q제4장

제4장

Basic Structural Theorems

1
 q제4장
4.1 Principle of Superposition
When a linear structure is subjected to a number of loads, the combined effect of these
loads is equal to the sum of the effect of each load applied separately in any sequence.
P1 P2
P ® Loads
P3
D ® Deformation
D2 D3
D1
{ P } = [ K ]{ D }
{ D } = [ F ]{ P }
The displacement can be written as
D1 = f11P1 + f12 P2 + f13P3 { D } = [ F ]{ P }
D 2 = f 21P1 + f 22 P2 + f 23P3 { P } = [ K ]{ D }
D 3 = f 31P2 + f 32 P3 + f 33P3
ì D1 ü é f11 f12 f13 ù ì P1 ü
ï ï êf ï ï
íD 2 ý = f f 23 ú íP2 ý
ê 21 22 ú
ïD ï
î 3þ êëf 31 f 32 f 33 úû ïî P3 ïþ { D } = [ F ]{ P }
{ P } = [ F ]-1 { D } = [ K ]{ D }
é[ F ]: Flexibilit y Matrix
* ê
ë[ K ]:Stiffness Matrix 2
 q제4장

4.2 Work and Energy Concepts

* This discussion pertains only to structures for which strains and displacement are small
and no energy is dissipated in the static loading process.
That is, the external work of gradually applied loads is equal to the energy stored in the
structure, and the system is said to be *conservative.

Y, u
Normal Stresses (3 Nos)
s x , s y , sz
σy Shear Stresses (6 Nos)
t yx
t yz t xy , t yx
t xy t yz , t zy
tzy σx
x, u
t xz t zx , t xz
σz tzx But t xy = t yx
t yz = t zy
z, w t zx = t xz
따라서 “6” independent stresses
3
 q제4장

Corresponding Normal Strains

¶u ¶u ¶w
ex = ey = ez =
¶x ¶y ¶z
Corresponding shear strains
¶u ¶u
g xy = + = g yx
¶y ¶x
¶w ¶u
g yz = + = g zy
¶y ¶z
¶w ¶u
g zx = + = g xz
¶x ¶z
ì sx ü ì ex ü
ïs ï ïe ï
ï yï ï yï
ï sz ï ï ez ï
즉, s = í ý e=í ý
t
ï xy ï ïg xy ï
ï t yz ï ï g yz ï
ï ï ï ï
î tzx þ î g zx þ
4
 q제4장
Stress-Strain Diagrams
s s
si si si si
ei 즉, s = e
ei
ds
ds

O ei e O e
de de ei
* Nonlinear * Linear
* Strain Energy < U > = Internal Work of “Stresses” acting through incremental strains,
Integrated over the total strains and over the volume
ns
ei
Nonlinear Case U= å òv æçè ò0 s de ö÷ dv
ø
n s : Number of ei
i =1
v : Volume
ns æ e s ö
Linear Case U = å òv çç ò0 i e i de ÷÷dv Q s=e
si
i =1 è ei ø ei
e
ns si é e 2 ù
i
1
= å òv si ei dv ê ú
2 i =1 ei ë 2 û0
1
= òv ësû{e}dvol s T : Transpose of s Matrix
2 5
 q제4장
* Complementary Strain = Internal Work of “Strains” multiplied by incremental stresses,
Energy < U* > integrated over the total stresses and over the volume
ns
Nonlinear Case U = å ò ò si e ds dv
*
i =1
v 0
( )
1 ns 1 1
òv {e} {s }dv ëe û{s }dvol
* T
Linear Case U = å òv e i s i dv = =òv
2 i =1 2 2
e
Q e= i s
si
si s i2 s is i
ò0 e d s = 2 = 2
Load (P) – Displacement ( D ) Diagrams
P P

Pj Pj Pj
Dj
dP
dP

O D O D
dD Dj dD Dj
Nonlinear Linear
6
 q제4장
* External Work of Loads = W
▪ Similar to that for strain energy
▪ No integration over the volume for concentrated loads
np
Dj
Nonlinear W= å ò0 P dD
j =1

n p : Number of Loads
Pj
Linear P=D 이므로
Dj
np Pj n
D 1 p 1 1
W= å ò0 j D dD = å Pj D j = {P}T {D} = ëP û{D}
j =1 Dj 2 j =1 2 2

P T : Transpose of P Column Matrix

D : Displacement Column Matrix
* Complementary Work of Loads = W*
▪ Similar to that for complementary strain energy
np
Pj
Nonlinear W* = å ò0 D dP
j =1
np
1 1
Linear W*= å D iPj = {D }T {P } = 1 ëD û{P }
2 j=1 2 2
7
 q제4장
For linearly elastic structures ,
▪ express U and U* in terms of stiffnesses [ K ] and flexibilities [ F ] instead of stresses
and strains.
* Using the principle of conservation of energy,
W = U
1
U = W = PT D
2
{ P } = [ K ]{ D }
1 { P }T = { D }T [ K ]T
= DT KD
2 = { D }T [ K ] Q [ K ]T = [ K ]
K : Stiffnesses (Symmetric 임)
* Using the principle of conservation of complementary energy,
W* = U*
1 T
{ D } = [ K ]-1 { P }
즉, U * = W * =
2
D P = [ F ]{ P }
1
= P T FP { D }T = { P }T [ F ]T
2
= { P }T [ F ]
F : Flexibilities (Symmetric 임)
Also, U = U* and W = W*
8
 q제4장

