechanism is the collapse mechanism of the frame. will represent P. and so approximate interaction equations involving relatively simple calculations are desirable. the plastic collapse load Pp will give a reasonable estimate of the failure load P. we can conclude from the lower bound theorem of plastic analy~is'~ that P. In reality.. In the following section. is discussed. the rigidplastic collapse load will not be representative of the failure load P. nor P. failure of frames is a result of both instability and plasticity effects. evaluated by considering plasticity effect only. It may be d~fficultfor the analyst to envision all these possible mechanisms. one can obtain Pp for such frames by the hingebyhinge method with the aid of a computer. a rigorous analysis. This method is described in detail in reference 10 and will not be presented here.7 MERCHANTRANKINE INTERACTION EQUATION We have pointed out in the previous sections that neither P. However. various mechanisms can be constructed systematically from the two basic mechanisms. singlestory frames that consist of stocky members. For multistory multibay frames..
4.It has been demonstrated" that the failure load P. the behavior of a framed member is affected by all its adjacent members in the frame. obtained from Eq. (4.4.1) is called the MerchantRonkine equation. as mentioned previously. it is common practice to isolate each member from the frame and design it as an individual beamcolumn. But.8 Effective Length Factors of Framed Members FIGURE 4.8 EFFECTIVE LENGTH FACTORS OF FRAMED MEMBERS In the design of rigid frames.20 MerchantRankine equation where PC.7.7.. the influence of other members on the particular member in question must be . and Pp represent end points of a straight line interaction equation for the failure load P.20. A s can be seen. This equation is plotted in Fig. As a result. PC. = elastic critical load of the frame Pp= plastic collapse load of the frame PF=failure load of the frame Equation (4.1) is usually conservative and reasonably accurate for design purposes. 4. using the beamcolumn interaction equations discussed in the previous chapter.
Here we will discuss the effective length factor for a framed member. One such procedure was proposed by Julian and Lawrence. A t a joint. must be included in estimating the rotational restraint a t the ends of the member in question.7. because the stiffness of all adjacent members. the restraining moment provided by the beams is distributed among the columns in proportion to their stiffnesses. All members are prismatic and behave elastically.. as well as the rigidities of the connections. The determination of the effective length factor K for a framed member is more involved than that for an isolated member.7. Since the behavior of a framed column will be different.14) for the columns and (3. 2. However.21a. The column in question is denoted by c2 in the figure. A t buckling. 5. we will discuss each case separately.8.1 Braced Frame The model used for the determination of K for a framed column braced against sidesway is shown in Fig. depending on whether the frame is braced (sidesway prevented) or unbraced (sidesway permitted).282 Rigid Framer taken into account in a design. and we will therefore discuss it in what follows. The assumptions used for the model are: 1. the effective length factor K for a framed column should be determined from a stability analysis of the entire structure. we have For Column 1 El cM~)cl = (L)[s. the rotations at the near and far ends of the girders are equal and opposite (i.8.0 u A +sijS. for design purposes this procedure is impractical and the use of a simpler procedure is much more desirable. One convenient way to include this interaction effect is to use the concept of effectiue lerlgth factor K .15) and (3. 4. 4.8. The axial forces in the beams are negligible.12 Their procedure was recommended by the AISC. All columns in a story buckle simultaneously.e.16) for the beams.13) and (3.1) For Column 2 . 4. In theory. Using the slopedeflection equations (3. 3.] Cl (4. We discussed the concept of effective length factor for isolated column with idealized end conditions thoroughly in Chapter 2.2. the girders are bent in single curvature).
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 .
(MA). (4. (4..8.2).11). .8. we must have from which we obtain ( M A ) c= ~ (MA). we can use sii = 4 and sii= 2 for the beams.8. respectively. we can write Finally. we obtain where we have used the notation Following the same procedure by considering equilibrium at joint B ..(MA).1) for (MA).10). by substituting Eq.8. the moment at the B end of column 2 can be written as . (4..12) into Eq.8. (4.8..8. and (4. (MA)~I (4. (MA). and rearranging...5).6)..8.10) Substituting Eqs.. For joint equilibrium at A. into Eq.284 Rigid Frames For Beam 4 Note that because of Assumption 2 . we have and From Eq. (4. (4.
we must have the determinant of the coefficient matrix vanished.19) and (4. and (M.8. F (?I =.8.8.3) and (4.sum of column stianesses meeting at j o i d sum of beam stiffnesses meeting at joint A (4.F.16). E _ sum of column stiffness meeting at joint B sum of beam stiffness meeting at joint B (4.. we can obtain the following equations Denoting CA= and .8. s. from Eqs.8.24) . (4.8.23) Sii sii+ At bifurcation.8.8 Effective Lenglh Factors of Framed Members 285 where we use the same notation Eliminating (MA).20) can be written in matrix form as 2 (4..21) CB= z($1.+ 2 CB =0 (4.8.13)..8.22) The equilibrium equations (4. + L det " c* Sij sij si. (4. from Eqs. (El.).4.2) and (4.8.
except that for this model assumption 5 is modified to the following: at buckling.16)] in Eq. making use of the slopedeflection equations (3..8.e. the rotations at the near and far ends of the girders are equal in magnitude and direction (i.24) can be simplified to give Equation (4.5 to 1 for a braced frame.1) and (3.7. (4. The column in question is denoted by c2 in the figure. (3.24) and realizing that k ~ = ( ~ r ) ~ = n ~ = n (4.8. A straight line joining the two G values will cut the middle line which gives the value of K.18) for the beams.7.21) and (4.8.25) l ~ Equation (4.2) for the columns and (3.21b (see reference 12). we can write For Column I For Column 2 For Column 3 . 4.15) and (3. Note that the range of K is from 0.286 Rigid Frames Using the expressions for sii and sij [(Eqs. (4.22a. 4. For example. G.65 (see dotted line).8. the K value for the column is 0.8. Again.8.8. = 0. and GB expressed in Eqs. the girders are bent in double curvature). To obtain the effective length factor K of column AB.17) and (3.26) can be expressed in a nomograph form as shown in Fig.8. respectively. one needs only to evaluate the relative stiffness factors G. at its hvo ends.2 Unbraced Frame The model for the determination of K for a framed column subjected to sidesway is shown in Fig. The assumptions used for this model are the same as that used for the model of the braced frame. 4.8.8.22).8.2. if GA= 0.6.
0.0 1.22 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.05.0 88: 6. 4.0 0 FIGURE 4.0 3.02.4. 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.
8.= L.38) can be substituted into Eq.8.27) for (MA). result is Eq.36).32).. (MA)bz.8. we have From Eq.36) Substituting Eqs. (4.8.8. The where we have used the notation Following the same procedure.28). into Eq.8.31). and (4. and (MA). (4. we can write If LC.8. (4.37). we see that by considering equilibrium at joint B. (4.. (4.. (4. (4.( M A ) = ..288 Rigid Frames from which ( M A L= .(MA)LQ.8. the moment at the B end of column 2 can be written as where we use the same notations .
