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Power Point On Trusses
Power Point On Trusses
Development of Truss
Equations
Reading assignment:
Chapter 3: Sections 3.1-3.9 + Lecture notes
Summary:
Stiffness matrix of a bar/truss element
Coordinate transformation
Stiffness matrix of a truss element in 2D space
Problems in 2D truss analysis (including multipoint
constraints)
3D Truss element
Ideal trusses:
Assumptions
Ideal truss members are connected only at their ends.
Ideal truss members are connected by frictionless pins (no
moments)
The truss structure is loaded only at the pins
Weights of the members are neglected
member in
tension
Connecting pin
L: Length of bar
A: Cross sectional area of bar
E: Elastic (Youngs) modulus of bar
u(x) :displacement of bar as a function of local coordinate x of bar
The strain in the bar at x
du
(x)
dx
The stress in the bar (Hookes law)
(x) E (x)
d 2x
T(x) EA
d1x
x
x
u(x) 1 d1x d 2x
L
L
L
Assume that the displacement u(x) is varying linearly along the bar
x
x
u(x) 1 d1x d 2x
L
L
du d 2x d1x
Then, strain is constant along the bar: dx
L
E
Stress is also constant along the bar: E d 2x d1x
L
EA
T EA
d 2x d 1x
L
k
Two nodes: 1, 2
Nodal displacements: d1x d 2x
Nodal forces: f1x f2x
EA
Spring constant: k
L
Element force
vector
f1x
k - k d1x
f k d
- k k d 2x
f 2x
Element nodal
Element
stiffness
matrix
displacement
vector
E2, A2
L2
L1
E1A1
L1
k2
E 2A 2
L2
Element 1 2 Element 23
1
d1x
PROBLEM
d2x
d3x
k2
EA
L
Element 1 2 Element 23
1
d1x
d2x
d3x
k1
k1
k k k
1 1 2
0
here
k2
0 d 1x
k2 d 2 x
k2 d 3 x
F1x
F2 x
F
3x
d1x d3 x 0 and F2 x P
k1d 2 x F1x
(1)
(k1 k2 )d 2 x P (2)
k2 d 2 x F3 x
(3)
P
PL
(1)
d 2 x d1x d 2 x
P
L
L 3EA
(1)
(1)
3A
Similarly, in element # 2
(element in tension)
d3 x d 2 x
d2 x
P
L
L
3EA
P
(2)
(2)
E
(element in compression)
3A
(2)
member in
compression
member in
tension
Connecting pin
d 2y , f 2y
d 2y , f2y 0
d 2x , f2x
d 2x , f 2x
d1y , f1y
d 1y , f1y 0
d1x , f1x
d1x , f1x
x
At node 1:
d1x
d1x
f
1x
f1x
d 1y
d1y
f1y 0
f1y
At node 2:
d 2x
d 2x
f 2x
f 2x
d 2y
d 2y
f2y 0
f 2y
d1x
d
1y
d
;
d 2x
d 2y
f1x
f
1y
f
f 2x
f 2y
f k d
41
44 41
d 2y , f2y 0
d 1y , f1y 0
d 2x , f2x
f1x
k - k d1x
f 2x
- k k d 2x
d1x , f1x
x
Rewrite as f
1x
0
f1y
-k
f2x
0
f2y
0 - k 0 d1x
0 0 0 d1y
0 k 0 d 2x
0 0 0 d
2y
EA
L
f k d
NOTES
1. Assume that there is no stiffness in the local^y direction.
2. If you consider the displacement at a point along the local x
direction as a vector, then the components of that vector along the
global x and y directions are the global x and y displacements.
3. The expanded stiffness matrix in the local coordinates is
symmetric and singular.