4.3 Energy Theorems

* Castigliano’s 1st theorem

▪ If the strain energy of an elastic body is expressed as a function of a set of displacements,
the first partial derivative of that function with respect to a particular displacement is equal
to the corresponding action.
▪ This theorem is valid for either nonlinear on linear elasticity.
▪ For a linear case, ¶U n
= å K jk D k = Pj { P } = [ K ]{ d }
¶D j k =1

* Crotti – Engesser theorem

▪ If the complementary strain energy is written in terms of a set of applied actions, the first
partial derivative of such a function with respect to a particular action is equal to the
corresponding displacement.
▪ For a linear case, ¶U * n

¶Pj
= å Fjk Pk = Dj
k =1
which is known as Castigliano’s Second Theorem.

9
 q제4장

* Reciprocal Relations
▪ Further differentiation yields components of stiffnesses and flexibilites from strain energy
and complementary strain energy, respectively.
¶ 2U ¶Pj
= = K jk
¶D j¶D k ¶D k
¶ 2U * ¶D j
= = Fjk
¶Pj¶Pk ¶Pk

▪ If the sequence of differentiation is reversed,

Similarly, K jk = K kj ® [ K ] = [ K ] T üï
ý
Fjk = Fkj ® [ F ] = [ F ] ïþ
T

▪ The reciprocal relation for flexibilities is called Maxwell’s Theorem.

10
 q제4장

4.4 Virtual Work

* Virtual Displacements → Stiffness components
▪ The external virtual work of the real actions " P" multiplied by the virtual displacements
"dD" is equal to the internal virtual work of the real stresses "s" multiplied by the virtual
strains "de", integrated over the volume.
Principle of virtual Work*
▪ External Virtual Work
dW = P T dD
Internal Virtual Work (Strain Energy)
* dU = ò s T de dv
v
▪ dW = dU

P T dD = òv s T de dv

▪ If an action Pj is unknown (Such as a reaction), it can be found by letting dD j = 1

where all other elements of dD’s are zero.
즉, Pj (1) = òv s T de j dv
T
* (1) Pj = òv de j s dv
Which is known as the unit-displacement method.
11
 q제4장

▪ In an action " P"

Let Dk = 1 other D' s = 0
" Pj " becomes the action of type " j " due to a unit displacement of type " k"

T ì { P } = [ K ]{ d }
(1) K jk = òv de j s k dv í
î Pj = (1) K jk

12
 q제4장
* Virtual Loads → flexibility components
▪ Principle of Complementary Virtual Work
The external work of the virtual actions "dP" multiplied by the real displacements " D"
is equal to the internal work of the virtual stresses ds multiplied by the real strains "e",
integrated over the volume.
▪ External complementary virtual work
dW * = dP T D
Internal complementary virtual work
* dU * = ò ds T e dv
v
or is called as the complementary virtual strain energy/
▪ dW * = dU *

dP T D = òv ds
T
e dv
▪ If the value of a particular displacement " D j " is desired, it can be found by introducing
a unit load dPj = 1 which all other elements of dP’s are zero.
* (1) D j = òv ds jT e dv
ds j = Internal virtual stresses for the condition dPj = 1
Unit-Load Method
▪ Similarly,
(1) Fjk = òv ds jT e k dv *
13
 q제4장
4.5 Formulation of Element Stiffness Matrix
from Shape Function
※ For an axial member

Fx1 EA Fx 2 We know,
D1 D2 ì Fx 1 ü EA é 1 - 1ù ì D1 ü
L íF ý = ê - 1 1 ú íD ý
x=0 x=L î 2þ
x L ë û î 2þ
[K]
D x = a1 + a 2 x 가정하면,
x=0 D1 = a1 ® a1 = D1
D 2 - a1
x=L D 2 = a1 + a 2 L ® a2 =
L
D - D1
= 2
D 2 - D1 L
따라서, Dx = D1 + L
x

æ xö x
= ç1- ÷ D1 + D 2
è Lø L
ìD ü X X
= { N1 , N 2 }í 1 ý N1 = 1 - L , N 2 = L
îD 2 þ 14
* D x = ë N û {D} q제4장

dD x ì dN1 dN 2 ü ì D1 ü
ex = =í , ýí ý
dx î dx dx þ îD 2 þ
ì 1 1 ü ì D1 ü
= í - , ýí ý
î L L þ îD 2 þ
ë N 'û
*
e x = ë N ' û {D }
Virtual Displacement
dD x = ë N û {d D }
Virtual Strain
d e x = ë N ' û {d D }
[ Virtual Work ] external = dU (Strain energy )
dU = òvol ëde x û { s x } d vol