42) into Eq. (4.8 Effective Length Faclors of Framed Members 289 Eliminating (M& from Eqs. we can obtain the following equations Equations (4.8.8.48) Substituting Eqs.39) and (4. .8. (4.22).8.8. V = 0 and Eq. (4.46).21) and (4.48) as The equilibrium equations (4.8.8.46) are obtained by considering joint equilibrium at A and B.8.8.8.8.28) and (4. (4. . and (4. and G . (4. respectively. (4.48) and realizing A we can write Eq. and (MD)=? from Eqs.49) can be put into matrix form as where G .8.8.42).4.8.8. (4. are defined in Eqs.29) and (4.8. (4. Since there is no external horizontal force acting.45).8.39).45) and (4. respectively.47) becomes (MA)~z + (MB)=z + P A =0 (4. A third equation can be obtained by considering member equilibrium of column 2.
will be smaller than that evaluated using G.51) 6 GA 6 GB (kL)X Using the expressions for sii and s i j [Eqs. Eq..)  (nlK) tan ( n l K ) = (4.= end restraint parameter accounting for inelasticity in the column The Kfactor evaluated using Gin. T o account for inelasticity in the column.8.ic = end restraint parameter assuming all members are elastic Gin.51) and realizing that k L = n l K .16)] in Eq.(n/K)'36 6(GA + G. In the present development.l..52) is expressed in a nomograph form as shown in Fig.52) Equation (4. we must have sii+6 sij sii (sjj 6 (sf..22b (see reference 12). Note that K is always greater than or equal to unity.... (4. However.14 ...G. all members are assumed to behave elastically.i. = tangent modulus of the material G.7.8..8.. in many cases the magnitude of axial load in the column is such that inelasticity may set in when buckling occurs. An alternative approach to determine the effective length factor K for framed columns based on the stiffness distribution approach was proposed by Wood. 4.8. 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.26) and (4..8.8.8..52) express length factor K of a framed column as a function of the end restraint factors GA and G..7....53) where E. (4.51) can be simplified to G. GA + sij) + sij) =0 det sii  +G.. Equations (4. (4.15) and (3...8.Rigid Frames At bifurcation. Yura (see reference 13) suggested that the end restraint parameters be modified to (4.. (3.
= (s:.9. TwoMember Frame For the structure shown in Fig.@. we see that we have Column A B EIo MDA= (sij.24 and using the slopedeflection equations.23.9.eB) L Beam B C MBC= 2E1. determine the effective length factor K for column A B using (a) the slopedeaection equation (b) the nomograph tSOLUTION L FIGURE 4. 4.eA +si.23 Twomember frame (a) SlopeDeflection Equation Referring to Fig.2) 2E10 (siibeB + sijbeC) =L (498 + 2ec) (4.1.4.9 lllurtrative Examples 4.9 ILLUSTRATIVE EXAMPLES Example 4.) EIo L (4.3) . 4.
9. we obtain (4. the end moment ME. reduces to (4..51.BB) +2E10 ( 3 0 B )= 0 L L (4. = 6 I.5) 2. MBC= ( 3 e ~ ) L Joint Equilibrium (4.9.8) s.9.7.Rigid Frames FIGURE 4.5405 L . therefore.= Using Table 3.9.9.11) kL = ( ~ O = 5.6) MBA+MBC=O Therefore (4.7) EIo (sii.24 Beam and column moments The equation McB = 0 leads to ec= :e.9.10) (4.
= F =30. Simple Portal Frame T e f e i m i n e the design moments for the simple frame shown in Fig.djuaed= (4.4.9. respectively.20)].6) and frame stability ( P . 0. (3.57 Example 4.10. 4. .26a shows the decomposition of the frame into a nonsway and sway component.7EI p=p =.12) (fixedend) The Go value calculated above is valid only if 8. 4.# 8. we need only to divide it by the factor 1. The adjustment can be made by realizing that for 8.10. (3. These factors are designated as B. must he adjusted.= 8.19) or (3. we obtain =0 and (GB).9.26b and c.7 0 . and so G.. [Eqs. The secondary effects are taken care of by the use of the member stability ( P .LZ er and K = pPC. and for our case Thus.A) moment magnification factors. 4. to adjust G..25 using the L R F D method. In our case 8.333. The corresponding nonsway and sway moments are shown in Fig.5 Using the nomograph shown in Fig.5 times greater. respectively. [Eq. In the L R F D method.9 IllusIralive Examples 293 from which 30.10. = 0 (4.18) K = 0.21 with G .18)] and B.2. (see Fig. the apparent stiffness of the beam with its far end hinged is 6 / 4 = 1.21). a firstorder analysis is performed on the structure. Consequently. 4. 5 7 (h) Nomograph G. = @. SOLUTION: FirstOrder Analysis Figure 4.
25 Simple frame under vertical and lateral loads FIGURE 4.26 Nonsway and sway moments .P ~ FIGURE 4.
factors. the column that does not provide any sidesway resistance is said to lean on the column.22. can easily be determined from Fig. (3.18) .4. any sidesway motion. However. the modified effective length for column AB is Thus. For this situation.. the effective length of the column providing the sidesway resistance must be modified. As a consequence. (3.9 llluslnlive Examples 295 Column AB The design moment for column A B is determined from Eq. The magnitudes for M. 4.17). we need to evaluate the effective length K for the column. 4. which provides the sidesway resistance. and M. since the right column is pinned at both ends.10. Since not all of the columns are effective in resisting sidesway. = Euler loads of all columns in a story providing sidesway resistance for the frame evaluating using the effective length obtained from the nomograph. all the resistance to frame instability effect comes from the left column.. and B. From the nomograph in Fig. 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. from Eq.10. = axial For our case. To determine the B. K was found to be 2. respectively. it cannot resist..26b as 0 and PL.
9 kipslft L = 1... therefore.1 that the pertinent load combinations are . (3.= 4M. are zero. Assume the loadings to be D = 0. As a consequence. (3.6 kipslft W = 0.Rigid Frames and.10. 4. from Eq.17) M. TwoBay Frame Check the adequacy of column C D of the frame shown in Fig... and so both M. SOLUTION: For the given loadings.27 using the LRFD approach.t + B2M1. it can be seen from Table 1.20) The design moment is. and M.3. Example 4. from Eq.8 kipslft and column C D can develop its full plastic moment capacity. the design moment is zero and.10. The frame is braced against outofplane bending at story height of every column and at midheight of the exterior columns. Column C D This column is pinned at both ends. this column is designed as a centrally loaded member.
the second and third terms of the interaction equations [Eqs. we need only to check the frame for load combinations (2) and (4). = m (pinnedend) .27. it can be seen that load combination (4) is the most severe load case. 4. therefore.28 shows the result of a firstorder analysis of the frame. The firstorder moment in column CD is zero.15) and (3. (3. Loud Cornbittation (2): 1. We need only to check the first term.10. As a result. we have + G. Strong uxis bending Under the section properties given in Fig.16)] vanish.9 IllusIralive Examples 297 FIGURE 4.2D 1.27 Twobay frame For gravity loadings.4. it is obvious that load combination (2) is the most severe load case and for combined gravity and lateral loadings.10.6L Figure 4.
