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Beams On Elastic Foundation
Beams On Elastic Foundation
cross
section
B x
b
y
R(x)
plane of
symmetry
111
where the beam was acted upon by a distributed loading q(x). The internal forces that arise in
section cuts are depicted in Fig. 2.
q(x)
M+dM
Q+dQ
Q
dx
R(x)
dQ
= kyq .
dx
Considering the equilibrium of moments along the left section of the element we get:
M = 0 dM ( Q + dQ ) dx q
dM
=q.
dx
dx 2
dx 2
+r
=0;
2
2
0
0
EI
dx
it can be written:
2
dQ d 2 M
d4y
.
EI
=
=
dx
dx 2
dx 4
d4y
dx 4
y IV + 4
= kyq;
k
q ( x)
y=
.
4 EI
EI
N
4
In the above equation the parameter includes the flexural rigidity of the beam as well as the
elasticity of the foundation. This factor is called the characteristic of the system with dimension
length-1. In that respect 1/ is referred to as the so called characteristic length. Therefore, x
will be an absolute number.
The differential equation of equilibrium of an infinitely small element becomes:
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - Sofia
112
q ( x)
k
,
=4
.
EI
4 EI
The solution of this differential equation could be expressed as:
y ( x) = y0 ( x) + v( x) ,
y IV + 4 4 y =
( )
( )
( )
( )
( )
( )
= r 2 i 2 2 r 2 + i 2 2 = 0 ,
2
2
2
2
2
2
2
2
r + i 2 r + + i 2 = 0
2
2
2 2 2
2
2
2 2
2
r + i 2 + i r + + i 2 + i = 0
2 2
2 2
2 2
2
2
2
2
r + ( i ) r + ( + i ) = r i ( i ) r i ( + i ) = 0
r i ( i ) r + i ( i ) r i ( + i ) r + i ( + i ) = 0 ,
r 4 + 2 2
= r 4 i 2 2 2
( )
( )
r x
r x
r x
+ A2 e 2 + A3 e 3 + A4 e 4 ;
+i )x
i ) x
+i )x
i )x
y0 ( x) = A1 e(
+ A2 e(
+ A3 e(
+ A4 e(
;
y0 ( x) = A1 e
y0 ( x) = A1 e x ei x + A2 e x ei x + A3 e x ei x + A4 e x ei x .
Using the well known Eulers expressions:
ei x = cos x + i sin x,
e i x = cos x i sin x.
the solution takes the form:
y0 ( x) = A1 e x ( cos x + i sin x ) + A2 e x ( cos x i sin x ) + A3 e x ( cos x + i sin x ) +
+ A4 e x ( cos x i sin x )
After simple regrouping of the members the expression becomes:
x
x
y0 ( x) = e
A3 + A4 ) cos x + ( iA3 iA4 ) sin x + e ( A1 + A2 ) cos x + ( iA1 iA2 ) sin x .
(
B3
B4
B1
B2
113
C2
C4
C1
C3
By differentiation of the first derivative y0 ( x) the second derivative of the elastic line is:
y0 ( x) = 2 C1 ( ch x cos x sh x sin x sh x sin x ch x cos x ) +
+ 2 C2 ( ch x sin x + sh x cos x + sh x cos x ch x sin x ) +
+ 2 C3 ( sh x cos x ch x sin x ch x sin x sh x cos x ) +
+ 2 C4 ( sh x sin x + ch x cos x + ch x cos x sh x sin x ) .
Finally, for the second derivative we have:
y0 ( x) = 2 2 C1 sh x sin x + 2 2 C2 sh x cos x 2 2 C3 ch x sin x +
+ 2 2 C4 ch x cos x.
114
dy
d2y
M
d3y
Q
=
and
=
we can obtain the general expressions
= ( x) ,
2
3
dx
EI
EI
dx
dx
for the slope of the deflected line ( x ) , for the bending moment M ( x ) and for the shear force
Knowing that
Q ( x ) at any point of distance x at the beam axis. Taking in these equations x = 0 , bearing in
mind that sin 0 = 0 , sh 0 = 0 , cos 0 = 1 , ch 0 = 1 and cos 0 ch 0 = 1 , we get the initial parameters
of the left end of the beam as follows:
y0 (0) = y0 = C1 ;
y0 (0) = 0 = C2 + C3 ;
M
y0 ( x) = 0 = 2 2 C4 ;
EI
Q
y0( x) = 0 = 2 3 C2 2 3 C3 .
