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Stiffen Ess
Stiffen Ess
4
Analysis of Statically
Indeterminate
Structures by the Direct
Stiffness Method
Version 2 CE IIT, Kharagpur
Lesson
30
The Direct Stiffness
Method: Plane Frames
Version 2 CE IIT, Kharagpur
Instructional Objectives
After reading this chapter the student will be able to
1. Derive plane frame member stiffness matrix in local co-ordinate system.
2. Transform plane frame member stiffness matrix from local to global coordinate system.
3. Assemble member stiffness matrices to obtain the global stiffness matrix of
the plane frame.
4. Write the global load-displacement relation for the plane frame.
5. Impose boundary conditions on the load-displacement relation.
6. Analyse plane frames by the direct stiffness matrix method.
30.1 Introduction
In the case of plane frame, all the members lie in the same plane and are
interconnected by rigid joints. The internal stress resultants at a cross-section of
a plane frame member consist of bending moment, shear force and an axial
force. The significant deformations in the plane frame are only flexural and axial.
In this lesson, the analysis of plane frame by direct stiffness matrix method is
discussed. Initially, the stiffness matrix of the plane frame member is derived in
its local co-ordinate axes and then it is transformed to global co-ordinate system.
In the case of plane frames, members are oriented in different directions and
hence before forming the global stiffness matrix it is necessary to refer all the
member stiffness matrices to the same set of axes. This is achieved by
transformation of forces and displacements to global co-ordinate system.
Thus the frame members have six (6) degrees of freedom and are shown in
Fig.30.1a. The forces acting on the member at end j and k are shown in Fig.
30.1b. The relation between axial displacement and axial forces is derived in
chapter 24. Similarly the relation between shear force, bending moment with
translation along y ' axis and rotation about z ' axis are given in lesson 27.
Combining them, we could write the load-displacement relation in the local coordinate axes for the plane frame as shown in Fig 30.1a, b as,
AE
q '1
L
q ' 2 0
q'3 0
=
q ' AE
4 L
q'5 0
q ' 6 0
AE
L
12 EI z
L3
6 EI z
L2
6 EI z
L2
4 EI z
L
AE
L
6 EI z
L2
12 EI z
L3
12 EI z
L3
6 EI z
L2
2 EI z
L
0
12 EI z
L3
6 EI z
L2
6 EI z
L2
6 EI z
L2
2 EI z
6 EI z
2
L
4 EI z
L
0
u '1
u ' 2
u '3
u '
4
u '5
u ' 6
(30.1a)
{q'} = [k ']{u'}
(30.1b)
where [k '] is the member stiffness matrix. The member stiffness matrix can also
be generated by giving unit displacement along each possible displacement
degree of freedom one at a time and calculating resulting restraint actions.
x -axis. From
(30.2a)
(30.2b)
u '3 = u 3
(30.2c)
m 0 0
0 0 u1
u '1 l
u ' 2 m l 0 0
0 0 u 2
u ' 3 0
u 3
0
1
0
0
0
=
m 0 u 4
0
0 0 l
u ' 4
0
0 0 m l 0 u 5
u '5
u ' 6 0
0 0 0
0 1 u 6
(30.3a)
{u'} = [T ]{u}
(30.3b)
l = cos =
Where L =
x 2 x1
L
(x2 x1 )2 + ( y 2 y1 )2
and m = sin =
y 2 y1
.
L
(30.4)
Let q'1 , q' 2 , q'3 and q ' 4 , q '5 , q ' 6 be respectively the forces in member at nodes j
and k as shown in Fig. 30.3a in local coordinate system. p1 , p 2 , p3 and
p 4 , p5 , p 6 are the forces in members at node j and k respectively as shown in
Fig. 30.3b in the global coordinate system. Now from Fig 30.3a and b,
(30.5a)
(30.5b)
p3 = q '3
(30.5c)
Thus the forces in global coordinate system can be related to forces in local
coordinate system by
p1 l m
p 2 m
l
p3 0
0
=
0
p4 0
0
p5 0
p 6 0
0
0 0
0 0
1 0
0 0
0 l m 0
l
0 m
0
0 0
0 1
0
q'1
q ' 2
q'3
q ' 4
q ' 5
q' 6
(30.6a)
{p} = [T ]T {q'}
(30.6b)
{q'} = [k ']{u'}
Substituting the above value of {q'} in equation (30.6b) results in,
(30.7)
(30.8)
or
{p} = [k ]{u}
(30.9)
[k ] = [T ]T [k '][T ]
(30.10)
Solution:
The plane frame is divided in to two beam elements as shown in Fig. 30.4b. The
numbering of joints and members are also shown in Fig. 30.3b. Each node has
three degrees of freedom. Degrees of freedom at all nodes are also shown in the
figure. Also the local degrees of freedom of beam element are shown in the
figure as inset.