09 (4.6L Although the theoretical G value for pinnedend is infinity. K y = 1 and so Acy = nr. 4. we have (GD)udjm. Therefore ( G ~ ) ~ d= ~ 10 ~n~d Also.Rigid Frames FIGURE 4.cd .26) . for design purposes it is customary to use G = 10 to account for the fact that an ideal pinnedended condition does not exist. n(2.21 with the adjusted values for the G's. 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.5 Using the nomograph in Fig. needs to be modified.2D+ 1. Since the frame does not sway under the present load combination. G.28 Firstorder analysis for load combination 1.GD 1.9.46) = 1. since the far end of the beams are hinged.
5L Figure 4..3W +0.= 1.10. (see Prob. use (4.9 llluslralive Examples 299 Upon comparing A. 4.34) .6). we have K.09)'](20. the wind can simultaneously create a suction on the leeward wall.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. This is because in addition to exerting a positive pressure on a windward wall. an uplift force on the roof could be created. Notice that the wind load is assumed to distribute to the windward and leeward sides of the frame in a 7 : 3 ratio.419(1.15) which is < l . the loadings to be considered here represent the most unfavorable condition for the frame.11. from the nomograph shown in Fig.419A~.9). Strong axis bending Gc = m (pinnedend) Go = 0..2D + 1. In other words.0)(36) = 438 kips (4. (2. 4.27) Check interaction equofiorl Use the Expression (3.4.9. Moreover. the apparent beam stiffness is only onehalf of the beam stiffness used in calculating G.P. Therefore and.30) (4.221 T o account for the fact that the pinnedend is not ideal. However this uplift force is not considered in this example because it has a beneficial effect on the frame. was found to be P.9. and A.29 shows the results of a firstorder analysis of the nonsway and sway components of the frame. Using Eq.9. Determine P.9.73 (4. therefore all right.. Load Combblotion (4): 1. it can be concluded that weak axis bending controls.]PY = exp [0. = exp [0.22b.
3 W + 0.5L .29 Firstorder analysis for load combination 1.f 28.2 * Ibl + (0 I FIGURE 4.2D + 1 .
therefore we use B. Using the method proposed in reference 15 as cited in the commentary of LRFD. > A.]Py = 438 kips Determine M. the modified effective length is given by and so Weak ark bending Ky=l Since A. K . buckling therefore P.9 lllustralive Examples 301 Since the exterior pinnedended columns lean on column CD. should be determined based on weak axis P. = 1 (Pck= n2EI. factor which is < 1 .4. = exp [0. B..L)'=6742 kips) .I(K. must be adjusted..419A:.
In particular. M. two reference loads for frames were discussed.25(208) (4.Mn. if only the effect of plasticity or yielding of the material is considered. use E q .302 Rigid Frames B2 factor B2 = 1 1  CP C pel. T h e elastic critical load can be obtained by using one of the following methods: (1) the differential equation method. therefore. it follows that May= 0. M.F. In obtaincng PC.15) Since the frame is braced against outofplane bending. (2) the slopedeflection equation method. .42) Check interaction equation Therefore.41) = 260 ft . = (115)(36) = 4140 in .997 which is < I .10 SUMMARY In this chapter. They are the elastic critical load PC.9. 4. (3.kip (4.. it is all right. = Z. and (3) the matrix stiffness method.10. The first two terms have the value = 0. + 1. = M.. However.kip = 3120 in kip Determine Mu. = B.. by using either the hingebyhinge method or the mechanism method. only the effect of instability is considered. we focussed on the study of the behavior of frameworks. = (1)(0) + B2M. one can obtain the plastic collapse load P.and the plastic collapse load P.9..
for the frames in Fig. for the frame in Fig. of most frameworks are neither PC.. 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.1 r 4 .. 1 Find PC.2 . For the design of members in a frame. because collapse in most cases is a result of an interaction of the effects of instability and plasticity. P4. However. slopedeflection approach c. the MerchantRankine interaction equation provides a simple but reasonably accurate method to estimate P. the collapse loads P. What conclusion can be drawn hom the results? flconslant for all members aconsiant l o r all members la1 FIGURE P4.2ab for both swayprevented and swaypermitted cases.Problems 303 In reality. differential equation approach b. P4. matrix stiffness approach P FIGURE P4. for design purposes.nor P. The exact interaction relation is rather complex.1 using o. PROBLEMS 4 . 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.
4 4 . find the effective length factor K for the column BD using a. slopedeflection equation b. FIGURE P4. establish upper and lower bounds for the critical load c. P4. a.3 4 . 3 For the Frame in Fig.4 using the mechanism method. find the critical load for o = 1 FIGURE P4. nomograph .3. sketch the buckled shape of the frame b. 5 For the structure in Fig. 4 Find Po for the frame in Fig.Rigid Frames 4 . P4.5. P4.
91. General computer program for limit analysis. pp. December 1963. McGrawHill. Winter. Przemieniecki. Vol. K. ST6. W. and Heyman. pinned b. 1987. ASCE. No. Session on Design of Columns in Frames. and Chen. W.. 141158. B. 4. Matrix Analysis of Framed Structures. W. 2nd edition. Chicago. New York. Meyers. pp. Cornell University Engineering Experimental Station Bulletin. 10. Cambridge. W. 3. ASCE. Halldorsson. Vol. White. Journal of the Structural Division. C. 1969. Hartz. 89. 1985. Van Nostrand. 5. STI... Harper 8: Row. New Orleans. D. Stability analysis of frameworks by matrix methods. 1948.. Plastic Design of Frames. 7. Methods of Analysis in LRFD.References 305 4. G. M. P. J. New York. M. ASCE. Baker. J. Weaver. 6. Hsu. Jr. 1968. July 1968. and McGuire. and Gere. Structural Engineering Congress.. V. 1986. See also.. 36. Theory of Matrix Structural Analysis. Matrix formulation of structural stability problems. and Wang. Journal of the Structural Division. B. 8.. J. I: Fundamentals. 5 REFERENCES 1. 2. No. Vol. 2. K. 9. Y. ST6. New York. On the computerbased design analysis for the flexibly jointed frames. Structural Engineering Congress. and Loh. Koo.Y. . No. December 1965. O... Cambridge University Press. On SecondOrder Elastic Analysis for Design. S. N. fxed Elconstant lor all members FIGURE P 4 .. Journal of Constructional Steel Research. pp. ASCE. Ithaca. 1984. 1980. September 1518. J. Buckling of Trusses and Rigid Frames. J. ASCE. No. 7. September 1618. Matrix Analysis of Structures. Journal of the Structural Division.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. 94. C. 101117. 17451760. Goto. Vol. Wang. No. F. J. T. H. Vol.