EI
After simple transformations:
y0 = C1 ;
0
= C2 + C3 ;
M
2 0 = C4 ;
2 EI
Q
3 0 = C2 C3 .
2 EI
Now expressing the constants C1-C4 as unknowns, from the above system of equations we have:
C1 = y0 ;
Q
C2 = 0 3 0 ;
2 4 EI
Q
C3 = 0 + 3 0
2 4 EI
M
C4 = 2 0 .
2 EI
Substituting these results in the above expression for the solution of homogeneous differential
equation y0 ( x) we get:
y0 ( x) = ch x y0 cos x + 0 3 0
2 4 EI
Q0
M0
sin x .
sin x + sh x 2 + 3
cos x 2
4 EI
2 EI
After regrouping of the members about the initial parameters the solution becomes:
( ch x sin x + sh x cos x ) 0 +
y0 ( x) = ch x cos x y0 +
2
4
2
3 EI
2 EI
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - Sofia
115
( ch x sin x + sh x cos x ) ,
2
sh x sin x
and
2
( ch x sin x sh x cos x ) ,
D ( x ) =
4
the equation of elastic line becomes:
M
Q
y0 ( x) = A ( x ) y0 + B ( x ) 0 C ( x ) 2 0 D ( x ) 3 0 .
EI
EI
C ( x ) =
y ( x) = A ( x ) y0 + B ( x ) 0 C ( x ) 2 0 D ( x ) 3 0 + v( x)
EI
EI
Using the above relations for first derivative of the Krilovs functions and final equation of elastic
line we can obtain general expressions for the slope of the deflected line ( x ) , for the bending
moment M ( x ) and for the shear force Q ( x ) at any point of distance x of the beam axis. These
relationships are as follows:
M
Q
y ( x) = A ( x ) y0 + B ( x ) 0 C ( x ) 2 0 D ( x ) 3 0 + v( x) ,
EI
EI
M
Q
0
( x ) = y( x) = 4 D ( x ) y0 + A ( x ) B ( x ) 2 0 C ( x ) 3 0 + v( x) ,
EI
EI
M
M ( x ) = EIy( x) = EI 4 2C ( x ) y0 + EI 4 2 D ( x ) 0 + EI 2 A ( x ) 2 0
EI
Q
+ EI 2 B ( x ) 3 0 EI v( x ),
EI
M
Q ( x ) = EIy( x) = EI 4 3 B ( x ) y0 + EI 4 3C ( x ) 0 EI 4 3 D ( x ) 2 0
EI
Q
+ EI 3 A ( x ) 3 0 EI v( x).
EI
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - Sofia
116
=
2
M ( x ) EI 4 C
Q ( x ) EI 4 3 B
C
B
EI 4 2 D
EI 2 A
EI 4 3C
EI 4 3 D
y0
D 0 v ( x )
C v( x)
M +
EI 2 B 2 0 EI v( x)
EI
EI 3 A Q EI v( x)
0
3 EI
In the above expressions the initial integral constants C1-C4 are replaced by the y0 , 0 , M 0 and
Q0 quantities, called initial parameters. This representation is known as the method of initial
conditions.
It is more convenient to express EI multiple values of the transverse displacements ( EIy ( x) ) and
EI multiple values of slope of deflection line ( EI ( x) ). If the following relations are valid:
V = EIy ( x), V0 = EIy0 ;
= EI ( x), 0 = EI0 ;
V = EIv( x), = EIv( x), M = EIv( x), Q = EIv( x) ;
The basic unknowns of any section of the beam axis expressed by the initial parameters finally
get the form:
B
C
D
2
3
A
V
V ( x)
0 V
B
C
4 D
2 0
A
( x)
=
+
M
M
x
M
(
)
B 0
2
4
C
4
D
A
Q
Q ( x)
0 Q
A
4 3 B 4 2C 4 D
M0
0
y0
F
1
M(x)
(x)
k
5 y(x)
Q(x)
f
m
x
y
Figure 3 Beam on elastic foundation different types of loading
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - Sofia
117
Let us assume that initial parameters y0 , 0 , M 0 and Q0 are known. Then we can proceed from
the left end of the beam (Fig. 3) toward the right along the unloaded portion 0-1 until we arrive at
the point 1 where the concentrated moment is applied.