Formulate the element stiffness matrix in local co-ordinate system and then
transform it to global co-ordinate system. The origin of the global co-ordinate
system is taken at node 1. Here the element stiffness matrix in global coordinates is only given.
Member 1: L = 6 m ; = 90 node points 1-2; l = 0 and m = 1 .
k 1 = [T ] [ k '] [T ]
T
1.48 103
4.44 103
k 1 =
3
1.48 10
3
4.44 10
0
4.44 103 1.48 103
1.333 106
0
0
0
17.78 103 4.44 103
0
4.44 103 1.48 103
0
0
1.333 106
3
0
8.88 10
4.44 103
0
4.44 103
0
1.333 106
0
8.88 103
0
4.44 103
1.333 106
0
0
17.78 103
(1)
[k ] = [T ] [k '][T ]
2
4
2.0 10 6
0
=
2.0 10 6
6
0
7
2.0 10 6
5 10 3
10 10 3
5 10 3
10 10 3
26.66 10 3
10 10 3
2.0 10 6
5 10 3
10 10 3
5 10 3
10 10 3
8.88 10 3
10 10 3
10 10 3
8.88 10 3
3
10 10
3
26.66 10
0
4
5
6
7
8
9
(2)
The assembled global stiffness matrix [K ] is of the order 9 9 . Carrying out
assembly in the usual manner, we get,
1
2
3
4
5
6
0
0
0
0
0
4.44 1.48
4.44
1.48
0
1333.3
0
0
0
0
0
0
1333.3
4.44
0
17.77
4.44
0
8.88
0
0
0
1.48
0
4.44 2001.5
0
4.44 2000 0
0
[K ] = 0 1333.3 0
0
1338.3
10
0
10 (3)
5
4.44
0
8.88
4.44
10
44.44
0
10 13.33
0
0
0
0
0
2000
0
0
2000
0
0
0
0
5
5
10
10
0
0
0
0
10
13.33
0
10 26.66
0
p 4 12
{p k } = p5 = 24
p 6 6
(4)
0
4.44
12
2001.5
3
1338.3 10
24 = 10 0
4.44
6
10
44.44
u 4
u 5
u 6
(5)
Solving we get,
-6
u 4 6.28 10
-5
=
u
1.695
10
u 6 - 0.13 10 -3
u4 = 6.28 10 6 m.,
(6)
u5 = 1.695 105
4
5
6
4.44
0
R1 p1
1.48
R2 p 2 F
1333.3
0
R3
4
.
44
0
8
.
88
p
3
3
= F + 10
2000
0
0
R7 p 7
5
10
0
R8 p8
R9 p9
10
13.33
0
F
R1 12 0.57 11.42
R2 0 22.59 22.59
R3 18 1.14 16.85
=
+
=
R7 0 12.57 12.57
R8 24 1.40 25.40
R9 24 1.92 25.92
u 4
u 5
u 6
(7)
Example 30.2
Analyse the rigid frame shown in Fig 30.5a by direct stiffness matrix method.
Assume E = 200 GPa ; I ZZ = 1.33 105 m 4 and A = 0.01 m 2 . The flexural
rigidity EI and axial rigidity EA are the same for all beams.
Solution:
The plane frame is divided in to three beam elements as shown in Fig. 30.5b.
The numbering of joints and members are also shown in Fig. 30.5b. The possible
degrees of freedom at nodes are also shown in the figure. The origin of the
global co- ordinate system is taken at A (node 1).
Now formulate the element stiffness matrix in local co-ordinate system and then
transform it to global co-ordinate system. In the present case three degrees of
freedom are considered at each node.
L = 4 m ; = 90 ;
Member 1:
m=
y2 y1
= 1.
L
l=
x2 x1
= 0 and
L
6 EI
= 9.998 102 kN
2
L
12 EI
= 4.999 10 2 kN/m;
3
L
4 EI
= 2.666 103 kN.m
L
[k ] = [T ] [k '][T ]
T
1
0.50 10 3
1 10 3
=
0.50 10 3
1 10 3
2
0
4
0.50 10 3
1 10
5 10 5
5 10 5
2.66 10 3
1 10 3
1 10 3
0.50 10 3
5 10 5
5 10 5
1.33 10 3
1 10 3
6
1 10
3
1.33 10
3
1 10
3
2.66 10
3
1
2
3
4
5
6
(1)
Member 2: L = 4 m ; = 0 node points 2-3; l = 1 and m = 0 .