Theory of Elastic Stability. S. 0 . Yura. September. 14. J. AISC Engineering Journal. 341346. 1965. J. 11(2). 9. Effective lengths of columns m multistory buildings. 1974. Vol. pp. 295302. 52. New York. Nos. 235244. . Prentice Hall.306 Rigid Frames 11.. AISC Engineering Journal. and Gere. 1952. McCrawHill. 8(2). M. New York. R. 13. A practical method of second order analysis. 1977. Timoshenko.. Englewood Cliffs. Pergamon Press. LeMessuier. 1971. and Merchant. McCrawHill. 3742. A.. and Lawrence. 15. 1974. 12. L. part 2rigid frames. New Jersey. 7. Chajes. Notes on 1 and L Nomograms for Determination of Effective Lengths. M. Structural Engineers. 2nd edition. April. J . A. General References Bleich. R. F. New York. S. W. Julian. W. Horne. Wood. Unpublished report. Buckling Strength of Metal Structures. Principles of Structural Stability Theory. pp. 4967. August. pp. G. H. July. The effective length of columns in unbraced frames. The Stability of Frames. April. 8. P. 1961.
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). the limit of the applied loads at which lateral instability commences is called the elastic lateral torsiotzal buckling load. channel sections. However. The longer the unbraced length and the less restraint the support can deliver to the beam. are particularly susceptible to lateral torsional buckling. This is because the torsional rigidities of such cross sections are very low and so their resistance to torsional instability is very limited. and the location of the applied loads with respect to the centroidal axis of the cross section. such as Isections. and Zsections. if sufficient lateral bracing is not provided to the compression flange. T h e effects of unbraced length and end conditions on the lateral torsional buckling load of the beam are rather evident. the unbraced length and the support conditions of the beam. the type and position of the applied loads along the member axis. inplane bending about the strong axis will occur at the commencement of the loadings. outofplane bending and twisting of the cross section will occur when the applied loads reach a certain limit. It it wellknown that beams of thinwalled operz cross sections composed of slender component plates.1 INTRODUCTION Beams are structural members that resist the applied loads primarily by bending and shearing actions. For a geometrically perfect elastic beam. Although it is quite obvious that different types of loads applied at different locations of the . the lower the critical lateral buckling load will be. The value of the lateral torsional buckling load is influenced by a number of factors. Among the important ones are the crosssectional shape.Chapter 5 BEAMS 5.
it has a stabilizing effect. 5. Consequently. consider a concentrated force acting on the top flange of an Ibeam (Fig. the critical load corresponding to Fig. However. 5. 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. the cross section will rotate and deflect laterally from its original position. so this coupling effect must be considered in the analysis. if the same load is applied at the bottom flange (Fig. For instance.1 Effect of location of loading beam will give different values for the various critical lateral buckling loads. The problem is further complicated because the lateral (outofplane) deflection and twisting are coupled.la will be lower than that corresponding to Fig. since it enhances the rotation of the cross section from its original undeflected position. . l b .lb). As lateral torsional buckling occurs. 5. since it reduces the rotation of the cross section.la). It can be seen from the figure that the applied force has a destabilizing effect. 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. 5 .FIGURE 5.
5. the twisting moment along the length of the members is constant and the beam is said to be under a uniform torsion.2 Simply supported Ibeam subjected to twisting moment 5. If the applied torque is constant and all cross sections are free to warp.4. the applied torque (twisting moment) is resisted solely by shear stresses developed in the cross section. 5. 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.5. These shear stresses are called St.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. This is illustrated in Fig. warping of the cross section will occur.2). 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. 5.3 Warping of Isection under uniform twisting moment . 5. Under the action of the torque. Venant shear stresses and the FIGURE 5. The magnitude of these shear stresses will be proportional to the distance from the midline of the component plate. For the simply supported beam shown in Fig. It is usually assumed that the shear stress at any point acts parallel to the tangent to the midline of the cross section.2. such as an Isection (Fig. as shown in Fig. These stresses act parallel to the edge of the component plates of the cross section.2 Uniform Torsion of ThinWalled Open Sections FIGURE 5. in which warping of all the cross sections is unrestrained.3. open cross sections. The distribution of these shear stresses is the same for all thinwalled.
and thickness t i . Venant torsion G = shear modulus J = torsional constant of the cross section For a thinwalled.1 gives the expression of J for a doubly symmetric Isection. the torsional constant can be assumed to be J = . If the cross section is made up of 11 slender component plates. Venant shear . If b l t is smaller than 10.. (5. It should be mentioned that the above expressions for 3 are valid only if b l f is larger than 10. the angle of twist y over a length L caused by the St..2. each with midline length b .2) where b is the length of the midline of the cross section and r is the thickness of the cross section.=I z :b. Venarlt torsion T. the torsional constant can be expressed' by J = 4bt3 (5. . Venant torsion is given by where y l L = angle of twist per unit length T.3)..t.. From mechanics of materials.Beams FIGURE 5. open section of constant thickness t.2.  stress distribution in an Isection torsion that is associated with these shear stresses is referred to as St.4 St. a correction factor must be used in calculating J (see Problem 5.3) Table 5. =St.
however.5). Upon rearranging. 5. warping is prevented.5). These induced axial stresses are in selfbalance because no external axial force is applied to the beam.3 NONUNIFORM TORSION OF THINWALLED.4) can be written as The St. Venant torsion.2. 5. Eq. there exists another type of torsion known as warping restraint torsion in the cross section. Note that the rate of twist will be constant for a prismatic member subjected to a uniform torque. it is more convenient to express Eq. 5.2. The resultant of these axial stresses in the two flanges constitutes a pair of equal moments called the bimornertt M. the axial stresses developed at the fixed end of the beam are illustrated in Fig. If the cross section is prevented from warping.pure torsion. Open Crorr Sections 311 Table 5. Venant torsion. At the fixed end. As a result.2.5) is also referred to as ur~iformor. (5. . acting oppositely in each of these two planes of the flanges (Fig.3 NonUnilorm Torsion of ThinWalled. 5.5. so the applied torque is resisted solely by St.1) in the form of the rate of twist as in which z is the coordinate axis along the length of the beam. axial strain and so axial stresses must be induced in the cross section in addition to the shear stresses. (5.1 Torsional Constant and Warping Constant for a Doubly Symmetric ISection r v l 7  For the purpose of analysis. Venant torsion expressed in Eq. For an Isection.5. OPEN CROSS SECTIONS Consider a cantilever beam subjected to a torque applied at the free end (Fig. At the free end the cross section is free to warp. (5. in addition to St.