1. Particular integral owe to the concentrated moment M
The concentrated moment M must have an effect to the right of section 1 similar to the effect,
which the initial moment M0 had on portion 0-1. The influence of M0 is given by the third column
of the above matrix. In accordance with this column the influence of concentrated moment can be
expressed as:
C ( m )
V( x) =
M,
2
B ( m )
( x) =
M,
M = A ( m ) M ,
Q = 4 D ( m ) M .
In a similar way we can find the influence of concentrated force F. It is the same as the influence
of Q0 to the portion 0-2 of the beam, taken with reverse sign (because concentrated force is
opposing to the initial shear force). Thus, the influence of F could be obtained by the forth
column of the above matrix, or:
V( x) =
( x) =
D ( f )
3
C ( f )
F,
F,
2
B ( f )
M( x) =
F,
Q( x) = A ( f ) F .
2. Particular integral corresponding to the distributed load q
The distributed load q can be regarded as consisting of infinite small concentrated forces such as
q dxq in Fig. 4. The effect of this force for the portion 3-5 of the beam into consideration is the
same as the effect of the force F (Fig. 4), namely:
V( x) =
D (n xq )
) q dx
q.
118
q dxq
Q0
M0
0
y0
M(x)
(x)
4
dxq
xq
y(x)
Q(x)
k
n
x
y
Figure 4 Derivation of particular integral due to distributed loading
The effect of all infinite small concentrated forces belonging to the distributed load can be
expressed as the following integral:
nk D (n x )
nk D (n x )
q
q
V( x) =
d n xq
q
dx
q
q
3
3
0
0
A ( x ) dx = 4 D ( x ) dx ,
respectively D ( x ) dx = A ( x ) / 4 .
In our case D ( (n xq ) ) d (n xq ) = A ( ( n xq ) ) / 4 .
Finally, for the influence of distributed load on the transverse displacements we get:
nk
q A (n xq )
q A ( (n n + k ) ) + A ( (n 0) )
q
V( x) = 3
= 3
= 4 ( A ( n ) A ( k ) )
4
4
4
0
V( x) =
q
4 4
( A ( n ) A ( k ) ) .
The other particular integrals can be derived by differentiation of the above equation - recall the
relations A = 4 D; B = A; C = B; D = C , or:
q
( x) = V( x) = 3 ( D ( n ) D ( k ) ) ;
q
M( x) = ( x) = 2 ( C ( n ) C ( k ) ) ;
q
Q( x) = M( x) = ( B ( n ) B ( k ) ) .
119
V. Numerical example
In the following numerical example we shall construct the diagrams of vertical displacements, the
slope of the deflection line, bending moment and shear force and the diagram of vertical reactions
in the foundation. All the diagrams will be found by the method of initial conditions.
Consider a beam on elastic foundation with free ends. The geometrical dimensions, mechanical
properties and loadings are shown in Fig. 5. The modulus of elasticity of material of the beam is
3107 kN/m2 (concrete) and the modulus of the foundation is k0=50000 kN/m2/m.
The Wiklers constant or constant of the foundation is:
k= k0b=500001.1=55000.
250
100
Cross section
0.5
200
1.1
f=9
4
m=6
5
n=5
10
E=3107 kN/m2;
k0=50000 kN/m2/m
120
=4
The beam is of a medium length according to its stiffness l , so the method of initial conditions
is applicable.
Next we should determine the initial parameters of the left end using the boundary conditions of
the right end of the beam. Obviously for the free left end the bending moment M0 and the shear
force Q0 are equal to zero, the vertical deflection y0 and rotation 0 are the unknown initial
parameters which should be determined using the boundary conditions of the right end. These
boundary conditions are:
M (l ) = 0;
Q(l ) = 0.
Using the expressions for bending moment and shear force in terms of initial parameters and
accounting for the influence of loading the following equations are compounded:
B ( f )
q
M ( l ) = 4 2C ( l ) V0 + 4 D( l ) 0 + A ( m ) M
F 2 ( C ( n ) C ( k ) ) = 0,
q
Q ( l ) = 4 3 B( l ) V0 + 4 2C ( l ) 0 4 D ( m ) M A ( f ) F ( B ( n ) B ( k ) ) = 0.