= òvol ëde x û [ E ]{ e x } d vol

ë dex û : Virtual Strain
n
= å d D i Fx i external { e x }: Re al Strain
i =1 work
ë dD û : virtual Dis placement
= ë dD û{ F } { F } : Applied Force
15
 q제4장
Thus, òvol { ë N ' û { d D }}T
[ E ]ë N' û{ D } d vol = ë dD û{ F }
òvol ë dD û{ N' }[ E ] ë N' û { D } d vol = ë dD û{ F }
òvol { N' }[ E ] ë N' û d vol { D } = { F }
[ Ke ]
즉, [K e ] = òvol {N'}[E ]ëN'ûdvol
For an Axial Member ,
ì 1ü
-
L ï Lï ê
[ K e ] = A ò0 í 1 ý E ê - 1 1 úú dl
ï ï ë L Lû
î L þ
é 1 1ù
-
Lê 2 L2 ú dl
= EA ò ê L
0 1 1 ú
ê- 2 2
ú
ë L L û
é EA - EA ù EA é 1 - 1ù
=ê L Lú =
êë- EA L EA L úû L êë- 1 1 úû
which is the same as the previous solution.
16
例 4.1 y,u q제4장

Fx 1 Fx 2 Fx 3
1 u1 2 u2 3 u3 x, u æ x ö
A = A1 ç 1 - ÷
è 2 L ø

L/2 L/2 Because of 3 D.O.F, use “3” unknown coefficients

Let u = a o + a 1x + a 2 x 2
because of 3 D . O . F
u1 = u ] x = 0 = a o ® u1 = a o
L L2
u2 = u ] L = a o + a1 + a 2
x=
2
2 4
® 4 u 2 - 4 u 1 = 2 a 1 L + a 2 L2
u 3 = u ] x = L = a o + a 1L + a 2 L2
® u 3 - u 1 = a 1 L + a 2 L2

- u 3 + 4 u 2 - 3u 1
4 u 2 - 3u 1 - u 3 = a 1L ® a1 =
L
2 u 3 - 4 u 2 + 2 u1
4 u 2 - 2 u1 - 2 u 3 = - a 2 L2 ® a2 =
L2
17
 q제4장
- u 3 + 4u 2 - 3u1 2 u - 4 u 2 + 2u1 2
Thus, u = u1 + x+ 3 x
L L2
æ 3 2 ö æ4 4 ö æ x 2 ö
= ç1- x + 2 x 2 ÷u1 + ç x - 2 x 2 ÷u 2 + ç - + 2 x 2 ÷u 3
è L L ø èL L ø è L L ø
N1 N2 N3
3 2 3 4
Shape Function are N1 = 1 - x + 2 x2 N1 ' = -
+ x
L L L L2
4 4 4 8
N2 = x - 2 x 2 Þ N2 ' = - 2 x
L L L L
1 2 1 4
N3 = - x + 2 x 2 N3 ' = - + 2 x
L L L L
We know that
[ K ] = ò0L { N' }E ë N' û A dx Q d vol = A dx

æ x ö
{ }
L
= ò0 N ' E ë û 1
N ' A ç
è
1 -
2 L
÷ dx
ø
ì 3 4 ü
ï- L + L2 x ï
L
ïï 4 8 ïï ê 3 4 4 8 1 4 úæ x ö
= EA1 ò í - 2 x ý ê - + 2 x , - 2 x , - + 2 x ú ç1 - ÷ dx
0
ï L L ï ë L L L L L L û è 2 L ø
ï- 1 + 4 x ï
ïî L L2 ïþ
18
 q제4장
2
L æ 3 4 ö æ x ö
K 11 = EA ò
1 0 ç-
è L
+ 2 x ÷ ç1 -
L ø è 2 L
÷ dx
ø
L æ 3 4 öæ 4 8 öæ x ö
K 12 = EA ò
1 0 ç-
è L
+ 2 x ÷ ç - 2 x ÷ ç1 -
L øè L L øè 2 L
÷ dx
ø
L æ 3 4 öæ 1 4 öæ x ö
K 13 = EA ò
1 0 ç-
è L
+ 2 x ֍ -
L øè L
+ 2 x ÷ ç1 -
L øè 2 L
÷ dx
ø
L æ 4 8 öæ 3 4 öæ x ö
K 21 = EA ò
1 0 ç -
èL
x ÷ ç - +
L2 ø è L L2 ø è
x ÷ ç 1 -
2L ø
÷ dx = K 12
2
æL 4 8 ö æ x ö
K 22 = EA 1 ò0 ç - 2 x ÷ ç1 - ÷ dx
è L L ø è 2 L ø
Læ L 8 öæ 1 4 öæ x ö
K 23 = EA 1 ò0 ç - 2 x ÷ç - + 2 x ÷ ç1 - ÷ dx
è 4 L øè L L øè 2 L ø
K 31 = K 13
K 32 = K 23
2
L æ 1 4 ö æ x ö
K 33 = EA ò
1 0 ç-
è L
+ 2 x ÷ ç1 -
L ø è 2 L
÷ dx
ø