Beams bendlng s t r e s s e s In f l a n g e s \ FIGURE 5.5 Cantilever beam subjected lo a twisting moment The development of these bending moments. z ' in top flange F . The bending of the flanges will thus induce FIGURIi. 5. Since warping is prevented at the fixed end.6 Bending of flanges due to warping restraint at tlie fixed end T . in the flanges in the cross section becomes evident if one refers to Fig.. 5.. the two flanges of the beam must bend in opposite directions as the cross section rotates under the action of the applied torque. ~.6. or bimoment. ) bending slrsssss : L 1 \ bottom l l a n g s .
5. is given by where h is the distance between the lines of action of the shear forces . the lateral displacement of the flange. 5. This pair of shear forces constitute a couple acting on the cross section.7 Moment and shear developed at the fixedend eross section of an Isection bending moments Ml at the fixed end (Fig. The resulting torsion. Associated with the bending moment Mr in one flange is the shear force V.7). which is referred to as the warping restraint rorsiorr or nonuniform rorsion. They are equal in magnitude but act in opposite directions. the moment of inertia of one flange about the y axis of the cross section. Open Cross Sedions FIGURE 5. I. and u . as shown in Fig.5. given by the usual beam theory The shear forces Vr are present in both flanges of the Isection. 5.3 NonUniform Torsion of ThinWalled. as shown in Fig.7.8. 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.
6) into Eq.4). (5. by from which Upon substituting Eq.3.3.2).3. Eq.3) can be written as From Fig.(5. (5.8 Rotational and translational relationship In view of Eq. we can obtain the warping restraint torsion as .3.8.FIGURE 5. it can be seen that the rotation y of the cross section is related to the lateral deflection u. (5. 5.
9). over the entire cross section. = 0 Angle Tee lai Crucilarm Solid Circular Tubular lbl . open cross sections for which all component plates intersect at a common point. such as the angle. t is the thickness of the thinwalled element. it is in which w. the tee. From Eq. will be zero for those thinwalled.5. A general expression for the warping constant is found in reference 2. it can be seen that the warping constant C.3. 5.= J'. and the cruciform sections (see Fig.3 NonUniiarm Torsion of ThinWalled. (5.9 Cross sections with C. It should be noted that the warping constant is different for different cross sections.9a). r ds. Open Cross Sections 315 where is called the warping corzstant of the Isection (Table 5. and s is the length of the midline of the entire cross section. This is because FIGURE 5. the equation equals the average value of tv.1). r equals the distance from the shear center of the cross section to the tangent at any point around the cross section.
Thus.7). Warping restraint torsion will also develop in the cross sections if the twisting moment is not uniform along the length of the member.31 6 Beams the shear centers 0 for these sections are located at the point of intersection of the component plates. In view of Eq. those sections that are originally plane will remain plane after the twisting moment is applied. For sections other than those shown in Fig. and EJ~will be zero. for the Isection shown in Fig..10) Equation (5.3.2. 5. 5. a greater and greater share of the applied torque will be resisted by the warping restraint torsion. As we move toward the fxed end. such as the solid or circular tubes (see Fig. (5.5) and E q . Venant and warping restralnt torsion will be present.3.9. further away from the free end. . it can be seen that St. O n the other hand. Venant torsion is always present when a member is subjected to twisting and rotates. so both St. This is because under a nonuniform torsion. A t the fxed end (z = 0). Here. 5. and so Cw may be taken as zero for these sections. the applied twisting moment will be resisted by both St. different cross sections will warp by a different amount. The differential axial deformation between two adjacent cross sections will induce axial stresses.3. the applied twisting moment is resisted solely by St. Venant torsion and warping restraint torsion. Another type of cross sections for which no warping will occur is the axisymmetric sections. giving rise to a warping restraint torsion. If warping is restrained. Warping for narrow rectangular sections and box sections composed of narrow rectangular elements are usually negligible. Venant torsion at the free end (z = L) where the cross section is free to warp.5. this means that all these sections do not warp when subjected to twisting moments. So w. 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. The proportion of the applied twisting moment transmitted by these two forms of torsional resistance varies. However. warping will generally occur when a twisting moment is applied. we have (5.9b). (5.11) represents the internal twisting moment that will develop in the cross section when the member is twisted.+T. T=T. From the above discussion. Physically. warping restraint torsion will develop if a cross section is prevented from warping when it is being twisted. warping is totally restrained and the applied torque will be transmitted completely by the warping restraint torsion. warping is partially restrained.
This type of bending is known as the iriplarie bending. The following examples will illustrate the procedure for determining this critical load.1.10 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. soLunoN: T o determine this critical load.4 Lateral Buckling of Beams 317 5. The geometry of the cross section does not change during buckling. the x and y axes. As the moments are increased. as in the case of a column. the beam will bend in the yz plane. The lowest load at which this condition occurs is the critical load for the beam.5. unless the beam is provided with a sufficient lateral support. in which the slightly deformed configuration of the beam is shown. The deflection of the member is small. The assumptions used in the following examples are the following: 1. 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. outofplane bending and twisting will occur when the applied load reaches its critical value. Referring to Fig. Example 5. The critical or lateral buckling load is then obtained as the lowest eigenvalue satisfying the characteristic equation of the differential equations. 4. Under the action of the applied moment. Here. Simply Supported Rectangular Beam Under Pure Bending Figure 5.10. The beam is stable and favored with this new configuration.4 LATERAL BUCKLING OF BEAMS When a beam is bent about its axis of greatest flexural rigidity. 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. to find the critical load of the beam one must first establish the equilibrium conditions of the beam in a slightly deformed configuration. we note that for any cross section three different displacement components are needed to define the deflected position of the cross section. it is necessary to establish the equilibrium equations governing this slightly deformed stable configuration of the beam. 3. The beam is geometrically perfect. 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). They are the inplane displace . 5. 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. 2. but rotation of the end cross section about the z axis is prevented. For a geometrically perfect beam.
the outofplane displacement 14. To facilitate the analysis. The xyz axes are h e d coordinate axes that are fixed to the original or undeformed position of the member. and the rotation of the cross section y. The procedure to establish the governing differential equations is very similar to that presented in Chapter 2 for columns. The differential equations are then obtained by equating these external moments to the corresponding internal resisting moments of the cross section. The x ' and y' axes coincide with the principal axes of the cross section. we establish two sets of coordinate axes. The z' axis is always tangent to the center lines of the deflected position of the member. First. The only difference between the solution process presented in this chapter and that discussed in Chapter 2 is that. These externally induced moments at section z are called external moments.Beams FIGURE 5. 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.10 Lateral buckling of a narrow rectangular strip under uniform moment ment u. we establish the expressions for the moments induced by the external loads at an arbitrary section z. in the earlier .