NOTES
5. In local coordinates we have
f k d
41
44 41
f k d
41
44 41
d1x
d
d 1y d
d 2x
d 2y
d1x
1y
d1x
d1x
d
2x
d
2y
d 2x
d 2x
d1y
d 2y
d 2y
Need to understand
how the components
of a vector change
with coordinate
transformation
y
v x
v y cos
vx
v y
vy
v x cos
v y sin
v x sin
Angle is
measured positive
in the counter
clockwise direction
from the +x axis)
x
The vector v has components (vx, vy) in the global coordinate system
^
and (v^x, vy) in the local coordinate system. From geometry
v x v x cos v ysin
v y v x sin v ycos
In matrix form
v x
cos sin v x
v
sin
cos
y
vy
Or
m v x
v x
l
v
m l v y
y
Direction cosines
where
l cos
m sin
m
l
v x
where v
v y
*
T
v
relates
vx
and v
vy
At node 1
At node 2
d1x
* d1x
T
d
d1y
1y
d1x
d
2x
1y
d 2x
d
2y
d
l
m
l
0
0
l
0
0
m
d1x
d
1y
d
2x
d
0 m l 2y
T
d 2y
d 2x
d1x
d 2y
d1x
d 2x
* d 2x
T
d
d 2y
2y
d1y
T*
T
44
0
0
*
T
At node 2
f1y
f1x
* f1x
T
f
f1y
1y
f2x
* f 2x
T
f
f 2y
2y
1y
f 2x
f
2y
f
l
m
l
0
0
l
f 2x
f 2y
f 2x
0
0
m
f1x
f
1y
f
2x
f
0 m l 2y
T
f2y
f1x
f1x
f1y
f1x
T*
T
44
0
0
*
T
T T
d 2y , f2y
d1y , f1y
d T d
d 2x , f2x
f k d
d1x , f1x
x
The desired relationship is
Where
f T f
f k d
41
Tf k Td
1
f T kTd
44 41
44
44 44 44
m 0
0
l
m l
0
0
T
0
0
l
m
0 m l
0
l2
lm
2
lm
m
EA
T
k T k T
L l 2 lm
2
lm m
k
0
0 - k 0
0
0
0
k
- k 0 k 0
0 0 0 0
l 2 lm
2
lm m
l2
lm
lm
l cos
2 (x2,y2)
1 (x ,y )
1 1
2 (x ,y )
2 2
Question: Does the stiffness matrix change?
1 (x1,y1)
A 2 in 2
L 60 in
30
30 10 2
60
3
4
3
4
3
4
3
3
4
1
4
3
4
1
4
3
4
3
4
3
4
4
1
4
3
4
1
4
lb
in
3
l cos 30
2
1
m sin 30
2
d 1y
d 2x d 1x 1
1 0 1 0
L
L
d 2x
d
2y
1
1 0 1 0 d
L
1
1 0 1 0 T d
L
m 0
0
l
m l
0
0
1
d
1 0 1 0
0
0
l
m
L
0 m l
0
1
l m l m d
L
d 1x
d
1
l m l m 1y
d
L
2x
d 2y
E
E
d 2x d 1x l
L
L
m l
m d
m l
m d
1
El 1
2
60
60
L
El 3
60
El 2
1 (x ,y )
1 1
2 (x2,y2)
d1x
(1)
d1y
d2x
d2y
d3x
( 3)
d1x
d3y
d1y
d2x
( 2)
d3x
d2y
d3y
(1)
d1x
d1y
d2x
d2y
d3x
d3y
66
( 2)
( 3)
Example 2
y
El#2 P2
El#1
45o
1
2
x
Solution
Lcos45
Lsin45
2Lsin45
x2 x1
y y
m 2 1
length
length
cos45
sin45
-cos45
sin45
2
lm
m
EA
(1)
k
L l 2 lm
lm
d1x
l 2 lm
2
lm m
l2
lm
2
lm
m
d1y d2x
d2y
1 1 1 1
1 1 1 1
EA
2L 1 1 1 1
1 1 1 1
d1x
d1y
d2x
d2y
(2)
d3x
d3y
1 1 1 1
1 1 1 1
EA
2L 1 1 1 1
1 1 1 1
d2x
d2y
d3x
d3y
1 1 1 1 0 0
1 1 1 1 0 0
EA 1 1 2 0 1 1
K
2L 1 1 0 2 1 1
0 0 1 1 1 1
0 0 1 1 1 1
The final set of equations is
Kd F
0
0
d 2 x
d 2 y
0
0 d 2 x
P 1
2 d P
2 y
2
d
2 y
P1L
EA
P2 L
EA
1
2
E
PP
(d 2 x d 2 y ) 1 2
2L
A 2
d1x
d
1 1y
2 d
2 x
d 2 y
0
0
L 2
2
1
2
E
P1 P2
(d 2 x d 2 y )
2L
A 2
1
2
d 2 x
d
2y
d3 x
d3 y
0
0
Multi-point constraints
El#2
2
El#1
El#3
45
P=1000 kN,
L=length of elements 1 and 2 = 1m
E=210 GPa
A = 610-4m2 for elements 1 and 2
= 6 2 10-4 m2 for element 3