19
 q제4장

æ 9
L 24 16 2 ö æ x ö
K 11 = EA ç 2 - 3 x + 4 x ÷ ç1 -
1 ò0 ÷ dx
èL L L øè 2 L ø
L æ 9 57 28 2 8 3ö
= EA 1 ò0 ç 2 - 3
x + 4
x - 5
x ÷ dx
èL 2L L L ø
æ 9 57 L 2
28 L 3
8 L ö÷ 4
= EA 1 ç L- + 4 - 5
ç L2 2L 3 2
L 3 L 4 ÷ø
è
43 43 EA 1
= EA 1 =
12 L 12 L
L æ 12 46 52 16 ö
K 12 = EA 1 ò0 ç - 2 + 3 x - 4 x 2 + 5 x 3 ÷dx
è L L L L ø
æ 12 23 52 4ö 23 EA 1
= EA 1 ç - + - + ÷ =
è L L 3L L ø 3 L
L æ 3 35 24 3 8 3ö
K 13 = EA 1 ò0 ç 2 - 3
x + 4
x - 5
x ÷ dx
èL 2L L L ø
æ 3 35 1 6 2 ö 7 EA 1
= EA 1 ç - + - ÷ = -
èL 4 L L Lø 4 L

20
 é 12 16 24 32 ù é x ù q제4장
K 21 = EA1 ò ê - 2 + 3 x + 3 x - 4 x 2 ú ê1 - údx
ë L L L L û ë 2L û
é 12 16 24 32 2 6 8x 2 12 2 16 3 ù
= EA1 ò ê- 2 + 3 x + 3 x - 4 x + 3 x - 4 - 4 x + 5 x ú dx
êë L L L L L L L L úû
L
é 12 16 24 32 6 8 12 16 ù
= EA1 ê- 2 x + 3 x 2 + 3 x 2 - 4 x 3 + 3 x 2 - 4 x 3 - 4 x 3 + 5 x 4 ú
ë L 2L 2L 3L 2L 3L 3L 4L û0
é 12 8 12 32 3 8 4 4 ù
= EA1 ê- + + - + - - + ú
ë L L L 3L L 3L L L û
é11 36 ù 3 EA1
= EA1 ê - ú = - EA1 = -
ë L 3L û 3L L
é16 64 64 ù é x ù
K 22 = EA1 ò ê 2 - 3 x + 4 x 2 ú ê1- údx
ëL L L û ë 2L û
é16 64 64 8 32 32 ù
= EA1 ò ê 2 - 3 x + 4 x 2 - 3 x + 4 x 2 + 5 x 3 údx
ëL L L L L L û
L
é16 64 64 8 32 32 ù
= EA1 ê 2 x - 3 x 2 + 4 x 3 - 3 x 2 + 4 x 3 + 5 x 4 ú
ëL 2L 3L 2L 3L 4L û 0
é16 32 64 4 32 8 ù é - 12 96 ù æ 20 ö
= EA1 ê - + - + + ú = EA1 ê + ú = EA1 ç - ÷
ë L L 3L L 3L L û ë L 3L û è Lø
21
 é 4 16 8 32 ù é x ù q제4장
K 23 = EA1 ò ê- 2 + 3 x - 3 x - 4 x 2 ú ê1- ú dx
ë L L L L û ë 2L û
é 4 16 8 32 2 8 4 16 ù
= EA1 ò ê- 2 + 3 x - 3 x - 4 x 2 + x - 4 x 2 + 4 x 2 + 5 x 3 údx
ë L L L L L L L L û
L
é 4 16 8 32 2 2 8 3 4 3 16 4 ù
= EA1 ê - 2 x + 3 x 2 - 3 x 2 - 4 x 3 + x - 4x + 4x + 5x ú
ë L 2L 2L 3L 2L 3L 3L 4L û 0
é 4 8 4 32 1 8 4 4ù
= EA1 ê - + - - + - + + ú
ë L L L 3L L 3L 3L L û
é 5 36 ù 7 EA1
= EA1 ê - ú =
ë L 3L û L
é1 8 16 ù é x ù
K 33 = EA1 ò ê 2 - 3 x + 4 x 2 ú ê1- údx
ëL L L û ë 2L û
é1 8 16 x 8 16 ù
= EA1 ò ê 2 - 3 x + 4 x 2 - 3 + 4 x - 5 x 3 údx
ëL L L 2L 2 L 2L û
L
é1 8 2 16 3 x 2 8 16 ù
= EA1 ê 2 x - 3 x + 4 x - 3 + 4 x 2 - 5 x 4 ú
ëL 2L 3L 4L 4L 8L û 0

é 1 4 16 1 7 2ù
= EA1 ê - + - + - ú
ë L L 3L 4L 4L L û
é 5 16 6 ù 14EA1
= EA1 ê- + - ú = -
ë L 3L 4L û L 22
 q제4장
※ Flexural Member
Y
Fy 2
L My2

Fx 2 x
1 2
Mx 2

Mz2

z
Fz 2 dU = ò ë dex û { s x } d vol
L d du du L d d qx dq
dU = ò0 EA dx + ò0 GJ x dx
dx dx dx dx
① ②
2 2
L d du d u L d 2 dw d2w
+ ò0 dx 2
EI z
dx 2
dx + ò0 dx 2
EI y 2 dx
dx
③ ④
① : Axial Deformation
② : Torsional Behavior
③ : Bending about z-axis
④ : Bending about Y-axis
23
 q제4장