5. 5. l e X l. the components of external moments acting on a cross section with a distance r from the origin with respect to the xyz coordinates are. ( M y= )( M ) = 0 Figure 5.U Components of moments C Y' xy Plane Y' : I lMy~lext0 IMyJerl=O Y I M z .0 yz Plane .4 Lateral Buckling of Beams 31 9 chapter. only inplane bending of the member is considered. For the beam shown in Fig. for convenience. as the former is a threedimensional problem. Thus. the lateral torsional buckling problem will be more complex than the inplane buckling problem. will be considered. whereas here both inplane and outofplane bending.10. In this chapter.11ac shows the moments and moment components in the three mutually perpendicular planes. whereas the latter is a twodimensional problem. as well as twisting. we use a FIGURE 5. ( M ) =M .
we have EIxy+MD=O d 2u dz . in Fig. (5. warping of the cross section is negligible and so warping restraint torsion can be neglected.10..z ' and x'z' planes may be represented by their corresponding values in the yz and x . Equating the corresponding external and internal moments. If this screw were turned in the direction of MDat the positive face z = L. This sign convention for moment is called the righthanded screw rule.righthanded screw rlcle to represent the moment vector.4) indicates that a negative curvature in t h e y ' . 5. For example.). the applied moment MDis positive and represented by the positive moment (M. Because of this.11) with C. For a narrow rectangular section. as shown in Fig.11.2 ' plane will give a position moment using the righthanded screw rule.3.. it is tacitly assumed that the angle of rotation y is sufficiently small so that the curvatures and moment of inertia in the y ' . 5. 5. T h e minus sign in Eq.4. it would tend to advance in the direction of the positive x axis.z planes. Equation (5. 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. (5. 4 3 .4) and ( 5 . imagine now a righthand screw whose axis is colinear with the x axis.11 in the positive x direction. The corresponding internal resisting moments are = El 'd z 2 d'u In writing Eq.6) follows from E q . (5.4. respectively.4. Using this sign convention for moment.=O.
4.12) becomes a trivial solution. we can obtain (5. In fact.13) apply. and denoting k 2 = M. 8 ) .4. that will cause a lateral torsional buckling. The buckling behavior of the beam is described by the last two equations. (2. Thus.15). G I .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. (5.4.14) The critical moment is the lowest value of M.12). and using the second boundary condition.4. Using the first boundary condition in Eq. we have A sin k L = 0 If A = 0 .4.5.12) and hence the general solution is y = A sin k r + B cos k z y(L) = O (5. the two equations can be combined to give Upon rearranging.4. (5. 4 . the boundary conditions y(0) = O and (5. we have B = 0.2.GJ.12) Since rotations of the end cross sections are prevented. Eq./EI. ( 5 . (5. we must have sin k L = 0 or k L =rrn Since k Z = MSIEI.9) once with respect to z and substitute the result into E q . we have the differential equation which has the same form as Eq. so It is important to note that the critical moment is a function of both the . (5. If we differentiate Eq. It can be obtained by setting n = 1 in Eq. this equation describes the inplane bending behavior of the member that occurs before lateral instability. which are coupled. as they both contain u and y as variables. It is not important for the outofplane lateral torsional buckling behavior in a small displacement buckling analysis. for a nontrivial solution.4.
M.4. Like narrow rectangular cross sections. (5. in addition to St. 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. can be set to zero. and J. as in the preceding example.. 5. In fact. Thus.2. somnorr: Here.4.4.E C .= GJ . Example 5. xyz and x'y'z'. (5. For an Isection.. is also valid for box sections composed of narrow rectangular shapes.16).5)] bending behavior of the member are also applicable here.4. are used to facilitate the analysis.).U Lateral buckling of an Isection under uniform moment . (5.12. for box sections.4. the two equations describing the inplane [Eq. and the torsional stiffness GJ.4)] and outofplane [Eq. will be much higher due to a significant increase in values of I. Since no change has been made in the external loadings or support conditions. As to the internal resisting moments.4. Eqs. there is a warping restraint torsion. (5.1) to (5.3) are still applicable here..lateral bending stiffness EI.6). although derived for a narrow rectangular section. Venant torsion. the only equation that needs to be modified is Eq. However. the total torsional resistant offered by the Isection is dy d3y (M. the coupling effect of outofplane deformation and twisting is manifested in the result. hence.. warping for box sections are negligible and so warping constant C. dz dz" FIGURE 5. Equation (5. two sets of coordinate axes.
5) twice. Ma Equation (5.24) (5.4.GJ 2E& Equation (5. and D can be determined from the conditions at the ends of the beam. the first equation is of no interest to us. it can easily be shown that the following . the general solution is y = A sin mz + B cos mz + Ce"' + De"' (5.4 Lateral Buckling of Beams 323 By equating the corresponding external and internal moments. The differential equation describing the behavior of the beam at lateral torsion buckling is obtained by combining Eqs.19) and (5.4.4. By setting M. (5. n =.1) equal zero and by differentiating Eq. no moments will be developed in the flanges.3.4.21) can be written as and b =EI.\la+ The arbitrary constants A . real quantities defined by m= da + m .23) is a fourthorder linear differential equation with constant coefficients.25) in which m and n are positive. B. C .3. (5.4.20) Denoting a =. Since rotation of the cross section at the supports is prevented.in Eq. (5.5. we must have The other two boundary conditions can be obtained as follows: Since warping is unrestrained at the ends of the beam. the governing differential equations for the Isection under pure bending are obtained Again. as it describes the inplane behavior of the beam before the lateral buckling.4. EC.