Solution
Step 1: Node element connectivity table
ELEMENT Node 1 Node 2
1
x2 x1
y y
m 2 1
length
length
L 2
1/ 2
1/ 2
2
2
lm
m
lm
m
EA
(1)
k
L l 2 lm l 2
lm
2
2
lm
m
lm
m
d1x
d1y d2x
0 0
9
-4
(210 10 )(6 10 ) 0 1
0 0
1
0 1
d2y
0 0
0 1
0 0
0 1
d1x
d1y
d2x
d2y
(2)
1
9
-4
(210 10 )(6 10 ) 0
1
1
(3)
d1x
d3x
d3y
0 1 0
0 0 0
0 1 0
0
d1y
0
d3x
d2x
d2y
d3x
d3y
d3y
0.5
0.5
0.5
0.5
d1x
d1y
d3x
d3y
0
0
1 0
1
0
5
K 1260 10
1 0 1
0
0
0
0.5 0.5 1 0 1.5
0.5
Kd F
Eq(1)
N/m
$
Step 4: Incorporate boundary conditions
y
y
0
0
3
P
El#2
d 2 x
2
d
0
El#1
El#3
d 3 x
o
d
45
3 y
x
1
Also,
d$3 y 0
$
x
$
y
F1x
F
1 y
P
F
F
2 y
F3 x
F3 y
Also,
F 3 x 0
$
x
y
P
El#2
2
El#1
El#3
45o
1
$
d 3 y
d$3 y 0
m d 3 x
l d 3 y
1
lm
2
1
2 d 3 x
1 d 3 y
2
(Multi-point constraint)
1
$
d 3y
d3 y d3 x 0
2
Eq (2)
d3 y d3 x 0
3x
3y
1
d3 y d3 x
F 3 y
3 x
F
F 3 y
F 3 x 0
m F3 x
n F3 y
1
lm
2
1
2 F3 x
1 F3 y
2
F 3x
F3 y F3 x 0
2
Eq (3)
F3 y F3 x 0
3x
3y
1
F3 y F3 x
Kd F
d3 y d3 x 0
Eq(1)
Eq(2)
Eq(3)
F3 y F3 x 0
1
1.5
0.5
0
0.5
0.5
d 2 x
d
3 x
d
3 y
F3 x
3y
d 3 x 0.003968m
d 2 x 3d 3 x 0.0119m
Compute the reaction forces
F1x
1 y
5
F2 y 1260 10
3 x
F3 y
500
500
0 kN
500
500
0
0
0
1
0
0.5
0.5
0
1.5
0.5
0.5
0.5 d 2 x
d
0
3x
0.5 d 3 y
0.5
k11
K k 21
k 31
k12
k 22
k 32
k13
k 23
k 33
Force equilibrium
equation at node 1
In general
Force at d.o.f i due to unit displacement at d.o.f j
k ij = keeping
all the other d.o.fs fixed
Example
y
El#2 P2
El#1
45o
1
2
x
Solution
k11
k
21
k12 d 2 x
k22 d 2 y
P1
P2
Where k11, k12, k21 and k22 will be determined using the
physical interpretation approach
2 1.cos(45)
F2y=k21
El#2
El#1
1
k11
1
k
21
1 1.cos(45)
d2x=1
Force equilibrium
F
F
y
T2
F2x=k11
2
apply
T1
1
2
d2 x 1
d2 y 0
F2y=k21
F2x=k11
2
x
Force-deformation relations
EA
T1 1
L
EA
T2 2
L
T1 T2
k21
2
T1 T2
2
EA
1 2
2L
EA
1 2
2L
1 1.cos(45)
Finally
EA
EA 2
EA
k11
( )
1 2
L
2L
2L 2
EA
k21
1 2 0
2L
k12
k22
3
El#2
El#1
1
2 1.cos(45)
2
2
d2y=1
y
T2
T1
1 1.cos(45)
1
2
Force equilibrium
F
F
1
2
apply
d2 x 0
d2 y 1
F2y=k22
F2x=k12
2
x
Force-deformation relations
EA
T1 1
L
EA
T2 2
L
T1 T2
k22
2
T1 T2
2
EA
1 2
2L
EA
1 2
2L
1
2
2 1.cos(45)
1
2
Finally
EA
k12
1 2 0
2L
EA
EA 2
EA
k22
(
)
1 2
L
2L
2L 2
f k d
f1x
1y
k
0
0
f1z
f 2x
k
f
0
2y
0
f
2z
0 0 k 0
0 0 0 0
0 0
0 0
0 0
0 0
k
0
0
0
0
0
d 1x
0
0 1y
0 d 1z
0 d 2x
0 d
2y
0
d 2z
l1
*
T l 2
l3
m1
m2
m3
n1
n2
n3
T*
T
66
0
f T f
0
*
T
k T k T
T
66
66 66 66
l1 2
l1 m1
2
l1 n1
l1
m1
m1 n1 l1 m1
l1 m1
2
m1 n1
n1
l1 n1
EA l1 n1
T
k T kT
2
L l1 2 l1 m1 l1 n1
l1
l m m 2 m n l m
1
1 1
1 1
1 1
2
l1 n1
l1 n1 m1 n1 n1
l1 m1
l1 n1
m1 n1
m1
m1 n1
n1
l1 m1
l1 n1
m1 n1
m1
m1 n1
n1
Notice that the direction cosines of only the local ^x axis enter the
k matrix