[ Virtual Work ] external = du 2 Fx2 + du2 Fy2 + dw 2 Fz2

① ③ ④
+ d qx 2 M x 2 + d qy2 M y2 + dqz2 M z 2
② ④ ③

For flexural member on X - Y plane,

d U = V Wext
2
L d du d2 u
ò0 2
EI z 2 dx = ë dD û{ F }
dx dx
d 2 du
2
= { N¢¢ }ë dD û
dx
d2 u
= ë N ¢¢ û{ D } u¢¢ = N1²u1 + N 2²u2 + N 3²qz1 + N 4²qz 2
dx 2
ò0 { N¢¢ }ë dD û EI z ë N¢¢ û dx { D } = ë dD û{ F }
L

즉, [ K e ] = ò0 { N¢¢ }EIz ë N¢¢ û dx

L

24
 q제4장
☼ For flexural member,
4 D.O.F du ù
qz1 =
dx úû
x =0
u1 qz 2 u2
qz1
du ù
qz 2 =
dx úû
x=L
x=0 x=L
L Assume “4” unknown coefficients.

Let u = a1 + a 2 x + a 3 x 2 + a 4 x 3 가정
When x = 0, u1 = a 1 ® a 1 = u1

q z1 =
du ù
dx úû
x =0 = a 2 + 2 a 3 x + 3a 4 x 2 ] x =0 = a2

® a 2 = q z1
When x = L , u2 = a1 + a 2 L + a 3L2 + a 4 L3 ® u2 - u1 - qz1 L = a 3L2 + a 4 L3
du ù 2 2
qz 2 = = a + 2 a L + 3a L ® q - q = 2a L + 3a L
dx úû
x = L 2 3 4 z 2 z1 3 4

1
(
따라서, a 3 = 2 - 3u1 + 3u2 - 2qz1 L - qz 2 L )
L
1
(
a 4 = 3 2u1 - 2u2 + qz1 L + qz 2 L
L
)
25
 q제4장

Finally,
é æxö
2
æxö ù
3 é æ x ö 2 æ x ö3 ù
u = ê1- 3ç ÷ + 2ç ÷ ú u1 + ê3ç ÷ - 2ç ÷ ú u 2
êë èLø è L ø úû êë è L ø è L ø úû
N1 N2
é æ xö ù 2 éæ x ö 2 x ù
+ ê xç1 - ÷ ú q z1 + x êç ÷ - ú q z 2
êë è L ø úû êëè L ø L úû
N3 N4
1 x
N1 ' ' = - 6 2 + 12 3
L L
6 x N1 N2 N3 N4 N1¢ N2¢ N3¢ N4¢
N 2 ' ' = 2 -12 3 x =0
1 0 0 0 0 0 1 0
L L x =l
0 1 0 0 0 0 0 1
4 6
N3 ' ' = - + 2 x
L L
6 2
N4 '' = 2 x -
L L

26
 2 q제4장
K 11 36 æ 2x ö 12
EI z
=
L
ò0 (N 1 ' ')2 dx = L
4 ò0 ç1 - ÷ dx = 3
L è L ø L
K 12 L 12 K 21
= ò0 1 2
N ' ' N ' ' dx = - =
EI z L3 EI z
K 13 L 24 L æ 2 x ö æ 1 .5 ö 6 K 31
= ò0 1 3
N ' ' N ' ' dx = ò ç 1 - ÷ ç 1 - x ÷ dx = =
EI z L3 0 è L øè L ø L2 EI z
K 14 L 12 L æ 2x ö æ 3 ö 6 K
= ò0 N 1 ' ' N 4 ' ' dx = 3 ò0 ç 1 - L ÷ ç 1 - L x ÷ dx = 2 = 41 EI z
EI z L è øè ø L
K 22 12
ò0 (N 2 ' ') dx = 3
L 2
=
EI z L
K 23 L 6 K
= ò0 N 2 ' ' N 3 ' ' dx = - 2 = 32 EI z
EI z L
K 24 L 6 K
= ò0 N 2 ' ' N 4 ' ' dx = - 2 = 42 EI z
EI z L
2
K 33 16 æ 1 .5 ö 4
EI z
= (N 3 ' ') dx =
L
ò0
2
ò
2 0
L
ç1 - x ÷ dx =
L è L ø L
K 34 L 8 L æ 1 .5 ö æ 3 ö 2
= ò0 N 3 ' ' N 4 ' ' dx = 2 ò0 ç 1 - x ÷ ç 1 - x ÷ dx =
EI z L è L øè L ø L
K 44 4
= ò0 (N 4 ' ' )2 dx =
L
EI z L
27
 q제4장

é12 12 6 6 ù
3 -
ê L L3 L 2
L ú ¬ Fy1
2
ê 12 - 6 2 - 6 2 ú ¬ Fy 2
[ K ] = EI z ê L3 L L ú
ê 4 2 ú ¬ M z1
ê L L ú ¬ M
êSym. 4 ú z2
ë L û
­ ­ ­ ­
u1 u2 q z1 qz 2

Re arrange ,
é12 6 - 12 2 6 ù
ì Fy1 ü ê L 2 L L L ú ì u1 ü
ïM ï ïq ï
ï z1 ï EI z ê 4 -6 ú
2 ï z1 ï
íF ý= ê L úí ý
ï y2 ï L ê 12 - 6 ú ï u2 ï
ïM z ï ê L2 Lú ï ï
î 2þ îqz 2 þ
êë Sym. 4 úû