[k ] = [T ] [k '][T ]
2
4
5.0 10 5
0
=
5.0 10 6
7
8
6
5.0 10
0.5 10 3
1 10 3
0.5 10 3
1 10 3
2.666 10 3
1 10 3
5.0 10 6
0.5 10 3
1 10 3
0.5 10 3
1 10 3
1.33 10 3
1 10 3
1 10 3
1.33 10 3
3
1 10
3
2.666 10
0
4
5
6
7
8
9
(2)
Member 3:
m=
L = 4 m ; = 270 ;
y2 y1
= 1 .
L
l=
x2 x1
= 0 and
L
[k ] = [T ] [k '][T ]
3
7
0.50 10 3
1 10 3
=
0.50 10 3
1 10 3
8
0
9
1 10 3
10
0.50 10 3
11
0
5 10 5
5 10 5
2.66 10 3
1 10 3
1 10 3
0.50 10 3
5 10 5
5 10 5
1.33 10 3
1 10 3
12
1 10 3
3
1.33 10
3
1 10
3
2.66 10
7
8
9
10
11
12
(3)
The assembled global stiffness matrix [K ] is of the order 12 12 . Carrying out
assembly in the usual manner, we get,
0
1.0 0.50
0
0.50
0
500
0
0
500
1.0
0
2.66
1.0
0
0.50
0
1.0 500.5
0
0
500
0
0
500.5
1.0
0
1.33
1.0
1.0
3
[K ] = 10
0
0
0
500
0
0
0
0
0.5
0
0
0
0
1.0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1.0
0
0
0
0
0
0
0
1.33
0
0
0
0
0
0
1.0 500
0
0
0
0
0
1.0
0
0.50 1.0
0
0
0
5.33
0
1.0 1.33
0
0
0
0
500.5
0
1.0 0.5
0
1.0
1.0
0
500.5 1.0
0
500
0
1.33 1.0
0
1.33
1.0 5.33 1.0
0
0
0
0.5
1.0 0.5
1
0
0
0
0
500
0
500
0
1.0
0
1.33 1
0
2.66
0
(4)
p 4 10
p5 24
p 6 24
{p k } = =
p7 0
p8 24
p9 24
(5)
0
1.0 500
0
0 u 4
10
500.5
24
0
500.5 1.0
0
0.5 1.0 u 5
24
u 6
1
.
0
1
.
0
5
.
33
0
1
.
0
1
.
33
10
=
u 7
0
500
0
0
500
.
5
0
1
u8
24
0
0
.
5
1
0
500
.
5
1
0
u
24
1
1
.
33
1
1
5
.
33
(6)
Solving we get,
u 4 1.43 10 -2
u 5 - 3.84 10 -5
u 6 - 8.14 10 -3
u 7 1.43 10 -2
u8 - 5.65 10 -5
u 9 3.85 10 -3
(7)
Let R1 , R2 , R3 , R10 , R11 , R12 be the support reactions along degrees of freedom
1, 2, 3,10,11,12 respectively. Support reactions are calculated by
4
5
6
7
8
9
0
0
0
0 u 4
1.0
R1 p1
0.5
R2 p 2 F
0
0
0
0
0 u 5
500
R3 p3 F
1.0
0
1.33
0
0
0 u 6
= F + 10
0
0
0
0
0.5
1.0 u 7
R10 p10
0
0
0
0
0 u8
500
R11 p11
0
0
1.0
0
1.33 u 9
0
R12 p12
F
R1 0 0.99 0.99
R2 0 19.71 19.71
R3 0 3.43 3.43
= +
R10 0 10.99 10.99
(8)
Summary
In this lesson, the analysis of plane frame by the direct stiffness matrix method is
discussed. Initially, the stiffness matrix of the plane frame member is derived in
its local co-ordinate axes and then it is transformed to global co-ordinate system.
In the case of plane frames, members are oriented in different directions and
hence before forming the global stiffness matrix it is necessary to refer all the
member stiffness matrices to the same set of axes. This is achieved by
transformation of forces and displacements to global co-ordinate system. In the
end, a few problems are solved to illustrate the methodology.