. (5.31) Using Eq.30) Since m and n are both positive nonzero quantities.4.4.4. (5. (5. (5. For a rectangular or box section.4..34) represents the contribution of warping to the torsional resistance of the beam. From the first conditions of Eqs.4.4.26) and (5.16).26) and (5.4. so the second square root becomes one and Eq. we obtain the simultaneous equations AsinmL2DsinhnL=O Am2 sin m L 2Dn2sinh nL = 0 + (5. and GJ.29) For a nontrivial solution.25).31) is (5.324 Beams conditions must be satisfied. (5.22).4.4.28) and from the second conditions of Eqs.27). we obtain B=O.4. the second square root in Eq. This observation will become evident if one refers . (5. will increase if the distance between the two flanges increases. (5. we have and in view of Eq. For an Isection. C=D (5. is negligible.4. In fact. the determinant of the above equations must vanish (sin mL)(sinh nL)(2m2 + 2n2) = 0 (5. it follows that for a nontrivial solution we must have sinmL=O The smallest value of m satisfying Eq. C. we have where It should be noted that the critical moment depends not only on the quantities El. but also on EC.34) reduces to Eq. M.27).4.4. and sinhnL is zero only at nL = 0 . (5.4.
is much larger than the flexural rigidity El. ~ S a l ~ a d o r i . Thus. An approximate solution that includes the effect of inplane deflection is given by Kirby and Nethercot3 as where Ir = 1 .. for the cases when I. be subjected to a wide variety of loadings.36) it can be seen that M. the warping constant C. I. M.H ~ ~ r n e and . So. the critical moment for a beam under equal and opposite end moments has been derived. so that the inplane deflection will be negligible compared with that of the outofplane deflection. (5. becomes infinity.(1.4. and so the resulting differential equation describing the equilibrium conditions of the beam at its slightly deformed state is linear with constant coefficients. equals or exceeds I.4. I. it has been assumed that the inplane deflection has no effect on the lateral torsional buckling behavior of the beam. If both rigidities are of the same order of magnitude. Thus. For such cases. 5.37) Note that if I. .4. of course.. If the moment in the beam is not constant throughout.5 BEAMS WITH OTHER LOADING CONDITIONS In the preceding section. The moment is constant for the entire length of the beam. (5. As a result. is proportional to the square of the depth h of the section. closedform solutions are not available and recourse must be had to numerical and approximate procedures to obtain the critical loads..3.' as well as in the papers by M a ~ s o n n e t . If I y > I x . becomes negative and M. the effect of bending in the vertical yz plane may be important and should be considered in calculating M. Then. an increase in h will increase C. (5. becomes imaginary.. This assumption is justified when the flexural rigidity El.II~) (5. the resulting governing differential equation will have variable coefficients.5. thus producing nonuniform moment along the length of the beam. becomes zero. i f I f retnab~s unchanged. 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. 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. From Eq. so. lateral torsional buckling will never occur in circular cross sections or square box sections in which all the component plates have the same thicknesses. no solution exists.8)...34).. and.among ~ others. Beams in practical situations will.5 Beams wilh Olher Loading Conditions 325 to Eq. =I. In developing Eq.
a numerical procedure.13 Beam subjected to unequal bending moments M Double Curvature Bending MAIMB. The procedure is. Fortunately.negative . Here. for the purpose of design. Consequently. Therefore. quite cumbersome.5. as in the beamcolumn case. 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. 5. 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.1 Unequal End Moments If a beam is subjected to end moments that are unequal in magnitude (Fig.13 can be obtained from FIGURE 5. The critical moment for the beam in Fig. 5. the moment in the beam will be a function of r. 5. 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. the resulting governing differential equation will have variable coefficients.13). evidently. involving the use of series or special functions. p ~ ~ i l i ~ e Single Curvature Bending M A IMg .326 Beams In this section. is necessary to obtain solutions.
Its value is positive when the beam bends in double curvature and is negative when the beam bends in single curvature..14.2) that C.. (5.5. This means that the critical moment M. for equal and opposite end moments. as would the given unequal end moments also cause such instability. 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. = Eq.4. A comparison of the theoretical value of M. (5.for unequal end moments will always be larger than the critical moments M. The physical meaning of C. (5. which causes lateral instability. the equal and opposite end moments loading case represents the most severe loading condition for the beam. Thus.1) .5. Since the moment ratio MAIMBis always between 1 and 1.1) for various values of MAIMBis shown in Fig. (5. here is that it represents the amount of increase in the critical uniform moment M . (5.One can see that Eq. .1) gives a conservative and quite accurate representation of the actual critical moment.. ..14 Comparison of theoretical results with Eq.5 Beams with Olher Loading Condilionr 327 where M .5.5. . is always greater than unity. it follows from Eq.34) in which (MAIMB) is the ratio of the numerically smaller to larger end moments. FlGURE 5. 5. .with that evaluated from Eqs.
Referring to Fig. as shown in Fig. 5. we need to relate the externally induced moments acting on the beam at its slightly deformed (buckled) configuration to its internal resistance.15 Simply supported beam loaded at midspan Inplane Moment Diagram .17. 5.328 5. 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. T o derive the governing differential equation. As the beam buckles laterally. By considering a cross section at a distance z from the origin.16. is the lateral outofplane displacement of the shear center of the middle cross section. will develop at the supports.2 Central Concentrated Load Beams If a simply supported beam is loaded at midspan by a concentrated force. Here. the various components of external moments acting on that cross section with respect to the xyz coordinate are.. the moment diagram is bilinear. where u .15. as in the case of unequal end moments. 5. 5. we see that the components of external moments acting on the cross section of the deformed beam with respect FIGURE 5.5. vertical reactions P / 2 and torsional reactions Pu. using the righthanded screw rule for the moment vector.16). A s an illustration. consider a simply supported Ibeam subjected to a concentrated force P applied at the shear center of the middle cross section (Fig./2. the differential equation will contain a variable coefficient.
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 Beams with Other Loading Conditions FTGURE 5.5. 5.5.= Elx dz2 (5.9) . The internal resisting moments are d2u (MX.)!".16).
). =I dz ~ ~ IMXIBXI ~ . 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 . ' ~ ~ ~ ~ ~ IMX'IBXI du dZ ( ' .17 Components of moments The minus sign in Eq. based on the righthanded screw rule for moment.5.9) indicates that the positive moment (M. (5.. x . ' ~ ) @ X I  FIGURE 5.z Plane = I ' ...ry Plane I I' du ( M ~ . produces a negative curvature d'uldz2.2 (Mxlgxl(urnul z..
(5.13) and Eq. The lateral torsional buckling behavior of the beam is described by Eq.13).14).1). will be smaller and vice versa.18. because of the increase in the torque arm as the beam buckles laterally. (5.5) will become where u . Eq.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.5. ( d u l d r ) .5. (5..5. is larger. is uncoupled with the other two equations.. the least detrimental case is when the load acts on the lower flange. For the purpose of design.5. we can write a simple differential equation as This differential equation has a variable coefficient in its third term.5. The term y m h / 2 (or . by Eq. The solution for this differential equation can be obtained' by the method of infinite series. are the outofplane lateral displacement and twist of the cross section at the beam's midspan. and on the lower flange of the cross section.6) and (5.n ) are all small. Therefore. because the quantities ( d u l d r ) . (5. this is because of the decrease in the torque arm as the beam buckles laterally.5. respectively.5. (5.5. The reader should recognize that Eq. and y.5. The curves correspond to the cases when the load acts on the upper flange. . (5. The case where the load acts on the upper flange is the most detrimental.ldz =0. at the shear center. if the load acts on the lower flange.14) and noting that du. Eq.1. it is convenient to approximate the theoretical values of PC. respectively. By eliminating u from Eqs.5 Beams with Other Loading Conditions 331 Note that the second term in Eq. . (5.. Evidently.5. 5. These observations can be explained with reference to Fig. If the load acts on the upper flange.2 P ( +u 2 whereas.7) is neglected in writing Eq. (5. On the other hand. it is not important in the present buckling analysis. 5. PC. The results are plotted as solid lines in Fig..5) will become ( M )= .12)..12) and (5.5.5. which describes the inplane bending behavior of the beam. (5. if (MJ. and ( u .5.13) and (5.