28
 q제4장

例 4.2 Y, u
M z2 , qz2
M z1 , q z1 x
1 3 2 Symmetric 구조물로 가정.
F1 , u 1 F2 , u2 F3 , u3 q z3 = 0
L/2 L/2
즉, 5 D.O.F
u = a1 + a 2 x + a 3 x 2 + a 4 x 3 + a 5 x 4
du du
qz = = a 2 + 2a 3 x + 3a 4 x 2 + 4a 5 x 3
dx dx
u] x = 0 = u1 = a1
du ù
ú x = 0 = q z1 = a 2
dx û
L L2 L3 L4
u] x = L = u3 = a1 + a 2 + a 3 + a 4 + a 5
2 2 4 8 16
u] x = L = u2 = a1 + a 2 L + a 3L2 + a 4 L3 + a 5L4
du ù 2 3
= q = a + 2 a L + 3a L + 4 a L
dx úû
x = L z 2 2 3 4 5

29
 q제4장
4a 3 L + 2a 4 L + a 5 L = 16u3 -16u1 - 8q z1 Lü
2 3 4
ï
ï
a 3 L2 + a 4 L3 + a 5 L4 = u2 - u1 - q z1 L ý Þ
2 3
ï
2a 3 L + 3a 4 L + 4a 5 L = q z 2 - q z1 ïþ
2
( )
a 5 = 4 - 4u1 - 4u2 + 8u3 - q z1 L + q z 2 L
L
1
(
a 4 = 3 18u1 + 14u2 - 32u3 + 5q z1 L - 3q z 2 L )
L
1
( )
a 3 = 2 - 11u1 - 5u2 + 16u3 - 4q z1 L + q z 2 L
Thus , L

u = u1 + qz1 x +
1
L2
- 11u(
1 - 5u 2 + 16 u3 - 4q z1
L + q z 2
L)x 2

1
(
+ 3 18u1 +14u2 - 32u3 + 5qz1 L - 3qz 2 L x 3
L
)
1
( )
+ 4 - 4u1 - 4u2 + 8u3 - qz1 L + qz 2 L x 4
L

30
 æxö
2
æxö
3
æxö
4 q제4장
Therefore , shape functions are N1 = 1-11ç ÷ + 18 ç ÷ - 8 ç ÷
èLø èLø èLø
2 3 4
æxö æxö æxö
N 2 = - 5 ç ÷ + 14 ç ÷ - 8 ç ÷
èLø èLø èLø
2 3 4
æxö æxö æxö
N 3 = 16 ç ÷ - 32 ç ÷ +16 ç ÷
èLø èLø èLø
x2 x3 x4
N4 = x - 4 + 5 2 - 2 3
L L L
2 3 4
x x x
N5 = -3 2 + 2 3
L L L
1 x x2
® N 1 ' ' = - 22 2 + 108 3 - 96 4
L L L
1 x x2
N 2 ' ' = - 10 2 + 84 3 - 96 4
L L L
1 x x2
N 3 ' ' = 32 2 - 192 3 + 192 4
L L L
1 x x2
N 4 ' ' = 1 - 8 + 30 2 - 24 3
L L L
2 x x2
N 5 ' ' = - 18 2 + 24 3
L L L 31
 q제4장
[ K ] = ò0L { N' ' }EI z ë N' ' û dx
K11 63.2
= ò ( N1 ' ' )2 dx = 3
L

EI z 0
L
K12 K 21 39.2
= ò (N1 ' ' )(N 2 ' ' ) dx = 3
L
=
EI z EI z 0
L
K13 K 31 102.4
= ò ( N1 ' ' )(N 3 ' ' ) dx = - 3
L
=
EI z EI z 0
L
K14 K 41 18.8
= ò ( N1 ' ' )( N 4 ' ' ) dx = 2
L
=
EI z EI z 0 L
K15 K 51 6.8
= ò ( N1 ' ' )( N 5 ' ' ) dx = - 2
L
=
EI z EI z 0
L
K 22 63.2
( )
L 2
EI z
= ò0 2N ' ' dx =
L3
K 23 K 32 102.4
= ò ( N 2 ' ' )( N 3 ' ' ) dx = - 3
L
=
EI z EI z 0 L
K 24 K 42 6.8
= ò (N 2 ' ' )( N 4 ' ' ) dx = 2
L
=
EI z EI z 0
L
K 25 K 52 18.8
= ò ( N 2 ' ' )( N 5 ' ' ) dx = - 2
L
=
EI z EI z 0
L
32
 K 33 204.8 q제4장
= ò0 ( N 3 ' ' )2 dx =
L

EI z L3
K 34 K 43 25.6
= ò0 ( N 3 ' ' )( N 4 ' ' ) dx = - 2
L
=
EI z EI z L
K 35 K 53 25.6
= ò0 ( N3 ' ' )( N5 ' ' ) dx = 2
L
=
EI z EI z L
K 44 7.2
= ò0 ( N 4 ' ' )2 dx =
L

EI z L
K 45 K 54 1.2
= ò0 ( N 4 ' ' )( N5 ' ' ) dx = -
L
=
EI z EI z L
K 55 7.2
= ò0 ( N 5 ' ' ) dx =
L 2