For x=l the distances m, f , n and k are as shown in Fig. 5 or m =6, f =9, n =5 and k =0. In this
case the above equations become:
17.004 V0 14.358 0 6.5921 100 + 44.042 250 1000 (1.81928 0 ) = 0,
9.4692 V0 17.004 0 4.3782 100 + 17.7663 250 447.21( 0.43394 0 ) = 0.
17.004 V0 14.358 0 = 8532.07,
9.4691 V0 17.004 0 = 3810.01.
Wherefrom:
V0 = 590.03
0 = 104.51
Having the initial parameters available, for the given external loadings, we can obtain any
parameter of an arbitrary section of the beam axis using the expressions below:
121
B( x)
C ( x)
D( x)
A( x)
3 V
V ( x)
0 V
B( x)
C ( x)
4 D( x)
A( x)
( x)
0
=
M
M
M ( x )
B( x) 0
2
C
x
D
x
A
x
4
(
)
4
(
)
(
)
Q
Q ( x)
0 Q
A( x)
4 3 B( x) 4 2C ( x) 4 D ( x)
D ( f ) q ( A ( n ) A ( k ) )
C ( m )
F 4 4
3
M
V
2
q
C f
( ) F 3 ( D ( n ) D ( k ) )
B ( m )
M + 2
=
+
M
B f
q ( C ( n ) C ( k ) )
Q A ( m ) M ( ) F 2
4 D ( m ) M A ( f ) F q ( B ( n ) B ( k ) )
V ( x)
R ( x ) = k y ( x) = k
EI
It should be pointed out that for every different section of the beam, with a single abscissa x, the
values of m, f, n and k are different and depend on the distance x. The influence of different
loading appears when the section into consideration is on the right of this loading. The obtained
results for vertical displacements, the slope of the deflection line, bending moments, shear forces
and the vertical reactions, for different sections of the beam, are calculated and given in table 1.
Table 1
x
V(x)=EIy(x)
(x)=EI(x)
M(x)
Q(x)
R(x)
590.035
-104.514
0.000
0.000
94.406
0.9999
481.727
-119.549
44.395
85.922
77.076
481.727
-119.549
44.395
-164.078
77.076
364.279
-93.929
-84.426
-96.754
58.285
326.363
29.653
-153.863
-43.162
52.218
3.9999
437.891
195.983
-169.054
15.748
70.063
437.891
195.983
-69.054
15.748
70.063
662.582
244.093
-12.626
103.125
106.013
899.391
219.197
49.981
28.431
143.903
1090.916
162.960
55.849
-11.586
174.547
1228.738
116.131
35.530
-25.386
196.598
1331.329
93.128
11.337
-20.275
213.013
10
1421.503
89.150
0.000
0.000
227.440
122
The diagrams of required displacements and internal forces of the beam are presented in Fig. 6.
The diagram of continuously distributed reaction forces in the foundation is depicted in Fig. 7.
V = EIy ( x)
1331.33
1421.50
89.15
1228.74
93.128
116.13
162.96
219.20
1090.92
899.39
662.58
244.09
437.89
195.98
326.36
364.28
481.73
590.03
(a)
= EI ( x)
11.337
35.530
55.849
28.431
Q
20.275
11.586
43.162
96.754
103.125
15.748
85.922
49.981
44.395
(d)
164.078
25.386
(c)
12.626
69.054
169.054
29.653
153.86
93.929
84.426
119.55
104.51
(b)
Figure 6 (a) Vertical deflections; (b) slope of the deflected line; (c) bending moment diagram; (d)
shear force diagram
2011 S. Parvanova, University of Architecture, Civil Engineering and Geodesy - Sofia
123
227.44
213.01
196.60
174.55
143.90
106.01
70.063
52.218
58.285
77.076
94.406
R
+
In order to verify the obtained results we shall check the equilibrium of the vertical forces using
the condition V = 0 . In order to do that, we should find the resultant force of distributed vertical
reaction in the foundation, presented in Fig. 7. In other words we have to calculate the area of the
corresponding diagram of R. Using a numerical integration the area of the diagram of vertical
reactions is:
2 94.406
A = 1
+ 2 77.076 + 58.285 + 2 52.218 + 70.063 + 2 106.01 + 143.90 + 2 174.55 + 196.60 +
3 2
+ 2 213.01 +
V = 0
227.44
= 1250.33
2
The numerical error is 0.026%. The error is due to numerical integration and will decrease if we
calculate the values of vertical reactions in more sections of the beam, respectively if we decrease
the step between two neighboring values of the diagram.
124
References
HETENYI, M. Beams on elastic foundation. Waverly press, Baltimore, 1946
. . . . ,
1988
125