0. (5.using Eqs..18 Comparison of theoretical and approximate solutions with AB C.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 .21) in which W = ( z I L ) ~ ~ .180W2 (5.21) are .19) B = 1 + 0. The approximate solutions for PC..approximate I N e t h e r c o t and R o c k e y ) FIGURE 5.649W . = 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) to (5.5.
5.'&15 For simplicity.6 BEAMS WITH OTHER SUPPORT CONDITIONS The discussion heretofore pertains only to beams that are torsionally simply supported. Good agreement between the two solutions is observed. the ends of the beams are free to rotate and warp about the weak axis.1) to give approximate values for the critical loads. midpoint.2a. Nethercot and Rockey7 and Nethercot16 have proposed expressions for C.3).4. The results are discussed in various book^. That is.. 5. . (5. can be used: where MI. (5. Mz. the corresponding approximate together with M values for the critical loads can easily be computed from Eq. given in Eq. (5.34).4). the values of the critical loads will be different.1) are often used to obtain the critical loads.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. In this section we shall examine the effects of support ..3. and M3 are the moments at the quarter point.5. is the maximum moment of the beam. approximate solutions in the form of Eq. . in the third column and the value of Cbin the fourth column. an empirical formula given by Kirby and Nethercot' for C.1). but are restrained against rotation about the centroidal axis.5. . If the location of the load is not at the shear center.5.^.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. and M. as shown in Table 5. respectively. to be used in Eq. For loadings whose moment diagrams do not resemble any of those given in Table 5. For the two load cases shown in Table 5. 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. By using the expressions for M.5. and threequarter point of the beam. It can be seen that the approximate solutions give an excellent representation of the theoretical exact solutions.^ and papers.2b (Problem 5. Figure 5.6 Beams with Olher Support Condilions 333 plotted as dotted lines on the same figure. A change in support conditions will undoubtedly have a pronounced effect on the resistance of the beam to lateral torsional buckling.5.2a..
Table 5.2 Values of C. for Different Loading Cases (All Loads are Applied at Shear Center of the Cross Section) .
m a a a . D m 0 ..
The elastic buckling load for a cantilever under a uniform moment caused by an end moment M. 5.5 0.19 Comparison of theoretical and approximate solutions conditions on the critical loads and lateral buckling behavior of beams.0 FIGURE 5.6. in particular. and.5 INelhercot end R o c k e y ) 2. the use of the effective length concept to account for the support conditions. applied at the free end can be obtained directly from the solution of the simply .Beams and Gere) 20 0 1 ! : approximate 1.0 2.1 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.5 1.
34) by replacing L by 2L For other loading conditions.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. recourse must be made to numerical procedures to obtain s ~ l u t i o n s .20 Critical loads of a cantilever subjected to a concentrated force at the free end . " ~Figures '~ 5. the critical moment for the cantilever beam can be obtained from Eq.5. For both of these load cases. (5.20 and 5.6 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. the figures present the critical loads corresponding to FIGURE 5. Thus.4.
4.FIGURE 5.21 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.6. as shown in the following sections. (5. The table is applicable to both end load and uniformly distributed load cases. Nethercotl%as shown that the equation for most applications. 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 5.1). at the shear center. For other support conditions. K gives a conservative estimate of M.6. In Eq. and on the top flange. factor of the beam. 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. .. Equation (5.
4. (5.7L 2. 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. the differential equation [Eq.6.6L 0.4).4 Effective Length Factors for Cantilevers with Various End Conditions (Adapted from Ref.5. 5.4.24)] for the simply supported beam under a uniform moment.8L 7.4L 5. By using the boundary conditions in Eq.5L 3. are still applicable.22).6 Beams with Other Support Conditions 339 Table 5.23)] and the general solution [Eq. (5.2 FixedEnded Beams If the ends of the beams are fixed against lateral displacement and warping but free to rotate about the strong axis (Fig.9L 0.BL 0.6. which were presented in Section 5.6L 2.4L 0. 16) Ellective Lenglh A1 r o o ! A i tip loading Restraint Condilions cases 1. (5. it can he .4.5L 1.0L 0.7L 0.
Thus.22 Fixedend beams shown that the characteristic equation is (c) sin m L sinh nL + cos mL cosh nL  where m. Also shown in the figure is the critical moment for the corresponding simply supported beam. giving Comparing Eq. (5. It can be seen that the critical moment for a fixedended beam is considerably higher than that of a simply supported beam.6).4. the critical value for the moment can be obtained by simply replacing L in Eq.other types of loadings that produce nonuniform distribution of moments along the length of the beam.25).6. n are defined in E q .the solution for Eq.2) gives K = 112 for this fixedended beam case under a uniform moment.6. 3 1 ) ] . However.6. ( 5 .1 Warping and Lateral Bending ~n the XL Plane Prevented a t Bath Ends I Y Lateral Bending in the y . For. (5.34) by L / 2 . Figure 5.4. (5.23 shows a plot of Eq. Unlike the characteristic equation for the simply supported beam.r Plane Perrnlttad at Bath Ends FIGURE 5. 4 .6.6) with E q . (5. (5. for which a solution is readily obtained [Eq. 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. the differential equations will .5) can only be obtained by trial and error. (5.
7) for the concentrated load case (5. (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.5.8) for the uniformly distributed load case .6.6. 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. Nethercot and Rockey7 have presented the following equation for the critical moments M.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...M. where = Cb.
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. and J . (5. the crosssection geometry C.5 and M. If the restraint conditions are different with respect to lateral bending and twisting.6. the material properties E and G. (5.6.6. (5. it is common to use a Kfactor of unity in design.5 can be obtained by equating Eqs. used earlier in Eq.9) The expressions for A and B are given in Table 5. (5.6. accounts for both the effect of moment gradient and end conditions of the beam.342 Beams Table 5.7) with (5. 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. (5.5.10) is rather cumbersome to use for practical purpose.34).1). the types of loadings..is given by Eq.. Since Eq. whereas the term Cb.6. and the location of the load with respect to the shear center of the cross section. In such cases. only accounts for the effect of moment gradient on the critical lateral buckling loads. The term C.7) is different from C. These include the unbraced length L.4. for beams under a uniform . The effective length KL for the beams shown in Table 5.2) and solve for the effective length factor K Note that the effective length factor depends on a number of parameters.
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