EI z L

Therefore ,
é63.2 39.2 - 102.4 18.8L - 6.8L ù
ê 63. 2 - 102. 4 6 . 8L - 18 . 8 L ú
EI z ê ú
[K ] = ê 204.8 - 25.6L 25.6L ú
L ê 2 2ú
ê Sym. 7. 2 L - 1. 2 L ú
êë 7.2L úû2

33
 q제4장
Why [ K ] = ò0L { N' ' }ë N' ' û EI z dx for Beam ?
In case of Pure Bending,
y y d 2u
e xx =- =-y 2
r dx
x
ì r : radius of curvature
u ïï 1
í r =
ï d 2u
ïî dx 2
d2u
s x = Ee xx = - Ey 2
dx

òA sx dA = 0
d2u
M z = - ò s x y dA = ò Ey 2
2
dA
A dx
d2u
= E 2 ò y 2 dA
dx A
Iz
2
d u
M z = EI z 2
dx
2
1 L 2 EI z L æ ¶ 2 u ö
U= ò M dx = ò ç 2 ÷÷ dx
0 ç
è ¶x ø
0
2EI 2
34
 q제4장
d 2u
u = ë N û{ u } = ë N ' ' û{ u }
dx 2
Virtual Displacement d ux = ë N û{d u }
d 2d u
Virtual Strain d ex = - y ë N ' ' û{ d u } = - y
dx 2

[ Virtual Work ] ext = Strain Energy ( = d U )

n
d U = òvol ë d ex û{ s x } d vol = å d ui Fxi
i =1

= òvol - y { N' ' }ë d u û E { e x } d vol = ë d u û{ F }

òvol - y { N' ' }ë d u û E ( - y ) ëN' ' û{ u} d vol = ë d u û{ F }

òò { N' ' }ë N' ' û y { u } dA dx = { F }
2

ò y dA = Iz
2

ò0 { N' ' }ë N' ' û EIz dx { u } = {F }

l

[K ]
35
 q제4장
Homework 예제 4.3
1. Formulate the stiffness matrix for the tapered axial member shown below, by using the axial
member shape functions. é æ x ö2 ù
A = A1 ê1- ç ÷ ú
êë è L ø úû
Fx1 Fx 2
1 u1 2 u2

L
2. Formulate the stiffness matrix for the torsional member shown below using the rotational
displacement q x given by the following shape function :
q x = N1q x1 + N 2 q x 2 + N 3 q x3 + N 4 q x 4

Where N1 =
(L - x )(2L - x )(3L - x ) x (2L - x )(3L - x )
N2 =
6L3 2L3
x (L - x )(x - 3L ) x (L - x )(2L - x )
N3 = z N4 =
2L3 6L3
y
qx2
q x1 1 q x3
2 qx4
L 3
L 4
L x
36
 q제4장

é æ x ö2 ù
1. A = A1 ê1- ç ÷ ú
êë è L ø úû
Fx1 , u1 x, u
1 2 Fx 2 , u 2

In case of the axial member, the shape function is.

u = a1 + a 2 x
x = 0, u1 = a 1
x = l, u 2 = a1 + a 2l
a1 = u1
u 2 - u1
a2 =
l
代入

æ xö x
u = ç1 - ÷ u 1 + u 2
è lø l
37
 q제4장

x x
N1 = 1 - N2 =
L L
[ K ] = ò0L { N' }[ E ]ë N' û A dx
ì 1ü
L ï- L ï é 1 1 ù æç æ x ö ö÷
2
= EA1 ò í 1 ý ê- 1- ç ÷ dx
0
ï ïë L L úû çè è L ø ÷ø
î L þ
EA1 é 1 - 1ù L æç æ x ö ö÷
2
= 2 ê ú ò 1- ç ÷ dx
L ë- 1 1 û è è L ø ÷ø
0 ç
1 L 2
= L- = L
L2 3 3
2EA1 é 1 - 1ù
=
3L êë- 1 1 úû
Therefore ,
1 - 1ù
[ K ] = 2EA1 éê
3L ë- 1 1 úû

38
 q제4장
2. q x = N1q x1 + N 2 q x 2 + N 3q x 3 + N 4 q x 4
In case of the torsional member ,
[ K ] = ò03L { N' }G ë N' û J dx
{ N' }ë N' û dx
L
= GJ ò
0

N1 =
(L - x )(2L - x )(3L - x )
6L3

® N1 '=
(2L - x )(3L - x ) + (L - x )(5L - 2 x ) - 3x 2 +12Lx -11L2
=
- 6L3 6L3
x (2L - x )(3L - x )
N2 =
2L3

® N2 '=
(2L - x )(3L - x ) + x (- 5L + 2 x ) 3x 2 -10Lx + 6L2
=
2L3 2L3
x (L - x )(x - 3L )
N3 =
2L3

® N3 '=
(L - x )(x - 3L ) + x (4L - 2 x ) - 3x 2 + 8Lx - 3L2
=
2L3 2L3
x (L - x )(2L - x )
N4 =
6L3

® N4 '=
(L - x )(2L - x ) + x (2 x - 3L ) 3x 2 - 6Lx + 2L2
=
6L3 6L3 39
K11
= ò0 (N1 ') dx
3L 2 q제4장
GJ
1 é (3L ) 2 (3L ) (3L ) 2 (3L ) 3 (3L )
ù
5 3 4 3 2
4
= ê9 + 144 L + 121 L (3 L ) - 72 L + 66 L - 264L ú
36L6 ë 5 3 4 3 2 û
1 æ 44.4 ö 1.2333
= ç ÷=
L è 36 ø L
K12
= ò0 ( N1 ' )(N 2 ' ) dx
3L

GJ
é (3L )5 (3L )
4
2 (3L )
3
(3L )
4
2 (3L )
3
ù
- 9 + 30 L - 18 L + 36 L - 120 L
1 ê 5 4 3 4 3
ú
= ê ú
3 (3L ) 2 (3L ) 3 (3L )
6
12L ê 2 3 2
ú
ê + 72 L - 33 L + 110 L - 66 L3
(3 L )ú
ë 2 3 2 û
- 18.9L5 - 1.575
= 6
=
12L L
K13
= ò0 ( N1 ' )(N3 ' ) dx
3L

GJ
é (3L )5 (3L )
4
2 (3L )
3
(3L )
4
2 (3L )
3
ù
9 - 24 L + 9 L - 36 L + 96 L
1 ê 5 4 3 4 3
ú
= ê ú
3 (3L ) 2 (3L ) 3 (3L )
6
12L ê 2 3 2
ú
ê - 36 L + 33 L - 88 L + 33 L4
(3 L )ú
ë 2 3 2 û
5.4 1 0.450
= =
12 L L 40
K14 q제4장
( N1 ' )( N 4 ' ) dx
3L

GJ ò0
=

é (3L )5 (3L )4 2 (3L )

3
(3L )4 2 (3L )
3 ù
ê- 9 + 18L - 6L + 36L - 72L ú
1 ê 5 4 3 4 3 ú
=
36L ê 3 (3L ) 2 (3L ) 3 (3L )
6 2 3 2 ú
ê + 24 L - 33 L + 66 L - 22 L 4
(3 L )ú
ë 2 3 2 û
- 3.9 0.10833
= =-
36L L
K 22
= ò ( N 2 ')2 dx
3L

GJ 0

1 é (3L )5 2 (3L )
3
(3L )4 3 (3L )
2
2 (3L )
3ù
= 6 ê9 + 100L + 36L (3L ) - 60L
4
-120L + 36L ú
4L êë 5 3 4 2 3 úû
14.4 3.6
= =
4L L
K 23
= ò ( N 2 ' )( N 3 ' ) dx
3L

GJ 0

é (3L )5 (3L )4 2 (3L )

3
(3L )4 2 (3L )
2 ù
ê- 9 + 24L - 9L + 30L - 80L ú
1 ê 5 4 3 4 3 ú
= 6
3 (3L ) 2 (3L ) 3 (3L )
4L ê 2 3 2 ú
ê + 30L -18L + 48L -18L (3L )ú
4
ë 2 3 2 û
- 9.9 2.475
= =-
4L L 41
 q제4장
K 24
( N 2 ' )( N 4 ' ) dx
3L

GJ ò0
=

é (3L )5 (3L )4 2 (3L )

3
(3L )4 2 (3L )
3 ù
ê9 -18L + 6L - 30L + 60L ú
1 ê 5 4 3 4 3 ú
=
12L6 ê 3 (3L ) 2 (3L ) 3 (3L )
2 3 2 ú
ê - 20L +18L - 36L + 12L (3L )ú
4
ë 2 3 2 û
5.4 0.45
= =
12L L
K 33
= ò ( N 3 ' )2 dx
3L

GJ 0

1 é (3L )5 2 (3L )
3
(3L )4 2 (3L )
3
3 (3L )
2ù
= 6 ê9 + 64L + 9L (3L ) - 48L
4
+ 18L - 48L ú
4L ëê 5 3 4 3 2 ûú
14.4 3.6
= =
4L L
K 34
= ò ( N 3 ' )( N 4 ' ) dx
3L

GJ 0

é (3L )5 (3L )4 2 (3L )

3
(3L )4 2 (3L )
3ù
ê- 9 + 18L - 6L + 24L - 48L ú
1 ê 5 4 3 4 3 ú
=
12L6 ê 3 (3L ) 2 (3L ) 3 (3L )
2 3 2 ú
ê +16L - 9L +18L - 6L4 (3L ) ú
ë 2 3 2 û
- 18.9 1.575
= =-
12L L 42
 q제4장

K 44
= ò ( N 4 ' )2 dx
3L

GJ 0

1 é (3L )5 2 (3L )
3
(3L )4 2 (3L )
3
3 (3L )
2ù
= 6 ê
9 + 36L + 4L (3L ) - 36L
4
+ 12L - 24L ú
36L ëê 5 3 4 3 2 ûú
44.4 1.2333
= =
36L L

Therefore , We can get the stiffness matrix as below .

é1.2333 - 1.575 0.450 - 0.1083ù
ê 3.600 - 2.475 0.450 úú
GJ ê
[K ] =
L ê Sym. 3.600 - 1.575 ú
ê ú
ë 1.2333 û

43